Study on Detection System of Grooved Rail Based on Inertial Measurement - Laser Triangulation Comprehensive Algorithm

Abstract

In order to meet the requirement of grooved rail geometric parameter detection, based on the previous research of the project team, this paper combines the principle of inertial measurement and laser triangulation, a comprehensive algorithm to develop a grooved rail detection system for detecting the longitudinal and alignment irregularity. The system is composed of geometric parameter detecting vehicle and upper computer software. Firstly, the outline data of grooved rail are measured by 2D laser sensors, and the motion data of the vehicle are measured by inertial sensors. Then, this paper presents an inertial measurement - laser triangulation comprehensive algorithm and the laser triangulation is used to process the outline data and calculate the gauge of grooved rail. The error of laser triangulation and the attitude angle of vehicle are corrected through inertial measurement method. Finally, the longitudinal irregularity and alignment irregularity are calculated through numerical integration method in the upper computer. The stability and accuracy of the system are verified by designing experiments. The results show that the repeating precision of the irregularity is less than 0.5mm while the detection accuracy is within ±0.7mm.