CN103676844A - High-speed railway track foundation settlement monitoring system and monitoring method - Google Patents
High-speed railway track foundation settlement monitoring system and monitoring method Download PDFInfo
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Abstract
The invention relates to a high-speed railway track foundation settlement monitoring system comprising a master monitoring terminal and multiple sub-monitoring terminals which are respectively arranged on all monitoring points of a track. Each sub-monitoring terminal respectively comprises a controller, and a satellite positioning module, an inertia measurement module and a sub-communication module which are respectively connected with the controller. The master monitoring terminal comprises a monitoring server and a master communication module which are interconnected. The master monitoring terminal is communicated with all the sub-monitoring terminals via the master communication module and the sub-communication modules. The invention also relates to a monitoring method based on the high-speed railway track foundation settlement monitoring system. Position information of monitoring points is acquired in real time on the basis of a conventional satellite measurement method in coordination with the inertia measurement module so that accuracy of high-speed railway track foundation settlement monitoring is effectively ensured.
Description
Technical field
The present invention relates to a kind of high speed railway track foundation settlement supervisory system and method for supervising.
Background technology
Most important that two features are high ride and high stability in high-speed railway, these two features have determined the significance and importance of track foundation sinking deformation monitoring.
When road speed is when 160km/h is following, to wavelength, be 56, 70, 83, in 97m, the irregularity of long wave height can be managed, but respectively 200, 250, 300, 350km/h speed lower time, its Forced Frequency and Japan, the vertical natural frequency of vibration 1Hz of car body of French high speed vehicle is suitable, cause car body to produce " unknown cause obtains judder ", but track checking car does not measure this vibration, and road maintainance machinery is not repaiied, along with this problem is recognized by people gradually, people start to pay close attention to non-uniform settling and the initial irregularity problem of track bed, therefore, for the high-speed railway of building high ride and high stability, it is particularly important that the function and significance of subsidence monitoring seems.
High-speed railway building technology is just being puted forth effort to promote by China, and accelerates to advance the construction of high-speed railway, and first the construction of high-speed railway requires high in operating technique, secondly operation management is had higher requirement.Due to China's complicated geological configuration, zonal Earth cave can produce the impact that is difficult to estimate again to the construction of high-speed railway, therefore settlement monitoring becomes in process of construction to obtain the most important thing, how in process of construction, the construction to high-speed railway is effectively monitored, be not only the guarantee that construction is carried out smoothly, be also to obtain safety guarantee after construction safety and operation simultaneously.
The analysis of track foundation sedimentation, modeling and scientific forecasting are the important contents of settlement monitoring, the object of settlement monitoring is by Monitoring Data being processed and being analyzed, to determine settling process, rule and the amplitude of track foundation, search Deformation Reasons, and judge that whether this distortion is normal.In recent years, at China's economic construction high speed development and " 12 " planning, build energetically under the background of infrastructure, high-speed railway has obtained swift and violent development, when railway speed reaches 200km/h when above, we are referred to as high ferro, for high ferro, because the train vibrations that the irregularity of track on longitudinally causes want much serious than the ordinary train under equal conditions, therefore, the uneven compliance of high-speed railway rail will have influence on passenger's comfort level greatly.
For above problem; generally use at present satellite metering system; but this measuring system is used radiowave to carry out work; usually can be subject to the impact of ionosphere weather; when the weather generation disturbance of ionosphere; measuring system can produce the error of several kms; therefore; ionospheric variation has a strong impact on the precision of single-frequency satellite receiver; ionospheric scintillation can affect the work of all types satellite receiver; particularly some fixing region, often cannot carry out high-precision measurement, and the malfunctioning event of satellite measuring system occurs often.
Summary of the invention
For above-mentioned technical matters, technical matters to be solved by this invention is to provide a kind of deficiency having solved in conventional satellite metering system, can effectively improve the high speed railway track foundation settlement supervisory system of track foundation subsidence monitoring precision.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has designed a kind of high speed railway track foundation settlement supervisory system, comprises total monitoring client and several sub-monitor terminal being separately positioned on each monitoring point of track; Wherein, each sub-monitor terminal comprises respectively controller and the satellite positioning module being connected with controller respectively, sub-communication module; Total monitoring client comprises interconnective monitoring server and total communication module, between total monitoring client and each sub-monitor terminal, by total communication module and sub-communication module, communicates; Described each sub-monitor terminal also comprises respectively the inertia measuring module being connected with controller.
As a preferred technical solution of the present invention: described total communication module and each sub-communication module are wireless communication module, carry out radio communication between described total monitoring client and described each sub-monitor terminal by total communication module and sub-communication module.
A kind of high speed railway track foundation settlement supervisory system of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) the high speed railway track foundation settlement supervisory system of the present invention's design, on basis based on prior art, set up the monitoring point of inertia measuring module and carry out positional information measurement, effectively made up the deficiency in conventional satellite metering system, greatly improve the precision of track foundation subsidence monitoring, guaranteed the stability of high speed railway track foundation settlement supervisory system work;
(2) in the high speed railway track foundation settlement supervisory system of the present invention's design, for communicating by letter between the sub-monitor terminal of total monitoring client and each, adopt wireless mode to communicate, system is set up convenient, and be more convenient to the plant maintenance in later stage.
Corresponding therewith, for above-mentioned technical matters, technical matters to be solved by this invention is to provide a kind of high speed railway track foundation settlement supervisory system based on the present invention's design, solve the deficiency in conventional satellite metering system, can effectively improve the method for supervising based on high speed railway track foundation settlement supervisory system of track foundation subsidence monitoring precision.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has designed a kind of method for supervising based on high speed railway track foundation settlement supervisory system, the locating information of its monitoring point, place of satellite positioning module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; The positional information of its monitoring point, place of inertia measuring module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; Controller receives respectively locating information and positional information by time series, and by time series, its integration is obtained to position, monitoring point information, controller is sent to described total monitoring client by position, monitoring point information, described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, the sedimentation situation of judgement each monitoring point of track, realizes the monitoring to high speed railway track foundation settlement.
As a preferred technical solution of the present invention: described controller adopts extended Kalman filter, by time series, locating information and positional information is integrated to position, the monitoring point information that obtains.
As a preferred technical solution of the present invention: described controller by time sequential reception after the locating information being collected by described satellite positioning module, according to locating information, to whether working properly satellite positioning module is, judge, if judgement satellite positioning module is working properly, described controller integrates by locating information and positional information position, the monitoring point information that obtains by time series; If the work of judgement satellite positioning module is improper, described controller integrates by the positional information being collected by described inertia measuring module position, the monitoring point information that obtains by time series.
As a preferred technical solution of the present invention: described controller adopts residual error x
2method of inspection, judges whether working properly satellite positioning module is according to the locating information being collected by described satellite positioning module.
As a preferred technical solution of the present invention: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same monitoring point, position, the monitoring point information of contrast this monitoring point of different time points, the sedimentation situation of judgement railway monitoring point.
As a preferred technical solution of the present invention: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same time point, contrasts position, the monitoring point information of adjacent monitoring point, the sedimentation situation of judgement railway monitoring point.
A kind of method for supervising based on high speed railway track foundation settlement supervisory system of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) method for supervising based on high speed railway track foundation settlement supervisory system of the present invention's design, on the basis of conventional satellite metering system, the positional information that coordinates its monitoring point, place of inertia measuring module Real-time Collection, has effectively guaranteed the precision that high speed railway track foundation settlement is monitored;
(2) in the method for supervising based on high speed railway track foundation settlement supervisory system of the present invention's design, for the measurement result of conventional satellite metering system, verify judgement, judge that whether its course of work is normal, and according to judged result, for the information being collected by satellite positioning module and inertia measuring module respectively, integrate, in order to improve the degree of accuracy of position, final acquisition monitoring point information;
(3) in the method for supervising based on high speed railway track foundation settlement supervisory system of the present invention's design, monitoring server is for position, the monitoring point information finally receiving, can compare judgement by flexile employing various ways, obtain the sedimentation situation of last turn monitoring point.
Accompanying drawing explanation
Fig. 1 is the module map of the high speed railway track foundation settlement supervisory system that designs of the present invention;
Fig. 2 is the method flow diagram of the high speed railway track foundation settlement supervisory system that designs of the present invention.
Embodiment
Below in conjunction with Figure of description, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, the present invention has designed a kind of high speed railway track foundation settlement supervisory system, comprises total monitoring client and several sub-monitor terminal being separately positioned on each monitoring point of track; Wherein, each sub-monitor terminal comprises respectively controller and the satellite positioning module being connected with controller respectively, sub-communication module; Total monitoring client comprises interconnective monitoring server and total communication module, between total monitoring client and each sub-monitor terminal, by total communication module and sub-communication module, communicates; Described each sub-monitor terminal also comprises respectively the inertia measuring module being connected with controller.
The high speed railway track foundation settlement supervisory system of the present invention's design, on basis based on prior art, set up the monitoring point of inertia measuring module and carry out positional information measurement, effectively made up the deficiency in conventional satellite metering system, greatly improve the precision of track foundation subsidence monitoring, guaranteed the stability of high speed railway track foundation settlement supervisory system work.
As a preferred technical solution of the present invention: described total communication module and each sub-communication module are wireless communication module, carry out radio communication between described total monitoring client and described each sub-monitor terminal by total communication module and sub-communication module.
In the high speed railway track foundation settlement supervisory system of the present invention's design, for communicating by letter between the sub-monitor terminal of total monitoring client and each, adopt wireless mode to communicate, system is set up convenient, and be more convenient to the plant maintenance in later stage.
Corresponding therewith, as shown in Figure 2, the present invention has designed a kind of method for supervising based on high speed railway track foundation settlement supervisory system, the locating information of its monitoring point, place of satellite positioning module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; The positional information of its monitoring point, place of inertia measuring module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; Controller receives respectively locating information and positional information by time series, and by time series, its integration is obtained to position, monitoring point information, controller is sent to described total monitoring client by position, monitoring point information, described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, the sedimentation situation of judgement each monitoring point of track, realizes the monitoring to high speed railway track foundation settlement.
The method for supervising based on high speed railway track foundation settlement supervisory system of the present invention's design, on the basis of conventional satellite metering system, the positional information that coordinates its monitoring point, place of inertia measuring module Real-time Collection, has effectively guaranteed the precision that high speed railway track foundation settlement is monitored.
As a preferred technical solution of the present invention: described controller adopts extended Kalman filter, by time series, locating information and positional information is integrated to position, the monitoring point information that obtains.
As a preferred technical solution of the present invention: described controller by time sequential reception after the locating information being collected by described satellite positioning module, according to locating information, to whether working properly satellite positioning module is, judge, if judgement satellite positioning module is working properly, described controller integrates by locating information and positional information position, the monitoring point information that obtains by time series; If the work of judgement satellite positioning module is improper, described controller integrates by the positional information being collected by described inertia measuring module position, the monitoring point information that obtains by time series.
As a preferred technical solution of the present invention: described controller adopts residual error x
2method of inspection, judges whether working properly satellite positioning module is according to the locating information being collected by described satellite positioning module.
In the method for supervising based on high speed railway track foundation settlement supervisory system of the present invention's design, for the measurement result of conventional satellite metering system, verify judgement, judge that whether its course of work is normal, and according to judged result, for the information being collected by satellite positioning module and inertia measuring module respectively, integrate, in order to improve the degree of accuracy of position, final acquisition monitoring point information.
As a preferred technical solution of the present invention: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same monitoring point, position, the monitoring point information of contrast this monitoring point of different time points, the sedimentation situation of judgement railway monitoring point.
As a preferred technical solution of the present invention: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same time point, contrasts position, the monitoring point information of adjacent monitoring point, the sedimentation situation of judgement railway monitoring point.
In the method for supervising based on high speed railway track foundation settlement supervisory system of the present invention's design, monitoring server is for position, the monitoring point information finally receiving, can compare judgement by flexile employing various ways, obtain the sedimentation situation of last turn monitoring point.
The high speed railway track foundation settlement supervisory system of the present invention's design and method for supervising are in the middle of actual application, the locating information of its monitoring point, place of satellite positioning module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; The positional information of its monitoring point, place of inertia measuring module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; Controller receives respectively locating information and positional information by time series.
Described controller by time sequential reception after the locating information being collected by described satellite positioning module, according to locating information, to whether working properly satellite positioning module is, judge, if judgement satellite positioning module is working properly, described controller integrates by locating information and positional information position, the monitoring point information that obtains by time series; If the work of judgement satellite positioning module is improper, described controller integrates by the positional information being collected by described inertia measuring module position, the monitoring point information that obtains by time series.Wherein, described controller adopts residual error x
2method of inspection, judges whether working properly satellite positioning module is according to the locating information being collected by described satellite positioning module, and process is as follows:
Set up systematic error equation:
Wherein
for measuring error predicted value,
for k-1 measuring error estimated value constantly, Φ (k, k-1) is carved into the k transition matrix in the moment during for k-1,
for observability estimate value; H (k) is systematic observation matrix.
If k-1 (comprises that k-1 step constantly) constantly in the past satellite system output non-fault, the satellite estimated value in the k-1 obtaining through the Kalman filtering so moment
should be correct.State equation by system obtains the k recursion value of system state constantly:
Can obtain thus the predicted value of k systematic observation constantly:
Predicted value by observed reading
the method of constructing test statistics with the difference of measured value Z (k) is called residual error χ
2method of inspection.Residual error is defined as
When satellite output signal is normal, residual error d (k) is zero-mean white noise; When satellite output signal is abnormal, the average of residual error d (k) is no longer zero.Therefore, by the average check to residual error d (k), can determine whether system fault has occurred
After above process, controller adopts extended Kalman filter, by time series, locating information and positional information are integrated to position, the monitoring point information that obtains, and controller is sent to described total monitoring client by position, monitoring point information, described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, the sedimentation situation of judgement each monitoring point of track, the monitoring of realization to high speed railway track foundation settlement, wherein, controller adopts following two kinds of modes to judge the sedimentation situation of monitoring point:
Method one: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same monitoring point, contrast different time points, position, the monitoring point information of this monitoring point, if the inconsistent words of the positional information of same monitoring point when different time points, judge that sedimentation appears in this monitoring point; If the positional information of same monitoring point when different time points is consistent, judge that sedimentation does not appear in this monitoring point; Judge thus the sedimentation situation of railway monitoring point.
Method two: as a preferred technical solution of the present invention: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same time point, contrast position, the monitoring point information of adjacent monitoring point, if same time point, in position, the monitoring point information of adjacent monitoring point, height, the inconsistent words of angle information, judge that on track, sedimentation appears in this region, two monitoring points; If same time point, height in position, the monitoring point information of adjacent monitoring point, angle information is consistent, judges that on track, sedimentation does not appear in this region, two monitoring points; Judge thus the sedimentation situation of railway monitoring point.
The high speed railway track foundation settlement supervisory system of the present invention's design and method for supervising are in the middle of actual application, satellite positioning module is that XW-ADU3600 measures directed OEM module, inertia measuring module is comprised of three axis accelerometer and three-axis gyroscope, accelerometer adopts XW-AS1920 quartz accelerometer, and gyroscope adopts XW-GS1830-34 3 axis MEMS gyroscope.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken possessing those of ordinary skills, can also under the prerequisite that does not depart from aim of the present invention, makes a variety of changes.
Claims (8)
1. a high speed railway track foundation settlement supervisory system, comprises total monitoring client and several sub-monitor terminal being separately positioned on each monitoring point of track; Wherein, each sub-monitor terminal comprises respectively controller and the satellite positioning module being connected with controller respectively, sub-communication module; Total monitoring client comprises interconnective monitoring server and total communication module, between total monitoring client and each sub-monitor terminal, by total communication module and sub-communication module, communicates; It is characterized in that: described each sub-monitor terminal also comprises respectively the inertia measuring module being connected with controller.
2. a kind of high speed railway track foundation settlement supervisory system according to claim 1, it is characterized in that: described total communication module and each sub-communication module are wireless communication module, between described total monitoring client and described each sub-monitor terminal, by total communication module and sub-communication module, carry out radio communication.
3. the method for supervising based on a kind of high speed railway track foundation settlement supervisory system described in any one in claim 1 to 2, the locating information of its monitoring point, place of satellite positioning module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; It is characterized in that: the positional information of its monitoring point, place of inertia measuring module Real-time Collection in described each sub-monitor terminal, and be sent to corresponding with it controller; Controller receives respectively locating information and positional information by time series, and by time series, its integration is obtained to position, monitoring point information, controller is sent to described total monitoring client by position, monitoring point information, described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, the sedimentation situation of judgement each monitoring point of track, realizes the monitoring to high speed railway track foundation settlement.
4. a kind of method for supervising based on high speed railway track foundation settlement supervisory system according to claim 3, it is characterized in that: described controller adopts extended Kalman filter, by time series, locating information and positional information is integrated to position, the monitoring point information that obtains.
5. according to a kind of method for supervising based on high speed railway track foundation settlement supervisory system described in claim 3 or 4, it is characterized in that: described controller by time sequential reception after the locating information being collected by described satellite positioning module, according to locating information, to whether working properly satellite positioning module is, judge, if judgement satellite positioning module is working properly, described controller integrates by locating information and positional information position, the monitoring point information that obtains by time series; If the work of judgement satellite positioning module is improper, described controller integrates by the positional information being collected by described inertia measuring module position, the monitoring point information that obtains by time series.
6. a kind of method for supervising based on high speed railway track foundation settlement supervisory system according to claim 5, is characterized in that: described controller adopts residual error x
2method of inspection, judges whether working properly satellite positioning module is according to the locating information being collected by described satellite positioning module.
7. a kind of method for supervising based on high speed railway track foundation settlement supervisory system according to claim 3, it is characterized in that: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same monitoring point, position, the monitoring point information of contrast this monitoring point of different time points, the sedimentation situation of judgement railway monitoring point.
8. a kind of method for supervising based on high speed railway track foundation settlement supervisory system according to claim 3, it is characterized in that: described monitoring server receives position, the monitoring point information being sent by each sub-monitor terminal, for same time point, contrast position, the monitoring point information of adjacent monitoring point, the sedimentation situation of judgement railway monitoring point.
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Effective date of registration: 20191128 Address after: 221300, Fumin Road, Pizhou hi tech Industrial Development Zone, Xuzhou, Jiangsu, 22 Patentee after: Pizhou hi tech Zone New Energy Technology Research Institute Co., Ltd. Address before: Room 2310, building 2, Wuzhong science and Technology Pioneer Park, No. 70, Zhongshan East Road, Mudu Town, Wuzhong District, Suzhou Patentee before: Nanjing University of Information Science and Technology |
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