CN108413946B - Method for measuring position parameters of vehicle-mounted total station - Google Patents
Method for measuring position parameters of vehicle-mounted total station Download PDFInfo
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Abstract
A method for accurately measuring position parameters of a vehicle-mounted total station comprises the steps of firstly, roughly measuring the position parameters of the vehicle-mounted total station; and then measuring the correction quantity of the position parameter of the vehicle-mounted total station, and finally obtaining the accurate parameter value of the position of the vehicle-mounted total station. According to the method, the mathematical model and the method for accurately measuring the position parameters of the vehicle-mounted total station are found in the model of the method for accurately measuring the track of the vehicle-mounted total station, can be directly used for solving the position parameters of the total station, effectively improve the measurement precision of the position parameters of the vehicle-mounted total station, and are suitable for rapid accurate adjustment and daily maintenance of the ballastless track of the high-speed railway.
Description
Technical Field
The invention belongs to the technical field of rail measurement. The method is directly applied to rapid fine adjustment and daily maintenance of the ballastless track of the high-speed railway.
Background
In the construction stage of the high-speed railway in China, a passenger dedicated line track measuring instrument mainly based on absolute position measurement and a track inspection instrument mainly based on track smoothness measurement are generally adopted to carry out track fine adjustment work, so that the high position precision and the very high smoothness precision of the line are ensured, and the requirement of high-speed railway high-speed running is met. In the early track fine adjustment, a technical mode of 'absolute first and relative later' is adopted, namely, a passenger special line track measuring instrument is adopted to control the track absolute position and the long wave smoothness, then a track inspection instrument is adopted to control the track short wave, and the TQI track quality index is improved. In the existing track fine adjustment, an 'absolute + relative' technical mode is adopted, that is, a track measuring instrument is adopted to measure the absolute position of a track at equal intervals (about 40 meters per point), a track inspection tester is adopted to measure the relative position of the track, the track absolute position data measured by the measuring instrument is led into track inspection tester relative measurement software, data fusion of track absolute position information and track relative track information is carried out, and the relative smoothness of the track is controlled while the absolute position of the track is controlled.
Whether the advanced 'absolute first and then relative' or the existing 'absolute + relative', the two sets of equipment and the two sets of horses are both provided with two sets of equipment, and the repeated expenditure exists in the equipment cost, the labor cost and the time cost. In order to better solve the problem, based on the existing track measuring instrument and track inspection instrument, a new architecture design and a new mode design are carried out, the total station is installed on the track inspection instrument with a relative measurement function, track positioning data is measured by the method that the total station is not provided with a leveling station, and the relative measurement track of a gyroscope is combined, so that seamless connection between absolute data and relative data is realized, high-precision fusion is realized, equipment and manpower can be saved, and the measurement speed of track absolute position information and track relative track is accelerated.
Although the new measurement scheme has advanced concept and cost and efficiency advantages, some key problems need to be solved, such as shock absorption of the total station on the trolley and accurate measurement of the position parameters of the total station relative to the track inspection instrument, the former relates to the service life of the total station and the system, and the latter affects the measurement accuracy of the system. The total station position parameter is a parameter representing the relative position relationship between the total station position and the trolley characteristic point and characteristic surface, and is a key parameter which must be used for calculating the track center line coordinate after the total station finishes the non-leveling station. Because the total station is located inside the instrument and there is no accurate identification of the station position outside the instrument, the position of the total station cannot be accurately measured by adopting the traditional measuring method (mechanical measuring method). The total station position parameters are inaccurate, so that the absolute position of the track measured by the system has deviation, and the control precision of the absolute position of the track and the smoothness of the long wave of the track in the later track fine adjustment stage is influenced. And the accurate determination of the position parameters of the total station relative to the orbit inspection instrument is an important factor influencing the measurement accuracy of the system. Therefore, the method for measuring the position parameters of the vehicle-mounted total station is researched, and the method has important significance for track position control and track fine adjustment.
Disclosure of Invention
The invention aims to overcome the defect that the position of a vehicle-mounted total station relative to a trolley is unknown and the center line coordinate of a track line cannot be calculated through the known station coordinates of the total station in the prior art, and provides a method for accurately measuring the position parameters of the vehicle-mounted total station.
The invention is realized by the following steps.
The invention relates to a method for accurately measuring position parameters of a vehicle-mounted total station, which comprises the following steps:
(1) vehicle-mounted total station position parameter measurement
The total station is arranged on the track inspection instrument, D is the transverse distance from the station position of the vehicle-mounted total station to the right track action edge of the track inspection instrument, and H is the station position of the vehicle-mounted total stationThe vertical distance from the point position to the rail surface where the rail inspection instrument is located. Establishing a trolley space rectangular coordinate system: the origin of the coordinate system is located at the station position (X) of the vehicle-mounted total stations,Ys,Zs) The positive direction of the X ' axis is the line direction, the Z ' axis is vertical to the track plane where the track inspection instrument is located, the positive direction is upwards, the Y ' axis is vertical to the X ' axis and the Z ' axis, and the left-hand space rectangular coordinate system rule is followed.
The rail inspection instrument stops stably on the rail, the rail gauge g (measured by a sensor inside the trolley) of the current point rail is defined according to a trolley space rectangular coordinate system, and the coordinate (x) of the current rail center line pointC,yC,zC) Comprises the following steps:
sequentially measuring a plurality of (not less than 3) CPIII control points by using a vehicle-mounted total station to finish the setting-free horizontal setting station and obtain the station coordinates (X) of the vehicle-mounted total stationS,YS,ZS). Determining the position of the track profile of the track inspection tester by combining the track central line design line shape, and further calculating the track design central line coordinate (X) of the positionD,YD,ZD) The formula (2) is adopted to design the center line coordinate (X) of the trackD,YD,ZD) Converting into coordinates (x) under a rectangular coordinate system of a trolley spaceD,yD,zD)：
Wherein R is a coordinate rotation matrix between the rectangular coordinate system of the trolley space and the geodetic coordinate system.
As shown in fig. 2, under a rectangular coordinate system of a trolley space, according to the position relationship between the actual center line coordinate of the track and the design center line coordinate, the lateral deviation and the vertical deviation of the track can be calculated:
Eh＝-(yC-yD)cosα-(zC-zD)sinα (3)
Ev＝-(yC-yD)sinα+(zC-zD)cosα (4)
wherein alpha is a horizontal inclination angle and can be measured by a trolley inclination angle sensor.
Incorporating known lateral deviations E of the trackhAnd a vertical deviation EvAnd substituting the formulas (1) and (2) into the formulas (3) and (4), and solving the position parameters D and H of the vehicle-mounted total station by using a simultaneous equation set.
(2) Accurate measurement of position parameters of vehicle-mounted total station
Moving the track inspection instrument to another position for stable stop, and measuring the track gauge g1And horizontal inclination angle alpha1The known transverse and vertical deviations of the track are denoted Eh1And Ev1. Sequentially measuring a plurality of (more than or equal to 3) CPIII control points by the vehicle-mounted total station to finish the setting-free horizontal setting station, and obtaining the station coordinates (X) of the vehicle-mounted total stationS1,YS1,ZS1) And obtaining a track central line design coordinate (x) under the rectangular coordinate system of the trolley space through a formula (2)D1,yD1,zD1)。
Repeating the steps for more than 1 time: moving the track inspection tester to measure the gauge giAnd horizontal inclination angle alphaiThe known transverse and vertical deviations of the track are denoted EhiAnd Evi. Sequentially measuring a plurality of (more than or equal to 3) CPIII control points by the vehicle-mounted total station, and carrying out free-setting horizontal setting to obtain a station coordinate (X) of the vehicle-mounted total stationSi,YSi,ZSi) And the design coordinate (x) of the track center line under the rectangular coordinate system of the trolley spaceDi,yDi,zDi)。
Utilizing the redundant observed quantity g on the basis of the position parameters D and H obtained in the step (1)i,αi,yDiAnd zDiThe error equation is listed:
Eh＝cosαiD+sinαiH+(D-gi/2+yDi)cosαi+(H+zDi)sinαi-Ehi(5)
Ev＝sinαiD-cosαiH+(D-gi/2+yDi)sinαi-(H+zDi)cosαi-Evi(6)
wherein: ehAnd EvError of transverse deviation and vertical deviation, D and H are correction amounts of position parameters D and H
The error equation is expressed in matrix form:
wherein:
according to the least squares principle, conditions are set for it: vTPV ═ min, i.e. the weighted sum of squares of the lateral and vertical deviations is minimized, yielding BTAnd PV is 0, and the correction quantity x is solved by a matrix inversion or Gaussian equation solution method.
x＝(BTPB)-1BTPl (7)
Wherein P is a unit weight matrix, and finally, the accurate numerical measurement values D 'and H' of the model structure parameters are obtained.
The high position precision and the high smoothness precision are needed for high-speed railway high-speed driving, the track needs to be accurately measured, the determination of the position parameters of the total station is a key problem in the accurate measurement of the track of the vehicle-mounted total station, and the position relation between the total station and the track center line point can be determined through the position parameters D and H. In the method, a mathematical equation about the position parameters of the total station is found in a model of a vehicle-mounted total station track accurate measurement method, and the method can be directly used for solving the position parameters of the total station. However, the total station has errors in measurement, and the accuracy of equation calculation according to data of a single measuring point is limited. By increasing redundant observed quantities and performing multipoint adjustment according to the least square theory, the resolving precision of the position parameters of the total station is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a mathematical model based on a vehicle-mounted total station orbit precision measurement method.
FIG. 2 is a schematic diagram of the horizontal and vertical deviations in a rectangular coordinate system of the trolley space.
Detailed Description
The invention will be further illustrated by the following examples.
Example 1.
And (5) measuring position parameters of the vehicle-mounted total station.
(1) And selecting a control network with a designed linear shape and a CPIII control network, wherein the CPIII control network passes retesting, a line with a good track geometric state is used as a test line, and a point to be tested is marked on the test line.
(2) The track inspection tester stops at a position to be measured of the track, and the track gauge g and the horizontal inclination angle alpha are measured by a sensor inside the trolley.
(3) The total station is arranged on the track inspection tester, measures 8 CPIII control points, and obtains the coordinates (X) of the station point without setting a horizontal stationS,YS,ZS) And calculating the longitudinal section of the track where the total station is located to obtain the design center line (X) of the trackD,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) And (5) simultaneous equations (3) and (4) for solving the position parameters D and H of the total station.
D＝0.1373；H＝0.2187
Example 2.
And (4) accurately measuring position parameters of the vehicle-mounted total station.
(1) Moving the track inspection instrument to another position for stopping stably, and measuring the track gauge g1And horizontal inclination angle alpha1The known transverse and vertical deviations of the track are denoted Eh1And Ev1. The vehicle-mounted total station measures 8 CPIII control points in sequence, completes the non-horizontal station setting, and obtains the station coordinates (X) of the vehicle-mounted total stationS1,YS1,ZS1) And obtaining a track central line design coordinate (x) under the rectangular coordinate system of the trolley space through a formula (2)D1,yD1,zD1)。
| Point | Xs | Ys | Zs | XD | YD | ZD |
| 1 | 23256.8971 | 184312.9331 | 96.1341 | 23256.3264 | 184313.0229 | 96.1335 |
(2) Moving the track inspection instrument again to measure the track gauge giAnd horizontal inclination angle alphaiThe known transverse and vertical deviations of the track are denoted EhiAnd Evi. Sequentially measuring 8 CPIII control points by the vehicle-mounted total station to obtain the station coordinates (X) of the vehicle-mounted total station without setting a horizontal stationSi,YSi,ZSi) And the design coordinate (x) of the track center line under the rectangular coordinate system of the trolley spaceDi,yDi,zDi). The measurement items and procedures are the same as in step (1), i ═ 2, 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) And calculating a correction quantity x of the position parameter of the total station by adopting an adjustment method, namely: and calculating a coefficient matrix B and a free vector l according to an error equation, and solving by using a matrix inversion or Gaussian equation solution method.
D＝0.0024；H＝0.0011
(4) Correcting the correction quantity x of the total station position parameter obtained by calculation by adopting an adjustment method, and correcting the position parameters D and H obtained by measurement to obtain the accurate numerical measurement values D 'and H' of the total station position parameter:
D′＝0.1397；H′＝0.2198。
Claims (1)
1. a method for measuring position parameters of a vehicle-mounted total station is characterized by comprising the following steps:
(1) vehicle-mounted total station position parameter measurement
The total station is arranged on the track inspection instrument, and D is the transverse distance from the station position of the vehicle-mounted total station to the right rail action side of the track inspection instrument, and H is the vertical distance from the station position of the vehicle-mounted total station to the rail surface where the track inspection instrument is located; establishing a trolley space rectangular coordinate system: the origin of the coordinate system is located at the station position (X) of the vehicle-mounted total stations,Ys,Zs) The positive direction of the X ' axis is a line direction, the Z ' axis is vertical to a track plane where the track inspection instrument is located, the positive direction is upward, the Y ' axis is vertical to the X ' axis and the Z ' axis, and the left-hand space rectangular coordinate system rule is followed;
the rail inspection instrument stops stably on the rail, the rail gauge g of the current point rail is measured by a sensor inside the trolley, and the coordinates (x) of the current rail center line point are defined according to a trolley space rectangular coordinate systemC,yC,zC) Comprises the following steps:
sequentially measuring more than or equal to 3 CPIII control points by using a vehicle-mounted total station to finish the non-setting of a horizontal station, and obtaining the station coordinates (X) of the vehicle-mounted total stationS,YS,ZS) (ii) a Determining the position of the track profile of the track inspection tester by combining the track central line design line shape, and further calculating the track design central line coordinate (X) of the positionD,YD,ZD) The formula (2) is adopted to design the center line coordinate (X) of the trackD,YD,ZD) Converting into coordinates (x) under a rectangular coordinate system of a trolley spaceD,yD,zD)：
Wherein R is a coordinate rotation matrix between the trolley space rectangular coordinate system and the geodetic coordinate system;
under a trolley space rectangular coordinate system, obtaining the transverse deviation and the vertical deviation of the line according to the position relation between the actual central line coordinate of the track and the designed central line coordinate:
Eh＝-(yC-yD)cosα-(zC-zD)sinα (3)
Ev＝-(yC-yD)sinα+(zC-zD)cosα (4)
wherein alpha is a horizontal inclination angle and can be measured by a trolley inclination angle sensor;
incorporating known lateral deviations E of the trackhAnd a vertical deviation EvSubstituting the formulas (1) and (2) into the formulas (3) and (4), and solving the position parameters D and H of the vehicle-mounted total station by a simultaneous equation set;
(2) accurate measurement of position parameters of vehicle-mounted total station
Moving the track inspection instrument to another position for stable stop, and measuring the track gauge g1And horizontal inclination angle alpha1The known transverse and vertical deviations of the track are denoted Eh1And Ev1(ii) a The vehicle-mounted total station measures more than or equal to 3 CPIII control points in sequence, the non-setting of the leveling station is completed, and the station coordinates (X) of the vehicle-mounted total station are obtainedS1,YS1,ZS1) And obtaining a track central line design coordinate (x) under the rectangular coordinate system of the trolley space through a formula (2)D1,yD1,zD1)；
Repeating the above steps for more than one time, moving the track inspection instrument, and measuring the track gauge giAnd horizontal inclination angle alphaiThe known transverse and vertical deviations of the track are denoted EhiAnd Evi(ii) a Sequentially measuring more than or equal to 3 CPIII control points by the vehicle-mounted total station, and performing free-standing to obtain the site coordinates (X) of the vehicle-mounted total stationSi,YSi,ZSi) And the design coordinate (x) of the track center line under the rectangular coordinate system of the trolley spaceDi,yDi,zDi)；
Utilizing the redundant observed quantity g on the basis of the position parameters D and H obtained in the step (1)i,αi,yDiAnd zDiAnd obtaining an error equation:
Eh＝cosαiD+sinαiH+(D-gi/2+yDi)cosαi+(H+zDi)sinαi-Ehi(5)
Ev＝sinαiD-cosαiH+(D-gi/2+yDi)sinαi-(H+zDi)cosαi-Evi(6)
wherein: ehAnd EvD and H are correction values of the position parameters D and H;
the error equation is expressed in matrix form:
wherein:
according to the least squares principle, conditions are set for it: vTPV is min to obtain BTAnd PV is 0, solving the modifier x by using a matrix inversion or Gaussian equation solution method:
x＝(BTPB)-1BTPl (7)
wherein P is a unit weight array, and the accurate measurement values D 'and H' of the position parameters of the vehicle-mounted total station are finally obtained:
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| CN110017823B (en) * | 2019-04-29 | 2022-02-08 | 江西日月明测控科技股份有限公司 | Rail positioning coordinate calculation method and device based on total station instrument free-standing 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 |
| CN113212491B (en) * | 2021-04-06 | 2022-03-25 | 中铁二院工程集团有限责任公司 | Station setting measurement method for evaluating smoothness of track line |
| CN114212119B (en) * | 2022-01-04 | 2022-05-31 | 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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| CN101962925B (en) * | 2010-08-12 | 2011-09-28 | 上海铁路局科学技术研究所 | Method for efficiently measuring three-dimensional coordinates of track based on track precise control net |
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