CN109080648B - A kind of track detection method and track detection car - Google Patents

A kind of track detection method and track detection car Download PDF

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Publication number
CN109080648B
CN109080648B CN201811042762.2A CN201811042762A CN109080648B CN 109080648 B CN109080648 B CN 109080648B CN 201811042762 A CN201811042762 A CN 201811042762A CN 109080648 B CN109080648 B CN 109080648B
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data
rail inspection
inspection trolley
information
rail
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CN109080648A (en
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高威
莫庆禄
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GUANGZHOU GEOELECTRON SCIENCE & TECHNOLOGY Co Ltd
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GUANGZHOU GEOELECTRON SCIENCE & TECHNOLOGY Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • 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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  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The embodiment of the invention discloses a kind of track detection method and track detection cars, this method comprises: obtaining the measurement data of IMU data, the driving information of track detection car, the gauge of track to be measured, GPS positioning data and total station；Calculate the first track detection car data and the second track detection car data；Detect the environmental information of track detection car present position；When the surrounding enviroment of environmental information instruction and default environment match, calculates the coordinate information of movement station and the first track detection car data and the second track detection car data is combined to obtain third track detection car data；When mismatch, calculates total station centre coordinate information and the first track detection car data and the second track detection car data is combined to obtain the 4th track detection car data；According to third track detection car data or the 4th track detection car data, Ride Comfort Analysis is carried out in conjunction with gauge and obtains analysis result.Implement the embodiment of the present invention, different application scenarios can be selected with different operating modes, improves measurement accuracy and working efficiency.

Description

Track detection method and track detection trolley
Technical Field
The invention relates to the technical field of rail detection, in particular to a rail detection method and a rail detection trolley.
Background
Because high-speed rail has the advantages of large carrying capacity, good stability, high speed and the like, the development of high-speed rail is an important part of the national traffic development strategy in all countries in the world. In order to ensure the safety of train operation, the requirement on the smoothness of the track is very high.
At present, in order to detect the smoothness of the track, a trolley type track detector and a track geometric state measuring instrument are sequentially generated. However, in practice, it is found that the trolley-type rail detector and the rail geometric state measuring instrument have single working modes and cannot meet working requirements in different application scenes, and the trolley-type rail detector measures smooth parameters of a rail by using a gyroscope, the measurement accuracy of the trolley-type rail detector depends on the accuracy of an inertial sensor, and the method is difficult to meet the requirement on the accuracy in the industry; the measuring instrument measures the absolute position of the track by using the total station, the precision is relatively high, but the working efficiency is very low.
Disclosure of Invention
The embodiment of the invention discloses a track detection method and a track detection trolley, which can select different working modes aiming at different application scenes and improve the measurement precision and the working efficiency.
The first aspect of the embodiments of the present invention discloses a track detection method, including:
in the process that a rail inspection trolley runs on a track to be measured, acquiring IMU (Inertial Measurement Unit, IMU) data through an Inertial sensor (IMU) arranged on the rail inspection trolley, acquiring running information of the rail inspection trolley, measuring a track gauge of the track to be measured, and acquiring Global Positioning System (GPS) Positioning data and Measurement data acquired by a total station, wherein the running information comprises the current accumulated mileage and the current speed of the rail inspection trolley;
calculating to obtain first rail inspection trolley data according to the IMU data, and calculating to obtain second rail inspection trolley data according to the running information, wherein the first rail inspection trolley data comprises first position information, first speed information and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data comprises second position information and second speed information of the rail inspection trolley;
detecting the environmental information of the current position of the rail inspection trolley;
when the surrounding environment indicated by the environment information is matched with a preset environment, calculating and obtaining coordinate information of a mobile station for acquiring the GPS data according to the GPS positioning data, and performing filtering fusion processing according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data to obtain third rail inspection trolley data, wherein the third rail inspection trolley data comprises third position information, third speed information and a third attitude angle of the rail inspection trolley;
when the surrounding environment indicated by the environment information is not matched with the preset environment, calculating to obtain central coordinate information of the total station according to the measurement data, and performing filtering fusion processing according to the central coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data, wherein the fourth rail inspection trolley data comprises fourth position information, fourth speed information and a fourth attitude angle of the rail inspection trolley;
and carrying out ride comfort analysis on the track to be detected according to the third rail detection trolley data and the track gauge of the track to be detected or according to the fourth rail detection trolley data and the track gauge of the track to be detected, and obtaining an analysis result.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the IMU data includes an angular velocity and an acceleration of the rail inspection vehicle, and the calculating and obtaining the first rail inspection vehicle data according to the IMU data includes:
carrying out sliding average processing on the angular velocity of the rail inspection trolley and carrying out five-point three-time smoothing processing on the acceleration of the rail inspection trolley to obtain preprocessed IMU data;
and calculating to obtain the first rail inspection trolley data according to the preprocessed IMU data.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, the calculating and obtaining the second rail inspection vehicle data according to the running information includes:
performing packet loss analysis processing on the running information of the rail inspection trolley to obtain processed running information;
and calculating to obtain the second rail inspection trolley data according to the processed running information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the calculating, according to the GPS positioning data, to obtain coordinate information of a mobile station used for acquiring the GPS data includes:
sequentially carrying out data format conversion processing, gross error and abnormal value elimination processing, cycle slip detection processing and multipath analysis processing on the GPS positioning data to obtain preprocessed GPS positioning data;
according to the preprocessed GPS positioning data, performing phase double-difference fixed calculation to obtain a base line vector of the mobile station and a base station corresponding to the mobile station;
calculating to obtain the coordinate information of the mobile station according to the baseline vector;
the filtering fusion processing is performed according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data to obtain third rail inspection trolley data, and the method comprises the following steps:
and sequentially carrying out Kalman filtering processing, RTS reverse smoothing processing and forward and reverse Kalman filtering result fusion processing according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data to obtain third rail inspection trolley data.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the obtaining, by calculation, center coordinate information of the total station according to the measured data includes data information of a number of control points CP iii of the pile control network, where the data information includes coordinate information and an oblique distance between the total station and each of the control points CP iii, and the obtaining, by calculation, center coordinate information of the total station includes:
selecting 3 CP III control points from the plurality of CP III control points, and calculating according to data information of the selected 3 CP III control points to obtain a central coordinate initial value of the total station;
calculating to obtain the center coordinate information of the total station according to the initial value of the center coordinate;
the filtering fusion processing is performed according to the center coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data, and the method comprises the following steps:
and sequentially carrying out Kalman filtering processing, RTS reverse smoothing processing and forward and reverse Kalman filtering result fusion processing according to the central coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data.
The second aspect of the embodiment of the invention discloses a rail inspection trolley, which comprises:
the system comprises an acquisition unit, a data acquisition unit and a data acquisition unit, wherein the acquisition unit is used for acquiring IMU data, acquiring running information of a rail detection trolley, measuring the gauge of a rail to be detected, acquiring GPS positioning data and measuring data acquired by a total station through an inertial sensor IMU arranged on the rail detection trolley in the process that the rail detection trolley runs on the rail to be detected, and the running information comprises the current accumulated mileage and the current speed of the rail detection trolley;
the calculation unit is used for calculating and obtaining first rail inspection trolley data according to the IMU data obtained by the obtaining unit and calculating and obtaining second rail inspection trolley data according to the running information obtained by the obtaining unit, wherein the first rail inspection trolley data comprise first position information, first speed information and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data comprise second position information and second speed information of the rail inspection trolley;
the detection unit is used for detecting the environmental information of the current position of the rail inspection trolley;
the first processing unit is used for calculating and obtaining coordinate information of a mobile station for acquiring the GPS data according to the GPS positioning data obtained by the obtaining unit when the surrounding environment indicated by the environment information detected by the detecting unit is matched with a preset environment, and performing filtering fusion processing according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data obtained by calculation of the calculating unit to obtain third rail inspection trolley data, wherein the third rail inspection trolley data comprises third position information, third speed information and a third attitude angle of the rail inspection trolley;
the second processing unit is configured to, when the surrounding environment indicated by the environment information detected by the detection unit is not matched with the preset environment, calculate and obtain center coordinate information of the total station according to the measurement data obtained by the obtaining unit, and perform filtering fusion processing according to the center coordinate information, the first rail inspection trolley data and the second rail inspection trolley data obtained by calculation by the calculation unit to obtain fourth rail inspection trolley data, where the fourth rail inspection trolley data includes fourth position information, fourth speed information, and a fourth attitude angle of the rail inspection trolley;
and the analysis unit is used for carrying out smoothness analysis on the track to be detected according to the third rail inspection trolley data obtained by the processing of the first processing unit and the track gauge of the track to be detected measured by the acquisition unit, or according to the fourth rail inspection trolley data obtained by the processing of the second processing unit and the track gauge of the track to be detected measured by the acquisition unit, so as to obtain an analysis result.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the IMU data includes an angular velocity and an acceleration of the rail inspection trolley, and the manner that the computing unit is configured to compute and obtain the first rail inspection trolley data according to the IMU data acquired by the acquiring unit specifically is:
the calculation unit is specifically configured to perform sliding average processing on the angular velocity of the rail inspection trolley acquired by the acquisition unit and perform five-point three-time smoothing processing on the acceleration of the rail inspection trolley to acquire preprocessed IMU data, and calculate and acquire the first rail inspection trolley data according to the preprocessed IMU data.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the manner that the calculating unit is configured to calculate and obtain the second rail inspection vehicle data according to the running information acquired by the acquiring unit is specifically:
the calculation unit is specifically configured to perform packet loss analysis processing on the running information of the rail inspection trolley acquired by the acquisition unit to acquire processed running information, and calculate and acquire the second rail inspection trolley data according to the processed running information.
As an alternative implementation, in the second aspect of the embodiment of the present invention:
the first processing unit includes:
the preprocessing subunit is configured to, when the ambient environment indicated by the environment information matches a preset environment, sequentially perform data format conversion processing, gross error and abnormal value elimination processing, cycle slip detection processing, and multipath analysis processing on the GPS positioning data acquired by the acquisition unit to acquire preprocessed GPS positioning data;
the first calculation subunit is configured to perform phase double-difference fixed calculation according to the preprocessed GPS positioning data obtained by the preprocessing subunit to obtain a baseline vector of the mobile station and a base station corresponding to the mobile station;
the second calculating subunit is used for calculating and obtaining the coordinate information of the mobile station according to the baseline vector calculated and obtained by the first calculating subunit;
and the first processing subunit is configured to sequentially perform Kalman filtering processing, RTS reverse smoothing processing, and forward and reverse Kalman filtering result fusion processing according to the coordinate information of the mobile station obtained through calculation by the second calculation subunit, the first rail inspection vehicle data and the second rail inspection vehicle data obtained through calculation by the calculation unit, and obtain the third rail inspection vehicle data.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the measurement data includes data information of a number of pile control network CP iii control points, where the data information includes coordinate information and an oblique distance between the total station and each of the CP iii control points, and the second processing unit includes:
a third computing subunit, configured to, when the ambient environment indicated by the environment information does not match the preset environment, select 3 CP iii control points from the multiple CP iii control points acquired by the acquisition unit, and calculate and obtain an initial value of a center coordinate of the total station according to data information of the selected 3 CP iii control points;
the fourth calculating subunit is configured to calculate and obtain the total station center coordinate information according to the center coordinate initial value calculated and obtained by the third calculating subunit;
and the second processing subunit is configured to sequentially perform Kalman filtering processing, RTS reverse smoothing processing, and forward and reverse Kalman filtering result fusion processing according to the total station center coordinate information obtained by the calculation performed by the fourth calculation subunit, the first rail inspection trolley data obtained by the calculation performed by the calculation unit, and the second rail inspection trolley data, so as to obtain the fourth rail inspection trolley data.
The third aspect of the embodiment of the invention discloses a rail inspection trolley, which comprises:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the track detection method disclosed by the first aspect of the embodiment of the invention.
A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, where the computer program enables a computer to execute a track detection method disclosed in the first aspect of the embodiments of the present invention.
A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, when a rail inspection trolley runs on a track to be detected, IMU data, rail inspection trolley running information, the track gauge of the track to be detected, GPS positioning data and measurement data acquired by a total station are acquired, first rail inspection trolley data are acquired through calculation according to the IMU data, second rail inspection trolley data are acquired through calculation according to the running information, whether environmental information of the current position of the rail inspection trolley is matched with a preset environment is detected, if yes, coordinate information of a mobile station for acquiring the GPS data is acquired through calculation according to the GPS positioning data, and third rail inspection trolley data are acquired through filtering fusion processing according to the coordinate information, the first rail inspection trolley data and the second rail inspection trolley data; and otherwise, calculating to obtain the central coordinate information of the total station according to the measurement data, obtaining fourth rail inspection trolley data according to the central coordinate information, the first rail inspection trolley data and the second rail inspection trolley data through filtering fusion processing, and performing ride comfort analysis on the rail to be detected according to the third rail inspection trolley data or the fourth rail inspection trolley data and in combination with the rail gauge of the rail to be detected to obtain an analysis result. Therefore, by implementing the embodiment of the invention, the rail inspection trolley can select different working modes according to different application scenes, and the measurement precision and the working efficiency are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a track detection method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another track detection method disclosed in the embodiments of the present invention;
FIG. 3 is a schematic structural diagram of a rail inspection trolley disclosed in the embodiments of the present invention;
FIG. 4 is a schematic structural view of another rail inspection trolley disclosed in the embodiments of the present invention;
fig. 5 is a schematic structural diagram of another rail inspection trolley disclosed in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third" and "fourth" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a track detection method and a track detection trolley, which can select different working modes aiming at different application scenes, thereby improving the measurement precision and the working efficiency. The following detailed description is made with reference to the accompanying drawings.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a track detection method according to an embodiment of the present invention. As shown in fig. 1, the track detection method may include the following steps.
101. In the process that the rail inspection trolley runs on the rail to be detected, the rail inspection trolley acquires IMU data through an inertial sensor IMU arranged on the rail inspection trolley, acquires running information of the rail inspection trolley and measures the gauge of the rail to be detected, and acquires GPS positioning data and measurement data acquired by a total station, wherein the running information comprises the current accumulated mileage and the current speed of the rail inspection trolley.
It should be noted that before step 101 is executed, the rail inspection trolley may utilize 1PPS second pulse of the GPS to perform time synchronization on the inertial sensor IMU and the total station, so that the time of the GPS, the inertial sensor IMU, and the total station are in the same time system, so as to ensure that they are synchronized in data measurement, and ensure that the smoothness analysis is effective and reasonable.
Further, before the step 101 is executed, the rail inspection trolley can start the inertial sensor IMU to preheat for 10 to 15 minutes, so that the inertial sensor IMU enters a normal working temperature, and stands still for 5 to 8 minutes before measurement, so that the inertial sensor IMU completes self-alignment, and a high-precision attitude angle is ensured when the inertial sensor IMU enters a working state.
In the embodiment of the present invention, the Operating System (OS) of the rail inspection trolley may include, but is not limited to, a UNIX Operating System, a Linux Operating System, a Mac Operating System, a Windows Operating System, an iOS Operating System, an Android Operating System, and the like, and the embodiment of the present invention is not limited thereto.
As an alternative embodiment, the inertial sensor IMU disposed on the rail inspection trolley may have an accelerometer and a gyroscope disposed therein, and accordingly the rail inspection trolley may acquire IMU data through the accelerometer and the gyroscope disposed therein, wherein the IMU data at least includes acceleration and angular velocity of the rail inspection trolley.
As another alternative, the rail inspection trolley may be provided with a mileage meter and a wheel speed meter, and accordingly the rail inspection trolley may obtain the running information of the rail inspection trolley through the mileage meter and the wheel speed meter, where the running information of the rail inspection trolley at least includes the current accumulated mileage and the current speed of the rail inspection trolley.
As another alternative, the orbit detection vehicle may be provided with a mobile station, and accordingly the orbit detection vehicle may obtain GPS positioning data through the mobile station provided with the orbit detection vehicle and a base station corresponding to the mobile station, where the GPS positioning data includes at least a base station coordinate corresponding to the mobile station, a satellite pseudo range, a satellite phase, a satellite ephemeris and a doppler frequency.
As another optional implementation manner, the rail inspection trolley may be provided with a total station, and accordingly, the rail inspection trolley may obtain measurement data through the total station provided by the rail inspection trolley, where the measurement data includes data information of the control points CP iii of the plurality of foundation pile control networks, and the data information at least includes coordinate information and an oblique distance between the total station and each control point CP iii.
102. The rail inspection trolley obtains first rail inspection trolley data through calculation according to the IMU data, and obtains second rail inspection trolley data through calculation according to the running information, wherein the first rail inspection trolley data comprise first position information, first speed information and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data comprise second position information and second speed information of the rail inspection trolley.
It should be noted that, in step 102, the IMU and the total station are different in measurement accuracy, so that the first position information of the rail inspection trolley obtained by the IMU data calculation and the second position information of the rail inspection trolley obtained by the running information calculation are different in accuracy; similarly, the first velocity information of the rail inspection trolley calculated from the IMU data and the second velocity information of the rail inspection trolley calculated from the travel information are also different in accuracy.
In the embodiment of the invention, the rail inspection trolley can acquire the acceleration and the angular velocity of the rail inspection trolley through an accelerometer and a gyroscope which are arranged in an inertial sensor IMU on the rail inspection trolley, and the first position information, the first velocity information and the first attitude angle of the rail inspection trolley are obtained through calculation.
In the embodiment of the invention, the rail inspection trolley can acquire the current accumulated mileage and the current speed of the rail inspection trolley through the mileage meter and the wheel speed meter arranged on the rail inspection trolley, and the second position information and the second speed information of the rail inspection trolley are acquired through calculation.
103. The rail inspection trolley detects whether the environmental information of the current position of the rail inspection trolley is matched with a preset environment, if so, the step 104 is executed; if not, step 105 is performed.
104. When the surrounding environment indicated by the environment information is matched with the preset environment, the rail inspection trolley calculates and obtains coordinate information of a mobile station for acquiring GPS data according to GPS positioning data, and performs filtering fusion processing according to the coordinate information of the mobile station, first rail inspection trolley data and second rail inspection trolley data to obtain third rail inspection trolley data, wherein the third rail inspection trolley data comprises third position information, third speed information and a third attitude angle of the rail inspection trolley.
105. When the peripheral environment indicated by the environment information is not matched with the preset environment, the rail inspection trolley calculates and obtains center coordinate information of the total station according to the measurement data, and performs filtering fusion processing according to the center coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data, wherein the fourth rail inspection trolley data comprises fourth position information, fourth speed information and a fourth attitude angle of the rail inspection trolley.
In the embodiment of the present invention, the factors that reduce the working accuracy of the mobile station and the base station corresponding to the mobile station include, but are not limited to, weather factors (such as rainy days, sand storms, cloudy days, etc.), electrical electromagnetic factors (such as electromagnetic wave radiation sources of a transmission tower, a high-voltage line, etc.), and space factors (such as tall buildings, dense buildings, shelters, etc.), and the embodiment of the present invention is not limited thereto.
Therefore, in the embodiment of the present invention, the preset environment may be an environment where the weather is clear, the preset environment is far away from the electromagnetic radiation source, there is no high building around, there is no dense building, there is no shelter in the air, and the like, and the embodiment of the present invention is not limited.
It can be understood that when the peripheral environment indicated by the environment information of the current position detected by the rail inspection trolley is matched with the preset environment, the coordinate information of the mobile station for acquiring the GPS data is calculated and obtained according to the GPS positioning data, so that the GPS fixing rate and the precision of the coordinate information of the mobile station can be improved; when the peripheral environment indicated by the environmental information of the current position detected by the rail inspection trolley is not matched with the preset environment, the non-leveling mode of the total station is adopted, and the central coordinate information of the total station is calculated and obtained according to the measurement data collected by the total station, so that the working efficiency can be improved under the condition of not reducing the precision.
106. And the track inspection trolley performs ride comfort analysis on the track to be detected according to the data of the third track inspection trolley and the track gauge of the track to be detected or according to the data of the fourth track inspection trolley and the track gauge of the track to be detected, so as to obtain an analysis result.
For example, assuming a standard blind gauge of "wfp 15 a" on both the left and right, a step adjustment of 1mm, an adjustable range of "-8 mm to 8 mm", a standard rail pad gauge of 6mm, a step adjustment of 1mm, and an adjustable range of "-4 mm to 2 mm", if the proposed adjustment is a rail adjustment of 2mm to the right, the rail right blind gauge could be changed to "wfp 15 a-2" and the left "wfp 15a 2"; if the adjustment proposal is given as a 2mm rail height adjustment, then the rail pad gauge can be changed to 8 mm.
It can be seen that, when the method described in fig. 1 is implemented, when the surrounding environment is an environment such as clear weather, far away from electromagnetic radiation sources, no high-rise buildings around, dense buildings, no shelters in the air, and the like, the accuracy and the work efficiency are improved by performing post-processing on the GPS positioning data (for example, obtaining the GPS positioning data first and then performing related processing on the GPS positioning data); when the surrounding environment is rainy, close to a launching tower, high buildings or intensive buildings are arranged around the surrounding environment, shelters are arranged in the air and the like, the total station is adopted in a non-leveling mode, so that the working efficiency is improved under the condition of not reducing the precision; the rail inspection trolley can select different working modes according to different application scenes, and measurement accuracy and working efficiency are improved. In addition, by implementing the method described in fig. 1, the cost and environmental requirements can be reduced and the reliability can be enhanced by post-processing the GPS.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another track detection method according to an embodiment of the present invention. As shown in fig. 2, the track detection method may include the following steps.
201. In the process that the rail inspection trolley runs on a track to be detected, the rail inspection trolley acquires IMU data through an inertial sensor IMU arranged on the rail inspection trolley, acquires running information of the rail inspection trolley and measures the track gauge of the track to be detected, and acquires GPS positioning data and measurement data acquired by a total station, wherein the IMU data comprises the angular velocity and the acceleration of the rail inspection trolley, the running information comprises the current accumulated mileage and the current velocity of the rail inspection trolley, the measurement data comprises data information of a plurality of control points CP III of a foundation pile control network, and the data information comprises coordinate information and the slant gauge between the total station and each control point CP III.
202. The rail inspection trolley performs sliding average processing on the angular velocity of the rail inspection trolley and performs five-point three-time smoothing processing on the acceleration of the rail inspection trolley to obtain preprocessed IMU data, calculates and obtains first rail inspection trolley data according to the preprocessed IMU data, performs packet loss analysis processing on the running information of the rail inspection trolley, obtains processed running information, calculates and obtains second rail inspection trolley data according to the processed running information, wherein the first rail inspection trolley data comprises first position information, first speed information and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data comprises second position information and second speed information of the rail inspection trolley.
As an alternative, the rail inspection trolley may process the angular velocity of the rail inspection trolley by using a running average algorithm, which is shown in formula (1):
wherein, XkIn order to be the angular velocity of the object,moving average for recursionThe latter value, k is the recurrence number, N is the moving average window length, and N is related to the sampling frequency and dynamic response requirements.
As another alternative, the rail inspection vehicle may process the acceleration of the rail inspection vehicle using a five-point cubic smoothing algorithm, which is shown in equation (2):
wherein, XnIn order to be able to accelerate the vehicle,and (3) for a recursion value of five points after three times of smoothing, wherein k is a recursion sequence number, the formula (2) can perform repeated iterative smoothing according to the actual condition, and the smoothed data is used for replacing the original data and then continuing to perform secondary smoothing according to the formula (2) to sequentially iterate.
203. The rail inspection trolley detects whether the environmental information of the current position of the rail inspection trolley is matched with a preset environment, if so, the step 204 is executed; if not, step 205 is performed.
204. When the surrounding environment indicated by the environment information is matched with the preset environment, the rail inspection trolley sequentially performs data format conversion processing, gross error and abnormal value elimination processing, cycle slip detection processing and multi-path analysis processing on the GPS positioning data to obtain preprocessed GPS positioning data, and according to the preprocessed GPS positioning data, performing phase double-difference fixed calculation to obtain a base line vector of the mobile station and a base station corresponding to the mobile station, calculating to obtain the coordinate information of the mobile station according to the baseline vector, sequentially performing Kalman filtering processing, RTS reverse smoothing processing and forward and reverse Kalman filtering result fusion processing according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data to obtain third rail inspection trolley data, and the third rail inspection trolley data comprises third position information, third speed information and a third attitude angle of the rail inspection trolley.
As an alternative implementation, the rail inspection vehicle may establish a Kalman filter, and select states of WGS84 three-dimensional coordinates, single-differenced wide-lane ambiguity, and single-differenced L1 ambiguity of the mobile station, for each epoch, first use a double-differenced pseudorange update filter and detect and disable an abnormal satellite according to a residual error, then use a double-differenced wide-lane phase update filter and detect a large-cycle slip, perform partial wide-lane ambiguity search for fixed wide-lane integer ambiguity after updating the double-differenced wide-lane phase, then use a double-differenced L1 phase update filter, and finally perform partial L1 ambiguity search for fixed L1 integer ambiguity to obtain a baseline vector of the mobile station and a base station corresponding to the mobile station.
Further, when the orbit inspection trolley establishes a Kalman filter and carries out the first epoch, a satellite is not used, double-difference pseudorange updating, double-difference wide-lane phase updating, wide-lane ambiguity fixing, double-difference L1 phase updating and L1 ambiguity fixing are carried out in sequence, corresponding ratio values are recorded, if the maximum ratio value cannot meet the requirement, the satellite corresponding to the maximum ratio value is forbidden before the next epoch starts, and the analogy is carried out in sequence, one satellite is forbidden after each epoch, and finally the ratio value meeting the requirement is obtained, so that the base line vector of the mobile station and the base station corresponding to the mobile station is obtained.
As another optional implementation, the algorithm of Kalman filtering processing performed by the rail inspection trolley is as follows:
for a given continuous systemThe discrete time interval is T, and the discrete matrix is calculated as shown in formula (3):
wherein x is a state variable of the Kalman filter,is the differential of x, A is a system design matrix, G is a continuous noise distribution matrix, G 'is a transpose matrix of G, w is a process noise vector, C is an observation design matrix, v is an observation noise vector, phi is a system state transition matrix, I is a unity matrix of the same dimension, gamma is a discrete noise distribution matrix, gamma' is a transpose matrix of gamma, Q is a phase transition matrix, andkis a process noise matrix.
Further, the filtering fusion interval T is far larger than the update interval T of the IMUsLet T ═ N × T be the relationship between the twosWhere N is greater than 1, at update intervals T of each IMUsIn the method, the system is discretized once to obtain a matrix phii、QiThen the system state transition matrix and the process noise matrix areAndthe calculation of the state transition matrix can be optimized according to equation (4):
through the optimization of the formula (4), the stability and the precision of the Kalman filter can be improved.
As another alternative, the algorithm of the rail inspection trolley performing RTS reverse smoothing is as follows:
wherein,for the optimal state matrix after RTS reverse smoothing,is the covariance matrix after RTS reverse smoothing, K is the filter gain, Xk、PkFor the optimal state matrix after k Kalman filters and its covariance matrix,transposed matrix of state transition matrix for k to k +1 filtering, Xk|k+1、Pk|k+1Is the inverse matrix, dX, of the state matrix after k +1 filtering time updates and its covariance matrixs、dPsIs an intermediate variable.
As another optional implementation, the algorithm for performing forward and reverse Kalman filtering result fusion processing on the rail inspection trolley is as follows:
the state matrix of the forward and backward filtering and the covariance matrix thereof are assumed to beThen the forward and backward fusion result is shown in equation (6):
205. when the surrounding environment indicated by the environment information is not matched with the preset environment, the rail inspection trolley selects 3 CP III control points from the plurality of CP III control points, calculates and obtains a central coordinate initial value of the total station according to data information of the selected 3 CP III control points, calculates and obtains central coordinate information of the total station according to the central coordinate initial value, and sequentially performs Kalman filtering processing, RTS reverse smoothing processing and forward and reverse Kalman filtering result fusion processing according to the central coordinate information, first rail inspection trolley data and second rail inspection trolley data to obtain fourth rail inspection trolley data, wherein the fourth rail inspection trolley data comprises fourth position information, fourth speed information and a fourth attitude angle of the rail inspection trolley.
The data information comprises coordinate information of the CP III control points and the slant distance between the total station and each CP III control point.
As an optional implementation manner, the rail inspection trolley may calculate and obtain an initial value of the center coordinates of the total station according to data information of the selected 3 CP iii control points, where the algorithm is as follows:
of these, 3 CP III control points P are known1、P2、P3The coordinates of (a) are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), the slant distances between the total station and each CP iii control point are s1, s2, s3, x, y, z are initial values of the central coordinate of the total station to be solved, and the initial values of the central coordinate of the total station can be obtained according to the formula (7).
As another alternative, the rail inspection trolley may calculate the total station center coordinate information according to the total station center coordinate initial value obtained by formula (7), and the algorithm is as follows:
adopting a three-dimensional coordinate conversion model based on a direction cosine matrix:
wherein, [ X ' Y ' Z ']TAs the coordinates of point P in the geodetic coordinate system, [ X Y Z]TIs the coordinate of point P in the internal coordinate system of the total station, [ Delta X Delta Y Delta Z [ ]]TMu is the scale ratio for translation amount, [ a. ]]Is a direction cosine matrix. The scale factor is typically 1, so equation (8) can be converted to the following equation:
wherein,
and because [ a ] is an orthogonal matrix, the 9 elements thereof must satisfy the following condition:
in practical application, most practical projects can be solved by adopting a least square method, and thenSince the coordinates of the central point of the total station in the internal coordinate system of the total station are (0,0,0), Δ X, Δ Y, and Δ Z are the information of the central coordinates of the total station to be obtained.
As another alternative, the rail inspection trolley may perform Kalman filtering according to the formula (3) and the formula (4).
As another alternative, the rail inspection trolley may perform RTS inverse smoothing according to equation (5).
As another alternative, the rail inspection trolley may perform forward and backward Kalman filtering result fusion processing according to equation (6).
206. And the track inspection trolley performs ride comfort analysis on the track to be detected according to the data of the third track inspection trolley and the track gauge of the track to be detected or according to the data of the fourth track inspection trolley and the track gauge of the track to be detected, so as to obtain an analysis result.
It can be seen that, when the method described in fig. 2 is implemented, when the surrounding environment is clear, far away from the electromagnetic radiation source, and there are no high buildings around, dense buildings, and no shelter in the air, the GPS positioning data is preprocessed to obtain preprocessed GPS positioning data, then the fixed phase double-difference calculation is performed to obtain the baseline vector of the mobile station and the base station corresponding to the mobile station, and finally the coordinate information of the mobile station is obtained by calculation, so that the accuracy and the working efficiency are improved; when the surrounding environment is rainy days, is close to a launching tower, is surrounded by high buildings or intensive buildings, has shelters in the air and the like, a total station non-leveling mode is adopted, 3 CP III control points are selected from a plurality of CP III control points, the initial value of the central coordinate of the total station is obtained by calculation according to the data information of the selected 3 CP III control points, and finally the central coordinate information of the total station is obtained by calculation, so that the working efficiency is improved under the condition of not reducing the precision; the rail inspection trolley can select different working modes according to different application scenes, and measurement accuracy and working efficiency are improved. In addition, by implementing the method described in fig. 2, the GPS positioning data is post-processed, which can reduce the cost and environmental requirements and enhance the reliability.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a rail inspection trolley according to an embodiment of the present invention. As shown in fig. 3, the rail inspection trolley may include:
the acquiring unit 301 is configured to acquire IMU data, acquire running information of the rail inspection trolley, measure a gauge of the rail to be detected, acquire GPS positioning data and measurement data acquired by a total station through an inertial sensor IMU arranged on the rail inspection trolley in a process that the rail inspection trolley runs on the rail to be detected, wherein the running information includes a current accumulated mileage and a current speed of the rail inspection trolley;
the calculating unit 302 is configured to calculate and obtain first rail inspection trolley data according to the IMU data obtained by the obtaining unit 301, and calculate and obtain second rail inspection trolley data according to the running information obtained by the obtaining unit 301, where the first rail inspection trolley data includes first position information, first speed information, and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data includes second position information and second speed information of the rail inspection trolley;
the detection unit 303 is used for detecting environmental information of the current position of the rail inspection trolley;
the first processing unit 304 is configured to, when the peripheral environment indicated by the environment information detected by the detecting unit 303 matches a preset environment, calculate and obtain coordinate information of a mobile station for acquiring GPS data according to the GPS positioning data obtained by the obtaining unit 301, and perform filter fusion processing according to the coordinate information of the mobile station and the first rail inspection trolley data and the second rail inspection trolley data obtained by calculation by the calculating unit 302 to obtain third rail inspection trolley data, where the third rail inspection trolley data includes third position information, third speed information, and a third attitude angle of the rail inspection trolley;
a second processing unit 305, configured to, when the peripheral environment indicated by the environment information detected by the detecting unit 303 is not matched with the preset environment, calculate and obtain center coordinate information of the total station according to the measurement data obtained by the obtaining unit 301, and perform filter fusion processing according to the center coordinate information and the first rail inspection trolley data and the second rail inspection trolley data calculated and obtained by the calculating unit 302 to obtain fourth rail inspection trolley data, where the fourth rail inspection trolley data includes fourth position information, fourth speed information, and a fourth attitude angle of the rail inspection trolley;
an analyzing unit 306, configured to perform smoothness analysis on the track to be measured according to the third rail inspection trolley data obtained by the processing of the first processing unit 304 and the track gauge of the track to be measured by the obtaining unit 301, or according to the fourth rail inspection trolley data obtained by the processing of the second processing unit 305 and the track gauge of the track to be measured by the obtaining unit 301, so as to obtain an analysis result.
As an alternative embodiment, the acquisition unit 301 may have an accelerometer and a gyroscope built therein, and accordingly, the acquisition unit 301 may acquire IMU data through the built-in accelerometer and gyroscope, where the IMU data includes at least acceleration and angular velocity of the rail inspection vehicle.
As another alternative, the obtaining unit 301 may be provided with a mileage meter and a wheel speed meter, and accordingly the obtaining unit 301 may obtain the running information of the rail inspection trolley through the mileage meter and the wheel speed meter, where the running information of the rail inspection trolley at least includes the current accumulated mileage and the current speed of the rail inspection trolley.
As another alternative, the obtaining unit 301 may be provided with a mobile station, and accordingly the obtaining unit 301 may obtain GPS positioning data through the mobile station provided by the obtaining unit and a base station corresponding to the mobile station, where the GPS positioning data includes at least a base station coordinate corresponding to the mobile station, a satellite pseudorange, a satellite phase, a satellite ephemeris, and a doppler frequency.
As another alternative, the obtaining unit 301 may be provided with a total station, and accordingly the obtaining unit 301 may obtain measurement data through the total station provided therein, where the measurement data includes data information of the control points of the plurality of pile control networks CP iii, and the data information at least includes coordinate information and an oblique distance between the total station and each control point of CP iii.
As an optional implementation manner, when the peripheral environment indicated by the environment information of the current location detected by the detecting unit 303 matches the preset environment, the first processing unit 304 calculates and obtains the coordinate information of the mobile station for acquiring the GPS data according to the GPS positioning data acquired by the acquiring unit 301, so that the accuracy and the working efficiency are improved; when the surrounding environment indicated by the environment information of the current position detected by the detecting unit 303 is not matched with the preset environment, the second processing unit 305 calculates and obtains the center coordinate information of the total station according to the measurement data obtained by the obtaining unit 301, so that the working efficiency is improved without reducing the precision.
Therefore, when the rail inspection trolley described in the fig. 3 is implemented, when the surrounding environment is clear in weather, far away from an electromagnetic radiation source, without high buildings around, dense buildings, no shelters in the air and the like, the GPS positioning data is subjected to post-processing, so that the precision and the working efficiency are improved; when the surrounding environment is rainy, close to a launching tower, high buildings or intensive buildings are arranged around the surrounding environment, shelters are arranged in the air and the like, the total station is adopted in a non-leveling mode, so that the working efficiency is improved under the condition of not reducing the precision; the rail inspection trolley can select different working modes according to different application scenes, and measurement accuracy and working efficiency are improved. In addition, the rail inspection trolley described in the embodiment of fig. 3 can reduce the cost and the environmental requirement and enhance the reliability by carrying out post-processing on the GPS.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another rail inspection trolley disclosed in the embodiment of the present invention. Wherein the rail inspection trolley shown in figure 4 is further optimized from the rail inspection trolley shown in figure 3. In comparison to the rail inspection trolley shown in fig. 3, the rail inspection trolley shown in fig. 4 may further include:
a calculating unit 302, configured to perform sliding average processing according to the angular velocity of the rail inspection trolley acquired by the acquiring unit 301, perform five-point triple smoothing processing on the acceleration of the rail inspection trolley, acquire preprocessed IMU data, calculate and acquire first rail inspection trolley data according to the preprocessed IMU data, perform packet loss analysis processing on the running information of the rail inspection trolley, acquire processed running information, and calculate and acquire second rail inspection trolley data according to the processed running information;
the first processing unit 304 includes:
a preprocessing subunit 3041, configured to, when the surrounding environment indicated by the environment information detected by the detecting unit 303 matches a preset environment, sequentially perform data format conversion processing, gross error and abnormal value elimination processing, cycle slip detection processing, and multipath analysis processing on the GPS positioning data acquired by the acquiring unit 301 to obtain preprocessed GPS positioning data;
a first calculating subunit 3042, configured to perform phase double-difference fixed calculation to obtain a baseline vector of the mobile station and a base station corresponding to the mobile station according to the preprocessed GPS positioning data obtained by the preprocessing subunit 3041;
a second calculating subunit 3043, configured to calculate and obtain coordinate information of the mobile station according to the baseline vector calculated and obtained by the first calculating subunit 3042;
a first processing subunit 3044, configured to perform Kalman filter processing, RTS reverse smoothing processing, and forward and reverse Kalman filter result fusion processing in sequence according to the coordinate information of the mobile station calculated and obtained by the second calculating subunit 3043, and the first rail inspection vehicle data and the second rail inspection vehicle data calculated and obtained by the calculating unit 302, to obtain third rail inspection vehicle data;
the second processing unit 305 includes:
a third calculation subunit 3051, configured to, when the surrounding environment indicated by the environment information detected by the detection unit 303 is not matched with the preset environment, select 3 CP iii control points from the multiple CP iii control points acquired by the acquisition unit 301, and calculate to obtain an initial value of a central coordinate of the total station according to data information of the selected 3 CP iii control points;
the fourth calculation subunit 3052 is configured to calculate, according to the initial value of the center coordinate obtained by calculation of the third calculation subunit 3051, to obtain center coordinate information of the total station;
and the second processing subunit 3053 is configured to perform Kalman filtering processing, RTS reverse smoothing processing, and forward and reverse Kalman filtering result fusion processing in sequence according to the total station center coordinate information calculated and obtained by the fourth calculation subunit 3052 and the first rail inspection trolley data and the second rail inspection trolley data calculated and obtained by the calculation unit 302, so as to obtain fourth rail inspection trolley data.
As an alternative embodiment, the calculating unit 302 may process the angular velocity of the rail inspection vehicle by using a moving average algorithm, and optionally, the moving average algorithm is shown in formula (1).
As another alternative, the calculating unit 302 may process the acceleration of the rail inspection vehicle by using a five-point cubic smoothing algorithm, and optionally, the five-point cubic smoothing algorithm is shown in formula (2).
As another alternative, the first computing subunit 3042 may set up a Kalman filter, and select states of WGS84 three-dimensional coordinates, single-differenced widelane ambiguity, and single-differenced L1 ambiguity of the mobile station, for each epoch, first use the double-differenced pseudorange update filter and detect and disable an abnormal satellite according to a residual error, then use the double-differenced widelane phase update filter and detect a large cycle slip, perform a partial widelane ambiguity search for a fixed widelane integer ambiguity after the double-differenced widelane phase update, then use the double-differenced L1 phase update filter, and finally perform a partial L1 ambiguity search for a fixed L1 integer ambiguity to obtain a baseline vector of the mobile station and a base station corresponding to the mobile station.
Further, when the first computing subunit 3042 establishes a Kalman filter and performs a first epoch, it does not use one satellite and sequentially performs double-differenced pseudorange update, double-differenced wide-lane phase update, wide-lane ambiguity fix, double-differenced L1 phase update and L1 ambiguity fix, records a corresponding ratio value, if the maximum ratio value cannot meet the requirement, disables the satellite corresponding to the maximum ratio value before the next epoch starts, and so on, disables one satellite after each epoch, and finally obtains the ratio value meeting the requirement, thereby obtaining the baseline vector of the mobile station and the base station corresponding to the mobile station.
As another alternative embodiment, the algorithm of the Kalman filter processing performed by the first processing subunit 3044 is as shown in equation (3) and equation (4).
As another alternative, the algorithm of the first processing subunit 3044 performing RTS inverse smoothing processing is shown in equation (5).
As another alternative, the algorithm of the forward and backward Kalman filtering result fusion processing performed by the first processing subunit 3044 is shown in equation (6).
As another alternative, the third computing subunit 3051 may obtain an initial value of the center coordinate of the total station by calculating according to the data information of the selected 3 CP iii control points, and optionally, the algorithm is as shown in equation (7).
As another alternative, the fourth calculation subunit 3052 may calculate the total station center coordinate information according to the initial value of the center coordinate of the total station obtained by equation (7), and optionally, the algorithm is as shown in equation (8) and equation (9).
As another alternative embodiment, the algorithm of the Kalman filtering process performed by the second processing subunit 3053 is as shown in equation (3) and equation (4).
As another alternative, the algorithm of the second processing subunit 3053 performing RTS inverse smoothing processing is shown in equation (5).
As another alternative, the algorithm of the forward and backward Kalman filtering result fusion processing performed by the second processing subunit 3053 is shown in equation (6).
It can be seen that, when the rail inspection trolley described in fig. 4 is implemented, when the surrounding environment is clear, far away from the electromagnetic radiation source, and has no high buildings around, dense buildings, and no shelters in the air, and the like, the GPS positioning data is preprocessed to obtain preprocessed GPS positioning data, then the fixed phase double differences calculation is performed to obtain the baseline vector of the mobile station and the base station corresponding to the mobile station, and finally the coordinate information of the mobile station is obtained by calculation, so that the precision and the working efficiency are improved; when the surrounding environment is rainy days, is close to a launching tower, is surrounded by high buildings or intensive buildings, has shelters in the air and the like, a total station non-leveling mode is adopted, 3 CP III control points are selected from a plurality of CP III control points, the initial value of the central coordinate of the total station is obtained by calculation according to the data information of the selected 3 CP III control points, and finally the central coordinate information of the total station is obtained by calculation, so that the working efficiency is improved under the condition of not reducing the precision; the rail inspection trolley can select different working modes according to different application scenes, and measurement accuracy and working efficiency are improved. In addition, the rail inspection trolley described in the embodiment of fig. 4 can reduce the cost and the environmental requirement and enhance the reliability by performing post-processing on the GPS.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another rail inspection trolley disclosed in the embodiment of the present invention. As shown in fig. 5, the rail inspection trolley may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 calls the executable program code stored in the memory 501 to execute any one of the track detection methods of fig. 1 to 2.
An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute any one of the track detection methods shown in fig. 1 to 2.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.
The track detection method and the track detection trolley disclosed by the embodiment of the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (6)

1. A method of rail detection, comprising:
in the process that a rail inspection trolley runs on a track to be detected, acquiring IMU data through an inertial sensor IMU arranged on the rail inspection trolley, acquiring running information of the rail inspection trolley, measuring the track gauge of the track to be detected, and acquiring GPS (global positioning system) positioning data and measurement data acquired by a total station, wherein the running information comprises the current accumulated mileage and the current speed of the rail inspection trolley;
calculating to obtain first rail inspection trolley data according to the IMU data, and calculating to obtain second rail inspection trolley data according to the running information, wherein the first rail inspection trolley data comprises first position information, first speed information and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data comprises second position information and second speed information of the rail inspection trolley;
detecting the environmental information of the current position of the rail inspection trolley;
when the surrounding environment indicated by the environment information is matched with a preset environment, calculating and obtaining coordinate information of a mobile station for acquiring the GPS data according to the GPS positioning data, and performing filtering fusion processing according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data to obtain third rail inspection trolley data, wherein the third rail inspection trolley data comprises third position information, third speed information and a third attitude angle of the rail inspection trolley;
when the surrounding environment indicated by the environment information is not matched with the preset environment, calculating to obtain central coordinate information of the total station according to the measurement data, and performing filtering fusion processing according to the central coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data, wherein the fourth rail inspection trolley data comprises fourth position information, fourth speed information and a fourth attitude angle of the rail inspection trolley;
performing ride comfort analysis on the track to be detected according to the third rail inspection trolley data and the track gauge of the track to be detected or according to the fourth rail inspection trolley data and the track gauge of the track to be detected to obtain an analysis result;
the calculating and obtaining the coordinate information of the mobile station for collecting the GPS data according to the GPS positioning data comprises the following steps:
sequentially carrying out data format conversion processing, gross error and abnormal value elimination processing, cycle slip detection processing and multipath analysis processing on the GPS positioning data to obtain preprocessed GPS positioning data;
according to the preprocessed GPS positioning data, performing phase double-difference fixed calculation to obtain a base line vector of the mobile station and a base station corresponding to the mobile station;
calculating to obtain the coordinate information of the mobile station according to the baseline vector;
the filtering fusion processing is performed according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data to obtain third rail inspection trolley data, and the method comprises the following steps:
according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data, Kalman filtering processing, RTS reverse smoothing processing and forward and reverse Kalman filtering result fusion processing are sequentially carried out, and third rail inspection trolley data are obtained;
the measuring data includes data information of a plurality of control points CP iii of the foundation pile control network, where the data information includes coordinate information and an oblique distance between the total station and each control point CP iii, and the calculating, according to the measuring data, to obtain center coordinate information of the total station includes:
selecting 3 CP III control points from the plurality of CP III control points, and calculating according to data information of the selected 3 CP III control points to obtain a central coordinate initial value of the total station;
calculating to obtain the center coordinate information of the total station according to the initial value of the center coordinate;
the filtering fusion processing is performed according to the center coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data, and the method comprises the following steps:
and sequentially carrying out Kalman filtering processing, RTS reverse smoothing processing and forward and reverse Kalman filtering result fusion processing according to the central coordinate information, the first rail inspection trolley data and the second rail inspection trolley data to obtain fourth rail inspection trolley data.
2. The rail detection method of claim 1, wherein the IMU data includes angular velocity and acceleration of the rail inspection trolley, and wherein calculating the first rail inspection trolley data from the IMU data includes:
carrying out sliding average processing on the angular velocity of the rail inspection trolley and carrying out five-point three-time smoothing processing on the acceleration of the rail inspection trolley to obtain preprocessed IMU data;
and calculating to obtain the first rail inspection trolley data according to the preprocessed IMU data.
3. The track detection method according to claim 1, wherein the calculating and obtaining second rail inspection vehicle data according to the running information comprises:
performing packet loss analysis processing on the running information of the rail inspection trolley to obtain processed running information;
and calculating to obtain the second rail inspection trolley data according to the processed running information.
4. A rail inspection trolley, comprising:
the system comprises an acquisition unit, a measurement unit and a control unit, wherein the acquisition unit is used for acquiring IMU data, acquiring running information of a rail inspection trolley, measuring the gauge of a rail to be measured, acquiring Global Positioning System (GPS) positioning data and measurement data acquired by a total station through an inertial sensor IMU arranged on the rail inspection trolley in the process that the rail inspection trolley runs on the rail to be measured, and acquiring current accumulated mileage and current speed of the rail inspection trolley;
the calculation unit is used for calculating and obtaining first rail inspection trolley data according to the IMU data obtained by the obtaining unit and calculating and obtaining second rail inspection trolley data according to the running information obtained by the obtaining unit, wherein the first rail inspection trolley data comprise first position information, first speed information and a first attitude angle of the rail inspection trolley, and the second rail inspection trolley data comprise second position information and second speed information of the rail inspection trolley;
the detection unit is used for detecting the environmental information of the current position of the rail inspection trolley;
the first processing unit is used for calculating and obtaining coordinate information of a mobile station for acquiring the GPS data according to the GPS positioning data obtained by the obtaining unit when the surrounding environment indicated by the environment information detected by the detecting unit is matched with a preset environment, and performing filtering fusion processing according to the coordinate information of the mobile station, the first rail inspection trolley data and the second rail inspection trolley data obtained by calculation of the calculating unit to obtain third rail inspection trolley data, wherein the third rail inspection trolley data comprises third position information, third speed information and a third attitude angle of the rail inspection trolley;
the second processing unit is configured to, when the surrounding environment indicated by the environment information detected by the detection unit is not matched with the preset environment, calculate and obtain center coordinate information of the total station according to the measurement data obtained by the obtaining unit, and perform filtering fusion processing according to the center coordinate information, the first rail inspection trolley data and the second rail inspection trolley data obtained by calculation by the calculation unit to obtain fourth rail inspection trolley data, where the fourth rail inspection trolley data includes fourth position information, fourth speed information, and a fourth attitude angle of the rail inspection trolley;
the analysis unit is used for carrying out smoothness analysis on the track to be detected according to the third rail inspection trolley data obtained by the processing of the first processing unit and the track gauge of the track to be detected measured by the acquisition unit, or according to the fourth rail inspection trolley data obtained by the processing of the second processing unit and the track gauge of the track to be detected measured by the acquisition unit, so as to obtain an analysis result;
the first processing unit includes:
the preprocessing subunit is configured to, when the ambient environment indicated by the environment information matches a preset environment, sequentially perform data format conversion processing, gross error and abnormal value elimination processing, cycle slip detection processing, and multipath analysis processing on the GPS positioning data acquired by the acquisition unit to acquire preprocessed GPS positioning data;
the first calculation subunit is configured to perform phase double-difference fixed calculation according to the preprocessed GPS positioning data obtained by the preprocessing subunit to obtain a baseline vector of the mobile station and a base station corresponding to the mobile station;
the second calculating subunit is used for calculating and obtaining the coordinate information of the mobile station according to the baseline vector calculated and obtained by the first calculating subunit;
a first processing subunit, configured to perform Kalman filtering, RTS backward smoothing, and forward and backward Kalman filtering result fusion in sequence according to the coordinate information of the mobile station obtained through calculation by the second calculation subunit, the first rail inspection vehicle data and the second rail inspection vehicle data obtained through calculation by the calculation unit, and obtain the third rail inspection vehicle data;
the measurement data includes data information of a plurality of control points CP iii of the pile control network, where the data information includes coordinate information and an oblique distance between the total station and each of the control points CP iii, and the second processing unit includes:
a third computing subunit, configured to, when the ambient environment indicated by the environment information does not match the preset environment, select 3 CP iii control points from the multiple CP iii control points acquired by the acquisition unit, and calculate and obtain an initial value of a center coordinate of the total station according to data information of the selected 3 CP iii control points;
the fourth calculating subunit is configured to calculate and obtain the total station center coordinate information according to the center coordinate initial value calculated and obtained by the third calculating subunit;
and the second processing subunit is configured to sequentially perform Kalman filtering processing, RTS reverse smoothing processing, and forward and reverse Kalman filtering result fusion processing according to the total station center coordinate information obtained by the calculation performed by the fourth calculation subunit, the first rail inspection trolley data obtained by the calculation performed by the calculation unit, and the second rail inspection trolley data, so as to obtain the fourth rail inspection trolley data.
5. The rail inspection trolley according to claim 4, wherein the IMU data includes angular velocity and acceleration of the rail inspection trolley, and the calculation unit is configured to calculate the first rail inspection trolley data according to the IMU data acquired by the acquisition unit in a manner that:
the calculation unit is used for performing sliding average processing on the angular velocity of the rail inspection trolley acquired by the acquisition unit and performing five-point three-time smoothing processing on the acceleration of the rail inspection trolley to acquire preprocessed IMU data, and calculating to acquire the first rail inspection trolley data according to the preprocessed IMU data.
6. The rail inspection trolley according to claim 4, wherein the calculation unit is configured to calculate and obtain second rail inspection trolley data according to the running information obtained by the obtaining unit in a manner that:
the calculation unit is configured to perform packet loss analysis processing on the running information of the rail inspection trolley acquired by the acquisition unit to acquire processed running information, and calculate and acquire the second rail inspection trolley data according to the processed running information.
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