CN103419812B - A kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU - Google Patents
A kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU Download PDFInfo
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Abstract
The present invention relates to a kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU.Vehicular platform installs pick up camera, satellite positioning assembly, inertial measurement cluster, clock synchronization system, track vehicle body relative measurement system and data processing single-purpose computer etc., satellite positioning difference base station and videographic measurment mark base station is laid along the line at rail, composition shooting and satellite and inertia measurement or make a video recording and the combination metering system of inertia measurement or satellite and inertia measurement, merged by the degree of depth of shooting and satellite and inertia measurement, set up high-precision vehicle-mounted dynamic position, attitude and velocity measurement benchmark, again according to track vehicle body relative measurement, keep for a long time measuring track and roadbed parameter accurately, by contrasting with Track desigh normal data, realize the automatic of rail subgrade sedimentation and rail geometric parameter, high precision, for a long time, continuous gauging.
Description
Technical field
The present invention relates to track traffic detection of dynamic field, be specifically related to a kind of method of vehicle-mounted rail subgrade settlement measurement, by installing shooting/satellite/inertia measurement components on vehicular platform, satellite positioning difference station and shooting control mark is laid along the line at rail, the position of real time dynamic measurement vehicular platform, attitude, velocity information, track vehicle body relative measurement is utilized to obtain rail spatial three-dimensional position and geometric parameter, by contrasting with Track desigh normal data, realize automatic, high precision, long-time, the continuous gauging of rail subgrade sedimentation and rail geometric parameter.
Background technology
The construction energetically of track traffic Infrastructure and use, serve extremely important effect to national economy and social life.In rail transportation operation process, due to reasons such as geological deformation and train impacts, often there is subsidence and distortion in the Infrastructure such as track, bridge, tunnel, can affect the traveling comfort of driving, bring potential safety hazard, or even the heavy losses of property and personal casualty.Particularly the building up and develop of high speed railway, the infinitesimal deformation of its roadbed and track all can cause quantity of operation to decline, and affects operation security.Therefore, for improving railway operation safety factor and quantity of operation, efficiency, Timeliness coverage and the generation preventing from endangering, carry out millimetre-sized high precision, long-time, dynamic monitoring to rail subgrade sedimentation, necessity is very with urgent.
Current to subsidence carry out measure monitoring means can be divided into two large class---ground survey mode and vehicle load measurement modes.Conventional subsidence ground detection/monitoring mainly adopts the instrument of surveying and mappings such as engineer's spirit level, apomecometer, theodolite and total powerstation, primarily of manually carrying out geodesic measurement, and needs segmentation to introduce the altitude figures of reference point.This method be difficult to realize measurement process automation, cannot monitor for a long time, particularly cannot realize dynamic monitoring, execution monitoring required by task observation time is long, efficiency is low, work capacity is large, it is high to measure cost, not only to spend a large amount of manpowers and fund, and affect the Effec-tive Function of high ferro, be difficult to effectively implement under the high ferro environment of reality.
At present, track checking car (or synthetic detection vehicle) is the major equipment that track dynamic detects.Track checking car is integrated with inertia measurement equipment rail Irregularity detection device, luminous point rail gauge measuring apparatus, multifunction vibration measurement mechanism and corresponding data processing system.The Multipurpose Safety Inspection Car of some country's exploitation is the comprehensive equipment being integrated with the several functions such as track detecting, Contact Line Detection, signal of communication detection.Current world overwhelming majority of countries track detection vehicle and synthetic detection vehicle generally have employed inertia measurement equipment, but because inertia measurement exists the vice proper that error accumulates in time, inertia measurement on current track checking car, only can measure roadbed local among a small circle in shortwave change, and responsive can not detect long wave irregularity and the deflection of slowly change, long distance cannot be realized, long-time, high-precision subsidence measures.Chinese patent literature CN101913368B discloses a kind of high speed railway fast precise measurement and total factor data-acquisition system and method, system is made up of laser scanner, digital imaging device, GPS receptor, IMU inertial measurement unit, industrial computer and electric supply installation, on the go obtains the three-dimensional point cloud of high speed railway track, roadbed and periphery atural object and the digital image through geodetic orientation, use the controlling point of rail control network to carry out simultaneous adjustment and calculate raising high speed railway movement measurement precision, but systematic survey speed only reaches 40 kilometers per hour.Northern Transportation University's Ph D dissertation " research of rail line safe by geometry state Dynamic Monitoring " (author Yu Zujun, 2008) propose the track checking car dynamic measurement scheme that vehicle-mounted inertial reference assists instantaneous position attitude measurement to merge mutually with ground, fixed point revises the problem that inertia measurement error is accumulated in time.The problems such as it is on the low side that this kind of rail method of inspection and system exist dynamic measurement speed, and ground control traffic sign placement is overstocked.
The invention provides a kind of subsidence method of measurement measuring combination based on shooting/satellite/inertia, compared with prior art, without the need to laser scanner, degree of depth fusion is carried out in shooting/satellite/inertia measurement, ground base station lays sparse (5 ~ 10 kilometers, interval), by videographic measurment charging system device error, keep grade survey precision for a long time by satellite difference/inertia measurement, automatic, high precision, long-time, the continuous gauging demand of rail subgrade sedimentation and rail geometric parameter can be met.
Summary of the invention
The invention provides a kind of subsidence method of measurement measuring combination based on shooting/satellite/inertia, by shooting and satellite and inertia measurement or make a video recording and the combination of inertia measurement or satellite and inertia measurement, set up high-precision vehicle-mounted dynamic position, attitude and velocity measurement benchmark, again according to track vehicle body relative measurement, keep for a long time measuring track and roadbed parameter accurately, by contrasting with Track desigh normal data, realize automatic, high precision, long-time, the continuous gauging of rail subgrade sedimentation and rail geometric parameter.
A kind of subsidence method of measurement based on shooting/satellite/inertia measurement combination of the present invention comprises:
(1) pick up camera, satellite positioning assembly, inertial measurement cluster, clock synchronization system, data processing single-purpose computer etc. are installed on vehicular platform, calibrating camera, relation between Satellite observation and inertia measurement system of axes, composition shooting and satellite and inertia measurement or make a video recording and the combination dynamic benchmark vehicle load measurement system of inertia measurement or satellite and inertia measurement.Attachment rail car body relative measurement system simultaneously, for measuring the geometric parameter of track bed relative to dynamic benchmark.
(2) near rail, select suitable place to arrange satellite positioning difference base station and videographic measurment mark base station, 5 ~ 10 kilometers, interval, base station repeats to lay, and ensures satellite positioning difference base station quorum sensing inhibitor measured zone.Satellite positioning difference base station also can independently be laid together with can being laid in videographic measurment mark base station.Base station and the controlling point coordinate under reference coordinate system is known or surveyed.Reference coordinate system can be chosen as geodetic coordinate system or other reference coordinate systems.
(3) when vehicle load measurement system is through videographic measurment mark base station, the image of the marking point of pick up camera Real-time Collection base station, extract each marking point coordinate position in the picture, the coordinate data of each marking point is carried out computing by imaging geometrical-restriction relation, obtain position and the attitude relation of camera coordinate system relative datum system of axes, according to flag sequence image or many cameras photographic images, resolve the speed of pick up camera.According to the pick up camera demarcated, relation between Satellite observation and inertia measurement system of axes, high precision fixed point revises the result of a measurement of shooting/satellite/inertia combination metering system, and estimation compensation system device error.
(4) between videographic measurment mark base station, adopt satellite real time dynamic differential method, the satellite/inertia degree of depth is merged the position of measurement updaue system, attitude and speed.
(5) track vehicle body relative measurement system is utilized to measure geometric parameter between track bed and vehicular platform in real time, track and roadbed parameter is obtained in real time according to the position of vehicular platform, attitude and velocity measurement, by contrasting with Track desigh normal data, realize automatic, high precision, long-time, the continuous gauging of rail subgrade sedimentation and rail geometric parameter.
Preferably, pick up camera can meet the condition of short exposure imaging, can take the brilliant image of marking point when check implement is run at high speed.
Preferably, the marking point that videographic measurment mark base station is arranged is the reflector sign that Reflector or reflectance coating are made.Open lighting source when check implement arrives this place and illuminate this mark.
Preferably, in the region that the satellite-signals such as tunnel not easily cover, set up videographic measurment mark base station, shorten the distance between base station, adopt shooting/inertia degree of depth fusion method to upgrade alliance, to ensure the survey precision of rail subgrade sedimentation and rail geometric parameter.
Compared with prior art, the present invention has following obvious advantage:
The present invention establishes shooting/satellite/inertia and combines vehicle-mounted kinematical measurement reference, solve the problem that inertia measurement equipment precision drifts about in time, adopt satellite real time dynamic differential method, survey precision reaches a millimeter magnitude, can realize automatic, high precision, long-time, the continuous gauging of rail subgrade sedimentation and rail geometric parameter; 5 ~ 10 kilometers, interval, base station on Along Railway of the present invention repeats to lay, and density of setting is not very high, easy to implement.
Accompanying drawing explanation
Fig. 1 is the rail subgrade settlement measurement system schema schematic diagram based on the combination of shooting/satellite/inertia;
Fig. 2 is subsidence measuring system data processing structure figure.
Detailed description of the invention
The invention provides a kind of subsidence method of measurement measuring combination based on shooting/satellite/inertia, its system schema as shown in Figure 1, comprises ground base station and vehicle load measurement system.
Ground base station refers to the satellite positioning difference base station and videographic measurment mark base station that arrange along the ad-hoc location near track on the ground, and 5 ~ 10 kilometers, interval, base station repeats to lay.Satellite positioning difference base station also can independently be laid together with can being laid in videographic measurment mark base station.Satellite positioning difference base station ensures satellite positioning difference base station quorum sensing inhibitor measured zone.The cooperation mark of videographic measurment mark base station adopts the characteristic indication of original mark or manual manufacture naturally, as cross wire, circle spot or vertical angles etc.Marking point can active illuminating, and reflecting sunlight or other light sources also can be relied on to carry out imaging, is preferably reflective mark, opens lighting source illuminate this mark when check implement arrives this place.Base station and the controlling point coordinate under reference coordinate system is known or surveyed, and reference coordinate system can be chosen as geodetic coordinate system or other reference coordinate systems.
Vehicle load measurement system mainly comprises pick up camera, satellite positioning assembly, inertial measurement cluster, clock synchronization system, track vehicle body relative measurement system and data processing single-purpose computer.Pick up camera extracts the videographic measurment mark of ground base station for gathering, the result of a measurement of calculating location, attitude, speed postfixed point correction shooting/satellite/inertia combination metering system and system device error.Satellite positioning assembly adopts real time dynamic differential technology, merges measuring position, attitude, speed with inertia assembly.Clock synchronization system is used for pick up camera, Measuring Time between satellite positioning assembly and inertial measurement cluster is synchronous.Track vehicle body relative measurement system is for measuring the geometric parameter between track bed and vehicle load measurement system, and the position can measured according to onboard system, attitude, speed obtain rail subgrade sedimentation and rail geometric parameter.Data processing single-purpose computer is used for data processing, constructional drawing as shown in Figure 2, comprise that unit is demarcated in shooting/satellite/inertia measuring system, satellite/inertia merges measuring unit, photographic marks Detection and Extraction and shooting pose speed calculating unit, amending unit and rail subgrade sedimentation and the geometric parameter calculating unit of fixing a point of making a video recording.
Described shooting/satellite/inertia measuring system demarcates unit, group system inside and outside parameter is measured for demarcating shooting/satellite/inertia, comprise pick up camera principal point, focal length, distortion, inertial measurement cluster calibration factor, zero partially, pick up camera, the position between Satellite observation and inertia measurement system of axes, attitude relation.
Satellite/inertia merges measuring unit, utilizes Satellite observation and inertia measurement information, adopts satellite real time dynamic differential method, by the position of satellite/inertia degree of depth Fusion Measurement System, attitude and speed.
Photographic marks Detection and Extraction and shooting pose speed calculating unit, utilize the image of the marking point of pick up camera Real-time Collection base station, extract each marking point coordinate position in the picture, the coordinate data of each marking point is carried out computing by imaging geometrical-restriction relation, obtain position and the attitude relation of camera coordinate system relative datum system of axes, and measure the speed of pick up camera.During measuring speed, single camera can be adopted to take mark continuously with short time interval, according to the coordinate data in sequence image and pick up camera filming frequency, computing system speed; Also 2 or multiple cameras can be installed, successively take same mark, according to the position relationship between 2 or multiple cameras and shooting interval computing system speed.
Shooting fixed point amending unit, according to the pick up camera demarcated, relation between Satellite observation and inertia measurement system of axes, the position of camera coordinate system relative datum system of axes, attitude and velocity measurement and the satellite/inertia result of a measurement degree of depth are merged, high precision fixed point revises the result of a measurement of shooting/satellite/inertia combination metering system, and the error of each device of estimating system, improve system accuracy.
Rail subgrade sedimentation and geometric parameter calculating unit, geometric parameter between the track bed utilizing track vehicle body relative measuring device to measure in real time and vehicle load measurement system, the position measured according to shooting/satellite/inertia group system, attitude and rate results, obtain track and roadbed parameter in real time, contrast with Track desigh normal data, measure rail subgrade sedimentation and rail geometric parameter.
The present invention is based on shooting/satellite/inertia and combine the measurement rail subgrade sedimentation of vehicle-mounted measuring system and rail geometric parameter, measuring process is as follows:
(1) demarcation shooting/satellite/inertia combination dynamic benchmark vehicle load measurement system is installed;
(2) when vehicle load measurement system is through videographic measurment mark base station, the marking point image of pick up camera Real-time Collection base station, extract each marking point coordinate in the picture, calculate position and the attitude of camera chain by imaging geometrical-restriction relation, utilize the speed of marking point sequence image or multiple-camera image calculation camera chain.
(3) according to pick up camera, relation between Satellite observation and inertia measurement system of axes, high precision fixed point revises the result of a measurement of shooting/satellite/inertia combination metering system, and estimation compensation system device error.
(4) between videographic measurment mark base station, adopt satellite real time dynamic differential method, the satellite/inertia degree of depth is merged measurement, the position upgrading system, attitude and speed.
(5) geometric parameter between the track bed utilizing track vehicle body relative measurement system to measure in real time and vehicle load measurement system, track and roadbed parameter is obtained in real time according to the position of vehicular platform, attitude and velocity measurement, contrast with Track desigh normal data, automatically measure rail subgrade sedimentation and rail geometric parameter.
Claims (6)
1. the method for rail subgrade settlement measurement based on shooting and satellite and IMU, by the combination of making a video recording with satellite and inertia measurement, set up high-precision vehicle-mounted dynamic position, attitude and velocity measurement benchmark, again according to track vehicle body relative measurement, keep for a long time measuring track and roadbed parameter accurately, by contrasting with Track desigh normal data, realize automatic, high precision, long-time, the continuous gauging of rail subgrade sedimentation and rail geometric parameter, it is characterized in that, content comprises:
(1) pick up camera, satellite positioning assembly, inertial measurement cluster, clock synchronization system, data processing single-purpose computer are installed on vehicular platform, calibrating camera, relation between Satellite observation and inertia measurement system of axes, the combination dynamic benchmark vehicle load measurement system of composition shooting and satellite and inertia measurement, attachment rail car body relative measurement system simultaneously, for measuring the geometric parameter of track bed relative to dynamic benchmark;
(2) near rail, place arranges satellite positioning difference base station and videographic measurment mark base station, together with satellite positioning difference base station can be laid in videographic measurment mark base station, also can independently lay, base station and the controlling point coordinate under reference coordinate system is known or surveyed, and reference coordinate system can be chosen as geodetic coordinate system or other reference coordinate systems;
(3) when vehicle load measurement system is through videographic measurment mark base station, the image of the marking point of pick up camera Real-time Collection base station, extract each marking point coordinate position in the picture, the coordinate data of each marking point is carried out computing by imaging geometrical-restriction relation, obtain position and the attitude relation of camera coordinate system relative datum system of axes, according to flag sequence image or many cameras photographic images, resolve the speed of pick up camera, according to the pick up camera demarcated, relation between Satellite observation and inertia measurement system of axes, high precision fixed point revises the result of a measurement of shooting and satellite and inertia combination measuring system, and estimation compensation system device error,
(4) between videographic measurment mark base station, adopt satellite real time dynamic differential method, satellite and the inertia degree of depth are merged the position of measurement updaue system, attitude and speed;
(5) track vehicle body relative measurement system is utilized to measure geometric parameter between track bed and vehicular platform in real time, track and roadbed parameter is obtained in real time according to the position of vehicular platform, attitude and velocity measurement, by contrasting with Track desigh normal data, realize automatic, high precision, long-time, the continuous gauging of rail subgrade sedimentation and rail geometric parameter.
2. a kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU according to claim 1, it is characterized in that, described satellite positioning difference base station and 5 ~ 10 kilometers, interval, videographic measurment mark base station repeat to lay, ensure satellite positioning difference base station quorum sensing inhibitor measured zone, in the region that the satellite-signals such as tunnel not easily cover, set up videographic measurment mark base station, shorten the distance between videographic measurment mark base station, shooting and inertia degree of depth fusion method is adopted to upgrade alliance, to ensure the survey precision of rail subgrade sedimentation and rail geometric parameter.
3. a kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU according to claim 1, it is characterized in that, described pick up camera can meet the condition of short exposure imaging, can take the brilliant image of marking point when check implement is run at high speed; The mark that described videographic measurment mark base station is arranged adopts the characteristic indication of original mark or manual manufacture naturally, opens lighting source illuminate this mark when check implement arrives this videographic measurment mark base station.
4. a kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU according to claim 1, it is characterized in that, measuring system data processing comprises shooting and satellite and inertial measurement system and demarcates unit, satellite and inertia and merge measuring unit, photographic marks Detection and Extraction and pose speed calculating unit of making a video recording, amending unit and rail subgrade sedimentation and the geometric parameter calculating unit of fixing a point of making a video recording.
5. a kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU according to claim 1, it is characterized in that, during dynamic benchmark vehicle load measurement systematic survey vehicular platform speed, single camera can be adopted to take mark continuously with short time interval, according to the coordinate data in sequence image and pick up camera filming frequency, computing system speed; Also 2 or multiple cameras can be installed, successively take same mark, according to the position relationship between 2 or multiple cameras and shooting interval computing system speed.
6. a kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU according to claim 1, it is characterized in that, the measuring process of the method is as follows:
(1) demarcation shooting and satellite and inertia combination dynamic benchmark vehicle load measurement system are installed;
(2) when vehicle load measurement system is through videographic measurment mark base station, the marking point image of pick up camera Real-time Collection base station, extract each marking point coordinate in the picture, calculate position and the attitude of camera chain by imaging geometrical-restriction relation, utilize the speed of marking point sequence image or multiple-camera image calculation camera chain;
(3) according to pick up camera, relation between Satellite observation and inertia measurement system of axes, high precision fixed point revises the result of a measurement of shooting and satellite and inertia combination measuring system, and estimation compensation system device error;
(4) between videographic measurment mark base station, adopt satellite real time dynamic differential method, satellite and the inertia degree of depth are merged measure, upgrade system position, attitude and speed;
(5) geometric parameter between the track bed utilizing track vehicle body relative measurement system to measure in real time and vehicle load measurement system, track and roadbed parameter is obtained in real time according to the position of vehicular platform, attitude and velocity measurement, contrast with Track desigh normal data, automatically measure rail subgrade sedimentation and rail geometric parameter.
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| CN106052584B (en) * | 2016-05-24 | 2017-07-04 | 上海工程技术大学 | A kind of view-based access control model and the orbit space linear measurement method of Inertia information fusion |
| CN106043355B (en) * | 2016-06-28 | 2017-11-14 | 中国人民解放军国防科学技术大学 | A kind of railway detection car sedimentation and the high-precision photographing measurement method of pose |
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