CN101913368B - System and method for fast precise measurement and total factor data acquisition of high speed railway - Google Patents
System and method for fast precise measurement and total factor data acquisition of high speed railway Download PDFInfo
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Abstract
The invention relates to the field of precise railway measurement, high speed railway rail detection and security and digital railway, in particular to a system and a method for carrying out movable precise measurement of the high speed railway and synchronously obtaining total factor data along the line of the railway on the basis of GPS (Global Positioning System)/IMU (Inertia Measurement Unit) positioning and orientation, laser scan and digital imaging technologies. The invention further relates to a special railway measurement mark. The system consists of a laser scanner (1), a digital imaging device (2), a GPS receiver (3), an IMU (4), an industrial computer (5) and a power supply unit (6), and the system can obtain three-dimensional point clouds of rail, roadbed and peripheral environment of the high speed railway and digital images oriented by the earth. The method comprises a method for carrying out movable precise measurement movable precise measurement of the high speed railway and a method for improving the measurement precision by carrying out the simultaneous adjustment with a control point of a rail control network (such as a CPIII foundation pile control network). The system has high integration degree and has the characteristics of high efficiency and high precision, and the precision of the data can reach millimeter level.
Description
Technical field
The present invention relates to accurate railway survey and high speed railway track detection, safety and Digital Railway field; Particularly a kind of high speed railway based on high precision global position system GPS and inertial measurement unit IMU positioning and directing, laser-scan and digital image-forming technology moves exact measurement and obtains the system and method for railway full factor data along the line simultaneously, the invention still further relates to a kind of supporting measurement sign of Railway Special.
Background technology
High speed railway has become the important way of current people's traffic trip and transportation; In recent years along with the continuous maturation of high-speed rail technology and perfect; The running velocity of high speed railway improves constantly; Periodically carrying out rail distortion and subsidence monitoring, guarantee the safety of high speed railway, is the basis of the normal operation of high speed railway.Usually the operation of high speed railway will have three hours " empty window " time every day, be the best opportunity of high speed railway safety inspection.Therefore, how to utilize the limited time, the present situation of measurement high speed railway is the technical matters that current urgent need solves quickly and accurately.Simultaneously, along with the continuous quickening of railway information process, the complete fast railway full factor data along the line of accurately gathering is realized the railway digitalisation, also existing technology and method has been proposed challenge.
At present, the track of railway detects and mainly is to use track checking car to accomplish.Track checking car applied optics, magnetics and electrical principles convert the variation of gauge how much values the variation of electric parameters such as electric capacity, inductance and curtage to through different sensor, realize the noncontacting measurement of gauge under the dynamic condition.The shortcoming of this mode is; Can only detect track geometry; From aspects such as wheel-rail interaction and driving stationarities track condition is made an appraisal, positioning measurement result can't be provided, more can't control net (like the CPIII foundation pile control net) and carry out translocation with high speed railway track.If carry out the translocation adjustment, then use traditional total powerstation equipment, measure by the station discontinuous, not only efficiency of measurement is low, and survey precision also is difficult to reach the requirement of high speed railway to technology acuracy.
The U.S. on March 12nd, 2008 disclosed publication number be 101142462 patent of invention, a kind of system and method that is used to check railroad track is disclosed, synopsis is following: " disclosed system comprises laser, photographic camera and treater.Laser is positioned near the track.Laser emission light beam is crossed railroad track, and photographic camera is captured the image of the railroad track that has emitted light beams on it.The treater formatted image so that they can be analyzed, thereby confirm that the various of railroad track can the measurement aspect." defective of this method is that precision is limited; be difficult to satisfy high speed railway track and measure requirement precision; simultaneously because use laser, that photographic camera carries out range for measuring is limited; if carry out long range measurements then many complete equipments need be installed, realize difficulty, therefore can't on high speed railway, carry out large-scale promotion and use.Simultaneously, its result of a measurement is a single-point type, can't be used for the calculating of smooth-going degree of track and bulk settling.
In addition, in invention disclosed patent application 101024400 on August 29 in 2007, disclosed a kind of express railway rail safety automatic measure monitoring technology, its synopsis is following; ", reach prevention because the purpose of the train derailment accident of static state, dynamic settling, inclination initiation takes place railroad track through on railroad bed, installing and measuring reference stake; installation position displacement sensor in the gauge reference target stake; the method for measuring relative displacement between railroad track and the gauge reference target stake with displacement pickup obtains railroad track static state, dynamic displacement information data; the displacement information data are transferred in the terminal reception telltale through the displacement information module; receive static state, dynamic settling, the tilt variation data that telltale demonstrates railroad track by the terminal." still, the observed value that this mode obtains disperses, its accuracy rate depends critically upon the susceptibility and the quality of displacement pickup; simultaneously; the quality of monitoring also depends on the packing density of gauge reference target stake, and not only cost is high, and can't avoid potential safety hazard fully.
Summary of the invention
Technical matters to be solved by this invention is the problem of how to carry out high-precision high-speed railway survey and full factor data collection quickly and efficiently.
The technical solution adopted for the present invention to solve the technical problems is: use special measurement as Railway Design to be identified at and carry out the cloth mark on the high speed railway track control net (like the CPIII foundation pile control net); On motion platform; Like electric flatcar or train etc.; High speed railway traverse measurement system is installed; Comprise laser scanner, high speed digital image-forming equipment and GPS/IMU positioning and directing system; Obtain image, laser point cloud and the positioning and directing data of high speed railway track, roadbed, Railway Special measurement sign and other peripheral atural objects,, obtain high-precision high speed railway three-dimensional point cloud and geodetic orientation image data through carrying out data handling procedures such as simultaneous adjustment calculating with the controlling point of track control net (like the CPIII foundation pile control net).
Content of the present invention comprises: high speed railway moves exact measurement and full factor data obtains system and Railway Special is measured sign.Method comprises: based on the high speed railway traverse measurement method of high-precision GPS/IMU positioning and directing, laser-scan and digital image-forming technology with through the method that simultaneous adjustment improves survey precision is carried out at the controlling point of result of a measurement and track control net (like the CPIII foundation pile control net).
High speed railway of the present invention moves precision measurement system and is made up of laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4, industrial computer 5 and 6 six parts of electric supply installation.System height is integrated; Be installed on the motion platform 7; Motion platform 7 moves along High Speed Railway; Industrial computer 5 through the work of programming control laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4, also stores the directed locating data of the laser point cloud of gathering, digital image and GPS/IMU on the one hand on the other hand.Electric supply installation 6 provides electric power safeguard for laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4, industrial computer 5.Laser scanner 1 is a kind of mode of initiatively gathering ground data, and anti-weather interference ability is strong, not influenced by solar elevation, and daytime and night can both work.Digital image-forming equipment 2 can be selected high speed digital camera or infrared camera for use; Digital camera can be used for obtaining daytime color imaging data; Infrared camera is used for obtaining night infrared image, can consider also that digital camera and highlight illumination equipment are used to be used for obtaining night the colored digital image.
High speed railway track traverse measurement method based on high-precision GPS/IMU positioning and directing, laser-scan and digital image-forming technology; High speed railway by being integrated on the motion platform 7 moves the precision measurement system realization, comprises laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4, industrial computer 5 and 6 six parts of electric supply installation.Motion platform 7 can be to advance along High Speed Railway up to 40 kilometers speed per hour; On the go obtains laser point cloud, digital image and the positioning and directing data of high speed railway rail, roadbed and peripheral atural object; After the process data processing software resolves, obtain the three-dimensional point cloud of high speed railway and the geodetic orientation image that is complementary.
For guaranteeing that data precision reaches the millimeter level; High speed railway of the present invention moves the survey frequency of the laser scanner 1 that precision measurement system adopts should be greater than 500,000 point/seconds; Range accuracy is less than 1 millimeter; The accuracy of positioning of gps receiver 3 and IMU inertial measurement unit 4 must be better than Centimeter Level, and the digital camera per second in the digital image-forming equipment 2 should be able to be taken the digital image of number frame even tens of frames.
In order to make the high speed railway three-dimensional point cloud that obtains more accurate, can realize through carrying out simultaneous adjustment with the controlling point of track control net (like the CPIII foundation pile control net).In order to solve the Laser emission multi-angle that moves laser radar system and, will use special measurement to identify on the net to carry out cloth in track control and mark for Railway Design because of the Random Laser point causes the probabilistic problem of attachment point.This special measurement sign is made up of object ball 8, centering rod 9 and attachment point identity device 10.Can obtain accurate relatively identification point coordinate thus, carry out simultaneous adjustment with the controlling point of track control net again and calculate, just can make the take off data precision reach the millimeter level.
Railway Special of the present invention is measured sign and is made up of object ball 8, centering rod 9 and attachment point identity device 10.Marker uses object ball 8, the attachment point uncertain problem that solves the Laser emission multi-angle that moves laser radar system and cause because of the Random Laser point.The size of object ball 8 can be according to actual conditions, and is selected like conditions such as the kinematic velocity of mobile platform, accuracy requirement, laser-scan instrument parameters.
The present invention is out of shape for the monitoring high speed railway track and subsidence provides a cover total solution; Level of integrated system is high; Have high efficiency and high-precision characteristics; Use the laser measurement identifier of Railway Special to be laid on the controlling point of track control net (like the CPIII foundation pile control net) and carry out geodetic conjunction and adjustment, make the data precision that obtains reach the millimeter level, for the safe operation that ensures high speed railway provides scientific and effective data basis.
Description of drawings
Fig. 1 is the system schematic of high speed railway traverse measurement of the present invention system.
Fig. 2 carries out the diagram of circuit that simultaneous adjustment is calculated with the controlling point of track control net (like the CPIII foundation pile control net).
Fig. 3 is the scheme drawing that Railway Special of the present invention is measured sign.
The specific embodiment
Fig. 1 is the system schematic that high speed railway of the present invention moves precision measurement system.This system is made up of laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4, industrial computer 5 and electric supply installation 6.Electric supply installation 6 provides electric power safeguard for laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4, industrial computer 5.Laser scanner 1, digital image-forming equipment 2, gps receiver 3, IMU inertial measurement unit 4 are through industrial computer 5 controls.System is installed on the motion platform 7; In motion process; Also receive laser pulse by laser scanner 1 emission of lasering beam by natural thing reflected back; Take the image of high speed railway track, roadbed and peripheral atural objects by digital image-forming equipment 2, by gps receiver 3 and IMU inertial measurement unit 4 obtain move in each positioning and directing data constantly, above data all pass through cable storage and are arrived industrial computer 5; Resolve through data processing software again, obtain high-precision high speed railway three-dimensional point cloud and geodetic orientation digital image data.
Fig. 2 carries out the diagram of circuit that simultaneous adjustment is calculated with the controlling point of track control net (like the CPIII foundation pile control net), and step is following:
Step S1: on each controlling point of track control net (like the CPIII foundation pile control net), lay Railway Special of the present invention and measure sign;
Step S2: use high speed railway traverse measurement of the present invention system to obtain laser point cloud, raw video and positioning and directing data;
Step S3:, obtain the spatial polar coordinate that Railway Special of the present invention is measured the object ball 8 of sign through data solver;
Step S4: the spatial polar coordinate of measuring the object ball 8 of sign through Railway Special is calculated the center point coordinate of each object ball 8;
Step S5: utilize Railway Special to measure the mathematical relation at center point coordinate and the controlling point of its sign of the object ball 8 of sign, calculate the identification point measurement coordinate of each CPIII track control net;
Step S6: use the measurement coordinate of above identification point and the controlling point of track control net (like the CPIII foundation pile control net) to carry out simultaneous adjustment, obtain error and correct parameter;
Step S7: resolve the three-dimensional point cloud and the digital image data of high speed railway track, roadbed and peripheral atural object, iteration error corrects parameter, obtains precision and reaches millimetre-sized high speed railway take off data.
Fig. 3 is the scheme drawing that Railway Special of the present invention is measured sign, is made up of object ball 8, centering rod 9 and attachment point identity device 10.Attachment point identity device 10 is all imbedded at each controlling point at track control net (like the CPIII foundation pile control net); Erect centering rod 9 and object ball 8; If existing other signs on the controlling point; Can use the fixing Railway Special of the present invention of additive method to measure sign, aim at the controlling point as long as guarantee the tip of centering rod 9.High speed railway moves the laser that the precision measurement system on the go sends and arrives back, object ball 8 surface return laser light receptors from different perspectives; Resolve in conjunction with GPS/IMU positioning and directing data; Obtain a plurality of umbilical point coordinates, only need just can calculate through the coordinate of surperficial any three points of ball the center point coordinate of spherical object thing in theory, unnecessary point can be used for adjustment computation; Get rid of rough error; Obtain more precise and stable object ball 8 center point coordinates, thereby set up the mathematical relation between the track control net controlling point of center-point and attachment point identity device 10 signs of object ball 8, be used for translocation and adjustment.
Claims (5)
1. a high speed railway moves precision measurement system; Form by laser scanner (1), digital image-forming equipment (2), gps receiver (3), IMU inertial measurement unit (4), industrial computer (5) and (6) six parts of electric supply installation; It is characterized in that: in moving process; By laser scanner (1) emission of lasering beam and receive the laser point cloud of reflected back; Digital image by digital image-forming equipment (2) shooting high speed railway rail, roadbed and peripheral atural object obtains each positioning and directing data constantly in the motion by gps receiver (3) and IMU inertial measurement unit (4), and laser point cloud, digital image and positioning and directing data are all passed through cable storage to industrial computer (5); Resolve through data processing software, obtain high-precision high-speed railway three-dimensional point cloud and through the digital image data of geodetic orientation.
2. high speed railway according to claim 1 moves precision measurement system, it is characterized in that: measuring speed is up to per hour 40 kilometers.
3. high speed railway according to claim 1 moves precision measurement system, it is characterized in that: survey precision reaches the millimeter level.
4. high speed railway according to claim 1 moves precision measurement system; It is characterized in that: reach the millimeter level for guaranteeing survey precision; The survey frequency of laser scanner (1) is greater than 500,000 point/seconds; Range accuracy is less than 1 millimeter, and the accuracy of positioning of gps receiver (3) and IMU inertial measurement unit (4) is better than Centimeter Level, and the digital camera per second in the digital image-forming equipment (2) can be taken the digital image of tens of frames.
5. one kind is used the controlling point of track control net to carry out the method that simultaneous adjustment is calculated raising high speed railway traverse measurement precision; High speed railway traverse measurement system and a kind of Railway Special of being made up of object ball (8), centering rod (9) and attachment point identity device (10) that use is made up of laser scanner (1), digital image-forming equipment (2), gps receiver (3), IMU inertial measurement unit (4), industrial computer (5) and electric supply installation (6) are measured sign, and step is following:
Step S1: on each controlling point of track control net, lay Railway Special and measure sign;
Step S2: use high speed railway traverse measurement system to obtain laser point cloud, raw video and positioning and directing data;
Step S3:, obtain the spatial polar coordinate that Railway Special is measured the object ball (8) of sign through data solver;
Step S4: the spatial polar coordinate of measuring the object ball (8) of sign through Railway Special is calculated the center point coordinate of each object ball (8);
Step S5: utilize Railway Special to measure the mathematical relation at center point coordinate and the controlling point of its sign of the object ball (8) of sign, calculate the identification point measurement coordinate of each track control net;
Step S6: simultaneous adjustment is carried out at the controlling point of using above identification point to measure coordinate and track control net, obtains error and corrects parameter;
Step S7: resolve the three-dimensional point cloud and the digital image data of high speed railway track, roadbed and peripheral atural object, iteration error corrects parameter, obtains precision and reaches millimetre-sized high speed railway take off data.
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