CN112849227B - Method for judging steering of high-speed rail operation vehicle based on IMU (inertial measurement Unit) - Google Patents
Method for judging steering of high-speed rail operation vehicle based on IMU (inertial measurement Unit) Download PDFInfo
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- CN112849227B CN112849227B CN202110122355.8A CN202110122355A CN112849227B CN 112849227 B CN112849227 B CN 112849227B CN 202110122355 A CN202110122355 A CN 202110122355A CN 112849227 B CN112849227 B CN 112849227B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/023—Determination of driving direction of vehicle or vehicle train
Abstract
The invention discloses a method for judging steering of a high-speed rail operation vehicle based on an IMU (inertial measurement Unit), which is characterized in that the IMU is fixedly connected to the high-speed rail operation vehicle, an XOY plane of coordinate axes of the IMU is parallel to a rail plane, a Z axis is vertical to the rail plane, the Z axis angular speed of the IMU is received in real time and is taken as a course angular speed, and data processing is carried out on the course angular speed so as to judge whether the high-speed rail operation vehicle steers or not and the steering direction. The method can accurately judge whether the high-speed rail operation vehicle turns or not and judge the turning direction in real time, has high accuracy and low cost, and is beneficial to wide equipment.
Description
Technical Field
The invention relates to a method for judging steering of a high-speed rail operation vehicle, in particular to a method for judging steering of the high-speed rail operation vehicle based on an IMU (inertial measurement Unit).
Background
When passing a turnout, the high-speed rail operating vehicle runs on a track, the wheels of the high-speed rail operating vehicle are limited in structure, and two conditions of 'lane change' and 'lane unchanging' can occur, namely the high-speed rail operating vehicle continues to run along the current line or changes the lane to another track. The construction of the switch also dictates that only one be "split into two". After the working vehicle passes through one turnout, the working vehicle is fixed on the track between the front turnout and the rear turnout before entering the next turnout. Therefore, the accurate and real-time judgment of the steering direction of the operation vehicle when the operation vehicle passes through the turnout is an important aspect of the positioning of the operation vehicle of the high-speed rail, and is concerned with the important public property safety of the country.
Disclosure of Invention
The invention aims to provide a method for judging the steering of a high-speed rail operation vehicle based on an IMU (inertial measurement Unit), which can accurately judge whether the high-speed rail operation vehicle is steered or not and judge the steering direction in real time, has high accuracy and low cost and is beneficial to wide equipment.
The technical scheme adopted by the invention is as follows:
a method for judging steering of a high-speed rail operation vehicle based on an IMU is characterized in that the IMU is fixedly connected to the high-speed rail operation vehicle, an XOY plane of coordinate axes of the IMU is parallel to a rail plane, a Z axis is perpendicular to the rail plane, the Z axis angular speed of the IMU is received in real time and serves as a course angular speed, and data processing is carried out on the course angular speed so as to judge whether the high-speed rail operation vehicle steers or not and judge the steering direction.
And further, the method for processing the data of the course angular velocity is that a sliding window is arranged to read a plurality of latest course angular velocities and average the latest course angular velocities, then the latest course angular velocities are compared with the average value of all the course angular velocities from the beginning of operation, the average value and the average value are differed, and whether the high-speed rail operation vehicle turns or not and the turning direction are judged according to the magnitude and the positive and negative of the difference value.
Further, the specific steps of processing the data of the course angular velocity are as follows:
1) setting the current time as T1, setting a sliding window with the capacity of n1, reading the latest n1 course angular velocity values, and solving the average value y 1; meanwhile, calculating the average value y2 of all course angular velocity values from the beginning of running to the time of T1, subtracting y1 from y2, setting a threshold value, feeding back the steering direction of the high-speed rail working vehicle according to the Z-axis direction variable at the moment when the absolute value of the difference value of y1-y2 exceeds the threshold value, and feeding back the steering direction of the high-speed rail working vehicle, namely, turning left or turning right; then, the newly read course angular velocity value replaces the last value of the sliding window, the 2 nd to n1 th values in the original sliding window replace the previous data, and the capacity of the sliding window is still n1 at this time, and the above judgment is performed, and the process is repeated;
2) the IMU is fixedly connected with the high-speed rail operation vehicle in a correct mode, the absolute value of the acceleration of one axis in three-dimensional coordinate axes is closest to the gravity acceleration G, the axis is set to be a Z axis, and the XOY plane of the coordinate axes of the IMU is parallel to the plane of the track; confirming the current IMU installation direction according to the positive and negative of the Z-axis acceleration value, wherein if the Z-axis acceleration value is positive, the positive direction of the Z-axis is downward, a direction variable X1= -1 is set, otherwise, if the Z-axis acceleration value is negative, the positive direction of the Z-axis is upward, a direction variable X1=1 is set;
3) when the absolute value of the difference between y1 and y2 exceeds the threshold value and is positive after the Z-axis direction is confirmed, if X1=1 at this time, it indicates that a left turn is generated, and if X1= -1 at this time, it indicates that a right turn is generated; conversely, when y1-y2 exceeds the threshold value and is negative, if X1=1 at this time, it indicates that a right turn has occurred, and if X1= -1 at this time, it indicates that a left turn has occurred.
The invention has the beneficial effects that:
the method includes that an Inertial Measurement Unit (IMU) is a sensor mainly used for detecting and measuring acceleration and rotary motion, three mutually perpendicular three-dimensional coordinate axes are arranged inside the IMU generally, acceleration and angular velocity of the direction of each coordinate axis can be obtained, and the IMU can be used for accurately judging whether a high-speed rail operation vehicle turns or not and judging the turning direction in real time. The method reduces the limit on the IMU installation direction, and the judgment can be carried out as long as one of three-dimensional coordinate axes of the IMU is vertical to the rail plane. The method links the condition of the high-speed rail operation vehicle when the high-speed rail operation vehicle turns through the turnout with the change of the course angular speed, can accurately judge in real time, and has high accuracy. The method can judge whether the high-speed rail operation vehicle turns or not and obtain the specific situation when the high-speed rail operation vehicle turns, is low in cost and is beneficial to wide equipment.
Detailed Description
The present invention will be further described with reference to the following examples.
A method for judging steering of a high-speed rail operation vehicle based on an IMU is characterized in that the IMU is fixedly connected to the high-speed rail operation vehicle, an XOY plane of coordinate axes of the IMU is parallel to a rail plane, a Z axis is perpendicular to the rail plane, the Z axis angular speed of the IMU is received in real time and serves as a course angular speed, and data processing is carried out on the course angular speed so as to judge whether the high-speed rail operation vehicle steers or not and judge the steering direction.
In this embodiment, the method for processing the data of the heading angular velocity is as follows: and setting a sliding window to read a plurality of latest course angular speeds and averaging the latest course angular speeds, then comparing the latest course angular speeds with the average value of all the course angular speeds after the operation is started, making a difference between the latest course angular speeds and the average value, and judging whether the high-speed rail working vehicle turns or not and the turning direction according to the magnitude and the positive and negative of the difference.
In this embodiment, the specific steps of processing the data of the heading angular velocity are as follows:
1) setting the current time as T1, setting a sliding window with the capacity of n1, reading the latest n1 course angular velocity values, and solving the average value y 1; meanwhile, calculating the average value y2 of all course angular velocity values from the beginning of running to the time of T1, subtracting y1 from y2, setting a threshold value, feeding back the steering direction of the high-speed rail working vehicle according to the Z-axis direction variable at the moment when the absolute value of the difference value of y1-y2 exceeds the threshold value, and feeding back the steering direction of the high-speed rail working vehicle, namely, turning left or turning right; then, the newly read course angular velocity value replaces the last value of the sliding window, the 2 nd to n1 th values in the original sliding window replace the previous data, and the capacity of the sliding window is still n1 at this time, and the above judgment is performed, and the process is repeated;
2) the IMU is fixedly connected with the high-speed rail operation vehicle in a correct mode, the absolute value of the acceleration of one axis in three-dimensional coordinate axes is closest to the gravity acceleration G, the axis is set to be a Z axis, and the XOY plane of the coordinate axes of the IMU is parallel to the plane of the track; confirming the current IMU installation direction according to the positive and negative of the Z-axis acceleration value, wherein if the Z-axis acceleration value is positive, the positive direction of the Z-axis is downward, a direction variable X1= -1 is set, otherwise, if the Z-axis acceleration value is negative, the positive direction of the Z-axis is upward, a direction variable X1=1 is set;
3) when the absolute value of the difference between y1 and y2 exceeds the threshold value and is positive after the Z-axis direction is confirmed, if X1=1 at this time, it indicates that a left turn is generated, and if X1= -1 at this time, it indicates that a right turn is generated; conversely, when y1-y2 exceeds the threshold value and is negative, if X1=1 at this time, it indicates that a right turn has occurred, and if X1= -1 at this time, it indicates that a left turn has occurred.
The method includes that an Inertial Measurement Unit (IMU) is a sensor mainly used for detecting and measuring acceleration and rotary motion, three mutually perpendicular three-dimensional coordinate axes are arranged inside the IMU generally, acceleration and angular velocity of the direction of each coordinate axis can be obtained, and the IMU can be used for accurately judging whether a high-speed rail operation vehicle turns or not and judging the turning direction in real time. The method reduces the limit on the IMU installation direction, and can judge as long as one of three-dimensional coordinate axes of the IMU is vertical to the plane of the track. The method links the condition of the high-speed rail operation vehicle when the high-speed rail operation vehicle turns through the turnout with the change of the course angular speed, can accurately judge in real time, and has high accuracy. The method can judge whether the high-speed rail operation vehicle turns or not and obtain the specific situation when the high-speed rail operation vehicle turns, is low in cost and is beneficial to wide equipment.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (1)
1. A method for judging steering of a high-speed rail operation vehicle based on an IMU (inertial measurement Unit) is characterized by comprising the following steps: the IMU is fixedly connected to the high-speed rail operation vehicle, an XOY plane of an IMU coordinate axis is parallel to a track plane, a Z axis is vertical to the track plane, the Z axis angular speed of the IMU is received in real time to serve as a course angular speed, and data processing is carried out on the course angular speed so as to judge whether the high-speed rail operation vehicle turns and the turning direction;
the method for processing the course angular velocity data is that a sliding window is set to read a plurality of latest course angular velocities and average the latest course angular velocities, then the latest course angular velocities are compared with the average value of all the course angular velocities after the start of operation, the difference is made between the latest course angular velocities and the average value, and whether the high-speed rail operation vehicle turns and the turning direction occurs or not is judged according to the magnitude and the positive and negative of the difference;
the specific steps of data processing of the heading angular velocity are,
1) setting the current time as T1, setting a sliding window with the capacity of n1, reading the latest n1 course angular velocity values, and solving the average value y 1; meanwhile, calculating the average value y2 of all course angular velocity values from the beginning of operation to the time T1, subtracting y1 from y2, setting a threshold value, feeding back the steering of the high-speed rail working vehicle according to the Z-axis direction variable at the moment when the absolute value of the difference value of y1-y2 exceeds the threshold value, and feeding back the steering direction of the high-speed rail working vehicle, namely left steering or right steering; then, the newly read course angular velocity value replaces the last bit value of the sliding window, the values from 2 nd to n1 th in the original sliding window replace the previous bit of data, the capacity of the sliding window is still n1 at the moment, and the judgment is carried out again, so that the process is repeated;
2) the IMU is fixedly connected with the high-speed rail operation vehicle in a correct mode, the absolute value of the acceleration of one axis in three-dimensional coordinate axes is closest to the gravity acceleration G, the axis is set to be a Z axis, and the XOY plane of the coordinate axes of the IMU is parallel to the plane of the track; confirming the current IMU installation direction according to the positive and negative of the Z-axis acceleration value, wherein if the Z-axis acceleration value is positive, the positive direction of the Z-axis is downward, a direction variable X1= -1 is set, otherwise, if the Z-axis acceleration value is negative, the positive direction of the Z-axis is upward, a direction variable X1=1 is set;
3) when the absolute value of the difference between y1 and y2 exceeds the threshold value and is positive after the Z-axis direction is confirmed, if X1=1 at this time, it indicates that a left turn is generated, and if X1= -1 at this time, it indicates that a right turn is generated; conversely, when y1-y2 exceeds the threshold value and is negative, if X1=1 at this time, it indicates that a right turn has occurred, and if X1= -1 at this time, it indicates that a left turn has occurred.
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