CN111923944A - Track geometric state rapid measurement system for GNSS auxiliary inertial measurement - Google Patents
Track geometric state rapid measurement system for GNSS auxiliary inertial measurement Download PDFInfo
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- CN111923944A CN111923944A CN202010587264.7A CN202010587264A CN111923944A CN 111923944 A CN111923944 A CN 111923944A CN 202010587264 A CN202010587264 A CN 202010587264A CN 111923944 A CN111923944 A CN 111923944A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention relates to a track geometric state rapid measurement system for GNSS auxiliary inertia measurement, which comprises a carrying platform and a measurement unit arranged on the carrying platform; the carrying platform is a rail car; the measuring unit comprises a control terminal, a data acquisition module, a GNSS receiver and a sensor; the data acquisition module sends a measurement instruction to the sensor, receives, stores and synchronizes sensor data with time, and sends acquired data to the control terminal in real time; the GNSS receiver receives GNSS signals according to the measurement instruction, transmits the received positioning information to the data acquisition module, and then sends the positioning information to the control terminal. The invention solves the defects or shortcomings of the existing track measuring equipment in many aspects, realizes the efficient and accurate measurement of the geometric state of the track, and meets the requirements of the current national track traffic on accurate track installation and high smoothness maintenance.
Description
Technical Field
The invention belongs to the technical field of track measurement, and particularly relates to a track geometric state rapid measurement system for GNSS auxiliary inertial measurement.
Background
The accurate geometric dimension of the track is a basic condition for ensuring the safe operation of the train, and theoretical research and practical analysis show that the high-speed running can be realized only on a high-smoothness track. The key to the establishment and maintenance of the high smoothness state of the track is the efficient and accurate measurement of the geometric state of the track.
At present, the geometric state of the track is mainly measured by a rail inspection trolley. According to the difference of technical principle and measuring mode, the rail inspection trolley can be divided into an absolute measurement rail inspection trolley and a relative measurement rail inspection trolley, wherein the absolute measurement rail inspection trolley usually takes a total station as a core measuring device, and the relative measurement rail inspection trolley usually takes a gyroscope as a core measuring device.
The absolute measurement rail inspection trolley based on the total station is characterized in that the total station is erected near the center line of a rail, free station setting is carried out by utilizing a rail control network arranged along the line, a polar coordinate measurement method is adopted to measure a prism on the rail inspection trolley, and the geometric state of the rail is obtained in a static measurement mode of stopping one by one. The equipment has the advantages of higher measurement precision and capability of acquiring the internal and external geometric states of the track, but has the defects of stronger dependence on a track control network, low data acquisition efficiency, and large influence of the external environment on the total station, and can only be operated in cloudy days or at night, thereby further reducing the operation efficiency.
The gyroscope is mounted on the rail inspection trolley, and the geometric state measurement of the rail is realized by continuously acquiring the attitude change of the rail inspection trolley during running on the rail. The equipment has the advantages of no dependence on a track control network, capability of carrying out dynamic measurement and higher operation efficiency, but has the defects of incapability of acquiring the external geometric state of the track, difficulty in meeting the measurement precision of the irregularity of the long wave of the track and incapability of being used for sleeper positioning and large-machine tamping operation.
In summary, the existing track measuring equipment is more or less restricted and limited in the aspects of data acquisition, measuring accuracy, operating efficiency, application environment and the like, and is difficult to meet the requirements of track traffic in China on accurate installation and high smoothness maintenance.
Disclosure of Invention
The invention aims to provide a track geometric state rapid measurement system for GNSS-assisted inertial measurement, which overcomes the defects or shortcomings of the existing track measurement equipment in many aspects, realizes efficient and accurate measurement of the track geometric state, and meets the requirements of track traffic in China on accurate track installation and high smoothness maintenance.
The technical scheme adopted by the invention is as follows:
GNSS assists track geometric status rapid survey system of inertial measurement, its characterized in that:
the system comprises a carrying platform and a measuring unit arranged on the carrying platform;
the carrying platform is a rail car; the measuring unit comprises a control terminal, a data acquisition module, a GNSS receiver and a sensor;
the data acquisition module sends a measurement instruction to the sensor, receives, stores and synchronizes sensor data with time, and sends acquired data to the control terminal in real time; the GNSS receiver receives GNSS signals according to the measurement instruction, transmits the received positioning information to the data acquisition module, and then sends the positioning information to the control terminal.
The rail car is a T-shaped rail car and comprises a longitudinal beam and a cross beam, wherein one side of the longitudinal beam is perpendicular to the longitudinal beam, walking wheels in contact with the top surface of a steel rail are arranged at the bottoms of the front end and the rear end of the longitudinal beam and the bottom of the outer end of the cross beam, measuring wheels in contact with the inner side surface of the steel rail are arranged at the two ends of the bottom of the cross beam, and guide wheels in contact with the inner side surface of the.
The sensors include an inertial measurement unit, a displacement sensor, a tilt sensor, an encoder, a tie identifier, and a temperature sensor.
The inertia measuring device is positioned at the top of the cross beam and continuously measures the spatial three-dimensional attitude of the carrying platform.
The displacement sensors are arranged inside two ends of the cross beam and are connected with the measuring wheels in parallel to measure the track gauge variation between the two steel rails.
The inclination angle sensor is arranged in the middle section of the cross beam and used for measuring the current position posture of the carrying platform.
The encoder is connected with the walking wheels through a group of coupling gears and measures the rotation mileage of the walking wheels.
The sleeper recognizer is a laser ranging sensor and is positioned inside one end of the cross beam to measure the distance between the carrying platform and the track bed.
The temperature sensor is arranged inside the beam and measures the temperature of the surrounding environment.
The control terminal is arranged above the cross beam based on the support of the push rod;
the data acquisition module is arranged inside the cross beam;
the GNSS receiver is arranged above the cross beam based on the support of the support upright.
The invention has the following advantages:
1. the track geometric state rapid measurement system for GNSS-assisted inertial measurement provided by the invention is provided with the separated carrying platform and the measurement unit, so that the whole system is broken into parts, and the system is convenient for field operators to carry, assemble and use.
2. The track geometric state rapid measurement system of the GNSS-assisted inertial measurement fully utilizes the real-time positioning capability of the GNSS and the relative measurement advantages of the inertial measurement, adopts a mode of absolute measurement-assisted relative measurement, and realizes comprehensive, efficient and accurate measurement of the track geometric state.
3. The GNSS-assisted inertial measurement track geometric state rapid measurement system makes full use of the positioning characteristic of the GNSS, gets rid of the dependence of track geometric state measurement on a track control network, and realizes all-weather operation of track geometric state measurement.
4. The track geometric state rapid measurement system for GNSS auxiliary inertial measurement comprises a carrying platform and a measurement unit, wherein the measurement unit can move back and forth along a track by pushing the carrying platform. When the track measurement operation is carried out, the track geometric state rapid measurement system of the GNSS auxiliary inertia measurement is only required to be pushed to the position of the starting point of the measurement section to be static, and after the GNSS receiver is locked and the inertia measurement device is initialized, the track geometric state rapid measurement system is continuously pushed to advance until the end point of the measurement section is finished. The GNSS provides long-distance, large-range and relatively accurate auxiliary correction information for the inertial measurement device, the inertial measurement device dynamically acquires the spatial three-dimensional attitude of the track, and the displacement, inclination angle, encoder and other high-speed sensors acquire the track gauge, superelevation, mileage and other information of the track in real time. The control terminal comprehensively resolves multisource collected data acquired by the measuring unit to obtain the internal and external geometric state information of the track, and efficient and accurate measurement of the track is completed.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a bottom view of the present invention.
In the figure, 1-a cross beam, 2-a longitudinal beam, 3-a walking wheel, 4-a measuring wheel, 5-a guide wheel, 6-a brake device, 7-a push rod, 8-a supporting upright post, 9-a control terminal, 10-a data acquisition module, 11-an inertial measurement device, 12-a GNSS receiver, 13-a displacement sensor, 14-an inclination angle sensor, 15-an encoder, 16-a sleeper recognizer and 17-a temperature sensor.
Detailed Description
The present invention will be described in detail with reference to specific embodiments.
The invention relates to a track geometric state rapid measurement system for GNSS auxiliary inertial measurement, which comprises a carrying platform and a measurement unit arranged on the carrying platform; the carrying platform is a rail car; the measuring unit comprises a control terminal 9, a data acquisition module 10, a GNSS receiver 12 and a sensor; the data acquisition module 10 sends a measurement instruction to the sensor, receives, stores and synchronizes sensor data with time, and sends acquired data to the control terminal 9 in real time; the GNSS receiver 12 receives GNSS signals according to the measurement instruction, and transmits the received positioning information to the data acquisition module 10, and further transmits the positioning information to the control terminal 9.
The rail car is a T-shaped rail car and comprises a longitudinal beam 2 and a cross beam 1, wherein one side of the longitudinal beam is perpendicular to the longitudinal beam, walking wheels 3 in contact with the top surface of a steel rail are arranged at the bottoms of the front end and the rear end of the longitudinal beam 2 and the bottom of the outer end of the cross beam 1, measuring wheels 4 in contact with the inner side surface of the steel rail are arranged at the two ends of the bottom of the cross beam 1, and guide wheels 5 in contact with the inner side surface of the steel rail.
The sensors include an inertial measurement unit 11, a displacement sensor 13, a tilt sensor 14, an encoder 15, a tie identifier 16 and a temperature sensor 17.
The inertia measuring device 11 is positioned at the top of the beam 1 (the selectable model is a three-axis inertia measuring device with zero deviation stability superior to 0.01 degree/h), and continuously measures the spatial three-dimensional attitude of the carrying platform.
The displacement sensors 13 are arranged inside two ends of the beam 1 and are connected with the measuring wheels 4 in parallel to measure the track gauge variation between the two steel rails. The model of the displacement sensor can be selected as Novotechnik TR series.
The inclination angle sensor 14 is arranged in the middle section of the cross beam 1 (the selectable type is a double-shaft inclination angle sensor with the angle measurement precision superior to 0.005 degrees), and measures the current position and posture of the carrying platform.
The encoder 15 is connected with the traveling wheels 3 through a group of coupling gears and measures the rotating mileage of the traveling wheels 3. The encoder can be selected from the model of Yike EC 50P-5000.
The sleeper identifier 16 is a laser ranging sensor, is located inside one end of the cross beam 1, and measures the distance between the carrying platform and the track bed. The selectable type of the laser ranging sensor is an IL series of Kenzhi CMOS analog laser sensors.
The temperature sensor 17 is arranged inside the beam 1 (an optional type is a probe type thermal resistance temperature sensor) and measures the ambient temperature.
A control terminal 9 (a portable computer with a control program installed) is arranged above the cross beam 1 based on the support of the push rod 7; the data acquisition module 10 is arranged inside the cross beam 1; the GNSS receiver 12 is arranged above the beam 1 on the basis of the support columns 8.
Referring to the drawings:
the track geometric state rapid measurement system for GNSS auxiliary inertial measurement comprises a carrying platform and a measurement unit, wherein the measurement unit can move back and forth along a track by pushing the carrying platform.
The carrying platform is of a T-shaped frame structure and mainly comprises a cross beam 1, a longitudinal beam 2, a walking wheel 3, a measuring wheel 4, a guide wheel 5, a brake device 6, a push rod 7, a supporting upright post 8 and the like.
The measuring unit mainly comprises a control terminal 9, a data acquisition module 10, an inertial measuring device 11, a GNSS receiver 12, a displacement sensor 13, an inclination angle sensor 14, an encoder 15, a sleeper identifier 16, a temperature sensor 17 and the like.
One end of the cross beam 1 is vertically connected with the longitudinal beam 2, and a running wheel 3 which is contacted with the top surface of the steel rail is arranged below the other end of the cross beam. Two ends of the bottom of the beam 1 are respectively vertically provided with a measuring wheel 4 which is contacted with the inner side surface of the steel rail.
The longitudinal beam 2 is composed of a left box and a right box and is arranged along the extending direction of the steel rail. The bottoms of the left end box and the right end box are respectively provided with a walking wheel 3 which is contacted with the top surface of the steel rail, and the side surface of the walking wheel 3 is provided with a guide wheel 5 which is vertical to the walking wheel.
And the contact point of the measuring wheel 4 and the inner side surface of the steel rail is positioned 16mm below the top surface of the steel rail, so that a reference is provided for measuring the gauge.
The guide wheels 5 are in contact with the inner side faces of the steel rails, and the carrying platform is guaranteed to be orthogonal to the rails.
And the brake device 6 is respectively arranged in the left end box and the right end box and consists of a power-off brake, a brake shaft and a brake gear. The brake shaft is arranged in parallel with the wheel shaft of the walking wheel 3. The brake gear is intermeshed with the gear of the running wheels 3.
The push rod 7 is installed on a push rod base on the upper portion of the cross beam 1 through two movable bolts and used for pushing the carrying platform to move back and forth along the rail, and a tray is arranged at the handle of the push rod 7 and used for controlling the placement of the terminal 9.
The support upright post 8 is installed on a base on the upper portion of the cross beam 1 through a bottom adapter plate, a system power supply is arranged in the support upright post 8 and used for supplying power to a track geometric state rapid measurement system for GNSS auxiliary inertial measurement, and a clamp is arranged on the upper portion of the support upright post 8 and used for fixedly installing the GNSS receiver 12.
The control terminal 9 is used for sending an acquisition instruction to the data acquisition module 10, receiving and storing the acquired data, processing the received multi-source data, and comprehensively resolving to obtain the information of the internal and external geometrical states of the track.
The data acquisition module 10 is placed inside the cross beam 1 and used for sending measurement instructions to the inertial measurement unit 11, the GNSS receiver 12, the displacement sensor 13, the tilt sensor 14, the encoder 15, the sleeper identifier 16 and the temperature sensor 17, receiving, storing and time-synchronizing various acquired data, and sending the acquired data to the control terminal 9 in real time.
The inertia measurement device 11 is mounted on the base on the upper portion of the beam 1 through a bottom adapter plate and used for continuously measuring the spatial three-dimensional attitude of the carrying platform according to a measurement instruction and transmitting the measured spatial three-dimensional attitude data to the data acquisition module 10.
The GNSS receiver 12 is mounted on a fixture at the top of the support column 8, and is configured to receive a GNSS signal according to a measurement instruction, and transmit the received positioning information to the data acquisition module 10.
The displacement sensors 13 are respectively arranged inside two ends of the beam 1, are connected with the measuring wheels 4 in parallel, and are used for measuring the track gauge variation between two steel rails according to a measuring instruction and transmitting the track gauge variation to the data acquisition module 10.
The inclination angle sensor 14 is arranged in the middle section of the cross beam 1 and used for measuring the current position and posture of the carrying platform according to a measurement instruction and transmitting the measured position and posture data to the data acquisition module 10.
The encoders 15 are respectively arranged in the left end box and the right end box, the encoders 15 are connected with the traveling wheels 3 through a group of coupling gears, 1:1 synchronous rotation is realized, and the encoders are used for measuring the rotating mileage of the traveling wheels 3 according to a measurement instruction and transmitting the measured mileage value to the data acquisition module 10.
The sleeper recognizer 16 is a laser ranging sensor, is vertically installed in the end, close to the longitudinal beam 2, of the cross beam 1, and is used for measuring the distance between the carrying platform and the track bed according to a measurement instruction and transmitting a distance measurement value to the data acquisition module 10.
The temperature sensor 17 is arranged inside the beam 1 and used for measuring the ambient temperature according to the measurement instruction and transmitting the temperature measurement value to the data acquisition module 10.
When the track measurement operation is carried out, the track geometric state rapid measurement system of the GNSS auxiliary inertia measurement is only required to be pushed to the position of the starting point of the measurement section to be static, and after the GNSS receiver 12 is locked and the inertia measurement device 11 is initialized, the track geometric state rapid measurement system is continuously pushed forward until the end point of the measurement section is finished. The GNSS provides long-distance, large-range and relatively accurate auxiliary correction information for the inertial measurement unit 11, the inertial measurement unit 11 dynamically acquires the spatial three-dimensional attitude of the track, and the high-speed sensors such as the displacement sensor 13, the tilt sensor 14 and the encoder 15 acquire information such as the track gauge, the superelevation and the mileage of the track in real time. The control terminal 9 can comprehensively resolve multisource collected data acquired by the measuring unit to obtain the internal and external geometric state information of the track, and efficient and accurate measurement of the track is completed.
The invention is not limited to the examples, and any equivalent changes to the technical solution of the invention by a person skilled in the art after reading the description of the invention are covered by the claims of the invention.
Claims (10)
- The GNSS auxiliary inertial measurement track geometric state rapid measurement system is characterized in that:the system comprises a carrying platform and a measuring unit arranged on the carrying platform;the carrying platform is a rail car; the measuring unit comprises a control terminal (9), a data acquisition module (10), a GNSS receiver (12) and a sensor;the data acquisition module (10) sends a measurement instruction to the sensor, receives, stores and synchronizes the sensor data with time, and sends acquired data to the control terminal (9) in real time; the GNSS receiver (12) receives the GNSS signals according to the measurement instruction, transmits the received positioning information to the data acquisition module (10), and further transmits the positioning information to the control terminal (9).
- 2. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 1, wherein:the rail car is a T-shaped rail car and comprises a longitudinal beam (2) and a transverse beam (1) perpendicular to the longitudinal beam, walking wheels (3) in contact with the top surface of a steel rail are arranged at the bottoms of the front end and the rear end of the longitudinal beam (2) and the bottom of the outer end of the transverse beam (1), measuring wheels (4) in contact with the inner side surface of the steel rail are arranged at the two ends of the bottom of the transverse beam (1), and guide wheels (5) in contact with the inner side surface of the steel rail are arranged on the side surfaces of the walking wheels (.
- 3. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 2, characterized in that:the sensor comprises an inertial measurement unit (11), a displacement sensor (13), an inclination sensor (14), an encoder (15), a sleeper identifier (16) and a temperature sensor (17).
- 4. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 3, characterized in that:the inertia measuring device (11) is positioned at the top of the cross beam (1) and continuously measures the spatial three-dimensional attitude of the carrying platform.
- 5. The GNSS assisted inertial measurement orbit geometry fast measurement system according to claim 4, characterized in that:the displacement sensors (13) are arranged inside two ends of the beam (1) and are connected with the measuring wheels (4) in parallel to measure the track gauge variation between the two steel rails.
- 6. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 5, wherein:the inclination angle sensor (14) is arranged in the middle section of the cross beam (1) and used for measuring the current position posture of the carrying platform.
- 7. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 6, wherein:the encoder (15) is connected with the traveling wheels (3) through a group of coupling gears and measures the rotating mileage of the traveling wheels (3).
- 8. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 7, wherein:the sleeper identifier (16) is a laser ranging sensor and is positioned inside one end of the cross beam (1) to measure the distance between the carrying platform and the track bed.
- 9. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 8, wherein:the temperature sensor (17) is arranged inside the beam (1) and measures the ambient temperature.
- 10. The GNSS assisted inertial measurement orbit geometry fast measurement system of claim 9, wherein:the control terminal (9) is arranged above the cross beam (1) based on the support of the push rod (7);the data acquisition module (10) is arranged inside the cross beam (1);the GNSS receiver (12) is arranged above the beam (1) based on the support of the support column (8).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010587264.7A CN111923944A (en) | 2020-06-24 | 2020-06-24 | Track geometric state rapid measurement system for GNSS auxiliary inertial measurement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010587264.7A CN111923944A (en) | 2020-06-24 | 2020-06-24 | Track geometric state rapid measurement system for GNSS auxiliary inertial measurement |
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| CN111923944A true CN111923944A (en) | 2020-11-13 |
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| CN202010587264.7A Pending CN111923944A (en) | 2020-06-24 | 2020-06-24 | Track geometric state rapid measurement system for GNSS auxiliary inertial measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116989705A (en) * | 2023-09-27 | 2023-11-03 | 北京科技大学 | Track flatness measuring system and method |
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| CN104859681A (en) * | 2015-04-20 | 2015-08-26 | 中南大学 | Rapid fine adjustment rail checking device for rail geometrical parameter measurement |
| CN107299568A (en) * | 2017-06-16 | 2017-10-27 | 中铁工程设计咨询集团有限公司 | A kind of track dynamic measuring system and method |
| CN110700029A (en) * | 2019-09-29 | 2020-01-17 | 清华大学 | Track ride comfort testing method and system |
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2020
- 2020-06-24 CN CN202010587264.7A patent/CN111923944A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390405A (en) * | 2011-09-16 | 2012-03-28 | 成都四方瑞邦测控科技有限责任公司 | Detection method for restrictedly measuring track parameters and track checking instrument |
| CN104859681A (en) * | 2015-04-20 | 2015-08-26 | 中南大学 | Rapid fine adjustment rail checking device for rail geometrical parameter measurement |
| CN107299568A (en) * | 2017-06-16 | 2017-10-27 | 中铁工程设计咨询集团有限公司 | A kind of track dynamic measuring system and method |
| CN110700029A (en) * | 2019-09-29 | 2020-01-17 | 清华大学 | Track ride comfort testing method and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116989705A (en) * | 2023-09-27 | 2023-11-03 | 北京科技大学 | Track flatness measuring system and method |
| CN116989705B (en) * | 2023-09-27 | 2024-01-23 | 北京科技大学 | Track flatness measuring system and method |
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Application publication date: 20201113 |