CN115014203A - Inertial navigation trolley three-dimensional coordinate measuring method and device based on laser range finder - Google Patents
Inertial navigation trolley three-dimensional coordinate measuring method and device based on laser range finder Download PDFInfo
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- CN115014203A CN115014203A CN202210742280.8A CN202210742280A CN115014203A CN 115014203 A CN115014203 A CN 115014203A CN 202210742280 A CN202210742280 A CN 202210742280A CN 115014203 A CN115014203 A CN 115014203A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
Abstract
The invention discloses a method and a device for measuring three-dimensional coordinates of an inertial navigation trolley based on a laser range finder, wherein the inertial navigation trolley provided with an inertial navigation system, a odometer, a computer and the laser range finder is driven to be parallel to the vicinity of a CPIII control point, and a target ruler is inserted into an embedded part hole of the CPIII control point; the laser beam emitted by the laser range finder is aligned with the central axis of the target ruler; acquiring the elevation of a laser beam spot on a target ruler, the CPIII control point number and the installation height of a laser range finder; and extracting the mileage, the plane coordinate and the elevation of the CPIII control point from the stored CPIII engineering file, and calculating the plane coordinate and the elevation of the track center line point to obtain the geometric shape and position information and the geometric state information of the track line. The mode of the invention can replace an electronic total station, and has the advantages of small volume, high measurement precision, strong adaptability, low cost, convenient operation and the like.
Description
Technical Field
The invention relates to the technical field of railway track measurement, in particular to a simple measurement method for measuring a plane coordinate and an elevation of a track center point of an inertial navigation trolley at a mileage position parallel to a CPIII control point based on a laser range finder, a target ruler and the CPIII control point, so that a total station is replaced to provide three-dimensional coordinate absolute measurement data of a limited and very important key point for realizing 'relative + absolute' track detection for the inertial navigation trolley.
Background
With the multiple speed increasing of railway traffic and the rapid expansion of high-speed railway networks in China, the precision and the operation efficiency of the detection work of the geometrical state of the track are both extremely high requirements for railway construction and daily maintenance, and the traditional track detection technology and equipment based on the total station and the CPIII engineering measurement network gradually become short boards influencing the railway construction and operation maintenance due to the defects of high labor cost, low measurement speed, susceptibility to the influence of sunshine, climate and human factors and the like. Therefore, related scientific research personnel at home and abroad vigorously research the scientific research of the inertial navigation equipment in the aspect of track detection application, and try to make up for the defects of the existing track detection equipment by utilizing the advantages of high relative precision, mobile measurement, no environmental and human factors and the like of the inertial navigation, so that the precision and the speed of the track detection work are improved, the labor cost is effectively reduced, and the work efficiency is greatly improved.
Inertial navigation is a short-term inertial navigation technology, and the working principle of the inertial navigation is that angular rate and acceleration of a carrier are measured through a gyroscope and an accelerometer, and azimuth angle, attitude angle, speed and position information of the carrier are obtained through integral operation. The inertial navigation belongs to a mobile relative measurement device, has the advantages of high precision, high speed, strong autonomy, no influence of environment and human factors and the like, and can realize the fast mobile measurement of a track line. Inertial navigation measurement belongs to relative measurement, and has the disadvantages that accurate position coordinates and elevation of an observation point cannot be provided, and measurement data contains uncertain drift errors, which are called inertial navigation drift. The inertial navigation drift is determined by the working principle of inertial navigation and cannot be avoided. The key component in inertial navigation is the gyroscope, and the magnitude of inertial navigation drift depends on the mass of the gyroscope. Gyroscopes are classified into mechanical gyroscopes, laser gyroscopes, fiber optic gyroscopes, micromechanical electronic gyroscopes, and piezoelectric gyroscopes. The mechanical gyroscope is not used due to the complex production process and high cost. The laser gyro has the best measurement precision and stability, but is expensive and difficult to popularize and use; the fiber optic gyroscope has good cost performance, high precision and moderate cost; the micro-mechanical electronic gyroscope has small volume and low cost, but is interfered by environmental temperature change and vibration; the piezoelectric gyroscope belongs to a solid gyroscope, and the rotation speed of an object is measured by generating a piezoelectric effect under the action of external force through a crystal. The piezoelectric gyro has the smallest volume and the lowest price, but has the worst measurement precision and stability. The prior inertial navigation used in the track detection is mainly optical fiber inertial navigation.
Because the track detection requires measuring absolute coordinates and elevation, the point location measuring equipment and the inertial navigation equipment are combined for use, on one hand, the plane displacement and the elevation difference of most track lines are measured by using inertial navigation and a moving mode, and on the other hand, the absolute plane position and the elevation of a few control points are measured by using the point location measuring equipment, so that the absolute control of inertial navigation measurement data is realized. The commonly used point location measuring equipment mainly comprises a traditional total station and an RTK receiver, wherein the total station has the highest measuring precision reaching millimeter level and has high price. The RTK receiver is low in price, but the measurement accuracy is only centimeter level. At present, some equipment manufacturers market track detection equipment based on a total station and inertial navigation, which is called an inertial navigation trolley.
The total station is the most commonly used measuring equipment in rail detection work, the CPIII control point is utilized to freely set a station, then the trolley provided with the prism is measured, and the plane position coordinate and the elevation of the central line of the rail are measured. The relative measurement of most line point positions can be realized by utilizing the mobile measurement of inertial navigation, and the relative measurement data of inertial navigation is supplemented and corrected by using the total station to accurately measure the absolute coordinates of a few control points, so that the detection result meets the technical requirement. In order to effectively control inertial navigation drift, a total station is required to be used for measuring a control point at intervals; this type of inertial navigation combined with total station measurement is known as "relative + absolute" orbit detection.
In addition, the magnitude of inertial navigation drift is related to the length of measurement time, and the longer the measurement time is, the larger the drift error is, and the smaller the drift error is. If the speed of the inertial navigation trolley is increased, the measurement time can be shortened, and the purpose of improving the measurement precision is achieved. For example, if the measurement speed can be doubled, the distance that inertial navigation continuously measures can be doubled. Therefore, the working efficiency is doubled.
The total station adopts a polar coordinate measuring method, and measures the relative position coordinates of an observation point by measuring the azimuth angle, the inclination angle and the slant distance between the total station and the observation point. The total station belongs to a precise electronic control measuring instrument integrating the accurate measurement of the slope distance and the angle, has high production price, needs many people to cooperate and operate, and is time-consuming and labor-consuming.
The 'relative + absolute' measurement of the inertial navigation trolley has less demand on the number of control points, and the utilization rate and the cost performance of the total station are greatly reduced. If a substitute measuring device with simple structure and low price can be developed to meet the measurement requirements of the inertial navigation trolley on the absolute coordinates and elevations of a few control points, the production cost of the inertial navigation trolley can be further reduced, the operation flow can be simplified, and the popularization and the use of the inertial navigation trolley in the future can be facilitated.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a simple method for measuring the position plane coordinate and the elevation of the inertial navigation trolley parallel to the CPIII control point based on a laser range finder, a target ruler and the CPIII control point, which can replace an expensive total station to provide absolute measurement data of the control point for the 'relative + absolute' measurement of the inertial navigation trolley, thereby simplifying the integral structure of the inertial navigation trolley, reducing the cost, reducing the number of personnel and improving the working efficiency.
The purpose of the invention is realized by the following technical scheme.
In one aspect of the invention, a three-dimensional coordinate measuring method of an inertial navigation trolley based on a laser range finder is provided, which comprises the following steps:
the method comprises the following steps of (1) driving an inertial navigation trolley equipped with inertial navigation, a mileometer, a computer and a laser range finder to be parallel to the vicinity of a CPIII control point, and parking;
inserting a target ruler facing the track direction into the CPIII control point pre-buried hole vertically or horizontally;
moving the inertial navigation trolley to make the laser beam emitted by the laser range finder align with the middle shaft of the target ruler, and parking;
manually reading the elevation of the laser beam spot in the scale on the surface of the target ruler and the CPIII control point number, and inputting the elevation of the laser beam spot in the scale on the surface of the target ruler, the CPIII control point number and the installation height of the laser range finder into an inertial navigation trolley computer;
and the computer of the inertial navigation trolley extracts the mileage, plane coordinates and elevation of the CPIII control points from the stored CPIII engineering file according to the acquired CPIII control point numbers, and calculates the plane coordinates and elevation of the track center line point by combining the elevation of the target ruler, the installation height of the laser range finder, the slant distance between the inertial navigation trolley and the laser beam spot measured by the laser range finder, the azimuth angle, the slant angle and the roll angle sent by inertial navigation.
Preferably, the installation direction of the laser range finder is perpendicular to the traveling direction of the inertial navigation trolley and faces one side of the CPIII control point, and the installation height of the laser range finder is slightly higher than the height of the embedded part of the CPIII control point.
Preferably, the emission direction of the laser beam emitted by the laser range finder is perpendicular to the traveling direction of the inertial navigation trolley and is parallel to the tread of the traveling wheel of the inertial navigation trolley, so that the horizontal angle of the laser beam is always the same as the horizontal angle of the rail surface.
Preferably, the laser range finder measures the distance between the center of the inertial navigation vehicle and the target ruler, and decomposes the three-dimensional coordinate measurement of the center point of the orbit parallel to the CPIII control point location into the azimuth angle, the inclination angle and the roll angle between the observation point and the CPIII control point, and the measurement of the longitudinal, transverse and vertical distance components.
The component measurement method comprises the following steps: the method comprises the steps of measuring an azimuth angle, an inclination angle and a roll angle by using inertial navigation equipment, measuring transverse and vertical distances by using a laser range finder and a target ruler, and adjusting the longitudinal distance to be zero by moving an inertial navigation trolley.
Preferably, inertial navigation is measured in a combined measurement mode of an inertial measurement unit IMU and a GNSS, an azimuth angle, an inclination angle and a roll angle are calculated by utilizing two groups of GNSS plane coordinates which are separated by a certain distance, and the inertial measurement unit IMU outputs a transverse acceleration and a vertical acceleration.
In another aspect of the invention, a laser range finder-based inertial navigation trolley three-dimensional coordinate measuring device of the method is provided, which comprises an inertial navigation trolley arranged on a track, a laser range finder arranged above the inertial navigation trolley, a computer and inertial navigation; the device also comprises a CPIII control pile positioned on one side of the track, a hole for inserting the target ruler is reserved in the CPIII control pile, and the target ruler is inserted into the hole and is parallel to the laser beam emitted by the laser range finder.
Preferably, the target ruler is of a rectangular sheet structure with scales, the bottom of the target ruler is provided with a cylinder with the same aperture as that of the embedded part of the CPIII control pile, and the target ruler is transversely inserted into the hole of the embedded part horizontally arranged on the outer side of the CPIII control pile.
Preferably, the target ruler is of a rectangular sheet structure with scales, the bottom of the target ruler is provided with a cylinder with the same aperture as the embedded part of the CPIII control pile, and the target ruler is vertically inserted into the hole of the embedded part arranged at the top of the ballast blocking wall.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
by the technical scheme of the inertial navigation trolley based on the CPIII control point track center line plane coordinate and elevation measurement method, the following calculation effects can be generated:
1. the method for measuring the plane coordinates and the elevation of the center line of the track uses a laser range finder and a target ruler to measure the maximum geometric variables between the center line of the track and a CPIII control point, including the slant distance and the height difference, so as to replace the use of a total station.
2. The method for measuring the plane coordinate and the elevation of the center line of the track fully utilizes inertial navigation, IMU, GNSS or designed line to determine the azimuth angle, the inclination angle and the roll angle of the track line, reads data such as mileage, plane coordinate and elevation of a CPIII control point stored in a file form, and calculates the plane coordinate and the elevation of the center point of the track by combining a trigonometric function algorithm, thereby simplifying the basic function and the structure of a laser measuring device, and achieving the purposes of reducing the volume, reducing the cost and simplifying the operation flow.
3. The track center line plane coordinate and elevation measuring device is a fixed component, and does not need to be adjusted during use, so that the track center line plane coordinate and elevation measuring device is convenient for workers to use.
4. The method for determining the azimuth angle, the inclination angle and the roll angle of the track line has various different track line azimuth angles, inclination angles and roll angles, and is suitable for application in different system structures and different scenes.
5. The method and the device for measuring the plane coordinate and the elevation of the track center line can be used under various conditions of railway straight lines, circular curves, gentle curves and the like, realize the accurate measurement of the position coordinate and the elevation of the track center line corresponding to the CPIII control point, and have the advantages of simple and quick measurement process, high measurement accuracy and strong adaptability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:
FIG. 1 is a schematic front view of an embodiment of the method of the present invention applied to an inertial navigation vehicle elevation measurement;
FIG. 2 is a schematic top view of an embodiment of the method applied to inertial navigation vehicle plane coordinate measurement;
FIG. 3 is a schematic diagram of a target ruler arranged on a CPIII embedded part on the top surface of a ballast retaining wall in the method;
FIG. 4 is a schematic diagram of the method of the present invention placing a target rule on a CPIII pile side embedment;
FIG. 5 is a schematic diagram of the operation flow of the method of the present invention applied to inertial navigation point location measurement;
FIG. 6(a) shows the geometrical relationship of the inertial navigation vehicle in the cross section of the straight line segment (the superelevation equals zero) in an abstract way, wherein the point A is the laserThe position of the distance meter, point B is the spot position of the laser beam on the target ruler, point C is the CPIII control point position, point D is the track center point position, L is the simple horizontal distance between point A and point B, H A 、H B 、H C 、H D Respectively, the elevation of point A, B, C, D;
FIG. 6(b) shows abstractly the cross-sectional geometrical relationship between the measuring point A of the laser measuring device (super height is not equal to zero), the control point C of the light spot B, CPIII of the target ruler, the central point D of the track, and the measuring slant distance L and the slant angle gamma of the laser beam in the curve segment;
FIG. 7(a) shows the geometrical relationship between the laser measuring device measuring point A and the track center line measuring point D in the vertical section without considering the influence of the gradient of the longitudinal slope;
FIG. 7(b) shows the geometrical relationship between the laser measuring device measuring point A and the track center line measuring point D in the longitudinal section considering the influence of the longitudinal slope gradient;
FIG. 8(a) shows the geometrical relationship in the horizontal plane between the measurement point A of the laser surveying device, the projection length S, the track azimuth Ψ, and the track centerline measurement point D without considering the influence of the longitudinal slope gradient;
FIG. 8(b) shows the geometrical relationship in the horizontal plane between the laser measuring device measuring point A in the longitudinal slope section, the projection point A' of the measuring point A in the rail top surface, the projection length S, the track direction angle Ψ, and the track center line measuring point D.
In the figure: 1. the method comprises the following steps of inertial navigation trolley 2, inertial navigation 3, traveling wheels 4, a computer 5, a laser range finder 6, a target ruler 7, a CPIII embedded part 8, a CPIII control pile 9 and a track.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.
The embodiment of the invention provides a laser range finder-based inertial navigation trolley three-dimensional coordinate measuring device, which is shown in figures 1 and 2 and comprises an inertial navigation trolley 1 arranged on a track 9, a laser range finder 5 arranged above the inertial navigation trolley 1, a computer 4 and an inertial navigation trolley 2, wherein the front schematic view and the top schematic view are shown under the condition that the displacement of a CPIII control point faces to the left side of the inertial navigation trolley with a large mileage; the inertial navigation trolley 1 comprises three walking wheels (E, F, G) and a guide wheel H; three of the traveling wheels and one guide wheel ensure that the inertial navigation trolley can travel along the track 9. The CPIII control pile is positioned on one side of the track 9, a hole for inserting the target ruler 6 is reserved in the CPIII control pile, and the target ruler is inserted into the hole and is parallel to the laser beam emitted by the laser range finder 5. The installation direction of the laser range finder 5 is perpendicular to the advancing direction of the inertial navigation trolley 1 and faces one side of the CPIII control point, and the installation height of the laser range finder is slightly higher than the height of the CPIII control point.
The laser range finder 5 is horizontally arranged at the position of an A point in the middle of the inertial navigation trolley 1, the emission direction of a laser beam of the laser range finder is perpendicular to the advancing direction of the inertial navigation trolley, faces one side of the position of the CPIII control point and is parallel to the tread of a walking wheel of the inertial navigation trolley, and the horizontal angle of the laser beam is always the same as the horizontal angle of a rail surface. The laser range finder is arranged on a supporting rod which is vertically arranged; mounting height h of laser range finder 1 Can be freely adjusted and adjusted to a suitable height before use so that the laser beam can irradiate the middle of the target ruler arranged on the top of a control point C of CPIII, B represents the position of a light spot in the target ruler, h 2 Is the height of the light spot in the target ruler. And when the horizontal angle of the track at the position where the inertial navigation trolley is stored is zero, the height of the point A is equal to that of the point B. To ensure that the laser beam emitted by the laser rangefinder strikes the surface of target ruler 6 positioned above CPIII control point CPIII embedment 7. The installation height of the laser range finder can be directly read through the height scales on the supporting column.
The inertial navigation trolley is provided with inertial navigation and a computer, the inertial navigation is connected with the computer through a data line, and measurement data such as an azimuth angle, an inclination angle, a roll angle and the like of the inertial navigation trolley are output in real time; the laser range finder is connected with a computer through a data line and outputs the slope distance measurement data in real time.
As shown in FIG. 3, the target ruler adopts a rectangular sheet structure with scales, and in one embodiment, the target ruler with scales has a rectangular sheet shape with the length of about 30cm and the width of about 3cm and is made of stainless steel material; a cylinder which is about 5cm in length and has the same diameter as the diameter of the CPIII control pile embedded part is arranged at the bottom of the target ruler and can be vertically inserted into a hole of the CPIII control pile embedded part arranged at the top of the ballast retaining wall; the bottom of the target ruler is contacted with the top surface of the embedded part of the CPIII control pile; the surface of the target ruler is provided with metric scales for directly reading the height difference of the laser facula distance from the top of the CPIII control pile embedded part; the scale at the bottom of the target ruler is zero.
As shown in FIG. 4, in another embodiment, a target ruler having a rectangular sheet shape with a length of about 40cm and a width of about 3cm is used and is made of stainless steel; a cylinder which is about 5cm long and has the same diameter as the diameter of the CPIII control pile embedded part is arranged in the middle of the back of the target ruler, and the cylinder can be transversely inserted into a hole of the CPIII control pile embedded part horizontally arranged on the outer side of the CPIII control pile; the surface of the target ruler is provided with metric scales for reading the height difference of the laser facula from the CPIII embedded part; the scale of the middle part of the target ruler corresponding to the center position of the hole of the embedded part is zero.
As shown in fig. 5, the method for measuring the three-dimensional coordinate of the inertial navigation vehicle based on the laser range finder provided by the embodiment of the invention comprises the following steps:
And 2, vertically or horizontally inserting a target ruler 6 into a CPIII control point CPIII embedded part 7 embedded hole on the top surface of the ballast blocking wall 8 by a measurer facing the direction of the track.
And 3, slowly pushing the inertial navigation trolley by a measurer to move, aligning the laser beam emitted by the laser range finder 5 with the central axis of the target ruler 6 vertically arranged at the control point C of the CPIII, and parking.
The direction of a laser beam emitted by the laser range finder is perpendicular to the advancing direction of the inertial navigation trolley, and is parallel to the tread of a walking wheel of the inertial navigation trolley towards one side of a CPIII control point; the laser range finder is parallel to the bottom surface of the walking wheel of the inertial navigation trolley, so that the horizontal angle of the laser beam is always the same as the horizontal angle of the rail surface; the horizontal angle of the rail surface can be measured by the roll angle gamma output by inertial navigation. The laser beam is parallel to the basic surface of the inertial navigation trolley; the laser range finder has a fixed installation angle, a height which can be adjusted in a sliding way and is provided with scales for manually reading the actual installation height of the laser range finder. Before the laser distance measuring instrument is used, the height of the laser distance measuring instrument is adjusted to the position that a laser beam can irradiate the middle part of the target ruler arranged above the CPIII control pile, and the actual installation height of the laser distance measuring instrument is read from the scales.
Step 5, storing the CPIII control point data file into the serial numbers, the mileage, the plane coordinates X, Y and the elevation H of all the CPIII control points; the control point file is edited by general editing software or Excel by using a CSV format. Before measurement, the control point file is imported into the inertial navigation trolley computer through the USB flash disk. The inertial navigation trolley computer reads the mileage M for extracting the CPIII control point C from the internally stored CPIII engineering file according to the manually input CPIII point number C Plane coordinate X C 、Y C And elevation H C Combined with manually inputted elevation h 2 And the installation height h of the laser range finder 1 Measuring data such as the slope distance L between the point A of the inertial navigation trolley and the point B of the light spot measured by the laser range finder 5, the azimuth angle psi, the inclination angle theta and the roll angle gamma sent by the inertial navigation trolley 2 are calculated by a trigonometric function to calculate the plane coordinate X of the track central line point D D 、Y D And elevation H D 。
The computer is connected with the inertial navigation system through a serial port data line and receives measurement data including an azimuth angle psi, an inclination angle theta and a roll angle gamma which are output by the inertial navigation system in real time.
The laser range finder measures the distance between the center of the inertial navigation trolley and the target ruler, and decomposes the three-dimensional coordinate measurement of the track center point parallel to the CPIII control point position into the azimuth angle, the inclination angle and the roll angle between the observation point and the CPIII control point, and the measurement of longitudinal, transverse and vertical distance components. Decomposing the three-dimensional coordinate measurement of the track central point parallel to the CPIII control point position into the measurement of three angles and three distance components between the observation point and the CPIII control point, and reading the spot position of the laser beam irradiated in the scale on the surface of the target ruler; based on the three angles, the three distance data and the known three-dimensional coordinates of the CPIII control point, the plane coordinates and the elevation of the center point of the track where the inertial navigation trolley is located and parallel to the CPIII control point can be calculated by using a computer and a trigonometric function algorithm configured by the inertial navigation trolley.
The three angles refer to an azimuth angle, an inclination angle and a roll angle of the track line, can be provided by inertial navigation equipped on an inertial navigation trolley, or are extracted from a design drawing in advance and stored in a document together with the CPIII control point coordinate for real-time reading.
The three distances are longitudinal, transverse and vertical distances of a reference track line between the control point and the observation point, wherein the longitudinal distance can be reduced to zero by moving the inertial navigation trolley to a position parallel to the CPIII control point; the transverse distance is measured by a laser range finder arranged in the middle of the inertial navigation trolley; the vertical distance is measured by a target ruler vertically positioned above the CPIII control point.
The basic principle of measuring the plane position and the elevation of the track central point D by using the target ruler and the CPIII control point C is as follows: vertically arranging a target ruler above the CPIII control point, measuring the slant distance L and the inclination angle gamma between a device point A and a target ruler light spot B point by using a laser measuring device, and combining the light spot height difference h 2 And the mounting height h of the laser measuring device point A 1 Known CPIII control point C plane coordinate (X) C ，Y C ) And H C And a direction angle psi, an inclination angle theta and a roll angle gamma of the position of the orbit, and calculating a plane coordinate (X) of the center point D of the orbit by using a trigonometric function calculation method D ，Y D ) And elevation H D 。
In order to clearly illustrate the geometric relationship between points A, B, C, D, the case where the azimuth angle Ψ, the inclination angle θ, and the roll angle γ are zero and non-zero will be described using abstract diagrams of the cross section, the longitudinal section, and the horizontal plane, respectively.
Fig. 6(a) and (B) show abstractly the projected points a ', B ', C ', D ' and the projected lengths L ' of the laser measuring device point a, the target ruler light spot B, CPIII control point C, the orbit center point D, the measured slope distance L and the laser beam inclination angle γ, the slope distance L, and the A, B, C, D point and the slope distance L in the horizontal reference plane on the straight line segment. Wherein fig. 6(a) shows the case when both the superelevation and the grade of the track are zero. At this time, the projection points A 'and D' are overlapped, B 'and C' are overlapped, and the relationship between the elevations of the four points is as follows:
H A ＝H D +h 1 (1)
H B ＝H C +h 2 (2)
H A ＝H B (3)
deducing the D point elevation as follows according to the formulas (1), (2) and (3):
H D ＝H C +h 2 -h 1 (4)
fig. 6(b) abstractly shows the cross section geometric relationship that the gradient and the superelevation of the track line are not equal to zero, and the inclination angle theta and the roll angle gamma of the inertial navigation output are not equal to zero. At this time, the height H of the laser range finder A Not equal to the height H of the laser spot B The projection points A 'and D' are not overlapped, but B 'and C' are overlapped, and the elevation relation between the points is as follows:
H A ＝H D +h 1 ·cosγ (5)
H B ＝H A +L·sinγ (6)
H B ＝H c +h 2 (7)
the D point elevation is deduced from the formulas (5), (6) and (7):
H D ＝H C +h 2 -h 1 ·cosγ-L·sinγ (8)
for convenience of explanation of the method of measuring the plane coordinates of the center point of the orbit, FIG. 7(a) shows that the longitudinal slope is not consideredAnd the geometrical relationship between a measuring point A of the laser measuring device and a measuring point D of the track center line in the vertical section influenced by the gradient. The top surface of the steel rail in the straight line segment is parallel to the horizontal reference surface, and the central point D of the rail is overlapped with the projection point A'. D plane coordinate X D 、Y D Equal to point A plane coordinate X A 、Y A . A. D the difference between the two points is h 2 。
Fig. 8(a) abstractly shows the geometric relationship when the CPIII reference point is located on the left side of the track, when the track line azimuth is Ψ, is in a flat-slope state, and the elevation is zero, the AC line horizontal distance is L, the azimuth is 90 ° + Ψ, and a coincides with the orbital center point D planar projection. The geometrical relation between the plane coordinates of the point D and the reference point C is as follows:
X D ＝X C +ΔX＝X C +L·sin(90+Ψ)＝X C +L·cosΨ (9)
Y D ＝Y C +ΔY＝Y C +L·cos(90+Ψ)＝Y C -L·sinΨ (10)
fig. 8(a) abstractly shows the geometric relationship when the CPIII reference point is located on the left side of the track, when the track line azimuth is Ψ, and is in a flat-slope state, and the horizontal angle γ is not zero, the AC line horizontal distance is L' ═ L · cos γ, and a coincides with the track center point D planar projection. The geometrical relation between the plane coordinates of the point D and the reference point C is as follows:
X D ＝X C +L′·cosΨ＝X C +L·cosγ·cosΨ (11)
Y D ＝X C -L′·sinΨ＝X C -L·cosγ·sinΨ (12)
fig. 7(b) shows an abstract geometric relationship when the CPIII reference point is located on the left side of the track, when the azimuth angle of the track line is Ψ and the track line is in a longitudinal slope state, the horizontal projection distance of the AC line is L', the azimuth angle is 90 ° + Ψ, and the planar projection of the measurement point a and the track center point D has a difference Δ M.
ΔM＝h 1 ·sinθ (13)
The mileage at point D is:
M D ＝M C -h 1 ·sinθ (14)
the projection height from the point A to the rail plane is:
h′ 1 ＝h 1 ·cosθ (15)
FIG. 8(b) shows the geometrical relationship in the horizontal plane between the laser measuring device measuring point A in the longitudinal slope section, the projection point A 'of the measuring point A in the rail top surface, the projection length L', the track direction angle Ψ and the track center line measuring point D. The geometrical relation between the plane coordinates of the point D and the reference point C is as follows:
X D ＝X C +ΔX+ΔM·sinΨ＝X C +L’·cosΨ+ΔM·sinΨ (16)
Y D ＝Y C -ΔY-ΔM·cosΨ＝Y C -L’·sinΨ-ΔM·cosΨ (17)
substituting equation (13) for equations (16) and (17), the plane coordinate calculation equation of point D is derived:
X D ＝X C +(L·cosγ-h 1 ·cosγ)·cosΨ+h 1 ·cosθ·sinΨ (18)
Y D ＝Y C -(L·cosγ-h 1 ·cosγ)·sinΨ-h 1 ·cosθ·cosΨ (19)
substituting formula (13) for formula (5) to obtain the formula of the elevation calculation of point D:
H D ＝H C +h 2 -h 1 ·cosθ·cosγ-L·sinγ (20)
in the formula, X D 、Y D The plane coordinates of the CPIII control points are shown; l slope distance; gamma is a roll angle; Ψ is the azimuth; theta is an inclination angle; l is the slope distance; h is 1 Is the installation height of the laser range finder.
At this point, the mileage M of the center line D of the parallel and CPIII control point track line can be calculated D Plane coordinate X D 、Y D And elevation H D Therefore, the method is further used for further fusion calculation with inertial navigation data and GNSS data to obtain a higher-precision line form and position and irregularity measurement result.
The invention is not limited to be used for measuring the azimuth angle, the inclination angle and the roll angle inertia of the track by being provided with the high-precision inertial navigation equipmentThe three-dimensional coordinate measurement of the guide trolley can also be used for a detection system with an inertial measurement unit IMU and a GNSS-RTK combined or a low-cost detection system with the GNSS-RTK only. Because the IMU cannot output the azimuth angle, the inclination angle and the roll angle of the track line, two sets of GNSS-RTK measurement coordinates (X) with the interval of more than 5 meters can be utilized i ,Y i ,H i ) And (X) i-1 ,Y i-1 ,H i-1 ) Calculating the azimuth psi and the inclination angle theta of the track line near the measuring point and utilizing the lateral acceleration a output by the IMU x And vertical acceleration a z Calculating the roll angle gamma of the current track:
furthermore, the given azimuth Ψ in the layout can also be used directly when inertial navigation and GNSS-RTK conditions are absent Design of Angle of inclination theta Design of And roll angle γ Design of The position calculation is carried out, and the specific implementation method comprises the following steps: calculating the track line azimuth psi corresponding to each CPIII control point in advance according to the design line or the standing book data Design of Angle of inclination theta Design of And roll angle γ Design of And stores the CPIII control point data file with the number, mileage, plane position coordinates and elevation of the CPIII control point. During the measurement process, the computer can directly read the CPIII control point number according to the manual input.
It should be noted that, according to the implementation requirement, each step/component in the present invention can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
The above description is only one preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Variations and modifications to the disclosed concept, as well as equivalent embodiments, may be made by those skilled in the art using the teachings and teachings disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. A three-dimensional coordinate measuring method of an inertial navigation trolley based on a laser range finder is characterized by comprising the following steps:
the method comprises the following steps of (1) driving an inertial navigation trolley equipped with inertial navigation, a mileometer, a computer and a laser range finder to be parallel to the vicinity of a CPIII control point, and parking;
inserting a target ruler facing the track direction into the CPIII control point pre-buried hole vertically or horizontally;
moving the inertial navigation trolley to make the laser beam emitted by the laser range finder align with the middle shaft of the target ruler, and parking;
manually reading the elevation of the laser beam spot in the scale on the surface of the target ruler and the CPIII control point number, and inputting the elevation of the laser beam spot in the scale on the surface of the target ruler, the CPIII control point number and the installation height of the laser range finder into an inertial navigation trolley computer;
and the computer of the inertial navigation trolley extracts the mileage, plane coordinates and elevation of the CPIII control points from the stored CPIII engineering file according to the acquired CPIII control point numbers, and calculates the plane coordinates and elevation of the track center line point by combining the elevation of the target ruler, the installation height of the laser range finder, the slant distance between the inertial navigation trolley and the laser beam spot measured by the laser range finder, the azimuth angle, the slant angle and the roll angle sent by inertial navigation.
2. The inertial navigation trolley three-dimensional coordinate measuring method based on the laser range finder is characterized in that the installation direction of the laser range finder is perpendicular to the traveling direction of the inertial navigation trolley and faces to the CPIII control point side, and the installation height of the laser range finder is slightly higher than the height of an embedded part of the CPIII control point.
3. The inertial navigation trolley three-dimensional coordinate measuring method based on the laser range finder as claimed in claim 1, wherein the emitting direction of the laser beam emitted by the laser range finder is perpendicular to the traveling direction of the inertial navigation trolley and parallel to the walking wheel tread of the inertial navigation trolley, so that the horizontal angle of the laser beam is always the same as the horizontal angle of the rail surface.
4. The inertial navigation trolley three-dimensional coordinate measurement method based on the laser range finder is characterized in that the laser range finder is used for measuring the distance between the center of the inertial navigation trolley and a target ruler, and decomposing the three-dimensional coordinate measurement of the track center point parallel to the position of the CPIII control point into the azimuth angle, the inclination angle and the roll angle between an observation point and the CPIII control point and the measurement of longitudinal, transverse and vertical distance components;
the azimuth angle, the inclination angle and the roll angle are measured by inertial navigation, the transverse and vertical distances are measured by using a laser range finder and a target ruler, and the longitudinal distance is adjusted to be zero by moving the inertial navigation trolley.
5. The inertial navigation trolley three-dimensional coordinate measuring method based on the laser range finder as claimed in claim 4, characterized in that the plane coordinate of the central point of the orbit where the inertial navigation trolley is located is calculated by the following formula:
X D ＝X C +(L·cosγ-h 1 ·cosγ)·cosΨ+h 1 ·cosθ·sinΨ
Y D ＝Y C -(L·cosγ-h 1 ·cosγ)·sinΨ-h 1 ·cosθ·cosΨ
in the formula, X D 、Y D The plane coordinates of the CPIII control points are shown; l slope distance; gamma is a roll angle; Ψ is the azimuth; theta is an inclination angle; l is the slope distance; h1 is the installation height of the laser range finder.
6. The method for measuring the three-dimensional coordinate of the inertial navigation trolley based on the laser range finder as claimed in claim 5, wherein the elevation of the central point of the orbit where the inertial navigation trolley is located is calculated by the following formula:
H D ＝H C +h 2 -h 1 ·cosθ·cosγ-L·sinγ
in the formula, H D Is elevation; h is 2 Is the height of the light spot in the target ruler.
7. The method for measuring the three-dimensional coordinate of the inertial navigation trolley based on the laser range finder as claimed in claim 5, wherein the inertial navigation is measured by an inertial measurement unit IMU and a GNSS combined measurement mode, the two sets of GNSS plane coordinates at a certain distance are used for calculating the azimuth angle Ψ, the inclination angle θ and the roll angle γ, and the inertial measurement unit IMU outputs the lateral acceleration a x And vertical acceleration a z Calculated according to the following formula:
in the formula (X) i ，Y i )、(X i-1 ，Y i-1 ) Two groups of GNSS plane coordinates with a certain distance; h i ，H i-1 Two sets of elevations at a distance.
8. The inertial navigation trolley three-dimensional coordinate measuring device based on the laser range finder is characterized by comprising an inertial navigation trolley arranged on a track, the laser range finder positioned above the inertial navigation trolley, a computer and inertial navigation, wherein the inertial navigation trolley is arranged on the track; the device also comprises a CPIII control pile positioned on one side of the track, a hole for inserting the target ruler is reserved in the CPIII control pile, and the target ruler is inserted into the hole and is parallel to the laser beam emitted by the laser range finder.
9. The laser range finder-based inertial navigation trolley three-dimensional coordinate measuring device as claimed in claim 8, characterized in that the target ruler is of a rectangular sheet structure with scales, the bottom of the target ruler is provided with a cylinder with the same diameter as the embedded part of the CPIII control pile, and the target ruler is transversely inserted into the horizontally arranged hole of the embedded part outside the CPIII control pile.
10. The laser range finder-based inertial navigation trolley three-dimensional coordinate measuring device as claimed in claim 8, characterized in that the target ruler is of a rectangular sheet structure with scales, a cylinder with the same aperture as the CPIII control pile embedded part is arranged at the bottom of the target ruler, and the target ruler is vertically inserted into the embedded part hole arranged at the top of the ballast retaining wall.
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