CN107339982A - High ferro wire plotting method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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Abstract
The invention discloses a kind of high ferro wire plotting method, including the detected value of 3-axis acceleration sensor is modified to the actual acceleration value of high ferro vehicle；High ferro vehicle is positioned using GNSS alignment systems and judges whether to survey and draw newly-built circuit；Calculate high ferro vehicle and horizontal plane angle；Judge high ferro vehicle traveling-position；Survey and draw high ferro stock rail；Calculate circuit to climb elevation, complete wire plotting.The drawbacks of professional surveying and mapping being carried out instant invention overcomes the mapping vehicle of the traditional needs specialty of the high ferro circuit for newly repairing, pass through the mapping of high ferro vehicle operationally, using a series of detection of sensors and the calculating of data, with reference to China's high ferro design specification, the mapping to newly repairing circuit is successfully realized during rail running is newly repaiied using high ferro vehicle, therefore mapping efficiency high, and cost is cheap, and resource occupation is few.
Description
Technical field
Present invention relates particularly to a kind of high ferro wire plotting method.
Background technology
With the development and the improvement of people's living standards of national economy technology, high ferro is because its speed of service is fast, comfortableness
The advantages that good, cost-effective, the preferred traffic mode of people's go off daily has been increasingly becoming it.Also Just because of this, high ferro
The mapping of circuit just becomes the important step after high ferro circuit is built.
At present, for the high ferro circuit built, it is surveyed and drawn mode and all carried out using special wire plotting vehicle.Drive
Member drives mapping vehicle and travelled on the high ferro circuit newly repaiied, and is surveyed using the mapping equipment for surveying and drawing vehicle itself institute band with corresponding
Paint method to survey and draw the high ferro circuit newly repaiied, so as to obtain corresponding wire plotting figure.
But because existing mapping vehicle needs to travel in high ferro, therefore high-speed railway rail can be taken for a long time, so as to
The ample resources for causing high ferro circuit leaves unused, and can produce substantial amounts of mapping expense and mapping time.
The content of the invention
It is an object of the invention to provide a kind of mapping efficiency high, the high ferro wire plotting that cost is low, resource occupation is few
Method.
This high ferro wire plotting method provided by the invention, comprises the following steps：
S1. obtain and turn between the acceleration magnitude of 3-axis acceleration sensor detection and the actual acceleration value of high ferro vehicle
Change coefficient matrixSo as to which the alignment error of 3-axis acceleration sensor be modified；
S2. in the case of GNSS alignment systems are effective, the positioning of high ferro vehicle is directly obtained using GNSS alignment systems
Information, the location information is compared with existing mapping information in mapping database, and determined whether according to following rule
Need to carry out the mapping of newly-built circuit：
If location information is present in mapping database, or location information existing railway track letter in mapping database
Surrounding radius is ceased in the range of X rice, X is natural number, then assert that high ferro vehicle is located on the railway track surveyed and drawn, no
Need to survey and draw rail；Or the circuit is surveyed and drawn again to correct the data in surveying and mapping data；
If location information is not present in surveying and mapping data, and location information not in mapping database existing railway track
In the range of radius is X rice around information, X is natural number, then assert that high ferro vehicle is located on newly-built railway track, then start
Newly-built circuit is surveyed and drawn；
S3. the angle of high ferro vehicle and horizontal plane is calculated；
S4. according to the superelevation of outer rail value of the track travelled with the angle calcu-lation high ferro vehicle of horizontal plane of high ferro vehicle,
And judge that the position that high ferro vehicle is travelled is straight line rail according to obtained superelevation of outer rail value and high ferro stock rail design specification
Road, easement curve track or circular curve track；
S5. the position travelled according to high ferro vehicle, the mapping of high ferro stock rail is carried out using following rule：
If high ferro vehicle is travelled on rectilinear orbit, positioning of the last time GNSS alignment systems to high ferro vehicle is utilized
The travel speed for the high ferro vehicle that information and radar velocity measurement module measure is surveyed and drawn to rectilinear orbit；
If high ferro vehicle is travelled on easement curve, positioning of the last time GNSS alignment systems to high ferro vehicle is utilized
Information, high ferro stock rail design specification defined easement curve line style and the radar velocity measurement module high ferro vehicle that measures
Travel speed is surveyed and drawn to easement curve；
If high ferro vehicle is travelled on circular curve, measured using the mapped results and radar velocity measurement module of easement curve
The travel speed of high ferro vehicle is surveyed and drawn to circular curve；
S6. the elevation that climbs of circuit is calculated, so as to complete the mapping of track.
The actual acceleration of the acceleration magnitude and high ferro vehicle that obtain 3-axis acceleration sensor detection described in step S1
Conversion coefficient matrix between value, conversion coefficient matrix is specially obtained using following formula：
In formulaFor conversion coefficient matrix, N is train in the test number (TN) of calibration phase, Mb=[gB is directly even aB, which is directly put down, to be accelerated gb It is straight even×aB, which is directly put down, to be accelerated], Mm=[gM is directly even aM, which is directly put down, to be accelerated gM is directly even×aM, which is directly put down, to be accelerated], gB is directly evenFor train from straight horizontal circuit at the uniform velocity
Gravity acceleration value during traveling, aB, which is directly put down, to be acceleratedAcceleration magnitude when being given it the gun certainly in straight horizontal circuit for train, gM is directly even
The gravity acceleration value detected for 3-axis acceleration sensor of the train when straight horizontal circuit at the uniform velocity travels, aM, which is directly put down, to be acceleratedFor
The acceleration magnitude that 3-axis acceleration sensor of the train when straight horizontal circuit gives it the gun detects.
The angle of calculating high ferro vehicle and horizontal plane described in step S3, specially calculate high ferro vehicle using following steps
With the angle of horizontal plane：
A. using the angle of the X-axis of following formula calculating high ferro vehicle, Z axis and horizontal plane：
θ and β is the angle of the X-axis of high ferro vehicle, Z axis and horizontal plane in formula；Surveyed for 3-axis acceleration sensor
The high ferro vehicle measured is in X, the acceleration magnitude of Z axis both direction；G is gravity acceleration value；v1And v2For radar velocity measurement module two
The velocity amplitude of the high ferro vehicle of secondary detection, t1And t2The time of the high ferro car speed detected twice for radar velocity measurement module；
B. according to the angle of the X-axis of the step A high ferro vehicles being calculated, Z axis and horizontal plane, the Y of calculating high ferro vehicle
The angle of axle and horizontal plane：
The position that judgement high ferro vehicle described in step S4 is travelled is rectilinear orbit, easement curve track or circular curve rail
Road, the position specially travelled using following rule judgement high ferro vehicle：
If superelevation of outer rail value is less than or equal to the threshold value A of setting, judge high ferro vehicle traveling on rectilinear orbit；
If superelevation of outer rail value is more than threshold value A and is less than or equal to threshold value B, judge high ferro vehicle traveling in easement curve
On；
If superelevation of outer rail value is more than threshold value B and continues constant, judge high ferro vehicle traveling on circular curve.
Being surveyed and drawn to rectilinear orbit described in step S5, the mapping of rectilinear orbit is specially carried out using equation below：
Poutput=P0GPS+vradaT
Wherein PoutputFor the mapping location information of high ferro its straight line track, P0GPSIt is GNSS alignment systems to last
Location information during the secondary vehicle location to high ferro, vradaThe high ferro running velocity information detected for radar velocity measurement module, T
The difference of time and current time for next location prediction point.
Being surveyed and drawn to easement curve described in step S5, the mapping of easement curve is specially carried out using following steps：
A. high ferro vehicle registration enters the time point t of easement curve circuit from straight pathZHEnter with from mitigation curve circuit
Enter the time point t of circular curve circuitHY, so as to obtain the total length of easement curveV is radar velocity measurement mould in formula
The speed of service for the high ferro vehicle that block detects；
B. the mapped results of easement curve are obtained using following formula：
In formula y be easement curve on arbitrary coordinate point M ordinate, l be intersection points of the point M away from easement curve and straight line it
Between easement curve length, i.e. the intersection point of high ferro vehicle from easement curve and straight line, which is travelled to point M total travel distance, R, is
The radius for the circular curve that easement curve is connected.
Being surveyed and drawn to circular curve described in step S5, the mapping of circular curve is specially carried out using following steps：
(1) the radius R of circular curve is calculated using following formula：
V is the speed of high ferro vehicle traveling in formula,For acceleration of the high ferro vehicle in Y-axis of measurement, g is gravity
Acceleration, v1And v2The velocity amplitude of the high ferro vehicle detected twice for radar velocity measurement module, t1And t2For radar velocity measurement module twice
The time of the high ferro car speed of detection,For acceleration of the high ferro vehicle in Y-axis of measurement,For the high ferro car of measurement
Acceleration in Y-axis；
(2) length of circular curve is calculated using following formula：
V is the speed of high ferro vehicle traveling, t1 and the time that t2 is high ferro vehicle traveling in formula.
The elevation that climbs of calculating circuit described in step S6, the elevation h that climbs specially is calculated using following formula：
H=L tan θ
L is the circuit distance of high ferro traveling in formula, and θ is the X-axis of high ferro vehicle and the angle of horizontal plane.
This high ferro wire plotting method provided by the invention, overcome special for the traditional needs of the high ferro circuit newly repaiied
The mapping vehicle of industry carries out the drawbacks of professional surveying and mapping, by the mapping of high ferro vehicle operationally, using a series of sensors
Detection and the calculating of data, with reference to China's high ferro design specification, successfully newly repairing the process of rail running using high ferro vehicle
The middle mapping realized to newly repairing circuit, therefore efficiency high is surveyed and drawn, and also cost is cheap, and resource occupation is few.
Brief description of the drawings
Fig. 1 is the method flow diagram of the mapping method of the present invention.
Fig. 2 is the angled relationships schematic diagram of high ferro vehicle own coordinate and horizontal plane in mapping method of the invention.
Fig. 3 is the schematic diagram of easement curve track in mapping method of the invention.
Fig. 4 is the schematic diagram of circular curve track in mapping method of the invention.
Embodiment
It is as shown in Figure 1 the method flow diagram of mapping method of the invention：The survey of this high ferro circuit provided by the invention
Method is painted, is comprised the following steps：
S1. obtain and turn between the acceleration magnitude of 3-axis acceleration sensor detection and the actual acceleration value of high ferro vehicle
Change coefficient matrixSo as to which the alignment error of 3-axis acceleration sensor be modified；
Due to 3-axis acceleration sensor when mounted, it is impossible to seat when being travelled in the horizontal plane with high ferro vehicle completely
Mark system is completely superposed, therefore 3-axis acceleration sensor detects obtained 3-axis acceleration value amNot high ferro vehicle itself is real
The 3-axis acceleration value on border, but need just access the actual acceleration value of high ferro vehicle after being modified；Specifically repair
Positive process is as follows：
It is assumed that conversion coefficient matrix isI.e.amThe acceleration that i.e. 3-axis acceleration sensor detects
Value, abFor the high ferro vehicle acceleration magnitude of itself；
When train at the uniform velocity travels in straight section, train the acceleration being subject to be only acceleration of gravity i.e.：
When train gives it the gun in straight section, also there is direction of advance in train in addition to by gravity effect
Acceleration：
Relation between thus obtained measuring coordinate system and the information matrix of body coordinate system is：
Therefore, the calculating of transition matrix is then to obtain conversion coefficient matrix using following formula：
In formulaFor conversion coefficient matrix, N is train in the test number (TN) of calibration phase, Mb=[gB is directly even aB, which is directly put down, to be accelerated gb It is straight even×aB, which is directly put down, to be accelerated], Mm=[gM is directly even aM, which is directly put down, to be accelerated gM is directly even×aM, which is directly put down, to be accelerated], gB is directly evenFor train from straight horizontal circuit at the uniform velocity
Gravity acceleration value during traveling, aB, which is directly put down, to be acceleratedAcceleration magnitude when being given it the gun certainly in straight horizontal circuit for train, gM is directly even
The gravity acceleration value detected for 3-axis acceleration sensor of the train when straight horizontal circuit at the uniform velocity travels, aM, which is directly put down, to be acceleratedFor
The acceleration magnitude that 3-axis acceleration sensor of the train when straight horizontal circuit gives it the gun detects；
S2. in the case of GNSS alignment systems are effective, the positioning of high ferro vehicle is directly obtained using GNSS alignment systems
Information, the location information is compared with existing mapping information in mapping database, and determined whether according to following rule
Need to carry out the mapping of newly-built circuit：
If location information is present in mapping database, or location information existing railway track letter in mapping database
Surrounding radius is ceased in the range of X rice, X is natural number (such as 100m scopes), then assert that high ferro vehicle is located at and had surveyed and drawn
Railway track on, then need not be surveyed and drawn；Or can also be surveyed and drawn again, and data are uploaded into database and carried out
The amendment of the circuit of mapping；
If location information is not present in surveying and mapping data, and location information not in mapping database existing railway track
In the range of radius is X rice around information, X is natural number (such as 100m scopes), then assert that high ferro vehicle is located at newly-built iron
On the rail of road, then start to survey and draw vehicle；
S3. the angle of high ferro vehicle and horizontal plane is calculated；Specially high ferro vehicle and horizontal plane are calculated using following steps
Angle：
A. using the angle (as shown in Figure 2) of the X-axis of following formula calculating high ferro vehicle, Z axis and horizontal plane：
θ and β is the angle of the X-axis of high ferro vehicle, Z axis and horizontal plane in formula；Surveyed for 3-axis acceleration sensor
The high ferro vehicle measured is in X, the acceleration magnitude of Z axis both direction；G is gravity acceleration value；v1And v2For radar velocity measurement module two
The velocity amplitude of the high ferro vehicle of secondary detection, t1And t2The time of the high ferro car speed detected twice for radar velocity measurement module；
B. according to the angle (as shown in Figure 2) of the X-axis of the step A high ferro vehicles being calculated, Z axis and horizontal plane, calculate
The Y-axis of high ferro vehicle and the angle of horizontal plane：
In the outer rail discrepancy in elevation measurement of dip angle of high ferro vehicle, its precision approximately as：
It is 10 according to precision-6G accelerometer measures acceleration, then the precision of accelerometer with 0.1% the essence that tests the speed
Degree wants high several magnitudes compared to precision, therefore the error as caused by adding table can be ignored in whole measurement process.And count
Calculate error to be determined by range rate error, therefore have：
Δ v in formula1For range rate error, setting speed per hour 350km/h, radius of turn 7000m are calculated with Beijing-Shanghai express railway, test the speed mistake
Poor 0.1%, add meter accuracy 10-6g, maximum climbing 0.2%, Δ α accumulated errors are about 0.0144 °, convert into outer rail super detection error
For 0.377mm；
S4. according to the superelevation of outer rail value of the track travelled with the angle calcu-lation high ferro vehicle of horizontal plane of high ferro vehicle,
And judge that the position that high ferro vehicle is travelled is straight line rail according to obtained superelevation of outer rail value and high ferro stock rail design specification
Road, easement curve track or circular curve track；Because China's high ferro has strict design specification, therefore the track of high ferro vehicle
Equally there are very strict design specification, the position specially travelled using following rule judgement high ferro vehicle：
If superelevation of outer rail value is less than or equal to the threshold value A of setting, judge that high ferro vehicle traveling is (i.e. straight on rectilinear orbit
The superelevation of outer rail value of trajectory is necessarily less than a smaller value, the stationarity of high ferro vehicle and comfortable during ensureing straight-line travelling
Property)；
If superelevation of outer rail value is more than threshold value A and is less than or equal to threshold value B, judge high ferro vehicle traveling on easement curve
(, it is necessary to provide the centripetal force of a part by the mode of superelevation of outer rail when being turned due to high ferro train, and the turning of high ferro train is
Changed using circular curve, and high ferro vehicle, when rectilinear orbit enters circular curve track, its superelevation of outer rail value will be from rectilinear orbit
Superelevation of outer rail value continuous transformation to final circular curve required for superelevation of outer rail value, therefore in the easement curve stage, outside it
Rail superelevation value is to fall between and uniformly increase or reduce with mileage；
If superelevation of outer rail value is more than threshold value B and continues constant, judge high ferro vehicle traveling on circular curve；
S5. the position travelled according to high ferro vehicle, the mapping of high ferro circuit is carried out using following rule：
If high ferro vehicle is travelled on rectilinear orbit, positioning of the last time GNSS alignment systems to high ferro vehicle is utilized
The travel speed for the high ferro vehicle that information and radar velocity measurement module measure is surveyed and drawn to rectilinear orbit；Specially entered using equation below
The mapping of row rectilinear orbit：
Poutput=P0GPS+vradaT
Wherein PoutputFor the location information of high ferro its straight line track, P0GPSIt is right to last time for GNSS alignment systems
Location information during high ferro vehicle location, vradaThe high ferro running velocity information detected for radar velocity measurement module, under T is
The time of one location prediction point and the difference of current time；
If high ferro vehicle is travelled on easement curve (as shown in Figure 3), using last time GNSS alignment systems to height
The location information of iron vehicle, the line style of the easement curve of high ferro stock rail design specification defined and radar velocity measurement module measure
High ferro vehicle travel speed to easement curve track survey and draw；
Easement curve refers to Plane Railway, the song set between straight line and circular curve, circular curve and circular curve
The curve of rate consecutive variations, it is provided between straight line and circular curve or radius differs two larger steering identical circle songs
A kind of curve of continual curvature change between line.Easement curve has following geometric properties：Easement curve connects straight line and half
Footpath is R circular curve, and its curvature is gradually changed by zero to 1/R；The superelevation of outer rail of easement curve, gradually increased by the null value on straight line
To the hypervelocity of circular curve, it is connected with circular curve superelevation；Therefore, the survey of easement curve is specially carried out using following steps
Paint：
A. high ferro vehicle registration enters the time point t of easement curve circuit from straight pathZHEnter with from mitigation curve circuit
Enter the time point t of circular curve circuitHY, so as to obtain the total length of easement curveV is radar velocity measurement mould in formula
The speed of service for the high ferro vehicle that block detects；
B. the mapped results of easement curve are obtained using following formula：
In formula y be easement curve on arbitrary coordinate point M ordinate, l be intersection points of the point M away from easement curve and straight line it
Between easement curve length, i.e. the intersection point of high ferro vehicle from easement curve and straight line, which is travelled to point M total travel distance, R, is
The radius for the circular curve that easement curve is connected；
According to train speed per hour 300km/h, Beijing-Shanghai express railway min. turning radius 7000m, radar velocity measurement accuracy 0.1%, GPS is fixed
Position precision 10m, maximum predicted time 0.075s, it is 16.3m to carry out can be calculated output position error；
If high ferro vehicle is travelled on circular curve (as shown in Figure 4), surveyed using the positioning result and radar of easement curve
The travel speed for the high ferro vehicle that fast module measures is surveyed and drawn to circular curve track；Specially carry out justifying song using following steps
The mapping of trajectory：
(1) the radius R of circular curve is calculated using following formula：
V is the speed of high ferro vehicle traveling in formula,For acceleration of the high ferro vehicle in Y-axis of measurement, g is gravity
Acceleration, v1And v2The velocity amplitude of the high ferro vehicle detected twice for radar velocity measurement module, t1And t2For radar velocity measurement module twice
The time of the high ferro car speed of detection,For acceleration of the high ferro vehicle in Y-axis of measurement,For the high ferro car of measurement
Acceleration in Y-axis；
According to high-precision (precision 10-6G) acceleration transducer, therefore the measurement error phase of acceleration transducer
It can ignore than the error in speed measuring module, therefore error expression is：
Setting speed per hour 350km/h is calculated with Beijing-Shanghai express railway, radius of turn 7000m, range rate error 0.1%, adds meter accuracy 10-
6g, maximum climbing 0.2%, Δ R accumulated errors are about 11.2348m；
(2) length of circular curve is calculated using following formula：
V is the speed of high ferro vehicle traveling, t1 and the time that t2 is high ferro vehicle traveling in formula；
If running speed per hour 300km/h, range rate error 0.1%, accumulated time 600s, longitudinal mileage error 50m can must be accumulated；
S6. the elevation that climbs of circuit is calculated, so as to complete the mapping of high ferro circuit；Specially calculated and climbed using following formula
Raise journey h：
H=L tan θ
L is the circuit distance of high ferro traveling in formula, and θ is the X-axis of high ferro vehicle and the angle of horizontal plane；
With Longest tunnel 28km, the gradient 0.2%, 0.0144 ° of inclination sensor angle measurement accuracy, it can be calculated and climb
The accumulated error of height is 7.0243m.
Claims (8)
1. a kind of high ferro wire plotting method, comprises the following steps：
S1. the conversion system between the acceleration magnitude of 3-axis acceleration sensor detection and the actual acceleration value of high ferro vehicle is obtained
Matrix numberSo as to which the alignment error of 3-axis acceleration sensor be modified；
S2. in the case of GNSS alignment systems are effective, the location information of high ferro vehicle is directly obtained using GNSS alignment systems,
The location information is compared with existing mapping information in mapping database, and according to following rule determine the need for into
The mapping of the newly-built circuit of row：
If location information is present in mapping database, or location information existing railway track information week in mapping database
Radius is enclosed in the range of X rice, X is natural number, then assert that high ferro vehicle is located on the railway track surveyed and drawn, it is not necessary to
Rail is surveyed and drawn；Or the circuit is surveyed and drawn again to correct the data in surveying and mapping data；
If location information is not present in surveying and mapping data, and location information not in mapping database existing railway track information
Surrounding radius then assert that high ferro vehicle is located on newly-built railway track, then starts to new in the range of X rice, X is natural number
Circuit is built to be surveyed and drawn；
S3. the angle of high ferro vehicle and horizontal plane is calculated；
S4. according to the superelevation of outer rail value of the track travelled with the angle calcu-lation high ferro vehicle of horizontal plane of high ferro vehicle, and according to
Judge that the position that high ferro vehicle is travelled is rectilinear orbit, delayed according to obtained superelevation of outer rail value and high ferro stock rail design specification
With curve track or circular curve track；
S5. the position travelled according to high ferro vehicle, the mapping of high ferro stock rail is carried out using following rule：
If high ferro vehicle is travelled on rectilinear orbit, the location information using last time GNSS alignment systems to high ferro vehicle
The travel speed of the high ferro vehicle measured with radar velocity measurement module is surveyed and drawn to rectilinear orbit；
If high ferro vehicle is travelled on easement curve, believed using positioning of the last time GNSS alignment systems to high ferro vehicle
Cease, the row for the high ferro vehicle that the line style of the easement curve of high ferro stock rail design specification defined and radar velocity measurement module measure
Speed is sailed to survey and draw easement curve；
If high ferro vehicle is travelled on circular curve, the high ferro measured using the mapped results and radar velocity measurement module of easement curve
The travel speed of vehicle is surveyed and drawn to circular curve；
S6. the elevation that climbs of circuit is calculated, so as to complete the mapping of circuit.
2. high ferro wire plotting method according to claim 1, it is characterised in that the axle of acquisition three described in step S1 accelerates
The conversion coefficient matrix spent between the acceleration magnitude of sensor detection and the actual acceleration value of high ferro vehicle, specially using such as
Lower formula obtains conversion coefficient matrix：
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In formulaFor conversion coefficient matrix, N is train in the test number (TN) of calibration phase, Mb=[gB is directly even aB, which is directly put down, to be accelerated gB is directly even×
aB, which is directly put down, to be accelerated], Mm=[gM is directly even aM, which is directly put down, to be accelerated gM is directly even×aM, which is directly put down, to be accelerated], gB is directly evenAt the uniform velocity travelled in straight horizontal circuit certainly for train
When gravity acceleration value, aB, which is directly put down, to be acceleratedAcceleration magnitude when being given it the gun certainly in straight horizontal circuit for train, gM is directly evenFor row
The gravity acceleration value that 3-axis acceleration sensor of the car when straight horizontal circuit at the uniform velocity travels detects, aM, which is directly put down, to be acceleratedFor train
The acceleration magnitude that 3-axis acceleration sensor when straight horizontal circuit gives it the gun detects.
3. high ferro wire plotting method according to claim 1, it is characterised in that the calculating high ferro vehicle described in step S3
With the angle of horizontal plane, the angle of high ferro vehicle and horizontal plane is specially calculated using following steps：
A. using the angle of the X-axis of following formula calculating high ferro vehicle, Z axis and horizontal plane：
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θ and β is the angle of the X-axis of high ferro vehicle, Z axis and horizontal plane in formula；Measured for 3-axis acceleration sensor
High ferro vehicle in X, the acceleration magnitude of Z axis both direction；G is gravity acceleration value；v1And v2Examined twice for radar velocity measurement module
The velocity amplitude of the high ferro vehicle of survey, t1And t2The time of the high ferro car speed detected twice for radar velocity measurement module；
B. according to the angle of the X-axis of the step A high ferro vehicles being calculated, Z axis and horizontal plane, calculate the Y-axis of high ferro vehicle with
The angle of horizontal plane：
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<mi>sin</mi>
<mn>2</mn>
</msup>
<mi>&beta;</mi>
<mo>+</mo>
<msup>
<mi>sin</mi>
<mn>2</mn>
</msup>
<mi>&theta;</mi>
</mrow>
</msqrt>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&alpha;</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msup>
<mi>oo</mi>
<mo>&prime;</mo>
</msup>
</mrow>
<mrow>
<mi>B</mi>
<mi>o</mi>
</mrow>
</mfrac>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>cos</mi>
<mn>2</mn>
</msup>
<msup>
<mi>&beta;cos</mi>
<mn>2</mn>
</msup>
<mi>&theta;</mi>
<mo>-</mo>
<msup>
<mi>sin</mi>
<mn>2</mn>
</msup>
<msup>
<mi>&theta;sin</mi>
<mn>2</mn>
</msup>
<mi>&beta;</mi>
</mrow>
</msqrt>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
4. high ferro wire plotting method according to claim 1, it is characterised in that the judgement high ferro vehicle described in step S4
The position travelled is rectilinear orbit, easement curve track or circular curve track, specially judges high ferro car using following rule
The position travelled：
If superelevation of outer rail value is less than or equal to the threshold value A of setting, judge high ferro vehicle traveling on rectilinear orbit；
If superelevation of outer rail value is more than threshold value A and is less than or equal to threshold value B, judge high ferro vehicle traveling on easement curve；
If superelevation of outer rail value is more than threshold value B and continues constant, judge high ferro vehicle traveling on circular curve.
5. high ferro wire plotting method according to claim 1, it is characterised in that entering to rectilinear orbit described in step S5
Row mapping, specially carries out the mapping of rectilinear orbit using equation below：
Poutput=P0GPS+vradaT
Wherein PoutputFor the mapping location information of high ferro its straight line track, P0GPSFor GNSS alignment systems to last time to height
Location information during iron vehicle location, vradaThe high ferro running velocity information detected for radar velocity measurement module, T are next
The time of individual location prediction point and the difference of current time.
6. high ferro wire plotting method according to claim 1, it is characterised in that entering to easement curve described in step S5
Row mapping, specially carries out the mapping of easement curve using following steps：
A. high ferro vehicle registration enters the time point t of easement curve circuit from straight pathZHEnter circle with from mitigation curve circuit
The time point t of curve circuitHY, so as to obtain the total length of easement curveV examines for radar velocity measurement module in formula
The speed of service of the high ferro vehicle measured；
B. the mapped results of easement curve are obtained using following formula：
<mrow>
<mi>y</mi>
<mo>=</mo>
<mfrac>
<msup>
<mi>l</mi>
<mn>3</mn>
</msup>
<mrow>
<mn>6</mn>
<msub>
<mi>RL</mi>
<mn>0</mn>
</msub>
</mrow>
</mfrac>
</mrow>
Y is the ordinate of the arbitrary coordinate point M on easement curve in formula, and l is point M away between easement curve and the intersection point of straight line
The length of easement curve, the i.e. intersection point of high ferro vehicle from easement curve and straight line are travelled to point M total travel distance, and R is mitigation
The radius for the circular curve that curve is connected.
7. high ferro wire plotting method according to claim 1, it is characterised in that carried out described in step S5 to circular curve
Mapping, the mapping of circular curve is specially carried out using following steps：
(1) the radius R of circular curve is calculated using following formula：
<mrow>
<mi>R</mi>
<mo>=</mo>
<msup>
<mi>v</mi>
<mn>2</mn>
</msup>
<mo>/</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>a</mi>
<mi>y</mi>
<mi>m</mi>
</msubsup>
<mo>+</mo>
<msqrt>
<mrow>
<msup>
<mi>g</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>t</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>t</mi>
<mn>2</mn>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<msubsup>
<mi>a</mi>
<mi>x</mi>
<mi>m</mi>
</msubsup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<msubsup>
<mi>a</mi>
<mi>z</mi>
<mi>m</mi>
</msubsup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>)</mo>
</mrow>
</mrow>
V is the speed of high ferro vehicle traveling in formula,For acceleration of the high ferro vehicle in Y-axis of measurement, g is that gravity accelerates
Degree, v1And v2The velocity amplitude of the high ferro vehicle detected twice for radar velocity measurement module, t1And t2Detected twice for radar velocity measurement module
High ferro car speed time,For acceleration of the high ferro vehicle in Y-axis of measurement,For measurement high ferro vehicle in Y
Acceleration on axle；
(2) length of circular curve is calculated using following formula：
<mrow>
<mi>L</mi>
<mo>=</mo>
<munderover>
<mo>&Integral;</mo>
<mrow>
<mi>t</mi>
<mn>1</mn>
</mrow>
<mrow>
<mi>t</mi>
<mn>2</mn>
</mrow>
</munderover>
<mi>v</mi>
<mi>&Delta;</mi>
<mi>t</mi>
</mrow>
V is the speed of high ferro vehicle traveling, t1 and the time that t2 is high ferro vehicle traveling in formula.
8. high ferro wire plotting method according to claim 1, it is characterised in that calculating circuit described in step S6 is climbed
Journey is raised, the elevation h that climbs specially is calculated using following formula：
H=Ltan θ
L is the circuit distance of high ferro traveling in formula, and θ is the X-axis of high ferro vehicle and the angle of horizontal plane.
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