基于摄像机标定与卡尔曼滤波的接触网几何参数检测值修正

摘要

This paper presented a non-contact catenary geometry detection correction method based on the prin-ciple of monocular camera calibration.By analyzing the influence of detection vehicle vibrations on the detection system,the geometric parameters compensation formula was deduced and the Kalman filter equations of the contact line geometry model were established so that the detection values of the geometric parameters of contact lines were corrected.The effectiveness and accuracy of the proposed method were verified by example of the re-al operation data of a certain detection vehicle.%提出一种基于单目摄像机标定原理的非接触式接触网几何参数修正检测方法。通过分析检测车振动对检测系统的影响，推导几何参数补偿公式，建立接触线几何模型的卡尔曼滤波方程，达到修正接触线几何参数检测值的目的。最后，以某检测车的实际运行数据验证了该方法有效性和准确性。