CN111830549B - Railway track measurement method, system, readable storage medium and electronic equipment - Google Patents
Railway track measurement method, system, readable storage medium and electronic equipment Download PDFInfo
- Publication number
- CN111830549B CN111830549B CN202010490331.3A CN202010490331A CN111830549B CN 111830549 B CN111830549 B CN 111830549B CN 202010490331 A CN202010490331 A CN 202010490331A CN 111830549 B CN111830549 B CN 111830549B
- Authority
- CN
- China
- Prior art keywords
- track
- measuring
- accurate
- coordinates
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Machines For Laying And Maintaining Railways (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a railway track measurement method, which comprises the following steps: recording accurate coordinates of a starting point, and respectively acquiring heading angle change information and angle increment information in real time; recording an accurate coordinate of an end point, and obtaining a first direction vector according to the accurate coordinate of the start point and the accurate coordinate of the end point; obtaining a first track according to the course angle information, and obtaining a second track and a second direction vector of the measuring section according to the angle increment information; correcting the second direction vector and the second track by the first direction vector, and carrying out information fusion to obtain an accurate track; and calculating the coordinates of each point on the measuring section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the end point. According to the invention, the first track and the second track are respectively acquired, and the first track and the second track are subjected to information fusion, so that the accuracy of the track coordinate obtained by calculation is greatly improved compared with that of the track coordinate obtained by the existing direct acquisition. The invention also discloses a system, a readable storage medium and electronic equipment adopting the method.
Description
Technical Field
The present invention relates to the field of track detection technology, and in particular, to a method and a system for measuring a railway track, a readable storage medium, and an electronic device.
Background
Along with the rapid development of railways in China, the operation speed is continuously improved, and the accuracy requirement on the geometric parameter control of railway tracks is also higher and higher.
The track is detected during the construction and operation period of the track, the track of the track detection trolley on the track is generally obtained by adopting inertial navigation combination at present, and the track is stopped for a period of time at intervals of 100-200m to obtain the coordinates of the track positioning control points, and the track is subjected to coordinate constraint through the coordinates of the positioning control points on the basis of the coordinates, so that the coordinates of all positions of the track are obtained.
The method for acquiring the coordinates of the orbit positioning control point can adopt the Beidou or GPS satellite positioning technology. In order to improve the positioning measurement precision, a satellite measurement base station can be combined, and at the moment, the method is limited by the capability of a satellite positioning technology, and the stay time of positioning point coordinate measurement is generally as long as 10 minutes to reach the typical precision of 3-5mm required by the orbital coordinate positioning, so that the measurement efficiency is extremely low, and the method cannot adapt to the requirements of practical application scenes of the orbital measurement.
Disclosure of Invention
The invention aims to provide a railway track measurement method which adopts a satellite dynamic differential acquisition measurement device to move along a track measurement section, adopts a satellite differential positioning technology combined with a satellite fixed base station to acquire accurate coordinates of a start point and an end point of the track measurement section, and finally acquires the accurate coordinates of each point of the track measurement section by information fusion with the track acquired by a direction sensor additionally arranged on the measurement device.
A railway track measurement method is applied to measurement of a track by a measurement device and comprises the following steps:
dividing the track into a plurality of measuring sections, for each measuring section, standing the measuring device at the starting point of the measuring section, recording the accurate coordinates of the starting point, controlling the measuring device to move towards the end point of the measuring section, and respectively acquiring the course angle change information of the measuring device and the angle increment information obtained by a direction sensor in real time;
when the measuring device reaches the end point of the measuring section, recording an end point accurate coordinate, and obtaining a first direction vector according to the start point accurate coordinate and the end point accurate coordinate;
obtaining a first track of the measuring section according to the course angle information, and obtaining a second track and a second direction vector of the measuring section according to the angle increment information;
correcting the second direction vector and the second track by the first direction vector, and carrying out information fusion on the first track and the corrected second track to obtain an accurate track of the measuring section;
and calculating the coordinates of each point on the measuring section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the end point.
The beneficial effects of the invention are as follows: and respectively acquiring the first track and the second track, and carrying out information fusion on the first track and the second track, so that the accuracy of the track coordinate obtained by calculation is greatly improved compared with that of the track coordinate obtained by the prior direct acquisition.
In addition, the railway track measurement method provided by the invention can also have the following additional technical characteristics:
further, the accurate coordinates of the starting point and the accurate coordinates of the ending point are recorded and obtained through differential measurement of a satellite mobile receiving station and a satellite fixed base station.
Further, the course angle information is obtained through dynamic difference of satellite mobile receiving stations respectively arranged at the front part and the rear part of the measuring device or obtained by combining with a satellite fixed base station.
Further, the heading angle information includes a yaw angle and a pitch angle of the measuring device, and the step of obtaining the first track of the measurement section includes:
obtaining the moving distance of the measuring device in the course angle measuring time interval, obtaining measuring points before and after the measuring time interval, and connecting 2 measuring points to obtain a measuring point connecting line;
and attaching the measuring point connecting line to the first direction vector to obtain a first track of the measuring section and coordinates of the measuring point, wherein the first track comprises a yaw track and a pitch track.
Further, the direction sensor includes a pitch gyro sensor and a yaw gyro sensor, the angle increment is obtained by the pitch gyro sensor and the yaw gyro sensor, and the step of obtaining the second track and the second direction vector of the measurement section according to the angle increment information includes:
acquiring a pitch angle increment and a yaw angle increment of the measuring device through the pitch gyro sensor and the yaw gyro sensor respectively;
combining the pitch angle increment and the yaw angle increment into a space angle increment, installing the step length measured at fixed distance by the direction sensor according to the space angle increment, acquiring the position points of the later measuring point relative to the former measuring point, sequentially acquiring all the position points, and sequentially connecting the position points to obtain a second track of the measuring section.
Further, the second direction vector and the second track are corrected by the first direction vector, the second direction vector is attached to the first direction vector, the direction correction of the second track is realized, and the corrected second track and the coordinates of each measuring point are obtained.
Further, the step of information fusion of the first track and the corrected second track to obtain an accurate track of the measurement section includes:
and respectively carrying out weighted sliding filtering on the first track and the corrected second track, and fusing the long wave characteristics of the first track with the short wave characteristics of the corrected second track to obtain the accurate track and the coordinates of each measuring point thereof.
Further, the step of calculating the coordinates of each point on the measurement section according to the accurate track and based on the accurate coordinates of the start point and the accurate coordinates of the end point includes:
and searching the closest coordinates of the measuring points in front of and behind the point to be calculated along the accurate track according to the distance between the point to be calculated on the measuring section and the accurate coordinates of the starting point, and interpolating to calculate the coordinates to obtain the coordinates of each point on the measuring section.
Further, the measuring device continuously measures a plurality of measuring sections connected on the track, and the starting point accurate coordinates, the ending point accurate coordinates and the accurate track of different measuring sections are sequentially connected to form a continuous measuring section with a longer length to form a complete accurate track.
Another object of the present invention is a rail measuring system for measuring a rail by a measuring device, comprising:
the coordinate acquisition module is used for dividing the track into a plurality of measurement sections, for each measurement section, standing the measurement device at the starting point of the measurement section, recording the accurate coordinates of the starting point, controlling the measurement device to move towards the end point of the measurement section, and respectively acquiring the course angle change information of the measurement device and the angle increment information obtained by the direction sensor in real time during the movement of the measurement device;
the first direction vector acquisition module is used for recording accurate coordinates of an end point when the measuring device reaches the end point of the measuring section, and acquiring a first direction vector according to the accurate coordinates of the start point and the accurate coordinates of the end point;
the track acquisition module is used for acquiring a first track of the measurement section according to the course angle information and acquiring a second track and a second direction vector of the measurement section according to the angle increment information;
the accurate track acquisition module is used for correcting the second direction vector and the second track by the first direction vector, and carrying out information fusion on the first track and the corrected second track to obtain an accurate track of the measurement section;
and the coordinate calculation module is used for calculating the coordinates of each point on the measuring section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the end point.
The invention also provides a readable storage medium having stored thereon computer instructions which when executed by a processor implement the railway track measurement method described above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above method when executing the program.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic flow chart of a railway track measurement method according to a first embodiment of the present invention;
FIG. 2 is a schematic view showing movement of a measuring device on a rail according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of calculating the coordinates of a P point on a track according to a first embodiment of the present invention;
fig. 4 is a block diagram of a track measurement system according to a third embodiment of the present invention.
Detailed Description
In order that the objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a first embodiment of the present invention provides a railway track measurement method applied to a measurement device for measuring a track, comprising the following steps.
S1, dividing the track into a plurality of measuring sections, for each measuring section, standing the measuring device at the starting point of the measuring section, recording the accurate coordinates of the starting point, controlling the measuring device to move towards the end point of the measuring section, and respectively acquiring the course angle change information of the measuring device and the angle increment information obtained by the direction sensor in real time.
Specifically, the measuring device adopts a movable trolley, an antenna is respectively arranged at the front part and the rear part of the trolley along the trend of the measuring device, the antenna is used for receiving Beidou satellite positioning signals, the antenna is not limited to Beidou satellite positioning signals, the antenna is used for acquiring front coordinate points and rear coordinate points, the distance between the two antennas is a fixed value, the connecting line of the two antennas is approximately coincident with the moving direction of the track, and the coincident deviation caused by structural design or manufacturing can be corrected by a calculation model.
In this embodiment, the recording of the precise coordinates of the start point and the precise coordinates of the end point is obtained by differential measurement of a satellite mobile receiving station in combination with a satellite fixed base station, that is, a satellite measurement fixed base station is disposed near the start point and the end point of the measuring device, so as to improve the precision of the measuring device in obtaining the precise coordinates of the orbit, and generally, the measurement needs to be stopped at the start point and the end point for about 5 minutes.
Specifically, the accurate starting point coordinates and the accurate ending point coordinates are recorded and obtained through differential measurement of a satellite mobile receiving station and a satellite fixed base station, and the course angle information is obtained through dynamic differential measurement of the satellite mobile receiving stations respectively arranged at the front part and the rear part of the measuring device or obtained through the satellite fixed base station.
The course angle information comprises a yaw angle and a pitch angle of the measuring device, and the step of obtaining the first track of the measuring section comprises the following steps:
acquiring the moving distance of the measuring device in the course angle measuring time interval, and pushing the coordinate of the next measuring point according to the course angle, and sequentially connecting the adjacent measuring points to obtain the connecting line of each measuring point;
and attaching the connecting lines of the measuring points to the first direction vector to obtain a first track of the measuring section and coordinates of the measuring points, wherein the first track comprises a yaw track and a pitch track.
Referring to fig. 2, the actual coordinates of two satellite mobile receiving stations of the measuring device are at point a 'and point B', respectively, and because the distance between the two points is very close, the errors of the coordinate positioning are the same, i.e. the same magnitude of offset is generated, such as point a and point B in the figure, wherein point a is a front coordinate point, and point B is a rear coordinate point, which are all acquired by satellites.
Although the positions of the front coordinate point and the rear coordinate point are offset due to errors, the heading angle AB obtained is identical to the direction of the actual direction vector a 'B' of the measuring device because the errors are identical, and the heading angle AB can be regarded as positioning data with extremely high precision.
In this embodiment, the front coordinate point and the rear coordinate point each include a plane coordinate and an elevation coordinate, that is, the heading angle AB is a space vector.
S2, when the measuring device reaches the end point of the measuring section, recording the accurate coordinate of the end point, and obtaining a first direction vector according to the accurate coordinate of the start point and the accurate coordinate of the end point.
In order to improve the accuracy, the measuring section is arranged at the track plane and the vertical curve control pile point as far as possible during the segmentation.
S3, obtaining a first track of the measuring section according to the course angle information, and obtaining a second track and a second direction vector of the measuring section according to the angle increment information.
In this embodiment, a pitch gyro sensor and a yaw gyro sensor are mounted on the measuring device, and are used to obtain a pitch angle and a yaw angle on the measuring device, respectively.
Still further, the direction sensor includes a pitch gyro sensor and a yaw gyro sensor, the angle increment is obtained by the pitch gyro sensor and the yaw gyro sensor, and the step of obtaining the second track and the second direction vector of the measurement section according to the angle increment information includes:
acquiring a pitch angle increment and a yaw angle increment of the measuring device through the pitch gyro sensor and the yaw gyro sensor respectively;
combining the pitch angle increment and the yaw angle increment into a space angle increment, acquiring the position points of the later measuring point relative to the former measuring point according to the space angle increment and the step length measured at fixed distance by the direction sensor, sequentially acquiring all the position points, and sequentially connecting the position points to obtain a second track of the measuring section.
S4, correcting the second direction vector and the second track by the first direction vector, and carrying out information fusion on the first track and the corrected second track to obtain the accurate track of the measuring section.
It should be noted that the first track is understood to be high in long-term accuracy, the second track is understood to be high in short-term accuracy, and the two tracks are fused, so that an accurate track with higher accuracy can be obtained.
Specifically, the correcting the second direction vector and the second track by the first direction vector is to attach the second direction vector to the first direction vector, so as to realize the direction correction of the second track, and obtain the corrected second track and the coordinates of each measuring point.
Further, the step of information fusion between the first track and the corrected second track to obtain an accurate track of the measurement section includes:
and respectively carrying out weighted sliding filtering on the first track and the corrected second track, and fusing the long wave characteristics of the first track with the short wave characteristics of the corrected second track to obtain the accurate track and the coordinates of each measuring point thereof.
In addition, the step of calculating the coordinates of each point on the measurement section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the ending point includes:
and searching the closest coordinates of the measuring points in front of and behind the point to be calculated along the accurate track according to the distance between the point to be calculated on the measuring section and the accurate coordinates of the starting point, and interpolating to calculate the coordinates to obtain the coordinates of each point on the measuring section.
In addition, the weighted sliding filter coefficient in this embodiment is selected according to practical situations, such as the accuracy of the base station and the satellite, and the accuracy of the direction sensor, which all affect the value of the weighted sliding filter coefficient.
In other embodiments, the coordinates of the start point and the end point of the measurement segment may not be accurately measured, but the ideal first direction vector is determined based on the line design parameters, which has the advantages of further improving the measurement efficiency and having little influence on the smoothness control capability of the line, and the disadvantage of limited coordinate measurement accuracy when the line deviates from the design position more.
S5, calculating the coordinates of each point on the measuring section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the end point.
Specifically, the step of calculating the coordinates of each point is as follows:
and searching the closest coordinates of the measuring points in front of and behind the point to be calculated along the accurate track according to the distance between the point to be calculated on the measuring section and the accurate coordinates of the starting point, and interpolating to calculate the coordinates to obtain the coordinates of each point on the measuring section.
Referring to fig. 3, point p is any point on the track, L1, L2, L3 to Ln are all accurate tracks, the accurate coordinates of the starting point are used as the origin, and a plurality of accurate tracks are connected to form a complete accurate track.
The invention has the advantages that the invention can continuously measure, the coordinate point of the measuring device can not be directly obtained during specific measurement, but is calculated according to the accurate coordinate of the starting point, the accurate coordinate of the ending point and the accurate track, the accuracy of the track coordinate obtained by calculation is greatly improved compared with the accuracy of the existing directly obtained coordinate, and the accuracy can reach +/-2 mm.
A second embodiment of the present invention proposes a railway track measurement method, which is basically identical to the first embodiment, except that:
in order to further improve the accuracy of the measurement, a preset base station is provided every 10km, and a base station is additionally provided when the steering angle of the track exceeds 15 degrees. During the measurement, when the measuring device is moved to the measuring start point and the measuring end point, the measurement is stopped for 5 minutes to obtain a more accurate coordinate point.
In the embodiment, when the multi-section continuous measurement is performed, the coordinates between the front section and the rear section are obtained through accurate positioning, which is equivalent to resetting a starting point, so that the accumulated error caused by excessive distance vector Ln can be eliminated, the precision is further improved, and the precision can be within +/-2 mm.
Referring to fig. 4, a third embodiment of the present invention provides a track measurement system for measuring a track by a measurement device, including:
the coordinate acquisition module is used for dividing the track into a plurality of measurement sections, for each measurement section, standing the measurement device at the starting point of the measurement section, recording the accurate coordinates of the starting point, controlling the measurement device to move towards the end point of the measurement section, and respectively acquiring the course angle change information of the measurement device and the angle increment information obtained by the direction sensor in real time during the movement of the measurement device;
the first direction vector acquisition module is used for recording accurate coordinates of an end point when the measuring device reaches the end point of the measuring section, and acquiring a first direction vector according to the accurate coordinates of the start point and the accurate coordinates of the end point;
the track acquisition module is used for acquiring a first track of the measurement section according to the course angle information and acquiring a second track and a second direction vector of the measurement section according to the angle increment information;
the accurate track acquisition module is used for correcting the second direction vector and the second track by the first direction vector, and carrying out information fusion on the first track and the corrected second track to obtain an accurate track of the measurement section;
and the coordinate calculation module is used for calculating the coordinates of each point on the measuring section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the end point.
A fourth embodiment of the present invention provides a readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the railroad track measurement method described above.
A fifth embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method described above when executing the program, and the electronic device may be a measurement trolley or a measurement stick.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A railway track measurement method applied to measurement of a track by a measurement device, comprising the following steps:
dividing the track into a plurality of measuring sections, for each measuring section, standing the measuring device at the starting point of the measuring section, recording the accurate coordinates of the starting point, controlling the measuring device to move towards the end point of the measuring section, and respectively acquiring the course angle change information of the measuring device and the angle increment information obtained by a direction sensor in real time;
when the measuring device reaches the end point of the measuring section, recording an end point accurate coordinate, and obtaining a first direction vector according to the start point accurate coordinate and the end point accurate coordinate;
obtaining a first track of the measuring section according to the course angle information, and obtaining a second track and a second direction vector of the measuring section according to the angle increment information;
correcting the second direction vector and the second track by the first direction vector, and carrying out information fusion on the first track and the corrected second track to obtain an accurate track of the measuring section;
according to the accurate track, calculating coordinates of each point on the measuring section according to the accurate coordinates of the starting point and the accurate coordinates of the end point;
the course angle information comprises a yaw angle and a pitch angle of the measuring device, and the step of obtaining the first track of the measuring section comprises the following steps:
obtaining the moving distance of the measuring device in the course angle measuring time interval, obtaining measuring points before and after the measuring time interval, and connecting 2 measuring points to obtain a measuring point connecting line;
attaching the measuring point connecting line to the first direction vector to obtain a first track of the measuring section and coordinates of the measuring point, wherein the first track comprises a yaw track and a pitch track;
and correcting the second direction vector and the second track by using the first direction vector to attach the second direction vector to the first direction vector, so as to realize the direction correction of the second track and obtain the corrected second track and the coordinates of each measuring point.
2. The railway track measurement method according to claim 1, wherein the recording of the start point precise coordinates and the end point precise coordinates is obtained by a satellite mobile receiving station in combination with a satellite fixed base station differential measurement.
3. The railway track measurement method according to claim 1, wherein the heading angle information is obtained by dynamic differential acquisition by satellite mobile receiving stations respectively provided at the front and rear of the measurement device, or by combining with a satellite fixed base station.
4. The railway track measurement method according to claim 1, wherein the direction sensor includes a pitch gyro sensor and a yaw gyro sensor, the angle increment is obtained by measuring angles of the pitch gyro sensor and the yaw gyro sensor, and the step of obtaining the second track and the second direction vector of the measurement section from the angle increment information includes:
acquiring a pitch angle increment and a yaw angle increment of the measuring device through the pitch gyro sensor and the yaw gyro sensor respectively;
combining the pitch angle increment and the yaw angle increment into a space angle increment, installing the step length measured at fixed distance by the direction sensor according to the space angle increment, acquiring the position points of the later measuring point relative to the former measuring point, sequentially acquiring all the position points, and sequentially connecting the position points to obtain a second track of the measuring section.
5. The method of measuring railroad track according to claim 1, wherein the step of information fusing the first track and the corrected second track to obtain an accurate track of the measurement section includes:
and respectively carrying out weighted sliding filtering on the first track and the corrected second track, and fusing the long wave characteristics of the first track with the short wave characteristics of the corrected second track to obtain the accurate track and the coordinates of each measuring point thereof.
6. The method of claim 1, wherein the step of calculating coordinates of points on the measurement segment based on the accurate start point coordinates and the accurate end point coordinates according to the accurate track comprises:
and searching the closest coordinates of the measuring points in front of and behind the point to be calculated along the accurate track according to the distance between the point to be calculated on the measuring section and the accurate coordinates of the starting point, and interpolating to calculate the coordinates to obtain the coordinates of each point on the measuring section.
7. The track measurement method according to claim 1, wherein the measurement device continuously measures a plurality of measurement segments connected to the track, and sequentially connects the start point accurate coordinates, the end point accurate coordinates, and the accurate track of different measurement segments to form a continuous measurement segment with a longer length to form a complete accurate track.
8. A track measurement system for measuring a track with a measuring device, comprising:
the coordinate acquisition module is used for dividing the track into a plurality of measurement sections, for each measurement section, standing the measurement device at the starting point of the measurement section, recording the accurate coordinates of the starting point, controlling the measurement device to move towards the end point of the measurement section, and respectively acquiring the course angle change information of the measurement device and the angle increment information obtained by the direction sensor in real time during the movement of the measurement device;
the first direction vector acquisition module is used for recording accurate coordinates of an end point when the measuring device reaches the end point of the measuring section, and acquiring a first direction vector according to the accurate coordinates of the start point and the accurate coordinates of the end point;
the track acquisition module is used for acquiring a first track of the measurement section according to the course angle information, and acquiring a second track and a second direction vector of the measurement section according to the angle increment information, wherein the course angle information comprises a yaw angle and a pitch angle of the measurement device, and the step of acquiring the first track of the measurement section comprises the following steps:
obtaining the moving distance of the measuring device in the course angle measuring time interval, obtaining measuring points before and after the measuring time interval, and connecting 2 measuring points to obtain a measuring point connecting line;
attaching the measuring point connecting line to the first direction vector to obtain a first track of the measuring section and coordinates of the measuring point, wherein the first track comprises a yaw track and a pitch track;
the accurate track acquisition module is used for correcting the second direction vector and the second track by the first direction vector, carrying out information fusion on the first track and the corrected second track to obtain an accurate track of the measurement section, and correcting the second direction vector and the second track by the first direction vector to attach the second direction vector to the first direction vector to realize the direction correction of the second track and acquire the corrected second track and coordinates of each measurement point;
and the coordinate calculation module is used for calculating the coordinates of each point on the measuring section according to the accurate track and based on the accurate coordinates of the starting point and the accurate coordinates of the end point.
9. A readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the railway track measurement method of any one of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490331.3A CN111830549B (en) | 2020-06-02 | 2020-06-02 | Railway track measurement method, system, readable storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490331.3A CN111830549B (en) | 2020-06-02 | 2020-06-02 | Railway track measurement method, system, readable storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111830549A CN111830549A (en) | 2020-10-27 |
| CN111830549B true CN111830549B (en) | 2023-07-25 |
Family
ID=72897501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010490331.3A Active CN111830549B (en) | 2020-06-02 | 2020-06-02 | Railway track measurement method, system, readable storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111830549B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009192292A (en) * | 2008-02-13 | 2009-08-27 | Toshiba It & Control Systems Corp | Track inspecting apparatus and track inspecting method |
| JP2015076005A (en) * | 2013-10-10 | 2015-04-20 | 株式会社日立製作所 | Moving route estimation system moving route estimation method |
| US10260871B1 (en) * | 2014-11-10 | 2019-04-16 | Invensense, Inc. | Trajectory estimation system |
| CN110057354A (en) * | 2019-03-11 | 2019-07-26 | 杭州电子科技大学 | One kind being based on the modified geomagnetic matching navigation method of magnetic declination |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2287187C1 (en) * | 2005-04-06 | 2006-11-10 | Государственное образовательное учреждение высшего профессионального образования Московский государственный университет путей сообщения (МИИТ) | Method for determining standard coordinate model of railroad track and device for realization of said method |
| CN102251451B (en) * | 2011-05-27 | 2013-04-10 | 长沙高新开发区瑞智机电科技有限公司 | Track geometric state measurement system and method based on multisource information fusion technology |
| WO2017145575A1 (en) * | 2016-02-24 | 2017-08-31 | 三菱電機株式会社 | Satellite positioning device and train control system |
| CN106873018A (en) * | 2017-01-12 | 2017-06-20 | 北京智汇空间科技有限公司 | Coordinate determination system and coordinate measuring method |
| CN110017823B (en) * | 2019-04-29 | 2022-02-08 | 江西日月明测控科技股份有限公司 | Rail positioning coordinate calculation method and device based on total station instrument free-standing station |
-
2020
- 2020-06-02 CN CN202010490331.3A patent/CN111830549B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009192292A (en) * | 2008-02-13 | 2009-08-27 | Toshiba It & Control Systems Corp | Track inspecting apparatus and track inspecting method |
| JP2015076005A (en) * | 2013-10-10 | 2015-04-20 | 株式会社日立製作所 | Moving route estimation system moving route estimation method |
| US10260871B1 (en) * | 2014-11-10 | 2019-04-16 | Invensense, Inc. | Trajectory estimation system |
| CN110057354A (en) * | 2019-03-11 | 2019-07-26 | 杭州电子科技大学 | One kind being based on the modified geomagnetic matching navigation method of magnetic declination |
Non-Patent Citations (4)
| Title |
|---|
| A Measuring Method of Track Irregularity for High-speed Railway Based on Dual-frequency Laser Interference Technique;He, WJ (He, Wenjun);Key Engineering Materials;全文 * |
| Kinematic Measurement of the Railway Track Centerline Position by GNSS/INS/Odometer Integration;Yukun Zhou;IEEE Access;全文 * |
| 基于GPS轨迹的路网生成与地图匹配算法研究;王少槐;中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑;全文 * |
| 轨道静态几何状态三维约束测量技术研究;王志勇;中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111830549A (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104121905B (en) | Course angle obtaining method based on inertial sensor | |
| CN103115581B (en) | Multifunction railway measuring system and method | |
| CN106643800B (en) | Course angle error calibration method and automatic navigation driving system | |
| CN101306691B (en) | Track curve parameter measuring device and method | |
| CN107389064A (en) | A kind of unmanned vehicle based on inertial navigation becomes channel control method | |
| CN105300410A (en) | Coalcutter inertial navigation and location error calibration device and method | |
| CN111811538B (en) | Photoelectric theodolite orientation calibration method based on common star | |
| CN110803200B (en) | CPIII control point-based track mileage positioning method and device | |
| CN109594439A (en) | A kind of track geometric parameter measurement method being applied in combination based on GNSS/INS and total station | |
| CN205280095U (en) | Coal -winning machine inertial navigation positioning error calibrating device | |
| CN209479681U (en) | Realize the measurement trolley that track quickly detects | |
| CN108489382A (en) | A kind of AGV dynamic pose measuring methods based on space multi-point constraint | |
| CN108919304A (en) | POS error compensating method in a kind of traverse measurement system based on reference planes | |
| CN110617795A (en) | Method for realizing outdoor elevation measurement by using sensor of intelligent terminal | |
| CN115597535A (en) | High-speed magnetic suspension track irregularity detection system and method based on inertial navigation | |
| CN110329309A (en) | A method of realizing that wheel footpath is calibrated using satellite positioning | |
| CN104535078B (en) | A kind of measuring method of optoelectronic device based on index point to airbound target | |
| CN111830549B (en) | Railway track measurement method, system, readable storage medium and electronic equipment | |
| CN102620745B (en) | Airborne inertial measurement unite (IMU) collimation axis error calibration method | |
| CN113236363A (en) | Mining equipment navigation positioning method, system, equipment and readable storage medium | |
| CN207758803U (en) | A kind of track automatic measurement vehicle with sensor combinations | |
| CN215064560U (en) | Autonomous positioning device based on laser radar imaging | |
| CN113063441B (en) | Data source correction method and device for accumulated calculation error of odometer | |
| CN104655133A (en) | Dynamic vehicle-mounted lifting mast platform posture measuring method | |
| CN106441228A (en) | Antenna attitude angle measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |