Position and Attitude Measurement for Railway Vehicles Applied in Railway Infrastructure Inspection

摘要

A new noncontact method of position and attitude measurement for moving railway vehicles based on lasers and CCD is proposed in this paper. This method provides a solution for the measurement reference problem during the kinematic safety inspection process of the railway infrastructure. The principle and realization process are introduced in this paper. By using a set of mirrors installed on the ground, lasers, CCD camera and FPGA based image processing device installed on the vehicles, the system can realize real time measurement of position and attitude between the vehicle and the ground reference. Integrated with an inertial navigation system, this method can provide a continuous measuring reference with acceptable errors during the process of kinematical inspection. The results of the experiments show that the method proposed in this paper has high accuracy, wide measurement range, simple structure, and good practical values.