A rapid on-site calibration method for measuring dynamic envelope curve of high-speed trains

LIU Chang-jie, YANG Du-juan,  FU Lu-hua, WANG Zhong

（State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China）

Abstract： Dynamic envelope curve is a significant parameter to assess the running safety of high-speed trains. Up to now the method based on binocular stereo vision is the only way available to measure the dynamic envelope curve of a train, the speed of which is over 200 km/h. Nevertheless the method has two limitations, one is large field-of-view (FOV), the other is calibration time. Hence portable calibration equipment, easy-to-build target and rapid calibration algorithm are required to complete the calibration. In this paper, a new rapid on-site calibration method with large FOV based on binocular stereo vision is proposed. To address these issues, a light target has been designed, the rail coordinate system (RCS) is represented by 40 fixed retroreflective points on the target, and they are utilized to calibrate the parameters of two cameras. In addition, two cameras merely capture a single image of the target simultaneously, and the intrinsic and extrinsic parameters of the cameras can be calculated rapidly. To testify the proposed method, the experiments have been conducted and the results reveal that the accuracy can reach ±1 mm, which can meet the measurement requirement.

Key words： high-speed train; dynamic envelope curve; on-site calibration; field-of-view (FOV)

CLD number： U238Document code： A

Article ID： 1674-8042（2017）03-0205-10  doi： 10.3969/j.issn.1674-80422017-03-001

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高速列车动态包络线测量一种现场快速标定方法

刘常杰，杨杜鹃，付鲁华，王仲

（天津大学 精密测试技术及仪器国家重点实验室，天津 300072）

摘要:列车动态包络线是评定列车安全运行的一项重要指标，基于双目立体视觉的方法是目前能够实现速度超过200 km/h列车动态包络线测量的唯一方法。因受到大视场和标定时间的严格限制，便携的标定设备、易于搭建的靶标和快速的标定算法便成为标定过程需要满足的三个条件。本文提出一种新的基于双目立体视觉的大视场现场快速标定方法，设计轻型便携靶标，靶标上40个反光标记点表示铁轨坐标系，并用于计算双相机内外参数。并且，双相机仅需同时拍摄一张靶标图像，就能实现双相机内外参数快速一体化标定。实验结果表明，该方法测量精度可达±1 mm，能够满足高速列车动态包络线测量现场标定要求。

关键词:高速列车；动态包络线；现场标定；大视场

引用格式：LIU Chang-jie, YANG Du-juan,  FU Lu-hua, et al. A rapid on-site calibration method for measuring dynamic envelope curve of high-speed trains. Journal of Measurement Science and Instrumentation, 2017, 8(3)： 205-214. ［doi： 10.3969／j.issn.1674-8042.20170301］

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