CN113804217A - Space-time synchronization information detection method of track inspection system - Google Patents
Space-time synchronization information detection method of track inspection system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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Abstract
The invention belongs to the field of urban rail transit and discloses a method for detecting time-space synchronization information of a rail inspection system. According to the invention, the calculation of the train speed is completed through the information measured by the gyro component and the accelerometer component, the speed estimation accuracy is improved through optimizing the state equation, the estimated train speed is converted into the equivalent trigger pulse, and the trigger pulse is used for synchronously triggering and sampling the sensors carried by the train, so that the reduction of the time-space synchronization efficiency is avoided, and the asynchronous operation of the sensors carried by the inspection system is prevented. Accurate matching of the position information at the sampling moment of the sensor is realized through piecewise fitting interpolation, and the data analysis efficiency after the measurement operation is finished is improved.
Description
Technical Field
The invention belongs to the field of urban rail transit, relates to sensor information synchronization of a rail inspection system, and particularly relates to a space-time synchronization information detection method of the rail inspection system.
Background
In recent years, urban rail transit is rapidly developed, and transportation means such as urban subways, trams and intercity railways are vigorously constructed in various regions, so that the convenience of people in traveling is greatly improved. With the increase of the construction of the rail transportation lines and the increase of the line transportation task amount, the monitoring of the rail health state becomes a problem which is very concerned by rail construction departments and line operation units. Along with the increase of operation time, the track can age gradually, appears ride comfort overproof, the gauge change, fastener damage even rail fracture's problem, greatly influences the security of track line operation.
In order to ensure the reliability and safety of the operation of the rail transit line, the health state of the rail needs to be monitored regularly. The conventional track inspection is often dependent on a manual operation inspection mode, and the mode is low in efficiency. In recent years, inspection trolleys, inspection robots and vehicle-mounted detection systems are vigorously researched and developed, and the problem that the inspection efficiency of manual operation in the past is low is solved to a great extent. Especially, the vehicle-mounted detection system has the characteristic of integrating operation and detection in view of no need of a special routing inspection time period, and is widely favored by a line operation department at present. The inspection system is equipped with a plurality of sensors, such as a line camera, a laser camera, a track gauge and the like, and the state information of the track along the line can be grasped through analysis and processing of the measurement information of the sensors. In order to associate the detected and measured information with the position points along the track, the synchronization between the measured information and the position points along the track needs to be completed so as to analyze the track state of each position point, which generally includes two synchronization aspects: firstly, the time synchronization among the sensors is realized, and secondly, the space synchronization of the sampling point and the position point of the sensor is realized. The current common solution is to use the odometer sampling pulse signal on the inspection system to trigger each sensor at the same time, to complete the time synchronization between the sensors and the synchronous marking of the sensor sampling point and the position point along the track. However, this working method is only suitable for a special inspection system, and is not suitable for an onboard measuring system, mainly because the rail operation department does not allow the addition of the odometer on the wheels of the running vehicle, and even if the addition of the odometer on the wheels is allowed, there is a problem that the sampling point does not correspond well to the position point (three-dimensional position coordinate) along the rail (mainly because the estimated position of the odometer is only simple one-dimensional position estimation, and when the line is a curve, the position estimation has an error and is difficult to reach the resolution of millimeter level).
Based on the existing sensor configuration of a vehicle-mounted measuring system, the calculation of the train speed is completed through the information measured by a gyro component and an accelerometer component, the calculated train speed is subjected to fusion correction by using a speed measurement signal provided by a train, the high-frequency and high-precision train speed estimation is realized, the estimated train speed is converted into an equivalent trigger pulse, and the trigger pulse is used for synchronously triggering and sampling the sensors carried by the train so as to realize time synchronization; and further, the accurate correspondence of the accurate position point of the train and the sampling point of the sensor is realized by utilizing the high-precision position estimation value.
Therefore, the time-space synchronization information measurement of the track inspection system corresponds to the speed and position information measurement of the train, and the time-space synchronization of the inspection system carrying sensors can be completed based on accurate speed and position information. However, the gyro component and the accelerometer component additionally arranged on the track inspection system have limited precision, which can cause the increase of speed error when the speed of the train is calculated, although the speed error and the position error can be restrained by designing a Kalman filter and utilizing speed measurement signals and occasional position binding information provided by the train. However, because a lot of vibration exists in the running state of the train, the specific acceleration is solved through the speed increment output of the accelerometer component, and then when the specific acceleration information is used in the Kalman filter, the nonlinearity of a state equation is increased, the stability of the Kalman filter is directly influenced, the estimation error of the speed and position information is increased, the accuracy of space-time synchronization is influenced, and the sensor carried by the inspection system cannot synchronously coordinate. In addition, accurate position information needs to be obtained at the sampling time of a sensor carried by the inspection system so as to accurately correspond the sampling information to the position information, but the position information at the sampling time cannot be directly obtained due to the fact that the position calculation frequency of the inertial measurement unit is inconsistent with the sampling frequency, and the position information at the sampling time needs to be obtained based on the position calculation information of the inertial measurement unit.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: 1. how to realize the accurate measurement of the time-space synchronization information of the vehicle-mounted track inspection system, accurately estimate the speed and position information of the train and solve the problem that the nonlinear increase of a state equation caused by the vibration of the train further influences the stability of a Kalman filter; 2. how to solve the problem that the sampling information is not matched with the position due to the fact that the resolving frequency of the inertia measuring unit is not consistent with the sampling frequency of the sensor of the inspection system.
In order to solve the technical problems, the solution proposed by the invention is as follows:
the method for detecting the time-space synchronization information of the track inspection system comprises the following steps:
(1) the method comprises the following steps that an inertia measurement unit is installed on a track inspection system, the track inspection system is kept static for 10 minutes, and after initial position information is bound, the inertia measurement unit carries out an initial alignment process to obtain initial attitude information;
(2) after the initial alignment is completed, the track inspection system starts to enter a measurement operation mode, under the measurement mode operation mode, inertial navigation resolving is completed by utilizing angle increment and speed increment information output by a gyro component and an accelerometer component in an inertial measurement unit, speed and position information is obtained, meanwhile, a Kalman filter system state equation is constructed, and prediction updating is carried out on speed errors and position errors, wherein the Kalman filter system state equation is constructed in the following mode:
(2.1) error angle psi in psicOptimizing speed error
Optimizing the position error δ rcGyro drift epsilonbAccelerometer zero offset
The installation error eta of the inertial measurement unit and the scale factor error delta k of the train speed measurement signal are system states x (t), and differential equations of a psi error angle, a speed error, gyro drift, accelerometer zero offset, installation error and scale factor error are respectively determined, wherein:
(2.1.1) psi error angle differential equation:
in the formula (I), the compound is shown in the specification,
representing the rotational angular velocity of the earth represented under the computed coordinate system c,
representation calculationThe angular velocity of the transfer as expressed in the coordinate system,
representing the attitude matrix between the carrier coordinate system b and the calculation coordinate system c,
representing the measurement error of the gyro-assembly, wgRepresenting gyro assembly measurement noise;
(2.1.2) optimizing speed error
The differential equation determination step is as follows:
(2.1.2.1) will optimize the speed error
Is defined as a p-series velocity solution value expressed under c series
With the true velocity vcThe difference between them, i.e.
In the formula (I), the compound is shown in the specification,
for velocity solutions in the p series, vcI.e. the true velocity, δ v, expressed under ccIs a speed error represented under c;
(2.1.2.2) for optimizing speed error
Differentiating to determine a differential equation:
in the formula (I), the compound is shown in the specification,
wherein f isbThe specific force is expressed as a function of,
respectively representing the error of the rotational angular velocity of the earth and the error of the transfer angular velocity,
representing the measurement error of the accelerometer assembly, waIndicating that the accelerometer assembly is measuring noise,
represents the actual output value of the accelerometer assembly,
the solution value of the attitude matrix is represented,
respectively representing the rotational angular velocity solution value and the transfer angular velocity solution value of the earth,
representing the gravity determined by the gravity model according to the calculated position;
(2.1.2.3) substituting and organizing formula (1), formula (4) and formula (5) into formula (3), and determining the optimized speed error
The differential equation of (a) is:
in the formula, gc、δgcRespectively representing the gravity true value and the error thereof represented under the c series;
(2.1.3) optimization of position error δ rcThe differential equation is:
(2.1.4) Gyro Drift εbAccelerometer zero offset
The differential equation of (a) is:
(2.1.5) the differential equation of the installation error η of the inertial measurement unit is:
wherein eta is [. eta. ]θ ηΨ]TInstallation error eta from pitch angleθAnd course angle mounting error etaΨComposition of wηThe noise of the installation error is used for reflecting the change of the installation error;
(2.1.6) the differential equation of the train speed measurement signal scale factor error is as follows:
wherein, wkScale factor noise to reflect changes in scale factor;
(2.2) constructing a system state equation according to the attitude error, the speed error, the position error, the gyro drift, the accelerometer zero offset, the installation error and the scale factor error differential equation determined in the step (2.1);
where f (t) represents a system state matrix, g (t) represents a system noise matrix, and w (t) [ w ]g wa wη wk]TRepresenting system noise;
(3) when the track inspection system moves along the track, the lateral speed and the vertical speed are zero, and the error delta v of the forward speed isyLateral velocity error δ vxAnd vertical velocity error δ vzConstruction of observed quantity z (t) ═ δ vx δvy δvz]TAnd determining an observation equation, wherein the determination of the observation equation is realized by the following steps:
(3.1) projecting the speed output of the inertial measurement unit to a track inspection system coordinate system m in the following way:
wherein the content of the first and second substances,
represents the projection of the velocity output of the inertial measurement unit under the coordinate system m of the track inspection system, vmRepresenting the real track inspection system speed represented in the m coordinate system,
a matrix representing the installation relationship between the carrier coordinate system b and the track inspection system coordinate system m,
the angle of the installation error is indicated,
representing an attitude matrix between a calculation coordinate system c and a carrier coordinate system b;due to the installation error eta of the transverse roll angleγThe forward velocity projection is assigned a value of 0, i.e. η, without affecting the forward velocity projectionγ＝0；
(3.2) by
As observed quantity z (t), an observation equation is constructed as follows:
z(t)＝H(t)x(t)+υ(t) (13)
wherein the content of the first and second substances,
vm＝[0 vf 0]Tand v isfIs equal to the speed information provided by the train, H (t) represents an observation matrix, and upsilon (t) represents observation noise;
(3.3) when the track inspection system receives the position information provided by the train, the position error delta r is obtainedcAugmentation as an observed quantity;
(3.4) completing measurement updating according to the state equation of the Kalman filter system in the steps (3.1), (3.2) and (3.3);
(4) setting the value of equivalent trigger pulse frequency based on 1 mm according to the speed estimation value of the track inspection system, and triggering different sensors to finish sampling respectively according to the value; and simultaneously, the position information of three adjacent resolving periods is taken as a fitting sampling point, the relative time t is taken as an independent variable, the position information is taken as a dependent variable, a position curve of the interval is obtained based on spline function fitting, the last fitting sampling point of the fitting interval is taken as an initial fitting sampling point of the next fitting interval, the continuity of the fitting curve is kept, and the position information of each sampling moment in the interval is obtained through fitting interpolation.
Further, the sampling interval of the inertial measurement unit in step (2) when measuring the angular increment information and the velocity increment information is not more than 0.01 s.
Further, the gyro drift and the accelerometer zero offset state in the step (2.2) adopt feedback correction.
Further, the installation error state in the step (2.2) adopts open loop correction.
Further, the scale factor error state in step (2.2) is corrected using open loop.
Further, the train speed v in said step (3.2)fThe vertical acceleration of the train can be calculated by setting a vertical acceleration threshold value and adopting a sliding window mean value calculation mode, the vertical acceleration is compared with the set threshold value, if the vertical acceleration is greater than the set threshold value, the train is judged to pass through a track connection point, vibration detection is finished, and the current moment t is recordedk(ii) a When the vertical acceleration is larger than the set threshold value again, recording the current time t againk+1According to vf＝L/(tk+1-tk) The train speed is obtained by the calculation method of (1), and L is the length of the fixed track.
Further, the measurement update is completed in the step (3.3) by adopting a sequential update mode.
Compared with the prior art, the invention has the advantages that:
the method is suitable for the on-board measurement inspection system, the accurate estimation of the speed and position information of the train is realized, the specific acceleration does not need to be solved by optimizing a speed error equation and a position error equation, the error amplification effect caused by the traditional method for solving the specific acceleration based on the differential of the speed increment is eliminated, the problem that the nonlinear increase of a state equation is caused by the vibration of the train and the stability of a Kalman filter is further influenced is solved, the reduction of the time-space synchronization efficiency is avoided, and the asynchronous working of sensors carried by the inspection system is prevented. Accurate matching of the position information at the sampling moment of the sensor is realized through piecewise fitting interpolation, and the data analysis efficiency after the measurement operation is finished is improved.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the method for detecting spatiotemporal synchronization information of a track inspection system includes the following steps:
(1) the method comprises the following steps that an inertia measurement unit is installed on a track inspection system, the track inspection system is kept static for 10 minutes, and after initial position information is bound, the inertia measurement unit carries out an initial alignment process to obtain initial attitude information;
(2) after the initial alignment is completed, the track inspection system starts to enter a measurement operation mode, under the measurement mode operation mode, inertial navigation resolving is completed by utilizing angle increment and speed increment information output by a gyro component and an accelerometer component in an inertial measurement unit, speed and position information is obtained, meanwhile, a Kalman filter system state equation is constructed, and prediction updating is carried out on speed errors and position errors, wherein the Kalman filter system state equation is constructed in the following mode:
(2.1) error angle psi in psicOptimizing speed error
Optimizing the position error δ rcGyro drift epsilonbAccelerometer zero offset
The installation error eta of the inertial measurement unit and the scale factor error delta k of the train speed measurement signal are system states x (t), and differential equations of a psi error angle, a speed error, gyro drift, accelerometer zero offset, installation error and scale factor error are respectively determined, wherein:
(2.1.1) psi error angle differential equation:
in the formula (I), the compound is shown in the specification,
representing the rotational angular velocity of the earth represented under the computed coordinate system c,
indicating the transfer angular velocity indicated in the calculated coordinate system,
representing the attitude matrix between the carrier coordinate system b and the calculation coordinate system c,
representing the measurement error of the gyro-assembly, wgRepresenting gyro assembly measurement noise;
(2.1.2) optimizing speed error
The differential equation determination step is as follows:
(2.1.2.1) will optimize the speed error
Is defined as a p-series velocity solution value expressed under c series
With the true velocity vcThe difference between them, i.e.
In the formula (I), the compound is shown in the specification,
for velocity solutions in the p series, vcI.e. the true velocity, δ v, expressed under ccIs a speed error represented under c;
(2.1.2.2) for optimizing speed error
Differentiating to determine a differential equation:
in the formula (I), the compound is shown in the specification,
wherein f isbThe specific force is expressed as a function of,
respectively representing the error of the rotational angular velocity of the earth and the error of the transfer angular velocity,
representing the measurement error of the accelerometer assembly, waIndicating that the accelerometer assembly is measuring noise,
represents the actual output value of the accelerometer assembly,
the solution value of the attitude matrix is represented,
respectively representing the rotational angular velocity solution value and the transfer angular velocity solution value of the earth,
representing the gravity determined by the gravity model according to the calculated position;
(2.1.2.3) substituting and organizing formula (1), formula (4) and formula (5) into formula (3), and determining the optimized speed error
The differential equation of (a) is:
in the formula，gc、δgcRespectively representing the gravity true value and the error thereof represented under the c series;
(2.1.3) optimization of position error δ rcThe differential equation is:
(2.1.4) Gyro Drift εbAccelerometer zero offset
The differential equation of (a) is:
(2.1.5) the differential equation of the installation error η of the inertial measurement unit is:
wherein eta is [. eta. ]θ ηΨ]TInstallation error eta from pitch angleθAnd course angle mounting error etaΨComposition of wηThe noise of the installation error is used for reflecting the change of the installation error;
(2.1.6) the differential equation of the train speed measurement signal scale factor error is as follows:
wherein, wkScale factor noise to reflect changes in scale factor;
(2.2) constructing a system state equation according to the attitude error, the speed error, the position error, the gyro drift, the accelerometer zero offset, the installation error and the scale factor error differential equation determined in the step (2.1);
where f (t) represents a system state matrix, g (t) represents a system noise matrix, and w (t) [ w ]g wa wη wk]TRepresenting system noise;
(3) when the track inspection system moves along the track, the lateral speed and the vertical speed are zero, and the error delta v of the forward speed isyLateral velocity error δ vxAnd vertical velocity error δ vzConstruction of observed quantity z (t) ═ δ vx δvy δvz]TAnd determining an observation equation, wherein the determination of the observation equation is realized by the following steps:
(3.1) projecting the speed output of the inertial measurement unit to a track inspection system coordinate system m in the following way:
wherein the content of the first and second substances,
represents the projection of the velocity output of the inertial measurement unit under the coordinate system m of the track inspection system, vmRepresenting the real track inspection system speed represented in the m coordinate system,
a matrix representing the installation relationship between the carrier coordinate system b and the track inspection system coordinate system m,
the angle of the installation error is indicated,
representing an attitude matrix between a calculation coordinate system c and a carrier coordinate system b; due to the installation error eta of the transverse roll angleγWithout affecting the forward velocity projection, assign it as0, i.e. etaγ＝0；
(3.2) by
As observed quantity z (t), an observation equation is constructed as follows:
z(t)＝H(t)x(t)+υ(t) (13)
wherein the content of the first and second substances,
vm＝[0 vf 0]Tand v isfIs equal to the speed information provided by the train, H (t) represents an observation matrix, and upsilon (t) represents observation noise;
(3.3) when the track inspection system receives the position information provided by the train, the position error delta r is obtainedcAugmentation as an observed quantity;
(3.4) completing measurement updating according to the state equation of the Kalman filter system in the steps (3.1), (3.2) and (3.3);
(4) setting the value of equivalent trigger pulse frequency based on 1 mm according to the speed estimation value of the track inspection system, and triggering different sensors to finish sampling respectively according to the value; and simultaneously, the position information of three adjacent resolving periods is taken as a fitting sampling point, the relative time t is taken as an independent variable, the position information is taken as a dependent variable, a position curve of the interval is obtained based on spline function fitting, the last fitting sampling point of the fitting interval is taken as an initial fitting sampling point of the next fitting interval, the continuity of the fitting curve is kept, and the position information of each sampling moment in the interval is obtained through fitting interpolation.
Further, the sampling interval of the inertial measurement unit in step (2) when measuring the angular increment information and the velocity increment information is not more than 0.01 s.
Further, the gyro drift and the accelerometer zero offset state in the step (2.2) adopt feedback correction.
Further, the installation error state in the step (2.2) adopts open loop correction.
Further, the scale factor error state in step (2.2) is corrected using open loop.
Further, the train speed v in said step (3.2)fThe vertical acceleration of the train can be calculated by setting a vertical acceleration threshold value and adopting a sliding window mean value calculation mode, the vertical acceleration is compared with the set threshold value, if the vertical acceleration is greater than the set threshold value, the train is judged to pass through a track connection point, vibration detection is finished, and the current moment t is recordedk(ii) a When the vertical acceleration is larger than the set threshold value again, recording the current time t againk+1According to vf＝L/(tk+1-tk) The train speed is obtained by the calculation method of (1), and L is the length of the fixed track.
Further, the measurement update is completed in the step (3.3) by adopting a sequential update mode.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. The method for detecting the space-time synchronization information of the track inspection system is characterized by comprising the following steps of:
(1) the method comprises the following steps that an inertia measurement unit is installed on a track inspection system, the track inspection system is kept static for 10 minutes, and after initial position information is bound, the inertia measurement unit carries out an initial alignment process to obtain initial attitude information;
(2) after the initial alignment is completed, the track inspection system starts to enter a measurement operation mode, under the measurement mode operation mode, inertial navigation resolving is completed by utilizing angle increment and speed increment information output by a gyro component and an accelerometer component in an inertial measurement unit, speed and position information is obtained, meanwhile, a Kalman filter system state equation is constructed, and prediction updating is carried out on speed errors and position errors, wherein the Kalman filter system state equation is constructed in the following mode:
(2.1) error angle psi in psicOptimizing speed error
Optimizing the position error δ rcGyro drift epsilonbAccelerometer zero offset
The installation error eta of the inertial measurement unit and the scale factor error delta k of the train speed measurement signal are system states x (t), and differential equations of a psi error angle, a speed error, gyro drift, accelerometer zero offset, installation error and scale factor error are respectively determined, wherein:
(2.1.1) psi error angle differential equation:
in the formula (I), the compound is shown in the specification,
representing the rotational angular velocity of the earth represented under the computed coordinate system c,
indicating the transfer angular velocity indicated in the calculated coordinate system,
representing the attitude matrix between the carrier coordinate system b and the calculation coordinate system c,
representing the measurement error of the gyro-assembly, wgRepresenting gyro assembly measurement noise;
(2.1.2) optimizing speed error
The differential equation determination step is as follows:
(2.1.2.1) will optimize the speed error
Is defined as a p-series velocity solution value expressed under c series
With the true velocity vcThe difference between them, i.e.
In the formula (I), the compound is shown in the specification,
for velocity solutions in the p series, vcI.e. the true velocity, δ v, expressed under ccIs a speed error represented under c;
(2.1.2.2) for optimizing speed error
Differentiating to determine a differential equation:
in the formula (I), the compound is shown in the specification,
wherein f isbThe specific force is expressed as a function of,
respectively representing the error of the rotational angular velocity of the earth and the error of the transfer angular velocity,
representing the measurement error of the accelerometer assembly, waIndicating that the accelerometer assembly is measuring noise,
represents the actual output value of the accelerometer assembly,
the solution value of the attitude matrix is represented,
respectively representing the rotational angular velocity solution value and the transfer angular velocity solution value of the earth,
representing the gravity determined by the gravity model according to the calculated position;
(2.1.2.3) substituting and organizing formula (1), formula (4) and formula (5) into formula (3), and determining the optimized speed error
The differential equation of (a) is:
in the formula, gc、δgcRespectively representing the gravity true value and the error thereof represented under the c series;
(2.1.3) optimization of position error δ rcThe differential equation is:
(2.1.4) Gyro Drift εbAccelerometer zero offset
The differential equation of (a) is:
(2.1.5) the differential equation of the installation error η of the inertial measurement unit is:
wherein eta is [. eta. ]θ ηΨ]TInstallation error eta from pitch angleθAnd course angle mounting error etaΨComposition of wηThe noise of the installation error is used for reflecting the change of the installation error;
(2.1.6) the differential equation of the train speed measurement signal scale factor error is as follows:
wherein, wkScale factor noise to reflect changes in scale factor;
(2.2) constructing a system state equation according to the attitude error, the speed error, the position error, the gyro drift, the accelerometer zero offset, the installation error and the scale factor error differential equation determined in the step (2.1);
wherein F (t) represents a system state matrix, G (t) represents a system noise matrix,w(t)＝[wg wa wη wk]Trepresenting system noise;
(3) when the track inspection system moves along the track, the lateral speed and the vertical speed are zero, and the error delta v of the forward speed isyLateral velocity error δ vxAnd vertical velocity error δ vzConstruction of observed quantity z (t) ═ δ vx δvy δvz]TAnd determining an observation equation, wherein the determination of the observation equation is realized by the following steps:
(3.1) projecting the speed output of the inertial measurement unit to a track inspection system coordinate system m in the following way:
wherein the content of the first and second substances,
represents the projection of the velocity output of the inertial measurement unit under the coordinate system m of the track inspection system, vmRepresenting the real track inspection system speed represented in the m coordinate system,
a matrix representing the installation relationship between the carrier coordinate system b and the track inspection system coordinate system m,
the angle of the installation error is indicated,
representing an attitude matrix between a calculation coordinate system c and a carrier coordinate system b; due to the installation error eta of the transverse roll angleγThe forward velocity projection is assigned a value of 0, i.e. η, without affecting the forward velocity projectionγ＝0；
(3.2) by
As observed quantity z (t), an observation equation is constructed as follows:
z(t)＝H(t)x(t)+υ(t) (13)
wherein the content of the first and second substances,
vm＝[0 vf 0]Tand v isfIs equal to the speed information provided by the train, H (t) represents an observation matrix, and upsilon (t) represents observation noise;
(3.3) when the track inspection system receives the position information provided by the train, the position error delta r is obtainedcAugmentation as an observed quantity;
(3.4) completing measurement updating according to the state equation of the Kalman filter system in the steps (3.1), (3.2) and (3.3);
(4) setting the value of equivalent trigger pulse frequency based on 1 mm according to the speed estimation value of the track inspection system, and triggering different sensors to finish sampling respectively according to the value; and simultaneously, the position information of three adjacent resolving periods is taken as a fitting sampling point, the relative time t is taken as an independent variable, the position information is taken as a dependent variable, a position curve of the interval is obtained based on spline function fitting, the last fitting sampling point of the fitting interval is taken as an initial fitting sampling point of the next fitting interval, the continuity of the fitting curve is kept, and the position information of each sampling moment in the interval is obtained through fitting interpolation.
2. The method for detecting spatiotemporal synchronization information of a track inspection system according to claim 1, wherein the sampling interval of the inertial measurement unit in the step (2) is not more than 0.01s when measuring the angular increment information and the velocity increment information.
3. The method for detecting the spatiotemporal synchronization information of the track inspection system according to claim 1, wherein the gyro drift and the accelerometer zero-offset state in the step (2.2) adopt feedback correction.
4. The track inspection system space-time synchronization information detection method according to claim 1, wherein the installation error state in step (2.2) is corrected using open loop.
5. The method for detecting spatiotemporal synchronization information in an orbit inspection system according to claim 1, characterized in that the scale factor error states in step (2.2) are corrected with open loop.
6. The track inspection system space-time synchronization information detection method according to claim 1, wherein in the step (3.2), the train speed v isfThe vertical acceleration of the train can be calculated by setting a vertical acceleration threshold value and adopting a sliding window mean value calculation mode, the vertical acceleration is compared with the set threshold value, if the vertical acceleration is greater than the set threshold value, the train is judged to pass through a track connection point, vibration detection is finished, and the current moment t is recordedk(ii) a When the vertical acceleration is larger than the set threshold value again, recording the current time t againk+1According to vf＝L/(tk+1-tk) The train speed is obtained by the calculation method of (1), and L is the length of the fixed track.
7. The method for detecting spatiotemporal synchronization information in an orbit inspection system according to claim 1, wherein the measurement update is accomplished in the step (3.3) by sequential update.
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