【作者】 郭寅；

【导师】 叶声华； 邾继贵；

【作者基本信息】 天津大学 ， 仪器科学与技术， 2013， 博士

【摘要】 动态包络线定义为车辆运行过程中受各种不利因素影响所导致的最大极限轮廓，是制定铁路限界的重要依据。随着高速列车运营速度的不断提升，行车安全对动态包络线真实性提出的严格要求，与依靠现有手段无法准确获取动态包络线之间的矛盾日益突出，通过测量方法精确得到高速列车动态包络线成为当务之急。本文基于动态包络线定义的深刻分析，针对高速列车动态包络线测量问题，提出一种基于车体静态轮廓测量和动态位姿参数测量的研究思路。围绕车体高速运行过程中动态位姿测量的技术难题，提出通过动态轮廓与静态曲面匹配实现动态位姿参数解算的方法，以此为线索，对基于曲面匹配的动态位姿解算、静态基准轮廓及曲面测量、动态轮廓测量、基准截面动态位姿估计、现场校准等关键技术环节展开了深入的研究，并进行了实验验证，为现场条件下测量高速列车动态包络线提供理论基础和数据支持。论文完成的主要工作有：1、概括总结了高速列车动态包络线测量的迫切需求及其特点，对比分析现有动态包络线计算方法和测量方法的局限性，综合考虑理论研究与实际应用，提出一种利用基准轮廓与动态位姿求取动态包络线的测量方法，并以此开展研究。2、研究了曲面匹配的关键问题及相关算法，针对利用动态局部轮廓与局部曲面匹配实现动态位姿解算的目标，介绍了离散指数映射和扩展指数映射的相关内容，将扩展指数映射概念引入到匹配当中，提出了适用于曲线与曲面匹配的ICP改进算法，实现并通过实验验证了方法的有效性。3、通过对高速列车结构及制造工艺的分析，提出了基于测距的轮廓扫描测量方法，在合理性假设的前提下提出了基准曲面生成方法，构建测量平台对方法的可行性及测量精度进行了验证。4、提出了基于双目视觉原理的高速动态局部轮廓测量方法，重点研究了摄像机校准、光条提取、立体匹配等关键技术，深入分析了双目测量误差和动态测量误差的影响，并通过实验验证了测量精度及现场测量的可行性。5、阐述并分析了借助位置信息估计基准截面动态位姿参数时存在的误差环节及影响，通过定量分析得到最大误差，验证了估计方法的可靠性。6、针对静态与动态测量坐标系统一问题，通过建立转站误差模型，研究分析了公共点布局对转站误差的影响，在保证精度的同时充分考虑铁路部门设置的约束条件，提出了适用于现场的快速校准方法。更多还原

【Abstract】 Dynamic envelope curve, a key basis for defining the dynamic gauge, is definedas the maximum limit outline affected by a variety of adverse factors while the train isrunning. With the speed of the high-speed train lifting continuously, the conflictbetween the strict requirements in traffic safety for the authenticity of dynamicenvelope curve and the inaccurate methods for dynamic envelope curve measurementis increasingly prominent. It is imperative to obtain dynamic envelope curveaccurately by the measuring method.According to the profound analysis of the definition of dynamic envelope curve,this article proposes an idea based on the static measurement of train body outline andparameter measurement of dynamic posture, aiming to resolve the measurement ofdynamic envelope curve of high-speed train. Concerning the technological problem ofthe measurement of dynamic posture while the train is running at high speed, amethod of calculating parameter of dynamic posture is proposed, by means ofmatching dynamic outline with static curve surface. Then, intensive study isconducted into dynamic posture calculation, static reference profile and curvemeasurement, dynamic outline measurement, reference section estimation of dynamicposture, field calibration and other key technologies based on surface matching.Experimental verification has been carried out to provide theoretical basis and datasupport for measuring dynamic envelope curve of high-speed train at field. The mainwork accomplished includes:1. The active demand and also characteristics of dynamic envelope curvemeasurement for high-speed train are summarized. Concerning the limitation ofexisting calculating and measurement methods of dynamic envelope curve, and withcomprehensive consideration of theoretical research and practical application, amethod for dynamic envelope curve measurement is proposed by using referenceprofile and dynamic posture, and following research has been carried out.2. Key technology and related algorithm of surface matching have been studied.Aiming at obtaining dynamic posture by means of matching dynamic partial outlineand partial surface, dispersion index mapping and expanding index mapping are introduced, with expanding index mapping brought in matching. Modified ICPalgorithm for curve matching and surface matching is proposed. The effectiveness ofthe method is tested and verified by experiments.3. By analyzing the structure and manufacturing technique of the high-speedtrain, the measurement method of profile scan based on distance measuring isproposed. Reference curve surface generation method is proposed on condition ofrationality assumption. Measurement platform is constructed to verify the feasibilityand accuracy of the measurement method.4. The Measurement method of dynamic partial outline based on principle ofbinocular vision is proposed. Detailed researches on camera calibration, extraction oflight stripe, stereo matching and other key technology are carried out. Deep analysison binocular vision measurement errors and dynamic measurement errors is made.The feasibility of field measurement and measurement accuracy is tested and verifiedby experiments.5. Errors and their influence in dynamic posture parameter of reference sectionestimated by location information are explained and analyzed. Maximum error isobtained by quantitative analysis and the reliability of method of estimation is testedand verified.6. On the issues of the unity of both static and dynamic measurement coordinates,the effect of common points layout on coordinate transformation is studied bycoordinate transformation modeling. Constraints of railway interests are fullyconsidered on condition of guaranteed precision, and a quick calibration methodapplicable in the field is proposed.更多还原