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 bogie's position and attitude accurately,so as to tell track disease and improve the efficiency of track inspection subsidiarily by applying to commercial vehicles.
position and attitude measurementtrack inspection vehicle bogiemulti-sensor data fusiontrack geometry irregularity
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