CN103575265A - High-speed railway linear-sign/satellite/mileage gauge based mileage positioning method - Google Patents

Abstract

The invention belongs to the railway track detection field, and relates to a high-speed railway linear-sign/satellite/mileage gauge based mileage positioning method. The method comprises the following steps: 1, acquiring and processing mileage gauge data; 2, acquiring and processing satellite data; 3, acquiring and processing high-speed railway linear-sign data; 4, calibrating the mileage gauge scale coefficient in real time; and 5, calculating the mileage. The method realizes a high-speed railway mileage positioning precision of above 10cm and 0.625m lower than a sleeper laying spacing under positive lines, bridges, tunnels and the like, allows the track fault to be accurately positioned to a concrete sleeper, and improves the work efficiency.

Description

A kind of mileage localization method based on the linear sign/satellite/mileage gauge of high ferro

Technical field

The invention belongs to railroad track detection field, relate to a kind of mileage localization method based on the linear sign/satellite/mileage gauge of high ferro.

Background technology

In ballastless track of high-speed railway construction, maintenance process, often need to measure orbit parameter, according to measurement result, track is adjusted, safeguarded.This just needs system that accurate mileage information is provided.Existing mileage localization method is satellite, mileometer and manually to mark method, wherein satellite positioning method adopts single-point GPS more, and mileometer resolution mostly is hundreds of pulse/turn, and artificial his-and-hers watches and operating personnel's reaction velocity has substantial connection, precision is meter level, is not enough to navigate to concrete sleeper.

Summary of the invention

Technical matters to be solved of the present invention is: a kind of high-precision mileage localization method based on the linear sign/satellite/mileage gauge of high ferro is provided.

The technical scheme that the present invention takes is: a kind of mileage localization method based on the linear sign/satellite/mileage gauge of high ferro, comprises following steps:

Step 1, mileage gauge data acquisition and processing:

In railcar wheel shaft outside, one high resolving power photoelectricity mileage gauge is installed, mileage gauge sends accumulative total umber of pulse by fixed frequency to industrial computer, records N _{l, i};

Step 2, satellite data acquisition and processing:

Step 2.1, satellite data acquisition:

Receiver receiving satellite certificate via satellite, turnover rate is not less than 1Hz;

Step 2.2, the judgement of satellite data formedness:

Satellite receiver, according to the XYZ information under setpoint frequency output ECEF coordinate system, adopts XYZ coordinate data to calculate mileage; One group of satellite data of every reception, judgement satellite information formedness; When satellite is in order time, calculate satellite mileage increment, otherwise record not; Satellite in order criterion is: satellite is counted NUM>n1, and positional precision degree of strength PDOP<n2, and wherein, n1 is not less than 4, n2 and is not more than 3;

Step 2.3, satellite mileage increment calculates with corresponding mileage gauge pulse increment:

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}---\left(1\right)$

${\mathrm{\&Delta;N}}_{G,i}=N_{L,i}-N_{L,i-1}---\left(2\right)$

Wherein, (X _{g, i}, Y _{g, i}, Z _g,i) be the i railcar positional information of corresponding satnav constantly;

Δ L _g,iduring for i-1, be carved into i constantly satnav railcar mileage increment;

Δ N _g,iduring for i-1, be carved into i mileage gauge pulse increment constantly;

Step 2.4, upgrade accumulated distance:

$L_{1,i}=\underset{m=1}{\overset{i}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;L}}_{G,m}---\left(3\right)$

Wherein, L _{l, i}for i accumulated distance constantly;

Δ L _g,mduring for m-1, be carved into m constantly satnav railcar mileage increment;

Step 3, the linear flag data collection of high ferro and processing:

Step 3.1, the collection of the linear sign of high ferro label:

By the linear sign of high ferro acquisition device, can receive and comprise lateral separation D _c, vertical distance H _c, left mileage gauge accumulative total umber of pulse N _l,jpacket, adopting tables look-up obtains corresponding three-dimensional coordinate (X in linear flag data storehouse _{c, i}, Y _{c, i}, Z _c,i);

Step 3.2, the linear sign of high ferro mileage increment and corresponding mileage gauge pulse increment:

Calculate the distance, delta L between the linear monumented point of every adjacent two high ferros _c,i:

${\mathrm{\&Delta;L}}_{C,i}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}---\left(4\right)$

Calculate corresponding mileage gauge pulse increment Δ N _c,j:

ΔN _C,j＝N _C,j-N _C，j-1 （5）

Step 3.3, upgrades accumulated distance L _{1, j}:

$L_{1,j}=\underset{k=1}{\overset{j}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;L}}_{C,j}---\left(6\right)$

Step 4, mileage gauge calibration factor real-time calibration:

Step 4.1, basic mileage gauge calibration factor calculates:

Mileage gauge photoelectric encoder is N pulse/turn, and wheel diameter is D rice, calibration factor basic value k ₀for:

$k_0=\frac{\mathrm{\&pi;D}}{N}---\left(7\right)$

Step 4.2, calibration factor k calculates and revises:

Take T as a nominal time window, utilize the linear flag data of high-precision satellite data and high ferro, calibration factor is demarcated;

Being located at T has m group satellite data effective in the time interval, the linear flag data of n group high ferro is effective, if m+n>p, wherein p is not less than 10 natural number, calculates and revise mileage gauge calibration factor; Otherwise, make Δ k _i=Δ k _i-l;

Scale factor error rectification value computing formula is as follows:

If: Δ L=[Δ L _{g, 1}Δ L _{g, 2}Δ L _g,mΔ L _{c, 1}Δ L _{c, 2}Δ L _c,n] ^t(8)

ΔN＝[ΔN _G,1 ΔN _G,2 … ΔN _G,m ΔN _C,1 ΔN _C,2 … ΔN _C,n] ^T （9）

: Δ k _i=(Δ N ^tΔ N) ^-1Δ N ^tΔ L (10)

Order: k=k ₀+ Δ k _i(11)

Step 5, mileage calculation:

L=L ₀+k(N _L-N _O) （12）

Wherein, L is current mileage,

N _lfor current umber of pulse,

L ₀for revising recently mileage constantly,

N _ofor revising recently umber of pulse constantly.

The beneficial effect that the present invention has: the high-speed railway mileage positioning precision that the present invention realizes in multiple conditions such as main track, bridge, tunnels is better than 10cm, be less than sleeper laying spacing 0.625m, track fault accurately can be navigated to concrete sleeper, increase work efficiency.

Embodiment

The application of the present invention in ballastless track of high-speed railway localization of fault should be used in the railcar that light resolution photoelectricity mileage gauge, satellite receiver and high ferro linear sign acquisition device (the patent number of quoting 201110089812.4) is housed.Concrete operation step is as follows:

Step 1: mileage gauge data acquisition and processing

In railcar wheel shaft outside, one high resolving power photoelectricity mileage gauge is installed, mileage gauge sends accumulative total umber of pulse by fixed frequency to industrial computer, records N _{l, i}.

Step 2: satellite data acquisition and processing

Step 2.1 satellite data acquisition

Receiver receiving satellite certificate via satellite, turnover rate is not less than 1Hz.

The judgement of step 2.2 satellite data formedness

Satellite receiver, according to the XYZ information under setpoint frequency output ECEF coordinate system, adopts XYZ coordinate data to calculate mileage.One group of satellite data of every reception, judgement satellite information formedness.When satellite is in order time, calculate satellite mileage increment; Otherwise record not.Satellite in order criterion is:

Satellite is counted NUM>n1, and positional precision degree of strength PDOP<n2

Wherein, n1 is natural number, and n2 is natural number.

Step 2.3 satellite mileage increment and corresponding mileage gauge pulse increment:

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}$

ΔN _G,i=N _L,i-N _L，i-1

Wherein, (X _{g, i}, Y _{g, i}, Z _g,i) be the i railcar positional information of corresponding satnav constantly;

Δ L _g,iduring for i-1, be carved into i constantly satnav railcar mileage increment;

Δ N _g,iduring for i-1, be carved into i mileage gauge pulse increment constantly.

Step 2.4 is upgraded accumulated distance:

$L_{1,i}=\underset{m=1}{\overset{i}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;L}}_{G,m}$

Wherein, L _{l, i}for i accumulated distance constantly.

Step 3: the linear flag data collection of high ferro and processing

Step 3.1: the linear sign of high ferro label collection

By the linear sign of high ferro acquisition device, can receive and comprise lateral separation D _c, vertical distance H _c, left mileage gauge accumulative total umber of pulse N _l,jpacket.Employing is tabled look-up and in linear flag data storehouse, is obtained corresponding three-dimensional coordinate (X _{c, i}, Y _{c, i}, Z _c,i).

Step 3.2: the linear sign of high ferro mileage increment and corresponding mileage gauge pulse increment

Calculate the distance between the linear monumented point of every adjacent two high ferros:

${\mathrm{\&Delta;L}}_{C,i}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}$

Corresponding mileage gauge pulse increment:

ΔN _C,j＝N _C,j-N _C，j-1

Step 3.3 is upgraded accumulated distance:

$L_{1,j}=\underset{k=1}{\overset{j}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;L}}_{C,j}$

Step 4: mileage gauge calibration factor real-time calibration

Step 4.1: basic mileage gauge calibration factor calculates

Mileage gauge photoelectric encoder is N pulse/turn, and wheel diameter is Dm, and calibration factor basic value is:

$k_0=\frac{\mathrm{\&pi;D}}{N}(m/^)$

Step 4.2: calibration factor calculates and revises

Take T as a nominal time window, utilize the linear flag data of high-precision satellite data and high ferro, calibration factor is demarcated.

Being located at T has m group satellite data effective in the time interval, the linear flag data of n group high ferro is effective, if m+n>p (p is a natural number) calculates and revise mileage gauge calibration factor; Otherwise, make Δ k _i=Δ k _i-1.

Scale factor error rectification value computing formula is as follows:

If: Δ L=[Δ L _{g, 1}Δ L _{g, 2}Δ L _g,mΔ L _{c, 1}Δ L _{c, 2}Δ L _c,n] ^t

ΔN=[ΔN _G,1 ΔN _G,2 … ΔN _G,m ΔN _C,1 ΔN _C,2 … ΔN _C,n] ^T

: Δ k _i=(Δ N ^tΔ N) ^-1Δ N ^tΔ L

Order: k=k ₀+ Δ k _i

Step 5: mileage calculation

L=L ₀+k(N _L-N _O)

In formula, L is current mileage

N _lfor current umber of pulse

L ₀for revising recently mileage constantly

N _ofor revising recently umber of pulse constantly

Embodiment

Step 1: mileage gauge data acquisition and processing

The photoelectric encoder that one 3600 pulses/turn are installed in track checking car left rear wheel wheel hub outside, the frequency that scrambler press 200Hz sends totally umber of pulse to industrial computer, records N _{l, i}.

Step 2: satellite data acquisition and processing

Step 2.1 satellite data acquisition

Satellite equipment is selected carrier phase difference GPS, receiver receiving satellite certificate via satellite, and turnover rate is 1Hz.

The judgement of step 2.2 satellite data formedness

Satellite receiver, with the XYZ information under the frequency output ECEF coordinate system of 1Hz, adopts XYZ coordinate data to calculate mileage.Every 1s receives one group of satellite data, when judging that satellite in order, calculates satellite mileage increment; Otherwise record not.Satellite in order criterion is: satellite is counted NUM>6, and PDOP<3.

Step 2.3 satellite mileage increment and corresponding mileage gauge pulse increment:

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}$

ΔN _G,i=N _L,i-N _L，i-1

(X _{g, i}, Y _{g, i}, Z _g,i) be the i satellite information of correspondence constantly;

Δ L _g,iduring for i-1, be carved into i satellite mileage increment constantly.

Δ N _g,iduring for i-1, be carved into i mileage gauge pulse increment constantly.

Step 2.4 is upgraded accumulated distance:

$L_{1,i}=\underset{m=1}{\overset{i}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;L}}_{G,m}$

Step 3: the linear flag data collection of high ferro and processing

Step 3.1: the linear sign of high ferro label collection

By the linear sign of high ferro acquisition device, can receive and comprise lateral separation D _c, vertical distance H _c, left mileage gauge accumulative total umber of pulse N _{l, j}packet.Employing is tabled look-up and in linear flag data storehouse, is obtained corresponding three-dimensional coordinate (X _{c, i}, Y _{c, i}, Z _c,i).

Step 3.2: the linear sign of high ferro mileage increment and corresponding mileage gauge pulse increment

Calculate the distance between the linear monumented point of every adjacent two high ferros:

${\mathrm{\&Delta;L}}_{C,i}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}$

Corresponding mileage gauge pulse increment

ΔN _C,j＝N _C,j-N _C，j-1

Step 3.3 is upgraded accumulated distance:

$L_{1,j}=\underset{k=1}{\overset{j}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;L}}_{C,j}$

Step 4: mileage gauge calibration factor real-time calibration

Step 4.1: basic mileage gauge calibration factor calculates

Mileage gauge photoelectric encoder is 3600 pulses/turn, and wheel diameter is 0.915m, and calibration factor basic value is:

k ₀=0.0007985(m/∧)

Step 4.2: calibration factor calculates and revises

Take 5min as a nominal time window, utilize the linear flag data of high-precision satellite data and high ferro, calibration factor is demarcated.

Being located at 5min has m group DGPS data effective in the time interval, the linear flag data of n group high ferro is effective, if m+n>10 calculates and revise mileage gauge calibration factor; Otherwise, make Δ k _i=Δ k _i-1.

Scale factor error rectification value computing formula is as follows:

If: Δ L=[Δ L _{g, 1}Δ L _{g, 2}Δ L _g,mΔ L _{c, 1}Δ L _{c, 2}Δ L _c,n] ^t

ΔN=[ΔN _G,1 ΔN _G,2 … ΔN _G,m ΔN _C,1 ΔN _C,2 … ΔN _C,n] ^T

: Δ k _i=(Δ N ^tΔ N) ^-1Δ N ^tΔ L

Order: k=k ₀+ Δ k _i

Step 5: mileage calculation

L=L ₀+k(N _L-N _O)

In formula, L is current mileage

N _lfor current umber of pulse

L ₀for revising recently mileage constantly

N _ofor revising recently umber of pulse constantly

So far, calculated the mileage information of high-speed railway.

Claims (1)

1. the mileage localization method based on the linear sign/satellite/mileage gauge of high ferro, is characterized by described method and comprises following steps:

Step 1, mileage gauge data acquisition and processing:

In railcar wheel shaft outside, one high resolving power photoelectricity mileage gauge is installed, mileage gauge sends accumulative total umber of pulse by fixed frequency to industrial computer, records N _{l, i};

Step 2, satellite data acquisition and processing:

Step 2.1, satellite data acquisition:

Receiver receiving satellite certificate via satellite, turnover rate is not less than 1Hz;

Step 2.2, the judgement of satellite data formedness:

Satellite receiver, according to the XYZ information under setpoint frequency output ECEF coordinate system, adopts XYZ coordinate data to calculate mileage; One group of satellite data of every reception, judgement satellite information formedness; When satellite is in order time, calculate satellite mileage increment, otherwise record not; Satellite in order criterion is: satellite is counted NUM>n1, and positional precision degree of strength PDOP<n2, and wherein, n1 is not less than 4, n2 and is not more than 3;

Step 2.3, satellite mileage increment calculates with corresponding mileage gauge pulse increment:

$\mathrm{\&Delta;}{L}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}---\left(1\right)$

ΔN _G,i＝N _L，i-N _L，i-1 （2）

Wherein, (X _{g, i}, Y _{g, i}, Z _g,i) be the i railcar positional information of corresponding satnav constantly;

Δ L _g,iduring for i-1, be carved into i constantly satnav railcar mileage increment;

Δ N _{g, i}during for i-1, be carved into i mileage gauge pulse increment constantly;

Step 2.4, upgrade accumulated distance:

$L_{1,i}=\underset{m=1}{\overset{i}{\mathrm{\&Sigma;}}}\mathrm{\&Delta;}{L}_{G,m}---\left(3\right)$

Wherein, L _{1, i}for i accumulated distance constantly;

Δ L _g,mduring for m-1, be carved into m constantly satnav railcar mileage increment;

Step 3, the linear flag data collection of high ferro and processing:

Step 3.1, the collection of the linear sign of high ferro label:

By the linear sign of high ferro acquisition device, can receive and comprise lateral separation D _c, vertical distance H _c, left mileage gauge accumulative total umber of pulse N _l,jpacket, adopting tables look-up obtains corresponding three-dimensional coordinate (X in linear flag data storehouse _{c, i}, Y _{c, i}, Z _c,i);

Step 3.2, the linear sign of high ferro mileage increment and corresponding mileage gauge pulse increment:

Calculate the distance, delta L between the linear monumented point of every adjacent two high ferros _c,i:

$\mathrm{\&Delta;}{L}_{C,i}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}---\left(4\right)$

Calculate corresponding mileage gauge pulse increment Δ N _c,j:

ΔN _C,j＝N _C,j-N _C，j-1 （5）

Step 3.3, upgrades accumulated distance L _{1, j}:

$L_{1,j}=\underset{k=1}{\overset{j}{\mathrm{\&Sigma;}}}\mathrm{\&Delta;}{L}_{C,j}---\left(6\right)$

Step 4, mileage gauge calibration factor real-time calibration:

Step 4.1, basic mileage gauge calibration factor calculates:

Mileage gauge photoelectric encoder is N pulse/turn, and wheel diameter is D rice, calibration factor basic value k ₀for:

$k_0=\frac{\mathrm{\&pi;D}}{N}---\left(7\right)$

Step 4.2, calibration factor κ calculates and revises:

Take T as a nominal time window, utilize the linear flag data of high-precision satellite data and high ferro, calibration factor is demarcated;

Being located at T has m group satellite data effective in the time interval, the linear flag data of n group high ferro is effective, if m+n>p, wherein p is not less than 10 natural number, calculates and revise mileage gauge calibration factor; Otherwise, make Δ k _i=Δ k _i-1;

Scale factor error rectification value computing formula is as follows:

If: Δ L=[Δ L _{g, 1}Δ L _{g, 2}Δ L _g,mΔ L _{c, 1}Δ L _{c, 2}Δ L _c,n] ^t(8)

ΔN＝[ΔN _G,1 ΔN _G,2…ΔN _G,m ΔN _C,1 ΔN _C,2…ΔN _C,n] ^T （9）

: Δ k _i=(Δ N ^tΔ N) ^-1Δ N ^tΔ L (10)

Order: k=k ₀+ Δ k _i(11)

Step 5, mileage calculation:

L=L _O+k(N _L-N _O) （12）

Wherein, L is current mileage,

N _lfor current umber of pulse,

L _ofor revising recently mileage constantly,

N _ofor revising recently umber of pulse constantly.