An Attitude Determination Method for Comprehensive Inspection Vehicle Based on Track Profile Registration

  • Yumei Zhang Beijing Jiaotong University
  • Dalin Zhang Beijing Jiaotong University

Abstract

The attitude of the comprehensive inspection vehicle is one of the important factors that affect the accuracy of the inspection of metro line infrastructure, meanwhile the metro environment restricts the employment of common attitude determination methods. A new method of attitude determination is presented in this paper, which takes the track as reference and employs non-contact measurement to acquire the track profile simulta-neously. By registration of measurement track profile and the standard track profile, the relative position between the vehicle and the track reference can be calculated; and the instantaneous attitude of the vehicle can be determined by the matrix inverse calculation. The performance of the method is verified by an experiment using the road-rail comprehensive inspection vehicle.

Keywords

comprehensive inspection vehicle, attitude determination, track profile, iterative closest point
Published
30-05-2017
How to Cite
ZHANG, Yumei; ZHANG, Dalin. An Attitude Determination Method for Comprehensive Inspection Vehicle Based on Track Profile Registration. Periodica Polytechnica Transportation Engineering, [S.l.], v. 45, n. 4, p. 181-185, may 2017. ISSN 1587-3811. Available at: <https://pp.bme.hu/tr/article/view/10723>. Date accessed: 26 sep. 2017. doi: https://doi.org/10.3311/PPtr.10723.
Section
Articles