CN103207403A - Satellite navigation and inertial measurement combined orbit measuring system and method - Google Patents
Satellite navigation and inertial measurement combined orbit measuring system and method Download PDFInfo
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- CN103207403A CN103207403A CN2013100145078A CN201310014507A CN103207403A CN 103207403 A CN103207403 A CN 103207403A CN 2013100145078 A CN2013100145078 A CN 2013100145078A CN 201310014507 A CN201310014507 A CN 201310014507A CN 103207403 A CN103207403 A CN 103207403A
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Abstract
The invention discloses a satellite navigation and inertial measurement combined orbit measuring system and method. The satellite navigation and inertial measurement combined orbit measuring system comprises a measuring unit and a data post-processing unit. The measuring unit comprises two satellite navigation and inertial measurement combined orbit measuring devices which are placed on two monorails. A drawing device draws a satellite navigation and inertial measurement combined system to perform real-time online measurement, record original data of a dual-rail geometrical state and an equipment running state and perform offline processing through the data post-processing unit. The satellite navigation and inertial measurement combined orbit measuring method comprises performing preprocessing on original measurement data; establishing a directional mileage measurement curve and an ideal curve; calculating absolute and relative irregularity of a rail direction; establishing a slope angle mileage measurement curve and a slope angle ideal curve; and calculating absolute and relative irregularity of the height. According to online data collection, an offline data processing mode and a dual-rail parallel measuring mode, external geometrical information and internal geometrical irregularity of orbits are determined.
Description
Technical field
The invention belongs to track detection technique field, particularly a kind of system and measuring method of utilizing satellite navigation such as GPS, the Big Dipper, GLONASS, Galileo and inertia measurement combined system to detect track external shape and inner irregularity.
Background technology
For high-speed railway, the external shape of track and inner high ride are to guarantee quick, steady, comfortable, the safety of motor-car and the key of economical operation.Keeping the high ride of track is the aim of high ferro track maintenance, and it then is the key of track maintenance work that the precision of track irregularity is detected.The strict demand that present high ferro proposes checkout equipment has exceeded the ability of conventional detection devices, and the checkout equipment technological lag has become an obstruction China Express Railway bottleneck of sustainable and healthy development from now on.
For many years, both at home and abroad all in the research of actively developing static track irregularity detection technique, method and apparatus, at present based on the use laser measuring technique, but up to now, produce little effect.Laser measuring technique is a kind of relative measurement technology, need to rely on reference point as reference coordinates, the most frequently used detection means is, use absolute location coordinates or the relative position coordinates of observation station on total powerstation and the CPIII control point survey track, determine the irregularity of track by reference design place on line coordinate.
Total powerstation is the higher position measurement apparatus of a kind of precision, but has many disadvantages.At first its reach is limited, and the longest measuring distance only is about 100 meters, and secondly positional accuracy measurement is subjected to the influence of measuring distance, and measuring distance is more big, and positional precision is just more low, and it is also very big to be subjected to external environment and artificial factor simultaneously.Using laser technology to measure track circuit needs CPIII control net to be used, and CPIII control net is built and maintenance cost will also increase workload simultaneously much larger than measuring cost, has reduced measuring speed and measuring accuracy.In addition, if will rely on position measurement to determine track irregularity, also need rely on designed lines as detection reference.Making and can only determine track in this way at locational absolute deviation or relative deviation, is not irregularity truly.These deviations often are greater than the irregularity of actual track, have increased cost and the difficulty of track maintenance work significantly, even can exceed and transfer criterion to enclose, and can't reach due maintenance effect.
The method that has many measurement track irregularities at present, for example, string is surveyed method, long-chord mensuration, inertial reference method and the absolute method of measurement etc.Except the absolute method of measurement, other mensuration all belongs to relative measurement method, is means to measure displacement or position deviation.Because relative measurement method is only considered the inner geometry state of track part, do not consider the external shape of the overall situation, design information and non-design information in also just can not the discriminating measurement data, track irregularity belongs to the part in the non-design information.Therefore, use displacement measurement method can not accurately measure track irregularity.Relative measurement can only guarantee the accuracy of shortwave irregularity, can not guarantee the accuracy of long wave irregularity.The characteristic of the absolute method of measurement is then opposite, though it can measure the smooth-going anything but of track comparatively exactly, the measurement result of the irregularity of irregularity, particularly shortwave is not accurate enough relatively.
Traditional detection method is means with position measurement and position versus all.Because each measurement point positional information is independently each other, lacks correlativity between all position measurements, thereby be difficult to common the processing.What track irregularity was described is a kind of circuit change of shape attribute, with location independent, and the information that also is in the position measurement not comprised.So, people can't directly extract irregularity numerical value from position measurement, only can rely on geometric function and reference data to carry out approximate simulation, it is very limited that geometric function is handled the ability of a plurality of measurement point positional informations simultaneously, accuracy and precision all can reduce along with the increase of deal with data, and this is the basic reason why traditional detection method can't the accurately measuring track irregularity.
Summary of the invention
The purpose of this invention is to provide a kind of satellite navigation and inertia measurement combined track measuring system and method, the present invention utilizes the aerial navigation measuring system---and double antenna GPS inertia measurement unit equipment and single track are measured dolly, speed with 100Hz, realization is to real-time measurement and the data recording of track full spectrum information, use the poster processing soft that measurement data is carried out processed offline then, calculate the outside geological information of relevant track circuit, as the position, line style and line style parameter, and track inner geometry information, as rail to irregularity, it is suitable to be uneven, horizontal irregularity and twist irregularity etc. generate the testing result form and the orbital maintenance scheme are provided.
The objective of the invention is to realize by following technical proposals.
A kind of satellite navigation and inertia measurement combined track measuring system, comprise measuring unit and Data Post unit, described measuring unit comprises two independently satellite navigation and inertia measurement unit equipments, these two measuring equipments are placed in respectively on two single tracks, by two of draw-off equipment tractions independently satellite navigation and inertia measurement unit equipment along the rail even running, geological information and physical message when moving along double track for the on-line continuous measuring equipment, the real time record raw data, and this raw measurement data carried out processed offline by the Data Post unit.
Present device is described to be further characterized in that:
Described draw-off equipment is a portable railway trailer wagon, comprises that compartment, bottom, compartment that sidepiece opens wide arrange the double track wheel, are provided with power system, catanator and manned seat in the compartment.
Described satellite navigation and inertia measurement unit equipment are that a monorail is measured dolly, comprise one with the non-contacting double antenna GPS of single track inertia measurement center, a pair of set of wheels that places its both sides to be connected by mainboard, and a pair of gps antenna that is positioned at the set of wheels both sides.
Described a pair of gps antenna is connected by antenna holder and single track are untouchable, and antenna holder is provided with the draw ring that links to each other with the portable railway trailer wagon.
Described set of wheels is set up on the single track by wheel support, joins by main wheel and single track rail level, joins by wheel support connection side wheel and single track sidepiece.
Described double antenna GPS inertia measurement center comprises an embedded computer, and double antenna satellite navigation GPS receiver, 3 gyroscopes, 3 accelerometers, 1 odometer, 1 sleeper recognizer of linking to each other respectively with this embedded computer, and SD card reader, USB interface, RS232 serial ports, signal lamp and attaching plug and accumulator, described double antenna satellite navigation GPS receiver links to each other with 2 gps antennas.
The signal data that the measurement of described double antenna GPS inertia measurement center and record gps data, inertia measurement data and odometer and sleeper recognizer are exported is used for the later stage processed offline, calculates outside geological information and the inner geometry information of relevant track circuit.
Described odometer is arranged at the set of wheels both sides, and odometer comprises and passing and transmitting illuminant and a pair of receiving pole of set of wheels.
Described sleeper recognizer is arranged at the inboard of the close track single track in double antenna GPS inertia measurement center that parallels with sleeper, and the sleeper recognizer is determined position, sleeper numbering, traffic direction and the sleeper mileage of screw spike by 2 reflective photoelectric switches.
Correspondingly, the present invention gives a kind of satellite navigation and inertia measurement combined track measuring method, comprises the steps:
A. raw measurement data is carried out pre-service, derive the measurement data such as sequence number, mileage, gps data, horizontal direction angle and pitch angle of corresponding each sleeper position;
B. set up the orientation measurement curve based on mileage and horizontal direction angle, and levy according to the variation of orientation measurement curve and to set up the direction ideal curve;
C. calculate rail to smooth-going and rail anything but to relative irregularity;
D. set up the incline measurement curve based on mileage and pitch angle, and according to the variation characteristic of incline measurement curve, set up the pitch angle ideal curve;
E. calculate height smooth-going and relative irregularity just anything but.
By to left and right sides rail rail to irregularity and the suitable processing that is uneven, determine the irregularity information between double track, as gauge variable quantity, horizontal irregularity and twist irregularity etc., in the poster processing soft, realization shows various measurement data, ideal data, smooth-going data and irregularity data with image format, and realize amplifying, dwindling and comparing function, be convenient to data analysis.
Wherein, described gps data comprises time, position, speed, direction and pitch angle, and described inertia measurement raw data comprises time, three axis angular rates and three-dimensional acceleration; Described outside geological information comprises position coordinates, the line style of different line segments and line style parameter; Described inner geometry information comprise rail to irregularity, genial rail cant irregularity is uneven; Comprise line style, length, the arc radius outside geometric properties of test line in surface level in the described direction variable ideal curve.
Beneficial effect of the present invention is:
Replace location expression and analyze track circuit with shape, determine track outside how much and inner geometry information.The shape of track circuit can be regarded as by design shape and non-design shape to be formed.The difference of design shape and non-design shape is that design shape has the aperiodicity change to attributes, but not design shape then has the periodic shapes change to attributes.Therefore, can whether be periodically according to change of shape, separate design shape and non-design shape in the shape measure data.Because can directly from measurement data, obtain the shape design information, therefore can save the introduction of design data.The design shape feature of track circuit is fairly obvious, must be a kind of in linear pattern, circular arc type and the transition type (3 para-curve).These three kinds of line styles are aperiodicity change of shape feature all, and the change of shape feature is had nothing in common with each other, can directly determine line style and the homologous lines shape parameter of test line according to the change of shape measurement data, set up and the ideal form of being formed by three kinds of line styles of measuring that shape is consistent most, replace the design shape use.To measure shape deducts design shape and obtains non-design shape.Non-design shape can be divided into smooth-going relatively shape and relative irregularity shape, and the criteria for classifying is to see that its change of shape cycle (both wavelength) whether greater than designated length, both observed wavelength.All wavelengths all belongs to smooth-going relatively part greater than the non-design shape of observation wavelength, otherwise all wavelengths is less than or equal to the non-design shape of observing wavelength and all belongs to relative irregularity part.Track irregularity refers to the non-design information of relative irregularity.
Horizontal direction angle and pitch angle represent the shape information of track circuit in surface level and vertical section respectively.Service orientation mileage coordinate is described the geometric configuration of test line in surface level.By direction being measured the processing that curve and direction variable are measured curve, set up the direction ideal curve that represents the representative design shape of test line in surface level.The direction of the non-design shape information of orientation measurement curve subduction direction ideal curve acquisition representative is flat curve anything but.To the direction smooth-going integration that carries out anything but, obtain corresponding rail to smooth-going anything but.Use selected observation wavelength 1/4th spacings to rail to the value of sampling of smooth-going data anything but, then sample value is carried out cubic spline interpolation and calculates, obtains one level and smooth, minimum wavelength be longer than observe wavelength rail to relative flat curve.Rail obtains rail to relative irregularity curve to smooth-going subduction rail anything but to relative flat curve, and both rail was to the irregularity curve.With to the processing mode of deflection to corresponding, use pitch angle mileage coordinate to set up and describe the geometric configuration of test line in vertical section.By the processing to the incline measurement curve, set up the pitch angle ideal curve that represents the representative design shape information of test line in vertical section.To the height that obtains the non-design shape of representative behind its integration flat curve anything but.Use 1/4th of selected observation wavelength at interval it to be taken a sample, and sample value is carried out cubic spline interpolation calculate, obtain height flat curve relatively.With height anything but flat curve deduct relatively flat curve of height, obtain height irregularity curve relatively.
Conventional detection devices is all measured the geometry irregularity of track centerline and how much irregularities between two rails are that fundamental purpose designs, and what therefore adopt all is double track device structures.The carrier of checkout equipment operates on the double track.This design has individual defective, be exactly measurement point be on the center line of track.Track centerline is a virtual circuit, does not have corresponding mark or object of reference, therefore can't determine and use in practice.The carrier of checkout equipment is to be placed on the rail level of double track, because all there is the irregularity of self in every steel road, distance between center line and every one steel rail is uncertain, how much states of the geometry state of center line and left and right sides rail are different, give the unnecessary error of left and right sides track maintenance work band.
Be not the problem on the same line road for fear of detecting and adjusting, we adopt the single track list to survey and the two mode of operations of surveying of double track, design a kind of detect single rail irregularity detection system---double antenna GPS inertia measurement center and monorail trolley are formed.Double antenna GPS inertia measurement center is installed in two gps antennas, an odometer and a sleeper recognizer and measures on the dolly, measure dolly by two groups of wheels, a platform and two antenna holders are formed, and can be free to slide along the rail direction stably on single rail.Double antenna GPS inertia measurement center is in the top of rail center line all the time.Odometer is installed on the main wheel of dolly, is made up of two correlation optoelectronic switches.The sleeper recognizer of being made up of two reflective photoelectric switches is installed in the inboard by the track centerline direction of double antenna GPS inertia measurement center, can identify railway spike automatically, issues the corresponding electronic impulse in double antenna GPS inertia measurement center.Double antenna GPS inertia measurement central interior is equipped with three accelerometers, three gyroscopes, double antenna GPS receiver and embedded computer, battery etc.After the start, the raw measurement data of double antenna GPS inertia measurement central interior automatic writing time, position, speed, deflection, pitch angle, roll angle and acceleration and angular velocity, but continuous working is more than 4 hours.
Description of drawings
Fig. 1 is system architecture synoptic diagram of the present invention.
Fig. 2 is for measuring dolly one-piece construction figure.
Fig. 3 is the set of wheels structural drawing.
Fig. 4 is the side wheel synoptic diagram that upwards overturns.
Fig. 5 is main car wheel structure synoptic diagram.
Fig. 6 is double antenna GPS inertia measurement division center block diagram.
Fig. 7 is the odometer structural drawing.
Fig. 8 (a) and 8(b) be respectively two emission optoelectronic switches identification railway spike synoptic diagram.
Fig. 9 is the inventive method FB(flow block).
Figure 10 is concrete grammar FB(flow block) of the present invention.
Figure 11 measures curve for the direction mileage.
Figure 12 measures curve for the direction variable mileage.
Figure 13 measures curve and direction variable ideal curve for direction variable.
Figure 14 is orientation measurement curve and direction ideal curve.
Figure 15 is direction flat curve anything but.
Figure 16 is rail to flat curve anything but.
Figure 17 is rail to the rail of flat curve and several different wave lengths anything but to flat curve.
Figure 18 is rail to flat curve and the partial enlarged drawing of different wave length rail to relative flat curve anything but.
Figure 19 is that the rail of several different wave lengths is to irregularity.
Figure 20 is that the rail of several different wave lengths is to the irregularity partial enlarged drawing.
Figure 21 is the incline measurement curve.
Figure 22 is incline measurement curve and pitch angle ideal curve.
Figure 23 is pitch angle flat curve anything but.
Figure 24 is height flat curve anything but.
Figure 25 is the height relative flat curve of height of flat curve and different wave length anything but.
Figure 26 is the height partial enlarged drawing of the relative flat curve of height of flat curve and different wave length anything but.
Figure 27 is the fair curve that is uneven of several different wave lengths.
Figure 28 is the partial enlarged drawing of the fair curve that is uneven of several different wave lengths.
Among the figure: 1, portable railway trailer wagon; 2, monorail is measured dolly; 3, mainboard; 4, front truck wheels; 5, rear wheel group; 6, preceding antenna holder; 7, aft antenna support; 8, double antenna GPS inertia measurement center; 9, preceding gps antenna; 10, back gps antenna; 11, sleeper recognizer; 12, odometer; 13, preceding draw ring; 14, back draw ring; 15, single track; 16, main wheel; 17, main wheel support; 18, side wheel support; 19, side wheel; 20, core wheel; 21, tire; 22, main shaft; 23, bearing; 24, transmitting illuminant; 25, go up receiving pole; 26, following receiving pole; 27, light beam; 28, first reflective photoelectric switch; 29, second reflective photoelectric switch; 30,31, light beam; The level signal of exporting when 32,33, two optoelectronic switches are crossed the spring top; 34, railway spike; 35, spring; The level signal of exporting when 36,37, two optoelectronic switches are crossed the spring top.
Embodiment
The concrete example that now will invent is expressed in down, and detailed construction is with reference to accompanying drawing.
Figure 1 shows that the system architecture synoptic diagram of this invention, comprising a measuring unit---two independently satellite navigation and inertia measurement unit equipments: monorail is measured dolly 2 and a draw-off equipment: portable railway trailer wagon 1 and Data Post unit, two monorails are measured dolly 2 and are placed in respectively on the single track 15, measure dollies 2 by two monorails that move along rail of portable railway trailer wagon 1 traction, for carry out geometry state and the physical state raw data that on-line measurement and record relevant devices are gathered in real time when double track moves.
Wherein, portable railway trailer wagon 1 comprises that compartment, bottom, compartment that sidepiece opens wide arrange the double track wheel, are provided with power system, catanator and manned seat in the compartment.The major function of portable railway trailer wagon is traction, and its characteristics are in light weight, are less than 60 kilograms, can lift, turn around by 2 people whenever and wherever possible or on roll off the production line, and self-powered, can take advantage of many people, by 1 people operation, the time scooter more than 15 kilometers.
The principal character of portable railway trailer wagon is carrying in light weight, quick detachable, easy, drive and takes advantage of many people, can be under the situation that nothing is open to traffic, need not management and running and use, realize carrying out fast of testing, alleviate staff's labour intensity simultaneously.Patent of invention 201210099781.5 " portable multi-function track combination trailer wagon " has been introduced a kind of portable railway draw-off equipment with above characteristic.
As shown in Figure 2, the major function of monorail measurement dolly is automatic measurement and the data recording that realizes track circuit.Adopt towed principle of work, under the traction of external force, measuring dolly can steadily move ahead on single rail.Monorail is measured dolly 2 and is comprised one and single track 15 non-contacting double antenna GPS inertia measurement centers 8, a mainboard 3 respectively is installed in its both sides, be connected with a pair of set of wheels (front truck wheels 4 and rear wheel group 5 by mainboard 3, be positioned at the two set of wheels outside and respectively establish a gps antenna (preceding gps antenna 9 and back gps antenna 10), the middle part of antenna holder 6 and aft antenna support 7 before a pair of gps antenna is installed in respectively, and the support of untouchable twelve Earthly Branches is on single track 15.Sleeper recognizer 11 is installed in mainboard 3 inboards, and with the position that the center at double antenna GPS inertia measurement center 8 parallels, odometer 12 is installed on the support of one group of set of wheels.The longitudinal axis of measuring equipment and rail horizontal direction are consistent, its movement locus forever and rail center line keeping parallelism, 2 gps antennas be in all the time rail directly over, make its direction of measurement identical with the rail direction.Monorail is measured dolly 2 and is placed on the single track 15, and preceding antenna holder 6 is respectively equipped with preceding draw ring 13 and the back draw ring 14 that links to each other with portable railway trailer wagon 1 with aft antenna support 7 two ends, so that fixed tractive is used.
The core measuring equipment of measuring dolly is double antenna GPS inertia measurement center (being designated hereinafter simply as measuring center), odometer and sleeper recognizer.When measuring dolly along single rail even running, the metrical informations such as electronic pulse signal that measuring center is measured automatically and writing time, GPS position, speed, deflection, pitch angle, three axis angular rates, three-dimensional acceleration, odometer and sleeper recognizer are exported.
As shown in Figure 3, set of wheels is set up on the single track 15 by main wheel support 17, joins by main wheel 16 and single track 15 rail levels, respectively connects a side wheel 19 in main wheel support 17 both sides by side wheel support 18 and joins with single track 15 sidepieces.The main wheel walking is on the end face of rail, and 2 side wheels are clamped two sides of orbital head, to prevent main wheel mode translation in advancing.
As shown in Figure 4, be the side wheel synoptic diagram that upwards overturns, side wheel support 18 can be along 17 rotations of main wheel support, and the side wheel support is the side that is fixed on the main wheel support by screw and spring, can select.When wheel process track switch, the side wheel support in the outside can be rotated up, to avoid clashing into point.
As shown in Figure 5, be main car wheel structure synoptic diagram, the main wheel of set of wheels is made up of 1 core wheel 20,1 tire 21,1 main shaft 22,2 bearings 23.The material of core wheel 20 is nylon or other plastics, and the circular hole of side about 10 millimeters sizes of evenly distributed several diameters on same circumference can allow the correlation optoelectronic switch light of odometer pass through.The material of tire is stainless steel, outer surface of tire be two trapezoidal, make main wheel and rail level that two contact points be arranged all the time, to guarantee the lateral stability state of wheel.
As shown in Figure 6, be double antenna GPS inertia multiple measurement device structure block diagram, double antenna GPS inertia measurement center 8 comprises an embedded computer, and double antenna satellite navigation GPS receiver, 3 gyroscopes, 3 accelerometers, 1 odometer, 1 sleeper recognizer of linking to each other respectively with this embedded computer, and SD card reader, USB interface, RS232 serial ports, signal lamp and attaching plug and accumulator, double antenna satellite navigation GPS receiver links to each other with double antenna.The major function of measuring center is gps measurement datas such as record double antenna GPS receiver time of exporting, position, speed, direction, pitch angle, inertia such as three axis angular rates that 3 gyroscopes and 3 accelerometers are exported and three-dimensional acceleration, and the measurement data such as voltage signal of odometer and sleeper recognizer optoelectronic switch.Embedded computer stores all measurement data in the card with storer or the SD of document form real time record to inside, for post-processed is used.232 serial ports are used for software upgrading and on-line analysis.USB interface is used for reading inner data of storing.Signal lamp shows the duty of measuring equipment in real time.Lithium battery uses as the measuring equipment power supply that works online.Attaching plug is used for lithium cell charging.
As shown in Figure 7, odometer 12 is arranged at set of wheels axle side, and odometer 12 comprises and passing and the transmitting illuminant 24 of set of wheels and a pair of receiving pole (go up receiving pole 25, receiving pole 26) down.Measuring equipment uses two correlation optoelectronic switches to realize the basic function of odometer: direct of travel and the mileage of determining to measure dolly.2 correlation optoelectronic switches are installed on the main wheel support of a set of wheels side by side.Along with the rotation of main wheel, on the inner core on same circumference evenly distributed N circular hole will pass through the two poles of the earth of optoelectronic switch in order one by one, allowed or cut off light beam.The transmitting illuminant 24 of optoelectronic switch is installed in main vehicle wheel frame one side, and last receiving pole 25 and the following receiving pole 26 of 2 optoelectronic switches are installed in opposite side up and down side by side.When a circular hole on main wheel passed through light beam 27,2 receiving ends just received light, output level 1 respectively.After circular hole left light beam, light beam was cut off by core wheel, and 2 receiving poles are output level 0 just.Because the installation site of 2 receiving poles is variant, when a circular hole through out-of-date, the level that 2 receiving poles are exported has difference successively in time.According to the priority difference of level signal, can declare the direction that brings out the wheel rotation.Umber of pulse according to a receiving pole is exported can calculate corresponding mileage.Embedded computer records the level signal of 2 receiving ends of odometer simultaneously, is convenient to aftertreatment and uses.
As Fig. 8 (a), 8(b) shown in, sleeper recognizer 11 is arranged at 8 bottoms, double antenna GPS inertia measurement center that parallel with sleeper, uses 2 reflective photoelectric switches (first reflective photoelectric switch 28 and second reflective photoelectric switch 29) to send the basic function that light beam 30 and 31 is realized sleeper identification: position 34, sleeper numbering, traffic direction and the sleeper mileage of determining railway spike.Distance between the induction of 2 reflective photoelectric switches and testee.When optoelectronic switch during through bolt railway spike top, because of spacing less than setting boundary, with outputs level signals 1.When optoelectronic switch left railway spike, spacing was sent level signal 0 greater than setting boundary.Show that the level signal of exporting when two optoelectronic switches are crossed the spring top 32 and 33 is shown in Fig. 8 (a).Use 2 reflective photoelectric switches that have suitable distance successively to install, distinguish optoelectronic switch to the reaction of railway spike 34 and spring 35, avoid occurring the identification that repeats of railway spike.Distance between 2 optoelectronic switches is greater than the diameter of spring, and less than the diameter of road screw top cap, and like this, when 2 optoelectronic switches during through the springs top, the output level that has only one of them optoelectronic switch is 1.When 2 optoelectronic switches during through the railway spikes top, 1 phenomenon 2 output levels can appear is simultaneously, and railway spike identification just is effective.Show that the level signal of exporting when two optoelectronic switches are crossed spring 35 tops 36 and 37 is shown in Fig. 8 (b).The output level of 2 reflective photoelectric switches will with other measurement data by real time record in embedded computer, be convenient to aftertreatment and use.
The present invention can adopt two to overlap the realization of monorails measurement dollies to the synchro measure of left and right sides single track, or uses a cover monorail to measure the dolly realization to the asynchronous measurement of left and right sides single track.
The present invention uses post-processing unit to realize carried out the processed offline in later stage by measurement dolly recorded data, calculate and export every testing result of the corresponding every sleepers of test line position, comprising mileage, sleeper sequence number, position coordinates, line style and line style parameter, and arbitrarily the rail of wavelength to irregularity be uneven suitable; In post-processing unit, in order to determine and to quantize rail to irregularity and be uneven suitablely, use following several conceptions of species:
Definitely smooth-going: the attribute that a kind of circuit changes without any periodic shapes;
Smooth-going anything but: a kind of circuit has the attribute that certain periodic shapes changes;
Smooth-going relatively: the attribute that a kind of circuit emersion wave is grown up and changed in the periodic shapes of observation wavelength;
Relative irregularity: the attribute that wavelength is less than or equal to the periodic shapes variation of observing wavelength appears in a kind of circuit.
See shown in Figure 29.
Wherein, the irregularity attribute also is referred to as the irregularity attribute relatively, and smooth-going relatively attribute and absolute smooth-going attribute unification are referred to as smooth-going attribute.Table 1 shows the mutual relationship between above concept;
Table 1: the relation between smooth-going and irregularity concept
In post-processing unit, service orientation mileage coordinate and pitch angle mileage coordinate are described the geometric configuration of test line in surface level and vertical section, describe the geometrical deviation of test line in two planes with deviation mileage coordinate.In post-processing unit, realize Fig. 9, flow process shown in Figure 10, the rail of determining track circuit is to irregularity and be uneven suitable.
Realize satellite navigation and inertia measurement combined track measuring method below by utilizing post-processing unit.
Comprise the steps:
1) original real-time measurement track comprised that gps data (as time, position, speed, direction and pitch angle) and inertia measurement online data (as time, three axis angular rates and three-dimensional acceleration) are according to the time sequencing calculating of navigating, obtain navigation result of calculations such as deflection, pitch angle and roll angle accurately, the result of calculation of will navigating and odometer and sleeper recognizer level signal are recorded in the same data file jointly;
2) realize the pre-service of 2 level signals that odometer is exported, judge the rotating direction of wheel according to the priority of level signal, and one of them pulse signal is accumulated or the calculating of successively decreasing according to direction, use as the odometer sequence number, the mileage sequence number be multiply by the distance that respective pulses interval wheel is walked, obtain relative mileage;
3) pre-service of 2 level signals that the sleeper recognizer is exported, the position of identification sleeper is determined traffic direction simultaneously, and the sleeper sequence number is carried out corresponding increasing or decreasing handle, and the sleeper sequence number be multiply by average sleeper pitch be converted into relative mileage;
4) compare by the measured mileage information of the measured mileage information of odometer and sleeper recognizer, whether identification exists the phenomenon of sleeper error of omission or duplicate record to occur, and is revised in case of necessity;
5) according to effective GPS mileage and odometer sequence number, sleeper sum, realize odometer unit distance and sleeper average headway are verified and calibrated:
S=L/I
Wherein, S is the odometer unit distance, and L is the GPS mileage, and I is the odometer sequence number;
H=L/M
Wherein, H is the sleeper average headway, and L is the GPS mileage, and M is the sleeper sum;
6) realize determining sequence number and the mileage of sleeper according to the identification to sleeper, will the navigation calculation result data be same comprising of recording is recorded to one by sleeper in the tactic measurement data file at synchronization;
7) by the processing to mileage, position, horizontal direction angle and the pitch angle of arranging by the sleeper sequence number, realization is measured the outside geological information of track, realization is to the measurement of single steel rail line inner geometry information, as position coordinates, and the line style of different line segments and line style parameter etc.; Realization is to the measurement of single steel rail line inner geometry information, as rail to irregularity, genial rail cant irregularity etc. is uneven;
8) usage level deflection and the shape of mileage parametric description track circuit in surface level are set up the direction mileage of describing track circuit geometric configuration in surface level and are measured curve in direction mileage coordinate, see shown in Figure 11;
9) use the difference means to measure curve according to the direction mileage and determine direction variable mileage measurement curve (seeing shown in Figure 12), measure the feature of curve according to the direction variable mileage and carry out segmentation, make each section circuit have identical line style feature, feature according to every section circuit, determine every section best line style, determine the optimal parameter of corresponding line style with least square method, set up direction variable ideal curve (Fig. 3).Comprise the important outside geometric properties of test line in surface level in the direction variable ideal curve, as line style, length, arc radius etc.;
10) direction variable ideal curve is carried out integration, obtain the direction ideal curve, and make the deviation minimum (Fig. 4) between itself and orientation measurement curve.The direction ideal curve represents the outside geological information of track circuit, and is irrelevant with the track geometry irregularity;
11) with orientation measurement curve subduction direction ideal curve, obtain direction flat curve (Fig. 5) anything but; Direction flat curve anything but represents test line smooth-going anything but in shape;
12) to direction anything but flat curve carry out integration, obtain rail to flat curve (Fig. 6) anything but.Rail represents test line comprises all wavelengths in the geometric position irregularity to flat curve anything but;
13) select the observation wavelength, distinguish the rail of rail in smooth-going anything but to smooth-going relatively information and rail to relative irregularity information.Rail in smooth-going anything but, all cyclical variation wavelength all greater than the part of observation wavelength be rail to smooth-going relatively, periodic shapes change wavelength smaller or equal to the part of observation wavelength on rail to relative irregularity.Observation wavelength difference, rail is to smooth-going relatively different to the division of relative irregularity with rail;
14) by the observation wavelength 1/4th at interval to the value of sampling of flat curve anything but, use the cubic spline interpolation account form that sample value is carried out computing then, obtain relative flat curve (Fig. 7 and Fig. 8);
15) rail is deducted rail to flat curve anything but and obtain rail to relative irregularity curve (Fig. 9 and Figure 10) to relative flat curve;
16) by the measurement to trackage and pitch angle, in the mileage coordinate system of pitch angle, set up the shape measure curve of steel rail line in vertical section---incline measurement curve (Figure 11);
17) carry out segmentation according to the pitch angle shape facility, determine line style and the best line style parameter of every section circuit, set up pitch angle ideal curve (Figure 12), obtain the outside geological information of test line in vertical section;
18) calculate pitch angle smooth-going (Figure 13) anything but, by the pitch angle anything but smooth-going integration calculate how much height smooth-going (Figure 14) anything but;
19) artificial selected observation wavelength, by the observation wavelength 1/4th at interval to how much height anything but smooth-going data sample, carry out cubic spline interpolation as data point and calculate, set up cubic spline curve as the relative flat curve (Figure 15 and Figure 16) of height.The essential characteristic of cubic spline curve is the continuity that keeps second derivative, both smooth features;
20) use the height relative flat curve of flat curve subduction height anything but, the acquisition height is irregularity curve (Figure 17 and Figure 18) relatively;
21) realize according to rail to irregularity be uneven and calculate corresponding track lining amount and the amount of lifting along testing result, and with form output sleeper sequence number, mileage, rail to irregularity, suitable, the track lining amount of being uneven and the amount of lifting.
By to left and right sides rail rail to irregularity and the suitable processing that is uneven, determine the irregularity information between double track, as gauge irregularity, horizontal irregularity and twist irregularity etc.The gauge irregularity equals 10 meters rails of right rail and deducts 10 meters rails of left rail to irregularity to irregularity; Twist irregularity equals the long right rail of 6.5 metric waves and is uneven and is uneven suitable along deducting left rail; Realization shows various measurement data, ideal data, smooth-going data and irregularity data with image format, and realizes amplifying, dwindling and comparing function, is convenient to data analysis.
Above content is to further describing that the present invention does in conjunction with concrete preferred implementation; can not assert that the specific embodiment of the present invention only limits to this; for the general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; can also make some simple deduction or replace, all should be considered as belonging to the present invention and determine scope of patent protection by claims of submitting to.
Claims (10)
1. a satellite navigation and inertia measurement combined track measuring system, comprise measuring unit and Data Post unit, it is characterized in that, described measuring unit comprises two independently satellite navigation and inertia measurement unit equipments, these two measuring equipments are placed in respectively on two single tracks (15), draw two independently satellite navigation and inertia measurement unit equipments by draw-off equipment, geological information and physical message when moving along double track for the on-line continuous measuring equipment, the real time record raw data, and this raw measurement data carried out processed offline by the Data Post unit.
2. satellite navigation according to claim 1 and inertia measurement combined track measuring system, it is characterized in that, described draw-off equipment is a portable railway trailer wagon (1), comprise that compartment, bottom, compartment that sidepiece opens wide arrange the double track wheel, are provided with power system, catanator and manned seat in the compartment.
3. satellite navigation according to claim 1 and inertia measurement combined track measuring system, it is characterized in that, described satellite navigation and inertia measurement unit equipment are that a monorail is measured dolly (2), comprise one with single track (15) non-contacting double antenna GPS inertia measurement center (8), a pair of set of wheels that places its both sides to be connected by mainboard (3), and a pair of gps antenna that is positioned at the set of wheels both sides.
4. satellite navigation according to claim 3 and inertia measurement combined track measuring system, it is characterized in that, described a pair of gps antenna is by antenna holder and untouchable connection of single track (15), and antenna holder is provided with the draw ring that links to each other with portable railway trailer wagon (1).
5. satellite navigation according to claim 3 and inertia measurement combined track measuring system, it is characterized in that, described set of wheels is set up on the single track (15) by wheel support, join by main wheel (16) and single track (15) rail level, connect side wheel (19) by wheel support and join with single track (15) sidepiece.
6. satellite navigation according to claim 3 and inertia measurement combined track measuring system, it is characterized in that, described double antenna GPS inertia measurement center (8) comprises an embedded computer, and double antenna satellite navigation GPS receiver, 3 gyroscopes, 3 accelerometers, 1 odometer, 1 sleeper recognizer of linking to each other respectively with this embedded computer, and SD card reader, USB interface, RS232 serial ports, signal lamp and attaching plug and accumulator, described double antenna satellite navigation GPS receiver links to each other with 2 gps antennas.
7. satellite navigation according to claim 6 and inertia measurement combined track measuring system, it is characterized in that, described odometer (12) is arranged at the set of wheels both sides, and odometer (12) comprises and passing and transmitting illuminant (24) and a pair of receiving pole of set of wheels.
8. satellite navigation according to claim 6 and inertia measurement combined system orbit measurement system, it is characterized in that, described sleeper recognizer (11) is arranged at the inboard that the track single track is leaned at the double antenna GPS inertia measurement center (8) that parallels with sleeper, and sleeper recognizer (11) is determined position, sleeper numbering, traffic direction and the sleeper mileage of railway spike (34) by 2 reflective photoelectric switches.
9. a satellite navigation and inertia measurement combined track measuring method is characterized in that this method comprises the steps:
A. raw measurement data is carried out pre-service, derive the measurement data such as position sequence number, mileage, gps data, horizontal direction angle and pitch angle of corresponding each sleeper;
B. set up the orientation measurement curve based on mileage and horizontal direction angle, and set up the direction ideal curve according to the variation of orientation measurement curve;
C. calculate rail to smooth-going and rail anything but to relative irregularity;
D. set up the incline measurement curve based on mileage and pitch angle, and according to the variation characteristic of incline measurement curve, set up the pitch angle ideal curve;
E. calculate height smooth-going and relative irregularity just anything but.
10. satellite navigation according to claim 9 and inertia measurement combined track measuring method is characterized in that described method further comprises the steps:
1) original real-time measurement track comprised that gps data and inertia measurement online data are according to the time sequencing calculating of navigating, obtain navigation result of calculations such as deflection, pitch angle and roll angle accurately, the result of calculation of will navigating and odometer and sleeper recognizer level signal are recorded in the same data file jointly;
2) realize the pre-service of level signal that odometer is exported, judge the rotating direction of wheel according to the priority of level signal, and one of them pulse signal is accumulated or the calculating of successively decreasing according to direction, use as the odometer sequence number, the mileage sequence number be multiply by the distance that respective pulses interval wheel is walked, obtain relative mileage;
3) pre-service of the level signal that the sleeper recognizer is exported, the position of identification sleeper is determined traffic direction simultaneously, and the sleeper sequence number is carried out corresponding increasing or decreasing handle, and the sleeper sequence number be multiply by average sleeper pitch be converted into relative mileage;
4) compare by the measured mileage information of the measured mileage information of odometer and sleeper recognizer, whether identification exists the phenomenon of sleeper error of omission or duplicate record to occur;
5) according to effective GPS mileage and odometer sequence number, sleeper sum, realize odometer unit distance and sleeper average headway are verified and calibrated:
S=L/I
Wherein, S is the odometer unit distance, and L is the GPS mileage, and I is the odometer sequence number;
H=L/M
Wherein, H is the sleeper average headway, and L is the GPS mileage, and M is the sleeper sum;
6) realize determining sequence number and the mileage of sleeper according to the identification to sleeper, will the navigation calculation result data be same comprising of recording is recorded to one by sleeper in the tactic measurement data file at synchronization;
7) by the processing to mileage, position, horizontal direction angle and the pitch angle of arranging by the sleeper sequence number, realize the outside geological information of track is measured, realize the measurement to single steel rail line inner geometry information;
8) usage level deflection and the shape of mileage parametric description track circuit in surface level are set up the direction mileage of describing track circuit geometric configuration in surface level and are measured curve in direction mileage coordinate;
9) use the difference means to measure curve according to the direction mileage and determine direction variable mileage measurement curve, measure the feature of curve according to the direction variable mileage and carry out segmentation, make each section circuit have identical line style feature, feature according to every section circuit, determine every section best line style, determine the optimal parameter of corresponding line style with least square method, set up the direction variable ideal curve;
10) direction variable ideal curve is carried out integration, obtain the direction ideal curve, and make the deviation minimum between itself and orientation measurement curve;
11) with orientation measurement curve subduction direction ideal curve, obtain direction flat curve anything but;
12) to direction anything but flat curve carry out integration, obtain rail to flat curve anything but;
13) select to arrange distinguish the rail of rail in smooth-going anything but to smooth-going relatively information and rail to the required observation wavelength of relative irregularity information;
14) by the observation wavelength 1/4th at interval to rail to the value of sampling of flat curve anything but, use the cubic spline interpolation account form that sample value is handled then, obtain rail to relative flat curve;
15) rail is deducted rail to flat curve anything but and obtain rail to the irregularity curve to relative flat curve;
16) by the measurement to trackage and pitch angle, in the mileage coordinate system of pitch angle, set up the pitch angle mileage measurement curve of describing track circuit geometric configuration in vertical section;
17) carry out segmentation according to the pitch angle shape facility, determine line style and the best line style parameter of every section circuit, set up the pitch angle ideal curve, obtain the outside geological information of test line in vertical section;
18) with incline measurement curve subduction pitch angle ideal curve, it is smooth-going anything but to calculate the pitch angle, by the pitch angle anything but smooth-going integration calculate that height is smooth-going anything but;
19) artificial selected observation wavelength, by the observation wavelength 1/4th at interval to the height smooth-going data value of sampling anything but, all sample values are carried out the cubic spline interpolation computing, set up height flat curve relatively;
20) use the height relative flat curve of flat curve subduction height anything but, the acquisition height is the irregularity curve relatively;
21) realize calculating corresponding track lining amount and the amount of lifting according to rail to irregularity and the suitable testing result that is uneven.
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