A Cost-Effective Method for Detecting Train Attitude Using Satellite Navigation and Laser Ranging

To ensure the stability of train operations, this paper proposes a cost-effective train attitude detection method to balance detection accuracy and cost. Based on the use of dual antennas to detect the train's 2D attitude, two laser rangefinders were added to extend the detection of the train's attitude to 3D. A model for calculating the train's roll angle was established, and the analytical expression for the roll angle was derived. Through forward and inverse simulation validation using MATLAB, the correctness of the roll angle calculation model is proven. After considering the laser rangefinder errors, a simulation evaluation of the detection errors for this method is carried out. Under the assumptions made in this paper, and without considering processing, assembly deformation errors, or other detection errors, a ±3mm laser rangefinder error results in a 0.0463° detection error in the train roll angle, which significantly reduces detection costs compared to devices of similar accuracy.