CN115979232B - Rail transit precise measurement and precise tamping integrated method based on unified mileage system - Google Patents
Rail transit precise measurement and precise tamping integrated method based on unified mileage system Download PDFInfo
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Abstract
The invention discloses a rail transit precise measurement and precise tamping integrated method based on a unified mileage system, which comprises the following steps: establishing a precise measurement control network, and providing a unified geodetic coordinate measurement reference for the rail inspection instrument and the tamping car; based on the refined control network, the geodetic coordinates and the elevations of the track center line measuring points are obtained through the track inspection instrument; fitting a track central line according to the geodetic coordinates and the elevation, so as to establish a mapping reference system of the geodetic coordinates and mileage; calculating corresponding mileage values according to the geodetic coordinates of the obtained measuring points by taking the fitted track center line as a reference, calculating the projection distance from each measuring point to a fitting line, correcting the mileage of the obtained measuring points and calculating the offset thereof; positioning the tamping car operation in real time based on positioning equipment; and calculating the front-end deviation value of the tamping car in real time through the positioning control terminal and guiding the tamping car control system to operate. The method reduces the dislocation error of mileage, reduces the quality index of the track, prolongs the maintenance period of the track and reduces the maintenance cost.
Description
Technical Field
The invention relates to the field of railway operation and maintenance, in particular to a rail transit precise measurement and precise tamping integrated method based on a unified mileage system.
Background
The ballast particles of the railway ballasted track are dispersion aggregates, and along with long-term operation of the railway, multidirectional non-equidistant displacement can be generated, so that the geometric line shape of the track is gradually deteriorated, and the running stability and even the running safety of the railway are affected. Therefore, the geometric parameters of the railway track need to be periodically re-measured, and the section with poor geometric state of the track needs to be tamping according to the measurement result, so that the smoothness of the track is improved, and the running stability and safety of the train are improved.
The existing precise measurement and precise tamping of the ballasted railway mainly has the problem that two systems of the measurement mileage of the track inspection instrument and the travelling measurement mileage of the tamping car are not uniform. The inertial navigation adopted by the track inspection instrument is used for measuring and calculating to obtain the measured mileage, the tamping car adopts the axle revolution, namely the odometer, to obtain the measured mileage, the two measuring systems are different in principle and different in measuring precision, errors can be accumulated along with the increase of the working distance, and especially the systematic errors of the odometer adopted by the tamping car reach 1-2m/km, so that the recorded mileage of the tamping car and the track inspection instrument at the same position is inconsistent under the condition of long-distance operation, and the mileage dislocation is caused. Therefore, when the tamping car works, the track lifting and lining quantity of an actual working point and the preset track lifting and lining quantity obtained through fitting of the measurement data of the track inspection instrument generate larger deviation, the tamping effect is poor, and the improvement of the track quality index (TQI for short) is not obvious (the average statistical result is about 25%).
Disclosure of Invention
The invention aims to provide a rail transit precise-tamping precise-measuring integrated method based on a unified mileage system, which can unify the mileage system of measurement and tamping operation, thereby solving the common problems in the existing precise-tamping precise-measuring operation.
For this purpose, the invention adopts the following technical scheme:
a rail transit precise measurement and precise tamping integrated method based on a unified mileage system comprises the following steps:
s1, providing a unified geodetic coordinate measurement reference for a rail inspection instrument and a tamping car by establishing a precise measurement control network;
s2, based on the precise measurement control network, the geodetic coordinates and the elevations of the track center line measuring points are obtained through the track inspection instrument;
s3, fitting the track center line according to the geodetic coordinates and the elevations measured in the step S2, and establishing a mapping reference system of geodetic coordinates and mileage by taking the fitted track center line as a reference;
s4, calculating a mileage value corresponding to the measurement point according to the geodetic coordinates of the measurement point of the track center line obtained in the step S2 by taking the track center line fitted in the step S3 as a reference, calculating the projection distance from each measurement point to a fitting line, correcting the mileage of the measurement point of the track center line obtained in the step S2 and calculating the offset thereof;
s5, installing positioning equipment based on GNSS on the tamping car, and performing real-time positioning on the tamping car, wherein the positioning equipment comprises a GNSS satellite antenna, a GNSS positioning receiver and a GNSS positioning control terminal;
and S6, the GNSS positioning control terminal calculates the front-end deviation value of the tamping car in real time and guides the tamping car control system to operate.
In step S1, the precise measurement control network includes a basic control network and a track control network, where the basic control network is composed of a plurality of CORS reference stations that are set up at intervals, and the distance between adjacent CORS reference stations is 15-20 km; the CORS reference station jointly measures an original control network point or a national control point, and performs data processing according to the precision of the second class GNSS; the orbit control network is composed of a plurality of GNSS encryption stations which are established at intervals, and the distance between adjacent GNSS encryption stations is 4-5 km.
In step S2, there are a plurality of track center line measuring points, and the distance between adjacent measuring points is less than 5m.
In the step S2, every 200-500m, positioning constraint is carried out on the rail inspection instrument through a GNSS positioning device.
The step S3 comprises the following sub-steps:
s31, fitting a flat longitudinal section of the track center line by adopting a least square method according to the geodetic coordinate data and the elevation measured in the step S2 to obtain line plane curve parameters and longitudinal section slope length-slope rate data; based on the fitted line plane curve parameters, a track center line model is established, and a mapping relation between the geodetic coordinates and mileage of any point on the track center line is formed;
s32, determining a measuring point according to the track center line model established in the step S31Projection point on track centre line +.>The line shape of>Numbering the measuring points; grouping the track center lines, wherein each group of linear lines consists of four sections of geometric lines in sequence, namely a straight line, a front relaxation curve, a round curve and a rear relaxation curve; the demarcation points of the four sections of geometric shapes are +.>、/>、/>Is->Wherein j is the number of the track centerline plane group; calculating the measuring point +.>Line-shaped demarcation pointFormed vector +.>Obtaining tangential vector corresponding to each demarcation point through the orbit center line plane model>Calculating the result M of two vector point multiplication:
；
determining a proxel from the M valueThe line shape:
；
s33, after determining the line shape of the projection point of each measuring point by the step S32, calculating the coordinates of the projection point according to the parameter equations of the straight line, the moderation curve and the circular curve：
Wherein R is a radius of a circular curve, L is a length of a moderation curve,is the center of a circular curve, k is the slope of a straight line, and b is the intercept of the straight line;
s34, calculating a projection point according to the orbit center line model established in the step S31Corresponding mileage, thereby forming a measuring point +.>Mapping of geodetic coordinates and mileageReference relationships.
The line plane curve parameters comprise intersection point coordinates, curve radius and relaxation curve length.
Preferably, in step S5, the GNSS satellite antenna is arranged at the front end of the tamping string system, locating the string start position; the GNSS positioning receiver is arranged in the tamping car observation room and is used for receiving satellite positioning data provided by the fine control network, calculating the geodetic coordinates of the GNSS satellite antenna through difference and transmitting the geodetic coordinates to the GNSS positioning control terminal.
Said step 6 comprises the following sub-steps:
s61, before the tamping car is operated, the method comprises the steps of obtaining line plane curve parameters and longitudinal section slope long slope rate data from the step S31 and obtaining mileage values and plane deviation values of measuring points from the step S4And Gao Chengpian difference->The data files of the data files are transmitted to the GNSS positioning control terminal through a USB flash disk, wiFi or Bluetooth;
s62, converting the geodetic coordinates of the GNSS antenna obtained in real time from the GNSS positioning receiver in the step S5 into corresponding line mileage by the line calculation module of the GNSS positioning control terminal through the map reference system of the geodetic coordinates and mileage constructed in the step S3, wherein the mileage is the mileage of the front end position of the tamping vehicle;
s63, a calculation module of the GNSS positioning control terminal obtains the deviation value of the plane and the elevation of the front end of the tamping string system through interpolation calculation according to the mileage of the front end position of the tamping string calculated in the step S62 by referring to each record of the data files obtained in the step S61;
the positioning control terminal transmits the front-end deviation value data to the PLC system of the tamping machine in real time through the serial port line to guide the string measuring system of the tamping machine to control the track lifting and shifting mechanism to operate.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the fitted track center line is used as a mapping reference system of the geodetic coordinates and mileage, a GNSS positioning device is arranged on a tamping car to replace an odometer, and the geodetic coordinates obtained under the two systems of measurement and tamping operation are converted into mileage values through a mapping relation, so that the mileage systems of two different processes are unified, namely: the mileage error generated by the odometer is transferred to the positioning error of the GNSS system, so that the mileage dislocation error is reduced to 0.02m from 1-2m/km, and the construction precision is greatly improved;
2. the invention adopts a coordinate projection calculation method, so that the generated mileage error is only related to the positioning error of the GNSS, and therefore, the error cannot be accumulated along with the increase of the working distance;
3. the invention solves the problem of poor tamping effect caused by the dislocation of the mileage of the working point and the measuring point, reduces the track quality index after the working to about 40% (the index is the only standard data for comprehensively evaluating the track irregularity quality and is the important index for reflecting the train operation safety and comfort), thereby prolonging the track maintenance period and reducing the maintenance cost.
Drawings
FIG. 1 is a flow chart of the integrated railway precision measurement and tamping method of the present invention;
FIG. 2 is a schematic diagram of an arrangement of two-stage fine measurement nets according to an embodiment of the present invention;
FIG. 3 is a projection mapping relationship diagram between coordinates of measurement points and a fitted orbit center line in the present invention;
FIG. 4 is a schematic diagram showing the calculation of the measurement point deviation values according to the present invention;
fig. 5 is a diagram showing the real-time positioning relationship of the front end of the string system of the tamping machine according to the present invention.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings.
The railway accurate measurement and accurate tamping integrated method based on the unified mileage system of the present invention will be described in detail below by taking measured data of a certain railway as an example.
Referring to fig. 1, the method comprises the steps of:
s1, a precise measurement control network is established, and a unified geodetic coordinate measurement reference is provided for a track detector (hereinafter referred to as a track detector) and a tamping car. The accurate measurement control network comprises a basic control network and a track control network.
As shown in fig. 2, a CORS reference station (i.e. a continuously running reference station, (Continuously Operating Reference Stations)) is established every 20km along the railway to form a basic control network, and the CORS reference station is used for jointly measuring an original control network point or a national control point and performing data processing according to the accuracy of two-level GNSS.
And establishing a GNSS encryption station every 4-5km to form an orbit control network. By adopting satellite positioning accuracy observation and data processing such as four, the basic control network is combined and tested, and GNSS positioning constraint is provided for the orbit detector.
S2, based on the precise measurement control network, measuring geometric parameters of the track through a track gauge.
The geometric parameters include geodetic data (i.e., east coordinates, north coordinates) and elevation of the orbital centerline measurement points. Preferably, the rail inspection instrument is subjected to positioning constraint every 300m by a GNSS positioning device arranged on the rail inspection instrument so as to improve the positioning accuracy to be within 20mm of a plane and 15mm of a height.
And S3, performing track center line fitting according to the geodetic coordinate data of the track center line measuring points measured in the step S2, and establishing a mapping relation between the geodetic coordinates of any point in space and mileage thereof by taking the fitted track center line as a reference, namely, projecting the geodetic coordinates of any point to the fitted track center line, taking the mileage of the projection point as the mileage of the point, and ensuring the uniqueness of the mileage of the point. The method specifically comprises the following sub-steps:
and S31, fitting the plane longitudinal section of the track center line by adopting a least square method according to the geodetic coordinate data and the elevation measured in the step S2, and obtaining line plane curve parameters and longitudinal section slope length and slope rate data. An orbit centerline model is built based on the fitted flat curve parameters (including intersection coordinates, curve radius, relaxation curve length). The coordinates of any point on the track center line model have corresponding mileage values, so that the conversion between the geodetic coordinates of any point on the track center line and mileage can be realized, and a mapping relation is formed.
S32, as shown in FIG. 3, determining a measurement point according to the track center line model established in the step S31Projection point on track centre line +.>The line shape of>Numbering for measurement points. The track center lines are grouped, and each group of linear lines consists of a straight line, a front relaxation curve, a round curve and a rear relaxation curve which are four sections of geometric lines in sequence. The demarcation points of the four sections of geometric shapes are respectively +.>、/>、/>Is->Where j is the number of the track centerline plane packet. Calculating a vector formed by the measuring point and the linear demarcation point +.>The corresponding tangent vector +/at each demarcation point can be obtained by the orbital centerline plane model>Calculating the result M of two vector point multiplication:
。
determining a proxel from the M valueThe line shape:
。
s33, after determining the line shape of the projection point of each measuring point by the step S32, calculating the coordinates of the projection point according to the parameter equations of the straight line, the relaxation curve (front relaxation curve and rear relaxation curve) and the circular curve：
Wherein R is a radius of a circular curve, L is a length of a moderation curve,is the center of a circular curve, k is the slope of a straight line, and b is the intercept of the straight line.
S34, calculating a projection point according to the orbit center line model established in the step S31Corresponding mileage, thereby forming a measuring point +.>Is a mapping reference relationship between geodetic coordinates and mileage.
S4, correcting the mileage of the track center line measuring point obtained in the step S2 by taking the track center line fitted in the step S3 as a reference, and calculating a deviation value.
As shown in fig. 4, with the orbit center line fitted in step S31 as a reference, calculating a mileage value corresponding to the measurement point from the geodetic coordinates of the measurement point obtained in step S2, and calculating a projection distance, i.e., a deviation value, of each measurement point to the fitted line, the deviation value including a plane deviation valueAnd Gao Chengpian difference->. The measured data are shown in the following table:
s5, installing positioning equipment based on GNSS on the tamping car, and performing real-time positioning on the tamping car.
The GNSS-based positioning equipment comprises a GNSS satellite antenna, a GNSS positioning receiver and a GNSS positioning control terminal. The systematic error of the GNSS positioning is within 2 cm.
As shown in fig. 5, a GNSS satellite antenna is installed at the front end position of the tamping string system, and the GNSS positioning receiver performs joint control and joint measurement with the precise measurement control network established in step S1, calculates the geodetic coordinates of the GNSS antenna by using the GORS base station difference, and transmits the geodetic coordinates to the GNSS positioning control terminal for determining the front end position of the tamping string system.
And S6, the GNSS positioning terminal calculates the deviation value of the front end of the tamping car string system in real time and guides the tamping car control system to operate. The method comprises the following steps:
s61, before the tamping car is operated, the method comprises the steps of obtaining line plane curve parameters and longitudinal section slope long slope rate data from the step S31 and obtaining mileage values and plane deviation values of measuring points from the step S4And Gao Chengpian difference->The data files of the data files are transmitted to the GNSS positioning control terminal through a USB flash disk, wiFi or Bluetooth.
And S62, converting the geodetic coordinates of the GNSS antenna obtained in real time from the GNSS positioning receiver in the step S5 into corresponding line mileage by the line calculation module of the GNSS positioning control terminal through the geodetic coordinates and mileage mapping reference system constructed in the step S3, wherein the mileage is the mileage of the front end position of the tamping machine.
And S63, the calculating module of the GNSS positioning control terminal refers to the mileage of each record in the data file obtained in the step S61 according to the mileage of the front end position of the tamping car calculated in the step S62, and obtains the deviation value of the plane and the elevation of the front end of the string system of the tamping car through interpolation calculation.
The positioning control terminal transmits the front-end deviation value data to a PLC (programmable logic controller) system of the tamping machine in real time through a serial port line to guide a string measuring system of the tamping machine to control a track lifting and shifting mechanism to operate.
Claims (6)
1. A rail transit precise measurement and precise tamping integrated method based on a unified mileage system comprises the following steps:
s1, providing a unified geodetic coordinate measurement reference for a rail inspection instrument and a tamping car by establishing a precise measurement control network;
s2, based on the precise measurement control network, the geodetic coordinates and the elevations of the track center line measuring points are obtained through the track inspection instrument;
s3, fitting the track center line according to the geodetic coordinates and the elevations measured in the step S2, and establishing a mapping reference system of geodetic coordinates and mileage by taking the fitted track center line as a reference;
s4, calculating a mileage value corresponding to the measurement point according to the geodetic coordinates of the measurement point of the track center line obtained in the step S2 by taking the track center line fitted in the step S3 as a reference, calculating the projection distance from each measurement point to a fitting line, correcting the mileage of the measurement point of the track center line obtained in the step S2 and calculating the offset thereof;
s5, installing positioning equipment based on GNSS on the tamping car, and performing real-time positioning on the tamping car, wherein the positioning equipment comprises a GNSS satellite antenna, a GNSS positioning receiver and a GNSS positioning control terminal;
s6, the GNSS positioning control terminal calculates the front-end deviation value of the tamping car in real time and guides the tamping car control system to operate;
the step S3 includes the following sub-steps:
s31, fitting a flat longitudinal section of the track center line by adopting a least square method according to the geodetic coordinate data and the elevation measured in the step S2 to obtain line plane curve parameters and longitudinal section slope length-slope rate data; based on the fitted line plane curve parameters, a track center line model is established, and a mapping relation between the geodetic coordinates and mileage of any point on the track center line is formed;
s32, determining a measuring point according to the track center line model established in the step S31Projection point on track centre line +.>The line shape of>Numbering the measuring points; grouping the track center lines, wherein each group of linear lines consists of four sections of geometric lines in sequence, namely a straight line, a front relaxation curve, a round curve and a rear relaxation curve; the demarcation points of the four sections of geometric shapes are +.>、/>、/>Is->Wherein j is the number of the track centerline plane group; calculating the measuring point +.>Vector formed with line-shaped demarcation point +.>Obtaining tangential vector corresponding to each demarcation point through the orbit center line plane model>Calculating the result M of two vector point multiplication:
；
determining a proxel from the M valueThe line shape:
；
s33, after determining the line shape of the projection point of each measuring point by the step S32, calculating the coordinates of the projection point according to the parameter equations of the straight line, the moderation curve and the circular curve：
，
Wherein R is a radius of a circular curve, L is a length of a moderation curve,is the center of a circular curve, k is the slope of a straight line, and b is the intercept of the straight line;
s34, calculating a projection point according to the orbit center line model established in the step S31Corresponding mileage, thereby forming a measuring point +.>A mapping reference relation between the geodetic coordinates and mileage;
the step 6 includes the following sub-steps:
s61, working on the tamping carBefore, the line plane curve parameters obtained in the step S31, the longitudinal section slope length slope rate data, the mileage value of the measuring point obtained in the step S4 and the plane deviation value are includedAnd Gao Chengpian difference->The data file of the (a) is transmitted to a GNSS positioning control terminal;
s62, converting the geodetic coordinates of the GNSS antenna obtained in real time from the GNSS positioning receiver in the step S5 into corresponding line mileage by the line calculation module of the GNSS positioning control terminal through the map reference system of the geodetic coordinates and mileage constructed in the step S3, wherein the mileage is the mileage of the front end position of the tamping vehicle;
s63, a calculation module of the GNSS positioning control terminal obtains the deviation value of the plane and the elevation of the front end of the tamping string system through interpolation calculation according to the mileage of the front end position of the tamping string calculated in the step S62 by referring to each record of the data files obtained in the step S61;
the positioning control terminal transmits the front-end deviation value data to the PLC system of the tamping machine in real time through the serial port line to guide the string measuring system of the tamping machine to control the track lifting and shifting mechanism to operate.
2. The integrated rail transit precision measurement and tamping method based on the unified mileage system of claim 1, wherein the integrated rail transit precision measurement and tamping method is characterized in that: in step S1, the precise measurement control network includes a basic control network and a track control network, where the basic control network is composed of a plurality of CORS reference stations that are set up at intervals, and the distance between adjacent CORS reference stations is 15-20 km; the CORS reference station jointly measures an original control network point or a national control point, and performs data processing according to the precision of the second class GNSS; the orbit control network is composed of a plurality of GNSS encryption stations which are established at intervals, and the distance between adjacent GNSS encryption stations is 4-5 km.
3. The integrated rail transit precision measurement and tamping method based on the unified mileage system of claim 1, wherein the integrated rail transit precision measurement and tamping method is characterized in that: in step S2, there are a plurality of track center line measuring points, and the distance between adjacent measuring points is less than 5m.
4. The integrated rail transit precision measurement and tamping method based on the unified mileage system of claim 1, wherein the integrated rail transit precision measurement and tamping method is characterized in that: in the step S2, every 200-500m, positioning constraint is carried out on the rail inspection instrument through a GNSS positioning device.
5. The integrated rail transit precision measurement and tamping method based on the unified mileage system of claim 1, wherein the integrated rail transit precision measurement and tamping method is characterized in that: the curve parameters of the line plane comprise the coordinates of the intersection point, the curve radius and the length of the relaxation curve.
6. The integrated rail transit precision measurement and tamping method based on the unified mileage system of claim 1, wherein the integrated rail transit precision measurement and tamping method is characterized in that: in step S5, the GNSS satellite antenna is arranged at the front end of the tamping string system, and the string starting point position is positioned; the GNSS positioning receiver is arranged in the tamping car observation room and is used for receiving satellite positioning data provided by the fine control network, calculating the geodetic coordinates of the GNSS satellite antenna through difference and transmitting the geodetic coordinates to the GNSS positioning control terminal.
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| CN116446227B (en) * | 2023-06-19 | 2023-08-25 | 中国铁建高新装备股份有限公司 | String measurement equipment, track line restoration method, device, equipment and system |
| CN117078687B (en) * | 2023-10-17 | 2023-12-15 | 常州海图信息科技股份有限公司 | Track inspection system and method based on machine vision |
| CN117233818A (en) * | 2023-11-16 | 2023-12-15 | 中国铁路设计集团有限公司 | Method for enhancing stability of tamping car mileage positioning technology based on Beidou/GNSS |
| CN117391262B (en) * | 2023-12-12 | 2024-03-22 | 中国铁路设计集团有限公司 | Intelligent prediction method for dynamic TQI of ballasted railway in accurate measurement and accurate tamping operation process |
| CN117604840B (en) * | 2024-01-19 | 2024-06-14 | 中国铁路设计集团有限公司 | Operation common speed railway precise measurement and precise tamping operation method without control network |
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| Title |
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| 新建高速铁路有砟轨道精捣作业环节改进及效果;时瑾;中国铁道科学;第42卷(第6期);第8-17页 * |
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| CN115979232A (en) | 2023-04-18 |
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