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

Authors

  • Yumei Zhang
    Affiliation

    National Research Center of Railway Safety Assessment, Beijing Jiaotong University, China

  • Dalin Zhang
    Affiliation

    National Research Center of Railway Safety Assessment, Beijing Jiaotong University, China

https://doi.org/10.3311/PPtr.10723

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 Online

2017-05-30

How to Cite

Zhang, Y., Zhang, D. (2017) “An Attitude Determination Method for Comprehensive Inspection Vehicle Based on Track Profile Registration”, Periodica Polytechnica Transportation Engineering, 45(4), pp. 181–185. https://doi.org/10.3311/PPtr.10723

Issue

Section

Articles