CN115790661A - Mileage positioning correction method and system for track comprehensive detection system - Google Patents
Mileage positioning correction method and system for track comprehensive detection system Download PDFInfo
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Abstract
The invention discloses a method and a system for positioning and correcting mileage of a track comprehensive detection system, wherein the method comprises the following steps: matching the acquired mileage data of a certain relaxation curve with design information of the relaxation curve so as to label the characteristic points of the relaxation curve data in the mileage data; correcting the positions of the marked feature points in the mileage data; and correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point, and correcting the whole mileage data. According to the method, the acquired mileage data of the easement curve is matched with the design information of the easement curve, and the mileage value is corrected according to the design mileage of the curve, so that the current running position of the train can be accurately positioned, the accumulated error of a sensor is reduced, the positioning error of the curve position caused by the sliding friction of the wheel rail is solved, and because other auxiliary data of the train running are utilized, no extra cost is introduced, and the method is suitable for large-scale popularization and application.
Description
Technical Field
The invention relates to the technical field of comprehensive rail detection, in particular to a method and a system for mileage positioning correction of a comprehensive rail detection system.
Background
In order to ensure that a subway train can safely run on a track for a long time, the smoothness and the quality of the track are critical, and a track comprehensive detection system is specially used for detecting the track and mainly performs overrun detection and quality evaluation on the geometric parameters and track diseases of the track. Besides the accuracy of the detected data, the positioning accuracy of the system is also an important index for judging the system, and plays an important role in customer maintenance guidance, data trend judgment and fault pre-judgment.
The existing positioning technology mainly comprises the steps of obtaining a speed signal at the shaft end of a train, and comprehensively positioning by combining a mode of additionally arranging electronic tags on a track, wherein the electronic tags are arranged according to the length of less than or equal to 0.5 kilometer, and the electronic tags have the main function of eliminating the memory error among the electronic tags, but due to the inherent structural limitation of a train bogie, the sliding friction of a wheel track can be generated at the curve position, so that the error exists between the number of rotating pulses of the train wheels and the running distance in practice, and the positioning precision of the train is deviated when the train passes through the curve position of the track. In addition, the vehicle-mounted antenna of the identification electronic tag can be identified in a set area, and the deviation range of +/-2 meters exists between the received identification electronic tag signal at the upper position and the actual line position by combining the antenna identification frequency and the train speed influence. By integrating the reasons, the positioning accuracy deviation of the conventional track comprehensive detection system is large (the currently collected information is about +/-10 m), the conventional track comprehensive detection system cannot effectively guide maintainers, has the occurrence on the trend analysis of historical data, needs to construct and install electronic tags on the track in the early stage, needs to install more than or equal to about 120 electronic tags on the whole line according to a 60Km plan, needs to input more manpower and material resources in the early stage, and increases the later-stage daily maintenance cost.
Accordingly, there is a need for improvements in the art.
The above information is given as background information only to aid in understanding the present disclosure, and no determination or admission is made as to whether any of the above is available as prior art against the present disclosure.
Disclosure of Invention
The invention provides a method and a system for positioning and correcting mileage of a track comprehensive detection system, which aim to overcome the defects of the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
in a first aspect, the present invention provides a method for positioning and correcting mileage of a track comprehensive detection system, where the method includes:
matching the acquired mileage data of a certain relaxation curve with design information of the relaxation curve so as to label the characteristic points of the relaxation curve data in the mileage data;
correcting the positions of the marked feature points in the mileage data;
and correcting the mileage value of the mileage data marked as the characteristic point into a designed mileage value corresponding to the characteristic point, and correcting the whole mileage data.
Further, in the track integrated detection system mileage positioning correction method, the step of matching the collected mileage data of a certain mitigation curve with design information of the mitigation curve so as to label the feature points of the mitigation curve data in the mileage data includes:
judging whether mileage data of a certain relaxation curve is collected or not;
if not, no processing is carried out;
if yes, recording the starting point mileage and the ending point mileage in the acquired mileage data of a certain relaxation curve as i and j respectively, and recording the maximum mileage error of the sensor as u;
respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording the curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
judging whether the recorded maximum matching degree is greater than a set value or not;
if yes, assuming that the interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if not, no processing is carried out.
Further, in the method for correcting the track comprehensive detection system by mileage positioning, the step of calculating the matching degree between the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k e (-u, u), and recording the curve formed by { i + k, j + k } with the maximum matching degree and the corresponding k value thereof includes:
calculating the matching degree of the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k epsilon (-u, u) according to the following modes:
assuming that four points with the mileage of { i, m, n, j } in a curve consisting of { i + k, j + k } are four characteristic points of a relaxation curve; wherein m = i + L1, n = j-L2, L1 is a distance between a starting point and a moderate circle point HY in the moderate curve design information, and L2 is a distance between a moderate circle point YH and an end point in the moderate curve design information;
err = abs (h (j) -h (i)) + abs (h (n) -h (m)), and,
calculating err + = abs (2H- (H (m) -H (i)) - (H (n) -H (j))), wherein H (j) is the height difference of the left and right tracks under j mileage in the acquired mileage data, H (i) is the height difference of the left and right tracks under i mileage in the acquired mileage data, H (n) is the height difference of the left and right tracks under n mileage in the acquired mileage data, H (m) is the height difference of the left and right tracks under m mileage in the acquired mileage data, and H is the difference between the height differences of a straight point and a slow dot, and the height differences of a round slow point and a slow straight point;
and recording a curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof according to a mode that the smaller the err is, the higher the matching degree is.
Further, in the track integrated detection system mileage positioning correction method, the step of correcting the position of the characteristic point marked in the mileage data includes:
segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
performing first-order curve fitting on each section of data respectively, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
and taking the intersection point position of every two adjacent fitting curves as a new position of the characteristic point.
Further, in the track integrated detection system mileage positioning correction method, the step of correcting the mileage value of the mileage data labeled as the feature point to the design mileage value corresponding to the feature point, and correcting the overall mileage data includes:
correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point;
and translating and scaling the mileage data between every two characteristic points so as to keep the whole mileage data coherent.
In a second aspect, the present invention provides a system for positioning and correcting mileage of a track comprehensive detection system, the system comprising:
the matching and labeling module is used for matching the acquired mileage data of a certain relaxation curve with design information of the relaxation curve so as to label the characteristic points of the relaxation curve data in the mileage data;
the position correction module is used for correcting the positions of the marked feature points in the mileage data;
and the mileage correction module is used for correcting the mileage value of the mileage data marked as the characteristic point into the design mileage value corresponding to the characteristic point and correcting the whole mileage data.
Further, in the track integrated detection system mileage positioning correction system, the matching labeling module is specifically configured to:
judging whether mileage data of a certain relaxation curve is collected or not;
if not, no processing is carried out;
if yes, respectively recording the starting point mileage and the end point mileage in the collected mileage data of a certain relaxation curve as i and j, and setting the maximum mileage error of the sensor as u;
respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording the curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
judging whether the recorded maximum matching degree is greater than a set value or not;
if yes, assuming that an interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if not, no processing is carried out.
Further, in the track integrated detection system mileage positioning correction system, the step of calculating, by the matching labeling module, matching degrees of the curve composed of { i + k, j + k } and the design information of the mitigation curve under each value of k e (-u, u), respectively, and recording the curve composed of { i + k, j + k } and the corresponding k value with the highest matching degree specifically includes:
calculating the matching degree of the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k epsilon (-u, u) according to the following modes:
assuming that four points with the mileage of { i, m, n, j } in a curve composed of { i + k, j + k } are four characteristic points of the relaxation curve; wherein m = i + L1, n = j-L2, L1 is a distance between a starting point and a moderate circle point HY in the moderate curve design information, and L2 is a distance between a moderate circle point YH and an end point in the moderate curve design information;
err = abs (h (j) -h (i)) + abs (h (n) -h (m)), and,
calculating err + = abs (2H- (H (m) -H (i)) - (H (n) -H (j))), wherein H (j) is the height difference of the left and right tracks under j mileage in the acquired mileage data, H (i) is the height difference of the left and right tracks under i mileage in the acquired mileage data, H (n) is the height difference of the left and right tracks under n mileage in the acquired mileage data, H (m) is the height difference of the left and right tracks under m mileage in the acquired mileage data, and H is the difference between the height differences of a straight point and a slow dot, and the height differences of a round slow point and a slow straight point;
and recording a curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof according to a mode that the smaller the err is, the higher the matching degree is.
Further, in the track integrated detection system mileage positioning correction system, the position correction module is specifically configured to:
segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
performing first-order curve fitting on each section of data respectively, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
and taking the intersection point position of every two adjacent fitting curves as a new position of the characteristic point.
Further, in the track integrated detection system mileage positioning correction system, the mileage correction module is specifically configured to:
correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point;
and translating and scaling the mileage data between every two feature points so as to keep the whole mileage data coherent.
Compared with the prior art, the invention has the following beneficial effects:
according to the method and the system for positioning and correcting the mileage of the comprehensive track detection system, the acquired mileage data of the easement curve is matched with the design information of the easement curve, and the mileage value is corrected according to the design mileage of the curve, so that the current running position of a train can be accurately positioned, the accumulated error of a sensor is reduced, the positioning error of the curve position caused by sliding friction of a wheel rail is solved, and because other auxiliary data of train running are utilized, no extra cost is introduced, and the method and the system are suitable for large-scale popularization and application.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for positioning and correcting a mileage of a track comprehensive detection system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for correcting the mileage positioning of the track comprehensive detection system according to an embodiment of the present invention;
fig. 3 is a functional module schematic diagram of a mileage positioning correction system of a track comprehensive detection system according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.
Furthermore, the terms "long", "short", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention, but do not indicate or imply that the referred devices or elements must have the specific orientations, be configured to operate in the specific orientations, and thus are not to be construed as limitations of the present invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
In view of the above-mentioned drawbacks of the conventional mileage positioning technology, the applicant of the present invention is based on the practical experience and professional knowledge in this field, and is engaged in the application of the theory to actively make research and innovation, so as to hopefully create a technology capable of solving the drawbacks of the conventional technology, so that the mileage positioning technology has higher practicability. After continuous research and design and repeated trial production and improvement, the invention with practical value is finally created.
Referring to fig. 1, a schematic flow chart of a method for positioning and correcting a mileage of a track integrated detection system according to an embodiment of the present invention is shown, where the method is applied to a scenario where a driving position of a train track is positioned, and the method is executed by a mileage positioning and correcting system of a track integrated detection system, where the system may be implemented by software and/or hardware. The method specifically comprises the following steps:
s101, matching the acquired mileage data of a certain relaxation curve with design information of the relaxation curve so as to label the characteristic points of the relaxation curve data in the mileage data;
it should be noted that the mileage data of the train is collected and transmitted back by the sensor. When the train is detected to pass through a certain relaxation curve, the mileage data acquired by the certain relaxation curve is matched with the design information of the relaxation curve from the mileage data acquired by the sensor.
The detection principle of the embodiment is as follows: the design of train track can be provided with the characteristic point of straight slow point, slow dot, circle slow point, slow straight point, and these points appear in groups, and the difference in height of the track about between a set of straight slow point can change according to certain law.
The circle slow point, the slow straight point, the straight slow point and the circle slow point are key point positions of a plane curve of the railway, and if the railway needs to turn, the railway firstly adopts a straight line-a slow curve-a circle curve-a slow curve-a straight line. The straight-gentle point is the point where the end point of the straight line section intersects with the starting point of the gentle curve, the gentle circular point is the point where the end point of the gentle curve intersects with the starting point of the circular curve, the gentle circular point is the point where the end point of the circular curve intersects with the starting point of the next gentle curve, and the gentle straight-gentle point is the point where the end point of the gentle curve intersects with the starting point of the next straight line.
S102, correcting the positions of the marked feature points in the mileage data;
it should be noted that, because the acquired mileage data may have an error, and the data of the actual track may also have an error with the design data, which data in the marked data is the feature point of the mitigation curve cannot be accurately identified through the step S101, and a certain error may exist with the real situation, that is, the step S101 is only a fuzzy positioning, and therefore, the position of the feature point marked in the step S101 needs to be corrected in this step, so that the position identification accuracy of the feature point is effectively improved, that is, the step is an accurate positioning.
And S103, correcting the mileage value of the mileage data marked as the characteristic point into a designed mileage value corresponding to the characteristic point, and correcting the whole mileage data.
It should be noted that, after the positions of the feature points (i.e., straight points, slow points, and slow straight points) of the easement curve are identified through the fuzzy positioning and precise positioning analysis in the foregoing steps, the mileage values of the feature points corresponding to these positions are corrected to corresponding design mileage values, that is, the collected mileage values are corrected with the design mileage values as the standard.
Although the terms relaxation curve, feature point, mileage data, etc. are used more often herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
According to the mileage positioning correction method and system of the track comprehensive detection system, the acquired mileage data of the easement curve is matched with the design information of the easement curve, and the mileage value is corrected according to the design mileage of the curve, so that the current driving position of a train can be accurately positioned, the accumulated error of a sensor is reduced, the positioning error of the curve position caused by wheel-rail sliding friction is solved, and additional cost cannot be introduced due to the utilization of other auxiliary data for train driving, and the method and system are suitable for large-scale popularization and application.
Example two
Fig. 2 is a schematic flow chart of a method for correcting the mileage positioning of the track comprehensive detection system according to the second embodiment of the present invention, and in this embodiment, steps S101, S102, and S103 are further optimized based on the first embodiment. Explanations of the same or corresponding terms as those of the above embodiments are omitted. Namely:
step S101 may be further refined to include the following steps:
judging whether mileage data of a certain relaxation curve is collected or not;
if not, no processing is carried out;
if yes, respectively recording the starting point mileage and the end point mileage in the collected mileage data of a certain relaxation curve as i and j, and setting the maximum mileage error of the sensor as u;
respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording a curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
judging whether the recorded maximum matching degree is greater than a set value or not;
if yes, assuming that the interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if not, no processing is carried out.
Step S102 may be further refined to include the following steps:
segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
performing first-order curve fitting on each section of data respectively, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
and taking the intersection point position of every two adjacent fitting curves as a new position of the characteristic point.
Step S103 may be further refined to include the steps of:
correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point;
and translating and scaling the mileage data between every two characteristic points so as to keep the whole mileage data coherent.
Based on the above optimization, as shown in fig. 2, the method for positioning and correcting the mileage of the track comprehensive detection system provided by this embodiment may include the following steps:
s201, judging whether mileage data of a certain relaxation curve is acquired or not; if yes, executing step S203, otherwise executing step S202;
s202, no processing is performed.
S203, recording the starting point mileage and the end point mileage in the collected mileage data of a certain relaxation curve as i and j respectively, wherein the maximum mileage error of the sensor is u;
s204, respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording the curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
it should be noted that, in this embodiment, it is queried whether the currently acquired data mileage of the database has passed through a mitigation curve, and if the currently acquired data mileage has passed through a mitigation curve, the algorithm performs point-by-point matching on the detection data of the nearby mileage within a certain error range according to the design information of the mitigation curve.
It can be understood that there are various methods for calculating the matching degree of the design information of the curve in a certain interval and the relaxation curve, and this embodiment shows one of the methods through the feature point calculation, that is:
in this embodiment, the step S204 may be further refined to include the following steps:
calculating the matching degree of the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k epsilon (-u, u) according to the following modes:
assuming that four points with the mileage of { i, m, n, j } in a curve composed of { i + k, j + k } are four characteristic points of the relaxation curve; wherein m = i + L1, n = j-L2, L1 is a distance between a starting point and a moderate circle point HY in the moderate curve design information, and L2 is a distance between a moderate circle point YH and an end point in the moderate curve design information;
err = abs (h (j) -h (i)) + abs (h (n) -h (m)), and,
calculating err + = abs (2H- (H (m) -H (i)) - (H (n) -H (j))), wherein H (j) is the height difference of the left and right tracks under j mileage in the acquired mileage data, H (i) is the height difference of the left and right tracks under i mileage in the acquired mileage data, H (n) is the height difference of the left and right tracks under n mileage in the acquired mileage data, H (m) is the height difference of the left and right tracks under m mileage in the acquired mileage data, and H is the difference between the height differences of a straight point and a slow dot, and the height differences of a round slow point and a slow straight point; in the design information of the relaxation curve, the design superelevation is H;
and recording a curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof according to a mode that the smaller the err is, the higher the matching degree is.
S205, judging whether the recorded maximum matching degree is larger than a set value or not; if so, step S206 is executed, otherwise, step S202 is returned to.
The set value is set by a skilled person through experience, which is obtained based on a specific experimental result, and may be any value.
S206, assuming that the interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if the matching degree is greater than the set value, it is regarded as successful matching, and the section with the mileage { i + k, j + k } in the data is assumed to be an actual relaxation curve, and the feature points of the relaxation curve are labeled in the data, whereas if the matching degree is less than a certain set value, it is regarded as failed matching, and the labeling of the data using the relaxation curve is abandoned.
S207, segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
s208, performing first-order curve fitting on each section of data respectively, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
it should be noted that, when performing first-order curve fitting on each piece of data, due to an error in labeling, the curve fitting process may appropriately abandon the data at the head and tail portions of the curve for fitting.
And S209, taking the intersection point position of every two adjacent fitting curves as a new position of the characteristic point.
It should be noted that, in the curve fitting performed in this embodiment, the whole data of the detected data is used, and at the same time, the data with low reliability of the head and tail portions of the curve (because of the error of the position of the feature point, the data of this portion may actually be the data between another two feature points) is abandoned, so that the position identification accuracy of the feature point is effectively improved.
S210, correcting the mileage value of the mileage data marked as the characteristic point into a designed mileage value corresponding to the characteristic point;
it should be noted that after the mileage values of all the mileage data labeled as feature points are corrected to the designed mileage values of the feature points, the data triggering the electronic tag may also be corrected to the mileage set in the electronic tag by combining the method of the electronic tag.
And S211, translating and scaling the mileage data between every two characteristic points so as to keep the whole mileage data coherent.
According to the mileage positioning and correcting method of the track comprehensive detection system, the acquired mileage data of the easement curve is matched with the design information of the easement curve, and the mileage value is corrected according to the design mileage of the curve, so that the current running position of a train can be accurately positioned, the accumulated error of a sensor is reduced, the positioning error of the curve position caused by wheel-rail sliding friction is solved, and because other auxiliary data of train running are utilized, no extra cost is introduced, and the method is suitable for large-scale popularization and application.
EXAMPLE III
Referring to fig. 3, fig. 3 is a functional module schematic diagram of a mileage positioning and correcting system of a track comprehensive detection system according to a third embodiment of the present invention, where the system is suitable for executing the mileage positioning and correcting method of the track comprehensive detection system according to the third embodiment of the present invention. The system specifically comprises the following modules:
the matching and labeling module 301 is configured to match the acquired mileage data of a certain relaxation curve with relaxation curve design information, so as to label feature points of the relaxation curve data in the mileage data;
a position correction module 302, configured to correct positions of the feature points labeled in the mileage data;
and the mileage correcting module 303 is configured to correct the mileage value of the mileage data marked as the feature point into a design mileage value corresponding to the feature point, and correct the entire mileage data.
Preferably, the matching and labeling module 301 is specifically configured to:
judging whether mileage data of a certain relaxation curve is collected or not;
if not, no processing is carried out;
if yes, respectively recording the starting point mileage and the end point mileage in the collected mileage data of a certain relaxation curve as i and j, and setting the maximum mileage error of the sensor as u;
respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording the curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
judging whether the recorded maximum matching degree is greater than a set value or not;
if yes, assuming that the interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if not, no processing is carried out.
Preferably, the step of calculating, by the matching and labeling module, matching degrees between a curve composed of { i + k, j + k } and relaxation curve design information under each value of k e (-u, u), respectively, and recording a curve composed of { i + k, j + k } and a corresponding k value thereof with the largest matching degree specifically includes:
and respectively calculating the matching degree of the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k epsilon (-u, u) according to the following modes:
assuming that four points with the mileage of { i, m, n, j } in a curve composed of { i + k, j + k } are four characteristic points of the relaxation curve; wherein m = i + L1, n = j-L2, L1 is a distance between a starting point and a moderate circle point HY in the moderate curve design information, and L2 is a distance between a moderate circle point YH and an end point in the moderate curve design information;
err = abs (h (j) -h (i)) + abs (h (n) -h (m)), and,
calculating err + = abs (2H- (H (m) -H (i)) - (H (n) -H (j))), wherein H (j) is the height difference of the left and right tracks under j mileage in the acquired mileage data, H (i) is the height difference of the left and right tracks under i mileage in the acquired mileage data, H (n) is the height difference of the left and right tracks under n mileage in the acquired mileage data, H (m) is the height difference of the left and right tracks under m mileage in the acquired mileage data, and H is the difference between the height differences of a straight point and a slow dot, and the height differences of a round slow point and a slow straight point;
and recording a curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof according to a mode that the smaller the err is, the higher the matching degree is.
Preferably, the position correction module 302 is specifically configured to:
segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
respectively performing first-order curve fitting on each section of data, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
and taking the intersection point position of every two adjacent fitting curves as the new position of the characteristic point.
Preferably, the mileage correcting module 303 is specifically configured to:
correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point;
and translating and scaling the mileage data between every two characteristic points so as to keep the whole mileage data coherent.
According to the mileage positioning and correcting system of the track comprehensive detection system, the acquired mileage data of the easement curve is matched with the design information of the easement curve, and the mileage value is corrected according to the design mileage of the curve, so that the current driving position of a train can be accurately positioned, the accumulated error of a sensor is reduced, the positioning error of the curve position caused by the sliding friction of the wheel and the rail is solved, and because other auxiliary data of the train driving are utilized, no extra cost is introduced, and the system is suitable for large-scale popularization and application.
The system can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
In conclusion, upon reading the present detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure can be presented by way of example only, and not limitation. Those skilled in the art will appreciate that the present application is intended to cover various reasonable variations, adaptations, and modifications of the embodiments described herein, even though not expressly described herein. Such alterations, improvements, and modifications are intended to be suggested by this application and are within the spirit and scope of the exemplary embodiments of the application.
Furthermore, certain terminology has been used in this application to describe embodiments of the application. For example, "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various portions of this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined as suitable in one or more embodiments of the application.
It should be appreciated that in the foregoing description of embodiments of the present application, various features are grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one feature. This is not to be taken as an admission that any of the features of the claims are essential, and it is fully possible for a person skilled in the art to extract some of them as separate embodiments when reading the present application. That is, embodiments in the present application may also be understood as an integration of multiple sub-embodiments. And each sub-embodiment described herein is equally applicable to less than all features of a single foregoing disclosed embodiment.
Each patent, patent application, publication of a patent application, and other material, such as articles, books, descriptions, publications, documents, articles, and the like, cited herein is hereby incorporated by reference. All matters hithertofore set forth herein except as related to any prosecution history, may be inconsistent or conflicting with this document or any prosecution history which may have a limiting effect on the broadest scope of the claims. Now or later associated with this document. For example, if there is any inconsistency or conflict in the description, definition, and/or use of terms associated with any of the included materials with respect to the terms, descriptions, definitions, and/or uses associated with this document, the terms in this document are used.
Finally, it should be understood that the embodiments of the application disclosed herein are illustrative of the principles of the embodiments of the present application. Other modified embodiments are also within the scope of the present application. Accordingly, the embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. Those skilled in the art may implement the present application in alternative configurations according to the embodiments of the present application. Thus, embodiments of the present application are not limited to those precisely described in the application.
Claims (10)
1. A mileage positioning correction method for a track comprehensive detection system is characterized by comprising the following steps:
matching the acquired mileage data of a certain relaxation curve with design information of the relaxation curve so as to label the characteristic points of the relaxation curve data in the mileage data;
correcting the positions of the marked feature points in the mileage data;
and correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point, and correcting the whole mileage data.
2. The method for positioning and correcting the mileage of the track integrated inspection system according to claim 1, wherein the step of matching the mileage data of a certain acquired mitigation curve with design information of the mitigation curve so as to label the feature points of the mitigation curve data in the mileage data comprises:
judging whether mileage data of a certain relaxation curve is acquired or not;
if not, no processing is carried out;
if yes, respectively recording the starting point mileage and the end point mileage in the collected mileage data of a certain relaxation curve as i and j, and setting the maximum mileage error of the sensor as u;
respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording the curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
judging whether the recorded maximum matching degree is greater than a set value or not;
if yes, assuming that the interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if not, no processing is carried out.
3. The method for positioning and correcting the mileage of the track comprehensive detection system according to claim 2, wherein the step of calculating the matching degree between the curve composed of { i + k, j + k } and the design information of the relaxation curve under each value of k e (-u, u), and recording the curve composed of { i + k, j + k } and the corresponding k value with the maximum matching degree comprises:
calculating the matching degree of the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k epsilon (-u, u) according to the following modes:
assuming that four points with the mileage of { i, m, n, j } in a curve composed of { i + k, j + k } are four characteristic points of the relaxation curve; wherein m = i + L1, n = j-L2, L1 is a distance between a starting point and a moderate circle point HY in the moderate curve design information, and L2 is a distance between a moderate circle point YH and an end point in the moderate curve design information;
err = abs (h (j) -h (i)) + abs (h (n) -h (m)), and,
calculating err + = abs (2H- (H (m) -H (i)) - (H (n) -H (j))), wherein H (j) is the height difference of the left and right tracks under j mileage in the acquired mileage data, H (i) is the height difference of the left and right tracks under i mileage in the acquired mileage data, H (n) is the height difference of the left and right tracks under n mileage in the acquired mileage data, H (m) is the height difference of the left and right tracks under m mileage in the acquired mileage data, and H is the difference between the height differences of a straight point and a slow dot, and the height differences of a round slow point and a slow straight point;
and recording a curve consisting of (i + k, j + k) with the maximum matching degree and a corresponding k value thereof in a mode that the smaller err is, the higher the matching degree is.
4. The method for positioning and correcting the mileage of the track comprehensive detection system according to claim 1, wherein the step of correcting the position of the characteristic point marked in the mileage data comprises the steps of:
segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
performing first-order curve fitting on each section of data respectively, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
and taking the intersection point position of every two adjacent fitting curves as the new position of the characteristic point.
5. The method for positioning and correcting the mileage of the track integrated inspection system according to claim 1, wherein the step of correcting the mileage value of the mileage data labeled as the characteristic point to the design mileage value corresponding to the characteristic point and correcting the overall mileage data comprises:
correcting the mileage value of the mileage data marked as the characteristic point into a designed mileage value corresponding to the characteristic point;
and translating and scaling the mileage data between every two feature points so as to keep the whole mileage data coherent.
6. A track integrated inspection system mileage positioning correction system, characterized in that, the system includes:
the matching and labeling module is used for matching the acquired mileage data of a certain relaxation curve with design information of the relaxation curve so as to label the characteristic points of the relaxation curve data in the mileage data;
the position correction module is used for correcting the positions of the marked feature points in the mileage data;
and the mileage correction module is used for correcting the mileage value of the mileage data marked as the characteristic point into a designed mileage value corresponding to the characteristic point and correcting the whole mileage data.
7. The system for mileage positioning and revising of track comprehensive detection system according to claim 6, wherein the matching labeling module is specifically configured to:
judging whether mileage data of a certain relaxation curve is collected or not;
if not, no processing is carried out;
if yes, respectively recording the starting point mileage and the end point mileage in the collected mileage data of a certain relaxation curve as i and j, and setting the maximum mileage error of the sensor as u;
respectively calculating the matching degree of a curve formed by { i + k, j + k } and design information of a relaxation curve under each value of k epsilon (-u, u), and recording a curve formed by { i + k, j + k } with the maximum matching degree and a corresponding k value thereof;
judging whether the recorded maximum matching degree is greater than a set value or not;
if yes, assuming that the interval of { i + k, j + k } in the acquired mileage data of a certain relaxation curve is an actual relaxation curve, and labeling the characteristic points of the relaxation curve data in the mileage data;
if not, no processing is carried out.
8. The system for positioning and correcting the mileage of the track comprehensive detection system according to claim 7, wherein the step of performing the matching labeling module to respectively calculate the matching degree between the curve composed of { i + k, j + k } and the design information of the relaxation curve under each value of k e (-u, u), and recording the curve composed of { i + k, j + k } and the corresponding k value with the maximum matching degree specifically includes:
calculating the matching degree of the curve formed by { i + k, j + k } and the design information of the relaxation curve under each value of k epsilon (-u, u) according to the following modes:
assuming that four points with the mileage of { i, m, n, j } in a curve composed of { i + k, j + k } are four characteristic points of the relaxation curve; wherein m = i + L1, n = j-L2, L1 is a distance between a starting point and a moderate circle point HY in the moderate curve design information, and L2 is a distance between a moderate circle point YH and an end point in the moderate curve design information;
err = abs (h (j) -h (i)) + abs (h (n) -h (m)), and,
calculating err + = abs (2H- (H (m) -H (i)) - (H (n) -H (j))), wherein H (j) is the height difference of the left and right tracks under j mileage in the acquired mileage data, H (i) is the height difference of the left and right tracks under i mileage in the acquired mileage data, H (n) is the height difference of the left and right tracks under n mileage in the acquired mileage data, H (m) is the height difference of the left and right tracks under m mileage in the acquired mileage data, and H is the difference between the height differences of a straight point and a slow dot, and the height differences of a round slow point and a slow straight point;
and recording a curve consisting of (i + k, j + k) with the maximum matching degree and a corresponding k value thereof in a mode that the smaller err is, the higher the matching degree is.
9. The system of claim 6, wherein the position correction module is specifically configured to:
segmenting the mileage data according to the positions of the marked feature points, so that the data between every two adjacent marked feature points form a segment;
respectively performing first-order curve fitting on each section of data, wherein the abscissa is mileage and the ordinate is height difference of the left track and the right track;
and taking the intersection point position of every two adjacent fitting curves as a new position of the characteristic point.
10. The track integrated detection system mileage positioning correction system of claim 6, wherein the mileage correction module is specifically configured to:
correcting the mileage value of the mileage data marked as the characteristic point into a design mileage value corresponding to the characteristic point;
and translating and scaling the mileage data between every two characteristic points so as to keep the whole mileage data coherent.
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