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| Position and Attitude Measurement Method of Track Inspection Vehicle Bogie Based on Multi-Sensors |
| ZHANG Xin1,HAN Zhi2,CHEN Chunlei2,LUO Zai1,JIANG Wensong1 |
1. College of Metrology & Measurement Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China
2. Infrastructure Inspection Research Institute, China Academy of Railway Sciences Co Ltd, Beijing 100018, China |
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Abstract Aiming at the problem that the frame motion of the track inspection vehicle affects the measurement accuracy of the track geometry detection system, a method of frame pose measurement based on multi-sensor fusion is proposed. In this method, acceleration sensor and biaxial inclination sensor are used to collect the original signal of the frame pose. Then, the original signals collected by multiple sensors are fused and solved by the method of solving the pose of the center of the frame. Finally, the geometric center pose of the frame is obtained. Under the circumstance, verification and adaptability experiments separately based on laboratory and national railway track test center calibration line are conducted.The results shows, the 95th percentile errors of measured lateral distance、 vertical distance、 roll angel and yaw angle are less than 0.88 mm、0.44 mm、0.07°、0.04°, respectively, in comparison with standard values, while the corresponding 95th percentile differences of measured position and attitude data and track inspection data are no more than 0.99 mm、0.73 mm、0.08°, which turns out the method is available to measure track geometry train bogies position and attitude accurately, so as to tell track disease and improve the efficiency of track inspection subsidiarily by applying to commercial vehicles.
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Received: 04 April 2023
Published: 22 January 2024
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2024, Vol. 45 
