Abstract:With the development of intelligent, unmanned, and automated mining transportation equipment, unmanned rail electric locomotives have been widely used in mines. However, due to the high tonnage of goods transported by rail electric vehicles, as well as problems such as vehicle vibration, impact, and small terrain settlement, the track is very prone to deformation, seriously affecting the posture of the vehicle body and posing high safety hazards. This article focused on the track detection problem of electric locomotives with tracks, and designed an intelligent track detection system that could perform unmanned detection and recording of track shape and position parameters. Firstly, a combination navigation system was designed with a high-precision inertial navigation device as the core, combined with a tram odometer, which could provide high-precision three-dimensional attitude and position. Furthermore, two strapdown laser rangefinders were designed to complete the measurement of track gauge and track height based on the attitude correction of the inertial navigation device. Finally, an information fusion algorithm was designed to accurately measure the track gauge, tilt, twist, and vertical displacement of the track, diagnose faults, and calculate their location.