CN109797612A - It is a kind of detect vehicle track determine method, apparatus, equipment and medium - Google Patents
It is a kind of detect vehicle track determine method, apparatus, equipment and medium Download PDFInfo
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Abstract
The present invention provides a kind of tracks for detecting vehicle to determine method, apparatus, equipment and medium, wherein, this method comprises: the first relative position information between initial position message and the preset profiler based on profiler and detection vehicle, determines the initial position message of the detection vehicle；According to the initial position message of the detection vehicle and the detection vehicle in the posture information of each detection cycle, determine the detection vehicle in the location information of each detection cycle；According to the determining detection vehicle in the location information of each detection cycle, the track of the detection vehicle is determined.In view of this, a kind of track of being designed to provide of the application determines method, the too long time of measuring of track cost is determined in the prior art for solving the problems, such as.The embodiment of the present invention passes through the initial position message of detection vehicle, and detection vehicle has saved time of measuring in the location information of each detection cycle to determine the track of detection vehicle, improves the efficiency for determining the track for detecting vehicle.
Description
Technical field
The present invention relates to track fields, determine method, dress in particular to a kind of track for detecting vehicle
It sets, equipment and medium.
Background technique
In the prior art, the rail inspection instrument based on total station can be used for measuring the track of rail inspection instrument, the rail inspection based on total station
The path accuracy that instrument measures is very high, but since the characteristic of total station needs when rail inspection instrument measures trace information in measuring section
It to be stopped at multiple measurement moment, the current metrical information of inspection instrument of overstepping the limit could be detected by stopping at the measurement moment, by multiple measurements
The metrical information at moment is integrated, and the running track of the rail inspection instrument in measuring section can be just calculated.Because based on total station
Rail inspection instrument needs repeatedly to stop in measurement process, and residence time is longer, causes to measure taking a long time for determining track, drop
The low efficiency of determining track, so that the time of track detecting personnel environmental work outdoors is more, Comparision is arduous.Cause
This, rail examines instrument when measuring and determining track, while need to obtaining high precision measuring data, determines that the efficiency of track need to be mentioned
It is high.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of tracks for detecting vehicle to determine method, apparatus, equipment and Jie
Matter, to improve the measurement efficiency of detection vehicle orbit track.
In a first aspect, the embodiment of the invention provides a kind of tracks for detecting vehicle to determine method, comprising:
The first opposite position between initial position message and the preset profiler based on profiler and detection vehicle
Confidence breath determines the initial position message of the detection vehicle；
According to it is described detection vehicle initial position message and it is described detection vehicle each detection cycle posture information,
Determine the detection vehicle in the location information of each detection cycle；
According to the determining detection vehicle in the location information of each detection cycle, the track of the detection vehicle is determined.
Optionally, calculate the initial position message of the profiler the following steps are included:
Obtain second relative position information at control point in the profiler and measuring section；
According to the coordinate information of second relative position information and the control point, the initial of the profiler is determined
Location information.
Optionally, first relative position information includes that the profiler is default square at least two relative to detection vehicle
Between upward offset, the initial position message based on profiler and the preset profiler and detection vehicle
First relative position information determines the initial position message of the detection vehicle, comprising:
Using the offset of at least two preset direction, to the information of the correspondence preset direction in first location information
It is corrected, using the first location information after correction as the initial position message of the detection vehicle.
Optionally, the initial position message and the detection vehicle according to the detection vehicle is in each detection cycle
Posture information, determine it is described detection vehicle each detection cycle location information, comprising:
For each detection cycle, the location information and the detection vehicle of vehicle are detected according to a upper detection cycle
In the posture information of the detection cycle and the posture information of a upper detection cycle, determine the detection vehicle in the position of the detection cycle
Confidence breath；
Wherein, if a upper detection cycle is the initial detecting period, the location information of vehicle is detected described in a upper detection cycle
For the initial position message.
Optionally, first relative position information includes: lever arm of the profiler relative to the detection vehicle wheel
Information, the lever arm information be based on the distance between the profiler and the detection vehicle wheel and the profiler and
What the deviation angle between the detection vehicle wheel was calculated.
Second aspect, the embodiment of the invention provides a kind of track determining devices for detecting vehicle, comprising:
First position determining module, initial position message and the preset profiler and detection based on profiler
The first relative position information between vehicle determines the initial position message of the detection vehicle；
Second position determining module, for the initial position message and the detection vehicle according to the detection vehicle every
The posture information of a detection cycle determines the detection vehicle in the location information of each detection cycle；
Track determining module, for, in the location information of each detection cycle, determining institute according to the determining detection vehicle
State the track of detection vehicle.
Optionally, further includes: computing module, the computing module are used for:
Obtain second relative position information at control point in the profiler and measuring section；
According to the coordinate information of second relative position information and the control point, the initial of the profiler is determined
Location information.
Optionally, first relative position information includes that the profiler is default square at least two relative to detection vehicle
Upward offset, the first position determining module are specifically used for:
Using the offset of at least two preset direction, to the information of the correspondence preset direction in first location information
It is corrected, using the first location information after correction as the initial position message of the detection vehicle.
The third aspect the embodiment of the invention provides a kind of computer equipment, including memory, processor and is stored in institute
The computer program that can be run on memory and on the processor is stated, the processor executes real when the computer program
The step of existing above method.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
The step of being stored with computer program on medium, the above method executed when the computer program is run by processor.
The track of detection vehicle provided in an embodiment of the present invention determines method, passes through the initial position message and first of profiler
The calculating of relative position can determine the initial position message of detection vehicle, then according to the initial position message of detection vehicle, and
The posture information of each detection cycle determines detection vehicle in the location information of each detection cycle, finally according to each detection week
The location information of the detection vehicle of phase determines the track of detection vehicle.The track determination side for the detection vehicle that the embodiment of the present application is proposed
Method, so that detection vehicle, during determining track, detection vehicle can measure the parameter of needs in traveling at the uniform speed, and calculate
Accurate detection wheel paths are obtained, are not needed in measurement parameter, stop measurement is carried out, have saved time of measuring, are improved
The efficiency of the track of determining detection vehicle.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of track for detecting vehicle provided by the embodiment of the present invention and determines the flow chart of method；
Fig. 2 shows the flow charts of a kind of method of determining profiler initial position provided by the embodiment of the present invention；
Fig. 3 shows a kind of Measure section instrument provided by the embodiment of the present invention to the lever arm information between detection vehicle wheel
The flow diagram of method；
Fig. 4 show a kind of profiler provided by the embodiment of the present invention and detection vehicle right front wheel and detection vehicle it is right after
The position view of wheel；
Fig. 5 shows a kind of structural schematic diagram for the track determining device for detecting vehicle provided by the embodiment of the present invention；
Fig. 6 shows a kind of structural schematic diagram of computer equipment 600 provided by the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
In view of orbit track measurement method takes a long time in the prior art so that the working efficiency of orbital worker compared with
It is low, it is based on this, the embodiment of the invention provides a kind of tracks for detecting vehicle to determine method and apparatus, carries out below by embodiment
Description.
As shown in Figure 1, the track that the embodiment of the present application provides a kind of detection vehicle determines method, comprising:
101, the first opposite position between initial position message and preset profiler based on profiler and detection vehicle
Confidence breath, determines the initial position message of detection vehicle；
Here, initial position message is generally coordinate information.For example, (x, y, z).
The initial position message of profiler is through the following steps that be calculated, as shown in Figure 2:
201, obtain second relative position information at control point in profiler and measuring section；
Here, measuring section is preset a distance that can be measured.
Control point is the preset position that can be used as reference point, for example, the ballastless track construction in orbit measurement is special
Control point CP3 point.
Second relative position information is the oblique distance and vertical angle information between the profiler that profiler measures and control point, tiltedly
Away from being linear distance between profiler and control point, vertical angle is profiler in the vertical plane where profiler and control point
Angle between the direction line and horizontal line at control point.
In obtaining measuring section before second relative position information at control point, the coordinate information at control point is also obtained.
In the prior art, the coordinate information for obtaining control point is the point number that corresponding control point is looked for by artificial mode, then
In the storage table at control point, according to the corresponding relationship of the point number at control point and the coordinate information at control point, the control point is found
The corresponding control point of point number coordinate information, still, it is fuzzy or lose that the control point of some routes may have spary
It the case where mistake, or the point number inaccuracy at the control point mended afterwards, is easy to obscure, affects the efficiency and standard of entire measurement process
Exactness.Therefore, accurately obtain control point coordinate information problem have it is to be solved.
In order to solve accurately to obtain the coordinate information at control point, can will be controlled when storing control point coordinates information
The storage corresponding with coordinate information of the point number of point, mileage information.Therefore, in known measuring section, according in measuring section starting point
Journey information and the mileage information for measuring segment endpoint, determine the mileage section where measuring section, look in the storage table at control point
To the mileage information in above-mentioned mileage section, corresponding point number is found according to the mileage information, is then found according to the point number
Corresponding coordinate information, the coordinate information are exactly the coordinate information at the control point in measuring section.It is available by the above method
To the coordinate information at the control point of coincidence measurement section, and the coordinate information is more accurate, is not in the point number mould because of control point
Paste gets the coordinate information at the control point of mistake, or because the point number at control point is lost so that obtaining the seat that cannot get control point
The case where marking information.
It is only that the point number at control point is corresponding with the coordinate information at control point but in existing control point storage table
Storage, there is no the mileage informations for storing control point, and the coordinate information at control point can not be obtained according to the mileage information at control point,
Therefore, in order to which the mileage information at control point to be stored in the storage table of control point, a kind of control point mileage is present embodiments provided
The calculation method of information, for facilitating the measurement to control point mileage information when storing control point information.
The measurement method of control point mileage information the following steps are included:
Control point coordinates information known to step 1., according to the coordinate information at control point and design table in coordinate information,
Calculate separately the distance between the standard point in control point and design table, according to apart from descending sequence to design table in
Standard point is ranked up, the forward preceding preset number standard point of selected and sorted, wherein and preset number can be 3/5/9 etc.,
Preferably, preset number 9.
Here, what is stored in design table is the coordinate information and mileage information of standard point, and standard point is to be preset in track
On point.
Step 2. is ranked up in 9 standard points by the descending sequence of mileage information, and sort forward standard point
As first point, sort at last o'clock as the 9th point, using the 9th point as starting point, using first point as terminal,
Directed line segment is done from starting point to terminal, obtains vectorTo vectorIt carries out unitization, obtains vector
For example, first point is A, the 9th point is B, thenIt willBring formula intoCarry out it is unitization, obtain to
AmountThen
Step 3. is done directed line segment from starting point to terminal, is obtained using control point as starting point using first point as terminal
Vector
For example, control point is C, first point is A from the above, then
Step 4. vectorWith vectorDo scalar product, obtain first point to control point intersection point position distance, as calculation
Value h；
By vectorWith vectorIt is brought into dot product equationIt obtainsWherein, θ is vectorWith vectorBetween angle.
Step 5. is according to the coordinate information and vector of first pointThe vector value being multiplied with calculation value h, calculates
To the coordinate information of control point intersection point position；
For example, the coordinate information of first point is (x, y, z), vectorThe vector value being multiplied with calculation value h be (Δ x,
Δ y, Δ z), then the coordinate information of intersection point position is (x+ Δ x, y+ Δ y, z+ Δ z).
Step 6. calculates intersection point positional distance according to the coordinate information of intersection point position and the coordinate information of 9 standard points
Two nearest standard points, obtain the coordinate information of above-mentioned two standard point；
Step 7. obtains the mileage information of above-mentioned two standard point, obtains the corresponding mileage of intersection point using interpolation method；
For example, nearest two o'clock is respectively A with intersection point positional distance during using interpolation calculation intersection point position
And the mileage value of B, point A are M1, the mileage value of point B is M2, wherein M1Less than M2, intersection point position is d at a distance from point A1, intersection point position
It sets at a distance from point B as d2, the mileage value of intersection point position is M, utilizes interpolation method formulaIt calculates
Obtain the mileage value of intersection point position.
The mileage value of step 8. intersection point position is similar to the mileage value at control point.
When calculating the mileage value at control point, can also be calculated using other calculation methods in the prior art, here
Just no longer repeat one by one.
202, according to the coordinate information of the second relative position information and control point, determine the initial position message of profiler.
According between profiler and control point oblique distance and vertical angle information, can be calculated profiler and control point it
Between difference on preset direction using above-mentioned difference and the coordinate information at control point the position letter of profiler is calculated
Breath, profiler is only in the starting point of each measuring section, the initial bit confidence of the i.e. profiler of the location information for the profiler being calculated
Breath.
Preset direction is the direction of profiler with axis of orientation in the coordinate system where control point.
The calculation method of profiler initial position provided by the embodiments of the present application, passes through the phase between profiler and control point
To the coordinate information of location information and control point, the location information of profiler can be accurately determined, due to entire measuring system
It is all based on what the initial position message of profiler was calculated, therefore, obtains the accurate initial position message of profiler, be whole
A measuring system is had laid a good foundation.
It, will also be according to the first opposite position of profiler and detection vehicle after the initial position message of profiler is calculated
Confidence breath just determines the initial position message of detection vehicle.
Wherein, the first relative position information includes: lever arm information of the profiler relative to detection vehicle wheel, and lever arm information is
It is calculated based on the deviation angle between the distance between profiler and detection vehicle wheel and profiler and detection vehicle wheel
's.
In specific implementation, detection vehicle needs to determine detection vehicle according to the specific location of detection vehicle when determining track
Track, and the specific location for detecting vehicle can be indicated with the position of detection vehicle wheel, and the position of detection vehicle wheel is basis
What the lever arm information of the position of profiler and profiler and detection vehicle wheel determined.
In existing technology, lever arm information is obtained from the design drawing of detection vehicle, and since technology is limited, use is existing
The detection vehicle that technology is made, the installation data in installation data and design drawing between each device exist certain inclined
Difference, installation data are the distance between each device, therefore, detection vehicle vehicle are determined using the lever arm information obtained from design drawing
The more specific location information of wheel is inaccurate.For these reasons, as shown in figure 3, in the present embodiment, providing a kind of utilization
The method that total station obtains accurate lever arm information, comprising:
301, obtain the location information of default prism；
Total station is before use, need accurately to be leveled, placement location must be horizontal.
The location information of default prism be it is known, and prism to put number at least be 3.
The coordinate information preservation for the prism that total station can will acquire is stored at file.
302, coordinate system is established according to the location information of prism；
303, under the coordinate system currently established, total station survey goes out to detect the profiler coordinate of vehicle, before the right side for detecting vehicle
Take turns coordinate, and the off hind wheel coordinate of detection vehicle；
304, according to the profiler coordinate of detection vehicle, detects the off-front wheel coordinate of vehicle and detect the off hind wheel coordinate calculating of vehicle
Obtain detection vehicle profiler respectively with detection vehicle off-front wheel, detect vehicle off hind wheel between lever arm information.
As shown in figure 4, the profiler coordinate of detection vehicle is A (x1,y1,z1), the off-front wheel coordinate for detecting vehicle is B (x2,y2,
z2) and detect the off hind wheel coordinate of vehicle as C (x3,y3,z3), then obtain vectorAnd vectorUtilize formulaObtain vectorAnd vectorBetween
Angle theta, so as to which the lever arm information of the profiler of detection vehicle and the off-front wheel of detection vehicle is calculated are as follows:
Larm_Z=z1-z2,
Utilize vectorAnd vectorBetween angle theta, be calculated detection vehicle profiler and detection vehicle the right side after
The lever arm information of wheel are as follows:
Larm_Z1=z1-z3。
Based on above-mentioned analysis it is found that compared with the method for the lever arm information obtained in the design drawing in the prior art, this Shen
Please embodiment propose, based on total station measure detection vehicle material object profiler, off-front wheel and the coordinate of off hind wheel three
Information, the lever arm information between the profiler and wheel of the detection vehicle being calculated are believed with the lever arm for detecting vehicle material object in reality
Breath is more nearly, and data are more acurrate, provides accurately data for the data processing of entire scheme, is improved detection vehicle and is determined rail
The accuracy of mark.
Believe the first relative position between initial position message and preset profiler based on profiler and detection vehicle
Breath determines the initial position message of detection vehicle, comprising:
Using the offset of at least two preset directions, the information of the correspondence preset direction in first location information is carried out
Correction, by initial position message of the first position letter as detection vehicle after correction.
Here, first location information is to detect the location information of any one wheel in vehicle.
Because having motion profile in detection vehicle wheel operational process, and track checking car is an entirety, the position letter of track checking car
Breath is inaccurate, and therefore, the track in order to determine detection vehicle is more acurrate, the location information track checking car wheel position information of track checking car
Substitution, and the location information of track checking car wheel is exactly that the location information of profiler and lever arm information are calculated.
Detection vehicle wheel position information is the location information of profiler on preset direction, utilizes profiler and detection vehicle
The lever arm information of wheel is corrected, and correction here is that the location information of profiler and lever arm information carry out on preset direction
It is added the operation either subtracted each other, and then obtains the location information of detection vehicle wheel.
For example, the coordinate information of profiler is (x, y, z), lever arm information (Larm_X, Larm_Y, Larm_ from the above
Z), detection wheel paths are determined using the coordinate information of detection vehicle off-front wheel, then the coordinate information for detecting vehicle off-front wheel is (x+
Larm_X,y+Larm_Y,z+Larm_Z)。
In the present embodiment, because detection vehicle is an entirety, the target of itself is larger, and location information cannot accurately really
It is fixed, and detecting vehicle wheel is a lesser target, location information can be determined accurately, and detection vehicle wheel is at runtime
There is track, therefore, replaces the location information of detection vehicle more acurrate using the location information of detection vehicle wheel, utilize detection vehicle
The orbit track that wheel position information determines is also more into standard.
102, it is determined according to the initial position message of detection vehicle, and detection vehicle in the posture information of each detection cycle
Vehicle is detected in the location information of each detection cycle；
Here, posture information refers to detecting vehicle in the position of detection vehicle and a upper detection cycle in the current detection period
Offset information between position, offset information are that the attitude angle and odometer according to inertial navigation in measurement period are measuring week
What the interim mileage value measured was calculated.Offset information is to detect vehicle in the offset of each preset direction, and preset direction is to lead
The direction of boat coordinate system all directions axis.
In specific implementation, if it is desired to determine the track of detection vehicle in measuring section, it is necessary to obtain and be permitted on measuring section
The location information of more detection vehicle wheels, these location informations, which are carried out integration, just can determine that the rail of detection vehicle in entire measuring section
Mark.
Believe it is found that having measured detection vehicle using profiler in the position of measuring section starting point by above-mentioned discussion
Breath, that is, detection vehicle is in the initial position message of measuring section, however, it is known that the initial position message of detection vehicle, it can not
The track for calculating detection, therefore, it is necessary to the measured values using inertial navigation, could really in conjunction with the initial position message of detection vehicle
The track in orbit determination road.Inertial navigation has multiple detection cycles, each detection cycle inertial navigation in the measurement process of entire measuring section
A measured value is had, this measured value is the attitude angle that inertial navigation is measured, and attitude angle is the inertial navigation coordinate system where inertial navigation
In the deviation angle of current detection period all directions axis and upper detection cycle all directions axis.
But in detection vehicle installation process, have certain installation error, the attitude angle and detection that inertial navigation is measured
The attitude angle of vehicle itself is not same value, and the location information of the detection vehicle determined using the attitude angle of above-mentioned inertial navigation is simultaneously not allowed
Really, there is a certain error.Therefore, it is necessary to be corrected to inertial navigation coordinate system, in turn, so that the attitude angle that inertial navigation is measured
The attitude angle of detection vehicle can be characterized.
In order to allow the measured value of inertial navigation correctly to characterize the attitude angle of detection vehicle, the present embodiment is proposed to used
Lead the corrected method of coordinate system, comprising:
Inertial navigation coordinate system Y known to 1.mWith detection vehicle coordinate system Yb；
Wherein, inertial navigation coordinate system is the x using the mass center of inertial navigation as originmAxis is directed toward right, y along carrier horizontal axismAxis is vertical along carrier
Before axis is directed toward, zmAxis is in carrier vertical pivot direction；Detecting vehicle coordinate system is to detect vehicle mass center as origin xbAxis refers to along carrier horizontal axis
To the right, ybAxis is before carrier longitudinal axis direction, zbAxis is in carrier vertical pivot direction.
2. accelerometer is in inertial navigation coordinate system Y in acquisition inertial navigationmUnder each axis of orientation acceleration
Accelerometer is one of device inside inertial navigation, for measuring the acceleration of inertial navigation.
3. according to the roll angle of the acceleration calculation inertial navigation coordinate system of each axis of orientationPitch angleAnd course angle
4. according to the roll angle of above-mentioned inertial navigation coordinate systemPitch angleAnd course angleSchool is carried out to inertial navigation coordinate system
Just, it is brought into following formula:
Inertial navigation coordinate system Y after being correctedm1, by the inertial navigation coordinate system Y after above-mentioned correctionm1Measure obtained posture letter
Breath detects the posture information of vehicle.
Wherein, C1The spin matrix of Z axis, C2For the spin matrix of X-axis, C3For the spin matrix of Y-axis.
In the present embodiment, by the antidote of inertial navigation coordinate system, inertial navigation coordinate system is corrected, so that inertial navigation
Measured value can accurately reflect the attitude angle of detection vehicle, in turn, the determination of track be carried out using the attitude angle of detection vehicle, can
So that the track being calculated is more accurate.
In above-mentioned analysis it is found that inertial navigation is in the measurement process of entire measuring section, multiple detection cycles are had, so according to
The initial position message of vehicle is detected, and detection vehicle determines detection vehicle in each detection in the posture information of each detection cycle
The location information in period, comprising:
For each detection cycle, the location information of vehicle, and detection vehicle are detected according to a upper detection cycle in the detection
The posture information of the posture information in period and a upper detection cycle determines detection vehicle in the location information of the detection cycle；
Wherein, if a upper detection cycle is the initial detecting period, the location information of upper detection cycle detection vehicle is first
Beginning location information.
It in specific implementation,, can basis in the second detection cycle using the initial detecting period as the first detection cycle
Offset information and initial position message of the vehicle between the position and the first detection cycle position of the second detection cycle are detected,
The location information of the second detection cycle is obtained, for each detection cycle after the second detection cycle, according to detection vehicle at this
Offset information between the position of detection cycle and the position of a upper detection cycle, and detection vehicle is in a upper detection cycle
Location information, determine the detection vehicle in the location information of the detection cycle, until detecting vehicle stop motion, it is, detection
Vehicle moves to the final position of measuring section.
For example, the initial position message of detection vehicle is (x0,y0,z0), vehicle is detected in the position and first of the second detection cycle
Offset information between detection cycle position is (Δ x1, Δ y1, Δ z1), then vehicle is detected in the location information of the second detection cycle
For (x0+Δx1,y0+Δy1,z0+Δz1), vehicle is detected between the position and the first detection cycle position of the second detection cycle
Offset information is (Δ x2, Δ y2, Δ z2), then detecting vehicle in the location information of third detection cycle is (x0+Δx1+Δx2,y0
+Δy1+Δx2,z0+Δz1+Δx2), and so on obtain detection vehicle in each detection cycle location information.
In the measurement process of entire measuring section, inertial navigation is measured since the start position of measuring section, therefore, inertial navigation first
In a detection cycle, the location information for detecting vehicle detects the initial position message of vehicle, when inertial navigation reaches the terminal of measuring section,
Inertial navigation stops measurement, and in the measurement process of above-mentioned measuring section, inertial navigation travels at the uniform speed, and does not need to stop measurement, save
Time of measuring, the optimum time length of detection cycle are 90s, and detection cycle is a reference point, between each measurement period
Interval is not had.
103, according to determining detection vehicle in the location information of each detection cycle, determine the track of detection vehicle.
In specific implementation, track recursion is carried out using the location information of above-mentioned each detection cycle, detection can be obtained
Vehicle running track in orbit.Track dead reckoning technique has detailed introduction in the prior art, is no longer excessively said herein
It is bright.
To sum up, in the embodiment of the present application, by the initial position message of profiler, between profiler and detection vehicle wheel
The initial position message of detection vehicle wheel is calculated in lever arm information, based on the initial position message of detection vehicle wheel, Yi Jigen
According to the offset information for each detection cycle that the attitude angle that inertial navigation measures is calculated, and then determine the detection of each detection cycle
The location information of vehicle wheel is obtained by the location information of the detection vehicle wheel of all detection cycles by track dead reckoning technique
The track of detection vehicle in measuring section.In entire measurement process, detection vehicle travels at the uniform speed, and is just to complete in the process of running
The calculating and determination of measuring section track, can't stop measurement, saved the time of measuring of entire measurement process, so that detection
The time of measuring of personnel outdoors is reduced, and improves measurement efficiency.
As shown in figure 5, the embodiment of the present application provides a kind of track determining device for detecting vehicle, comprising:
First position determining module 501, initial position message and preset profiler and detection vehicle based on profiler
Between the first relative position information, determine detection vehicle initial position message；
Second position determining module 502, for the initial position message according to detection vehicle, and detection vehicle is in each detection
The posture information in period determines detection vehicle in the location information of each detection cycle；
Track determining module 503, for, in the location information of each detection cycle, determining detection according to determining detection vehicle
The track of vehicle.
Specifically, the first relative position information includes: lever arm information of the profiler relative to detection vehicle wheel, lever arm information
To be calculated based on the deviation angle between the distance between profiler and detection vehicle wheel and profiler and detection vehicle wheel
's.
First relative position information includes offset of the profiler relative to detection vehicle at least two preset directions, is
The location information that more accurately detects vehicle is obtained, first position determining module 501 is specifically used for utilizing at least two default sides
To offset, the information of the correspondence preset direction in first location information is corrected, by after correction first position believe
Cease the initial position message as detection vehicle.
Second position determining module 502 is specifically used for being directed to each detection cycle, detects vehicle according to a upper detection cycle
Location information, and detection vehicle determine detection vehicle in the posture information of the detection cycle and the posture information of a upper detection cycle
In the location information of the detection cycle；
Wherein, if a upper detection cycle is the initial detecting period, the location information of upper detection cycle detection vehicle is first
Beginning location information.
In specific implementation, the device that second position determining module 502 measures posture information can be inertial navigation, can also answer
With other equipment in the prior art, just no longer repeat one by one here.
In order to calculate the initial information of profiler, the track determining device for the detection vehicle that the application is proposed further include: meter
Module 504 is calculated, computing module 504 is specifically used for:
Obtain second relative position information at control point in the profiler and measuring section；
According to the coordinate information of second relative position information and the control point, the initial of the profiler is determined
Location information.
The track determining device of the detection vehicle proposed in the embodiment of the present application can be applied on the railroad track, with existing skill
Art is compared, and time of measuring can be shortened, so that track detecting personnel improve measurement efficiency.The device is in addition to applying in railroad track
On, it can be applied on other preset tracks, just no longer repeat one by one here.
The track for the detection vehicle that the embodiment of the present application proposes determines method and apparatus, is calculated using the initial position of profiler
The initial position message for detecting vehicle out, the initial position message for being then based on detection vehicle calculate each in continuous detection cycle
The location information of the detection vehicle of all detection cycles is carried out track recursion, determined by the location information that vehicle is detected in detection cycle
Detect the track of vehicle.In entire measurement process, detection vehicle travels at the uniform speed, and will not stop, detect vehicle in the process of running
Track be assured that, saved time of measuring, reduce determine detection wheel paths time-consuming, improve determine detection track
Mark efficiency, and then reduce the time of measuring of testing staff outdoors.
Track corresponding to the detection vehicle in Fig. 1 determines method, and the embodiment of the present application also provides a kind of computer equipments
600, as shown in fig. 6, the equipment includes memory 601, processor 602 and is stored on the memory 601 and can be in the processing
The computer program run on device 602, wherein above-mentioned processor 602 realizes above-mentioned detection vehicle when executing above-mentioned computer program
Track determine method.
Specifically, above-mentioned memory 601 and processor 602 can be general memory and processor, do not do have here
Body limits, and when the computer program of 602 run memory 601 of processor storage, the track for being able to carry out above-mentioned detection vehicle is true
Determine method, solves the problems, such as to determine the track low efficiency of detection vehicle, the initial bit that the application passes through profiler in the prior art
The calculating of confidence breath and the first relative position, determines the initial position message of detection vehicle, then according to the initial position of detection vehicle
The posture information of information and each detection cycle determines detection vehicle in the location information of each detection cycle, and last basis is each
The location information of the detection vehicle of a detection cycle determines the track of detection vehicle.The track determination side for the detection vehicle that the application proposes
Method, so that detection vehicle can measure the parameter of needs in traveling at the uniform speed, and calculate during determining the track of detection vehicle
Accurate detection wheel paths are obtained, are not needed in measurement parameter, stop calculating is carried out, have saved time of measuring, are improved
The efficiency of the track of determining detection vehicle.
Track corresponding to the detection vehicle in Fig. 1 determines method, and the embodiment of the present application also provides a kind of computer-readable
Storage medium is stored with computer program on the computer readable storage medium, which holds when being run by processor
The step of track of the above-mentioned detection vehicle of row determines method.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, the track for being able to carry out above-mentioned detection vehicle determines method, solves and determines inspection in the prior art
The problem of track low efficiency of measuring car, the application is by the initial position message of profiler and the calculating of the first relative position, really
Then the initial position message of regular inspection measuring car is believed according to the posture of the initial position message of detection vehicle and each detection cycle
Breath determines detection vehicle in the location information of each detection cycle, finally according to the location information of the detection vehicle of each detection cycle
Determine the track of detection vehicle.The track for the detection vehicle that the application proposes determines method, so that in the track process for determining detection vehicle
In, detection vehicle can measure the parameter of needs in traveling at the uniform speed, and accurate detection wheel paths be calculated, and be not required to
Stop calculating is carried out, time of measuring has been saved in measurement parameter, improve the efficiency for determining the track of detection vehicle.
The track determining device of detection vehicle provided by the embodiment of the present invention can be the specific hardware or peace in equipment
Loaded on the software or firmware etc. in equipment.The technical effect of device provided by the embodiment of the present invention, realization principle and generation
Identical with preceding method embodiment, to briefly describe, Installation practice part does not refer to place, can refer to preceding method embodiment
Middle corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.Should all it cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of track for detecting vehicle determines method characterized by comprising
Believe the first relative position between initial position message and the preset profiler based on profiler and detection vehicle
Breath determines the initial position message of the detection vehicle；
According to the initial position message of the detection vehicle and the detection vehicle in the posture information of each detection cycle, determine
Location information of the detection vehicle in each detection cycle；
According to the determining detection vehicle in the location information of each detection cycle, the track of the detection vehicle is determined.
2. the track of detection vehicle determines method as described in claim 1, which is characterized in that calculate the initial bit of the profiler
Confidence breath the following steps are included:
Obtain second relative position information at control point in the profiler and measuring section；
According to the coordinate information of second relative position information and the control point, the initial position of the profiler is determined
Information.
3. the track of detection vehicle determines method as described in claim 1, which is characterized in that the first relative position information packet
Include offset of the profiler relative to detection vehicle at least two preset directions, the initial position based on profiler
The first relative position information between information and the preset profiler and detection vehicle determines the initial of the detection vehicle
Location information, comprising:
Using the offset of at least two preset direction, the information of the correspondence preset direction in first location information carries out school
Just, using the first location information after correction as the initial position message of the detection vehicle.
4. the track of detection vehicle determines method as described in claim 1, which is characterized in that described according to the first of the detection vehicle
Beginning location information and the detection vehicle determine the detection vehicle in each detection week in the posture information of each detection cycle
The location information of phase, comprising:
For each detection cycle, the location information and the detection vehicle that vehicle is detected according to a upper detection cycle are at this
The posture information of the posture information of detection cycle and a upper detection cycle determines that the detection vehicle is believed in the position of the detection cycle
Breath；
Wherein, if a upper detection cycle is the initial detecting period, the location information of detection vehicle is institute described in a upper detection cycle
State initial position message.
5. the track of detection vehicle determines method as described in claim 1, which is characterized in that the first relative position information packet
Include: lever arm information of the profiler relative to the detection vehicle wheel, the lever arm information is based on the profiler and institute
State what the deviation angle between the distance between detection vehicle wheel and the profiler and the detection vehicle wheel was calculated.
6. a kind of track determining device for detecting vehicle characterized by comprising
First position determining module, initial position message and the preset profiler based on profiler and detection vehicle it
Between the first relative position information, determine it is described detection vehicle initial position message；
Second position determining module, for the initial position message and the detection vehicle according to the detection vehicle in each inspection
The posture information for surveying the period determines the detection vehicle in the location information of each detection cycle；
Track determining module, for, in the location information of each detection cycle, determining the inspection according to the determining detection vehicle
The track of measuring car.
7. the track determining device of detection vehicle as claimed in claim 6, which is characterized in that further include: computing module, the meter
Module is calculated to be used for:
Obtain second relative position information at control point in the profiler and measuring section；
According to the coordinate information of second relative position information and the control point, the initial position of the profiler is determined
Information.
8. the track determining device of detection vehicle as claimed in claim 6, which is characterized in that the first relative position information packet
Offset of the profiler relative to detection vehicle at least two preset directions is included, the first position determining module is specific
For:
Using the offset of at least two preset direction, the information of the correspondence preset direction in first location information is carried out
Correction, using the first location information after correction as the initial position message of the detection vehicle.
9. a kind of computer equipment, including memory, processor and it is stored on the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes the claims 1-5 when executing the computer program
Any one of described in method the step of.
10. a kind of computer readable storage medium, computer program, feature are stored on the computer readable storage medium
The step of being, method described in any one of the claims 1-5 executed when the computer program is run by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185912.3A CN109797612A (en) | 2019-03-12 | 2019-03-12 | It is a kind of detect vehicle track determine method, apparatus, equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185912.3A CN109797612A (en) | 2019-03-12 | 2019-03-12 | It is a kind of detect vehicle track determine method, apparatus, equipment and medium |
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| CN109797612A true CN109797612A (en) | 2019-05-24 |
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