As the calculation of the coordinate system of the track detection point and the track midline made by the 3 D track inspection system of the CP III track control network is complex and the results are not accurate, a highly accurate mathematic model of the 3D track inspection system for the CPIV track reference network is established. It employs track inspection trolley with dual total station to directly catch the prism of CPIV track reference network and frees from the cumbersome and error in setting inspection points for total station in CPIII 3D track inspection system, and simplifies the mathematic model based on the theory of the Euler angle and the rule of the rigid body kinematics. The coordinate system of the track detection point and the track midline can be quickly calculated and the 3 D track inspection system improves the inspection accuracy and efficiency.%针对CPⅢ轨道控制网的轨道三维检测系统对计算轨道被检测点坐标与轨道中线坐标较为复杂,检测精度不够高的问题,建立一种基于高精度CPⅣ轨道基准网的轨道三维检测系统的数学模型,该检测系统采用双全站仪的轨道检测小车直接捕捉CPⅣ基准网棱镜,消除CPⅢ轨道三维检测系统对全站仪进行设站所带来的繁琐与误差,并通过欧拉角与刚体运动规律的原理简化检测系统的数学模型,可以快速计算出轨道被检测点坐标与轨道中线坐标,CPⅣ轨道三维检测系统显著提升了轨道的检测精度与效率。
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