CN109581457A - A kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform - Google Patents
A kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The present invention discloses a kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform, the described method comprises the following steps: A, demarcating to the relative tertiary location posture of the left and right camera of binocular solid camera；B, the relative position and attitude parameter between binocular solid camera and laser inertial is demarcated；C, the control point CPIII take pictures according to binocular solid camera and obtain multiple control point pictures, and obtain position and the posture of binocular solid camera according to handing over after solid；D, INS/OD navigation system is inputted using the position of binocular solid camera and posture as cum rights observation, and be filtered, the processing of smooth and interpolation, obtain position and the posture of track detecting platform；Wherein, the INS/OD navigation system is inertial navigation/odometer navigation system.Present invention seek to address that urban subway tunnel environment blocks GNSS signal formation in the prior art, so that the integrated positioning method for determining posture of GNSS/INS is greatly affected, the problem of not being able to satisfy the precision and efficiency requirements of detection system.
Description
Technical field
The present invention relates to technical field of mapping more particularly to a kind of three-dimensional localization of dynamic environment lower railway detection platform are fixed
Attitude positioning method.
Background technique
Currently, with the quickening of economic rapid development and urbanization process, when urban track traffic also enters great development
Phase.Current city rail traffic is quickly grown, and mileage open to traffic is long, and train running speed is fast, density is high, for the peace of train operation
Full property requirement is higher and higher, and the rapidity, accuracy, high efficiency for improving urban track traffic detection are of great significance.Track
It is two key factors for influencing train operating safety with tunnel, therefore using track detecting equipment to the shape of railway and tunnel
State, disease progress accurately and fast measure and detect the necessary ways for being to ensure that train operating safety.
The Dynamic High-accuracy three-dimensional localization method for determining posture of urban track traffic tunnel environment lower rail check system is to realize city
The key technology that track rapidly, continuously, reliably detects.Urban track traffic tunnel environment lower rail check system is in track mobile platform
Upper integrated laser inertial navigation (INS), odometer (OD), laser scanner, line-structured light laser scanner, CCD camera etc. to be sensed
Device realizes the quick obtaining of urban track traffic infrastructure tunneling boring information.Based on this information to the reality of city rail state
When automated analysis, provide reliable track status information and technical guarantee in time for safety of urban transit operation.
For current track detection device mainly around two typical R&D directions, one is that track detection car is with high precision
It represents, one is to integrate track checking car as representative.Track detection car utilizes the control of total station (robot measurement) to Along Railway
Point, which is observed, establishes space reference, then detects to the geometry state of track.The three-dimensional space base of dynamic rail inspection platform
Standard is the basis of entire rail detection system, and measurement accuracy directly determines the precision of track structure detection system and reliable
Property.But urban subway tunnel environment forms GNSS (Global Satellite Navigation System) signal and blocks, the combination of GNSS/INS
Positioning and orientation method will receive very big influence, not be able to satisfy the precision and efficiency requirements of detection system.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of detections of dynamic environment lower railway
The three-dimensional localization method for determining posture and system of platform, it is intended to solve urban subway tunnel environment in the prior art and GNSS signal is formed
Block so that the integrated positioning method for determining posture of GNSS/INS is greatly affected, be not able to satisfy detection system precision and
The problem of efficiency requirements.
In order to achieve the above object, this invention takes following technical schemes:
A kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform, the described method comprises the following steps:
A, the relative tertiary location posture of the left and right camera of binocular solid camera is demarcated, further comprises: A1, led to
It crosses binocular solid camera continuously to take pictures to scaling board pre-set on track, does not obtain under dynamic environment multiple positions respectively not
Identical scaling board image；A2, characteristic point in image is detected；A3, obtain left and right camera in each camera inside and outside parameter,
The relative position and attitude parameter of distortion factor and left and right camera；
B, the relative position and attitude parameter between binocular solid camera and laser inertial is demarcated；
C, the control point CPIII take pictures according to binocular solid camera and obtain multiple control point pictures, and according to solid
It hands over afterwards and obtains position and the posture of binocular solid camera；
D, INS/OD navigation system is inputted using the position of binocular solid camera and posture as cum rights observation, and is filtered
Wave, the processing of smooth and interpolation, obtain position and the posture of track detecting platform；Wherein, the INS/OD navigation system be inertial navigation/
Odometer navigation system.
Preferably, pass through the position of synchronization binocular solid camera and posture and GNSS/INS navigation system in step B
Obtained position and posture is compared, calibration binocular solid camera coordinates system to inertial navigation carrier coordinate system transformational relation；Wherein
GNSS/INS navigation system is Global Satellite Navigation System/INS Integrated Navigation System.
Preferably, step C is specifically included:
C1, the CPIII coordinate that pre-set multiple control points on track are obtained by binocular solid camera；
C2, the picpointed coordinate for obtaining target on each control point；
C3, it is handed over after the picpointed coordinate of target is carried out solid with the CPIII coordinate at corresponding control point, obtains binocular solid
The position of camera and posture, and precision corresponding with the position of binocular solid camera and posture.
Preferably, step D is specifically included:
D1, it is filtered by Kalman's pine combination, is inputted using the position of binocular solid camera and posture as cum rights observation
INS/OD navigation system obtains position and the posture of INS/OD navigation system；
D2, reversed smoothing processing and interpolation are carried out to the position of INS/OD navigation system and posture, it is flat obtains track detecting
The position of platform and posture.
A kind of three-dimensional localization attitude determination system of dynamic environment lower railway detection platform, comprising:
Camera calibration module, the relative tertiary location posture for the left and right camera to binocular solid camera are demarcated；
Collimation angle demarcating module, for being marked to the relative position and attitude parameter between binocular solid camera and inertial navigation
It is fixed；
Binocular visual positioning determines appearance module, for the control point CPIII take pictures according to binocular solid camera obtain it is more
Control point picture is opened, and obtains position and the posture of binocular solid camera according to handing over after solid；
Binocular vision assists INS/OD positioning and orientation module, for using the position of binocular solid camera and posture as cum rights
Observation input INS/OD navigation system is filtered, smooth and interpolation is handled, and obtains position and the posture of track detecting platform；
Wherein, the INS/OD navigation system is inertial navigation/odometer navigation system；
The camera calibration module specifically includes:
Scaling board image acquisition unit, for being connected by binocular solid camera to scaling board pre-set on track
It is continuous to take pictures, obtain the scaling board image that multiple positions are different under dynamic environment；
Image detecting element, for detecting the characteristic point in image, i.e. angle point；
Binocular solid camera calibration unit, for obtain the inside and outside parameter of each camera in the camera of left and right, distortion factor and
The relative position and attitude parameter of left and right camera.
Preferably, in the demarcating module of the collimation angle by the position of synchronization binocular solid camera and posture with
The position and posture that GNSS/INS navigation system obtains are compared, calibration binocular solid camera coordinates system to inertial navigation carrier coordinate
It is transformational relation；Wherein GNSS/INS navigation system is Global Satellite Navigation System/INS Integrated Navigation System.
Preferably, the binocular visual positioning is determined appearance module and is specifically included:
Control point acquiring unit, for obtaining pre-set multiple control points on track by binocular solid camera
CPIII coordinate；
Picpointed coordinate acquiring unit, for obtaining the picpointed coordinate of target on each control point；
Positioning and orientation unit, after the picpointed coordinate of target is carried out solid with the CPIII coordinate at corresponding control point
It hands over, obtains position and the posture of binocular solid camera, and precision corresponding with the position of binocular solid camera and posture.
Preferably, the binocular vision auxiliary INS/OD positioning and orientation module specifically includes:
Filter unit, for being filtered by Kalman's pine combination, using the position of binocular solid camera and posture as cum rights
Observation inputs INS/OD navigation system, obtains position and the posture of INS/OD navigation system；
Smooth unit, for INS/OD navigation system position and posture carry out reversed smoothing processing and interpolation, obtain
The position of track detecting platform and posture.
Compared with prior art, the beneficial effects of the present invention are the method for the present invention packets: to the left and right of binocular solid camera
The relative tertiary location posture of camera is demarcated, by binocular solid camera under setting scaling board and dynamic environment to scaling board
Continuously take pictures and realize the calibration of the relative tertiary location posture of left and right camera, calibration mode is simpler, as a result more accurate；To double
Relative position and attitude parameter between mesh stereoscopic camera and laser inertial is demarcated；CPIII is controlled according to binocular solid camera
System point, which take pictures, obtains multiple control point pictures, and obtains position and the posture of binocular solid camera according to handing over after solid；It will
The position of binocular solid camera and posture are filtered as cum rights observation input INS/OD navigation system, are smooth and interior
Processing is inserted, position and the posture of track detecting platform are obtained.The present invention is by the method for vision by track circuit high-precision control
Network data and inertial navigation/odometer (INS/OD) data with merge, using Combined Calculation method, realize dynamic track detection platform
Continuously, high-precision positioning and orientation.It can be widely used for the applications such as high-speed rail, the track detecting of subway, mobile road survey.
Detailed description of the invention
Fig. 1 is the stream of the three-dimensional localization method for determining posture preferred embodiment of dynamic environment lower railway detection platform of the present invention
Cheng Tu.
Fig. 2 is the knot of the three-dimensional localization attitude determination system preferred embodiment of dynamic environment lower railway detection platform of the present invention
Structure block diagram.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, those of ordinary skill in the art's all other embodiment obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
The present invention provides the three-dimensional localization method for determining posture and system of a kind of dynamic environment lower railway detection platform.To make this hair
Bright purpose, technical solution and effect are clearer, clear, as follows in conjunction with drawings and embodiments to of the invention further detailed
Explanation.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.
Referring to FIG. 1, it is preferable for the three-dimensional localization method for determining posture of dynamic environment lower railway detection platform of the present invention
The flow chart of embodiment.As shown in Figure 1, the three-dimensional localization method for determining posture of the dynamic environment lower railway detection platform includes as follows
Step:
Step S100, the relative tertiary location posture of the left and right camera of binocular solid camera is demarcated；
Step S200, the relative position and attitude parameter between binocular solid camera and laser inertial is demarcated；
Step S300, the control point CPIII take pictures according to binocular solid camera and obtain multiple control point pictures, and root
Position and the posture of binocular solid camera are obtained according to handing over after solid；
Step S400, INS/OD navigation system is inputted using the position of binocular solid camera and posture as cum rights observation,
And be filtered, the processing of smooth and interpolation, obtain position and the posture of track detecting platform；Wherein, INS/OD navigation system
System is inertial navigation/odometer navigation system.
In the embodiment of the present invention, including hardware calibration and positioning and orientation data processing two parts.Wherein step S100 and
Hardware calibration is carried out in step S200, carries out positioning and orientation data processing in step S300 and step S400.Hardware calibration refers to rail
After laser inertial, odometer and binocular solid camera realize time synchronization in road detection platform, to two in binocular solid camera
Relativeness (lever arm value and angle of setting) between camera relative tertiary location, stereoscopic camera and laser inertial is demarcated.It is logical
Hardware calibration is crossed, realizes the spatial synchronization of binocular solid camera and laser inertial.
Track detecting platform lays the mark at the control point CPIII when acquiring data at a certain distance along track,
It is observed using binocular solid camera, and automatically extracts the picpointed coordinate at the control point CPIII in stereogram, sat using picture point
Mark position and the posture of inverse binocular solid camera.The position that is obtained using binocular solid camera, posture auxiliary INS/OD are carried out
High accuracy positioning determines appearance, obtains the position and attitude of track detecting platform any time finally by interpolation.
Track detecting platform lays scaling board when carrying out binocular solid camera calibration at a certain distance along track
Mark, for being demarcated in a dynamic environment to binocular solid camera.
The three-dimensional localization method for determining posture of the dynamic environment lower railway detection platform, wherein the step S100 is specifically wrapped
It includes:
Step S101, it is continuously taken pictures, is obtained dynamic to scaling board pre-set on track by binocular solid camera
The different scaling board image in multiple positions under state environment, in order to guarantee the accuracy and reliability of calibration, the step is at least
The scaling board image of 3 positions is obtained, but if necessary, it can also select to obtain in the case where giving up to fall a camera internal reference
Take the scaling board image of 2 positions；Step S102, the characteristic point in image, i.e. angle point are detected；Step S103, left and right is obtained
The relative position and attitude parameter of the inside and outside parameter of each camera, distortion factor and left and right camera in camera.
The three-dimensional localization method for determining posture of the dynamic environment lower railway detection platform, wherein pass through in the step S200
The position and posture that the position of synchronization binocular solid camera and posture and GNSS/INS navigation system obtain are compared, and mark
Binocular solid camera coordinates system is determined to inertial navigation carrier coordinate system transformational relation；Wherein GNSS/INS navigation system is led for global satellite
Boat system/INS Integrated Navigation System.
The three-dimensional localization method for determining posture of the dynamic environment lower railway detection platform, wherein the step S300 is specifically wrapped
It includes:
Step S301, the CPIII coordinate at pre-set multiple control points on track is obtained by binocular solid camera；
Step S302, the picpointed coordinate of target on each control point is obtained；
Step S303, it hands over, obtains double after the picpointed coordinate of target being carried out solid with the CPIII coordinate at corresponding control point
The position of mesh stereoscopic camera and posture, and precision corresponding with the position of binocular solid camera and posture.
In step S301, the CPIII coordinate at control point is transmitted on track detecting platform using binocular solid camera,
It is at least to require 2 control points to reduce the quantity at control point to the greatest extent in the case where guaranteeing reliability.But when control
When point number is enough, that is, when being greater than 3, also can use monocular camera is transmitted at control point in detection platform, but can
It is not so good as binocular solid camera by property and precision.
The three-dimensional localization method for determining posture of the dynamic environment lower railway detection platform, wherein the step S400 is specifically wrapped
It includes:
Step S401, it is filtered by Kalman's pine combination, is observed using the position of binocular solid camera and posture as cum rights
Value input INS/OD navigation system, obtains position and the posture of INS/OD navigation system；
Step S402, the position to INS/OD navigation system and posture carry out reversed smoothing processing and interpolation, obtain track
The position of detection platform and posture.
In step S401, by closed loop feedback, it is constantly adapted to the error of INS/OD navigation system.And in step S402
In, using the reversed smoothing algorithm of RTS (i.e. the reversed smoothing algorithm of Rauch Tung-Striebel) to the position of INS/OD navigation system
It sets and is smoothed with the filter result of posture, obtain optimal navigation results.
It is photographed by binocular solid camera to the known control point CPIII arranged along railway tunnel in the present invention
Mode, cross calculating by photogrammetric rear, obtain the absolute three-dimensional position and posture of track detecting platform.
The absolute three-dimensional position to the track detecting platform of acquisition and posture are taken as cum rights observation with detection platform again
INS/OD (Inertial Measurement Unit/odometer) system of load is combined navigation, corrects INS/OD accumulated error, realizes track inspection
The high accuracy positioning for surveying platform determines appearance.
As it can be seen that traditional track detecting trolley carries out positioning and orientation by total station and the control point CPIII, have high-precision
It spends, operate the features such as simple, easy to carry, used by the construction of vast High Speed Rail Projects, design surpervision unit, but track detection car
Operating efficiency is low, and a Window time can only can't detect 5km, the demand for being unable to satisfy city rail long transmission line, quickly detecting.
The present invention is more by movable detecting platform carrying INS, CCD camera, laser inertial, line-structured light scanner and wheel encoder etc.
Sensor realizes high dynamic, high-acruracy survey, improves the efficiency of detection.
And synthetic detection vehicle is generally navigated using the POS system that INS and GNSS is formed, but handed in city rail
Under logical tunnel environment, GNSS signal can not be received, rely solely on INS determine the error of appearance positioning can pushing away with the time
Move and Rapid Accumulation until diverging.The present invention takes pictures to the control point Along Railway CPIII by binocular solid camera, counter to push away
The absolute position of detection platform and posture replace the GNSS positioning of tradition GNSS/INS integrated navigation system, realize tunnel environment
Under the high accuracy positioning of orbital platform determine appearance.
The present invention along track by being arranged gridiron pattern scaling board, in a dynamic environment by scaling board come vertical to binocular
Body camera is demarcated, and scaling method is simple, and calibration result is accurately higher.
Based on above method embodiment, the present invention also provides a kind of three-dimensional localizations of dynamic environment lower railway detection platform
Attitude determination system.As shown in Fig. 2, the three-dimensional localization attitude determination system of dynamic environment lower railway detection platform of the present invention, comprising:
Camera calibration module 100, the relative tertiary location posture for the left and right camera to binocular solid camera are marked
It is fixed；
Collimation angle demarcating module 200, for the relative position and attitude parameter between binocular solid camera and laser inertial
It is demarcated；
Binocular visual positioning determines appearance module 300, for carrying out acquisition of taking pictures to the control point CPIII according to binocular solid camera
Multiple control point pictures, and position and the posture of binocular solid camera are obtained according to handing over after solid；
Binocular vision assists INS/OD positioning and orientation module 400, for using the position of binocular solid camera and posture as
Cum rights observation inputs INS/OD navigation system, and is filtered, the processing of smooth and interpolation, obtains the position of track detecting platform
And posture；Wherein, the INS/OD navigation system is inertial navigation/odometer navigation system.
Further, in the three-dimensional localization attitude determination system of the dynamic environment lower railway detection platform, the camera mark
Cover half block specifically includes:
Scaling board image acquisition unit, for being connected by binocular solid camera to scaling board pre-set on track
It is continuous to take pictures, obtain the scaling board image that multiple positions are different under dynamic environment；
Image detecting element, for detecting the characteristic point in image, i.e. angle point；
Binocular solid camera calibration unit, for obtain the inside and outside parameter of each camera in the camera of left and right, distortion factor and
The relative position and attitude parameter of left and right camera.
Further, in the three-dimensional localization attitude determination system of the dynamic environment lower railway detection platform, the collimation angle
The position that is obtained in demarcating module by the position of synchronization binocular solid camera and posture and GNSS/INS navigation system and
Posture is compared, calibration binocular solid camera coordinates system to inertial navigation carrier coordinate system transformational relation；Wherein GNSS/INS navigates
System is Global Satellite Navigation System/INS Integrated Navigation System.
Further, in the three-dimensional localization attitude determination system of the dynamic environment lower railway detection platform, the binocular vision
Feel that positioning and orientation module specifically includes:
Control point acquiring unit, for obtaining pre-set multiple control points on track by binocular solid camera
CPIII coordinate；
Picpointed coordinate acquiring unit, for obtaining the picpointed coordinate of target on each control point；
Positioning and orientation unit, after the picpointed coordinate of target is carried out solid with the CPIII coordinate at corresponding control point
It hands over, obtains position and the posture of binocular solid camera, and precision corresponding with the position of binocular solid camera and posture.
Further, in the three-dimensional localization attitude determination system of the dynamic environment lower railway detection platform, the binocular vision
Feel that auxiliary INS/OD positioning and orientation module specifically includes:
Filter unit, for being filtered by Kalman's pine combination, using the position of binocular solid camera and posture as cum rights
Observation inputs INS/OD navigation system, obtains position and the posture of INS/OD navigation system；
Smooth unit, for INS/OD navigation system position and posture carry out reversed smoothing processing and interpolation, obtain
The position of track detecting platform and posture.
In conclusion the three-dimensional localization method for determining posture and system of dynamic environment lower railway detection platform of the present invention,
Method includes: to demarcate to the relative tertiary location posture of the left and right camera of binocular solid camera, by setting scaling board and
Binocular solid camera realizes the calibration of the relative tertiary location posture of left and right camera to continuously taking pictures for scaling board under dynamic environment；
Relative position and attitude parameter between binocular solid camera and laser inertial is demarcated；According to binocular solid camera pair
The control point CPIII, which take pictures, obtains multiple control point pictures, and according to handed over after solid the position for obtaining binocular solid camera and
Posture；INS/OD navigation system is inputted using the position of binocular solid camera and posture as cum rights observation, and is filtered, puts down
The processing of sliding and interpolation, obtains position and the posture of track detecting platform.The present invention is high-precision by track circuit by the method for vision
Degree control network data is counted and is merged with laser inertial/mileage, using Combined Calculation method, realizes dynamic track detection platform
Continuous, high-precision positioning and orientation, can be widely used for the applications such as high-speed rail, the track detecting of subway, mobile road survey.
It, can according to the technique and scheme of the present invention and this hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform, which is characterized in that the method includes with
Lower step:
A, the relative tertiary location posture of the left and right camera of binocular solid camera is demarcated, further comprises: A1, by double
Mesh stereoscopic camera continuously takes pictures to scaling board pre-set on track, and it is different to obtain multiple positions under dynamic environment
Scaling board image；A2, characteristic point in image is detected；A3, the inside and outside parameter of each camera in the camera of left and right, distortion are obtained
The relative position and attitude parameter of coefficient and left and right camera；
B, the relative position and attitude parameter between binocular solid camera and laser inertial is demarcated；
C, the control point CPIII take pictures according to binocular solid camera and obtain multiple control point pictures, and according to being handed over after solid
Obtain position and the posture of binocular solid camera；
D, INS/OD navigation system is inputted using the position of binocular solid camera and posture as cum rights observation, and be filtered,
The processing of smooth and interpolation, obtains position and the posture of track detecting platform；Wherein, the INS/OD navigation system is inertial navigation/inner
Journey meter navigation system.
2. the three-dimensional localization method for determining posture of dynamic environment lower railway detection platform according to claim 1, which is characterized in that step
The position that is obtained with GNSS/INS navigation system in rapid B by the position of synchronization binocular solid camera and posture and posture into
Row compares, calibration binocular solid camera coordinates system to inertial navigation carrier coordinate system transformational relation；Wherein GNSS/INS navigation system is
Global Satellite Navigation System/INS Integrated Navigation System.
3. the three-dimensional localization method for determining posture of dynamic environment lower railway detection platform according to claim 1, which is characterized in that step
Rapid C is specifically included:
C1, the CPIII coordinate that pre-set multiple control points on track are obtained by binocular solid camera；
C2, the picpointed coordinate for obtaining target on each control point；
C3, it is handed over after the picpointed coordinate of target is carried out solid with the CPIII coordinate at corresponding control point, obtains binocular solid camera
Position and posture, and precision corresponding with the position of binocular solid camera and posture.
4. the three-dimensional localization method for determining posture of dynamic environment lower railway detection platform according to claim 1, which is characterized in that step
Rapid D is specifically included:
D1, it is filtered by Kalman's pine combination, inputs INS/ using the position of binocular solid camera and posture as cum rights observation
OD navigation system obtains position and the posture of INS/OD navigation system；
D2, reversed smoothing processing and interpolation are carried out to the position of INS/OD navigation system and posture, obtains track detecting platform
Position and posture.
5. a kind of three-dimensional localization attitude determination system of dynamic environment lower railway detection platform characterized by comprising
Camera calibration module, the relative tertiary location posture for the left and right camera to binocular solid camera are demarcated；
Collimation angle demarcating module, for being demarcated to the relative position and attitude parameter between binocular solid camera and inertial navigation；
Binocular visual positioning determines appearance module, obtains multiple controls for take pictures to the control point CPIII according to binocular solid camera
System point picture, and position and the posture of binocular solid camera are obtained according to handing over after solid；
Binocular vision assists INS/OD positioning and orientation module, for observing using the position of binocular solid camera and posture as cum rights
Value input INS/OD navigation system is filtered, smooth and interpolation is handled, and obtains position and the posture of track detecting platform；Its
In, the INS/OD navigation system is inertial navigation/odometer navigation system；
The camera calibration module specifically includes:
Scaling board image acquisition unit, for continuously being clapped by binocular solid camera scaling board pre-set on track
According to the different scaling board image in multiple positions under acquisition dynamic environment；
Image detecting element, for detecting the characteristic point in image, i.e. angle point；
Binocular solid camera calibration unit, for obtaining the inside and outside parameter of each camera in the camera of left and right, distortion factor and left and right
The relative position and attitude parameter of camera.
6. the three-dimensional localization attitude determination system of dynamic environment lower railway detection platform according to claim 5, which is characterized in that institute
It states in the demarcating module of collimation angle and is obtained by the position of synchronization binocular solid camera and posture with GNSS/INS navigation system
Position and posture be compared, calibration binocular solid camera coordinates system is to inertial navigation carrier coordinate system transformational relation；Wherein GNSS/
INS navigation system is Global Satellite Navigation System/INS Integrated Navigation System.
7. the three-dimensional localization attitude determination system of dynamic environment lower railway detection platform according to claim 5, which is characterized in that institute
It states binocular visual positioning and determines appearance module and specifically include:
Control point acquiring unit, for obtaining the CPIII at pre-set multiple control points on track by binocular solid camera
Coordinate；
Picpointed coordinate acquiring unit, for obtaining the picpointed coordinate of target on each control point；
Positioning and orientation unit is obtained for handing over after the picpointed coordinate of target is carried out solid with the CPIII coordinate at corresponding control point
Position and posture to binocular solid camera, and precision corresponding with the position of binocular solid camera and posture.
8. the three-dimensional localization attitude determination system of dynamic environment lower railway detection platform according to claim 5, which is characterized in that institute
Binocular vision auxiliary INS/OD positioning and orientation module is stated to specifically include:
Filter unit is observed for being filtered by Kalman's pine combination using the position of binocular solid camera and posture as cum rights
Value input INS/OD navigation system, obtains position and the posture of INS/OD navigation system；
Smooth unit, for INS/OD navigation system position and posture carry out reversed smoothing processing and interpolation, obtain track
The position of detection platform and posture.
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