CN103207403B - 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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- CN103207403B CN103207403B CN201310014507.8A CN201310014507A CN103207403B CN 103207403 B CN103207403 B CN 103207403B CN 201310014507 A CN201310014507 A CN 201310014507A CN 103207403 B CN103207403 B CN 103207403B
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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 field, particularly a kind of system and measuring method utilizing the satellite navigation such as GPS, the Big Dipper, GLONASS, Galileo and IMU systems axiol-ogy track external shape and inner irregularity.
Background technology
For high-speed railway, the external shape of track and inner high ride ensure quick, steady, comfortable, the safety of motor-car and the key of economical operation.The high ride of maintenance track is the aim of high-speed railway rail maintenance, is then the key of railway maintenance work to the Precision measurement of track irregularity.The strict demand that current high ferro proposes checkout equipment is beyond the ability of conventional detection devices, and checkout equipment technological lag has become the bottleneck hindering China Express Railway sustainable and healthy development from now on.
For many years, both at home and abroad all in the research actively developing static track irregularity detection technique, method and apparatus, at present to use laser measuring technique, but up to now, produce little effect.Laser measuring technique is a kind of relative measurement technique, 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 CPIII control point survey track, by reference to the irregularity of designed lines position coordinates determination track.
Total powerstation is the position measurement apparatus that a kind of precision is higher, but has many disadvantages.First its reach is limited, and the longest measuring distance is only about 100 meters, and secondly positional accuracy measurement is subject to the impact of measuring distance, and measuring distance is larger, and positional precision is lower, and the impact being simultaneously subject to external environment and human factor is also very large.Using laser technology to measure track circuit needs CPIII Controling network to build with the use of, CPIII Controling network and maintenance cost much larger than measuring cost, will too increase workload simultaneously, reducing measuring speed and measuring accuracy.In addition, to rely on position measurement determination track irregularity, also need to rely on designed lines as detection reference.Making can only to determine in this way track absolute deviation in position or relative deviation, is not irregularity truly.These deviations are often greater than the irregularity of actual track, add cost and the difficulty of railway maintenance work significantly, even can exceed and adjust criterion to enclose, cannot reach due maintenance effect.
There is the method for many measurement track irregularities at present, such as, chord measurement, 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, to measure displacement or position deviation for means.Because relative measurement method only considers the inner geometry state of track local, do not consider the external shape of the overall situation, also just can not design information in discriminating measurement data and non-design information, track irregularity belongs to the part in non-design information.Therefore, use displacement measurement method can not Measurement accuracy track irregularity.Relative measurement can only ensure the accuracy of Short wave irregularity, can not ensure the accuracy of long wave irregularity.The characteristic of the absolute method of measurement is then contrary, although it more adequately can measure the absolutely not smooth-going of track, the measurement result of the irregularity of irregularity, particularly shortwave is not accurate enough relatively.
Traditional detection method all with position measurement and position versus for means.Because each measurement point positional information is independently each other, between all position measurements, lack correlativity, be thus difficult to co-treatment.What track irregularity described is a kind of circuit change of shape attribute, and haveing nothing to do with position, is also the information do not comprised in position measurement.So, people directly cannot extract irregularity numerical value from position measurement, geometric function and reference data only can be relied on to carry out approximate simulation, the ability that geometric function processes multiple measurement point positional information is simultaneously very limited, accuracy and precision all can reduce along with the increase of process data, and this is why traditional detection method cannot the basic reason of accurately measuring track irregularity.
Summary of the invention
The object of this invention is to provide a kind of satellite navigation and IMU orbit measurement system and method, the present invention utilizes aerial navigation measuring system---and double antenna GPS IMU equipment and single track measure dolly, with the speed of 100Hz, realize the real-time measurement to track full spectrum information and data record, then the poster processing soft is used to carry out processed offline to measurement data, calculate the outside geological information of associated rails circuit, as position, line style and line style parameter, and track interior geological information, as track alignment irregularity, longitudinal irregularity, horizontal irregularity and twist irregularity etc., generate testing result form and orbital maintenance scheme is provided.
The object of the invention is to be realized by following technical proposals.
A kind of satellite navigation and IMU orbit measurement system, comprise measuring unit and Data Post unit, described measuring unit comprises two independently satellite navigation and IMU equipment, these two measuring equipments are placed on two single tracks respectively, by draw-off equipment draw two independently satellite navigation and IMU equipment along rail even running, geological information when running along double track for on-line continuous measuring equipment and physical message, real time record raw data, and this raw measurement data is carried out processed offline by Data Post unit.
Be further characterized in that described in present device:
Described draw-off equipment is a portable railway trailer wagon, comprises compartment, the car bottom that sidepiece opens wide and arranges double track wheel, be provided with power system, catanator and manned seat in compartment.
Described satellite navigation and IMU equipment are that a monorail measures dolly, comprise one with single track non-contacting double antenna GPS inertia measurement center, be placed in the pair of wheels group that its both sides are connected by mainboard, and be positioned at a pair gps antenna of wheel group both sides.
Described a pair gps antenna is connected by antenna holder and single track are untouchable, and antenna holder is provided with the draw ring be connected with portable railway trailer wagon.
Described wheel group is set up on single track by wheel support, is connected with single track rail level by main wheel, connects side wheel connect with single track sidepiece by wheel support.
Described double antenna GPS inertia measurement center comprises an embedded computer, and the double antenna satellite navigation GPS to be connected respectively with this embedded computer, 3 gyroscopes, 3 accelerometers, 1 odometer, 1 sleeper recognizer, and SD card reader, USB interface, RS232 serial ports, signal lamp and attaching plug and accumulator, described double antenna satellite navigation GPS is connected with 2 gps antennas.
Described double antenna GPS inertia measurement center is measured and is recorded the signal data that gps data, inertia measurement data and odometer and sleeper recognizer export, and for later stage processed offline, calculates outside geological information and the inner geometry information of associated rails circuit.
Described odometer is arranged at wheel group both sides, odometer comprise one through and the transmitting illuminant of wheel group and a pair receiving pole.
Described sleeper recognizer is arranged at the double antenna GPS inertia measurement center that parallels with sleeper near the inner side of track single track, and sleeper recognizer is by the position of 2 reflective photoelectric switch determination screw spikes, sleeper numbering, traffic direction and sleeper mileage.
Correspondingly, the present invention gives a kind of satellite navigation and IMU orbit measurement method, comprises the steps:
A. pre-service is carried out to raw measurement data, derive the measurement data such as the sequence number of corresponding each sleeper position, mileage, gps data, horizontal direction angle and pitch angle;
B. set up orientation measurement curve based on mileage and horizontal direction angle, and levy according to the change of orientation measurement curve and set up direction ideal curve;
C. calculate rail to absolutely not smooth-going with rail to relative irregularity;
D. set up incline measurement curve based on mileage and pitch angle, and according to the variation characteristic of incline measurement curve, set up pitch angle ideal curve;
E. the absolutely not smooth-going and just relative irregularity of height is calculated.
By the process to left and right rail track alignment irregularity and longitudinal irregularity, determine the irregularity information between double track, as gauge variable quantity, horizontal irregularity and twist irregularity etc., in the poster processing soft, realization image format shows various measurement data, ideal data, smooth-going data and irregularity data, and realize amplifying, reducing 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 segment and line style parameter; Described inner geometry information comprises track alignment irregularity, be uneven genial rail cant irregularity; Test line line style in a horizontal plane, length, the outside geometric properties of arc radius is comprised in described direction variable ideal curve.
Beneficial effect of the present invention is:
Replace location expression by shape and analyze track circuit, determining the outside geometry of track and inner geometry information.The shape of track circuit can be regarded as and be made up of design shape and non-design shape.The difference of design shape and non-design shape is, design shape has aperiodicity change to attributes, but not design shape then has periodic shapes change to attributes.Therefore, according to change of shape whether in periodically, design shape and non-design shape in shape measure data can be separated.Because directly profile design information can be obtained from measurement data, the introduction of design data therefore can be saved.The design shape feature of track circuit is fairly obvious, must be the one in linear pattern, circular arc type and transition type (3 para-curve).These three kinds of line styles all aperiodicity change of shape features, and change of shape feature is had nothing in common with each other, the line style of test line and corresponding line style parameter can be directly determined according to change of shape measurement data, set up the ideal form be made up of three kinds of line styles be consistent most with measurement shape, replace design shape to use.Measurement shape is deducted design shape and obtains non-design shape.Non-design shape can be divided into relatively smooth-going shape and relative irregularity shape, and the criteria for classifying sees whether its change of shape cycle (both wavelength) is greater than designated length, both observes wavelength.The non-design shape that all wavelengths is greater than observation wavelength all belongs to relatively smooth-going part, otherwise the non-design shape that all wavelengths is less than or equal to observation wavelength 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.Direction mile coordinate is used to describe test line geometric configuration in a horizontal plane.By the process to direction experiment curv and direction variable experiment curv, set up the direction ideal curve representing test line representative design shape in a horizontal plane.Orientation measurement curve subduction direction ideal curve obtains the direction absolutely not flat curve representing non-design shape information.Carry out integration to direction is absolutely not smooth-going, obtain corresponding rail to absolutely not smooth-going.Use selected observation wavelength 1/4th spacing tracking to carry out Sampling to absolutely not smooth-going data, then cubic spline interpolation calculating carried out to sample value, obtains one level and smooth, minimum wavelength is longer than and is observed the rail of wavelength to relative flat curve.Rail obtains rail to relative irregularity curve, both track alignment irregularity curve to absolutely not smooth-going subduction rail to relative flat 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 process to incline measurement curve, set up the pitch angle ideal curve representing the representative design shape information of test line in vertical section.To obtaining the height absolutely not flat curve representing non-design shape after its integration.Use 1/4th intervals of selected observation wavelength to sample it, and cubic spline interpolation calculating is carried out to sample value, obtain height flat curve relatively.With height absolutely not flat curve deduct height relatively flat curve, obtain height irregularity curve relatively.
Conventional detection devices is all that the Geometric irregularity measured between the Geometric irregularity of track centerline and two rails designs for fundamental purpose, and what therefore adopt is all double track device structures.The carrier of checkout equipment operates on double track.This design has individual defect, be exactly measurement point is on the center line of track.Track centerline is a virtual circuit, and not corresponding mark or object of reference, therefore cannot determine and use in practice.The carrier of checkout equipment is placed on the rail level of double track, because Mei Gengang road all exists the irregularity of self, distance between center line and every one steel rail is uncertain, the geometry state of center line and the geometry state of left and right rail different, to the error that left and right railway maintenance work strip is unnecessary.
In order to avoid the problem that measuring and adjustation is not same circuit, we adopt single track list to survey and the two mode of operation surveyed of double track, design a kind of detect the detection of single steel rail irregularity system---double antenna GPS inertia measurement center and monorail trolley formed.Double antenna GPS inertia measurement center is installed in measures on dolly with two gps antennas, an odometer together with a sleeper recognizer, measure dolly by two groups of wheels, a platform and two antenna holders formed, and stably on single steel rail, can be free to slide along rail direction.Double antenna GPS inertia measurement center is in the top of rail center line all the time.Odometer is arranged on a main wheel of dolly, is made up of two correlation optoelectronic switches.The sleeper recognizer be made up of two reflective photoelectric switches is arranged on the inner side by track centerline direction of double antenna GPS inertia measurement center, automatically can identify railway spike, issue the corresponding electronic impulse in double antenna GPS inertia measurement center.Double antenna GPS inertia measurement central interior is provided with three accelerometers, three gyroscopes, a double antenna GPS and embedded computer, batteries etc.After 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, can continuous working more than 4 hours.
Accompanying drawing explanation
Fig. 1 is present system structural representation.
Fig. 2 is for measuring dolly one-piece construction figure.
Fig. 3 is wheel group structural drawing.
Fig. 4 is that side wheel upwards overturns schematic diagram.
Fig. 5 is main car wheel structure schematic diagram.
Fig. 6 is double antenna GPS inertia measurement division center block diagram.
Fig. 7 is odometer structural drawing.
Fig. 8 (a) and 8(b) be respectively two utilizing emitted light electric switch identification railway spike schematic diagram.
Fig. 9 is the inventive method FB(flow block).
Figure 10 is concrete grammar FB(flow block) of the present invention.
Figure 11 is direction mile experiment curv.
Figure 12 is direction variable mileage experiment curv.
Figure 13 is direction variable experiment curv and direction variable ideal curve.
Figure 14 is orientation measurement curve and direction ideal curve.
Figure 15 is direction absolutely not flat curve.
Figure 16 is rail to absolutely not flat curve.
Figure 17 is rail to the rail of absolutely not flat curve and several different wave length to flat curve.
Figure 18 is rail to absolutely not flat curve and the partial enlarged drawing of different wave length rail to relative flat curve.
Figure 19 is the track alignment irregularity of several different wave length.
Figure 20 is the track alignment irregularity partial enlarged drawing of several different wave length.
Figure 21 is incline measurement curve.
Figure 22 is incline measurement curve and pitch angle ideal curve.
Figure 23 is pitch angle absolutely not flat curve.
Figure 24 is height absolutely not flat curve.
Figure 25 is height absolutely not flat curve flat curve relative to the height of different wave length.
Figure 26 is the partial enlarged drawing of just absolutely not flat curve flat curve relative to the height of different wave length.
Figure 27 is the fair curve that is uneven of several different wave length.
Figure 28 is the partial enlarged drawing of the fair curve that is uneven of several different wave length.
Figure 29 is the periodic shapes change schematic diagram of circuit observation wavelength.
In figure: 1, portable railway trailer wagon; 2, monorail measures dolly; 3, mainboard; 4, front truck wheels; 5, rear car wheels; 6, front antenna holder; 7, aft antenna support; 8, double antenna GPS inertia measurement center; 9, front gps antenna; 10, rear gps antenna; 11, sleeper recognizer; 12, odometer; 13, front draw ring; 14, rear 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, upper receiving pole; 26, lower receiving pole; 27, light beam; 28, the first reflective photoelectric switch; 29, the second reflective photoelectric switch; 30,31, light beam; 32, the level signal exported when 33, two optoelectronic switches are crossed above spring; 34, railway spike; 35, spring; 36, the level signal exported when 37, two optoelectronic switches are crossed above spring.
Embodiment
Now be expressed in down by the concrete example of this invention, detailed construction is with reference to accompanying drawing.
Figure 1 shows that the system architecture schematic diagram of this invention, comprise a measuring unit---two independently satellite navigation and IMU equipment: monorail measures 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 on single track 15 respectively, draw two monorails run along rail by portable railway trailer wagon 1 and measure dollies 2, for carrying out on-line measurement and the record geometry state that gathers when double track runs of relevant devices and physical state raw data in real time.
Wherein, portable railway trailer wagon 1 comprises the unlimited compartment of sidepiece, car bottom arranges double track wheel, is provided with power system, catanator and manned seat in compartment.The major function of portable railway trailer wagon is traction, and its feature is lightweight, is less than 60 kilograms, can be lifted by 2 people whenever and wherever possible, turn around or on roll off the production line, and self-powered, many people can be taken advantage of, operated by 1 people, time scooter more than 15 kilometers.
The principal character of portable railway trailer wagon is lightweight, quick detachable, easy carrying, drive and takes advantage of many people, can when nothing be open to traffic, use without the need to management and running, realize carrying out fast of testing, alleviate the labour intensity of staff simultaneously.Patent of invention 201210099781.5 " portable multi-function track combination trailer wagon " describes a kind of portable railway draw-off equipment with above characteristic.
As shown in Figure 2, monorail measures the major function of dolly is that realization is to the automatic measurement of track circuit and data record.Adopt towed principle of work, under the traction of external force, measure dolly steadily can move ahead on single steel rail.Monorail is measured dolly 2 and is comprised one and single track 15 non-contacting double antenna GPS inertia measurement center 8, a mainboard 3 is respectively installed in its both sides, pair of wheels group (front truck wheels 4 and rear car wheels 5 are connected with by mainboard 3, be positioned at outside two wheel groups and respectively establish a gps antenna (front gps antenna 9 and rear gps antenna 10), a pair gps antenna is arranged on the middle part of front antenna holder 6 and aft antenna support 7 respectively, and the support of untouchable twelve Earthly Branches is on single track 15.Sleeper recognizer 11 is arranged on inside mainboard 3, and the position paralleled with the center at double antenna GPS inertia measurement center 8, odometer 12 is arranged on the support of one group of wheel group.The longitudinal axis and the rail horizontal direction of measuring equipment are consistent, and forever and rail center line keeping parallelism, 2 gps antennas are in directly over rail its movement locus all the time, make its direction of measurement identical with rail direction.Monorail is measured dolly 2 and is placed on single track 15, and front antenna holder 6 and aft antenna support 7 two ends are respectively equipped with to be connected with portable railway trailer wagon 1 front draw ring 13 and rear draw ring 14, so that fixed tractive use.
The core measuring equipment measuring dolly is double antenna GPS inertia measurement center (hereinafter referred to as measuring center), odometer and sleeper recognizer.When measuring dolly along single steel rail even running, measuring center automatically measures and the metrical informations such as the electronic pulse signal that writing time, GPS location, speed, deflection, pitch angle, three axis angular rates, three-dimensional acceleration, odometer and sleeper recognizer export.
As shown in Figure 3, wheel group is set up on single track 15 by main wheel support 17, is connected with single track 15 rail level by main wheel 16, respectively connects a side wheel 19 connect with single track 15 sidepiece in main wheel support 17 both sides by side wheel support 18.Main wheel walking is on the end face of rail, and 2 side wheels clamp two sides of orbital head, to prevent main wheel mode translation in advancing.
As shown in Figure 4, for side wheel upwards overturns schematic diagram, side wheel support 18 can rotate along main wheel support 17, and side wheel support is fixed on the side of main wheel support by screw and spring, can select.When wheel is through turnout passing, the side wheel support in outside can be rotated up, to avoid clashing into road point.
As shown in Figure 5, be main car wheel structure schematic diagram, the main wheel of wheel group 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 side, at the circular hole of same circumferentially evenly distributed several diameters about 10 mm in size, 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 have two contact points all the time, to ensure the lateral stability state of wheel.
As shown in Figure 6, for double antenna GPS inertia combination measuring equipment structured flowchart, double antenna GPS inertia measurement center 8 comprises an embedded computer, and the double antenna satellite navigation GPS to be connected respectively with this embedded computer, 3 gyroscopes, 3 accelerometers, 1 odometer, 1 sleeper recognizer, and SD card reader, USB interface, RS232 serial ports, signal lamp and attaching plug and accumulator, double antenna satellite navigation GPS is connected with double antenna.The major function of measuring center is the gps measurement data such as time, position, speed, direction, pitch angle that record double antenna GPS exports, the inertia such as three axis angular rates and three-dimensional acceleration that 3 gyroscopes and 3 accelerometers export, and the measurement data such as the voltage signal of odometer and sleeper recognizer optoelectronic switch.All measurement data with in document form real time record to the storer or SD memory card of inside, are post-processed use by embedded computer.232 serial ports are used for software upgrading and on-line analysis.USB interface is for reading the inner data stored.The duty of the real-time display measurement equipment of signal lamp.Lithium battery as measuring equipment work online power supply use.Attaching plug is used for lithium cell charging.
As shown in Figure 7, odometer 12 is arranged at wheel group axle side, odometer 12 comprise one through and the transmitting illuminant 24 of wheel group and a pair receiving pole (upper receiving pole 25, lower receiving pole 26).Measuring equipment uses two correlation optoelectronic switches to realize the basic function of odometer: determine direct of travel and the mileage of measuring dolly.2 correlation optoelectronic switches are arranged on the main wheel support of a wheel group side by side.Along with the rotation of main wheel, on inner core at same circumferentially evenly distributed N number of circular hole by order one by one through the two poles of the earth of optoelectronic switch, allowed or cut off light beam.The transmitting illuminant 24 of optoelectronic switch is arranged on main vehicle wheel frame side, the upper receiving pole 25 of 2 optoelectronic switches and lower receiving pole 26 is side by side up and down is arranged on opposite side.A circular hole on main wheel is when light beam 27, and 2 receiving ends just receive light respectively, output level 1.After circular hole leaves light beam, light beam is cut off by core wheel, 2 receiving poles just output level 0.Because the installation site of 2 receiving poles is variant, when a circular hole is through out-of-date, the level that 2 receiving poles export has successively difference in time.According to the priority difference of level signal, the direction bringing out rotation of wheel can be sentenced.According to the umber of pulse that a receiving pole exports, corresponding mileage can be calculated.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 the bottom, double antenna GPS inertia measurement center 8 paralleled with sleeper, uses 2 reflective photoelectric switches (first reflective photoelectric switch 28 and the second reflective photoelectric switch 29) to send the basic function that light beam 30 and 31 realizes sleeper identification: determine the position 34 of railway spike, sleeper numbering, traffic direction and sleeper mileage.Distance between 2 reflective photoelectric switch inductions and testee.When optoelectronic switch is above bolt railway spike, because spacing is less than setting boundary, by outputs level signals 1.When optoelectronic switch leaves railway spike, spacing is greater than setting boundary and sends level signal 0.Show the level signal 32 and 33 that exports when two optoelectronic switches are crossed above spring as shown in Figure 8 (a).Use 2 reflective photoelectric switches having suitable distance successively to install, distinguish the reaction of optoelectronic switch to railway spike 34 and spring 35, avoid occurring railway spike repeat identify.Distance between 2 optoelectronic switches is greater than the diameter of spring, and is less than the diameter of screw top cap, like this, when 2 optoelectronic switches are above spring, only has the output level of one of them optoelectronic switch to be 1.When 2 optoelectronic switches are above railway spike, there will be the phenomenon that 2 output levels are 1 simultaneously, railway spike identification is just effective.Show the level signal 36 and 37 that exports when two optoelectronic switches are crossed above spring 35 as shown in Figure 8 (b) shows.The output level of 2 reflective photoelectric switches will together with other measurement data by real time record in embedded computer, be convenient to aftertreatment and use.
The present invention can adopt two cover monorails to measure the synchro measure of dolly realization to left and right single track, or uses a set of monorail to measure the asynchronous measurement of dolly realization to left and right single track.
The present invention uses post-processing unit realization to the processed offline of being carried out the later stage by measurement dolly recorded data, calculate and export every testing result of the corresponding every sleepers position of test line, comprising mileage, sleeper sequence number, position coordinates, line style and line style parameter, and the arbitrarily track alignment irregularity of wavelength and longitudinal irregularity; In post-processing unit, in order to determine and quantize track alignment irregularity and longitudinal irregularity, use following a few conception of species:
Definitely smooth-going: the attribute that a kind of circuit changes without any periodic shapes;
Absolutely not smooth-going: a kind of circuit has the attribute of certain periodic shapes change;
Relatively smooth-going: a kind of circuit occurs that wavelength is greater than the attribute of the periodic shapes change of observation wavelength;
Relative irregularity: a kind of circuit occurs that wavelength is less than or equal to the attribute of the periodic shapes change of observation wavelength.
As shown in Figure 29.
Wherein, relative irregularity attribute is also referred to as irregularity attribute, and relatively smooth-going 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
carry out observing and describing.So-called circuit shape refers to the angle of circuit in surface level and vertical section, both horizontal direction angle and pitch angle;
In post-processing unit, use direction mile coordinate and pitch angle mileage coordinate to describe 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 the flow process shown in Fig. 9, Figure 10, determine track alignment irregularity and the longitudinal irregularity of track circuit.
Below by utilizing post-processing unit to realize satellite navigation and IMU orbit measurement method.
Comprise the steps:
1) comprise gps data (as time, position, speed, direction and pitch angle) and the inertia measurement online data (as time, three axis angular rates and three-dimensional acceleration) of original real-time measurement track are carried out navigation according to time sequencing and calculate, obtain the result of calculation of the navigation such as deflection, pitch angle and roll angle accurately, navigation result of calculation and odometer and sleeper recognizer level signal are recorded in same data file jointly;
2) pre-service to 2 level signals that odometer exports is realized, the rotating direction of wheel is judged according to the priority of level signal, and according to direction, one of them pulse signal is accumulated or calculating of successively decreasing, use as odometer sequence number, mileage sequence number is multiplied by the distance that respective pulses interval wheel is walked, obtains relative mileage;
3) to the pre-service of 2 level signals that sleeper recognizer exports, identify the position of sleeper, determine traffic direction simultaneously, and corresponding increasing or decreasing process is carried out to sleeper sequence number, sleeper sequence number is multiplied by average sleeper pitch and is converted into relative mileage;
4) by the mileage information measured by odometer compared with the mileage information measured by sleeper recognizer, identify whether to exist sleeper error of omission or the phenomenon that repeats to record occurs, revised if desired;
5) according to effective GPS mileage and odometer sequence number, sleeper sum, realize verifying odometer unit distance and sleeper average headway and calibrating:
S=L/I
Wherein, S is odometer unit distance, and L is GPS mileage, and I is odometer sequence number;
H=L/M
Wherein, H is sleeper average headway, and L is GPS mileage, and M is sleeper sum;
6) realize, according to identification to sleeper, determining sequence number and the mileage of sleeper, comprise navigation calculation result data is same be recorded to one by the tactic measurement data file of sleeper by what record at synchronization;
7) by the process to the mileage arranged by sleeper sequence number, position, horizontal direction angle and pitch angle, realize measuring the outside geological information of track, realize the measurement to single steel rail line-internal geological information, as position coordinates, the line style of different line segment and line style parameter etc.; Realize the measurement to single steel rail line-internal geological information, as track alignment irregularity, be uneven genial rail cant irregularity etc.;
8) use horizontal direction angle and mileage parameter to describe track circuit shape in a horizontal plane, in direction mile coordinate, set up the direction mile experiment curv describing track circuit geometric configuration in a horizontal plane, as shown in Figure 11;
9) use difference means according to direction mile experiment curv determination direction variable mileage experiment curv (as shown in Figure 12), feature according to direction variable mileage experiment curv carries out segmentation, each section of circuit is made to have identical profile, according to the feature of every section of circuit, determine the best line style of every section, determine the optimal parameter of corresponding line style by least square method, set up direction variable ideal curve (Figure 13).Test line important outside geometric properties is in a horizontal plane comprised, as line style, length, arc radius etc. in direction variable ideal curve;
10) integration is carried out to direction variable ideal curve, obtain direction ideal curve, and make the deviation between itself and orientation measurement curve minimum (Figure 14).Direction ideal curve represents the outside geological information of track circuit, has nothing to do with track geometry irregularities;
11) with orientation measurement curve subduction direction ideal curve, direction absolutely not flat curve (Figure 15) is obtained; Direction absolutely not flat curve represents test line in shape absolutely not smooth-going;
12) to direction absolutely not flat curve carry out integration, obtain rail to absolutely not flat curve (Figure 16).Rail represents to absolutely not flat curve the irregularity that test line comprises all wavelengths on geometric position;
13) select observation wavelength, distinguish rail to the rail in absolutely not smooth-going to relatively smooth-going information with rail to relative irregularity information.Rail in absolutely not smooth-going, the part that all cyclical variation wavelength are all greater than observation wavelength be rail to relatively smooth-going, the part that periodic shapes change wavelength is less than or equal to observation wavelength on rail to relative irregularity.Observation wavelength is different, and rail is to relatively smooth-going different to the division of relative irregularity from rail;
14) by 1/4th intervals of observation wavelength, Sampling is carried out to absolutely not flat curve, then use cubic spline interpolation account form to carry out computing to sample value, obtain relative flat curve (Figure 17 and Figure 18);
15) rail is deducted rail to absolutely not flat curve and obtain rail to relative irregularity curve (Figure 19 and Figure 20) to relative flat curve;
16) by the measurement to trackage and pitch angle, in the mileage coordinate system of pitch angle, the shape measure curve of steel rail line in vertical section is set up---incline measurement curve (Figure 21);
17) carry out segmentation according to pitch angle shape facility, determine the line style of every section of circuit and best line style parameter, set up pitch angle ideal curve (Figure 22), obtain the outside geological information of test line in vertical section; 18) calculate pitch angle absolutely not smooth-going (Figure 23), the integration absolutely not smooth-going by pitch angle calculates geometry height absolutely not smooth-going (Figure 24);
19) artificial selected observation wavelength, by 1/4th intervals of observation wavelength, the absolutely not smooth-going data of geometry height are sampled, carry out cubic spline interpolation calculating as data point, set up cubic spline curve as height flat curve (Figure 25 and Figure 26) relatively.The essential characteristic of cubic spline curve is the continuity keeping second derivative, both smooth features;
20) with height absolutely not flat curve subduction height flat curve relatively, height irregularity curve (Figure 27 and Figure 28) is relatively obtained;
21) realize calculating corresponding track lining Liang Hetai road amount according to track alignment irregularity and longitudinal irregularity testing result, and export sleeper sequence number, mileage, track alignment irregularity, longitudinal irregularity, track lining Liang Hetai road amount in a tabular form.
By the process to left and right rail track alignment irregularity and longitudinal irregularity, determine the irregularity information between double track, as gauge irregularity, horizontal irregularity and twist irregularity etc.Gauge irregularity equals right rail 10 meters of track alignment irregularity and deducts left rail 10 meters of track alignment irregularity; The right rail longitudinal irregularity that twist irregularity equals 6.5 metric waves long deducts left rail longitudinal irregularity; Realization image format shows various measurement data, ideal data, smooth-going data and irregularity data, and realizes amplifying, reducing and comparing function, is convenient to data analysis.
Above content is in conjunction with concrete preferred implementation further description made for the present invention; can not assert that the specific embodiment of the present invention is only limitted to this; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; some simple deduction or replace can also be made, all should be considered as belonging to the present invention by submitted to claims determination scope of patent protection.
Claims (2)
1. a satellite navigation and IMU orbit measurement system, comprise measuring unit and Data Post unit, it is characterized in that, described measuring unit comprises two independently satellite navigation and IMU equipment, these two measuring equipments are placed on two single tracks (15) respectively, two independently satellite navigation and IMU equipment are drawn by draw-off equipment, geological information when running along double track for on-line continuous measuring equipment and physical message, real time record raw data, and this raw measurement data is carried out processed offline by Data Post unit,
Described draw-off equipment is a portable railway trailer wagon (1), comprises compartment, the car bottom that sidepiece opens wide and arranges double track wheel, be provided with power system, catanator and manned seat in compartment;
Described satellite navigation and IMU equipment are that a monorail measures dolly (2), comprise one with single track (15) non-contacting double antenna GPS inertia measurement center (8), be placed in the pair of wheels group that its both sides are connected by mainboard (3), and be positioned at a pair gps antenna of wheel group both sides;
Described a pair gps antenna is connected with single track (15) is untouchable by antenna holder, and antenna holder is provided with the draw ring be connected with portable railway trailer wagon (1);
Described wheel group is set up on single track (15) by wheel support, is connected with single track (15) rail level by main wheel (16), connects side wheel (19) connect with single track (15) sidepiece by wheel support;
Described double antenna GPS inertia measurement center (8) comprises an embedded computer, and the double antenna satellite navigation GPS to be connected respectively with this embedded computer, 3 gyroscopes, 3 accelerometers, 1 odometer, 1 sleeper recognizer, and SD card reader, USB interface, RS232 serial ports, signal lamp and attaching plug and accumulator, described double antenna satellite navigation GPS is connected with 2 gps antennas;
Described odometer (12) is arranged at wheel group both sides, odometer (12) comprise one through and the transmitting illuminant (24) of wheel group and a pair receiving pole;
Described sleeper recognizer (11) is arranged at the inner side by track single track, the double antenna GPS inertia measurement center (8) that parallels with sleeper, and sleeper recognizer (11) is by the position of 2 reflective photoelectric switch determination railway spikes (34), sleeper numbering, traffic direction and sleeper mileage.
2. satellite navigation and an IMU orbit measurement method, it is characterized in that, the method comprises the steps:
A. pre-service is carried out to raw measurement data, derive the position sequence number of corresponding each sleeper, mileage, gps data, the measurement data such as horizontal direction angle and pitch angle;
B. set up orientation measurement curve based on mileage and horizontal direction angle, and set up direction ideal curve according to the change of orientation measurement curve;
C. calculate rail to absolutely not smooth-going with rail to relative irregularity;
D. set up incline measurement curve based on mileage and pitch angle, and according to the variation characteristic of incline measurement curve, set up pitch angle ideal curve;
E. the absolutely not smooth-going and just relative irregularity of height is calculated;
Described method comprises the steps: further
1) comprise gps data and the inertia measurement online data of original real-time measurement track are carried out navigation according to time sequencing and calculate, obtain the result of calculation of the navigation such as deflection, pitch angle and roll angle accurately, navigation result of calculation and odometer and sleeper recognizer level signal are recorded in same data file jointly;
2) pre-service to the level signal that odometer exports is realized, the rotating direction of wheel is judged according to the priority of level signal, and according to direction, one of them pulse signal is accumulated or calculating of successively decreasing, use as odometer sequence number, mileage sequence number is multiplied by the distance that respective pulses interval wheel is walked, obtains relative mileage;
3) to the pre-service of the level signal that sleeper recognizer exports, identify the position of sleeper, determine traffic direction simultaneously, and corresponding increasing or decreasing process is carried out to sleeper sequence number, sleeper sequence number is multiplied by average sleeper pitch and is converted into relative mileage;
4) by the mileage information measured by odometer compared with the mileage information measured by sleeper recognizer, identify whether to exist sleeper error of omission or the phenomenon that repeats to record occurs;
5) according to effective GPS mileage and odometer sequence number, sleeper sum, realize verifying odometer unit distance and sleeper average headway and calibrating:
S＝L/I
Wherein, S is odometer unit distance, and L is GPS mileage, and I is odometer sequence number;
H＝L/M
Wherein, H is sleeper average headway, and L is GPS mileage, and M is sleeper sum;
6) realize, according to identification to sleeper, determining sequence number and the mileage of sleeper, comprise navigation calculation result data is same be recorded to one by the tactic measurement data file of sleeper by what record at synchronization;
7) by the process to the mileage arranged by sleeper sequence number, position, horizontal direction angle and pitch angle, realize measuring the outside geological information of track, realize the measurement to single steel rail line-internal geological information;
8) use horizontal direction angle and mileage parameter to describe track circuit shape in a horizontal plane, in direction mile coordinate, set up the direction mile experiment curv describing track circuit geometric configuration in a horizontal plane;
9) use difference means according to direction mile experiment curv determination direction variable mileage experiment curv, feature according to direction variable mileage experiment curv carries out segmentation, each section of circuit is made to have identical profile, according to the feature of every section of circuit, determine the best line style of every section, determine the optimal parameter of corresponding line style by least square method, set up direction variable ideal curve;
10) integration is carried out to direction variable ideal curve, obtain direction ideal curve, and make the deviation between itself and orientation measurement curve minimum;
11) with orientation measurement curve subduction direction ideal curve, direction absolutely not flat curve is obtained;
12) to direction absolutely not flat curve carry out integration, obtain rail to absolutely not flat curve;
13) select to arrange distinguish rail to the rail in absolutely not smooth-going to relatively smooth-going information with rail to the observation wavelength needed for relative irregularity information;
14) carry out Sampling by 1/4th interval trackings of observation wavelength to absolutely not flat curve, then use cubic spline interpolation account form to process sample value, obtain rail to relative flat curve;
15) rail is deducted rail to absolutely not flat curve and obtain track alignment irregularity curve to relative flat curve;
16) by the measurement to trackage and pitch angle, in the mileage coordinate system of pitch angle, the pitch angle mileage experiment curv describing track circuit geometric configuration in vertical section is set up;
17) carry out segmentation according to pitch angle shape facility, determine the line style of every section of circuit and best line style parameter, set up pitch angle ideal curve, obtain the outside geological information of test line in vertical section;
18) by incline measurement curve subduction pitch angle ideal curve, calculate pitch angle absolutely not smooth-going, calculate that height is absolutely not smooth-going by the integration that pitch angle is absolutely not smooth-going;
19) artificial selected observation wavelength, carries out Sampling by 1/4th intervals of observation wavelength to the absolutely not smooth-going data of height, carries out cubic spline interpolation computing to all sample values, sets up height flat curve relatively;
20) with height absolutely not flat curve subduction height flat curve relatively, height irregularity curve is relatively obtained;
21) realize calculating corresponding track lining Liang Hetai road amount according to track alignment irregularity and longitudinal irregularity testing result.
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| CN110658543B (en) * | 2018-06-29 | 2023-07-14 | 北京自动化控制设备研究所 | High-speed railway track geometric parameter detection method based on non-contact measurement |
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| CN113686297B (en) * | 2021-08-24 | 2024-01-23 | 中铁二院工程集团有限责任公司 | Method for evaluating track smoothness by using Beidou positioning device and inertial navigation system |
| CN115307599B (en) * | 2022-08-11 | 2023-09-22 | 济南致通华铁测量技术有限公司 | Railway track smoothness adjusting method |
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