CN109334706A - Satellite positioning and the integrated track detection car of inertial navigation - Google Patents
Satellite positioning and the integrated track detection car of inertial navigation Download PDFInfo
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- CN109334706A CN109334706A CN201811222027.XA CN201811222027A CN109334706A CN 109334706 A CN109334706 A CN 109334706A CN 201811222027 A CN201811222027 A CN 201811222027A CN 109334706 A CN109334706 A CN 109334706A
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- Prior art keywords
- car body
- inertial navigation
- satellite
- shape car
- sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The present invention relates to the ride comfort detection technique fields of track, more particularly to a kind of satellite positioning and the integrated track detection car of inertial navigation, including T shape car body, sleeper identifier is fixed in the shape car body side T, the setting traveling wheel of T shape car body bottom surface, corresponding traveling wheel installation track gauge sensor and odometer, 3 masts are arranged in the shape car body top surface T, fixed satellite signal receiving antenna on mast, every satellite signal receiving antenna is correspondingly provided with a satellite receiver, accommodation groove is arranged in a line top surface of T shape car body, solid temperature sensor in accommodation groove, satellite receiver, obliquity sensor and power supply, Dormant Inertial Navigation System is gone back on T shape car body, aforementioned each sensor, satellite receiver, inertial navigation system, sleeper identifier and odometer are connected to processing unit.The present invention enhances the anti-interference of rail inspection equipment, can all weather operations, it is not affected by environment, improve detection accuracy and detection efficiency.
Description
Technical field
The present invention relates to the ride comfort detection technique fields of track, and in particular to a kind of satellite positioning and inertial navigation are integrated
Track detection car.
Background technique
It is established on the basis of III control point CP when existing railroad track ride comfort detection device measures, passes through total station
Angle and distance measurement, in the indirect measurement for being converted into deviation from linearity.III control point CP is just designed at the beginning of railway construction
In railway both sides, it is spaced 60 meters or so each one, forced centering mark is set on III control point CP, is known coordinate point.?
When detection, prism is disposed on III control point CP, then sets up total station in track, by observing III control point coordinates of known CP
Determine total station frame station coordinates, then sleeper observes the prism on track checking car one by one, measures Coordinate of central line, and then calculate that track is flat
Pliable parameter.
Since the precision at III control point CP just will affect detection accuracy, so railway O&M side must periodically spend a large amount of expense
It is used as the precision repetition measurement at III control point CP, due to the detection of sleeper one by one that the technology uses, so detection speed is slow, low efficiency,
One operation group, can only at most survey 300m route by one " skylight point " (4h).In addition, since total station is to environmental condition
Exquisite sensitivity, track geometry status measuring instrument (hereinafter referred to as rail survey instrument) is easily by external environment when measurement, such as temperature, wet
Degree, light, visibility and wind speed etc. influence, and the coordinate value accuracy measured is caused although to can satisfy place on line measurement request
(± 10mm), but be not able to satisfy in track, shortwave ride comfort requirement (≤2mm).And the measurement of higher degree precision of total station is very
It is low, and measurement result is unstable.Therefore, when currently used orbit measurement method is difficult to meet operation in track, shortwave it is flat
Pliable measurement request.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: a kind of satellite positioning and the integrated rail of inertial navigation are provided
Examine trolley, the anti-interference of enhancing rail inspection equipment, can all weather operations, it is not affected by environment, improve detection accuracy and inspection
Survey efficiency.
The present invention is technical solution used by solving its technical problem are as follows:
The satellite positioning and the integrated track detection car of inertial navigation, including T shape car body, T shape car body side retaining rail
Identifier is rested the head on, traveling wheel is arranged in three ends of T shape car body bottom surface, and an optional traveling wheel connects odometer, an optional traveling wheel
Track gauge sensor is installed, a mast is respectively set in three ends of T shape car body top surface, and fixed satellite signal receives day on mast
Line, every satellite signal receiving antenna are correspondingly provided with a satellite receiver, and accommodating is arranged in a line top surface of the T shape car body
Slot, solid temperature sensor, satellite receiver, obliquity sensor and power supply in accommodation groove, also fixed inertia is led on T shape car body
Boat system, temperature sensor, satellite receiver, obliquity sensor, track gauge sensor, inertial navigation system, sleeper identifier and
Odometer is connected to processing unit by interface control unit.
The present invention installs three satellite signal receiving antennas and three sets of satellite receiver on T shape car body, passes through installation
Three satellite signal receiving antennas on T shape car body receive satellite data, then do in satellite receiver at parsing storage
Reason, relative position of three satellite signal receiving antennas on T shape car body is fixed it is known that High Accuracy Inertial Navigation System records T
Shape car body obtains three-dimensional state during the motion, records T shape car body in real time by track gauge sensor in movement and stationary state
The gauge data of measurement, obliquity sensor measure the three-dimensional state of T shape car body under static state, and temperature sensor records in real time
Environment temperature during equipment work, sleeper identifier record the sleeper number that T shape car body passes through under motion state in real time, own
Data all pass through interface control unit and be connected to processing unit and carry out subsequent processing, tablet computer, pen can be used in processing unit
Remember this computer or PC machine.
When equipment works, after the dip angle parameter for having demarcated T shape car body itself, start that T shape car body is pushed to examine operation to rail
Direction of advance is advanced, and during advance, High Accuracy Inertial Navigation System records the course of T shape car body in real time, is rolled, roll three
Dimension state, meanwhile, it is real-time under the satellite location data of cooperation satellite receiver record, the motion state of track gauge sensor record
Gauge data and the sleeper data of sleeper identifier identification, which can be used as, calculates the rail of track to, height and ultra-high parameter and sleeper position
The initial data set, the acquisition of data do not depend on III control point CP, improve rail inspection homework precision, solve III control point CP essence
Degree changes over time the problem of causing rail inspection precision to reduce.
Wherein, preferred embodiment are as follows:
The accommodation groove middle position passes through display by the fixed display bracket of crossbeam, the display of processing unit connection
Device bracket is fixed；Handle is arranged in display bracket side, and display is fixed on beside handle, aobvious convenient for using and checking when cart
Show device.
Reinforcing rib is set between two sides of the T shape car body；Sleeper identifier is fixed on the reinforcing rib.
Above-mentioned temperature sensor, satellite receiver, obliquity sensor, track gauge sensor, inertial navigation system, sleeper identification
Device and odometer are all made of market and now sell product.
Compared with prior art, the invention has the following advantages:
The present invention enhance rail inspection equipment anti-interference, can all weather operations, it is not affected by environment, improve detection essence
Degree and detection efficiency.It using satellite positioning surveys track absolute coordinate, can directly measure, not depend on III control point CP, improve
Rail examines homework precision, and solving the problems, such as that CP III precision of control point changes over time causes rail inspection precision to reduce, and high-precision is used
Property navigation system records T shape car body during the motion three-dimensional state, record T shape car body in real time by track gauge sensor and transporting
The gauge data of dynamic and stationary state measurement, obliquity sensor measure the three-dimensional state of T shape car body under static state, temperature
Environment temperature during the work of sensor real-time recording unit, sleeper identifier record T shape car body in real time and pass through under motion state
The sleeper number crossed, combined high precision inertial navigation system device record track checking car three-dimensional data pass through high-precision mobile satellite location equipment in turn
The rest point coordinate of calculating calculates sleeper coordinate one by one, and not needing each sleeper will stop measuring, and substantially increases rail inspection and makees
Industry efficiency.
Detailed description of the invention
Fig. 1 structure of the invention Fig. 1.
Fig. 2 structure of the invention Fig. 2.
In figure: 1, T shape car body；2, sleeper identifier；3, traveling wheel；4, mast；5, satellite signal receiving antenna；6, it defends
Star receiver；7, accommodation groove；8, temperature sensor；9, obliquity sensor；10, power supply；11, inertial navigation system；12, horizontal
Beam；13, display bracket；14, handle；15, reinforcing rib.
Specific embodiment
Embodiment 1:
As shown in Figs. 1-2, the satellite positioning and the integrated track detection car of inertial navigation, including T shape car body 1, the T shape vehicle
Sleeper identifier 2 is fixed in 1 side of body, and traveling wheel 3 is arranged in three ends of 1 bottom surface of T shape car body, and an optional traveling wheel 3 connects mileage
Meter, an optional traveling wheel 3 install track gauge sensor, and a mast 4, mast is respectively set in three ends of 1 top surface of T shape car body
Fixed satellite signal receiving antenna 5 on 4, every satellite signal receiving antenna 5 are correspondingly provided with a satellite receiver 6, the T shape
Accommodation groove 7, solid temperature sensor 8, satellite receiver 6,9 and of obliquity sensor in accommodation groove 7 is arranged in the vertical edge top surface of car body 1
Power supply 10 goes back Dormant Inertial Navigation System 11, temperature sensor 8, satellite receiver 6, obliquity sensor on T shape car body 1
9, track gauge sensor, inertial navigation system 11, sleeper identifier 2 and odometer are connected to processing list by interface control unit
Member, processing unit are also connected with display, track gauge sensor and odometer and do not embody in fig. 1 and 2 because blocking.
Wherein, by the fixed display bracket 13 of crossbeam 12, the display of processing unit connection is logical in accommodation groove 7 middle position
It is fixed to cross display bracket 13；Handle 14 is arranged in 13 side of display bracket, and display is fixed on 14 side of handle, is convenient for cart
When use and check display；Reinforcing rib 15 is set between two sides of T shape car body 1；Sleeper knowledge is fixed on the reinforcing rib 15
Other device 2.
Above-mentioned temperature sensor 8, satellite receiver 6, obliquity sensor 9, track gauge sensor, inertial navigation system 11, rail
Pillow identifier 2 and odometer are all made of market and now sell product.
The present invention installs three satellite signal receiving antennas 5 and three sets of satellite receiver 6 on T shape car body 1, passes through peace
Three satellite signal receiving antennas 5 on T shape car body 1 receive satellite data, then do parsing in satellite receiver 6 and deposit
Storage processing, relative position of three satellite signal receiving antennas 5 on T shape car body 1 is fixed it is known that High Accuracy Inertial Navigation System
11 record T shape car bodies 1 during the motion three-dimensional state, recorded in real time by track gauge sensor T shape car body 1 movement and
The gauge data of stationary state measurement, obliquity sensor 9 measure the three-dimensional state of T shape car body 1 under static state, temperature sensing
Environment temperature during the work of 8 real-time recording unit of device, record T shape car body 1 passes through sleeper identifier 2 under motion state in real time
Sleeper number, all data, which all pass through interface control unit and are connected to processing unit, carries out subsequent processing, and processing unit can adopt
With tablet computer, laptop or PC machine, interface control unit generally uses serial ports to turn network interface module, by each measuring device
Measuring signal is sent to processing unit after turning network interface module integration by serial ports, and serial ports turns network interface module and now sells product using market
?.
When equipment works, after the dip angle parameter for having demarcated T shape car body 1 itself, start that T shape car body 1 is pushed to examine work to rail
Industry direction of advance is advanced, and during advance, High Accuracy Inertial Navigation System 11 records the course of T shape car body 1 in real time, is rolled,
Roll three-dimensional state, meanwhile, the motion state of satellite location data, track gauge sensor record that cooperation satellite receiver 6 records
Under the sleeper data that identify of real-time gauge data and sleeper identifier 2 can be used as and calculate the rail of track to, height and superelevation ginseng
Several and sleeper position initial data, the acquisition of data do not depend on III control point CP, improve rail inspection homework precision, solve CP
III precision of control point changes over time the problem of causing rail inspection precision to reduce.
Claims (6)
1. a kind of satellite positioning and the integrated track detection car of inertial navigation, which is characterized in that satellite positioning and the integrated rail of inertial navigation
Trolley, including T shape car body (1) are examined, the T shape car body (1) side is fixed sleeper identifier (2), and the three of T shape car body () bottom surface
End setting traveling wheel (3), an optional traveling wheel (3) connect odometer, and an optional traveling wheel (3) installs track gauge sensor, T
Three ends of shape car body (1) top surface are respectively set a mast (4), fixed satellite signal receiving antenna (5) on mast (4),
Every satellite signal receiving antenna (5) is correspondingly provided with a satellite receiver (6), and a line top surface of the T shape car body (1) is set
It sets accommodation groove (7), accommodation groove (7) interior fixed temperature sensor (8), satellite receiver (6), obliquity sensor (9) and power supply electricity
Source (10) is gone back Dormant Inertial Navigation System (11) on T shape car body (1), and temperature sensor (8), satellite receiver (6), inclination angle pass
Sensor (9), track gauge sensor, inertial navigation system (11), sleeper identifier (2) are connected with odometer by interface control unit
To processing unit.
2. satellite positioning according to claim 1 and the integrated track detection car of inertial navigation, which is characterized in that the accommodation groove
(7) middle position is fixed display bracket (13) by crossbeam (12), and display is fixed by display bracket (13).
3. satellite positioning according to claim 2 and the integrated track detection car of inertial navigation, which is characterized in that the display
Handle (14) are arranged in bracket (13) side.
4. satellite positioning according to claim 1 and the integrated track detection car of inertial navigation, which is characterized in that the T shape vehicle
Reinforcing rib (15) are set between two sides of body (1).
5. satellite positioning according to claim 3 and the integrated track detection car of inertial navigation, which is characterized in that the reinforcing rib
(15) sleeper identifier (2) are fixed on.
6. satellite positioning according to claim 5 and the integrated track detection car of inertial navigation, which is characterized in that the sleeper is known
Other device (2) uses infrared sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222027.XA CN109334706A (en) | 2018-10-19 | 2018-10-19 | Satellite positioning and the integrated track detection car of inertial navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222027.XA CN109334706A (en) | 2018-10-19 | 2018-10-19 | Satellite positioning and the integrated track detection car of inertial navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334706A true CN109334706A (en) | 2019-02-15 |
Family
ID=65309433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811222027.XA Withdrawn CN109334706A (en) | 2018-10-19 | 2018-10-19 | Satellite positioning and the integrated track detection car of inertial navigation |
Country Status (1)
| Country | Link |
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| CN (1) | CN109334706A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109987116A (en) * | 2019-04-13 | 2019-07-09 | 西南交通大学 | A kind of high-temperature superconducting magnetic levitation track checking car |
| CN110184866A (en) * | 2019-04-28 | 2019-08-30 | 中铁一局集团有限公司 | A kind of subway O&M limit and track geometry status detect integral measuring instrument |
| CN110203247A (en) * | 2019-06-18 | 2019-09-06 | 上海应用技术大学 | A kind of multisensor synchronous for track detecting |
| CN110203223A (en) * | 2019-06-18 | 2019-09-06 | 上海应用技术大学 | A kind of track irregularity detection device |
| CN110258216A (en) * | 2019-06-19 | 2019-09-20 | 湖北三江航天红峰控制有限公司 | A kind of simple high-speed rail inertial navigation rail checking device and detection method |
-
2018
- 2018-10-19 CN CN201811222027.XA patent/CN109334706A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109987116A (en) * | 2019-04-13 | 2019-07-09 | 西南交通大学 | A kind of high-temperature superconducting magnetic levitation track checking car |
| CN109987116B (en) * | 2019-04-13 | 2024-04-02 | 西南交通大学 | High-temperature superconductive magnetic levitation track inspection vehicle |
| CN110184866A (en) * | 2019-04-28 | 2019-08-30 | 中铁一局集团有限公司 | A kind of subway O&M limit and track geometry status detect integral measuring instrument |
| CN110203247A (en) * | 2019-06-18 | 2019-09-06 | 上海应用技术大学 | A kind of multisensor synchronous for track detecting |
| CN110203223A (en) * | 2019-06-18 | 2019-09-06 | 上海应用技术大学 | A kind of track irregularity detection device |
| CN110258216A (en) * | 2019-06-19 | 2019-09-20 | 湖北三江航天红峰控制有限公司 | A kind of simple high-speed rail inertial navigation rail checking device and detection method |
| CN110258216B (en) * | 2019-06-19 | 2020-11-06 | 湖北三江航天红峰控制有限公司 | Simple high-speed rail inertial guide rail detection device and detection method |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190215 |
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| WW01 | Invention patent application withdrawn after publication |