CN108168918A - For the synchronization control system and method for track automatic measurement vehicle synchro measure - Google Patents
For the synchronization control system and method for track automatic measurement vehicle synchro measure Download PDFInfo
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- CN108168918A CN108168918A CN201711420031.2A CN201711420031A CN108168918A CN 108168918 A CN108168918 A CN 108168918A CN 201711420031 A CN201711420031 A CN 201711420031A CN 108168918 A CN108168918 A CN 108168918A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/08—Railway vehicles
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- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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Abstract
The present invention provides a kind of synchronization control system and method for track automatic measurement vehicle synchro measure, which includes main time base module, synchronization module, synchronization check and compensating module and control and protocol module；Main time base module is used for the 1pps signals exported according to GPS system, tames local constant-temperature crystal oscillator, obtains local clock reference；Synchronization module is used to carry out scaling down processing to the clock reference signal that main time base module exports, and multiple sensors is driven to synchronize data collection task；Synchronization check is used to compensate the synchronous start pulse signal of synchronization module with compensating module, it is ensured that each collected data of sensor are in a synchronous at the time of point；Control and protocol module parse work for completing each sensor initializing, the transmission of each sensors command and each sensing data.The present invention can be really achieved the automation of detection trolley and improve the measurement efficiency of trolley.
Description
Technical field
The present invention relates to the technical fields of track detecting more particularly to a kind of for track automatic measurement vehicle synchro measure
Synchronization control system and method.
Background technology
In August, 2008, speed per hour are open to the traffic up to the Beijing-Tianjin inter-city Line for Passenger Transportation of 350km, indicate Chinese Railway
World's high-speed railway prosperity ranks are ranked among, realize equipment of railway transportation modernization, control and management scientification, detection and failure
The important breakthrough of the safeguard technologies such as intelligent diagnosis.Railway rail safety detection technique, which becomes, realizes high-speed railway fortune
Defeated safe basis.
China is initially the track morpheme disease to solve common railway, uses to the measuring study of track geometry status
Be relative measurement mode rail inspection instrument, though measurement efficiency is high, be not easy to solve measurement accuracy and integrity problem, measure smart
Degree cannot meet the requirement of smoothness of high-speed railway track.Therefore the high-speed railway that Beijing-Tianjin, Wu Guang, Zheng Xi etc. are initially built, it is main
Import equipment is relied on, the measurement of what state of track is carried out using absolute measurement pattern.With China express railway construction
Extensive to implement, the country starts to produce track geometry status detection trolley and be applied in high speed railway construction.
In the prior art, the sensor that orbit measurement trolley integrates is less, is not implemented and multiple sensors are automated
Control and synchronization data acquisition, after carrying out labor measurement data, then carry out post-processing and data fitting operations, such work
It is low to make mode efficiency, low precision.
Invention content
The purpose of the present invention is to provide a kind of synchronization control systems for track automatic measurement vehicle synchro measure
And method, it is intended to be not implemented for solving existing orbit measurement vehicle to multiple sensors progress automation control and synchronization number
The problem of according to acquisition.
The invention is realized in this way：
The present invention provide a kind of synchronization control system for track automatic measurement vehicle synchro measure, including it is main when basic mode
Block, synchronization module, synchronization check and compensating module and control and protocol module；
The main time base module is used for the 1pps signals that exports according to GPS system, tames local constant-temperature crystal oscillator, obtain high-precision with
The local clock reference of high stability；
The synchronization module is used to carry out scaling down processing to the clock reference signal of the main time base module output, drives multiple biographies
Sensor synchronizes data collection task；
The synchronization check is used to compensate the synchronous start pulse signal of the synchronization module with compensating module, it is ensured that each
A collected data of sensor are in a synchronous at the time of point；
The control and protocol module are used to complete each sensor initializing, the transmission of each sensors command and each sensing data solution
Work is analysed, while is additionally operable to be packaged and filled timestamp by multiple synchronous sensor data.
The present invention also provides a kind of synchronization control method for track automatic measurement vehicle synchro measure, including following
Step：
S1, the 1pps signals that main time base module is exported based on GPS system tame local constant-temperature crystal oscillator, obtain high-precision and height is steady
Qualitatively local clock reference；
S2, synchronization module carry out scaling down processing to the clock reference signal of the main time base module output, drive multiple sensors
Synchronize data collection task；
S3, synchronization check compensate the synchronous start pulse signal of the synchronization module with compensating module, it is ensured that Ge Gechuan
The collected data of sensor are in a synchronous at the time of point.
Further, the step S1 is specifically included：GPS system export 1pps pulse signals, by electric signal receive and
Modulate circuit is inputed in FPGA, together with the fractional frequency signal of constant-temperature crystal oscillator, is admitted in DPD digital phase discriminators；Meanwhile
FPGA work clocks drive DCM modules and 10MHz signals carry out divide operation, generation FPGA work clocks and constant-temperature crystal oscillator clock
PGC demodulation work；According to the triggering of the rising edge of a pulse of 1pps, pulse retention time and triggering spacing, with reference to digital phase detection
Device is as a result, calculate the fine tuning frequency values of constant-temperature crystal oscillator；Then by the way that DAC module or control DCP modules is controlled to carry out constant temperature crystalline substance
The voltage value variation at REF ends and CTRL ends shaken, system is tamed so as to form a closed-loop clock.
Further, the step S2 is specifically included：
Synchronization module carries out scaling down processing to the clock reference signal of the main time base module output, and frequency dividing obtains driving rail
200Hz synchronizing signals away from sensor, for driving the 1Hz synchronizing signals of IMU systems, the 5Hz for driving obliquity sensor
Synchronizing signal, for the 20Hz synchronizing signals that drive odometer sensor and for driving laser range sensor and double taking the photograph image
The protocol integrated test system synchronizing signal of sensor, each fractional frequency signal drive corresponding sensor to synchronize data collection task.
Further, the step S3 is specifically included：200Hz synchronizing signals are carried out by ADC retainers inside FPGA
Post processing；Synchronization point is completed to 1Hz synchronizing signals by the internal synchronization acquisition system of IMU systems to mark；5Hz is synchronized and is believed
It number is compensated by time interval；Laser ranging synchronizing signal is compensated by time interval；It is double take the photograph imaging sensor and collect regard
Single image crawl is carried out by synchronous trigger pulse after frequency file.
Further, this method further includes：Control and protocol module complete each sensor initializing, each sensors command hair
It send and parses work with each sensing data, while multiple synchronous sensor data are packaged and filled timestamp.
Further, the content that the control and protocol module control are completed specifically includes：Instruction control module completes frame
Head, data, postamble and the parsing of verification；DCP modules and DAC module synchronize constant-temperature crystal oscillator correction and control；Gauge passes
Sensor ADC module is completed gauge data and is calculated；Odometer sensor is counted by quadruple completes mileage calculating；IMU agreements
Parsing and data storage and transmission module handle IMU system datas；Obliquity sensor is completed by communication interface UART
Obliquity sensor initial attitude and the correction of process stationary posture；Protocol analysis and function module IP complete GPS data acquisition；It is double to take the photograph
As module passes through control protocol parsing and external trigger collection signal control data acquisition；Laser ranging module is carried out by UART
Data acquire.
Compared with prior art, the invention has the advantages that：
This synchronization control system and method for track automatic measurement vehicle synchro measure provided by the invention, it can be achieved that
Multiple synchronizing of peripheral sensors data are acquired；Multiple peripheral sensors are being carried out with automation control and is synchronizing number
According to the synchronization pulse that in gatherer process, can export synchronous error and be less than ± 50ns, while the data for completing 200hz are adopted
Sample rate is tested, and is expected to reach 400hz, and efficiency is higher；The post-processing and fitting operations of data can be reduced, is being combined
After GPS time service data, the synchro measure of multiple peripheral sensors and data acquisition can be completed, synchronous error is less than 20us, essence
Degree is higher；In short, the automation of detection trolley can be really achieved and improve the measurement efficiency of trolley.
Description of the drawings
Fig. 1 is the synchronization control system provided in an embodiment of the present invention for track automatic measurement vehicle synchro measure
Block diagram；
Fig. 2 is main time base module block diagram provided in an embodiment of the present invention；
Fig. 3 is synchronization module block diagram provided in an embodiment of the present invention；
Fig. 4 is synchronization check provided in an embodiment of the present invention and compensating module block diagram；
Fig. 5 is control provided in an embodiment of the present invention and protocol module block diagram；
Fig. 6 is the flow of the synchronization control method provided in an embodiment of the present invention for track automatic measurement vehicle synchro measure
Figure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1：
As shown in Figure 1, the embodiment of the present invention provides a kind of synchronization control system for track automatic measurement vehicle synchro measure
System, synchronizes for multiple sensors to track automatic measurement vehicle and automatically controls, the present embodiment middle orbit automatic measurement vehicle
On sensor include：GPS system, IMU systems, track gauge sensor, obliquity sensor, odometer sensor, laser ranging sensing
Device and double take the photograph imaging sensor.The system includes main time base module, synchronization module, synchronization check and compensating module and control
And protocol module.
Synchronism and consistent time service timestamp at the time of multiple sensors of track automatic measurement vehicle need to keep higher,
Base when needing to be locally generated a precision and accuracy higher this landlord.GPS system can export 1pps pulse signals, but
It is the temporal resolution of 1pps, it is impossible to directly meet the measurement frequency acquisition requirement for measuring vehicle.
Therefore, the main time base module is used for the 1pps signals exported according to GPS system, tames local constant-temperature crystal oscillator
（10MHz OCXO）, so as to obtain the local clock reference of high-precision and high stability.
Specifically, GPS system output 1pps pulse signals by electric signal reception and modulate circuit, are inputed in FPGA,
Together with the fractional frequency signal of constant-temperature crystal oscillator, it is admitted in DPD digital phase discriminators.Meanwhile FPGA work clocks driving DCM modules and
10MHz signals carry out divide operation, and generation FPGA work clocks and the PGC demodulation of constant-temperature crystal oscillator clock work.According to 1pps
Rising edge of a pulse triggering, the pulse retention time and triggering spacing, with reference to digital phase discriminator as a result, constant-temperature crystal oscillator can be calculated
Fine tuning frequency values.Then by controlling DAC module or DCP modules being controlled to carry out the REF ends of constant-temperature crystal oscillator and the electricity at CTRL ends
Pressure value changes, and system is tamed so as to form a closed-loop clock.
Constant-temperature crystal oscillator has good short-term stability, can evade the random error and 1pps of GPS 1pps signals completely
The situation of dropout（Clock tames holding）, and GPS 1pps have high synchronism, without accumulated error the features such as.The two is mutually tied
Close, periodically corrected using 1pps to carry out the synchronous of local constant-temperature crystal oscillator, with regard to can obtain one it is accurately and reliably local when
Base.
The synchronization module is used to carry out scaling down processing to the 10Mhz clock reference signals of the main time base module output,
Multiple sensors is driven to synchronize data collection task.
As shown in figure 3, specifically, synchronization module carries out at frequency dividing the clock reference signal of the main time base module output
Obtain after reason for driving the 200Hz synchronizing signals of track gauge sensor, for drive IMU systems 1Hz synchronizing signals, for driving
The 5Hz synchronizing signals of angle of dynamical inclination sensor, for the 20Hz synchronizing signals that drive odometer sensor and for driving Laser Measuring
Away from sensor and double protocol integrated test system synchronizing signals for taking the photograph imaging sensor, each fractional frequency signal drives corresponding sensor to synchronize
Data collection task.
The synchronization module outputs each peripheral sensor start pulse signal synchronous with needed for module, but due to
Each sensor and the operating mode of module and response time difference, therefore the synchronization check module is needed to ensure each sensing
Device is in same synchronous at the time of point with the collected data of module.
The synchronization check is used to compensate the synchronous start pulse signal of the synchronization module with compensating module, really
It protects the collected data of each sensor and is in a synchronous at the time of point.
As shown in figure 4, compensation process specifically includes：After being carried out to 200Hz synchronizing signals by FPGA inside ADC retainers
Processing；Synchronization point is completed to 1Hz synchronizing signals by the internal synchronization acquisition system of IMU systems to mark；To 5Hz synchronizing signals
It is compensated by time interval；Laser ranging synchronizing signal is compensated by time interval；Double imaging sensors of taking the photograph collect video
Single image crawl is carried out by synchronous trigger pulse after file.
The control and protocol module are used to complete control and the signal resolution of each main functional modules, including each sensing
Device initialization, each sensors command are sent and the parsing work of each sensing data, while is additionally operable to multiple synchronous sensor numbers
According to being packaged and filled timestamp.
As shown in figure 5, the content that the control and protocol module control are completed specifically includes：Instruction control module completes frame
Head, data, postamble and the parsing of verification；DCP modules and DAC module synchronize constant-temperature crystal oscillator correction and control；Gauge passes
Sensor ADC module is completed gauge data and is calculated；Odometer sensor is counted by quadruple completes mileage calculating；IMU agreements
Parsing and data storage and transmission module handle IMU system datas；Obliquity sensor is completed by communication interface UART
Obliquity sensor initial attitude and the correction of process stationary posture；Protocol analysis and function module IP complete GPS data acquisition；It is double to take the photograph
As module passes through control protocol parsing and external trigger collection signal control data acquisition；Laser ranging module is carried out by UART
Data acquire.
Embodiment 2：
As shown in fig. 6, the embodiment of the present invention also provides a kind of synchronization control for track automatic measurement vehicle synchro measure
Method includes the following steps：
S1, the 1pps signals that main time base module is exported based on GPS system tame local constant-temperature crystal oscillator, obtain high-precision and height is steady
Qualitatively local clock reference；
S2, synchronization module carry out scaling down processing to the clock reference signal of the main time base module output, drive multiple sensors
Synchronize data collection task；
S3, synchronization check compensate the synchronous start pulse signal of the synchronization module with compensating module, it is ensured that Ge Gechuan
The collected data of sensor are in a synchronous at the time of point.
As shown in Fig. 2, further, the step S1 is specifically included：GPS system exports 1pps pulse signals, by electricity
Signal receives and modulate circuit, inputs in FPGA, together with the fractional frequency signal of constant-temperature crystal oscillator, is admitted to DPD digital phase discriminators
In；Meanwhile FPGA work clocks driving DCM modules and 10MHz signals carry out divide operation, generate FPGA work clocks and constant temperature
The PGC demodulation work of crystal oscillator clock；According to the triggering of the rising edge of a pulse of 1pps, pulse retention time and triggering spacing, with reference to
Digital phase discriminator is as a result, calculate the fine tuning frequency values of constant-temperature crystal oscillator；Then by control DAC module or control DCP modules into
The voltage value variation at the REF ends and CTRL ends of row constant-temperature crystal oscillator, system is tamed so as to form a closed-loop clock.
As shown in figure 3, further, the step S2 is specifically included：Synchronization module is to the main time base module output
Clock reference signal carries out scaling down processing, and frequency dividing is obtained for driving the 200Hz synchronizing signals of track gauge sensor, for driving
The 1Hz synchronizing signals of IMU systems, for driving the 5Hz synchronizing signals of obliquity sensor, the 20Hz for driving odometer sensor
Synchronizing signal and for driving laser range sensor and double protocol integrated test system synchronizing signals for taking the photograph imaging sensor, each frequency dividing letter
Number corresponding sensor of driving synchronizes data collection task.
As shown in figure 4, further, the step S3 is specifically included：ADC inside FPGA is passed through to 200Hz synchronizing signals
Retainer is post-processed；Synchronization point is completed to 1Hz synchronizing signals by the internal synchronization acquisition system of IMU systems to mark；
5Hz synchronizing signals are compensated by time interval；Laser ranging synchronizing signal is compensated by time interval；It is double to take the photograph image sensing
Device collects and carries out single image crawl by synchronous trigger pulse after video file.
As shown in figure 5, further, this method further includes：Control and protocol module complete each sensor initializing, each biography
Sensor instruction is sent and each sensing data parses work, while be packaged and filled the time by multiple synchronous sensor data
Stamp.
Further, the content that the control and protocol module control are completed specifically includes：Instruction control module completes frame
Head, data, postamble and the parsing of verification；DCP modules and DAC module synchronize constant-temperature crystal oscillator correction and control；Gauge passes
Sensor ADC module is completed gauge data and is calculated；Odometer sensor is counted by quadruple completes mileage calculating；IMU agreements
Parsing and data storage and transmission module handle IMU system datas；Obliquity sensor is completed by communication interface UART
Obliquity sensor initial attitude and the correction of process stationary posture；Protocol analysis and function module IP complete GPS data acquisition；It is double to take the photograph
As module passes through control protocol parsing and external trigger collection signal control data acquisition；Laser ranging module is carried out by UART
Data acquire.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (7)
1. a kind of synchronization control system for track automatic measurement vehicle synchro measure, it is characterised in that：Including it is main when base
Module, synchronization module, synchronization check and compensating module and control and protocol module；
The main time base module is used for the 1pps signals that exports according to GPS system, tames local constant-temperature crystal oscillator, obtain high-precision with
The local clock reference of high stability；
The synchronization module is used to carry out scaling down processing to the clock reference signal of the main time base module output, drives multiple biographies
Sensor synchronizes data collection task；
The synchronization check is used to compensate the synchronous start pulse signal of the synchronization module with compensating module, it is ensured that each
A collected data of sensor are in a synchronous at the time of point；
The control and protocol module are used to complete each sensor initializing, the transmission of each sensors command and each sensing data solution
Work is analysed, while is additionally operable to be packaged and filled timestamp by multiple synchronous sensor data.
A kind of 2. synchronization control method for track automatic measurement vehicle synchro measure, which is characterized in that including following step
Suddenly：
S1, the 1pps signals that main time base module is exported based on GPS system tame local constant-temperature crystal oscillator, obtain high-precision and height is steady
Qualitatively local clock reference；
S2, synchronization module carry out scaling down processing to the clock reference signal of the main time base module output, drive multiple sensors
Synchronize data collection task；
S3, synchronization check compensate the synchronous start pulse signal of the synchronization module with compensating module, it is ensured that Ge Gechuan
The collected data of sensor are in a synchronous at the time of point.
3. being used for the synchronization control method of track automatic measurement vehicle synchro measure as claimed in claim 2, feature exists
In：The step S1 is specifically included：GPS system exports 1pps pulse signals, by electric signal reception and modulate circuit, inputs to
In FPGA, together with the fractional frequency signal of constant-temperature crystal oscillator, it is admitted in DPD digital phase discriminators；Meanwhile FPGA work clocks drive
DCM modules and 10MHz signals carry out divide operation, and generation FPGA work clocks and the PGC demodulation of constant-temperature crystal oscillator clock work；
According to the triggering of the rising edge of a pulse of 1pps, pulse retention time and triggering spacing, with reference to digital phase discriminator as a result, calculating perseverance
The fine tuning frequency values of warm crystal oscillator；Then by controlling DAC module or controlling REF ends and the CTRL of DCP modules progress constant-temperature crystal oscillator
The voltage value variation at end, system is tamed so as to form a closed-loop clock.
4. being used for the synchronization control method of track automatic measurement vehicle synchro measure as claimed in claim 2, feature exists
In：The step S2 is specifically included：Synchronization module carries out scaling down processing to the clock reference signal of the main time base module output,
Frequency dividing obtains for driving the 200Hz synchronizing signals of track gauge sensor, for drive IMU systems 1Hz synchronizing signals, for driving
The 5Hz synchronizing signals of angle of dynamical inclination sensor, for the 20Hz synchronizing signals that drive odometer sensor and for driving Laser Measuring
Away from sensor and double protocol integrated test system synchronizing signals for taking the photograph imaging sensor, each fractional frequency signal drives corresponding sensor to synchronize
Data collection task.
5. being used for the synchronization control method of track automatic measurement vehicle synchro measure as claimed in claim 2, feature exists
In：The step S3 is specifically included：200Hz synchronizing signals are post-processed by ADC retainers inside FPGA；It is same to 1Hz
It walks signal and synchronization point label is completed by the internal synchronization acquisition system of IMU systems；Time interval is passed through to 5Hz synchronizing signals
Compensation；Laser ranging synchronizing signal is compensated by time interval；Double imaging sensors of taking the photograph are collected after video file by same
It walks trigger pulse and carries out single image crawl.
6. being used for the synchronization control method of track automatic measurement vehicle synchro measure as claimed in claim 2, feature exists
In：This method further includes：Control and protocol module complete each sensor initializing, each sensors command is sent and each sensor number
According to parsing work, while multiple synchronous sensor data are packaged and are filled timestamp.
7. being used for the synchronization control method of track automatic measurement vehicle synchro measure as claimed in claim 6, feature exists
In：The content that the control and protocol module control are completed specifically includes：Instruction control module complete frame head, data, postamble and
The parsing of verification；DCP modules and DAC module synchronize constant-temperature crystal oscillator correction and control；Track gauge sensor ADC module is completed
Gauge data calculate；Odometer sensor is counted by quadruple completes mileage calculating；IMU protocol analysis and data storage and
Transmission module handles IMU system datas；Obliquity sensor completes the initial appearance of obliquity sensor by communication interface UART
State and the correction of process stationary posture；Protocol analysis and function module IP complete GPS data acquisition；Double photographing modules are assisted by controlling
View parsing and external trigger collection signal control data acquisition；Laser ranging module carries out data acquisition by UART.
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