CN110658543B - High-speed railway track geometric parameter detection method based on non-contact measurement - Google Patents
High-speed railway track geometric parameter detection method based on non-contact measurement Download PDFInfo
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- CN110658543B CN110658543B CN201810700229.4A CN201810700229A CN110658543B CN 110658543 B CN110658543 B CN 110658543B CN 201810700229 A CN201810700229 A CN 201810700229A CN 110658543 B CN110658543 B CN 110658543B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention belongs to a precise detection technology, in particular to a high-speed railway orbit geometric parameter detection method based on non-contact measurement, which comprises the steps of firstly carrying out combined navigation and calculation through an inertial navigation system and a high-precision differential satellite positioning system to obtain the space position and posture information of an inertial measurement unit, and obtaining the position and posture information of the laser range finder by calibrating the installation relation of the laser range finder and the inertial measurement unit according to the three-dimensional coordinates of orbit feature points obtained by fitting, and calculating the three-dimensional displacement information of the orbit feature points at any position relative to a starting point in the measurement process, thereby realizing high-precision, high-efficiency, dynamic and continuous measurement of the orbit geometric parameters.
Description
Technical Field
The invention belongs to a precise detection technology, and particularly relates to a high-speed railway track geometric parameter detection method based on non-contact measurement.
Background
In order to ensure the operation safety of rail transit, in recent years, a rail precision detection technology is rapidly developed, and a large amount of manpower and material resources are invested in a plurality of countries to develop and update various rail detection methods so as to meet the requirements of high speed and heavy load of the current railway. The vehicle-mounted dynamic detection mode has small influence on normal operation, high efficiency and high speed, truly reflects the infrastructure state under the train operation condition, and becomes one of main detection means of the safety states of railway and urban rail transit infrastructures.
The detection of the geometric parameter state of the track mainly comprises detection items such as track gauge, track direction, height and the like, wherein the track gauge refers to the distance between track gauge points at 16mm positions below the working surfaces of left and right strands of steel rails with the same cross section. The commonly used method for measuring the track gauge mainly comprises two main types of contact measurement and non-contact measurement. The contact type track gauge measuring method is characterized in that the linear displacement sensor is used for measuring the track gauge, the sensor is ensured to be in contact with the track gauge point to be measured at any moment through a mechanical structure in the detection process, the measuring efficiency is low, and the method is not suitable for high-speed measurement. The commonly used non-contact track gauge measuring method is to continuously shoot the inner side section of the track gauge by using a shooting mechanism, reproduce the curve of the inner side section of the track by using an image reconstruction method, and calculate the track gauge value. The measuring method has high measuring precision and is not influenced by the detection speed, but the method is easy to be interfered by light, has strict requirements on the use environment and has limited use range. The method for detecting the track direction and the height of the track mainly comprises a chord measurement method, an inertial reference method and the like, wherein the chord measurement method is to actually establish a chord line on the track by adopting a manual wire drawing method, and the smoothness of the track (track direction) is evaluated by measuring the relative displacement between the track top surface (track gauge point) of the track and the chord line. The wavelength of the chord measurement method is closely related to the length of the detection chord, when the track smoothness of various wavelengths needs to be analyzed, the detection device needs to be replaced for re-measurement, or the conversion of 'small pushing and large pushing' is carried out according to the current detection result, the former increases the workload of detection personnel, the working efficiency is low, and the latter has larger error. The inertial reference method is based on strapdown inertial navigation technology, and uses accelerometer to measure acceleration information of carrier in three axial directions, uses gyroscope to measure angular rate information in three axial directions, establishes an inertial reference through acceleration and angular rate information, and uses displacement sensor or image sensor to measure relative position of rail relative to reference, so as to obtain relative position of rail in inertial coordinate system.
At present, most of the world railway track detection methods are converted from a chord measurement method to an inertial reference method, and particularly in the field of high-speed railway detection, all the countries are developing advanced track detection methods with strong comprehensiveness, high precision, high speed, high intelligence and high reliability based on the inertial technology. For example, a T10 type rail inspection vehicle developed by Ensco corporation in U.S. adopts an inertial reference measurement principle and a non-contact measurement method, and can measure parameters such as geometric parameters of a rail, section of a steel rail, wave abrasion and the like. The Italy 'Archimedes' comprehensive detection train also adopts a non-contact measurement scheme based on an inertial reference method, and can detect 119 different parameters including geometric parameters of a track, a section of a steel rail, wave wear of the steel rail, contact network and current receiving state, communication and signals, acceleration of a train body and an axle box and acting force of a wheel and a rail. The French MVG comprehensive detection train is designed to have a detection speed of 320km/h, and the detection parameters comprise various infrastructure states such as track geometric parameters, rail sections, rail surfaces, communication signals, line environment digital images, fasteners, sleepers, ballast and the like. The GJ-3 type, GJ-4 type and GJ-5 type track detecting vehicles in China all adopt track detecting methods based on an inertia technology, but have strict requirements on the running speed of the detecting vehicle, and the highest measuring speed of the GJ-5 type track detecting vehicle is only 180km/h. From the technical development at home and abroad, non-contact measurement based on an inertial technology is a commonly adopted mode in a high-speed environment, and mainly comprises the steps of continuously updating a gesture matrix through gyro angular rate information, converting acceleration information into a geographic coordinate system, continuously integrating the converted acceleration signal twice, thus obtaining a space motion track of an inertial measurement unit, and reproducing track geometric parameters such as track gauge, smoothness and the like through methods such as image reconstruction and the like. However, the method has strict requirements on the running speed of the rail detection vehicle, and the method is difficult to meet the measurement requirement of high-speed rails on the long-wave smoothness of more than 150 meters. The invention provides a track geometric parameter detection method based on inertia/laser measurement, which has no strict requirement on the running speed of a train, can be applied to the train in normal operation, and can meet the measurement requirement of long-wave smoothness of 150 meters and 300 meters.
Disclosure of Invention
The invention aims to provide a high-speed railway track geometric parameter detection method based on non-contact measurement.
The technical scheme of the invention is as follows:
a high-speed railway track geometric parameter detection method based on non-contact measurement comprises the following steps:
step 1), performing inertial/satellite integrated navigation calculation to obtain position, speed and attitude information of an inertial measurement unit;
step 2) laser measurement data processing;
2.1 Time-aligning the inertial measurement data with the laser measurement data;
2.2 Judging the validity of the track characteristic point coordinates measured at different measuring moments;
2.3 Calculating to obtain three-dimensional position coordinates of the effective track feature points;
step 3), track position coordinate fitting calculation;
3.1 Calculating the displacement S of each measuring point relative to the initial point according to the track characteristic point coordinates;
S＝S 0 +ΔS
in the method, in the process of the invention,
the three-dimensional coordinates of the characteristic points of the track at two adjacent moments are obtained, and delta S is the displacement variation between the two adjacent points;
3.2 Segmented coordinate fitting;
segment coordinate fitting is carried out by taking 0.625m as a fixed length, and if S is more than 0.625m, the fitted track position coordinates can be obtained;
in the method, in the process of the invention,
for fitting the obtained three-dimensional coordinates of the track characteristic points, n is the number of fitting times at intervals of 0.625 m;
step 4) utilizing the three-dimensional coordinates of the orbit characteristic points obtained by fitting
Determining three-dimensional displacement information of track characteristic points at any position relative to starting point in measurement process。
The step 1) specifically comprises the following steps:
1.1 Determining a state equation
State variables
w is system noise, A is system state matrix
1.2 Determining a measurement equation
The Kalman filtering measurement equation is
Z＝HX+v
Wherein Z represents Kalman filtering observed quantity, H represents system observation matrix, and v represents system measurement noise;
the observed quantity is
Representing the navigation coordinate system velocity obtained by inertial navigation solution,/->
A navigation coordinate system velocity component representing a differential satellite positioning output;
the observation matrix H is
1.3 Performing Kalman filtering estimation to estimate the position error, the speed error and the attitude error of the inertial navigation system;
1.4 Error correction is carried out on the obtained state estimation value, and the position, speed and attitude information of the inertial measurement unit are obtained.
Step 2.2) judges the validity of the track characteristic point coordinates measured at different measuring moments, and specifically comprises the following steps:
the coordinates of the characteristic points of the track obtained by laser measurement at different moments are set as (x i ,y i ,z i )、(x i+1 ,y i+1 ,z i+1 )、(x i+2 ,y i+2 ,z i+2 )；
If |x i+1 -x i | > ζ and |x i+2 -x i < ζ, x i+1 For abnormal coordinate values, x needs to be re-aligned i+1 Fitting, x i+1 ＝(x i +x i+2 )/2；
If |y i+1 -y i | > ζ and |y i+2 -y i < ζ, y i+1 For abnormal coordinate values, y needs to be re-aligned i+1 Fitting, y i+1 ＝(y i +y i+2 )/2；
If |z i+1 -z i | > ζ and |z i+2 -z i < ζ, z i+1 For abnormal coordinate values, Z is required to be re-aligned i+1 Fitting, z i+1 ＝(z i +z i+2 )/2；
Wherein ζ is a constant value of 0.1-0.5.
The step 2.3) specifically comprises the following steps:
the relative coordinates of the orbit feature points obtained by laser measurement after the validity judgment are set as (x, y, z), and the position (p) is obtained according to the inertia/satellite combination x ,p y ,p z ) Three-dimensional position coordinates of the track characteristic points can be calculated
Wherein L is b The lever arm between the laser range finder and the inertial measurement unit is obtained through calibration before test, C α For the laser measurement of the transformation matrix of the coordinate system into the carrier coordinate system,
is a transformation matrix from a carrier coordinate system of an inertial navigation system to a navigation coordinate system.
The invention has the remarkable effects that:
the method takes inertial measurement as a reference, and utilizes the position and attitude information of an inertial measurement unit and the coordinate information of the characteristic points of the track obtained by laser measurement to obtain the smoothness of the steel rails on the left side and the right side and the track gauge value between the left rail and the right rail. Firstly, the combined navigation solution is carried out through an inertial navigation system and a high-precision differential satellite positioning system to obtain the space position and posture information of an inertial measurement unit, and the installation relation between the laser range finder and the inertial measurement unit can be obtained through calibration, so that the position and posture information of the laser range finder can be obtained. And then combining the coordinate values of the characteristic points of the left and right rails measured by the laser range finder to obtain the position coordinates of the left and right rails, and referring to the track gauge and smoothness calculation method specified in TB/T3147-2012, the high-precision and continuous measurement of the geometric parameters of the rails can be realized.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Step 1 inertial/satellite integrated navigation computation
1.1 Determining a state equation
First, the position, speed and attitude information of an inertial measurement unit are obtained by utilizing high-precision differential satellite positioning (DGPS) information and adopting a Kalman filtering-based integrated navigation method. The SINS/DGPS integrated navigation state variables include: north, sky, east speed error δv N 、δV U 、δV E North, sky, east posture error phi N 、φ U 、φ E North, sky, east position error
δh, δλ, gyro drift ε in each axial direction of the carrier system x 、ε y 、ε z Zero offset of accelerometer
Determining system state variables
Determining a state equation
Wherein w is system noise, A is a system state matrix, and values of elements in the system state matrix can be obtained by referring to a strapdown inertial navigation system error equation according to state variables.
1.2 Determining a measurement equation
The Kalman filtering measurement equation is as follows:
Z＝HX+v
wherein Z represents Kalman filtering observed quantity, H represents system observation matrix, and v represents system measurement noise.
The SINS/DGPS integrated navigation Kalman filtering adopts a speed matching mode, and the difference between the speed obtained by inertial navigation calculation and the speed measured by differential satellite positioning is used as the observed quantity of the Kalman filter. The observed quantity is:
in the method, in the process of the invention,
representing the navigation coordinate system velocity obtained by inertial navigation solution,/->
And a navigation coordinate system velocity component representing the differential satellite positioning output.
The corresponding measurement matrix H can be obtained according to the observed quantity
1.3 Filter calculation
According to the state equation and the measurement equation of the combined navigation system, the initial state estimated value X is selected 0 Initial estimation of mean square error matrix P 0 Initial variance array Q of system noise 0 Measuring noise variance matrix R k The accurate estimation of each error can be realized by referring to a Kalman filtering calculation formula, and the method belongs to the mature prior art and is not repeated.
1.4 Error correction)
And correcting the position error, the speed error and the attitude error of the inertial navigation system by using the state estimation value obtained by Kalman filtering calculation to obtain the position, the speed and the attitude information of the inertial measurement unit.
Step 2 laser measurement data processing
2.1 Time synchronization)
And according to the time stamps of the inertial measurement data and the laser measurement data, the measurement data of the inertial measurement data and the laser measurement data are aligned in time.
2.2 Abnormal data culling)
Assume that the coordinates of the characteristic points of the track obtained by laser measurement at different moments are (x i ,y i ,z i )、(x i+1 ,y i+1 ,z i+1 )、(x i+2 ,y i+2 ,z i+2 ) The validity of the measurement coordinates at each moment needs to be judged.
Taking the x coordinate as an example, if |x i+1 -x i | > ζ and |x i+2 -x i < ζ, x i+1 For abnormal coordinate values, x needs to be re-aligned i+1 Fitting, x i+1 ＝(x i +x i+2 ) And zeta is a constant value of 0.1-0.5.
By the same method, validity judgment needs to be carried out on the y coordinate and the z coordinate.
If |y i+1 -y i | > ζ and |y i+2 -y i < ζ, y i+1 For abnormal coordinate values, y needs to be re-aligned i+1 Fitting, y i+1 ＝(y i +y i+2 ) And zeta is a constant value of 0.1-0.5.
If |z i+1 -z i | > ζ and |z i+2 -z i < ζ, z i+1 For abnormal coordinate values, Z is required to be re-aligned i+1 Fitting, z i+1 ＝(z i +z i+2 ) And zeta is a constant value of 0.1-0.5.
2.3 Space coordinate conversion
The relative coordinates of the orbit feature points obtained by laser measurement after the validity judgment are set as (x, y, z), and the position (p) is obtained according to the inertia/satellite combination x ,p y ,p z ) Three-dimensional position coordinates of the track characteristic points can be calculated
Wherein L is b The lever arm between the laser range finder and the inertial measurement unit is obtained through calibration before test, C α The conversion matrix from the laser measurement coordinate system to the carrier coordinate system is obtained by calibration before test,
is a transformation matrix from a carrier coordinate system of an inertial navigation system to a navigation coordinate system.
Step 3 track position coordinate fitting calculation
Because the high-speed railway has high running speed, coordinate fitting calculation needs to be carried out among all sampling points.
3.1 Calculating the displacement S of each measuring point relative to the initial point according to the track characteristic point coordinates
S＝S 0 +ΔS
In the method, in the process of the invention,
the three-dimensional coordinates of the characteristic points of the track at two adjacent moments are obtained, and delta S is the displacement variation between the two adjacent points.
3.2 Segmented coordinate fitting
Segment coordinate fitting is carried out by taking 0.625m as a fixed length, and if S is more than 0.625m, the fitted track position coordinates can be obtained
In the method, in the process of the invention,
for fitting the resulting three-dimensional coordinates of the orbit feature points, n is the number of fitting at intervals of 0.625 m.
Step 4 track geometry calculation
According to the three-dimensional coordinates of the orbit characteristic points obtained by fitting
The three-dimensional displacement information of the track characteristic points at any position relative to the starting point in the measurement process can be calculated, the required geometric parameters can be obtained by referring to the track gauge and ride comfort calculation method specified in the TB/T3147-2012, and the high-precision and continuous measurement of the track geometric parameters is realized.
Claims (4)
1. The method for detecting the geometric parameters of the high-speed railway track based on non-contact measurement is characterized by comprising the following steps of:
step 1), performing inertial/satellite integrated navigation calculation to obtain position, speed and attitude information of an inertial measurement unit;
step 2) laser measurement data processing;
2.1 Time-aligning the inertial measurement data with the laser measurement data;
2.2 Judging the validity of the track characteristic point coordinates measured at different measuring moments;
2.3 Calculating to obtain three-dimensional position coordinates of the effective track feature points;
step 3), track position coordinate fitting calculation;
3.1 Calculating the displacement S of each measuring point relative to the initial point according to the track characteristic point coordinates;
S＝S 0 +ΔS
in the method, in the process of the invention,
the three-dimensional coordinates of the characteristic points of the track at two adjacent moments are obtained, and delta S is the displacement variation between the two adjacent points;
3.2 Segmented coordinate fitting;
segment coordinate fitting is carried out by taking 0.625m as a fixed length, and if S is more than 0.625m, the fitted track position coordinates can be obtained
In the method, in the process of the invention,
for fitting the obtained three-dimensional coordinates of the track characteristic points, n is the number of fitting times at intervals of 0.625 m;
step 4) utilizing the three-dimensional coordinates of the orbit characteristic points obtained by fitting
And determining three-dimensional displacement information of the track characteristic points at any position relative to the starting point in the measuring process.
2. The method for detecting geometric parameters of a high-speed railway track based on non-contact measurement according to claim 1, wherein the step 1) specifically comprises the following steps:
1.1 Determining a state equation;
state variables
w is system noise, A is system state matrix;
the SINS/DGPS integrated navigation state variables include: north, sky, east speed error δv N 、δV U 、δV E North, sky, east posture error
North, sky, east position error ∈>
δh, δλ, gyro drift ε in each axial direction of the carrier system x 、ε y 、ε z Zero offset of accelerometer>
1.2 Determining a measurement equation;
the Kalman filtering measurement equation is
Z＝HX+v
Wherein Z represents Kalman filtering observed quantity, H represents system observation matrix, and v represents system measurement noise;
the observed quantity is
Representing the navigation coordinate system velocity obtained by inertial navigation solution,/->
A navigation coordinate system velocity component representing a differential satellite positioning output;
the observation matrix H is
1.3 Performing Kalman filtering estimation to estimate the position error, the speed error and the attitude error of the inertial navigation system;
1.4 Error correction is carried out on the obtained state estimation value, and the position, speed and attitude information of the inertial measurement unit are obtained.
3. The method for detecting the geometric parameters of the high-speed railway track based on non-contact measurement according to claim 1, wherein the step 2.2) is to judge the validity of the coordinates of the characteristic points of the track measured at different measurement moments, specifically:
the coordinates of the characteristic points of the track obtained by laser measurement at different moments are set as (x i ,y i ,z i )、(x i+1 ,y i+1 ,z i+1 )、(x i+2 ,y i+2 ,z i+2 )；
If |x i+1 -x i | > ζ and |x i+2 -x i < ζ, x i+1 For abnormal coordinate values, x needs to be re-aligned i+1 Fitting, x i+1 ＝(x i +x i+2 )/2；
If |y i+1 -y i | > ζ and |y i+2 -y i < ζ, y i+1 For abnormal coordinate values, y needs to be re-aligned i+1 Fitting, y i+1 ＝(y i +y i+2 )/2；
If |z i+1 -z i | > ζ and |z i+2 -z i < ζ, z i+1 For abnormal coordinate values, Z is required to be re-aligned i+1 Fitting, z i+1 ＝(z i +z i+2 )/2；
Wherein ζ is a constant value of 0.1-0.5.
4. The method for detecting geometric parameters of a high-speed railway track based on non-contact measurement according to claim 1, wherein the step 2.3) specifically comprises the following steps:
the relative coordinates of the orbit feature points obtained by laser measurement after the validity judgment are set as (x, y, z), and the position (p) is obtained according to the inertia/satellite combination x ,p y ,p z ) Three-dimensional position coordinates of the track characteristic points can be calculated
Wherein L is b The lever arm between the laser range finder and the inertial measurement unit is obtained through calibration before test, C α For the laser measurement of the transformation matrix of the coordinate system into the carrier coordinate system,
is a transformation matrix from a carrier coordinate system of an inertial navigation system to a navigation coordinate system.
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