Three-dimensional positioning and attitude-determining method and system for track detection platform in dynamic environment

The invention provides a three-dimensional positioning and attitude-determining method and a system for a track detection platform in a dynamic environment. The method comprises the steps of calibrating the relative spatial positions and attitudes of the left and right cameras of a binocular stereo camera; calibrating the relative position and attitude parameters of the binocular stereo camera relative to the laser inertial navigation; taking the photos of a CPIII control point by means of the binocular stereo camera to obtain multiple photos of the control point; obtaining the position and the attitude of the binocular stereo camera through the stereo intersection process; adopting the position and the attitude of the binocular stereo camera as weighted observation values and inputting the weighted observation values into an INS/OD navigation system for filtering, smoothing and interpolating treatments so as to obtain the positioning and the attitude of the track detection platform. According to the technical scheme of the invention, the data of a track line high-precision control network and the data of an inertial navigation meter /speedometer are fused based on visual techniques, and the combined resolving method is adopted. In this way, the continuous and high-precision positioning and attitude-determining effect of the dynamic track detection platform is realized. The method and the system can be widely applied to the track detection of high-speed rails and subways, and the mobile road measurement.