CN112414429B - Railway mileage measurement method - Google Patents
Railway mileage measurement method Download PDFInfo
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Abstract
The invention discloses a railway mileage measuring method, which comprises the following steps: the method comprises the following steps that a railway mileage measuring vehicle runs along a railway, and a GNSS module acquires longitude and latitude coordinates of a railway center line of the railway mileage measuring vehicle running on a railway track in real time; according to the required measurement type, the mileage interval and the altitude parameters are configured through an industrial personal computer of the measuring vehicle, railway mileage is calculated through a straight line model or a curve model, whether measurement personnel continue to measure or not is selected, if measurement is selected to continue, re-measurement is returned, and if measurement is selected to be stopped, mileage data calculated by the industrial personal computer is exported to obtain railway mileage distance, so that railway mileage measurement is completed. The GNSS acquires the coordinates of the railway center line in real time, and can calculate the accurate railway mileage distance through the algorithm in the industrial personal computer, so that the railway mileage measurement precision is effectively improved, the traditional mileage measurement operation mode is changed, the safety factor is improved, and the measurement efficiency is high.
Description
Technical Field
The invention belongs to the technical field of railway measurement, and particularly relates to a railway mileage measurement method.
Background
With the rapid development of railway construction, the safety of railway passenger transportation becomes a major research subject of railway operation, and the work department of the railway administration needs to master the change rule of line equipment, master the geometric state of a line in time, and strengthen the line detection management, which is an important basic work for ensuring the quality of the line and the transportation safety.
The railway mileage system is the only standard of railway for equipment management, and for railway construction, the mileage system is realized based on mapping benchmarks, and accurate positioning can be realized through advanced measurement means. Accurate positioning of the mileage system is a common problem for the operating line.
At present, a steel ruler is used for measuring in a traditional mode, the measuring accuracy is low, some measuring equipment is used for carrying out mileage calibration in a mode based on an odometer, however, the mileage measuring method has high requirements on the smoothness of a steel rail and the sensitivity and reliability of a sensor, and the popularization and the application are very difficult. For the established railway, only the skylight point can go to the track for track detection operation, the time is short, the workload is large, and the measurement is difficult. The projection precision of railway construction required by the current specifications of China is required to reach 1/40000 generally, the high-speed rail is required to reach 1/100000, but at present, a measuring method of steel ruler measurement is usually adopted, and the measured result is analyzed, so that the measuring precision is only 1/2000, and the measuring precision is low, and the modern railway mileage measuring requirement is difficult to apply.
Therefore, in order to solve the above-mentioned technical problems, it is necessary to design a mileage measuring method that can improve the work efficiency of mileage measurement with a high safety factor.
Disclosure of Invention
The invention aims to provide a railway mileage measuring method with high measuring precision and high safety factor.
The technical scheme of the invention is as follows:
a railway mileage measuring method comprises the following steps:
s1, a railway mileage measuring vehicle runs along a railway, and a GNSS module of the measuring vehicle is used for acquiring longitude and latitude coordinates of a railway center line of the railway mileage measuring vehicle running on a railway track in real time;
s2, according to the required measurement type, mileage interval and altitude parameters are configured through an industrial personal computer of the measuring vehicle, when linear measurement is selected, the step S3 is executed, and when curve measurement is selected, the step S4 is executed;
s3, calculation of straight line measurement:
s301, acquiring longitude and latitude coordinates of a starting point A and a terminal point B of each mileage interval (the mileage interval is a straight line) through a GNSS module, wherein the longitude and latitude coordinates of the point A are (wa, ja), the longitude and latitude coordinates of the point B are (wb, jb), converting the longitude and latitude coordinates of the starting point A (wa, ja) and the terminal point B (wb, jb) into three-dimensional coordinates A (Xa, ya, za), B (Xb, yb, zb) through an industrial personal computer, and calculating through the following formula:
wherein R is the earth radius, and R =6378.137km;
s302, calculating the length of a straight line between two points AB according to the three-dimensional coordinates A (Xa, ya, za), B (Xb, yb, zb) of the S301, and calculating by the following formula:
AB 2 ＝(Xa-Xb) 2 +(Ya-Yb) 2 +(Za-Zb) 2
＝2R 2 (1-Cos(wa)Cos(wb)Cos(ja-jb)-Sin(wa)Sin(wb)) (3)；
s303, calculating an included angle AOB between two points AB and the ground center according to the straight line length of the AB, and calculating by the following formula:
s304, calculating the arc length of the AB two points according to the included angle AOB of the S303
(since the earth is a sphere, the railway line laid on the surface of the earth is a straight line relative to the earth's surface, but is an arc line relative to the earth, so the arc length of two points AB needs to be calculated ^ the length of the arc>
) Calculated by the following formula:
s4, calculating curve measurement:
s401, acquiring longitude and latitude coordinates of a starting point C and an end point D of each mileage interval (the mileage interval is a curve) through a GNSS module, converting the longitude and latitude coordinates of the starting point C (wc, jc) and the end point D (wd, jd) into three-dimensional coordinates C (Xc, yc, zc), D (Xd, yd, zd) through an industrial personal computer, and calculating through the following formulas:
wherein R is the radius of the earth, and R =6378.137km;
s402, calculating the length of a straight line between two points of the CD according to the three-dimensional coordinates C (Xc, yc, zc) and D (Xd, yd, zd) of the S401 by the following formula:
s403, calculating an included angle between the two CD points and the earth center as COD according to the length of a straight line between the two CD points, and calculating by the following formula:
s404, calculating the arc lengths of two CD points according to the included angle COD
Calculated by the following formula:
s405, according to the arc length of the two points of the CD
The circle center of the railway circular curve is P, the radius r of the railway circular curve is used for calculating an included angle CPD corresponding to the perimeter L of the railway circular curve and the arc length Lm of the railway circular curve (as shown in figure 6, the arc length Lm of the railway circular curve is a section of railway arc length of railway line turning, and according to the calculation method of a trigonometric function, the arc length ^ is used for collecting data>
The included angle CPD is calculated by the chord of the arc length relative to the chord of the arc length of the railway circular curve, and is calculated by the following formula:
L＝2πr (11)
Lm＝r∠CPD (13)；
s5, selecting whether to continue measurement or not by a measuring person, if so, returning to the step S1 for re-measurement, and if selecting to terminate measurement, exporting mileage data calculated by the industrial personal computer, obtaining a railway mileage distance, and finishing railway mileage measurement.
In the technical scheme, a tablet personal computer is arranged on the railway mileage measuring vehicle and is in communication connection with an industrial personal computer through Bluetooth, measuring personnel select or control the operation of the measuring vehicle through the tablet personal computer, and the tablet personal computer is arranged to be in Bluetooth connection with the industrial personal computer before the step S1.
A railway mileage measuring vehicle comprising: the system comprises a frame, a traveling mechanism for driving the frame to move along a railway to be measured, a measuring mechanism for measuring railway mileage and a code spraying mechanism for spraying codes at a fixed distance;
the frame comprises an underframe and a support frame, the support frame is vertically and fixedly arranged at one end of the underframe, a support beam is arranged in the middle of the underframe, an installation plate is arranged on the underframe, and a detachable seat is arranged on the installation plate and is used for a measurer to sit;
the running mechanism comprises a generator, a motor control box, a pair of in-wheel motors and a plurality of guide wheels, the pair of in-wheel motors are symmetrically arranged at the bottom of the underframe, the in-wheel motors are respectively arranged at two ends of the supporting beam and used for driving the car body to move, the guide wheels are arranged at the bottom of the underframe and symmetrically arranged at the front side and the rear side of the underframe and used for guiding the car body to push to run along a railway, the generator is arranged on the underframe, the motor control box is arranged on the underframe, the generator is electrically connected with the motor control box, and the motor control box is electrically connected with the in-wheel motors and used for controlling the running of the in-wheel motors;
the measuring mechanism comprises a GNSS module and an industrial personal computer, the GNSS module is mounted at the top of the support frame and used for collecting the central coordinate of the railway line, the industrial personal computer is mounted at the top of the support frame and in communication connection with the industrial personal computer and used for sending the collected central coordinate of the railway line to the industrial personal computer, and the industrial personal computer is used for receiving the collected central coordinate of the railway line, processing and calculating to generate the walking data of the train body;
spout a yard mechanism including spouting the code case, spouting yard pipe and nozzle, spout a yard case and install on the chassis, spout the discharge gate of code case and be connected with the one end of spouting yard pipe, spout the other end and the nozzle that spout yard pipe and be connected, and should spout a yard pipe and stretch out to the outside of automobile body, the export of nozzle is down for spout a yard mark on to the railway.
In the technical scheme, the underframe is formed by splicing two cross beams and two longitudinal beams, the two cross beams are arranged in parallel, the two longitudinal beams are symmetrically arranged between the two cross beams, the supporting cross beam is arranged between the two longitudinal beams, a first bearing plate and a second bearing plate are arranged between one cross beam and the supporting cross beam, the generator is arranged on the second bearing plate, and the motor control box is arranged on the first bearing plate.
In the technical scheme, the number of the seats is two, and the two seats are symmetrically arranged on the mounting plate on the supporting beam.
In the technical scheme, the number of the guide wheels is four, every two guide wheels are a group of guide wheel sets, each group of guide wheel sets are symmetrically arranged on the left side and the right side of the bottom of the underframe, and each guide wheel is arranged on the opposite inner side of the underframe and used for contacting with the inner side of the railway track to guide the train body, so that the train body is prevented from derailing in the walking process.
In the technical scheme, the code spraying box is installed on the underframe through the fixing plate, and the code spraying box is positioned at one corner of the underframe.
In the technical scheme, a motor control board and an AC/DC converter are arranged in the motor control box, a power switch and a motor control switch are arranged on the motor control board, the generator is electrically connected with the AC/DC converter and used for converting alternating current into direct current and supplying power to the motor control board, and the motor control switch is electrically connected with the hub motor and used for controlling the on-off of the hub motor.
In the technical scheme, the support frame is provided with the remote controller, and the remote controller is matched with the motor control panel and used for controlling the operation of the hub motor through the remote controller.
In the technical scheme, the supporting beam is provided with the code spraying button, the nozzle is provided with the electromagnetic valve, and the electromagnetic valve is electrically connected with the code spraying button to control the opening and closing of the nozzle.
In the technical scheme, the frame is provided with the storage battery to be used as a standby power supply of the vehicle body.
In the technical scheme, the motor control box is provided with a standby power supply interface and a standby switch, and the storage battery is connected with the standby power supply interface and used for supplying power to the vehicle body.
In the technical scheme, a track shovel is arranged on one side, close to the supporting frame, of the underframe and used for shoveling away obstacles on a track and preventing the measuring vehicle from derailing.
The invention has the advantages and positive effects that:
1. the GNSS module of the railway mileage measuring vehicle is in communication connection with the industrial personal computer, the GNSS collects railway center line coordinates in real time, and the accurate railway mileage distance can be calculated through an algorithm in the industrial personal computer, so that the railway mileage measuring precision is effectively improved, the traditional mileage measuring operation mode is changed, the safety factor is improved, and the measuring efficiency is high.
2. Be provided with motor control box switching voltage on the railway mileage measuring truck, can invariably output the required voltage of wheel hub motor, the operating current variation range of measuring truck is little, is favorable to motor control panel's stable performance and increase of service life to can last for measuring the power supply of truck, make the time of endurance of measuring truck long, make the automobile body operation stable.
3. And a track shovel is also arranged on the railway mileage measuring truck and used for shoveling away obstacles on the railway track and preventing the measuring truck from derailing.
Drawings
FIG. 1 is a perspective view of a railway mileage measuring vehicle of the present invention (seat omitted);
FIG. 2 is a top plan view of the railway mileage measuring vehicle of the present invention;
FIG. 3 is a side view of the railway mileage measuring truck of the present invention;
FIG. 4 is an elevation view of the railway mileage measuring vehicle of the present invention;
FIG. 5 is a flow chart of a railway mileage measuring method of the present invention;
fig. 6 is a schematic view of a circular arc line of a railway in example 1.
In the figure:
1. frame 2, chassis 3, support frame
4. Code spraying box 5, code spraying pipe 6 and nozzle
7. Mounting plate 8, seat 9, leading wheel
10. In-wheel motor 11, GNSS module 12, motor control box
13. Generator 14, industrial computer 15, first loading board
16. Second bearing plate 17, code spraying button 18 and track shovel
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention in any way.
Example 1
As shown in fig. 1, a railway mileage measuring vehicle of the present invention comprises: the method comprises the following steps: the system comprises a frame 1, a traveling mechanism for driving the frame 1 to move along a railway to be detected, a measuring mechanism for measuring railway mileage and a code spraying mechanism for spraying codes at a fixed distance;
the frame 1 comprises an underframe 2 and a support frame 3, the support frame 3 is vertically and fixedly arranged at one end of the underframe 2, a support beam is arranged in the middle of the underframe 2, an installation plate 7 is arranged on the underframe 2, and a detachable seat 8 is arranged on the installation plate 7 and is used for a measurer to sit;
the running mechanism comprises a generator 13, a motor control box 12, a pair of in-wheel motors 10 (adopting 36V four-inch toothed brushless motors) and a plurality of guide wheels 9, the pair of in-wheel motors 10 are symmetrically arranged at the bottom of the underframe 2, the pair of in-wheel motors 10 are respectively arranged at two ends of the supporting beam and are used for driving the car body to move, the guide wheels 9 are arranged at the bottom of the underframe 2 and are symmetrically arranged at the front side and the rear side of the underframe and are used for guiding the car body to run along a railway track (preventing the car body from derailing in the running process), the generator 13 is arranged on the underframe 2, the motor control box 12 is arranged on the underframe 2, the generator 13 is electrically connected with the motor control box 12 and is used for converting current and voltage, and the motor control box 12 is electrically connected with the in-wheel motors 10 and is used for controlling the running of the in-wheel motors 10;
the measuring mechanism comprises a GNSS module 11 and an industrial personal computer 14, the GNSS module 11 is mounted at the top of the support frame 3 and used for collecting the central coordinate of the railway line, the industrial personal computer 14 (adopting a tablet personal computer) is mounted at the top of the support frame 3, the GNSS module 11 is in communication connection (adopting Bluetooth communication connection) with the industrial personal computer 14 and used for sending the collected central coordinate of the railway line to the industrial personal computer 14, and the industrial personal computer 14 is used for receiving the collected central coordinate of the railway line for processing and calculating to generate the walking data of the train body;
spout a yard mechanism including spouting yard case 4, spouting yard pipe 5 and nozzle 6, spout yard case 4 and install on chassis 2, spout yard case 4 the discharge gate with spout the one end of yard pipe 5 and connect, spout the other end that yard pipe 5 is connected with nozzle 6, and should spout a yard pipe 5 and stretch out to the outside of automobile body, the export of nozzle 6 is used for down spouting yard mark on to the railway rails.
Further, the base frame 2 is formed by splicing two cross beams and two longitudinal beams, the two cross beams are arranged in parallel, the two longitudinal beams are symmetrically arranged between the two cross beams, the supporting cross beam is arranged in the middle of the longitudinal beams, a first bearing plate 15 and a second bearing plate 16 are arranged between one cross beam and the supporting cross beam, the generator 13 is arranged on the second bearing plate 16, and the motor control box 12 is arranged on the first bearing plate 15.
Further, the length of the chassis is 1.6m, and the width is 0.8m.
Further, the number of the seats 8 is two, and the two seats 8 are symmetrically arranged on the supporting beam.
Furthermore, the number of the guide wheels 9 is four, every two guide wheels 9 are a group of guide wheels 9, each group of guide wheels 9 is symmetrically arranged on the left side and the right side of the bottom of the underframe 2, and each guide wheel 9 is arranged on the opposite inner side of the underframe 2 and used for contacting with the inner side of the railway track to guide the train body, so that the train body is prevented from derailing in the running process.
Further, the code spraying box 4 is installed on the base frame 2 through a fixing plate, and the code spraying box 4 is located at one corner of the base frame 2.
Further, a motor control board and an AC/DC converter (adopting a 40V/800W converter) are arranged in the motor control box 12, a power switch and a motor control switch are arranged on the motor control board, the generator 13 (model number iS yamaha EF2000iS,1.6KW portable generator 13) iS electrically connected with the AC/DC converter (model number iS mingwang large power switch power supply S-800W-36V) for converting alternating current into direct current and supplying power to the motor control board, and the motor control switch iS electrically connected with the in-wheel motor 10 for controlling the on-off of the in-wheel motor 10.
The generator 13 can output AC230V/50Hz power frequency alternating current after being started, the 40V/800W AC/DC converter converts voltage into 40V direct current and transmits the 40V direct current to the motor control panel, the hub motor 10 is controlled to operate through the motor control panel, and the output electric quantity can meet the requirement of continuous 7-hour work under the oil-full state of the generator 13, so that the cruising of railway mileage measurement and the efficiency of railway measurement work are greatly improved.
Further, be said, be equipped with the remote controller on the support frame 3, the remote controller is with motor control board looks adaptation (the remote controller pairs the communication through the bluetooth with the motor control board) for through the operation of remote controller control in-wheel motor 10.
Further, the support frame 3 has a length of 1.6m and a height of 0.8m.
Further, be equipped with on the supporting beam and spout a yard button 17, install the solenoid valve on the nozzle 6, the solenoid valve is connected in order to be used for controlling opening and close of nozzle 6 with spouting yard button 17 electricity.
Furthermore, the industrial personal computer is embedded with measurement software, and railway mileage is measured through a railway mileage measuring vehicle.
Example 2
On the basis of embodiment 1, the method for measuring the railway mileage by using the railway mileage measuring vehicle described in embodiment 1 includes the following steps:
s1, a railway mileage measuring vehicle runs along a railway, and longitude and latitude coordinates of a railway center line of the railway mileage measuring vehicle running on a railway track are obtained in real time through a GNSS module of the measuring vehicle;
s2, according to the required measurement type, a mileage interval of 50m and an altitude parameter are configured through an industrial personal computer of the measuring vehicle, when linear measurement is selected, the step S3 is executed, and when curve measurement is selected, the step S4 is executed;
s3, calculation of straight line measurement:
s301, acquiring longitude and latitude coordinates of a starting point A and a terminal point B of each mileage interval (the mileage interval is a straight line) through a GNSS module, converting the longitude and latitude coordinates of the starting point A (wa, ja) and the terminal point B (wb, jb) into three-dimensional coordinates A (Xa, ya, za) and B (Xb, yb, zb) through an industrial personal computer, and calculating through the following formulas:
wherein R is the radius of the earth, and R =6378.137km;
s302, calculating the length of a straight line between two points AB according to the three-dimensional coordinates A (Xa, ya, za), B (Xb, yb, zb) of the S301, and calculating by the following formula:
AB 2 ＝(Xa-Xb) 2 +(Ya-Yb) 2 +(Za-Zb) 2
＝2R 2 (1-Cos(wa)Cos(wb)Cos(ja-jb)-Sin(wa)Sin(wb)) (3)；
s303, calculating an included angle AOB between two points AB and the ground center according to the straight line length of the AB, and calculating by the following formula:
s304, calculating the arc length of the two points AB according to the included angle AOB of the S303
(since the earth is a sphere, the railway line laid on the surface of the earth is a straight line relative to the earth surface, but the earth is an arc line, the arc length of two points AB and AB needs to be calculated->
Calculated by the following formula:
s4, calculating curve measurement:
s401, acquiring longitude and latitude coordinates of a starting point C and an end point D of each mileage interval (the mileage interval is a curve) through a GNSS module, converting the longitude and latitude coordinates of the starting point C (wc, jc) and the end point D (wd, jd) into three-dimensional coordinates C (Xc, yc, zc), D (Xd, yd, zd) through an industrial personal computer, and calculating through the following formulas:
wherein R is the radius of the earth, and R =6378.137km;
s402, calculating the length of a straight line between two points of the CD according to the three-dimensional coordinates C (Xc, yc, zc) and D (Xd, yd, zd) of the S401 by the following formula:
s403, calculating an included angle between the two CD points and the earth center as COD according to the length of a straight line between the two CD points, and calculating by the following formula:
s404, calculating the arc lengths of two points of CD according to the included angle COD
Calculated by the following formula:
s405, according to the arc length of the two points of the CD
The circle center of the railway circular curve is P, the radius r of the railway circular curve is used for calculating an included angle CPD corresponding to the perimeter L of the railway circular curve and the arc length Lm of the railway circular curve (as shown in figure 6, the arc length Lm of the railway circular curve is a section of railway arc length of a railway line during turning, and according to the calculation method of a trigonometric function, the arc length is ^ H>
The included angle CPD is calculated by the chord of the arc length relative to the chord of the arc length of the railway circular curve, and is calculated by the following formula: />
L＝2πr (11)
Lm＝r∠CPD (13)；
S5, selecting whether to continue measurement or not by a measuring staff, if so, returning to the step S1 to re-measure, and if so, deriving mileage data calculated by the industrial personal computer to obtain the railway mileage distance and finish the railway mileage measurement.
Further, since the railway is not a circular curve or a straight line in an ideal state during the laying process, a short railway line (i.e. a mitigation curve) exists between the straight line and the circular curve during the laying process of the actual railway, and the short railway line is not included in the calculation range of the radius of the circular curve and not included in the calculation range of the straight line, therefore, a position of 1/2 of the mitigation curve is required to be used as a switching point of the measurement mode, so that the mitigation curve is divided into two halves to be respectively subjected to approximate calculation in the straight line measurement mode and the curve measurement mode.
Further, the radius r of the circular curve of the railway is a known number provided by railway departments, and the parameter can be manually input before calculation.
Further, a tablet personal computer is arranged on the railway mileage measuring vehicle and is in communication connection with an industrial personal computer through Bluetooth, measuring personnel select or control the operation of the measuring vehicle through the tablet personal computer, and the tablet personal computer is arranged to be in Bluetooth connection with the industrial personal computer before the step S1.
Compared with the traditional differential method after double-track measurement, the mileage measuring method of the invention realizes one-time measurement to obtain the neutral line mileage of the railway rail by the advancing of the railway mileage measuring vehicle, and the precision can reach 1/20000 by the mileage measuring method of the invention.
The mileage measuring method of the invention is adopted to measure the mileage in the K0+ 000-K8 +150 of the calling and experimental bases, the total length of the measurement is 8200m, the measurement is started from the starting point 0m to the measurement end point 8150m, (the measurement error is larger due to the line from the starting point 0m-650m, so the measurement error is omitted in the measurement value), and the measurement result of the railway mileage measurement is shown in the table 1:
TABLE 1 railway mileage measurement values and accuracy
As can be seen from Table 1, the accuracy of the straight line measurement can reach 1/40000, the measurement accuracy is obviously improved compared with the required measurement accuracy standard of 1/20000, and no obvious error sudden change exists in the measurement.
During measurement, the accuracy of the mileage measurement can be verified by reversely deducing the measurement from the line end point to the line start point.
Example 3
On the basis of embodiment 1, a storage battery is mounted on the vehicle frame 1 and used as a standby power supply of the vehicle body.
Further, a standby power interface and a standby switch are arranged on the motor control box 12, and the storage battery is electrically connected with the standby power interface and used for supplying power to the vehicle body.
Further, the storage battery is a lithium battery.
Further, the industrial personal computer 14 is a tablet personal computer (processing software based on the android system is embedded in the tablet personal computer and serves as a data processing platform), and data required in the test is directly displayed through the tablet personal computer.
Furthermore, the material filled in the code spraying box 4 is formed by mixing emulsion paint and antifreeze.
Furthermore, be equipped with the track shovel on the chassis 2 near one side of support frame 3, the track shovel is used for shoveling out the barrier on the track, prevents to measure the car derail.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments to describe one element or feature's relationship to another element or feature as illustrated in the figures for ease of description. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an orientation of upper and lower. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (4)
1. A railway mileage measuring method is characterized by comprising the following steps:
s1, a railway mileage measuring vehicle runs along a railway, and a GNSS module of the measuring vehicle is used for acquiring longitude and latitude coordinates of a railway center line of the railway mileage measuring vehicle running on a railway track in real time;
s2, according to the required measurement type, mileage interval and altitude parameters are configured through an industrial personal computer of the measuring vehicle, when linear measurement is selected, the step S3 is executed, and when curve measurement is selected, the step S4 is executed;
s3, calculation of straight line measurement:
s301, acquiring longitude and latitude coordinates of a starting point A and a terminal point B of each mileage interval through a GNSS module, wherein the longitude and latitude coordinates of the point A are (wa, ja), the longitude and latitude coordinates of the point B are (wb, jb), converting the longitude and latitude coordinates of the starting point A (wa, ja) and the terminal point B (wb, jb) into three-dimensional coordinates A (Xa, ya, za), B (Xb, yb, zb) through an industrial personal computer, and calculating through the following formula:
wherein R =6378.137km;
s302, calculating the length of a straight line between two points AB according to the three-dimensional coordinates A (Xa, ya, za), B (Xb, yb, zb) of the S301, and calculating by the following formula:
AB 2 ＝(Xa-Xb) 2 +(Ya-Yb) 2 +(Za-Zb) 2
＝2R 2 (1-Cos(wa)Cos(wb)Cos(ja-jb)-Sin(wa)Sin(wb))(3)；
s303, calculating an included angle AOB between two points AB and the earth center according to the linear length of the points AB, and calculating by the following formula:
s304, calculating the arc length of the AB two points according to the included angle AOB of the S303
Calculated by the following formula:
s4, calculating curve measurement:
s401, acquiring longitude and latitude coordinates of a starting point C and a terminal point D of each mileage interval through a GNSS module, wherein the longitude and latitude coordinates of the C point are (wc, jc), the longitude and latitude coordinates of the D point are (wd, jd), converting the longitude and latitude coordinates of the starting point C (wc, jc) and the terminal point D (wd, jd) into three-dimensional coordinates C (Xc, yc, zc), D (Xd, yd, zd) through an industrial personal computer, and calculating through the following formulas:
wherein, R =6378.137km;
s402, calculating the length of a straight line between two points of the CD according to the three-dimensional coordinates C (Xc, yc, zc) and D (Xd, yd, zd) of the S401 by the following formula:
CD 2 ＝(Xc-Xd) 2 +(Yc-Yd) 2 +(Zc-Zd) 2
＝2R 2 (1-Cos(wc)Cos(wd)Cos(jc-jd)-Sin(wc)Sin(wd))(8)；
s403, calculating an included angle COD between the two CD points and the earth center according to the length of a straight line between the two CD points, and calculating by the following formula:
s404, calculating the arc lengths of two points of CD according to the included angle COD
Calculated by the following formula:
s405, according to the arc length of the two points of the CD
The circle center of the railway circular curve is P, the radius r of the railway circular curve is used for calculating the included angle CPD corresponding to the perimeter L of the railway circular curve and the arc length Lm of the railway circular curve, and the included angle CPD is calculated by the following formula:
L＝2πr(11)
Lm＝r∠CPD(13)；
s5, selecting whether to continue measurement or not by a measuring staff, if so, returning to the step S1 to re-measure, and if so, deriving mileage data calculated by the industrial personal computer to obtain the railway mileage distance and finish the railway mileage measurement.
2. The railway mileage measuring method according to claim 1, characterized in that: in step S2, 1/2 of the relaxation curve is used as a switching point of the measurement method so that the relaxation curve is divided into two halves, and the approximation calculation is performed in the straight line measurement method and the curve measurement method, respectively.
3. The railway mileage measuring method according to claim 1, characterized in that: the radius r of the railway circular curve is input by means before calculation according to known numbers provided by railway departments.
4. The railway mileage measuring method according to claim 1, characterized in that: in the step S2, the configured mileage interval is 30m to 50m.
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