CN108413946A - A kind of measurement method of vehicle-mounted total powerstation location parameter - Google Patents
A kind of measurement method of vehicle-mounted total powerstation location parameter Download PDFInfo
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- CN108413946A CN108413946A CN201810042030.7A CN201810042030A CN108413946A CN 108413946 A CN108413946 A CN 108413946A CN 201810042030 A CN201810042030 A CN 201810042030A CN 108413946 A CN108413946 A CN 108413946A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
A kind of vehicle-mounted total powerstation location parameter accurate measurement method first carries out bigness scale to vehicle-mounted total powerstation location parameter；Then the correction amount for measuring vehicle-mounted total powerstation location parameter finally obtains the accurate parameters value of vehicle-mounted total powerstation position.The present invention is in the model of vehicle-mounted total powerstation track accurate measurement method, have found the mathematical model and method of vehicle-mounted total powerstation location parameter accurate measurement, it can be directly used for the solution of total powerstation location parameter, the measurement accuracy of vehicle-mounted total powerstation location parameter is effectively increased, quick accurate adjustment and the daily maintenance of ballastless track of high-speed railway are suitable for.
Description
Technical field
The invention belongs to orbit measurement technical fields.It is related to the measurement method of vehicle-mounted total powerstation location parameter, directly answers
Quick accurate adjustment for ballastless track of high-speed railway and daily maintenance.
Background technology
In the construction period of China Railway High-speed, passenger transportation special line track of the generally use based on Absolute position measurement measures
Instrument and with orbital forcing measure based on rail checking instrument carry out track accurate adjustment work, ensure circuit have higher position essence
Degree and very high ride comfort precision, to meet the needs of high-speed railway high speed traveling.In the track accurate adjustment of early stage, use
The technology mode of " first absolutely rear opposite ", i.e., first use passenger transportation special line track measuring instrument control track absolute position and long wave smooth-going
Property, then track shortwave is controlled using rail checking instrument, promote TQI track quality indexes.In existing track accurate adjustment, then more
Using the technology mode of " absolute+opposite ", that is, rail measuring apparatus is used to measure the absolute positions of track by (about 40 meters/point) at equal intervals
It sets, track relative position is measured using rail checking instrument, the track absolute position data that measuring instrument is measured imports track inspection
Instrument relative measurement software is looked into, the data fusion of track absolute location information and track relevant path information is carried out, realizes control rail
While road absolute position, control track is with respect to ride comfort.
It is " first absolutely after opposite " either in advance or existing " absolutely+opposite ", all it is two complete equipments, two sets of people
Horse exists on equipment cost, human cost and time cost and repeats to pay.Preferably to solve the problems, such as this, with existing
Based on rail measuring apparatus and rail checking instrument, new architecture design and Model Design are carried out, total powerstation is installed on phase
On rail checking instrument to measuring function, horizontalization is exempted from by total powerstation and sets the measurement of station method progress tracks positioned data, and is tied
Gyroscope relative measurement track is closed, realizes that absolute data is seamlessly connected with relative data, high-precision merges, and can save equipment and people
Power accelerates the measuring speed of track absolute location information and track relevant path.
Although new measurement scheme theory is advanced, there is cost and odds for effectiveness, there is also some critical issues needs
It solves, it is preceding such as shock-absorbing damping and total powerstation accurate measurement relative to rail checking instrument location parameter of the total powerstation on trolley
Person is related to the service life of total powerstation and system, and the latter then influences the measurement accuracy of system.So-called total powerstation location parameter
It is the parameter for characterizing relative position relation between total powerstation site location and trolley characteristic point, characteristic face, is that total powerstation completion exempts to set
It puts down after setting station, calculates the key parameter that track centre coordinate must use.Since total powerstation website is located at instrument internal, Er Qie
Also the not no accurate identification of site location outside instrument, can not accurately be measured using traditional measurement method (mechanical measurement mode)
Total powerstation site location.Total powerstation location parameter is inaccurate, and leading to the track absolute position that systematic survey goes out, there are deviations, influence
The control accuracy of later stage track accurate adjustment stage track absolute position and track long wave ride comfort.And total powerstation is relative to track inspection
An important factor for accurate measurement of instrument location parameter is the measurement accuracy of influence system.Therefore, to vehicle-mounted total powerstation location parameter
Measurement method is studied, significant to rail position control and track accurate adjustment.
Invention content
It, can not be by the purpose of the present invention is overcoming Location-Unknown of the prior art in vehicle-mounted total powerstation relative to trolley
The total powerstation website coordinate known calculates track circuit Coordinate of central line, proposes a kind of vehicle-mounted total powerstation location parameter accurate measurement method.
The present invention through the following steps that realize.
A kind of vehicle-mounted total powerstation location parameter accurate measurement method of the present invention, as follows：
(1) vehicle-mounted total powerstation location parameter measures
Total powerstation is installed on rail checking instrument, is acted on to the right rail of rail checking instrument if D is vehicle-mounted total powerstation site location
The lateral distance on side, H are vertical distance of the vehicle-mounted total powerstation site location to orbital plane where rail checking instrument.Establish trolley sky
Between rectangular coordinate system：Coordinate origin is located at vehicle-mounted total powerstation site location (Xs,Ys,Zs), X ' axis positive directions are line direction,
Z ' axis is upwards positive direction perpendicular to the orbit plane where rail checking instrument, and Y ' axis is vertical with X ' axis and Z ' axis, abides by a left side
Hand rectangular coordinate system in space rule.
Rail checking instrument comes to a complete stop in orbit, the gauge g (being obtained by car interior sensor measurement) of current point track, root
It is defined according to trolley rectangular coordinate system in space, the coordinate (x of current orbit centerlineC,yC,zC) be：
Multiple (>=3) control points CPIII are measured successively with vehicle-mounted total powerstation, and completion exempts from horizontalization and sets station, obtains vehicle-mounted whole station
Instrument website coordinate (XS,YS,ZS).Linear, the position of track vertical section where determining rail checking instrument is designed in conjunction with track centre
It sets, and then calculates position Track desigh Coordinate of central line (XD,YD,ZD), using formula (2) by Track desigh Coordinate of central line
(XD,YD,ZD) it is converted into the coordinate (x under trolley rectangular coordinate system in spaceD,yD,zD)：
Coordinate spin matrixs of the wherein R between trolley rectangular coordinate system in space and earth coordinates.
As shown in Fig. 2, under trolley rectangular coordinate system in space, according to the practical Coordinate of central line of track and design Coordinate of central line
Position relationship, circuit lateral deviation and vertical deviation can be calculated：
Eh=-(yC-yD)cosα-(zC-zD)sinα (3)
Ev=-(yC-yD)sinα+(zC-zD)cosα (4)
Wherein, α is level inclination, can be obtained by trolley obliquity sensor measurement.
The lateral deviation E in conjunction with known to trackhWith vertical deviation Ev, formula (1) and (2) are substituted into formula (3) and (4),
Simultaneous Equations can solve vehicle-mounted total powerstation location parameter D and H.
(2) vehicle-mounted total powerstation location parameter accurately measures
Rail checking instrument is moved to another location to come to a complete stop, measures gauge g1With level inclination α1, known to track laterally partially
Difference and vertical deviation are denoted as Eh1And Ev1.Vehicle-mounted total powerstation measures multiple (>=3) control points CPIII successively, and completion is exempted from horizontalization and set
It stands, obtains vehicle-mounted total powerstation website coordinate (XS1,YS1,ZS1), by formula (2), obtain the rail under trolley rectangular coordinate system in space
Road center line design coordinate (xD1,yD1,zD1)。
Repeat above step 1 time or more：Moving track somascope measures gauge giWith level inclination αi, horizontal known to track
It is denoted as E to deviation and vertical deviationhiAnd Evi.Vehicle-mounted total powerstation measures multiple (>=3) control points CPIII successively, carries out exempting to set
It is flat to set station, obtain vehicle-mounted total powerstation website coordinate (XSi,YSi,ZSi) and trolley rectangular coordinate system in space under track centre design
Coordinate (xDi,yDi,zDi)。
On the basis of the location parameter D and H that step (1) obtains, excess observation component g is utilizedi,αi,yDiAnd zDi, list mistake
Eikonal equation：
δEh=cos αiδD+sinαiδH+(D-gi/2+yDi)cosαi+(H+zDi)sinαi-Ehi (5)
δEv=sin αiδD-cosαiδH+(D-gi/2+yDi)sinαi-(H+zDi)cosαi-Evi (6)
Wherein：δEhWith δ EvFor the error of lateral deviation and vertical deviation, δ D and δ H are the correction amount of location parameter D and H
Error equation is expressed as matrix form：Wherein：
According to the principle of least square, impose a condition for it：VTThe weighting of PV=min, i.e. lateral deviation and vertical deviation are flat
Side and minimum, obtain BTPV=0 solves correction amount δ x using matrix inversion or the method for solving Gauss equation.
δ x=(BTPB)-1BTPl (7)
Wherein P is that unit weighs battle array, finally obtains the number precise measurements D ' and H ' of model structure parameter.
High position accuracy and high ride precision are the needs of high-speed railway high speed traveling, need to carry out essence to track thus
Really measure, and the measurement of total powerstation site location parameter, the critical issue in the accurate measurement of exactly vehicle-mounted total powerstation track, pass through
Location parameter D and H, it may be determined that go out the position relationship of total powerstation website and track centre point.This method is in vehicle-mounted total powerstation track
In the model of accurate measurement method, the math equation about total powerstation location parameter is had found, can be directly used for total powerstation location parameter
Solution.But there are errors for total station survey, and it is limited that the data according to single measuring point carry out equation solver precision.It is more by increasing
Remaining observed quantity carries out multiple spot adjustment by Least Square Theory, effectively increases the calculation accuracy of total powerstation location parameter.
Description of the drawings
Attached drawing 1 is based on vehicle-mounted total powerstation track accurate measurement method mathematics model schematic.
Attached drawing 2 is the horizontal vertical deviation schematic diagram under trolley rectangular coordinate system in space.
Specific implementation mode
The present invention will be described further by following embodiment.
Embodiment 1.
Vehicle-mounted total powerstation location parameter measures.
(1) selection, which has, designs linear and CPIII control nets, and repetition measurement is crossed by CPIII controls Netcom, and track geometry status is good
Good circuit marks tested point as test circuit on test circuit.
(2) rail checking instrument rests against at track tested point, by car interior sensor measurement gauge g and level inclination α.
(3) total powerstation is installed on rail checking instrument, measures 8 control points CPIII, is carried out exempting from horizontalization to set station, must be arrived at a station
Point coordinates (XS,YS,ZS), track vertical section where finding out total powerstation obtains Track desigh center line design coordinate (XD,YD,ZD)。
| Xs | Ys | Zs | XD | YD | ZD | Eh | Ev |
| 23256.7371 | 184311.9165 | 96.1238 | 23256.1664 | 184312.0063 | 96.1235 | -0.0027 | 0.0010 |
(4) simultaneous equations (3), (4) solve total powerstation location parameter D and H.
D=0.1373；H=0.2187
Embodiment 2.
Vehicle-mounted total powerstation location parameter accurately measures.
(1) moving track somascope to another location is come to a complete stop, and measures gauge g1With level inclination α1, known to track laterally
Deviation and vertical deviation are denoted as Eh1And Ev1.Vehicle-mounted total powerstation measures 8 control points CPIII successively, and completion exempts from horizontalization and sets station, obtains
To vehicle-mounted total powerstation website coordinate (XS1,YS1,ZS1), by formula (2), obtain in the track under trolley rectangular coordinate system in space
Line designs coordinate (xD1,yD1,zD1)。
| Point | Xs | Ys | Zs | XD | YD | ZD |
| 1 | 23256.8971 | 184312.9331 | 96.1341 | 23256.3264 | 184313.0229 | 96.1335 |
(2) moving track somascope again measures gauge giWith level inclination αi, lateral deviation known to track and vertical
Deviation is denoted as EhiAnd Evi.Vehicle-mounted total powerstation measures CPIII control points for 8 successively, carries out exempting from horizontalization to set station, obtains vehicle-mounted whole station
Instrument website coordinate (XSi,YSi,ZSi) and trolley rectangular coordinate system in space under track centre design coordinate (xDi,yDi,zDi).It surveys
Quantifier mesh and process are identical as step (1), i=2, and 3 ..., 7.
| Point | Xs | Ys | Zs | XD | YD | ZD |
| 2 | 23257.0568 | 184313.9498 | 96.1439 | 23256.4864 | 184314.0396 | 96.1435 |
| 3 | 23257.2168 | 184314.9665 | 96.1531 | 23256.6464 | 184315.0562 | 96.1535 |
| 4 | 23257.3767 | 184315.9831 | 96.1635 | 23256.8064 | 184316.0729 | 96.1635 |
| 5 | 23257.5370 | 184316.9997 | 96.1733 | 23256.9664 | 184317.0895 | 96.1735 |
| 6 | 23257.6968 | 184318.0164 | 96.1836 | 23257.1264 | 184318.1061 | 96.1835 |
| 7 | 23257.8569 | 184319.0330 | 96.1934 | 23257.2864 | 184319.1228 | 96.1935 |
(3) error compensation method is used to calculate the correction amount δ x of total powerstation location parameter, i.e.,：According to error equation design factor square
Battle array B and free vector l is solved using matrix inversion or the method for solving Gauss equation.
δ D=0.0024；δ H=0.0011
(4) the correction amount δ x for the total powerstation location parameter being calculated using error compensation method, the position that it has been measured
It sets parameter D and H to be modified, obtains the number precise measurements D ' and H ' of total powerstation location parameter：
D '=0.1397；H '=0.2198.
Claims (1)
1. a kind of vehicle-mounted total powerstation location parameter accurate measurement method, it is characterized in that as follows：
(1) vehicle-mounted total powerstation location parameter measures
Total powerstation is installed on rail checking instrument, if D is vehicle-mounted total powerstation site location to the right rail action edge of rail checking instrument
Lateral distance, H are vertical distance of the vehicle-mounted total powerstation site location to orbital plane where rail checking instrument；It is straight to establish trolley space
Angular coordinate system：Coordinate origin is located at vehicle-mounted total powerstation site location (Xs,Ys,Zs), X ' axis positive directions are line direction, Z ' axis
It is upwards positive direction perpendicular to the orbit plane where rail checking instrument, Y ' axis is vertical with X ' axis and Z ' axis, abides by left hand space
Rectangular coordinate system rule；
Rail checking instrument comes to a complete stop in orbit, the gauge g of current point track is measured by car interior sensor, according to trolley space
Rectangular coordinate system defines, the coordinate (x of current orbit centerlineC,yC,zC) be：
Measure >=3 control points CPIII successively with vehicle-mounted total powerstation, completion exempts from horizontalization and sets station, obtains vehicle-mounted total powerstation website and sits
Mark (XS,YS,ZS)；Linear, the position of track vertical section, Jin Erji where determining rail checking instrument are designed in conjunction with track centre
Calculate position Track desigh Coordinate of central line (XD,YD,ZD), using formula (2) by Track desigh Coordinate of central line (XD,YD,ZD) turn
Change the coordinate (x under trolley rectangular coordinate system in space intoD,yD,zD)：
Coordinate spin matrixs of the wherein R between trolley rectangular coordinate system in space and earth coordinates；
Under trolley rectangular coordinate system in space, according to the position relationship of the practical Coordinate of central line of track and design Coordinate of central line, obtain
Circuit lateral deviation and vertical deviation：
Eh=-(yC-yD)cosα-(zC-zD)sinα (3)
Ev=-(yC-yD)sinα+(zC-zD)cosα (4)
Wherein, α is level inclination, can be obtained by trolley obliquity sensor measurement；
The lateral deviation E in conjunction with known to trackhWith vertical deviation Ev, formula (1) and (2) are substituted into formula (3) and (4), simultaneous side
Journey group can solve vehicle-mounted total powerstation location parameter D and H；
(2) vehicle-mounted total powerstation location parameter accurately measures
Rail checking instrument is moved to another location to come to a complete stop, measures gauge g1With level inclination α1, lateral deviation known to track and
Vertical deviation is denoted as Eh1And Ev1；Vehicle-mounted total powerstation measures >=3 control points CPIII successively, and completion exempts from horizontalization and sets station, obtains vehicle
Carry total powerstation website coordinate (XS1,YS1,ZS1), by formula (2), the track centre obtained under trolley rectangular coordinate system in space is set
Count coordinate (xD1,yD1,zD1)；
The above step once above moving track somascope is repeated, gauge g is measurediWith level inclination αi, known to track laterally partially
Difference and vertical deviation are denoted as EhiAnd Evi；Vehicle-mounted total powerstation measures >=3 control points CPIII successively, carries out exempting from horizontalization to set station, obtains
To vehicle-mounted total powerstation website coordinate (XSi,YSi,ZSi) and trolley rectangular coordinate system in space under track centre design coordinate (xDi,
yDi,zDi)；
On the basis of location parameter D and H that step (1) is obtained, excess observation component g is utilizedi,αi,yDiAnd zDi, obtain error side
Journey：
δEh=cos αiδD+sinαiδH+(D-gi/2+yDi)cosαi+(H+zDi)sinαi-Ehi (5)
δEv=sin αiδD-cosαiδH+(D-gi/2+yDi)sinαi-(H+zDi)cosαi-Evi (6)
Wherein：δEhWith δ EvFor the error of lateral deviation and vertical deviation, δ D and δ H are the correction amount of location parameter D and H；
Error equation is expressed as matrix form：Wherein：
According to the principle of least square, impose a condition for it：VTPV=min obtains BTPV=0 utilizes matrix inversion or solution Gauss side
The method of journey solves modification amount δ x：
δ x=(BTPB)-1BTPl (7)
Wherein P is that unit weighs battle array, finally obtains vehicle-mounted total powerstation location parameter precise measurements D ' and H '：
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| CN110017823A (en) * | 2019-04-29 | 2019-07-16 | 江西日月明测控科技股份有限公司 | Exempt from the tracks positioned Coordinate calculation method and device that horizontalization sets station based on total station |
| CN112762891A (en) * | 2020-12-23 | 2021-05-07 | 济南轨道交通集团有限公司 | Track heave monitoring device and method based on distributed measurement |
| CN113212491A (en) * | 2021-04-06 | 2021-08-06 | 中铁二院工程集团有限责任公司 | Station setting measurement method for evaluating smoothness of track line |
| CN114212119A (en) * | 2022-01-04 | 2022-03-22 | 北京铁科特种工程技术有限公司 | Track detection improved operation method and system based on vertical offset method |
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