CN109334706A - Satellite positioning and the integrated track detection car of inertial navigation - Google Patents

Satellite positioning and the integrated track detection car of inertial navigation Download PDF

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Publication number
CN109334706A
CN109334706A CN201811222027.XA CN201811222027A CN109334706A CN 109334706 A CN109334706 A CN 109334706A CN 201811222027 A CN201811222027 A CN 201811222027A CN 109334706 A CN109334706 A CN 109334706A
Authority
CN
China
Prior art keywords
inertial navigation
car
satellite
shape
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811222027.XA
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Chinese (zh)
Inventor
丁志刚
过静珺
曾润国
周百胜
贾庆鲁
王增岩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BEIJING HUACHEN WANTAI TECHNOLOGY Co Ltd
Shandong Beidou Hua Chen Navigation Technology Ltd By Share Ltd
Original Assignee
BEIJING HUACHEN WANTAI TECHNOLOGY Co Ltd
Shandong Beidou Hua Chen Navigation Technology Ltd By Share Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BEIJING HUACHEN WANTAI TECHNOLOGY Co Ltd, Shandong Beidou Hua Chen Navigation Technology Ltd By Share Ltd filed Critical BEIJING HUACHEN WANTAI TECHNOLOGY Co Ltd
Priority to CN201811222027.XA priority Critical patent/CN109334706A/en
Publication of CN109334706A publication Critical patent/CN109334706A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61KAUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00Railway 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
    • B61K9/08Measuring installations for surveying permanent way

Abstract

The present invention relates to the ride comfort detection technique fields of track, more particularly to a kind of satellite positioning and the integrated track detection car of inertial navigation, including T shape car body, sleeper identifier is fixed in the shape car body side T, the setting traveling wheel of T shape car body bottom surface, corresponding traveling wheel installation track gauge sensor and odometer, 3 masts are arranged in the shape car body top surface T, fixed satellite signal receiving antenna on mast, every satellite signal receiving antenna is correspondingly provided with a satellite receiver, accommodation groove is arranged in a line top surface of T shape car body, solid temperature sensor in accommodation groove, satellite receiver, obliquity sensor and power supply, Dormant Inertial Navigation System is gone back on T shape car body, aforementioned each sensor, satellite receiver, inertial navigation system, sleeper identifier and odometer are connected to processing unit.The present invention enhances the anti-interference of rail inspection equipment, can all weather operations, it is not affected by environment, improve detection accuracy and detection efficiency.

Description

Satellite positioning and the integrated track detection car of inertial navigation
Technical field
The present invention relates to the ride comfort detection technique fields of track, and in particular to a kind of satellite positioning and inertial navigation are integrated Track detection car.
Background technique
It is established on the basis of III control point CP when existing railroad track ride comfort detection device measures, passes through total station Angle and distance measurement, in the indirect measurement for being converted into deviation from linearity.III control point CP is just designed at the beginning of railway construction In railway both sides, it is spaced 60 meters or so each one, forced centering mark is set on III control point CP, is known coordinate point.? When detection, prism is disposed on III control point CP, then sets up total station in track, by observing III control point coordinates of known CP Determine total station frame station coordinates, then sleeper observes the prism on track checking car one by one, measures Coordinate of central line, and then calculate that track is flat Pliable parameter.
Since the precision at III control point CP just will affect detection accuracy, so railway O&M side must periodically spend a large amount of expense It is used as the precision repetition measurement at III control point CP, due to the detection of sleeper one by one that the technology uses, so detection speed is slow, low efficiency, One operation group, can only at most survey 300m route by one " skylight point " (4h).In addition, since total station is to environmental condition Exquisite sensitivity, track geometry status measuring instrument (hereinafter referred to as rail survey instrument) is easily by external environment when measurement, such as temperature, wet Degree, light, visibility and wind speed etc. influence, and the coordinate value accuracy measured is caused although to can satisfy place on line measurement request (± 10mm), but be not able to satisfy in track, shortwave ride comfort requirement (≤2mm).And the measurement of higher degree precision of total station is very It is low, and measurement result is unstable.Therefore, when currently used orbit measurement method is difficult to meet operation in track, shortwave it is flat Pliable measurement request.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: a kind of satellite positioning and the integrated rail of inertial navigation are provided Examine trolley, the anti-interference of enhancing rail inspection equipment, can all weather operations, it is not affected by environment, improve detection accuracy and inspection Survey efficiency.
The present invention is technical solution used by solving its technical problem are as follows:
The satellite positioning and the integrated track detection car of inertial navigation, including T shape car body, T shape car body side retaining rail Identifier is rested the head on, traveling wheel is arranged in three ends of T shape car body bottom surface, and an optional traveling wheel connects odometer, an optional traveling wheel Track gauge sensor is installed, a mast is respectively set in three ends of T shape car body top surface, and fixed satellite signal receives day on mast Line, every satellite signal receiving antenna are correspondingly provided with a satellite receiver, and accommodating is arranged in a line top surface of the T shape car body Slot, solid temperature sensor, satellite receiver, obliquity sensor and power supply in accommodation groove, also fixed inertia is led on T shape car body Boat system, temperature sensor, satellite receiver, obliquity sensor, track gauge sensor, inertial navigation system, sleeper identifier and Odometer is connected to processing unit by interface control unit.
The present invention installs three satellite signal receiving antennas and three sets of satellite receiver on T shape car body, passes through installation Three satellite signal receiving antennas on T shape car body receive satellite data, then do in satellite receiver at parsing storage Reason, relative position of three satellite signal receiving antennas on T shape car body is fixed it is known that High Accuracy Inertial Navigation System records T Shape car body obtains three-dimensional state during the motion, records T shape car body in real time by track gauge sensor in movement and stationary state The gauge data of measurement, obliquity sensor measure the three-dimensional state of T shape car body under static state, and temperature sensor records in real time Environment temperature during equipment work, sleeper identifier record the sleeper number that T shape car body passes through under motion state in real time, own Data all pass through interface control unit and be connected to processing unit and carry out subsequent processing, tablet computer, pen can be used in processing unit Remember this computer or PC machine.
When equipment works, after the dip angle parameter for having demarcated T shape car body itself, start that T shape car body is pushed to examine operation to rail Direction of advance is advanced, and during advance, High Accuracy Inertial Navigation System records the course of T shape car body in real time, is rolled, roll three Dimension state, meanwhile, it is real-time under the satellite location data of cooperation satellite receiver record, the motion state of track gauge sensor record Gauge data and the sleeper data of sleeper identifier identification, which can be used as, calculates the rail of track to, height and ultra-high parameter and sleeper position The initial data set, the acquisition of data do not depend on III control point CP, improve rail inspection homework precision, solve III control point CP essence Degree changes over time the problem of causing rail inspection precision to reduce.
Wherein, preferred embodiment are as follows:
The accommodation groove middle position passes through display by the fixed display bracket of crossbeam, the display of processing unit connection Device bracket is fixed;Handle is arranged in display bracket side, and display is fixed on beside handle, aobvious convenient for using and checking when cart Show device.
Reinforcing rib is set between two sides of the T shape car body;Sleeper identifier is fixed on the reinforcing rib.
Above-mentioned temperature sensor, satellite receiver, obliquity sensor, track gauge sensor, inertial navigation system, sleeper identification Device and odometer are all made of market and now sell product.
Compared with prior art, the invention has the following advantages:
The present invention enhance rail inspection equipment anti-interference, can all weather operations, it is not affected by environment, improve detection essence Degree and detection efficiency.It using satellite positioning surveys track absolute coordinate, can directly measure, not depend on III control point CP, improve Rail examines homework precision, and solving the problems, such as that CP III precision of control point changes over time causes rail inspection precision to reduce, and high-precision is used Property navigation system records T shape car body during the motion three-dimensional state, record T shape car body in real time by track gauge sensor and transporting The gauge data of dynamic and stationary state measurement, obliquity sensor measure the three-dimensional state of T shape car body under static state, temperature Environment temperature during the work of sensor real-time recording unit, sleeper identifier record T shape car body in real time and pass through under motion state The sleeper number crossed, combined high precision inertial navigation system device record track checking car three-dimensional data pass through high-precision mobile satellite location equipment in turn The rest point coordinate of calculating calculates sleeper coordinate one by one, and not needing each sleeper will stop measuring, and substantially increases rail inspection and makees Industry efficiency.
Detailed description of the invention
Fig. 1 structure of the invention Fig. 1.
Fig. 2 structure of the invention Fig. 2.
In figure: 1, T shape car body;2, sleeper identifier;3, traveling wheel;4, mast;5, satellite signal receiving antenna;6, it defends Star receiver;7, accommodation groove;8, temperature sensor;9, obliquity sensor;10, power supply;11, inertial navigation system;12, horizontal Beam;13, display bracket;14, handle;15, reinforcing rib.
Specific embodiment
Embodiment 1:
As shown in Figs. 1-2, the satellite positioning and the integrated track detection car of inertial navigation, including T shape car body 1, the T shape vehicle Sleeper identifier 2 is fixed in 1 side of body, and traveling wheel 3 is arranged in three ends of 1 bottom surface of T shape car body, and an optional traveling wheel 3 connects mileage Meter, an optional traveling wheel 3 install track gauge sensor, and a mast 4, mast is respectively set in three ends of 1 top surface of T shape car body Fixed satellite signal receiving antenna 5 on 4, every satellite signal receiving antenna 5 are correspondingly provided with a satellite receiver 6, the T shape Accommodation groove 7, solid temperature sensor 8, satellite receiver 6,9 and of obliquity sensor in accommodation groove 7 is arranged in the vertical edge top surface of car body 1 Power supply 10 goes back Dormant Inertial Navigation System 11, temperature sensor 8, satellite receiver 6, obliquity sensor on T shape car body 1 9, track gauge sensor, inertial navigation system 11, sleeper identifier 2 and odometer are connected to processing list by interface control unit Member, processing unit are also connected with display, track gauge sensor and odometer and do not embody in fig. 1 and 2 because blocking.
Wherein, by the fixed display bracket 13 of crossbeam 12, the display of processing unit connection is logical in accommodation groove 7 middle position It is fixed to cross display bracket 13;Handle 14 is arranged in 13 side of display bracket, and display is fixed on 14 side of handle, is convenient for cart When use and check display;Reinforcing rib 15 is set between two sides of T shape car body 1;Sleeper knowledge is fixed on the reinforcing rib 15 Other device 2.
Above-mentioned temperature sensor 8, satellite receiver 6, obliquity sensor 9, track gauge sensor, inertial navigation system 11, rail Pillow identifier 2 and odometer are all made of market and now sell product.
The present invention installs three satellite signal receiving antennas 5 and three sets of satellite receiver 6 on T shape car body 1, passes through peace Three satellite signal receiving antennas 5 on T shape car body 1 receive satellite data, then do parsing in satellite receiver 6 and deposit Storage processing, relative position of three satellite signal receiving antennas 5 on T shape car body 1 is fixed it is known that High Accuracy Inertial Navigation System 11 record T shape car bodies 1 during the motion three-dimensional state, recorded in real time by track gauge sensor T shape car body 1 movement and The gauge data of stationary state measurement, obliquity sensor 9 measure the three-dimensional state of T shape car body 1 under static state, temperature sensing Environment temperature during the work of 8 real-time recording unit of device, record T shape car body 1 passes through sleeper identifier 2 under motion state in real time Sleeper number, all data, which all pass through interface control unit and are connected to processing unit, carries out subsequent processing, and processing unit can adopt With tablet computer, laptop or PC machine, interface control unit generally uses serial ports to turn network interface module, by each measuring device Measuring signal is sent to processing unit after turning network interface module integration by serial ports, and serial ports turns network interface module and now sells product using market ?.
When equipment works, after the dip angle parameter for having demarcated T shape car body 1 itself, start that T shape car body 1 is pushed to examine work to rail Industry direction of advance is advanced, and during advance, High Accuracy Inertial Navigation System 11 records the course of T shape car body 1 in real time, is rolled, Roll three-dimensional state, meanwhile, the motion state of satellite location data, track gauge sensor record that cooperation satellite receiver 6 records Under the sleeper data that identify of real-time gauge data and sleeper identifier 2 can be used as and calculate the rail of track to, height and superelevation ginseng Several and sleeper position initial data, the acquisition of data do not depend on III control point CP, improve rail inspection homework precision, solve CP III precision of control point changes over time the problem of causing rail inspection precision to reduce.

Claims (6)

1. a kind of satellite positioning and the integrated track detection car of inertial navigation, which is characterized in that satellite positioning and the integrated rail of inertial navigation Trolley, including T shape car body (1) are examined, the T shape car body (1) side is fixed sleeper identifier (2), and the three of T shape car body () bottom surface End setting traveling wheel (3), an optional traveling wheel (3) connect odometer, and an optional traveling wheel (3) installs track gauge sensor, T Three ends of shape car body (1) top surface are respectively set a mast (4), fixed satellite signal receiving antenna (5) on mast (4), Every satellite signal receiving antenna (5) is correspondingly provided with a satellite receiver (6), and a line top surface of the T shape car body (1) is set It sets accommodation groove (7), accommodation groove (7) interior fixed temperature sensor (8), satellite receiver (6), obliquity sensor (9) and power supply electricity Source (10) is gone back Dormant Inertial Navigation System (11) on T shape car body (1), and temperature sensor (8), satellite receiver (6), inclination angle pass Sensor (9), track gauge sensor, inertial navigation system (11), sleeper identifier (2) are connected with odometer by interface control unit To processing unit.
2. satellite positioning according to claim 1 and the integrated track detection car of inertial navigation, which is characterized in that the accommodation groove (7) middle position is fixed display bracket (13) by crossbeam (12), and display is fixed by display bracket (13).
3. satellite positioning according to claim 2 and the integrated track detection car of inertial navigation, which is characterized in that the display Handle (14) are arranged in bracket (13) side.
4. satellite positioning according to claim 1 and the integrated track detection car of inertial navigation, which is characterized in that the T shape vehicle Reinforcing rib (15) are set between two sides of body (1).
5. satellite positioning according to claim 3 and the integrated track detection car of inertial navigation, which is characterized in that the reinforcing rib (15) sleeper identifier (2) are fixed on.
6. satellite positioning according to claim 5 and the integrated track detection car of inertial navigation, which is characterized in that the sleeper is known Other device (2) uses infrared sensor.
CN201811222027.XA 2018-10-19 2018-10-19 Satellite positioning and the integrated track detection car of inertial navigation Pending CN109334706A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811222027.XA CN109334706A (en) 2018-10-19 2018-10-19 Satellite positioning and the integrated track detection car of inertial navigation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811222027.XA CN109334706A (en) 2018-10-19 2018-10-19 Satellite positioning and the integrated track detection car of inertial navigation

Publications (1)

Publication Number Publication Date
CN109334706A true CN109334706A (en) 2019-02-15

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110203247A (en) * 2019-06-18 2019-09-06 上海应用技术大学 A kind of multisensor synchronous for track detecting
CN110203223A (en) * 2019-06-18 2019-09-06 上海应用技术大学 A kind of track irregularity detection device
CN110258216A (en) * 2019-06-19 2019-09-20 湖北三江航天红峰控制有限公司 A kind of simple high-speed rail inertial navigation rail checking device and detection method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110203247A (en) * 2019-06-18 2019-09-06 上海应用技术大学 A kind of multisensor synchronous for track detecting
CN110203223A (en) * 2019-06-18 2019-09-06 上海应用技术大学 A kind of track irregularity detection device
CN110258216A (en) * 2019-06-19 2019-09-20 湖北三江航天红峰控制有限公司 A kind of simple high-speed rail inertial navigation rail checking device and detection method
CN110258216B (en) * 2019-06-19 2020-11-06 湖北三江航天红峰控制有限公司 Simple high-speed rail inertial guide rail detection device and detection method

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