CN103343498B - Track irregularity detecting system and method based on INS/GNSS - Google Patents
Track irregularity detecting system and method based on INS/GNSS Download PDFInfo
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- CN103343498B CN103343498B CN201310312460.3A CN201310312460A CN103343498B CN 103343498 B CN103343498 B CN 103343498B CN 201310312460 A CN201310312460 A CN 201310312460A CN 103343498 B CN103343498 B CN 103343498B
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Abstract
The invention discloses a track irregularity detecting system and method based on an INS/GNSS. According to the method, an INS/GNSS combined measurement system is taken as a core measurement device, is fixed and arranged on a moving support and moves along with the moving support on a track, and a three-dimensional position coordinate sequence of the track and an attitude angle sequence of the track are obtained through measurement. Track irregularity is evaluated through a track irregularity evaluation method based on the coordinate method according to the combination of tack design curve parameters, the three-dimensional position coordinate sequence of the track, the attitude angle sequence of the track and a gauge measured value. According to the track irregularity detecting system and method, high-accuracy and high-efficiency dynamic measurement of the track irregularity is achieved, the track irregularity is evaluated on the basis of the coordinate method, and the evaluation method is simpler and more convenient to conduct, intuitive and easy to understand.
Description
Technical field
The invention belongs to railway track measurement field, relate to a kind of track irregularity detection system based on inertial navigation system (INS) and Global Navigation Satellite System (GNSS) measurement in a closed series technology and method.
Background technology
Dynamic track checking car, light-duty track detection car, the string of a musical instrument and track forces measure the capital equipment of track irregularity and method (can see Chinese patent CN102337710A) at present, and existing measureing equipment and method are in certainty of measurement and measure in efficiency and be all difficult to the testing requirement simultaneously meeting high ferro non-fragment orbit irregularity.
1, dynamic track checking car
Dynamic track checking car adopts inertial reference measuring principle, be integrated with the numerous measureing equipments comprising inertial sensor, have and measure the advantages such as high, the comprehensive strong and measure the item of efficiency is complete, can the integral status of check and evaluation circuit, provide the power spectrum of whole section track irregularity, but be difficult to provide careful metrical information accurately to section, local and emphasis detection section.Simultaneously dynamically track checking car detect the wavelength of track irregularity and certainty of measurement limited, still can not meet the required precision instructing orbit adjusting, the few and technical sophistication of number of devices.
2, light-duty track detection car
At present, light-duty track detection car development rapidly, is widely used.Wherein more ripe technology take high precision total station as the light-duty accurate track detection car of core measureing equipment.Light-duty accurate track detection car based on total powerstation adopts method of absolute coordinate system measure track geometry shape and detect track irregularity.High precision total station surveys the three-dimensional coordinate of prism centers on accurate track detection car, then combine the geometric parameter of the strict track detection car demarcated in advance, orientation parameter, cross dip and actual measurement gauge, midline position and the height above rail surface at corresponding mileage place can be conversed.And then contrast with the Track desigh value at this mileage place, by calculate given chord length check point between rise difference difference detect track irregularity.Be equipped with the track detection car using highest ranking total powerstation (0.5 " level total powerstation) and full accuracy grade, the absolute positional accuracy of 1.5mm can be reached.
Light-duty accurate track detection car based on total powerstation carries out track irregularity detection and there is following defect: 1) inefficiency, the static measurement of total powerstation palpus, the multiple control point of backsight, adopt the work pattern of " loitering ", estimated efficiency is 150m/h, is difficult to complete measurement task fast in Window time; 2) strong to rail control network (CPIII) control point dependence, Free Station with Total Station electronic Thacheometer needs backsight 6-8 CPIII control point, and in fact to there is maintenance cost high at CPIII control point, destroys the problems such as serious, bring inconvenience to actual measurement; 3) be unfavorable for that long wave detects, by total station survey capabilities limits, once establish station measuring distance to be about 60m, need to carry out overlay segment measurement to realize the unification of coordinate system between survey station; , thus there is " edge fit error " in overlay segment certainty of measurement controlled some Accuracy, under also namely the position coordinates of each survey station is difficult to be converted to unified coordinate system accurately, this is by the accuracy of detection of grievous injury long-wave band irregularity; 4) ultrashort wave track irregularity detectability is not possessed; 5) requirement for environmental conditions is harsh, and total powerstation affects comparatively large by extraneous measurement environment, as temperature, humidity, light, visibility etc., and substantially can not operation under mal-condition.
Although exist above not enough, but the light-duty accurate track detection car based on total powerstation uniquely to meet at present the measurement scheme that high-speed railway rail irregularity accuracy of detection requires, and with coordinate, track geometry shape is described and detect track irregularity have calculate simple, visual in image, the advantage such as to should be readily appreciated that.
3, the string of a musical instrument and track forces
The string of a musical instrument and track forces is adopted to be a kind of methods comparatively fallen behind to track irregularity measurement, measure inefficiency, need artificial naked eyes reading, certainty of measurement is low, be not suitable for carrying out irregularity detection to high-speed railway rail, the general section not only being equipped with mechanised detection equipment at some uses.
4, the application of inertial survey technique in orbit measurement and irregularity detect
The advantage of inertia measurement is that relative accuracy is high, and Data Update is fast, and independence is strong, does not need other referential.Inertial survey technique is widely used in orbit measurement and irregularity detect, and main application mode can be summarized as: on the bogie 1) on dynamic track checking car or axle box, installation side is to the track irregularity come with vertical accelerometer in detection level direction and vertical direction; 2) degree of will speed up meter is arranged on light-duty track detection car, in order to measure the angle of slope of dolly; 3) gyroscope is arranged on light-duty track detection car, measures the angle change of track on in-plane and vertical direction, and carry out reckoning (Dead Reckoning, DR) accordingly, the track irregularity in detection level direction and vertical direction.
The all direct original measurement value to inertance element of above-mentioned measureing equipment and measuring method processes:
Degree of will speed up original measurement amount obtains displacement to time twice integration, then detects the relative variation of track geometry shape according to displacement; Integration is carried out to gyrostatic original measurement amount and obtains attitude measurement value, and carry out reckoning accordingly.But inertial survey technique precision is subject to the impact of many factors and constantly disperses, main factor is inertial sensor errors, as accelerometer bias, gyro zero partially, accelerometer output-scale-factor error, gyro output-scale-factor error etc.Do twice integration in time to the moment of inertia measurement information, sensor error can accumulate in time, and certainty of measurement declines in time.Therefore this method major defect based on accelerometer or gyroscope primary signal reckoning track irregularity is: be difficult to effectively estimate and compensate inertial sensor errors, fail to realize the optimal treatment to inertial sensor original measurement information.
For solve above-mentioned be used alone acceleration or gyroscope time the problem that runs into, the measurement in a closed series technology just progressively injection fields of measurement of inertial technology and other technologies.
Abroad, the a set of track geometry of Trimble Applanix company designs detects and train location comprehensive solution POS-TG(can see Chinese patent CN202124809U), be integrated with the numerous sensors comprising Inertial Measurement Unit and GPS in the program, track irregularity can be provided to detect service.But this product is used in detection of dynamic car, is installed on the non-powered bogie wheel shaft of detection of dynamic car, belongs to detection of dynamic scheme, still there is complicated operation, the defects such as testing cost is high.
Domestic, doctor Han Yunfei of Xi'an Ao Tong numeral science and technology Co., Ltd proposes a kind of GPS track irregularity detection system and detection method (can see Chinese patent CN102337710A), belong to light-duty track detection car scheme, have employed the measurement in a closed series mode of inertial survey technique and GPS double antenna, and formulate a set of new track assessment mode.The program employs the measurement of GPS double antenna and obtains synchronous deflection and the angle of pitch comes auxiliary INS course and pitch angle measurement value, to solve the precision divergence problem of inertial navigation system (Inertial Navigation System, INS).GPS double antenna is the effective supplementary means of one of inertia measurement, but the program also still has the following disadvantages: 1) measure the item is incomplete, the method is measured separately two one steel rails respectively, lose contiguity between the measured value of two one steel rails, cannot detect and assess superelevation irregularity and the gauge irregularity of track; 2) there is the problem of distortion in Short wave irregularity measurement; 3) track irregularity assessment is difficult to set up contact with existing assessment mode; 4) data processing is very complicated, needs more manual intervention, in the process setting up ideal curve, there is the possibility of artificial erroneous judgement when dividing classification of track section;
By above analysis, existing track irregularity measuring method can be summarized as follows:
Based on the detection of dynamic of dynamic track checking car due to many-sided reason, be still difficult to instruct track accurate adjustment; Actual track is measured and is badly in need of that a kind of certainty of measurement is high, easy and simple to handle, portable, lightweight track detection car that operating efficiency is high, and the existing track detection car based on inertial survey technique needs research further and perfect, there is no matured product.At present, accurate track detection car only based on high precision total station can meet the required precision of high-speed railway rail Irregularity detection in precision, the method directly can provide the absolute location coordinates sequence of tested track, track irregularity is detected according to position coordinates, assessment mode is easy, directly perceived, should be readily appreciated that, but the program need badly its data acquisition efficiency and coordinate system first-class in make and improving with the detection demand adapting to high-speed railway rail irregularity.
Summary of the invention
For the defect existing for existing light-duty accurate track detection car and irregularity detection technique thereof, the present invention proposes a kind of based on inertial navigation system (INS) and Global Navigation Satellite System (GNSS) measurement in a closed series technology, innovate track irregularity detection method and system that measurement means and conventional rails irregularity appraisal procedure combine.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
One, based on a track irregularity detection system of INS/GNSS, comprise measuring unit, measuring unit comprises measureing equipment and light-duty portable traversing carriage; Measureing equipment is installed on light-duty portable traversing carriage, comprises INS/GNSS combination metering system, odometer and displacement transducer, in order to obtain orbit measurement value.
The present invention is based on the track irregularity detection system of INS/GNSS, also comprise data processing unit, the orbit measurement value described in data processing unit process, obtain orbit space geometry, with check and evaluation track irregularity, and the generator orbital amount of alloting.Data processing unit obtains orbit measurement value by the mode such as copies data or information transmission modular.
Above-mentioned light-duty portable traversing carriage is Portable light orbit measurement dolly.Portable light orbit measurement dolly is placed in orbital plane, comprises vehicle body frame and wheel, and vehicle body frame is rigid structures, truly can reflect the attitudes vibration of track; Wheel contacts with track maintaining rigidness, truly can reflect the deformation quantity of track all directions.
Above-mentioned INS/GNSS combination metering system comprises Inertial Measurement Unit (Inertial Measurement Unit, IMU), GNSS receiver and GNSS antenna.Inertial Measurement Unit comprises three axis accelerometer and three-axis gyroscope, is used for measuring three-dimensional acceleration and the three-dimensional angular velocity of light-duty portable traversing carriage; Odometer is used for measuring the range ability of light-duty portable traversing carriage direction along ng a path; Displacement transducer is used for measuring complete track gauge in real time.
Two, based on a track irregularity detection method of INS/GNSS, obtain three-dimensional location coordinates sequence and the attitude angle sequence of track according to INS/GNSS combination metering system and odometer measured value, obtain track gauge according to displacement sensor value; Based on the three-dimensional location coordinates of track, attitude angle sequence and track gauge, in conjunction with Track desigh parameter of curve analysis and evaluation track irregularity.
Above-mentioned three-dimensional location coordinates sequence and the attitude angle sequence obtaining track according to INS/GNSS combination metering system and odometer measured value, comprises sub-step further:
Described the three-dimensional location coordinates sequence and the attitude angle sequence that obtain track according to INS/GNSS combination metering system and odometer measured value, comprise sub-step further:
Positioning calculation GNSS measured value, obtains the GNSS tracks positioned result comprising three-dimensional absolute position and speed;
Time synchronized GNSS tracks positioned result, Inertial Measurement Unit measured value, odometer measured value and displacement sensor value, track is used as to measure to the nonholonomic restriction of light-duty portable traversing carriage motion state and upgrades, and carry out merging with described GNSS tracks positioned result, Inertial Measurement Unit measured value and odometer measured value and integrated positioning resolves, obtain with target track three-dimensional location coordinates sequence and attitude angle sequence during GNSS.
Adopt Kalman filtering algorithm to carry out integrated positioning to GNSS tracks positioned result, Inertial Measurement Unit measured value and odometer measured value to resolve, and the nonholonomic restriction of track to light-duty portable traversing carriage motion state is added Kalman filtering algorithm.
Above-mentioned assessment track irregularity adopts the track irregularity computational methods based on coordinate method, is specially:
Track irregularity information is obtained by the deviation calculated between the design rise difference of two mileage points of selected step interval and actual measurement rise difference.
Above-mentioned assessment track irregularity comprises assessment track superelevation irregularity and/or gauge irregularity.
Described assessment track superelevation irregularity is obtained by the left rail of same mileage and right rail depth displacement, or adopts acquisition with the following method:
According to three-dimensional location coordinates sequence and the attitude angle sequence of track, in conjunction with the geometric parameter of light-duty portable traversing carriage demarcated in advance, the relative position between measureing equipment and light-duty portable traversing carriage and relative attitude, calculate interorbital true attitude angle sequence;
Displacement sensor value and the true attitude angle sequence of track are converted to spatial synchronization by time synchronized;
The actual measurement track superelevation of survey mark is obtained according to displacement sensor value and the true attitude angle sequence of track;
The superelevation irregularity sequence of track can be obtained according to actual measurement track superelevation and Track desigh superelevation.
Described assessment track gauge irregularity is adopted and is obtained with the following method:
According to three-dimensional location coordinates sequence and the attitude angle sequence of track, in conjunction with the geometric parameter of light-duty portable traversing carriage demarcated in advance, the relative position between measureing equipment and light-duty portable traversing carriage and relative attitude, calculate interorbital true attitude angle sequence;
Displacement sensor value and interorbital true attitude angle sequence are converted to spatial synchronization by time synchronized;
Displacement sensor value and gauge design load are contrasted, obtains the gauge deviation at corresponding mileage place, i.e. gauge irregularity.
Compared to the prior art, the present invention has following beneficial effect:
1, the present invention's relative measurement ability of utilizing inertial survey technique outstanding and GNSS location, the long-time stability that test the speed, and do not rely on any orbits controlling point and other auxiliary base points, thus quick, comprehensive, continuous, the high-precision independent measurement of track irregularity can be realized.
2, the present invention is easy to use, can realize the portable operation of " plug and play ", greatly reduces the professional requirement to survey crew; And also can normally work under severe test environment.
3, the three-dimensional location coordinates of energy quick obtaining track of the present invention and attitude sequence, measures efficiency high, can be used for the line track Irregularity detection having Window time to limit.
4, the present invention adopts coordinate method describe track geometry shape and detect track irregularity, and metering system adopts the mode that relative measurement combines with absolute measurement, and efficiency is far above total powerstation; Consistent, visual in image with the existing accurate track detection car appraisal procedure based on high precision total station in track irregularity evaluation profile, should be readily appreciated that.
5, the present invention does not rely on any ground control point, can work alone completely; The absolute position error of Centimeter Level much smaller than track spacing, thus can accurately positioning track irregularity occur position.Carrying out track irregularity with existing dependence kilometer stone and circuit odometer to locate and compare, there is not the problems such as the accumulation of error on mileage location in the present invention, for reducing railway construction from now on and maintenance input cost provides new possibility.
6, track irregularity of the present invention measures wavelength covering comprehensively: under track three-dimensional location coordinates measured value is all positioned at the same coordinate system, does not exist " edge fit error " similar with total powerstation, be thus conducive to the detection of long wave irregularity; Simultaneously the present invention can detect ultrashort track irregularity, and this cannot realize based on the accurate track detection car of total powerstation.
Accompanying drawing explanation
Fig. 1 is present system top view;
Fig. 2 is present system elevation;
Fig. 3 is the roll angle repeatability comparison diagram that the present invention measures;
Fig. 4 is that 30 meter-gages of the present invention and the existing accurate track detection car based on total powerstation are to Irregularity detection Comparative result figure.
In figure, 1-wheel; 2-GNSS antenna; 3-IMU; 4-displacement transducer; 5-car body body framework; 6-track; 7-odometer.
Detailed description of the invention
The present invention, using INS/GNSS combination metering system as core measureing equipment, to be fixedly installed on traversing carriage and to move in orbit with traversing carriage, measures the three-dimensional location coordinates sequence and attitude angle sequence that obtain track.According to the three-dimensional location coordinates of track, attitude angle and gauge measured value, and in conjunction with Track desigh parameter of curve, the rail adopting the track irregularity appraisal procedure based on coordinate method to calculate track to, gauge, just, the track irregularity information such as superelevation.
Because (namely track has stronger constraint to measurement moving of car state, nonholonomic restriction), therefore, the internal association between two one steel rails can be set up according to track profile angle (comprising roll angle, the angle of pitch and course angle), extrapolate the three-dimensional location coordinates sequence of single steel rail accordingly, detect the irregularity of single track in level and elevation direction, and the longitudinal section of left and right rail and orbit parameter etc. detect data.
The INS/GNSS coordinate sequence obtained based on INS/GNSS combination metering system has high accuracy relative measurement and Centimeter Level absolute measurement double grading concurrently, and high accuracy relative position characteristic, in order to describe track geometry shape, detects track irregularity; The position that Centimeter Level absolute position characteristic occurs in order to locate irregularity, provides orbital maintenance suggestion and the concrete track amount of alloting accordingly.
The specific embodiment of the present invention is further illustrated below in conjunction with accompanying drawing and example.Following examples are in order to illustrate but not limit the present invention.
The track irregularity detection system of this specific embodiment, comprise measuring unit and data processing unit, wherein, measuring unit comprises Portable light orbit measurement dolly and measureing equipment, and measureing equipment passes through data acquisition unit or information transmission modular and data processing unit and exchanges data; Measureing equipment is installed on Portable light orbit measurement dolly, comprises INS/GNSS combination metering system, odometer and displacement transducer.Data processing unit is used for the original measurement value of off-line or on-line analysis measureing equipment, to obtain orbit space geometry information, and analysis and evaluation track irregularity, the generator orbital amount of alloting.
See Fig. 1 ~ 2, measuring unit of the present invention comprises INS/GNSS combination metering system, odometer 7, displacement transducer 4 and Portable light orbit measurement dolly.Portable light orbit measurement dolly comprises vehicle body frame 5 and wheel 1, and vehicle body frame 5 is "T"-shaped rigid body framework, and "T"-shaped rigid body framework and three wheels 1 form rigid unitary structure, and vehicle body frame 5 and orbital plane keep fixed vertical.Portable light orbit measurement dolly can by manually promoting or the traction of other power-equipments, direction along ng a path motion on track 6; In motion process, wheel 1 and orbital plane remain rigid contact, the track true strain of moment tracking different directions; Rigid body framework guarantees the attitudes vibration truly reflecting track, thus sets up the inner link between two tracks.Portable light orbit measurement dolly of the present invention is not limited to "T"-shaped light-duty track detection car, the light-duty track detection car of " H " shape or other shapes.
INS/GNSS combination metering system comprises Inertial Measurement Unit (IMU) 3, GNSS receiver and GNSS antenna 2.GNSS receiver board is built in Inertial Measurement Unit 3 housing, Inertial Measurement Unit 3 is fixed on vehicle body frame 5, GNSS antenna 2 is fixed on vehicle body frame 5 by astronomical cycle bar, and the relative position between Inertial Measurement Unit 3 and GNSS antenna 2 and the relative position between Inertial Measurement Unit 3 and light-duty track detection car and relative attitude are all demarcated in advance.INS/GNSS combination metering system of the present invention comprises but is not limited only to Inertial Measurement Unit, GNSS receiver and GNSS antenna, also comprises and is core with INS/GNSS but has merged in odometer, magnetometer, air pressure elevation meter sensor any one or multiple integrated form integrated navigation system.INS/GNSS combination metering system of the present invention is not limited to " integral type " INS/GNSS system that this detailed description of the invention adopts, and also can not be integrated in " split type " integrated navigation system in same housing for GNSS receiver and INS.
Inertial Measurement Unit IMU3 is made up of three-axis gyroscope and three axis accelerometer, and three-axis gyroscope is used for measuring the three-dimensional angular velocity of light-duty track detection car, and three axis accelerometer is used for measuring the three-dimensional acceleration of light-duty track detection car.GNSS receiver measures three-dimensional absolute location coordinates under global coordinates system of GNSS antenna and speed.Odometer is used for measuring the range ability of light-duty track detection car direction along ng a path, and displacement transducer is used for measuring complete track gauge in real time.The original measurement value of IMU, GNSS receiver, odometer and displacement transducer is with GNSS pulse per second (PPS) (Pulses Per Second, PPS) for time synchronized is carried out in reference, stamp unified GNSS time tag, in chronological sequence order arranges and unifies to be recorded in data acquisition unit.Data processing unit adopts the orbital measurement data recorded in Kalman filtering algorithm fused data collecting unit, resolves, obtains track three-dimensional location coordinates and attitude, detect all kinds of track irregularity in conjunction with Track desigh parameter of curve through integrated positioning.
Data processing unit is according to the track raw measurement data in steps of processing data acquisition unit:
(1) digital independent
Read the track raw measurement data in data acquisition unit.
(2) GNSS positioning calculation
Adopt PPK computation to carry out precision positioning to the GNSS original measurement value in the orbital measurement data read to resolve, the GNSS tracks positioned result of three-dimensional absolute location coordinates and speed under obtaining comprising global coordinates system, described three-dimensional absolute location coordinates and speed have unified GNSS markers.
GNSS tracks positioned is resolved and dynamic difference location (PPK), real time dynamic differential location (RTK), Static Precise Point Positioning (PPP) or One-Point Location (SPP) etc. afterwards specifically can be adopted to resolve pattern and resolve GNSS original measurement value, preferably adopts dynamic difference location (PPK) afterwards to resolve pattern.
(3) INS/GNSS integrated navigation and location resolves
GNSS tracks positioned result, IMU original measurement value, odometer original measurement value are carried out time synchronized, IMU original measurement value comprises three-dimensional acceleration and the three-dimensional angular velocity of Portable light orbit measurement dolly, and odometer original measurement value comprises the range ability of Portable light orbit measurement dolly along track; Track is used as to measure to the nonholonomic restriction of Portable light orbit measurement moving of car state simultaneously and upgrades, according to the relative position between the Inertial Measurement Unit demarcated and GNSS antenna, utilize Kalman filtering algorithm to merge GNSS tracks positioned result, IMU original measurement value and odometer original measurement value and integrated positioning resolves, obtain IMU measuring center place with target three-dimensional location coordinates sequence during GNSS and attitude angle sequence.Odometer measured value and nonholonomic restriction are the important measurement lastest imformations of inertial reference calculation, especially when GNSS signal is blocked or interrupt, significant for maintenance inertial navigation certainty of measurement.
Nonholonomic restriction refer to Portable light orbit measurement dolly in orbit orbital motion time, speed in side direction and vertical direction is almost nil, therefore this nonholonomic restriction can be regarded as a kind of virtual survey data, as a kind of metrical information in Kalman filtering algorithm, to improve integrated navigation calculation accuracy, the inherent correlation between strengthened rail position and attitude angle.
INS/GNSS integrated navigation calculation method can resolve pattern for pine combination, tight integration resolves pattern or PPK tight integration resolves pattern, wherein, the pine combination GNSS calculation method resolved under pattern comprises dynamic difference location (PPK), real time dynamic differential location (RTK), Static Precise Point Positioning (PPP), One-Point Location (SPP) etc. afterwards and resolves pattern.In this concrete enforcement, preferably dynamic difference locates (PPK) calculation method afterwards.
(4) the three-dimensional location coordinates sequence at IMU measuring center place step (3) obtained is converted to local horizontal coordinates (such as, sky, northeast coordinate system), and by selected step-length, fitting is carried out to the three-dimensional location coordinates sequence under local horizontal coordinates and attitude angle sequence, obtain track three-dimensional location coordinates sequence and the attitude angle sequence with fixing mileage interval.
(5) according to the prior strict geometric parameter of Portable light orbit measurement dolly demarcated and the relative position relation between IMU and Portable light orbit measurement dolly and relative attitude, the three-dimensional location coordinates sequence with the IMU measuring center at fixing mileage interval obtained by step (4) and attitude angle sequence calculate track centre, left rail and the right rail three-dimensional location coordinates sequence in plane and elevation direction and the true attitude angle sequence between two rails.
(6) according to the track centre three-dimensional location coordinates sequence that step (5) obtains, calculate track centre track alignment irregularity and the longitudinal irregularity of different chord lengths in conjunction with Track desigh parameter of curve, obtain the track amount of alloting.For wall scroll rail (that is, left rail or right rail), according to east to the north to coordinate sequence calculate track irregularity in the horizontal direction, the irregularity on track elevation direction can be calculated according to vertical coordinate sequence.
Track desigh parameter of curve is not limited only to original design curve and the orbital elements of track, also can be the optimal trajectory curve obtained according to matching after INS/GNSS coordinate sequence inverse orbit parameter.As, when obtaining optimal trajectory curve according to the matching of track centre three-dimensional location coordinates, Least Square approximating method can be adopted, carry out fitting a straight line at straightway; Circular fitting is carried out at circular curve segment; Repeatedly curve is carried out at mild wet air oxidation.Above-mentioned orbital elements comprise orbital curve type and length, easement curve segment length, circular curve radius and steering direction, the longitudinal gradient gradient and design superelevation etc.
Track irregularity computational methods of the present invention comprise but are not limited only to calculate the deviation between the design rise difference of two mileage points of selected step interval and actual measurement rise difference.Track irregularity computational methods are shown in " the provisional technical condition of passenger transportation special line track geometry state measurement instrument ".
(7) the track three-dimensional coordinate sequence displacement transducer original measurement value in track raw measurement data and step (5) obtained and true attitude angle sequence are converted to spatial synchronization by time synchronized, such as, trackage alignd or align according to absolute location coordinates; The complete gauge measured value obtained by displacement sensor and gauge design load contrast, and obtain the gauge deviation at corresponding mileage place, i.e. gauge irregularity.
(8) roll angle in the complete gauge measured value obtained according to displacement sensor and the true attitude angle sequence of track, calculates the actual measurement track superelevation δ of each survey mark
h=l × sin φ, wherein, l is complete gauge measured value, i.e. displacement transducer measured value; φ is the true roll angle measured value of track after established angle corrects.Actual measurement track superelevation deducts the superelevation irregularity value sequence that Track desigh superelevation can obtain track; Actual measurement superelevation also can directly be calculated by the difference of the elevation of the upper left rail of same mileage points, right rail.
The present invention adopts the three-dimensional location coordinates sequence, attitude angle sequence and the gauge measured value that are fixed on measureing equipment quick obtaining track on traversing carriage, detects all kinds of track irregularity in conjunction with Track desigh value.The three-dimensional location coordinates sequence of track can but describe under being not limited only to global coordinates system and local horizontal coordinates, can also state under what its orbit measurement coordinate system in office.
INS/GNSS combination metering system of the present invention can be the combination metering system of loose integrated mode, tight integration pattern or dark integrated mode.Inertial Measurement Unit of the present invention (IMU) comprises but is not limited only to Tactics-level and navigation level IMU.GNSS receiver and GNSS antenna package contain but are not limited only to receive receiver and the positioning antenna of the navigation positioning system signals such as global system (GPS of America/Russian GLONASS/European Union Galileo/ China BDS), district system (Japanese QZSS/ India IRNSS) and WAAS (WAAS/EGNOS/SDCM/MSAS/GA GAN/NiSatCom-1).
For investigating accuracy of detection of the present invention and reliability, we have carried out orbit measurement experiment on the spot on the newly-built intercity high speed passenger dedicated railway of wide pearl; Carry out analysis and assessment from precision of inner coincidence and precision of exterior coincidence two aspects to test result, result is as follows:
For assessing the precision of inner coincidence of measurement result of the present invention, having carried out four times measure in experiment to same track section, namely two come and go measurement.The track length measured by native system is 1.2km, and repeatedly retest shows, measurement result has good repeatability.Fig. 3 measures to same track section the roll angle alignment figure obtained for four times.As can be seen from the figure, measure the curve of roll angle on mileage obtained for four times almost consistent, in order to distinguish each curve measured, during mapping, on every bar curve, people adds different constant value skews.Statistics shows, measures the roll angle mutual deviation obtained four times and is less than 0.01 degree.
For assessing the precision of exterior coincidence of measurement result of the present invention, measurement result of the present invention and the accurate track detection car measured value based on high precision total station are contrasted.Because total station survey efficiency is low, the measurement track length of frame of reference is 300m; Fig. 4 be 30 meter-gages measured of the present invention and the existing accurate track detection car based on total powerstation to Irregularity detection Comparative result figure, for making comparison diagram clear readable, the result only giving first 160 meters in figure is analyzed.As can be seen from Figure 4: the present invention is almost consistent with the accurate track detection car measurement result based on total powerstation of existing full accuracy, but the two result at part details place (as in relative mileage interval [10,15] in) there is certain deviation, but deviation is all less than the allowable error 2mm of the detection of 30m track irregularity.
Claims (6)
1., based on a track irregularity detection method of INS/GNSS, it is characterized in that:
Obtain three-dimensional location coordinates sequence and the attitude angle sequence of track according to INS/GNSS combination metering system and odometer measured value, obtain track gauge according to displacement sensor value; Based on the three-dimensional location coordinates of track, attitude angle sequence and track gauge, in conjunction with Track desigh parameter of curve analysis and evaluation track irregularity;
Described the three-dimensional location coordinates sequence and the attitude angle sequence that obtain track according to INS/GNSS combination metering system and odometer measured value, comprise sub-step further:
Positioning calculation GNSS measured value, obtains the GNSS tracks positioned result comprising three-dimensional absolute position and speed;
Time synchronized GNSS tracks positioned result, Inertial Measurement Unit measured value, odometer measured value and displacement sensor value, track is used as to measure to the nonholonomic restriction of light-duty portable traversing carriage motion state and odometer measured value and upgrades, according to the relative position between the Inertial Measurement Unit demarcated and GNSS antenna, GNSS tracks positioned result, Inertial Measurement Unit measured value and odometer measured value to be merged and integrated positioning resolves, obtain with target track three-dimensional location coordinates sequence and attitude angle sequence during GNSS.
2., as claimed in claim 1 based on the track irregularity detection method of INS/GNSS, it is characterized in that:
Adopt Kalman filtering algorithm to carry out integrated positioning to GNSS tracks positioned result, Inertial Measurement Unit measured value and odometer measured value to resolve, and the nonholonomic restriction of track to light-duty portable traversing carriage motion state is added Kalman filtering algorithm.
3., as claimed in claim 1 based on the track irregularity detection method of INS/GNSS, it is characterized in that:
Described assessment track irregularity adopts the track irregularity computational methods based on coordinate method, is specially:
Track irregularity information is obtained by the deviation calculated between the design rise difference of two mileage points of selected step interval and actual measurement rise difference.
4., as claimed in claim 1 based on the track irregularity detection method of INS/GNSS, it is characterized in that:
Described assessment track irregularity comprises assessment track superelevation irregularity and/or gauge irregularity.
5., as claimed in claim 4 based on the track irregularity detection method of INS/GNSS, it is characterized in that:
Described assessment track superelevation irregularity obtains actual measurement track superelevation by the left rail of same mileage and right rail depth displacement, or adopts acquisition with the following method:
According to three-dimensional location coordinates sequence and the attitude angle sequence of track, in conjunction with the geometric parameter of light-duty portable traversing carriage demarcated in advance, the relative position between measureing equipment and light-duty portable traversing carriage and relative attitude, calculate interorbital true attitude angle sequence;
Displacement sensor value and interorbital true attitude angle sequence are converted to spatial synchronization by time synchronized;
The actual measurement track superelevation of survey mark is obtained according to displacement sensor value and the true attitude angle sequence of track;
The superelevation irregularity sequence of track can be obtained according to actual measurement track superelevation and Track desigh superelevation.
6., as claimed in claim 4 based on the track irregularity detection method of INS/GNSS, it is characterized in that:
Described assessment track gauge irregularity is adopted and is obtained with the following method:
According to three-dimensional location coordinates sequence and the attitude angle sequence of track, in conjunction with the geometric parameter of light-duty portable traversing carriage demarcated in advance, the relative position between measureing equipment and light-duty portable traversing carriage and relative attitude, calculate interorbital true attitude angle sequence;
Displacement sensor value and interorbital true attitude angle sequence are converted to spatial synchronization by time synchronized;
Displacement sensor value and gauge design load are contrasted, obtains the gauge deviation at corresponding mileage place, i.e. gauge irregularity.
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