CN103821054B - INS (inertial navigation system) and total station combination-based track geometrical state measurement system and method - Google Patents
INS (inertial navigation system) and total station combination-based track geometrical state measurement system and method Download PDFInfo
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Abstract
The invention discloses an INS (inertial navigation system) and total station combination-based track geometrical state measurement system and method; a total station is adopted for measuring a track measurement trolley or a track specific section, and the measurement value of the total station is obtained; the measurement value of the total station is used for measurement updating, and is subjected to data fusion with an original measurement value of the INS, and a high-accuracy track positioning attitude-determination result is obtained by resolving. The system and the method disclosed by the invention solve the problem of reduction of the system measurement accuracy of an existing INS/GNSS (global navigation satellite system) track measurement trolley when GNSS signals are interrupted for a long time, and under the condition that the GNSS signals are severely shielded, the track geometrical state can be fast and accurately measured.
Description
Technical field
The invention belongs to railway track measurement field, relate to a kind of based on INS(inertial navigation system) the track geometry status measuring system that combines with total powerstation and method.
Background technology
Portable light track geometry status measuring instrument, in the orbit construction long rail accurate adjustment stage with both, wired maintenance has outstanding importance, and application is more and more extensive.Current topmost Portable light track geometry status measuring instrument comprises: (1) take total powerstation as the track geometry status measuring instrument of core measureing equipment, is called for short conventional dolly; (2) based on the track geometry status measuring system of inertial navigation system (INS) and Global Navigation Satellite System (GNSS) measurement in a closed series technology, inertial navigation dolly is called for short.
Conventional dolly for core measureing equipment, is traditional measurement scheme with high precision machines people total powerstation or automatic total instruments (ATS).Usually, the program determines the survey station position of total powerstation by the orbit construction Controling network CPIII point of backsight some, and total powerstation is by measuring in conventional trolley set prism or other reflectings surface determine orbit coordinate and geometry parameter.Program technology maturation, certainty of measurement is higher, but operating efficiency is low, is difficult to meet large-area orbit measurement requirement (concrete analysis can see the Chinese patent of notification number CN102337710A).
The Chinese patent of publication number CN103343498A discloses a kind of track geometry status measuring method based on inertial navigation system (INS) and Global Navigation Satellite System (GNSS) integrated navigation system, with INS/GNSS integrated navigation system for core measureing equipment, quick obtaining track three-dimensional coordinate and attitude; Based on the high-precision relative measurement characteristic of INS/GNSS three-dimensional coordinate, calculate track irregularity and orbit adjusting amount, by orbit adjusting to best smooth-going position.This track geometry status measuring method has advantage: 1) can measure track geometry status fast, accurately, and compared to conventional dolly, its operating efficiency can be high more than 20 times, and greatly can save operating personnel; 2) certainty of measurement is high, shortwave track irregularity measurement capability and conventional dolly suitable, and long wave track irregularity is better than conventional dolly.At present, emerge with the track geometry status metrical prototype of technology disclosed in this application for support.
But all there is the problem that GNSS signal is disturbed or blocks in the technical scheme of the Chinese patent of above-mentioned publication number CN103343498A or the similar-type products depending on GNSS, be analyzed as follows in orbit measurement:
The core measureing equipment of the Chinese patent technical scheme of publication number CN103343498A is inertial navigation system (INS), and INS can measure acceleration and the angular velocity of small rail car in real time.The acceleration of small rail car and angular velocity measurement value can determine three-dimensional location coordinates and the attitude angle sequence of track by the data processing unit comprising the Integrated Navigation Algorithms such as Kalman filter (Kalman Filter).Usually, data processing unit determines position and the attitude of INS during by integral operation, its error can accumulate in time and cause precision divergence problem.Usually, can not inertial navigation system (INS) be used separately for a long time to measure track geometry status.Therefore, this invention employ comprise GNSS, odometer etc. independent measure and track to constraint (nonholonomic restriction) scheduling algorithm of moving of car state as supplementary means, correct the position caused by the characteristic properties of INS and attitude drift, to solve its precision divergence problem.Wherein, the high frequency (being greater than 1Hz) that GNSS provides, high accuracy three-dimensional position and velocity information, be also be best control information to INS most critical, maintain for long-time and ensure that the relative accuracy of INS is most important.
But, in high-speed railway rail is measured, often can run into the section that test environment is comparatively complicated, such as tunnel, high cutting and high slope etc.Under these extreme test environments, GNSS signal is at least partially obscured or blocks completely, cause long-time deterioration or the interruption of GNSS supplementary, the accumulation of error of INS is caused to be difficult to be estimated accurately and effectively, compensate and correct, cause the certainty of measurement of system to decline, finally affect the use of whole system.Therefore, when the GNSS Chief Information Officer time interrupts, INS/GNSS orbit measurement dolly is difficult to the required precision meeting high-speed railway rail Irregularity detection.
To sum up, the orbit measurement dolly based on INS/GNSS measurement in a closed series technology progressively will become mainstream technology product in track fields of measurement.But how realizing accurately measuring under the special test environments such as tunnel, is the technical barrier that INS/GNSS orbit measurement scheme necessarily solves.Also namely, this system needs a kind of can getting clogged or long-time intercourse accurately obtains the three-dimensional location coordinates of track and the method for attitude in GNSS signal.
Summary of the invention
For publication number CN103343498A Chinese patent disclosed in based on the track geometry status measuring system Problems existing of INS/GNSS measurement in a closed series technology, the invention provides a kind of track geometry status measuring system of combining based on INS and total powerstation and method, the present invention is when GNSS signal is interrupted for a long time, adopt the measured value of total powerstation to replace GNSS measured value and correct the intrinsic accumulated error of INS, guarantee accurately measuring of track geometry status.
The present invention adopts total powerstation to assist INS to carry out integrated positioning and resolves, and obtains high-precision orbital position and attitude.The present invention adopts total powerstation to measure orbit measurement dolly or the specific section of track, obtains total station survey value; Total station survey value is used as to measure and upgrades, and carry out data fusion with INS original measurement value, obtain high-precision tracks positioned determine appearance result through resolving.
Technical scheme of the present invention is as follows:
One, based on the track geometry status measuring system that INS and total powerstation combine, comprise measuring unit, measuring unit comprises measureing equipment and traversing carriage; Measureing equipment comprises total station measuring system, Inertial Measurement Unit, odometer and displacement transducer, and Inertial Measurement Unit, odometer and displacement transducer are installed on traversing carriage; Total station measuring system comprises total powerstation and reflecting surface, and total powerstation is placed on traversing carriage or outward, reflecting surface is installed on traversing carriage or is positioned over rails tread face.
Two, based on the track geometry status measuring method that INS and total powerstation combine, step is comprised:
(1) traversing carriage moves in orbit, and Inertial Measurement Unit, odometer and displacement transducer gather survey data;
(2) stop traversing carriage, adopt total station measuring system static measurement to obtain the survey data comprising traversing carriage positional information or the specific cross section place information of track;
(3) adopt the survey data of the survey data supplementary inertial measuring unit of total powerstation, odometer and displacement transducer, integrated positioning is carried out to track and determine appearance and resolves, acquisition orbital position coordinate and track profile angle sequence.
Employing total station measuring system static measurement described in step (2) comprises the survey data of traversing carriage positional information to obtain, comprise further:
Reflecting surface is installed on traversing carriage, total powerstation is positioned at outside traversing carriage, or by the control point that station is arranged on traversing carriage entirely, reflecting surface is arranged at total powerstation backsight, adopt total station measuring system to carry out static measurement to obtain the survey data comprising traversing carriage positional information.
When the survey data that total station measuring system obtains is the survey data comprising traversing carriage positional information, step (3) comprises further:
The survey data of 3.1a time synchronized total powerstation, Inertial Measurement Unit, odometer and displacement transducer:
3.2a is according to the reflecting surface demarcated in advance or the relative position relation between total powerstation and Inertial Measurement Unit, space transforming relation between the survey data setting up total powerstation and Inertial Measurement Unit, to unify the coordinate system of the survey data of total powerstation and Inertial Measurement Unit; The survey data of the total powerstation after time synchronized, Inertial Measurement Unit and odometer to be merged and integrated positioning resolves, and the nonholonomic restriction of track to traversing carriage motion state is added integrated positioning resolve, carry out integrated navigation to resolve, obtain three-dimensional location coordinates and the attitude angle sequence of track.
Described step 3.1a is specially;
Survey data according to Inertial Measurement Unit and odometer extracts the period information of traversing carriage in static measurement process, as the time synchronized benchmark of the survey data of total powerstation, Inertial Measurement Unit and odometer, time attribute is given to total station survey data, and by total station survey data and displacement sensor data syn-chronization.
Employing total station measuring system static measurement described in step (2) comprises the survey data of the specific cross section place information of track to obtain, comprise further:
(1) reflecting surface is placed in the rails end face at specific sleeper place, before measurement, adopts total station measuring system to obtain the survey data of the track rail level positional information comprising sleeper corresponding to specific sleeper number and specific sleeper place, and marks specific sleeper;
(2) sleeper is labeled when traversing carriage meets, arbitrary for traversing carriage standing part alignment is labeled sleeper, stop traversing carriage, adopting total station measuring system to carry out static measurement to being labeled sleeper, obtaining the survey data comprising this sleeper being labeled sleeper number and static measurement time.
When the survey data that total station measuring system obtains is the survey data comprising the specific cross section place information of track, step (3) comprises further:
The survey data of 3.1b time synchronized total powerstation, Inertial Measurement Unit, odometer and displacement transducer:
3.2b is according to the relative position relation between a certain standing part of traversing carriage demarcated in advance and Inertial Measurement Unit, set up the space transforming relation between total station survey data and Inertial Measurement Unit survey data, to unify the coordinate system of the survey data of total powerstation and Inertial Measurement Unit; According to the relative position relation between a certain standing part of traversing carriage demarcated in advance and Inertial Measurement Unit, carry out integrated positioning to the survey data of the Inertial Measurement Unit after time synchronized, total powerstation and odometer to resolve, and track is added integrated positioning to the nonholonomic restriction measuring moving of car state resolve, carry out integrated navigation to resolve, obtain three-dimensional location coordinates and the attitude angle sequence of track.
Described step 3.1b is specially:
Survey data according to Inertial Measurement Unit and odometer extracts the period information of traversing carriage in static measurement process, static measurement period information is number corresponding with the sleeper being labeled sleeper, the track rail level positional information at corresponding sleeper place is obtained according to sleeper number, then corresponding sleeper place track rail level positional information has been endowed time attribute, by synchronous with displacement sensor data time for corresponding sleeper place track rail level positional information.
Integrated positioning described in above-mentioned steps 3.2a and 3.2b resolves to comprise and adopts Kalman filtering method, EKF method, Unscented kalman filtering method, particle filter method, Sequent least square method or artificial neural network method to carry out integrated positioning and resolve.
Integrated positioning described in above-mentioned steps 3.2a and 3.2b resolves and comprises pine combination and to resolve or tight integration resolves.
Compared to the prior art, the present invention has following beneficial effect:
1, the INS/GNSS track geometry status measuring system problem that the measuring precision declines when GNSS signal is interrupted for a long time is solved, fast accurate measurement can be carried out to special test environment inner orbit geometry states such as tunnels, thus realize the seamless link of orbit measurement inside and outside the special test environments such as tunnel.
2, the accurate relative measurement of track irregularity can be realized, can contact with the foundation of rail control network CPIII point again, provide accurate track three-dimensional absolute location coordinates.
Accompanying drawing explanation
Fig. 1 is track geometry status measuring system top view of the present invention;
Fig. 2 is track geometry status measuring system elevation of the present invention.
In figure, 1-wheel; 2-GNSS antenna; 3-Inertial Measurement Unit IMU; 4-displacement transducer; 5-measuring prism; 6-vehicle body frame; 7-odometer; 8-track; 9-total powerstation; 10-total powerstation light beam.Detailed description of the invention
Below by the track geometry status measuring system based on INS/GNSS measurement in a closed series technology disclosed in the Chinese patent based on publication number CN103343498A, elaborate the present invention, but the method disclosed in the present itself is not limited to quoted from system.The disclosed track geometry status measuring system based on INS/GNSS measurement in a closed series technology of Chinese patent of publication number CN103343498A is hereinafter referred to as " INS/GNSS track geometry status measuring system ".
See Fig. 1 ~ 2, INS/GNSS track geometry status measuring system, comprise INS/GNSS combination metering system, odometer 7, displacement transducer 4 and measure dolly.Measure dolly and comprise vehicle body frame 6 and wheel 1, vehicle body frame 6 is "T"-shaped rigid body framework, and "T"-shaped rigid body framework 6 and three wheels 1 form rigid unitary structure, and vehicle body frame 6 and orbital plane keep fixed vertical.Measuring dolly can by manually promoting or the traction of other power-equipments, direction along ng a path motion on track 8; 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.Certainly, measure dolly and be not limited to "T"-shaped measurement dolly, the measurement dolly of " H " shape or other shapes.
INS/GNSS combination metering system comprises Inertial Measurement Unit (IMU) 3, GNSS receiver and GNSS antenna 2 further.GNSS receiver board is built in Inertial Measurement Unit 3 housing, and Inertial Measurement Unit IMU3 is fixed on vehicle body frame 6, and GNSS antenna 2 is fixed on vehicle body frame 6 by astronomical cycle bar.Inertial Measurement Unit (IMU) 3 comprises three axis accelerometer and three-axis gyroscope, is used for measuring the three-dimensional acceleration of dolly and three-dimensional angular velocity.Odometer 7 and displacement transducer 4 are all arranged on vehicle body frame 6, and odometer 7 is used for obtaining the range ability measuring dolly direction along ng a path, and displacement transducer 4 is used for measuring complete track gauge in real time.
The present invention then adds measuring prism 5 and total powerstation 9 in above-mentioned INS/GNSS track geometry status measuring system, and measuring prism 5 is arranged on vehicle body frame 6.Total powerstation can be common total powerstation, robotic total station or automatic total instruments ATS, long-rangely can send visible laser bundle or infrared beam to reflecting surface, and receive the light beam returned by reflective surface reflects, and then the distance calculated between total powerstation and reflecting surface, in this concrete enforcement, reflecting surface is be arranged at the measuring prism 5 measured on dolly.According to the survey station coordinate of total powerstation 9, take measurement of an angle and measuring distance, the positional information of measuring prism 5 can be determined.
The acquisition methods of total powerstation survey station coordinate includes but not limited to: total powerstation is placed on the known Survey control point of coordinate by (1); Or (2) total powerstation adopts Freedom Station, the CPIII point that a backsight 6-8 coordinate is known, and the survey station coordinate being calculated total powerstation by resect.
Above-mentioned INS/GNSS track geometry status measuring system carries out kinetic measurement to track, once run into GNSS signal such as, by the environment seriously blocked, tunnel, high cutting etc., GNSS aerial signal interrupts, and GNSS measured value is lost; But Inertial Measurement Unit (IMU) 3, odometer 7, displacement transducer 4 still can normally work, and carry out synchronous data sampling with unified internal time system.Without in the environment of GNSS signal, (this time presets according to actual conditions at set intervals, such as, 15s) just stop measuring dolly, adopt total powerstation to carry out static measurement, static measurement time controling is 5s, during static measurement, the measuring prism 5 on dolly is measured in the observation of operated by personnel's total powerstation, and survey data is stored in its built-in memory cell.
The survey data of total powerstation can comprise: the three-dimensional location coordinates at measuring prism 5 center; Or, the horizontal angle of light beam under total station instrument coordinate system, vertical angle and laser light path between total powerstation lasing central to measuring prism 5 center.
After field data gathers, raw measurement data according to Inertial Measurement Unit (IMU) and odometer extracts the period information of measurement dolly in static measurement process, and static measurement period information and total station survey data are carried out Auto-matching or manually mates, give time attribute to total station survey data.The raw measurement data of data processing unit to Inertial Measurement Unit IMU, odometer, displacement transducer and total powerstation processes, specifically can see the Chinese patent of publication number CN103343498A.
A kind of detailed description of the invention of the raw measurement data of data processing unit process Inertial Measurement Unit IMU, odometer, displacement transducer and total powerstation is:
(1) time synchronized is carried out to the raw measurement data of Inertial Measurement Unit IMU, odometer, displacement transducer and total powerstation.
(2) Inertial Measurement Unit original measurement value comprises the three-dimensional acceleration and three-dimensional angular velocity of measuring dolly, and odometer original measurement value comprises measures the range ability of dolly along track; Displacement transducer raw measurement data comprises track gauge; According to the relative position relation between the measuring prism 5 demarcated in advance and Inertial Measurement Unit 3 measuring center, Kalman filtering algorithm is utilized to merge the measured value of Inertial Measurement Unit, total powerstation and odometer after time synchronized and integrated positioning resolves, and track is added Kalman filtering algorithm to the nonholonomic restriction measuring moving of car state, carry out integrated navigation to resolve, obtain three-dimensional location coordinates and the attitude angle sequence of track.
Another kind of detailed description of the invention of the present invention is:
In this detailed description of the invention, measuring prism is measured on dolly without the need to being arranged on.Before orbit measurement, adopt total powerstation 9 by the rail level three-dimensional location coordinates of certain trackage interval measurement track, such as, a total station survey is carried out every 60 sleepers (certain tracks section) two one steel rails to track, and make marks on the sleeper that survey mark is corresponding, as total powerstation to the characteristic point measured when dolly carries out static measurement.Now, total station survey data comprise: the rail level three-dimensional location coordinates of the sleeper of Feature point correspondence number and characteristic point place two one steel rail.The sleeper of Feature point correspondence is number by manually arranging the memory cell being recorded in total powerstation, or record manually.
Rail level three-dimensional location coordinates measuring method comprises: obtain total powerstation 9 survey station coordinate, the acquisition methods of total powerstation survey station coordinate includes but not limited to: total powerstation is placed on the known Survey control point of coordinate by (1); Or (2) total powerstation adopts Freedom Station, the CPIII point that a backsight 6-8 coordinate is known, and the survey station coordinate being calculated total powerstation by resect; Measure on dolly and do not arrange measuring prism 5, be placed in by measuring prism 5 on the rails tread face of Feature point correspondence, total powerstation 9 is measured and is recorded the three-dimensional location coordinates of measuring prism 5, i.e. the rail level three-dimensional location coordinates at characteristic point place.Total powerstation 9 measurement data record is stored in memory cell.
Measure dolly to move on rail, Inertial Measurement Unit, odometer, displacement transducer carry out kinetic measurement to track, when measuring dolly and running into characteristic point, by measure trolley framework 6 a certain fixed position (as, a certain wheel in 3 wheels) aliging is labeled sleeper, measuring prism is positioned over and is labeled rails tread corresponding to sleeper, static measurement is carried out to being labeled sleeper, static measurement time controling is 5s, and record is labeled sleeper corresponding to sleeper number and static measurement time.
The mode that the alignment of measurement dolly is labeled sleeper can comprise: adopt and measure the fastening bolt that dolly wheel alignment is labeled sleeper.
After field data gathers, extract according to Inertial Measurement Unit and odometer raw measurement data and measure the period information of dolly in static measurement process, and static measurement period information is recorded corresponding with sleeper number, from total powerstation memory cell, search the rail level three-dimensional location coordinates information of sleeper character pair point; So, the rail level three-dimensional location coordinates information at characteristic point place has been endowed time attribute, and the rail level three-dimensional location coordinates information at characteristic point place and other survey data are carried out time synchronized.
According to the relative position relation between the measurement car wheel 1 demarcated in advance and Inertial Measurement Unit 3 measuring center, set up the space transforming relation between total station survey data and Inertial Measurement Unit IMU survey data, the coordinate system of the survey data of unified total powerstation and Inertial Measurement Unit, described total station survey data comprise the sleeper number of Feature point correspondence and the rail level three-dimensional location coordinates of characteristic point place two one steel rail; According to the relative position relation between the measuring prism 5 demarcated in advance and Inertial Measurement Unit IMU3 measuring center, utilize Kalman filtering algorithm to carry out integrated positioning to the survey data of the Inertial Measurement Unit after time synchronized, total powerstation and odometer to resolve, and track is added Kalman filtering algorithm to the nonholonomic restriction measuring moving of car state, carry out integrated navigation to resolve, thus obtain three-dimensional location coordinates and the attitude angle sequence of track.
The rail level three-dimensional location coordinates that total powerstation 9 is measured includes but not limited to: the Gauss plane coordinate under (1) CPIII Controling network and triangulated height; Or the Gauss plane coordinate under CPIII Controling network and triangulated height are converted to geodetic coordinates, rectangular space coordinate etc. under global coordinates system by (2).
The third detailed description of the invention of the present invention is:
Measuring prism 5 is arranged on 6-8 CPIII points of total powerstation backsight, and total powerstation 9 is arranged on to be measured on trolley framework 6, without relative displacement between total powerstation 9 and Inertial Measurement Unit 3.When GNSS signal is interrupted, at set intervals (such as, 30 seconds), measure that dolly is static carries out static measurement.Within the static measurement period, total powerstation 9 adopts Freedom Station to obtain survey station coordinate, namely 6-8 the rail control network CPIII point that backsight is nearest by resection determination survey station coordinate, total powerstation survey station coordinate and raw measurement data record are stored in the built-in memory cell of total powerstation, and the raw measurement data of above-mentioned total powerstation comprises total station survey horizontal angle, vertical angle and laser light path.
After field data gathers, time synchronized is carried out to the raw measurement data of Inertial Measurement Unit and total powerstation, method for synchronizing time is with above-mentioned two detailed description of the invention, namely, extract according to the three axis accelerometer of Inertial Measurement Unit I and the raw measurement data of odometer and measure the period information of dolly in static measurement process, search and mate survey station coordinate and/or the raw measurement data of total powerstation according to the period information of static measurement process.The method for synchronizing time of the raw measurement data of Inertial Measurement Unit and total powerstation comprises: according to the total station survey time of recording during static measurement, gives time attribute, namely stamp time stamp to total station survey data; Then, total station survey data and Inertial Measurement Unit survey data are unified at the same time in system, thus the time synchronized between the survey data completing Inertial Measurement Unit and total powerstation.
According to the relative position relation between the total station survey center demarcated in advance and Inertial Measurement Unit measuring center, the space transforming relation between the survey data setting up total powerstation and Inertial Measurement Unit; Utilize Kalman filtering algorithm to carry out integrated positioning to the survey data of the total powerstation after time synchronized, Inertial Measurement Unit, odometer to resolve, and track is added Kalman filtering algorithm to the nonholonomic restriction measuring moving of car state, carry out integrated navigation to resolve, thus obtain three-dimensional location coordinates and the attitude angle sequence of track.
The integrated positioning computation adopted in the present invention's three kinds of detailed description of the invention includes but not limited to Kalman (Kalman) filtering algorithm, expanded Kalman filtration algorithm (Extended Kalman Filter, EKF), Unscented kalman filtering algorithm (Unscented Kalman Filter, UKF), particle filter algorithm (ParticleFilter), Sequent least square method, artificial neural network method etc.
The integrated positioning adopted in the present invention's three kinds of detailed description of the invention resolves mode and includes but not limited to that pine combination is resolved and resolved with tight integration.Pine combination is resolved and is referred to adopt the coordinate that resolves of total powerstation and inertial navigation system measured value to carry out integrated positioning to determine appearance and resolve.Tight integration resolves and refers to adopt total powerstation observation and inertial navigation system measured value to carry out integrated positioning to determine appearance and resolve.
Disclosed detailed description of the invention, other embodiment of the present invention is apparent to one skilled in the art.This manual and example are intended to only to be considered exemplary, and true scope of the present invention and Spirit Essence have claims to indicate.
Claims (3)
1., based on the track geometry status measuring method that INS and total powerstation combine, it is characterized in that, comprise step:
(1), before orbit measurement, adopt the rail level three-dimensional location coordinates at the specific sleeper place of total station survey, and mark specific sleeper;
(2) traversing carriage moves in orbit, is installed on the Inertial Measurement Unit on traversing carriage, odometer and displacement transducer and gathers survey data;
(3) when traversing carriage meets specific sleeper, stop traversing carriage, align any for traversing carriage standing part specific sleeper, and record is labeled sleeper corresponding to sleeper number and static measurement time;
(4) data are resolved, and this step comprises further:
The survey data of 4.1 time synchronized total powerstations, Inertial Measurement Unit, odometer and displacement transducer:
Survey data according to Inertial Measurement Unit and odometer extracts the period information of traversing carriage in static measurement process, by static measurement period information with to be labeled sleeper corresponding, corresponding specific sleeper place rail level three-dimensional location coordinates is obtained according to sleeper number, then corresponding specific sleeper place rail level three-dimensional location coordinates has been endowed time attribute, by synchronous with displacement sensor data time for specific for correspondence sleeper place rail level three-dimensional location coordinates;
4.2 according to the relative position relation between the traversing carriage standing part demarcated in advance and Inertial Measurement Unit, set up the space transforming relation between total station survey data and Inertial Measurement Unit survey data, to unify the coordinate system of the survey data of total powerstation and Inertial Measurement Unit; According to the relative position relation between the traversing carriage standing part demarcated in advance and Inertial Measurement Unit, carry out integrated positioning to the survey data of the Inertial Measurement Unit after time synchronized, total powerstation and odometer to resolve, and track is added integrated positioning to the nonholonomic restriction measuring moving of car state resolve, carry out integrated navigation to resolve, obtain three-dimensional location coordinates and the attitude angle sequence of track.
2. the track geometry status measuring method combined based on INS and total powerstation as claimed in claim 1, is characterized in that:
Described integrated positioning resolves to comprise and adopts Kalman filtering method, EKF method, Unscented kalman filtering method, particle filter method, Sequent least square method or artificial neural network method to carry out integrated positioning and resolve.
3. the track geometry status measuring method combined based on INS and total powerstation as claimed in claim 1, is characterized in that:
Described integrated positioning resolves and comprises pine combination and to resolve or tight integration resolves.
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Application publication date: 20140528 Assignee: GUANGZHOU DATIE RUIWEI TECHNOLOGY Co.,Ltd. Assignor: WUHAN University Contract record no.: X2021420000027 Denomination of invention: Track geometric state measurement system and method based on ins and total station Granted publication date: 20150128 License type: Common License Record date: 20210922 |