CN111380513A - Orbit coordinate measuring method based on inertia technology - Google Patents
Orbit coordinate measuring method based on inertia technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention relates to a track coordinate measuring method based on an inertia technology. The scheme adopted by the invention is that an inertial navigation system is adopted as a main measuring device and combined with the coordinates of the mark points, the track coordinate information is comprehensively solved, and the characteristics of autonomy, high sensitivity and short-time high precision of the inertial technology are fully utilized to realize all-weather continuous accurate measurement of the track coordinate. The landmark point coordinate acquisition technology includes, but is not limited to, a satellite technology, a total station technology, and the like. Compared with the prior art, the method has the advantages that the method has no requirement on whether the signal is shielded, and the environmental adaptability is strong; the measurement is continuous and the efficiency is high.
Description
Technical Field
The invention belongs to the geodetic coordinate measuring technology, and particularly relates to an orbit coordinate measuring method based on an inertia technology.
Background
The railway track of China has 12 kilometers, wherein about 8 kilometers are ballast railways, the coordinate value of the ballast railways based on a geographic coordinate system needs to be known during operation and maintenance, the railway track is realized by adopting a leveling technology, a total station technology and a satellite technology at present, the former two technologies belong to static measurement methods, although the precision is high, the use efficiency is low, a large amount of manpower is required to be invested, the satellite technology belongs to a dynamic measurement method, and the measurement precision is difficult to guarantee when signals in tunnels, cities and mountainous areas are shielded.
Disclosure of Invention
The purpose of the invention is: by introducing the inertia technology, all-weather, all-road-condition and efficient accurate measurement of the ballast track coordinates is realized.
The technical scheme of the invention is that the orbit coordinate measuring method based on the inertia technology is characterized by comprising the following steps:
step 1: a marker point capturing device is installed on the orbit inspection instrument, a stereotactic photogrammetry device (ZL 201110089812.4 an orbit marker dynamic acquisition device and acquisition method) is recommended to be used for the orbit with known control point coordinates, and a carrier phase differential satellite measurement system is recommended to be used for the orbit with unknown control point coordinates. The data is accessed to the computer of the orbit inspection tester and the satellite through the bus.
Step 2: inertial navigation alignment, which can be achieved by reference to inertial technology textbook design;
and step 3: after the inertial navigation component is aligned, the information of the mark point a is obtained, wherein the information includes, but is not limited to, the mileage, the course angle, the east coordinate, the north coordinate and the elevation coordinate of the mark point a, and the three coordinate values should use an independent engineering coordinate system or an independent orbit coordinate system.
Wherein L isAMileage data for the acquired mark point A
θAPitch angle data for acquired marker point a
γARoll angle data for acquired landmark points A
XAFor the east coordinate data of the acquired marker point A
YAFor the north coordinate data of the acquired marking point A
ZAElevation coordinate data for acquired landmark points A
And 4, step 4: after the inertial navigation component acquires the information of the mark point A, the inertial navigation component can move along with the carrier and move to the mark point B along the ballast track, and in the moving process, the following data are triggered and output according to mileage
Wherein, i is a serial number of the output data of the inertial navigation system;
l (i) the ith mileage data outputted from the inertial navigation system
Theta (i) ith pitch angle data output by inertial navigation system
Gamma (i) th roll angle data outputted from inertial navigation system
And 5: when the inertial navigation component passes through the mark point B, the information of the mark point B is acquired in real time, and the information includes, but is not limited to, the mileage, the course angle, the east coordinate, the north coordinate and the elevation coordinate of the mark point B, wherein the three coordinate values use an independent engineering coordinate system or a track coordinate system;
wherein L isBMileage data for the acquired marker point B
θBPitch angle data for acquired marker point B
γBRoll angle data for acquired marker point B
XBFor the east coordinate data of the acquired marker point B
YBFor the north coordinate data of the acquired marking point B
ZBElevation coordinate data for acquired landmark point B
Step 6: after the inertial navigation system acquires the information of the mark point A and the mark point B, the ballast track coordinate calculation is started, and the steps are as follows
Step 6.1 inertial navigation system error correction
After the information of the mark point A is obtained, binding the course angle, the roll angle and the pitch angle of the mark point A into the inertial navigation system, calculating course and attitude change output by the inertial navigation system from the point, and isolating the successive starting error and the compass alignment error generated in the step 5.1;
step 6.2 coordinate calculation in motion process
Wherein, Δ L is the mileage difference between two beats of inertial navigation data.
Step 6.3 correction of errors of bidirectional adjustment coordinates
The information fusion method between the inertial data and the mark points A and B is as follows
Suppose that the serial number output when the inertial navigation system reaches the marker point A is n1, and the serial number output when the inertial navigation system reaches the marker point B is n2, there are
When i is equal to n1,
when i is equal to n2,
when n1< i < n2,
wherein, δ x (i), δ y (i), δ z (i) represent the corrected error term of the ith point, and the calculation method can adopt models such as a linear model, a parabolic model, cubic spline interpolation and the like. The calculation method of the correction error term is described below by taking a linear model as an example.
Thus, the continuous ballast track coordinate values from the mark point A to the mark point B are obtained.
The technical scheme of the invention is as follows:
1. the main innovation points are as follows: calculating the displacement change between two mark points on the ballast track by adopting a course angle and an attitude angle output by an inertial navigation system;
2. secondary innovation points are as follows: external correction point pair inertial navigation system successive start error suppression
The invention has the beneficial effects that:
taking the coordinate measurement of a 10-kilometer railway line as an example, the horizontal measurement coordinate elevation is needed by adopting the original method, the track plane is measured by adopting a total station, and 3 measuring personnel are needed for 60 hours to complete the measurement task. The invention can reduce the time to 3 people for 2 hours, and the efficiency is improved by 30 times.
Drawings
FIG. 1 is a schematic diagram of the measurement of coordinates of the ballast track;
fig. 2 is a flow chart of ballast track coordinate measurement based on the inertia technology.
In the figure: 1-a ballast track, 2-a measuring central line of an inertial navigation system, 3-a track coordinate system, 4-a mark point A and 5-a mark point B.
Detailed Description
As shown in fig. 1, the map includes a ballast rail 1, an inertial navigation system measurement center line 2, a track coordinate system 3, a marking point a4, and a marking point B5
Assuming that there is a section of track to be measured with control points, the track length 655m is provided with one control point at 0m,350m,655m, respectively.
A track inspection tester with a T-shaped structure is selected as a carrier, an inertial navigation system is installed on the double-wheel side of the carrier, and a closed-loop optical fiber strapdown inertial navigation system is selected in the embodiment. The closed-loop optical fiber strapdown inertial navigation system adopts a 24V direct-current power supply provided by a track inspection tester; the data is accessed to the computer of the track inspection tester through an RS422 bus or other buses; and during installation, the transition plate is connected with the track inspection tester, and the installation repeatability is not greater than 1 angular division.
A carrier phase differential satellite positioning system is arranged on an orbit inspection tester, an antenna of the satellite positioning system is arranged on the orbit inspection tester through a transition plate, and a fixed lever arm matrix exists between the center of the transition plate and the center of a closed-loop optical fiber strapdown inertial navigation system. And the data is accessed to a computer of the track inspection tester through a USB.
After the installation is finished, the track inspection tester is placed at the starting point of the track to be tested, and the operation is carried out according to the following steps.
Step 1: stopping the track inspection instrument at a starting point, locking the track inspection instrument to prevent sliding, and performing inertial navigation alignment, wherein the step can be realized by referring to an inertial technology textbook design, and the alignment is recommended to be performed by using a 5-minute compass;
step 2: after the inertial navigation component is aligned, reading the information of the mark point A through the USB serial port, wherein the information includes but is not limited to the mileage, east coordinate, north coordinate and elevation coordinate of the mark point A, and the three coordinate values use an independent engineering coordinate system or a track coordinate system.
[LAXAYAZA]
Wherein L isAMileage data for the acquired mark point A
γARoll angle data for acquired landmark points A
XAFor the east coordinate of the acquired mark point AData of
YAFor the north coordinate data of the acquired marking point A
ZAElevation coordinate data for acquired landmark points A
And step 3: after the track inspection instrument acquires the information of the mark point A, the track inspection instrument can start to detect and move to the mark point B along the track to be detected, and in the moving process, the track inspection instrument is triggered according to mileage and outputs one group of data below every 0.625m
Wherein, i is a serial number of the output data of the inertial navigation system;
l (i) the ith mileage data outputted from the inertial navigation system
Theta (i) ith pitch angle data output by inertial navigation system
Gamma (i) th roll angle data outputted from inertial navigation system
And 4, step 4: when the inertial navigation component passes through the mark point B, the information of the mark point B is obtained by reading through a USB serial port in real time, wherein the information comprises but is not limited to the mileage, east coordinate, north coordinate and elevation coordinate of the mark point B, and three coordinate values use an independent engineering coordinate system or a track coordinate system;
[LBXBYBZB]
wherein L isBMileage data for the acquired marker point B
γBRoll angle data for acquired marker point B
XBFor the east coordinate data of the acquired marker point B
YBFor the north coordinate data of the acquired marking point B
ZBNumber of elevation coordinates for acquired marker point BAccording to
And 5: after the inertial navigation system acquires the information of the mark point A and the mark point B, the inertial navigation system starts to carry out orbit coordinate calculation, and the steps are shown as follows
Step 5.1 inertial navigation system error correction
After the information of the mark point A is obtained, binding the course angle, the roll angle and the pitch angle of the mark point A into the inertial navigation system, calculating course and attitude change output by the inertial navigation system from the point, and isolating the successive starting error and the compass alignment error generated in the step 5.1;
step 5.2 coordinate calculation in motion process
Wherein, Δ L is the mileage difference between two beats of inertial navigation data.
When the value of i is 1, the value of i,
step 5.3 correction of errors of bidirectional adjustment coordinates
The information fusion method between the inertial data and the mark points A and B is as follows, and if the serial number output by the inertial navigation system when reaching the mark point A is n1, and the serial number output when reaching the mark point B is n2, the method includes
When i is equal to n1,
when i is equal to n2,
when n1< i < n2,
wherein, δ x (i), δ y (i), δ z (i) represent the corrected error term of the ith point, and the calculation method can adopt models such as a linear model, a parabolic model, cubic spline interpolation and the like. The calculation method of the correction error term is described below by taking a linear model as an example.
Thus, the continuous track coordinate values from the mark point a to the mark point B are obtained.
Claims (7)
1. The orbit coordinate measuring method based on the inertial technology comprises the following steps:
step 1, installing a mark point capturing device on a track inspection;
step 2, aligning an inertial navigation system;
step 3, obtaining the information of the mark point A;
step 4, after the inertial navigation system acquires the information of the mark point A, the inertial navigation system moves along with the carrier and moves to the mark point B along the ballast track;
step 5, when the inertial navigation system passes through the mark point B, acquiring the information of the mark point B;
and 6, after the inertial navigation system acquires the information of the mark point A and the mark point B, the coordinate calculation of the ballast track is started.
2. The inertial-technology-based orbital coordinate measuring method of claim 1, wherein in step 1, for an orbit whose control point coordinates are known, a stereotactic photogrammetric apparatus is used, and for an orbit whose control point coordinates are unknown, a carrier-phase differential satellite measurement system is used.
3. The inertial-technology-based orbital coordinate measurement method of claim 1 wherein, in step 2, the step inertial technology is implemented.
4. The method for measuring the orbit coordinate based on the inertial technology of claim 1, wherein the information of the landmark point a is obtained in the step 3, and the information includes but is not limited to the mileage, the heading angle, the east coordinate, the north coordinate and the elevation coordinate of the landmark point a, wherein the three coordinate values should use an independent engineering coordinate system or an orbit coordinate system;
wherein L isAObtaining mileage data of the mark point A;
θAobtaining pitch angle data of the mark point A;
γAthe roll angle data of the obtained mark point A is obtained;
XAobtaining east coordinate data of the obtained mark point A;
YAobtaining the north coordinate data of the marking point A;
ZAthe elevation coordinate data of the mark point A is obtained.
5. The method for measuring orbital coordinates based on inertial technology according to claim 1, wherein the following data are output according to mileage trigger during the movement of step 4
[L(i) φ(i) θ(i) γ(i)]
Wherein, i is a serial number of the output data of the inertial navigation system;
l (i) the ith mileage data output by the inertial navigation system;
theta (i) ith pitch angle data output by the inertial navigation system;
γ (i) ith roll angle data output by the inertial navigation system.
6. The method according to claim 1, wherein the information of the landmark point B obtained in the step 5 includes, but is not limited to, a mileage coordinate, a heading angle coordinate, an east coordinate, a north coordinate, and an elevation coordinate of the landmark point B, wherein three coordinate values are determined by using an independent engineering coordinate system or an orbit coordinate system;
wherein L isBObtaining mileage data of the mark point B;
θBobtaining pitch angle data of the marking point B;
γBthe roll angle data of the mark point B is obtained;
XBobtaining east coordinate data of the mark point B;
YBobtaining the north coordinate data of the marking point B;
ZBthe elevation coordinate data of the mark point B is obtained.
7. The method for measuring the track coordinate based on the inertial technology according to claim 1, wherein the step 6 starts to perform the ballast track coordinate calculation, and the calculation method comprises the following processes:
1. correcting errors of an inertial navigation system;
2. resolving coordinates in the motion process;
3. and correcting the error of the bidirectional adjustment coordinate.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649719A (en) * | 2020-07-10 | 2020-09-11 | 中国科学院武汉岩土力学研究所 | GNSS automatic guidance test method in road elevation detection |
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- 2018-12-28 CN CN201811621681.8A patent/CN111380513A/en active Pending
Patent Citations (7)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111649719A (en) * | 2020-07-10 | 2020-09-11 | 中国科学院武汉岩土力学研究所 | GNSS automatic guidance test method in road elevation detection |
| CN111649719B (en) * | 2020-07-10 | 2021-09-07 | 中国科学院武汉岩土力学研究所 | GNSS automatic guidance test method in road elevation detection |
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