CN102337710A - GPS (Global Positioning System) track irregularity detection system and method - Google Patents
GPS (Global Positioning System) track irregularity detection system and method Download PDFInfo
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Abstract
The invention discloses a GPS (Global Positioning System) track irregularity detection system and method. The system comprises a measuring unit and a data postprocessing unit, wherein the measuring unit comprises a moving bracket movably arranged on the surface of a track, and a measuring device; the measuring device is rigidly fixed on the moving bracket and comprises two independently-arranged measured data acquisition recorders; the measured data acquisition recorders are used for measuring state data of the moving bracket in real time and recording the state data measured at every time to a data recording unit according to a time sequence arrangement; and the data postprocessing unit is used for processing the state data recorded in the data recording unit in an off-line way. The GPS (Global Positioning System) track irregularity detection system and method disclosed by the invention have the advantages of high measurement precision, high measurement speed and complete measuring functions.
Description
Technical field:
The invention belongs to the track detection range, relate to a kind of GPS track checkout gear and detection method thereof, especially a kind of GPS track irregularity detection system and detection method thereof.
Background technology:
Track checking car, to simplify dolly, track detection car, the string of a musical instrument and track forces be to measure the capital equipment of track irregularity at present.Since various self, make the precision of traditional measurement equipment be restricted and can't realize the high ferro ballastless track is detected fast and effectively.
Though track checking car can the fast detecting track, needing to use numerous inertial sensors to accomplish each item, to detect task, complex structure, operation complicated, needs training professionals to measure.Because there is offset error; It is all limited that track checking car can detect the wavelength and the certainty of measurement of track irregularity, only can use as the checking after the daily measurement, because of cost high; The whole nation only is equipped with tens units, can't satisfy the detection demand to the 8.6 ten thousand kilometers tracks in the whole nation.
Simplifying dolly is unique measureing equipment that the high ferro track requires accuracy of detection that meets, and the certainty of measurement that can reach is higher, about 1.4 millimeters; But,, require very high like temperature, humidity, light, visibility, wind speed etc. to the measurement environment condition because of it mainly adopts outside how much states of total station survey track; Simultaneously, because total powerstation self is a relative measurement equipment, do not have fixing reference system; Need be by the help of railroad engineering survey net, to the observation of numerous CPIII reference points, to confirm outside how much states of track; Thereby waste time and energy, operation is very complicated, and measuring speed and efficient are all very low; Can not satisfy detection requirement equally, be only applicable to the demarcation and the examination of railway construction construction existing track.In addition, the price of smart inspection dolly is very expensive, and every up to 1,300,000 yuans.
Works department is many at present carries out daily measurement with track detection car to track; Yet the detection task of most track detection cars all is accuracy of detection and cycle to traditional ballasted track; Its certainty of measurement can't satisfy the requirement of high ferro track, has shortcomings such as measuring speed is slow, the online pause of needs is got ready, precision is not high, the measurement wavelength is limited.
Also have some not to be equipped with the remote small station of mechanization checkout equipment, can only use the most original and backward string of a musical instrument and track forces that track irregularity is measured.These two kinds of instrument measuring speeds are the slowest and be by the naked eyes sense data, receive artificial factor bigger, and certainty of measurement is low, and not energy and information system management is fit to the detection to high-speed railway.
On the surface, the factor that influences various track geometry measuring device certainties of measurement is had nothing in common with each other, but in fact; They exist several total and often by the factor that people ignored, and only limit in the circuit certain a bit or the geometric position of some points such as, the main measuring object of all devices; Rather than whole track strip circuit itself; In addition, do not set up the ability of perfect measurement standard circuit in the employed measuring method, survey method and inertial reference method like string.This is that limitation by present employed measure theory and method itself causes.
Through analyzing, the main cause that we will influence the track geometry measuring device precision reduce following some:
1. the limitation on the measure theory
Theoretically, orbit measurement is real to belong to route survey, or rather, is the measurement to smoothed curve.Measure theory that can be traditional can not carry out perfection to smoothed curve to be described, and does not therefore also just possess the ability of handling smoothed curve.At present widely used measure theory be based on all that rectangular coordinate system describes and handle the position of circuit; Its main method is: at first some spots is carried out position detection; Then the position coordinates of these points is marked in the rectangular coordinate system; Again these points are linked to each other with straight line with point in order, be combined into a line and carry out computing as test line.Forming line in this way, in fact is not smoothed curve, and is a broken line.Therefore, no matter how many numbers of survey mark has, and the line of forming with the method and actual track curve always exist difference, influences the precision of tested track.
Smoothed curve is directive, because the direction of each observation point is all pointed to the position of next point of proximity on the curve.Because smoothed curve itself is continuous, next point of proximity and its observation point are unlimited approaching.This explanation has lost direction of curve, has also lost geometrical relationship between points on the curve.Rectangular coordinate system is not represent the ability of direction, and Here it is in rectangular coordinate system is the basic reason that can't carry out complete description to track.
If want accurately to measure track, how at first just must to consider the accurate description smoothed curve.
We carry out a definition to smoothed curve: smoothed curve is one and except that two end points, is maintaining the line of unique and continuous characteristic on the position with on the direction.Locational uniqueness and continuity guaranteed curve this on the geometric position be one continuous, do not depositing the line of dislocation or breakpoint; Uniqueness on the direction and continuity have then guaranteed not exist in the line flex point and intersection point;
For track; Intersection point representes that there are a plurality of cross track (this situation is not considered track switch) in a certain position in the mileage; On certain point, two tracks are arranged in the dislocation expression mileage, breakpoint representes in the mileage not have track at certain on a bit, and flex point then refers to exist on the mileage track break.Obviously, for track, these several kinds of situation should not exist, that is to say, on the track arbitrarily any position and direction all be unique and continuous, so we can say that track is a smoothed curve.Use rectangular coordinate system, only measurement is unfavorable to track for use location measurement and processing method.
2. the limitation on the measuring method
Track detects with orbit measurement different.Orbit measurement is geometric position and a state of confirming tested track self; It is with the track geometry position that measures and state and known track normal place and compared that track detects, with this judge tested track existing position and state geometrical deviation.In fact, track irregularity detects and then is only limited to the track comparison between the geometry state relatively, and does not consider the difference on the track absolute position.Therefore, when detecting track irregularity, we not only need measure track itself, also will set up an absolute smooth-going standard trajectory simultaneously as comparative standard.Obviously, this absolute smooth-going standard trajectory is non-existent in reality, and we also can't measure it, must otherwise obtain or substitute.Though we can consider how will to design track is used as standard trajectory, this idea is irrealizable; This only is to exist with information mode because of designing track on the one hand; Its employed reference coordinates employable actual reference coordinates of institute when measuring track is different, on the other hand, and owing to construction reason; The position of actual track and state are total to be had than big difference with the design track, and these difference often are multiple times than the irregularity information of track self.Therefore, the design track can not use as standard trajectory.
Track detection method commonly used at present has two kinds: string is surveyed method and inertial reference method.
String survey method is to use the string of a musical instrument (straight line) the alternate standard track of (≤10 meters) between the front and back short distance of orbit measurement point; This way obviously is inaccurate; Or even wrong; Because the string of a musical instrument selected for use directly depend on the geometric position state of actual track, it self is comprising the factor of some irregularities, must have influence on the final calculation result of track irregularity.In addition,, select the string of a musical instrument basic just wrong,, but still can exist no small error even it is revised as reference line at the changeover portion and the arc section of track.
The inertial reference method is a kind of dynamic measurement method; Through measurement to the multidate information of checkout equipment own; Like acceleration and angular velocity; And dynamic measuring data carried out integration in time and obtain the relative relevant track geometry change in location and the change information of state, this change information is compared with due change information draws track geometry irregularity information at last.Because kinetic measurement information has certain error, can make the relative geological information that is calculated have bigger drift error in time through integration.Want to control the measuring accuracy that drift error just must improve kinetic measurement equipment, reduce the detection time of track irregularity simultaneously, both shortened the detection distance.And, confirm that due state change information is very difficult too.
Track is level and smooth, and standard trajectory also is level and smooth, no matter is that string is surveyed method, or the employed coordinate system of inertial reference method is rectangular coordinate system equally, all can not set up level and smooth standard trajectory.Standard trajectory information inaccurate is a major reason that influences the track accuracy of detection equally.
3. the defective on the measuring technique
Employed technology mainly contains three kinds in railroad engineering survey at present: optical measuring technique (comprising total powerstation), inertia measurement technology and GPS-RTK location technology.These three kinds of technology exist many self defectives.
Optical measuring technique mainly is divided into distance measurement (like laser ranging) or angular measurement (like transit, level gauge), or the combination of the two (like total powerstation), belongs to static relative measurement equipment, and its final purpose is to measure the relative position coordinates of target.There is a common defective in they, are exactly fixedly reference coordinates of neither one, must set up a local coordinate system separately before each the measurement, therefore, want a plurality of measure dot number certificates of Unified Treatment, just must carry out the conversion between local coordinate system by external information.Each Coordinate Conversion all can cause the increase of final measure error.Though people can increase Measuring Time and workload several times with repeatedly measuring or improving final certainty of measurement to selecting that a plurality of reference points are carried out the closed method of measuring, and have reduced efficiency of measurement.Optical measuring technique is affected by environment very big, and its certainty of measurement is limited, only is suitable for outside how much state measurements of track.
GPS-RTK is a kind of new gps carrier differential position; Belong to static relative measurement technology; Its major advantage one is to use same absolute coordinate system WGS84; Each measurement result can both be handled in this coordinate system, the 2nd, positioning accuracy reaches 0.5～2 centimetre, and the 3rd, there are not systematic error and drift error.GPS-RTK Technology Need difference station is because the operating distance at survey mark and difference station can directly influence positioning accuracy, so the maximum functional of GPS-RTK distance is limited to 3～5 kilometers.Though this certainty of measurement is greatly improved than the positioning accuracy of 10 meters of standard GPS; But far can not satisfy the certainty of measurement requirement that detects 1 millimeter of track irregularity, thus can only be in mapping railway engineering control net CPI and CPII are this uses during to the relatively low control point of positioning accuracy request.In some new track geometry measuring devices, also use the GPS-RTK location technology, its objective is outside how much states of measuring track.
The employed operating principle of inertia measurement technology is that the dynamic physical variable quantity (like acceleration, angular velocity) to measured body carries out continuous measurement, through carrying out integral and calculating in time, constantly extrapolates the position and the state of measured body then.The advantage of inertia measurement technology is that certainty of measurement is high, and Data Update is fast, and independence is strong, does not need other object of reference or reference coordinates.The precision that influences the inertia measurement technology has a lot, and maximum is the measure error of sensor, because measure physical quantities need be carried out 2 times integration in time, therefore, the measure error of sensor equally can non-linear in time increase.In addition, earth attraction, earth rotation and measurement coordinate system are because of the rotation that displacement took place of going up at the earth's surface direct certainty of measurement of the inertia measurement of influence technology all.The inertia measurement technology only is fit to the use of short distance and short time, generally is mainly used in the measurement of track inner geometry state.
4. the limitation of measureing equipment
Optical measuring apparatus belongs to fine measuring instrument; All very high to installation, use, maintenance and environmental requirement; All can have influence on the accuracy of measurement result such as factors such as light intensity, temperature, humidity, air visibility, vibration, visual condition, component alignment error and operate misses, repetitive rate is low.Another defective of optical measuring apparatus is to rely on the engineering survey net just can grow the measurement of distance.And the reference point CPIII that measures the engineering survey net can increase Measuring Time and working strength greatly, influences operating efficiency.The quality of engineering survey net reference point locations coordinate can influence final certainty of measurement equally.
Though GPS-RTK good stability; It is little influenced by extraneous factor; But need ground-support equipments such as datum station and wireless telecommunications; Because base station equipment is relatively more expensive, be that the track detection provides service so can not set up a large amount of permanent base stations, must the mobile base station installed the position use that choose in advance during measurement.Because the measurement noise ratio of GPS-RTK is bigger, the satellite-signal quality of reception is required also than higher, so generally need the time more than 60 minutes just can obtain reliable position information.The certainty of measurement of GPS-RTK and operating efficiency all can not satisfy the demand that track irregularity detects.
Using maximum inertia measurement equipment in the orbit measurement is optical fibre gyro.The physical quantity that optical fibre gyro is surveyed is the rotation of sensor self, both angular velocity.Utilize angular velocity accumulation in time can calculate angle variable quantity.The great advantage of optical fibre gyro is that certainty of measurement is high, output frequency is high, and does not receive ectocine, can accurately measure how much variations of track.But any measureing equipment all has measure error, because fibre optic gyroscope surveys is angular velocity, therefore, the measure error of angular velocity can cause the angular measurement result to produce drift in time.In addition, the attitude of measureing equipment can directly have influence on the correct use of optical fibre gyro measured value, and therefore, people usually use accelerometer to confirm the attitude of measureing equipment.Mobile and the vibrations of measureing equipment all can influence the measured value of accelerometer, and therefore, the certainty of measurement of attitude also is restricted.In a word, inertia measurement equipment be not suitable for long use because measuring speed is limited, make measuring distance be restricted too.
5. the limitation of metering system
Because historical reasons and the restriction of measuring technique and method at present; Traditional metering system more complicated, loaded down with trivial details; At first be how much irregularities confirming track centerline; As rail to irregularity be uneven suitablely, confirm how much irregularities between two rails then, like gauge irregularity, horizontal irregularity, superelevation irregularity and twist irregularity (distortion) irregularity etc.These irregularity parameters can only be represented the track inner geometry irregularity in the short distance; And to represent outside how much irregularities of track; Both track long wave irregularity then need use other parameter, and like position deviation etc., this is to be straight line because measure the employed benchmark of track inner geometry irregularity; The benchmark of measuring outside how much irregularities of track then is that this must cause the reduction of long wave irregularity certainty of measurement through the relatively low geometrical curve of the measurement resulting precision of CPIII.In addition; Safeguard for track, the most important thing is to obtain measured value, and traditional metering system need make up a plurality of survey data every track geometry irregularity; Such as; Rail can cause the stack of measure error like this to, gauge and horizontal irregularity, influences the precision of final measured value.The high ferro non-fragment orbit is very high to the requirement of irregularity; And the irregularity of left and right sides track is incoherent mutually each other; How much states measuring track centerline just equal to measure the average of how much states of left and right sides track; That is to say that the measured track centerline geological information and the geological information of left and right sides track all exist certain deviation, one of reason that interorbital how much state deviations in the track centerline and the left and right sides are the final measured value precision of influence equally.Also there is some other weakness in the online in real time processing mode that present most of measureing equipment adopted; Such as; For handling in real time what can provide only is to pass by the survey data of being gathered in the short time; Metrical information is limited, and the disposal ability of computer is limited too, can not carry out complex mathematical and calculate.
Summary of the invention:
The objective of the invention is to use distinguished measure theory, measuring method, measuring technique, measureing equipment and metering system to overcome above-mentioned shortcoming, provide a kind of and carry out GPS track irregularity detection system and the detection method thereof that track detects with position, direction and incline measurement.
The objective of the invention is to solve through following technical scheme:
A kind of GPS track irregularity detection system comprises measuring unit and Data Post unit, and said measuring unit comprises traversing carriage and the measurement mechanism that is movably arranged on raceway surface; Said measurement mechanism is rigidly fixed on the traversing carriage, and this measurement mechanism comprises 2 independent measurement data acquisition recorders that are provided with; Said measurement data acquisition recorder is used for measuring in real time the status data of traversing carriage and the status data that will at every turn measure is arranged according to time sequencing and recorded data record unit; Said Data Post unit is used for the status data that the processed offline data record unit writes down.
Said measurement data acquisition recorder is made up of a double antenna GPS positioning and directing appearance, three gyroscopes, three accelerometers and navigation calculating and data record center; Wherein double antenna GPS positioning and directing appearance be used to measure traversing carriage absolute position, the speed of service, rail to deflection and angle of slope; The three dimensional angular speed of three gyroscope survey traversing carriages, the three-dimensional acceleration of three accelerometer measures traversing carriages; The three-dimensional acceleration data that the three dimensional angular speed that export to deflection and angle of slope and three gyroscopes the absolute position that said navigation calculating and data record center are exported GPS positioning and directing appearance, the speed of service, rail and three accelerometers are exported are carried out navigation calculating and are handled; Draw precise time, absolute position, rail to deflection and angle of slope, and in chronological order status data is recorded in the document of measurement and data acquisition recorder inside; The status data of said traversing carriage is meant that the absolute position, rail of traversing carriage are to deflection, angle of slope.
Said traversing carriage comprises that four vertically move support and two horizontal traversing carriages, and these four vertically move support and two horizontal traversing carriages flexibly connect through six connectors, make said traversing carriage become the non-rigid structure of a ZZ type.
Be provided with carriage between said traversing carriage and the track, this carriage comprises a main installing plate, two side installing plates, two directive wheels and a main scroll wheel; Said directive wheel comprises a fixed support, first movable axis, spring, second insulation movable axis and the metal bearing; Said main scroll wheel is made up of a cylindrical shape nylon spare, two metal bearings and a metal shaft.
A kind of GPS track irregularity detection method, according to following steps:
(1) measures the status data of track and it is arranged according to time sequencing in real time; Said status data is meant that the absolute position, rail of survey mark are to deflection and angle of slope;
(2) absolute position in the step (1) is calculated to be corresponding mileage, and mileage is sorted according to the time order and function order;
(3) according to the order of step (2) gained mileage the mileage in the step (1), rail are carried out screening and sequencing to deflection and angle of slope by selected step-length;
(4) ordering rail in the step (3) is carried out smoothing processing to deflection, and in direction mileage coordinate system, set up rail to the orientation measurement curve at rail;
(5) according to rail to the orientation measurement curve geometric properties divide section; Confirm that rail is to the type of direction flat curve in each section; And at rail on orientation measurement curve basis, confirm represent rail to the rail of direction flat curve parameter with least square method to directivity function, making rail is minimum with rail to the quadratic sum of orientation measurement curve deviate to the direction flat curve; When rail when direction variable is zero, rail is a linear pattern to the direction flat curve; When rail when direction variable is the constant of non-zero, rail is the circular arc line style to the direction flat curve; When rail when direction variable is a variable, rail is the transition line style to the direction flat curve;
(6) through rail to orientation measurement curve and rail difference to the direction flat curve, calculate derailed to direction irregularity curve;
(7) convert rail to rail to how much irregularity curves to direction irregularity curve with integral way, must overstep the limit to how much irregularity absolute values with this;
(8) use different observation wavelength that rail is handled calculating to how much irregularity absolute values, the rail that draws respective wavelength is to how much irregularity measured values;
(9) read the incline direction survey data by the mileage order, and it carries out smoothing processing, in incline direction mileage coordinate system, set up incline direction and measure curve;
(10) divide section according to the geometric properties of incline direction measurement curve, confirm the type of each section tilt direction flat curve; And measure on the curve basis at incline direction, confirm the incline direction function parameters of incline direction flat curve with least square method, the quadratic sum that makes incline direction flat curve and incline direction measure deviate between curve is minimum; When the angle of slope direction variable was zero, the incline direction flat curve was a linear pattern; When the angle of slope direction variable was the constant of non-zero, the incline direction flat curve was the circular arc line style;
(11) through the difference of incline direction measurement curve and incline direction flat curve, calculate incline direction irregularity curve;
(12) method with integration is converted into how much irregularity curves of track height with incline direction irregularity curve, draws the suitable absolute value that is uneven with this;
(13) use different observation wavelength that how much irregularity absolute values of height are handled, calculate the how much irregularity measured values of height that adapt with wavelength; Said observation wavelength is meant the minimum length that detects track irregularity.
Service orientation mileage coordinate system of the present invention; Because rectangular coordinate system can not be described smoothed curve; So select for use direction mileage coordinate system that smoothed curve is carried out accurate description, because direction mileage coordinate system can be described in the smoothed curve arbitrarily any position and direction simultaneously, wherein mileage is represented the absolute position of each survey mark in curve; Direction representes that then corresponding survey mark and next close on the sensing of survey mark, is representing the geometrical relationship between each survey mark in the curve.Because smoothed curve has uniqueness and continuity Characteristics on position and the direction, curve is unique and continuous in direction mileage coordinate system equally.It is identical that relative position in direction of curve information and the curve between any two consecutive points changes, so direction of curve information is just being represented the geometric position change information of curve, is equivalent to the derivative of curve positional information in rectangular coordinate system.Direction mileage curve is not the geometric position of directly describing curve, but describes the geometric position change procedure of curve.Service orientation mileage coordinate system has following advantage:
(1) keeps the positional information and the directional information of curve, kept the geometrical relationship between mid point of curve and the point;
(2) guarantee the position and the unique and continuous essential characteristic of direction of smoothed curve, described smoothed curve exactly;
(3) direction and mileage are two mutual incoherent physical quantitys, and measuring distance can not exert an influence to the direction value;
(4) mileage is a kind of variable of unidirectional continuous growth, can be used as radix and uses, thereby reduced by a variable;
(5) the direction number range is sealed, and therefore can not influence certainty of measurement because of the size of numerical value;
(6) because directional information is equivalent to the derivative of positional information, so it is simpler than handling positional information to handle directional information;
(7) direction mileage coordinate systems can be described a smoothed curve in the two dimensional surface, use two orthogonal direction mileage coordinate systems (horizontal direction and vertical direction) can describe a three-dimensional smoothed curve.
Therefore, through the position of track, horizontal direction (rail to) and vertical direction (angle of slope) are carried out a track just can be accurately described in continuous measurement at rail in mileage coordinate system and angle of slope mileage coordinate system three-dimensional geometric information.
It is the orientation measurement orbital curve of benchmark that the present invention sets up with the mileage, generates the direction flat curve automatically as examination criteria, through the calculating to direction irregularity curve, extrapolates how much irregularity curves of track
Want to use the position of track and orientation measurement information in direction mileage coordinate system, to set up the orientation measurement curve; At first to positional information be converted into mileage information, and select an appropriate fixed step size directional information to be screened again and arranged by the mileage order.Because all can contain measure error in the measurement numerical value of direction and mileage, so, in order with the measurement coordinate point of being indicated in the direction mileage coordinate system to connect formed line with straight line be rough.According to the continuous characteristic on the smoothed curve direction, can draw a smoothed curve through line is carried out simple smoothing processing, eliminate the noise in the measured value with this, improve the precision of orientation measurement curve.
After drawing level and smooth orientation measurement curve, need set up the direction flat curve as the reference line of measuring the orbital direction irregularity.So-called flat curve is exactly absolute smooth-going curve.The definition of flat curve is different with design curve.Design curve had both been stressed the geometric position of curve, stressed how much states of curve simultaneously again, both smooth-going state.Ideal curve is the smooth-going state of emphasical curve only then, and does not consider the geometric position of curve.Therefore, we become one under overall geometry location aware situation with the flat curve definition, and its how much state variation are minimum smoothed curve.
During the design track circuit, people are presented as three kinds of forms to the requirement of the smooth-going state of track: straightway, circular arc line segment and transition line.Therefore, it is formed that smooth-going track is exactly that a railway line highway section by these three kinds of smooth-going characteristics couples together, and its basic demand is that the overall geometry position deviation of smooth-going track and actual track is for minimum.
In direction mileage coordinate system, we what will set up is the direction flat curve, and utilize the direction variable can three kinds of smooth-going ideal curves of accurate description:
(1) straight line---direction variable is zero;
(2) circular arc line---direction variable is the constant of non-zero;
(3) transition wire---direction variable is a variable;
Therefore; We can at first divide section according to the geometric properties of orientation measurement curve, confirm the type of each section direction flat curve then, calculate the direction flat curve of each section at last with least square method; Make the population deviation between orientation measurement curve and direction flat curve be minimum; Direction flat curve with all sections couples together then, forms a total direction flat curve, as the reference line of detection side to the irregularity curve.Make the direction flat curve that to set up any length in this way, guaranteed the degree of accuracy and the accuracy of reference line.
Orbital direction irregularity curve direction of passage is simply measured the difference between curve and direction flat curve and is drawn.Use simple integration method can the direction irregularity curve in the direction mileage coordinate system be converted to how much irregularity curves in the rectangular coordinate system then.The track geometry irregularity that makes in this way to be calculated is similar to absolute value, is not measured wavelength and limits, and has high accuracy.In real work, we are not the absolute values of track irregularity to the requirement that track irregularity detects, but the relative irregularity measured value in fixing viewing distance, such as 10 meters, 20 meters or 300 meters viewing distances etc.We can handle track geometry irregularity absolute value accordingly, reach above demand.Its method is that how much irregularity absolute values with survey mark deduct how much irregularity absolute values before the selected wavelength of survey mark to obtain the relative irregularity numerical value under the corresponding observation wavelength.
The present invention uses the position, rail of GPS positioning and directing technology and inertia measurement commercial measurement track to deflection and incline direction angle
Because optical measuring technique lacks long ability apart from Continuous Observation; Present employed inertia measurement technology then can not be measured because can't get rid of drift error for a long time; We select for use GPS to measure state-of-the-art technology for all---and the method that double antenna GPS positioning and directing technology and inertia measurement combine solves direction is carried out accurately measuring continuously this difficult problem.
Double antenna GPS positioning and directing technology is to utilize 2 GPS measurement type antennas and 1 or 2 GPS receivers and 1 navigation calculating center combined; Use the carrier difference technology accurately to measure second antenna and be the three-dimensional geometry position in sky, the northeast rectangular coordinate system of initial point, and three dimensional local information is converted into horizontal direction angle and angle of slope information in first aerial position.Use measured deflection of double antenna GPS positioning and directing technology and angle of slope to have that cost is low, simple in structure, multi-functional, accuracy is high and do not have advantage such as drift error.The stability of GPS direction can remedy the defective of the drift error that fibre optic gyroscope has; And the high accuracy of fibre optic gyroscope, high-efficiency and high reliability have been eliminated the strong noise of GPS directional technology and be subject to disadvantages such as interference, and two kinds of different direction measurement methods are best of breeds.In addition, GPS positioning and directing technology is the same with the inertia measurement technology, does not need other object of reference or ground-support equipment, and this is because the inner global coordinates system that uses of GPS positioning and directing technology can accomplish the measurement of any point on the earth surface.
The present invention uses GPS inertia measurement in a closed series equipment
Using for many years in aircraft industry research in GPS positioning and directing technology and inertial navigation integration technology, is the very high matured product of a kind of integrated level so we select for use GPS inertia to merge navigator.Use GPS inertia to merge navigator and many advantages are arranged as data acquisition and recording equipment; Such as; Measurement function is complete; Real-time survey data such as output time, position, speed, acceleration, angular velocity, deflection and angle of slope can work alone, certainty of measurement is high, speed is fast, data updating rate is high, automatic record data, continuous operation for a long time, need not feed instruction or other ground installation, like railroad engineering survey net or ground installation etc. fully.Though price is higher, certainty of measurement and speed all improve one or several order of magnitude than traditional measurement equipment, and cost performance is very outstanding.
The present invention uses double track on-line measurement and data acquisition and off-line data post processing mode
Measure error stack problem in the traditional detection mode, the GPS orbit measurement system adopts dual system double track metering system, simultaneously to the rail of every track to carrying out non-contact detection with straight the connecing that be uneven.In order to accelerate detection speed, adopt data acquisition and data to carry out mode step by step, increase work efficiency.
Advantage of the present invention is: measure the tested track of curve description more accurately with complete with orbital direction; The directed stability of certainty of measurement and GPS that makes full use of inertia measurement equipment realize to track comprehensively, rapidly, continuously, high accuracy and independent measurement; Use the orbital direction flat curve as the benchmark that detects the orbital direction irregularity, avoided using the long disadvantage of being brought that detects apart from track irregularity of straight line influence; Employing is carried out the complexity that contactless direct metering system has reduced orbit measurement to double track, has avoided the possibility of measure error stack; Be employed in the mode of operation of trajectory measurement and data acquisition and off-line data post processing, accelerated measuring speed, reduced working time and requirement of strength, improved operating efficiency the technician; Can measure the absolute value of track geometry irregularity through the method for caculation orbit direction irregularity reckoning track geometry irregularity; Select for use any observation wavelength to be similar to handling of absolute value to what measure; Draw how much irregularities of relative orbit of respective wavelength, the detection and the maintenance work that are convenient to track are more arranged.
Because detection method of the present invention and equipment can work alone fully; Do not need the support of other ground-support equipment; Such as railway engineering monitoring net, build and operation expenses for the input, the minimizing that will reduce railway construction and maintenance from now on, new possibility is provided.
The present invention can detect the track irregularity of overlength wavelength, for structure distortion under monitoring subgrade settlement and the line provides new method.
Detection principle of the present invention is not influenced by measuring speed; Can be directly installed on the real speed that realizes on the EMUs more than 350 kilometers/hour detects; For train provides relevant track circuit current state information in real time in actual operation process; The omnibearing static state and the multidate informations such as time, position, mileage, track circuit and speed, acceleration, rotating speed, vibration of train self also are provided simultaneously in real time, improve the monitoring capacity of train, guarantee traffic safety self and track.
Description of drawings:
Fig. 1 is the structural representation of measuring unit of the present invention;
Fig. 2 is the structural representation of carriage of the present invention;
Fig. 3 is a method flow sketch map of the present invention;
Fig. 4 is that 10 meters rails of observing wavelength of method of the present invention are to the deviation comparison diagram;
Fig. 5 is that 20 meters rails of observing wavelength of method of the present invention are to the deviation comparison diagram;
Wherein 1 is left track; The 2nd, right track; 3 is first to vertically move support; 4 is second to vertically move support; 5 is the 3rd to vertically move support; 6 is the 4th to vertically move support; 7 is first horizontal traversing carriages; 8 is second horizontal traversing carriages; 9 is first gps antennas; 10 is second gps antennas; 11 is the 3rd gps antennas; 12 is the 4th gps antennas; 13 is GPS inertia measurement appearance; 14 is the 2nd GPS inertia measurement appearance; The 15th, active connection; The 16th, metal bearing; The 17th, the side installing plate; The 18th, cylindrical shape nylon spare; The 19th, fixed support; The 20th, movable axis; The 21st, the insulation axle.
The specific embodiment:
Below in conjunction with accompanying drawing the present invention is done and to describe in further detail:
Referring to Fig. 1,2, a kind of GPS track irregularity detection system comprises measuring unit and Data Post unit, and said measuring unit comprises traversing carriage and the measurement mechanism that is movably arranged on raceway surface; Said measurement mechanism is rigidly fixed on the traversing carriage, and this measurement mechanism comprises 2 independent measurement data acquisition recorders that are provided with; Said measurement data acquisition recorder is used for measuring in real time the status data of traversing carriage and the status data that will at every turn measure is arranged according to time sequencing and recorded data record unit; Said Data Post unit is used for the status data that the processed offline data record unit writes down.
Said 2 independent measurement data acquisition recorders that are provided with are respectively the first measurement data acquisition recorder and the second measurement data acquisition recorder; Wherein the first measurement data acquisition recorder is made up of the first double antenna GPS positioning and directing appearance and a GPS inertia measurement appearance; First gps antenna on the first double antenna GPS positioning and directing appearance and second gps antenna are separately positioned on first and vertically move support and second and vertically move on the support, and first vertically moves support and second vertically moves between the support and connect through active connection; Wherein the second measurement data acquisition recorder is made up of the second double antenna GPS positioning and directing appearance and the 2nd GPS inertia measurement appearance; The 3rd gps antenna on the second double antenna GPS positioning and directing appearance and the 4th gps antenna are separately positioned on the 3rd and vertically move support and the 4th and vertically move on the support, and the 3rd vertically moves support and the 4th vertically moves between the support and connect through active connection; The one GPS inertia measurement appearance and the 2nd GPS inertia measurement appearance all comprise three gyroscopes, three accelerometers and navigation calculating and data record center; Wherein double antenna GPS positioning and directing appearance be used to measure traversing carriage absolute position, the speed of service, rail to deflection and angle of slope, the three dimensional angular speed of three gyroscope survey traversing carriages, the three-dimensional acceleration of three accelerometer measures traversing carriages; The three-dimensional acceleration data that the three dimensional angular speed that export to deflection and angle of slope and three gyroscopes the absolute position that said navigation calculating and data record center are exported GPS positioning and directing appearance, the speed of service, rail and three accelerometers are exported are carried out navigation calculating and are handled; Draw precise time, absolute position, rail to deflection and angle of slope, and in chronological order status data is recorded in measurement and data acquisition recorder inside; The status data of said traversing carriage is meant that the absolute position, rail of traversing carriage are to deflection and angle of slope.
Said traversing carriage comprises that four vertically move support and two horizontal traversing carriages, and these four vertically move support and two horizontal traversing carriages flexibly connect through six connectors, make said traversing carriage become the non-rigid structure of a ZZ type.
Be provided with carriage between said traversing carriage and the track, this carriage comprises a main installing plate, two side installing plates, two directive wheels and a main scroll wheel; Said directive wheel comprises a fixed support, movable axis, spring, insulation axle and a metal bearing; Said main scroll wheel is made up of a cylindrical shape nylon spare, two metal bearings and a metal shaft.
The survey data document that is write down in the hard disk is input in the computer of data processing centre, uses GPS orbit measurement post-processing unit to handle.GPS orbit measurement Data Post unit is according to following steps:
A) reads data log document;
B) the first processing of survey data; Its main purpose is that the positional information in all survey data is converted into the mileage parameter; And by the mileage order orientation measurement data are arranged again, select fixed step size that survey data is recorded in the new document again, so that handling to calculate, next step uses;
C) set up rail and measure curve: read all and contain rail to direction and incline direction survey data by what mileage was arranged to orientation measurement curve and incline direction; Respectively rail is carried out smoothing processing to bearing data and incline direction data; Eliminate the noise in two kinds of direction measurement, form level and smooth rail and measure curve to orientation measurement curve and incline direction;
D) set up rail to direction flat curve and incline direction flat curve: the characteristic according to rail is measured curve to orientation measurement curve and incline direction is carried out automatic segmentation; According to every section essential characteristic of measuring curve; Confirm the kind of every section rail to direction flat curve and incline direction flat curve, the use least square method is set up every section best rail to direction flat curve and incline direction flat curve.
E) calculate rail to direction irregularity and incline direction irregularity: rail is carried out difference to orientation measurement curve and rail to the direction flat curve must overstep the limit, incline direction is measured curve and incline direction flat curve carry out difference and draw incline direction irregularity curve to direction irregularity curve;
F) rail converts and the conversion of incline direction irregularity curve and the how much irregularity curves that tilt to how much irregularity curves to direction irregularity curve and rail: with integral way; The rail of fixed step size is converted into rail to how much irregularity curves to direction irregularity curve; And, the incline direction irregularity curve of track step-length is converted into how much irregularity curves of track height with the same manner;
G) calculate different observation wavelength opposite rails down to how much irregularity curves and how much irregularity curves of height relatively: with the rail of institute's rail before how much irregularity measured values deduct selected wavelength fixed range respectively to how much irregularity measured values, with the opposite rails that draws respective wavelength to geometry irregularity curves.The measured value of all height how much irregularities is deducted the how much irregularity measured values of height before the selected wavelength fixed range, to draw how much irregularity curves of relative orbit height of respective wavelength.
H) show the function of all curves and amplify arbitrarily and the translation image display window with image;
The specific algorithm of geometrical deviation is provided by following formula among the present invention:
Δv＝Δl·sin(Δθ)≈Δl·Δθ
Use following formula to calculate to measure track and ideal track laterally to grow the geometrical deviation of distance:
Wherein, l is the mileage variable, and θ (l) is a deviation of directivity angle variable, and v (l) is the geometrical deviation variable.Like this, just convert deviation of directivity curve to the geometric position aberration curve, and can draw the deviate of position on any mileage.
Core of the present invention is: use GPS inertia combination metering system with " ZZ " type distressed structure measurement trailer double track to be carried out position, deflection and angle of slope simultaneously and measure and write down survey data; Propose first to describe tested track circuit with direction mileage coordinate; Set up orbital direction and measure curve, and measure on the basis of curve, form the orbital direction flat curve in conjunction with the essential characteristic of smooth-going track in orbital direction; Guarantee the accuracy and the reliability of reference line; Utilize Difference Calculation to go out orbital direction irregularity curve, derive the absolute value of track geometry irregularity again with integration method, at last as required; Select for use the fixed observer wavelength that track geometry irregularity curve is handled, draw how much irregularity curves of regulation of respective wavelength.
We have carried out repeatedly repetition measurement experiment on the spot on newly-built Zheng Xi high speed passenger dedicated railway; Long 1.6 kilometers of measurement circuit; Test result shows that the track irregularity of the overwhelming majority has only the track of a place 3885 meter sections to have the irregularity greater than 3 millimeters all less than 1 millimeter.Fig. 4 and shown in Figure 5 be to come and go seven rails survey data under 10 meters and the 20 meters observation wavelength on the same highway section to irregularity, can find out among the figure that rail is essentially identical to the irregularity measured value on same mileage, measured deviation≤0.5 millimeter.
Compare and to find out from Fig. 4 and Fig. 5, observe the irregularity measured value under the wavelength more approach actual conditions for 20 meters than the measured value under 10 meters observation wavelength.A that Fig. 5 is presented at, B two places all exist 3 millimeters irregularity.Fig. 5 shows that then the long irregularity of 20 metric waves of one 3 millimeter only appears in track at the A place, and the B place then is smooth-going.This shows that the selection of observation wavelength directly influences the track irregularity detected value.
Above content is to combine concrete preferred implementation to further explain that the present invention did; Can not assert that the specific embodiment of the present invention only limits to this; Those of ordinary skill for technical field under the present invention; Under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to the present invention and confirm scope of patent protection by claims of being submitted to.
Claims (5)
1. a GPS track irregularity detection system comprises measuring unit and Data Post unit, it is characterized in that: said measuring unit comprises traversing carriage and the measurement mechanism that is movably arranged on raceway surface; Said measurement mechanism is rigidly fixed on the traversing carriage, and this measurement mechanism comprises 2 independent measurement data acquisition recorders that are provided with; Said measurement data acquisition recorder is used for measuring in real time the status data of traversing carriage and the status data that will at every turn measure is arranged according to time sequencing and recorded data record unit; Said Data Post unit is used for the status data that the processed offline data record unit writes down.
2. a kind of according to claim 1 GPS track irregularity detection system; It is characterized in that: said measurement data acquisition recorder is made up of a double antenna GPS positioning and directing appearance, three gyroscopes, three accelerometers and navigation calculating and data record center; Wherein double antenna GPS positioning and directing appearance be used to measure traversing carriage absolute position, the speed of service, rail to deflection and angle of slope; The three dimensional angular speed of three gyroscope survey traversing carriages, the three-dimensional acceleration of three accelerometer measures traversing carriages; The three-dimensional acceleration data that the three dimensional angular speed that export to deflection and angle of slope and three gyroscopes the absolute position that said navigation calculating and data record center are exported GPS positioning and directing appearance, the speed of service, rail and three accelerometers are exported are carried out navigation calculating and are handled; Draw precise time, absolute position, rail to deflection and angle of slope, and in chronological order status data is recorded in measurement and data acquisition recorder inside; The status data of said traversing carriage is meant that the absolute position, rail of traversing carriage are to deflection and angle of slope.
3. a kind of according to claim 1 GPS track irregularity detection system; It is characterized in that: said traversing carriage comprises that four vertically move support and two horizontal traversing carriages; These four vertically move support and two horizontal traversing carriages flexibly connect through six connectors, make said traversing carriage become the non-rigid structure of a ZZ type.
4. a kind of according to claim 1 GPS track irregularity detection system; It is characterized in that: be provided with carriage between said traversing carriage and the track, this carriage comprises a main installing plate, two side installing plates, two directive wheels and a main scroll wheel; Said directive wheel comprises a fixed support, first movable axis, spring, second movable axis and a metal bearing; Said main scroll wheel is made up of a cylindrical shape nylon spare, two metal bearings and a metal shaft.
5. a GPS track irregularity detection method is characterized in that, according to following steps:
(1) measures the status data of track and it is arranged according to time sequencing in real time; Said status data is meant that the absolute position, rail of survey mark are to deflection and angle of slope;
(2) absolute position in the step (1) is calculated to be corresponding mileage, and mileage is sorted according to the time order and function order;
(3) according to the order of step (2) gained mileage the mileage in the step (1), rail are carried out screening and sequencing to deflection and angle of slope by selected step-length;
(4) ordering rail in the step (3) is carried out smoothing processing to deflection, and in direction mileage coordinate system, set up rail to the orientation measurement curve at rail;
(5) divide section according to rail to the geometric properties of orientation measurement curve, confirm that rail is to the type of direction flat curve in each section; And at rail on orientation measurement curve basis, confirm represent rail to the rail of direction flat curve parameter with least square method to directivity function, making rail is minimum with rail to the quadratic sum of orientation measurement curve deviate to the direction flat curve; When rail when direction variable is zero, rail is a linear pattern to the direction flat curve; When rail when direction variable is the constant of non-zero, rail is the circular arc line style to the direction flat curve; When rail when direction variable is a variable, rail is the transition line style to the direction flat curve;
(6) through rail to orientation measurement curve and rail difference to the direction flat curve, calculate derailed to direction irregularity curve;
(7) convert rail to rail to how much irregularity curves to direction irregularity curve with integral way, must overstep the limit to how much irregularity absolute values with this;
(8) use different observation wavelength that rail is handled calculating to how much irregularity absolute values, the rail that draws respective wavelength is to how much irregularity measured values;
(9) read the incline direction survey data by the mileage order, and it carries out smoothing processing, in incline direction mileage coordinate system, set up incline direction and measure curve;
(10) divide section according to the geometric properties of incline direction measurement curve, confirm the type of each section tilt direction flat curve; And measure on the curve basis at incline direction, confirm the incline direction function parameters of incline direction flat curve with least square method, the quadratic sum that makes incline direction flat curve and incline direction measure deviate between curve is minimum; When the angle of slope direction variable was zero, the incline direction flat curve was a linear pattern; When the angle of slope direction variable was the constant of non-zero, the incline direction flat curve was the circular arc line style;
(11) through the difference of incline direction measurement curve and incline direction flat curve, calculate incline direction irregularity curve;
(12) method with integration is converted into how much irregularity curves of track height with incline direction irregularity curve, draws the suitable absolute value that is uneven with this;
(13) use different observation wavelength that how much irregularity absolute values of height are handled, calculate the how much irregularity measured values of height that adapt with wavelength; Said observation wavelength is meant the maximum length that detects track irregularity.
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| CN111979859A (en) * | 2020-08-19 | 2020-11-24 | 中国铁道科学研究院集团有限公司 | Track irregularity detection system and method |
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| CN112735139A (en) * | 2021-01-07 | 2021-04-30 | 中国安全生产科学研究院 | Device and method for checking potential safety hazards of common roads |
| CN113358053A (en) * | 2021-04-27 | 2021-09-07 | 中车青岛四方机车车辆股份有限公司 | Track irregularity detection and evaluation system and method, electronic equipment and railway vehicle |
| CN113358053B (en) * | 2021-04-27 | 2023-02-24 | 中车青岛四方机车车辆股份有限公司 | Track irregularity detection and evaluation system and method, electronic equipment and track vehicle |
| CN113619622A (en) * | 2021-07-30 | 2021-11-09 | 江西日月明测控科技股份有限公司 | Auxiliary guiding device and rail inspection equipment |
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