CN116007618A - Accurate positioning method for track accurate measurement and accurate tamping operation in track traffic tunnel - Google Patents
Accurate positioning method for track accurate measurement and accurate tamping operation in track traffic tunnel Download PDFInfo
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- CN116007618A CN116007618A CN202310301335.6A CN202310301335A CN116007618A CN 116007618 A CN116007618 A CN 116007618A CN 202310301335 A CN202310301335 A CN 202310301335A CN 116007618 A CN116007618 A CN 116007618A
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Abstract
The invention discloses a precise positioning method for track precise measurement and tamping operation in a track traffic tunnel, which comprises the following steps that S1, before track precise measurement and tamping is carried out, RFID positioning labels are distributed at the center position of the upper surface of each sleeper in the tunnel; s2, acquiring full-line track precise measurement data through a track inspection instrument integrated with a sleeper identification module; s3, accurately identifying the center of the sleeper; s4, solving three-dimensional coordinates of a line center line and performing linear fitting; s5, calculating the center accurate mileage and the three-dimensional coordinates of the sleeper; s6, when the RFID positioning labels are distributed for the first time, the information file of each sleeper obtained in the S5 is written into the RFID positioning label corresponding to the sleeper, and then the S8 is executed; s7, under the condition that the RFID positioning labels are distributed, updating sleeper file information in the RFID positioning labels, and then executing S8; s8, accurately positioning the tamping car and accurately tamping the tamping car pillow by pillow. The method has the advantages of high positioning precision, simplicity in maintenance, stability and reliability.
Description
Technical Field
The invention relates to the field of track precise measurement and tamping, in particular to a precise positioning method for track precise measurement and tamping operation in a track traffic tunnel.
Background
Because the track bed is of a granular structure, the track bed is influenced by factors such as train dynamic load impact, foundation settlement and the like in the operation process, so that the actual line shape of a line is easy to deviate from the original design line shape, the track is unsmooth, and the railway operation safety and passenger comfort are influenced. At present, each office needs to invest huge capital to carry out a large amount of track maintenance work each year. The geometric state of the rail is measured by a railway rail inspection instrument (hereinafter referred to as a rail inspection instrument) and a rail adjustment scheme is designed, and then a tamping car is used for carrying out fine tamping operation on the rail, which is also called fine measurement and fine tamping. The technology currently has the following problems:
1. the positioning error in the tunnel is large, so that the accurate measurement mileage and the accurate tamping mileage cannot be unified. In a non-tunnel section, the rail inspection instrument and the tamping car can realize high-precision positioning by a GNSS positioning technology to realize mileage unification. However, no GNSS signal is present inside the tunnel, and no GNSS positioning is available. At present, the track inspection instrument generally performs mileage positioning and track coordinate measurement in the tunnel through a multi-source information integrated navigation technology of total station, inertial navigation and mileage encoder, and the positioning precision can meet the requirements of related specifications. The track coordinate measurement result is fitted through the track geometric line, a mapping reference system of plane coordinates and mileage taking a fitted track plane central line as a reference is established, and the mileage corresponding to the measured track coordinates is calculated through the mapping to be the precise measurement mileage, so that the error is small; the mileage (accurate measurement mileage) generated by the track coordinate measurement result after linear fitting processing is the theoretical mileage of coordinate back calculation, and the error is small; the method uses the mileage starting point and the accurate measurement mileage to be not matched, and the precision of the mileage encoder of the tamping car is not high, so that the error accumulation exists. The difference of the rail inspection instrument and the tamping car positioning method causes the non-uniform mileage system of the precise inspection mileage and the precise tamping mileage and causes the dislocation of the two mileage at the same position. The track quality index improvement effect is poor due to dislocation of track lifting quantity of the tamping car operating point, and the precision tamping efficiency is reduced.
2. The tamping operation is not fine enough. The tamping car operation needs to adjust each sleeper one by one, but when a track adjustment scheme is designed, the mileage of each sleeper cannot be known, so that the adjustment quantity of each sleeper cannot be calculated, and the adjustment quantity of all sleepers is obtained through interpolation calculation during the tamping car operation, so that the accuracy is lacking.
Disclosure of Invention
The invention provides a precise positioning method for precise measurement and tamping operation of a track in a track traffic tunnel, which aims to solve the problems of poor positioning precision, large accumulated error, non-uniform reference of precise measurement mileage and the like of a tamping car in the maintenance process of the track in the operation common speed railway tunnel and improve the precise measurement and tamping efficiency of the track.
For this purpose, the invention adopts the following technical scheme:
the accurate positioning method for the track accurate measurement and tamping operation in the track traffic tunnel is characterized by comprising the following steps of:
s1, before track precise measurement and tamping are carried out, RFID positioning tags are arranged at the center position of the upper surface of each sleeper in a tunnel;
s2, carrying out full-line track precise measurement data acquisition through a track inspection instrument integrated with a sleeper identification module:
the sleeper identification module is arranged at the middle position of the bottom of the rail detector body; the sleeper identification module is integrated with an RFID card reader and a laser displacement sensor, and the RFID card reader and the laser displacement sensor are vertical to a rail inspection instrument body beam downwards; the RFID card reader is used for identifying an RFID positioning tag on the sleeper, and the laser displacement sensor is used for measuring the vertical distance between the sleeper identification module and the sleeper; the RFID card reader and the laser displacement sensor are subjected to synchronous time service by a time synchronous control system of the rail inspection instrument;
the full-line track precise measurement data comprise RFID tag identification data, laser ranging data, inertial navigation measurement data, total station measurement data and odometer data;
s3, accurately identifying the center of the sleeper:
performing joint calculation on the RFID tag identification data and the laser ranging data obtained in the step S2, performing sleeper rough positioning by the RFID tag identification data, and performing registration and extraction of sleeper surfaces based on the laser ranging data and a sleeper design model to realize accurate sleeper center positioning; laser displacement sensor with positioning result of sleeper identification module passes through sleeper
Measurement time at center +.>
；
S4, line neutral three-dimensional coordinate calculation and line fitting:
carrying out joint calculation on the inertial navigation measurement data, the total station measurement data and the odometer data obtained in the step S2, and calculating the line neutral point coordinate result according to the inertial navigation sampling interval
（/>
) Wherein->
For the time corresponding to the line point in the line, +.>
North coordinates of line center point +.>
For the east coordinate of the line neutral point, +.>
Is the normal height of the line center point; meanwhile, track linear fitting is carried out based on line center point coordinate results to obtain line curve parameters;
s5, accurate mileage and three-dimensional coordinate calculation of the sleeper center comprises the following steps:
s51, the measurement time in S3
Traversing in the time dimension data of the line center line point coordinate result in S4, and obtaining the three-dimensional coordinate ++of the center of each sleeper through approximate value taking or interpolation calculation>
（/>
）；
S52, based on sleeper center three-dimensional coordinates
（/>
) And S4, calculating the accurate mileage of the sleeper center according to the line curve parameters obtained in the step S>
And five big pile properties->
The method comprises the steps of carrying out a first treatment on the surface of the The sleeper is numbered +.>
；
S53, inputting the data into sleeper archive information of the RFID positioning tag
)；
S54, calculating the adjustment quantity of the center mileage of each sleeper based on the line curve parameters and the full-line track precise measurement data
s55, checking the thickness Di of the heightening backing plate of the fastener on each sleeper, and inputting sleeper file information of the RFID positioning tag
)；
S6, under the condition that the RFID positioning labels are firstly distributed on the sleepers, the information file of each sleeper obtained in the S5 is recorded
) Writing the RFID positioning label corresponding to the sleeper through an RFID programmer, and then executing S8;
s7, under the condition that the RFID positioning labels are distributed, updating sleeper file information in the RFID positioning labels, and then executing S8;
s8, accurately positioning the tamping car, and accurately tamping by pillow, wherein the tamping car comprises the following steps:
s81, reading data in the RFID positioning tag information file on the sleeper in real time through the RFID card reader S5
Transmitting the data to a tamping car control system in real time; />
S82, the tamping car passes through the mileage of the current sleeper in the tamping operation process
Performing mileage correction on a tamping car mileage system;
s83, in the process of tamping operation, the tamping vehicle adjusts the quantity of each sleeper according to the step S5
（/>
) And (5) performing pillow-by-pillow adjustment.
In the step S1, the RFID positioning tag is a cement electronic tag, and the cement electronic tag is attached to the sleeper surface through strong glue and is covered by a small amount of cement, so that the readability and the protective capability of the chip are ensured.
S2, the effective identification distance of the RFID card reader is not smaller than 50cm; the measuring frequency of the laser displacement sensor is not less than 100Hz.
In step S5, the five large piles include straight slow points, curved points, round slow points and straight slow points.
The specific method of step S7 is: based on the accurate measurement data of the rail inspection instrument, the center mileage of each sleeper is recalculated through S3, S4 and S5; and for the section with the difference between the accurate measurement mileage and the RIFD tag mileage being more than 20cm, updating mileage data of the RFID positioning tag on the sleeper through the RIFD programmer.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention greatly improves the mileage positioning precision of the tamping car in the tunnel, eliminates the accumulation of mileage positioning errors of the tamping car, and realizes that the positioning precision of the tamping car in the tunnel is better than 5cm. The mileage positioning error of the existing tamping car is generally 1/1000 (1 m per kilometer error), so the invention greatly improves the positioning accuracy of the tamping car per kilometer.
(2) The invention eliminates the systematic error of the precise measuring mileage of the track inspection instrument and the precise tamping mileage of the tamping car, forms a unified mileage benchmark, ensures the one-to-one correspondence between the tamping operation of the tamping car and the precise measuring operation of the track inspection instrument, completely eliminates the dislocation of the track lifting quantity caused by the non-correspondence between the operation points in the prior art, and obviously improves the precise measuring and precise tamping efficiency.
(3) The invention improves the positioning efficiency in the tamping car tunnel and reduces the positioning cost in the tunnel. Under the prior art, no control reference is used for mileage positioning in the tunnel, and when the tamping car is used for mileage positioning, for control errors, a total station is required to be used for mileage constraint based on lofting of a tunnel wire network at intervals, so that precision tamping efficiency is reduced, and measurement cost is increased. After the RFID positioning labels are distributed, the tamping car is positioned without the assistance of a total station, so that the efficiency is improved and the cost is reduced. The RFID positioning tag has low cost (generally 0.5 yuan/one, and the arrangement cost of a 1 km tunnel is about 1700 yuan), is firm and durable, is simple to maintain, is stable and reliable, and can continuously provide an accurate mileage positioning reference for the follow-up accurate measurement and accurate tamping operation.
(4) The method can improve the recognition precision of the rail inspection instrument on the sleeper, and is beneficial to the design of a track adjustment scheme of 'fine adjustment by sleeper' and the fine tamping operation of 'tamping drum by sleeper'.
(5) The invention has strong applicability, is mainly suitable for the accurate measurement and accurate tamping operation in the environment without GNSS signals in the tunnel, and can be also used for the accurate measurement and accurate tamping operation in the environment with GNSS signals in bridges, roadbeds, stations and the like.
Drawings
FIG. 1 is a flow chart of the accurate positioning method for operating the accurate measurement and tamping operation of the tunnel track of the common speed railway;
FIG. 2 is a schematic layout of RFID locating tags on ties;
fig. 3 is a schematic diagram of a sleeper center positioning based on sleeper identification data.
Detailed Description
The precise positioning method of the present invention will be described in detail with reference to the accompanying drawings.
According to the accurate positioning method for the track accurate measurement and accurate tamping operation in the track traffic tunnel, the accurate measurement mileage is written by arranging the RFID positioning tag on the sleeper in the tunnel; the rail inspection instrument can accurately acquire the center mileage of the sleeper through the RFID positioning tag in the track precise measurement process, is beneficial to the design of a track adjustment scheme of 'fine adjustment by sleeper', and ensures that precise measurement and precise tamping are more precise; real-time correction of the accurate stamping mileage can be carried out through the RFID positioning tag during stamping vehicle operation, so that the unification of the accurate stamping mileage and the accurate measuring mileage during the accurate stamping operation is realized, the accumulated positioning error of the stamping vehicle mileage is eliminated, the positioning accuracy of the stamping vehicle mileage is improved, and finally the purpose of improving the operating efficiency of the stamping vehicle is achieved.
As shown in fig. 1, the method comprises the steps of,
s1, laying RFID positioning labels:
(1) An RFID locating tag is placed on each sleeper inside the tunnel, and the tag placement location is generally located at the center of the upper surface of the sleeper, as shown in fig. 2. The label layout position can be measured on site through a square ruler, and the error is not more than 2cm. The RFID positioning tag can be a cement electronic tag.
(2) The RFID positioning tag is attached to the sleeper surface through strong glue such as floor glue and structural glue, and is covered by a small amount of cement, so that the readability and the protective capability of the chip are ensured. The RFID positioning tag can be used for multi-stage track precise measurement and precise tamping operation after one-time layout is completed.
S2, carrying out full-line track precise measurement data acquisition through a track inspection instrument integrated with a sleeper identification module:
the sleeper identification module is integrated on the rail inspection instrument and is specifically arranged at the middle position of the bottom of the rail inspection instrument. The sleeper identification module is integrated with an RFID card reader and a laser displacement sensor, wherein the RFID card reader is used for identifying RFID positioning tags on the sleeper, and the effective identification distance is not less than 50cm; the laser displacement sensor is mainly used for measuring the vertical distance between the sleeper identification module and the sleeper, and the measuring frequency is not less than 100Hz.
And precisely calibrating the relative positions delta X, delta Y and delta Z of the sleeper identification module and the center of the rail detector through a calibration field, and ensuring that an RFID card reader and a laser displacement sensor in the sleeper identification module are vertical to a rail detector body beam downwards.
The track inspection instrument performs line accurate measurement in the tunnel through an absolute measurement mode of inertial navigation, total station and odometer by taking a tunnel wire control network as a measurement reference, acquires inertial navigation measurement data, total station measurement data and odometer data, and synchronously acquires sleeper identification data by a sleeper identification module.
And the RFID card reader and the laser displacement sensor are subjected to synchronous time service by a time synchronous control system of the rail inspection instrument. The time synchronization control system sends PPS second pulse signals and GPZDA/GPGGA time data packets to the industrial personal computer of the sleeper identification module through a 485/232 serial port, and the PPS second pulse signals and the GPZDA/GPGGA time data packets are forwarded to the RFID card reader and the laser displacement sensor through the serial port by the industrial personal computer of the sleeper identification module. After the RFID card reader and the laser displacement sensor receive PPS pulse signal+GPZDA/GPGGA time data packet, the current time is automatically written in the time field of each frame of data (16 system) output by the RFID card reader and the laser displacement sensor, and the current time is accurate to millisecond, so that the time synchronization of the data measured by the sleeper identification module and the data measured by each sensor of the rail inspection instrument is realized. And obtaining the RFID tag identification data and the laser ranging data after time synchronization.
The acquired fine measurement data of the full track comprises sleeper identification data (RFID tag identification data and laser ranging data), inertial navigation measurement data, total station measurement data and odometer data.
S3, accurately identifying the center of the sleeper, wherein the method comprises the following steps of:
(1) RFID obtained by traversing S2The tag identification data screens time data which continuously returns to the RFID positioning chip value, and the corresponding time is the time range { of the rail inspection instrument passing through the sleeper
}. The time screening is carried out to filter the laser ranging data of the non-sleeper area and improve the efficiency and accuracy of sleeper center identification;
(2) The measuring time of the laser displacement sensor is located in {
Screening out the ranging data, establishing a ranging-time two-dimensional curve, registering and extracting the sleeper surface based on the sleeper cross section design data, and determining the measuring time of the sleeper center>
As shown in fig. 3.
S4, line neutral three-dimensional coordinate calculation and line fitting:
(1) And calculating three-dimensional coordinates of the line center line. Carrying out joint calculation on inertial navigation measurement data, total station measurement data and odometer data of the rail inspection instrument obtained in the step S2, and calculating line center point coordinate results according to inertial navigation sampling intervals
Wherein->
For the time corresponding to the line point in the line, +.>
North coordinates of line center point +.>
For the east coordinate of the line neutral point, +.>
Is normally high at the line neutral point.
(2) Line center line point coordinate achievement
（/>
) And obtaining line curve parameters by fitting the line horizontal and vertical sections for inputting data.
S5, calculating the accurate mileage and three-dimensional coordinates of the sleeper center:
(1) Measuring the sleeper center determined in S3
Traversing in the time dimension data of the line center point coordinate result in S4, and obtaining the three-dimensional coordinate of the center of each sleeper through proximity value calculation or interpolation calculation
。
When adopting the approach value calculation, retrieving the time measured by the sleeper center from the time dimension data of the line center line point coordinate result
Time of last->
Obtaining sleeper center coordinates through formula (1)>
（/>
）：
When interpolation calculation is adopted, the sleeper center measurement time is searched in the time dimension data of the three-dimensional coordinates of the line center point
Before and after>
Obtaining sleeper center coordinates through formula (2)>
（/>
）：
Wherein, nn and Nm are respectively the north coordinates of Tn and Tm; en and Em are the east coordinates of Tn and Tm respectively; hn and Hm are the elevations of Tn and Tm, respectively.
(2) Based on the three-dimensional coordinates of the sleeper center
And S4, calculating the accurate mileage of the sleeper center by adopting a coordinate forward and backward calculation method according to the line curve parameters obtained in the step S>
. Assigning attribute values of five piles to the sleeper nearest to the mileage of the five piles (straight slow point, curved point, round slow point, slow point)>
. And the sleeper is numbered as +_ according to the relevant rule>
The tie numbers are generally named under the rule of "mileage + number", such as "311S0002", "311" means mileage at 311 km, "S" means uplink, "0002" means second tie.
(3) Recording the above data into sleeper archive information of RFID positioning tag
)。
(4) Based on the line curve parameters and the trackMeasuring data, and calculating the adjustment quantity of the center mileage of each sleeper
（
) The device is used for the pillow-by-pillow tamping operation of the tamping car. Wherein->
Representing the center mileage of the track,/-, and%>
Representing the amount of track lining at that mileage +.>
Representing the amount of lifting at that mileage.
(5) Checking the thickness Di of the heightening backing plate of the fastener on each sleeper and recording sleeper file information of the RFID positioning tag
)；
And S6, writing the sleeper file information obtained in the step S5 into the RFID positioning tag. Under the condition of first laying RFID positioning labels, the archive information of each sleeper acquired in S5 is needed to be firstly obtained
) And writing the RFID positioning label corresponding to the sleeper through an RFID programmer. And then S8 is performed.
S7, updating sleeper file information by the RFID positioning tag. Under the condition that the RFID positioning tag is arranged, if the track line shape changes, the mileage of the sleeper center can possibly change, and at the moment, sleeper file information in the RFID positioning tag needs to be updated, and the updating method is as follows:
(1) The rail is precisely measured by a rail inspection instrument integrated with a sleeper identification module, and a new precise measuring mileage of the sleeper center is obtained by S3, S4 and S5;
(2) For the section with the difference between the precision measurement mileage and the RIFD tag mileage being more than 20cm, updating mileage data of the RFID positioning tag on the sleeper by a RIFD programmer;
(3) S8 is performed.
S8, accurately positioning the tamping car, and accurately tamping by pillow:
(1) And an RFID card reader is arranged at the bottom of the D point of the tamping car and used for reading the RFID positioning tag in the step S1, and the effective identification distance is not less than 50cm. When each tamping vehicle finely tamping operation is performed, the sleeper file information input into the RFID positioning tag on the sleeper through S5 is read in real time through the RFID card reader
) The data is transmitted to the tamping car control system in real time through a serial port or an Ethernet mode.
(2) The tamping car can pass the mileage of the current sleeper in the tamping operation process
And (5) performing mileage correction on the tamping car mileage system. The step can ensure that the working mileage of the tamping car is consistent with the track adjustment scheme mileage, eliminates the error accumulation of the tamping car, and has the accuracy superior to 5cm.
(3) In the tamping operation process of the tamping vehicle, according to the adjustment quantity of each sleeper in S5
Pillow-by-pillow adjustment is performed, where the amount of lifting the pillow is +.>
Track adjustment to eliminate tie plate errors.
The invention has strong applicability, is mainly suitable for the accurate measurement and accurate tamping operation in the environment without GNSS signals in the tunnel, and can be also used for the accurate measurement and accurate tamping operation in the environment with GNSS signals in bridges, roadbeds, stations and the like.
Claims (5)
1. The accurate positioning method for the track accurate measurement and tamping operation in the track traffic tunnel is characterized by comprising the following steps of:
s1, before track precise measurement and tamping are carried out, RFID positioning tags are arranged at the center position of the upper surface of each sleeper in a tunnel;
s2, carrying out full-line track precise measurement data acquisition through a track inspection instrument integrated with a sleeper identification module:
the sleeper identification module is arranged at the middle position of the bottom of the rail detector body; the sleeper identification module is integrated with an RFID card reader and a laser displacement sensor, and the RFID card reader and the laser displacement sensor are vertical to a rail inspection instrument body beam downwards; the RFID card reader is used for identifying an RFID positioning tag on the sleeper, and the laser displacement sensor is used for measuring the vertical distance between the sleeper identification module and the sleeper; the RFID card reader and the laser displacement sensor are subjected to synchronous time service by a time synchronous control system of the rail inspection instrument;
the full-line track precise measurement data comprise RFID tag identification data, laser ranging data, inertial navigation measurement data, total station measurement data and odometer data;
s3, accurately identifying the center of the sleeper:
performing joint calculation on the RFID tag identification data and the laser ranging data obtained in the step S2, performing sleeper rough positioning by the RFID tag identification data, and performing registration and extraction of sleeper surfaces based on the laser ranging data and a sleeper design model to realize accurate sleeper center positioning; laser displacement sensor with positioning result of sleeper identification module passes through sleeper
Measurement time at center +.>
；
S4, line neutral three-dimensional coordinate calculation and line fitting:
carrying out joint calculation on the inertial navigation measurement data, the total station measurement data and the odometer data obtained in the step S2, and calculating the line neutral point coordinate result according to the inertial navigation sampling interval
（/>
) Wherein->
For the time corresponding to the line point in the line, +.>
North coordinates of line center point +.>
For the east coordinate of the line neutral point, +.>
Is the normal height of the line center point; meanwhile, track linear fitting is carried out based on line center point coordinate results to obtain line curve parameters;
s5, accurate mileage and three-dimensional coordinate calculation of the sleeper center comprises the following steps:
s51, the measurement time in S3
Traversing in the time dimension data of the line center line point coordinate result in S4, and obtaining the three-dimensional coordinate ++of the center of each sleeper through approximate value taking or interpolation calculation>
（/>
）；
S52, based on sleeper center three-dimensional coordinates
（/>
) And S4, calculating the accurate mileage of the sleeper center according to the line curve parameters obtained in the step S>
And five big pile properties->
The method comprises the steps of carrying out a first treatment on the surface of the The sleeper is numbered +.>
；
S53, inputting the data into sleeper archive information of the RFID positioning tag
)；
S54, calculating the adjustment quantity of the center mileage of each sleeper based on the line curve parameters and the full-line track precise measurement data
（
) Wherein->
Representing the center mileage of the track,/-, and%>
Representing the amount of track lining at the mileage +.>
Representing the road lifting amount at the mileage;
s55, checking the thickness Di of the heightening backing plate of the fastener on each sleeper, and inputting sleeper file information of the RFID positioning tag
；
S6, under the condition that the RFID positioning labels are firstly distributed on the sleepers, the information file of each sleeper obtained in the S5 is recorded
) Writing to sleeper correspondence by RFID programmerIn the RFID positioning tag, then S8 is executed;
s7, under the condition that the RFID positioning labels are distributed, updating sleeper file information in the RFID positioning labels, and then executing S8;
s8, accurately positioning the tamping car, and accurately tamping by pillow, wherein the tamping car comprises the following steps:
s81, reading data in the RFID positioning tag information file on the sleeper in real time through the RFID card reader S5
Transmitting the data to a tamping car control system in real time;
s82, the tamping car passes through the mileage of the current sleeper in the tamping operation process
Performing mileage correction on a tamping car mileage system;
s83, in the process of tamping operation, the tamping vehicle adjusts the quantity of each sleeper according to the step S5
And (5) performing pillow-by-pillow adjustment.
2. The precise positioning method for precise measurement and tamping of the track in the track traffic tunnel according to claim 1, wherein the precise positioning method is characterized in that: in the step S1, the RFID positioning tag is a cement electronic tag, and the cement electronic tag is attached to the sleeper surface through strong glue and is covered by a small amount of cement, so that the readability and the protective capability of the chip are ensured.
3. The precise positioning method for precise measurement and tamping of the track in the track traffic tunnel according to claim 1, wherein the precise positioning method is characterized in that: s2, the effective identification distance of the RFID card reader is not smaller than 50cm; the measuring frequency of the laser displacement sensor is not less than 100Hz.
4. The precise positioning method for precise measurement and tamping of the track in the track traffic tunnel according to claim 1, wherein the precise positioning method is characterized in that: in step S5, the five large piles include straight slow points, curved points, round slow points and straight slow points.
5. The precise positioning method for precise measurement and tamping of the track in the track traffic tunnel according to claim 1, wherein the specific method of step S7 is as follows: based on the accurate measurement data of the rail inspection instrument, the center mileage of each sleeper is recalculated through S3, S4 and S5; and for the section with the difference between the accurate measurement mileage and the RIFD tag mileage being more than 20cm, updating mileage data of the RFID positioning tag on the sleeper through the RIFD programmer.
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| CN118129642A (en) * | 2024-05-08 | 2024-06-04 | 武汉汉宁轨道交通技术有限公司 | Design method, system and equipment based on three-dimensional mobile scanning system |
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