CN116892912A - Rapid accurate measurement and accurate adjustment method for track bearing platform of CRTSIII ballastless track plate - Google Patents
Rapid accurate measurement and accurate adjustment method for track bearing platform of CRTSIII ballastless track plate Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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Abstract
The invention discloses a rapid accurate measurement and adjustment method for a track bearing platform of a CRTSIII type ballastless track plate, which comprises the following steps: s1, collecting data through all collecting devices; s2, performing time synchronization and space synchronization on each acquisition device, finding corresponding track-bearing platform point cloud data and current pose information through time, and transforming a space coordinate system through a coordinate system; s3, acquiring high-precision gesture-determining positioning data in a combined navigation mode; s4, point cloud fusion: fusing the high-precision attitude determination positioning data with the point cloud data to obtain the point cloud data with absolute attitudes of each line of the rail bearing table; s5, extracting the center of the rail bearing table; s6, fitting a track center line; s7, analyzing and calculating the consumption of the buckle fittings, and further performing fine adjustment operation on the track supporting table of the CRTSIII type ballastless track plate. The method detects in a non-contact continuous measurement mode, the efficiency reaches 0.6km/h, and the efficiency of precise measurement and fine adjustment of the whole track is improved.
Description
Technical Field
The invention relates to the technical field of high-speed railway detection, in particular to a rapid accurate measurement and adjustment method for a track bearing table of a CRTSIII ballastless track plate.
Background
At present, the business mileage of high-speed rail in China is the first in the world, and in the long-term high-frequency operation process of railways, the rail needs to be accurately regulated regularly so as to meet the requirements of stable and comfortable operation of trains.
At present, a double-block or CRTSIII type ballastless track plate is used for a high-speed railway track plate rail bearing platform at present, most of sleeper parts are sleeper with shoulder stops, the ballastless track is constructed from an initial base until the steel rail is paved, certain errors can occur in construction precision, and the track is unsmooth, so that the normal running of a train is influenced. Before the long rail is paved, the accurate measurement and accurate adjustment of the rail bearing table of the rail plate can be performed, the consumption of the buckle fittings of each rail bearing table is determined, the rail precision reaches the standard specification, and meanwhile, the cost of accurate adjustment after the rail paving is finished is reduced. The method adopts an intelligent lifting measuring die to place the fine tuning frame into a rail bearing groove one by one, self-adaptively adjusts the precise prisms, and ensures that the prism position is positioned at the center of the rail bearing table; then, the three-dimensional coordinates of the track center are acquired through the intelligent tracking mode of the total station, and then the three-dimensional coordinates are converted into linear data for smoothness analysis and analog calculation, the method can basically realize automation, and labor cost is saved, but the method has the following technical problems:
1. the detection efficiency is low. The number of rail bearing platforms of the track plate is very large, the existing intelligent measurement and control detection method for the rail bearing platforms adopts a stepping carrier module, when in field detection, each rail bearing platform needs to be lifted again, a fine adjustment standard frame is placed in a corresponding rail bearing groove, and then the prism on each standard frame is observed by a total station, so that the detection speed is greatly limited, generally only 0.2 km/h is achieved, and the requirements of rapid fine measurement and fine adjustment of ballastless tracks are difficult to meet;
2. the detection accuracy is easily affected by the surrounding environment. The detection method adopts contact measurement, the prism needs to be attached to the rail bearing groove, and the precise prism is adjusted in a self-adaptive mode, so that the center of the observation prism is used as the center of the rail. When sundries such as stones exist in the detection area, certain accidental errors can be generated, and meanwhile, the mechanical structure, processing and the like of the prism can also influence the detection precision.
Disclosure of Invention
In order to solve the problems that the rail bearing table of the CRTSIII type ballastless track plate of the high-speed railway is low in detection efficiency, the detection precision is easy to influence and the like, the precision and the detection efficiency of track fine measurement fine adjustment are further improved, the invention provides a rapid fine measurement fine adjustment method for the rail bearing table of the CRTSIII type ballastless track plate, and the method is suitable for track fine measurement fine adjustment operation of all the CRTSIII type ballastless track plates.
For this purpose, the invention adopts the following technical scheme:
a rapid accurate measurement and accurate adjustment method for a track bearing platform of a CRTSIII ballastless track plate comprises the following steps:
s1, data acquisition is carried out through each acquisition device, and the method comprises the following steps:
providing time information for each sensor by using a time synchronization module;
continuous positioning is carried out by using high-precision inertial navigation, and coordinate attitude data are acquired;
the odometer collects mileage data;
absolute positioning is carried out by using a total station, current position data are obtained, and the accuracy of data acquisition of each sensor is ensured;
two high-precision distance measuring sensors are used for acquiring elevation data of the rail bearing tables at two sides;
two 2D line structure optical scanners are used for collecting track plate track bearing platform point cloud data on two sides;
s2, performing time synchronization and space synchronization on each acquisition device:
adding time information to the data acquired by each sensor through a time synchronization module to complete time synchronization;
determining the central position of each sensor, calibrating, converting a coordinate system by using the following formula after determining calibration parameters, and completing the space synchronization of each sensor;
，
in the method, in the process of the invention,、/>、/>for the coordinates before conversion, +.>、/>、/>Coordinates after conversion>，/>，/>For translation parameters->As a scale factor, < >>Is a rotation matrix equation;
s3, high-precision gesture determination positioning:
the combined navigation system of total station and inertial navigation is used, absolute positioning is carried out once through the total station at certain intervals, and continuous positioning is carried out through inertial navigation in the process of collecting data; processing and analyzing according to the acquired inertial navigation data, using an odometer and using NHC method to assist in position information, performing inverse smoothing after adopting Kalman filtering through initial alignment, mechanical arrangement and error compensation to obtain final pose data of the integrated navigation system, and completing high-precision pose positioning of inertial navigation;
s4, carrying out point cloud fusion: performing point cloud fusion after synchronization of multiple sensors, correcting the scanned cross section point cloud data according to the calibration parameters and the sensor data, identifying the point cloud of the track board track bearing platform, and acquiring the point cloud data with absolute pose of each line of the track bearing platform according to the high-precision pose positioning obtained in the step S3;
s5, extracting the point cloud data with the absolute pose obtained in the S4 through the center of the bearing platform to obtain the center three-dimensional coordinate of the point cloud data of each bearing platform;
s6, based on the method of S5, acquiring center three-dimensional coordinates of all the point cloud data of the rail bearing platform, fusing, completing rapid accurate measurement of the rail bearing platform, segmenting according to the line shape, and fitting the extracted center three-dimensional coordinate data by using a least square method to obtain a track center line;
s7, comparing and analyzing the track center line fitted by the S6 with design data, calculating the height deviation and the transverse deviation of the steel rail, and calculating the specification and the usage information of each rail bearing table buckle fitting through the deviation to realize fine adjustment operation on the rail bearing table of the CRTSIII ballastless track plate.
In S3, in the process of collecting data, a quaternion algorithm is adopted for inertial navigation attitude update:
，
in the method, in the process of the invention,is real number, < >>Are mutually orthogonal unit vectors;
and converting according to a quaternion algorithm to obtain an inertial navigation position updating formula:
，
wherein R is a navigation coordinate system, i is an inertial navigation coordinate system, and a mounting deviation exists between the system and a car body coordinate system b of the trolley; the three axial directions of a car body coordinate system b system of the trolley are respectively directed to the front left upper direction of the trolley;wherein->The direction cosine matrix from the vehicle body to the inertial navigation coordinate system represents the installation relationship between the inertial navigation and the vehicle body; />The relation between the direction cosine matrix between the inertial navigation system and the posture quaternion real number is shown as the following formula:
，
the relationship with Euler angle is:
，
in the method, in the process of the invention,representing three Euler angles, namely a course angle, a pitch angle and a roll angle;
corresponding the two matrix values to obtain an attitude angle;
the track calculation method based on inertial navigation and the combination of the mileometers adopts the attitude information of the inertial navigation and the speed information of the mileometers to carry out track calculation, and the position update equation is shown as follows:
，
in the method, in the process of the invention,the relative displacement vector of the trolley relative to the last observation position is measured under the navigation system; />Velocity vector for a vehicle body-tied cart, wherein/>Is the forward speed of the trolley;
and combining and calculating the inertial navigation data and the mileage data by adopting a Kalman filtering analysis method to obtain high-precision attitude determination positioning data.
In the track reckoning process, after each system propagation and observation update, a system state vector, an error covariance matrix and a state transition matrix are recorded, and after data reach the end, data smoothing is performed from the end to the starting point in a reverse direction.
And S5, after the obtained point cloud data of absolute pose of the bearing platform is used, a feature extraction algorithm, filtering denoising and an intelligent extraction algorithm of the center of the bearing platform of the track plate are used for extracting the center coordinates of the bearing platform, the side surface points and plane points on the point cloud of the bearing platform are firstly extracted through threshold segmentation, then the filtering denoising is carried out, then an optimal plane and side surface linear equation is obtained through a RANSAC algorithm, and the center position coordinates of the bearing platform are obtained through a mode of solving intersection points.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention uses various high-precision sensors to collect data in CRTSIII track plate detection, and ensures the high precision of the data from the collection end.
2. The method has the advantages that the point cloud data of the whole track plate track supporting table are continuously collected in a non-contact measurement mode, the influence of sundries on measurement is removed through methods such as filtering, denoising and linear fitting, and meanwhile errors caused by inaccurate calibration of the prism are avoided.
3. According to the method, each rail bearing table is not required to be stopped for absolute positioning, the detection efficiency is improved by 3 times compared with that of the traditional method, the detection result can be directly used for track fine adjustment operation, the method is suitable for track fine adjustment operation of all track fine measurement with CRTSIII type track plates, and the application prospect is wide.
Drawings
FIG. 1 is a flow chart of the fine measurement and adjustment method of the present invention;
FIG. 2 is a schematic diagram of a transformation space rectangular coordinate system in the present invention;
FIG. 3 is a flow chart of high-precision gesture determination positioning in the invention;
FIG. 4 is a reverse smoothing flow chart of the present invention;
fig. 5 is a schematic view of a point cloud of a rail bearing table in the present invention.
Detailed Description
The technical scheme of the present invention is described in detail below with reference to the accompanying drawings and examples.
The rapid accurate measurement and accurate adjustment method of the CRTSIII type ballastless track slab rail bearing platform adopts a continuous measurement mode. The detection of the track supporting platform is carried out by a detection trolley carrying a high-precision line structure optical scanner, a high-precision inertial navigation system (inertial navigation for short), a ranging sensor, an odometer, a prism and the like. The detection trolley carries various sensors to advance on the track plate, and the detection trolley stops running after reaching a set mileage.
During detection, absolute positioning is carried out for each sensor through the total station at regular intervals. In the whole process, each sensor acquires corresponding data: continuously positioning through inertial navigation, and collecting coordinate attitude data; collecting mileage data by using an odometer; two high-precision distance measuring sensors are used for acquiring elevation data of the rail bearing tables at two sides; acquiring track plate track bearing platform point cloud data by using a high-precision line structure optical scanner, providing high-precision pose information for the track data after inertial navigation solution, and correcting data after fusion and synchronization of multiple sensors to acquire track bearing platform section point cloud data with absolute poses; and acquiring a track center coordinate by using an intelligent extraction algorithm of the track bearing platform, comparing and analyzing the fitted line shape of the track center with design data, calculating the height deviation and the transverse deviation of the steel rail, and completing the requirement analysis of the use amount of the fastening parts so as to realize the rapid accurate measurement and accurate adjustment of the track bearing platform of the CRTSIII ballastless track plate.
As shown in FIG. 1, the rapid accurate measurement and accurate adjustment method of the CRTSIII type ballastless track slab track bearing platform comprises the following steps:
s1, data acquisition, including:
and collecting data by adopting a continuous non-contact mode through the detection trolley. The whole process is as follows: acquiring GNSS data by using a time synchronization module, reserving a multi-path synchronization interface, and providing time information for each sensor; continuous positioning is carried out by using high-precision inertial navigation, and coordinate attitude data are acquired; collecting mileage data by using an odometer; absolute positioning is carried out by using a total station, current position data are obtained, and the accuracy of data acquisition of each sensor is ensured; two high-precision distance measuring sensors are used for acquiring elevation data of the rail bearing tables at two sides; two high-precision, long-distance and large-range 2D line structure optical scanners are used for collecting the point cloud data of the rail bearing table of the rail plate at two sides.
S2, performing time synchronization and space synchronization on each acquisition device:
and connecting each acquisition device with the same time synchronization module, and providing time for each sensor through a precision atomic clock. The inertial navigation data comprises coordinate attitude information and mileage information at each moment; the elevation data of the ranging sensor comprises elevation and time information of the rail bearing platform; the point cloud data collected by the line structure optical scanner comprises time information of each line, and the point cloud data and the current pose information of the rail bearing platform are found through time correspondence, so that time synchronization is completed.
Since the centers of the sensors are not located at the same position, spatial synchronization is required and the sensors are integrated into the same coordinate system. A coordinate system conversion relation is established by adopting a calibration method, and every two space rectangular coordinate systemsAndthe conversion of (2) is shown in figure 2. The two coordinate axes are not parallel and the dimensions are not consistent, firstly, the two coordinate systems are translated to enable the origins to coincide, then the three coordinate axes are parallel to each other through three times of rotation, and the relation between the two coordinate systems is as follows:
in the method, in the process of the invention,、/>、/>for the coordinates before conversion, +.>、/>、/>For the transformed coordinates +.>，/>，/>For translation parameters->As a scale factor, < >>Is a rotation matrix equation.
And finding the central position of each sensor, calibrating, determining calibration parameters, and transforming a space coordinate system through the coordinate system to complete space synchronization.
S3, high-precision gesture determination positioning:
the information provided by the navigation system mainly comprises the gesture, the speed and the position, has the characteristics of strong autonomy, good dynamic performance, comprehensive navigation information and high output frequency, but continuously accumulates errors along with time, and has poor long-term precision; the satellite navigation positioning system has the defects of high precision, no error increase with time, insufficient comprehensive navigation information, narrow frequency band, easy signal interference, no satellite signal reception in indoor environment and the like, and no use.
According to the invention, a combined navigation system of total station and inertial navigation is used for high-precision gesture positioning, absolute positioning is carried out once through the total station at certain intervals, and continuous positioning is carried out through inertial navigation in the process of data acquisition.
Referring to fig. 3, processing analysis is performed according to acquired inertial navigation (IMU) data, and final position, speed and attitude of the integrated navigation system are obtained by performing inverse smoothing after kalman filtering through initial alignment, mechanical arrangement and error compensation by using odometer and NHC (non-integrity constraint) auxiliary position information.
In the continuous data acquisition process, the inertial navigation attitude update adopts a quaternion algorithm, and the method is represented as follows:
in the method, in the process of the invention,is real number, < >>Are mutually orthogonal unit vectors. Updating the inertial navigation position according to the quaternion algorithm into a formula (3):
wherein R is a navigation coordinate system, i is an inertial navigation coordinate system, and the installation deviation exists between the system and a car body coordinate system b of the trolley. The three axial directions of the car body coordinate system b system of the car point to the front, left and upper directions of the car respectively.Wherein->The direction cosine matrix from the vehicle body to the inertial navigation coordinate system represents the installation relationship between the inertial navigation and the vehicle body.
The relation between the orientation cosine matrix and the attitude quaternion between the inertial navigation system and the navigation system is as follows:
the relationship with Euler angle is:
in the method, in the process of the invention,representing three Euler angles, namely course angle, pitch angle and roll angle.
The track calculation method based on the inertial navigation/odometer combination carries out track calculation by adopting the attitude information of the inertial navigation and the speed information of the odometer, and the position update equation can be expressed as a formula (6):
in the method, in the process of the invention,the relative displacement vector of the trolley relative to the last observation position is measured under the navigation system; />For the speed vector of the car under the car body system, wherein +.>Is the forward speed of the trolley.
In the track calculation process, a section smoothing method is used for obtaining the whole-course high-precision position estimation. After each system propagation and observation update, recording a system state vector, an error covariance matrix and a state transition matrix, and after the data reach the end, starting to reverse and smooth the data from the end to the starting point.
The reverse smoothing flow is shown in fig. 4, where,and->Optimal filter estimation value representing forward filter t moment state vector and covariance matrix thereof, < >>And->Optimal filtering estimation value representing state vector at time t of front and back filtering and covariance matrix thereof,/for filtering>—/>Time is indicated. Acquiring final calculated pose data, and completing high-precision pose positioning of inertial navigation;
s4, point cloud fusion:
performing point cloud fusion after synchronization of multiple sensors, rectifying scanned cross section point cloud data according to system calibration parameters and sensor data, identifying the point cloud of a track board track bearing platform, and acquiring the point cloud data with absolute pose of each line of the track bearing platform according to the high-precision pose-fixing positioning method in S3;
s5, extracting the center of the rail bearing table:
and after the absolute pose data of the rail bearing platform are obtained, extracting the center coordinates of the rail bearing platform by using a feature extraction algorithm, filtering denoising and intelligent extraction algorithm of the center of the rail bearing platform of the rail plate. Firstly, extracting side points and plane points on a rail bearing platform point cloud through threshold segmentation, then filtering and denoising, then obtaining an optimal plane and side straight line equation by using a RANSAC algorithm, and obtaining the center position coordinate of the rail bearing platform in a mode of solving an intersection point.
The concrete method for extracting the center of the rail bearing platform is disclosed in China patent publication No. CN116543037A, and is a method for extracting the center of the rail bearing platform of the CRTSIII ballastless track slab.
As shown in fig. 5, the central circular bright spot is the center of the extracted rail bearing table.
S6, fitting a track center line:
and (3) acquiring center coordinates of single-line point cloud data of the single rail bearing platform based on the method in S5, acquiring center coordinates of point cloud data of all the rail bearing platforms in the same mode, and fusing to finish quick accurate measurement of the rail bearing platform. And then segmenting according to the line shape, and fitting the best track center line to the extracted center three-dimensional coordinate data by utilizing a least square method principle.
S7, analyzing and calculating the using amount of the buckle fitting:
and (3) comparing and analyzing the track center line fitted by the S6 with design data, calculating the height deviation and the transverse deviation of the steel rail, providing the specification and the usage information of each rail bearing table buckle fitting, and further carrying out fine adjustment operation on the rail bearing table of the CRTSIII ballastless track plate.
Claims (4)
1. A rapid accurate measurement and accurate adjustment method for a track bearing platform of a CRTSIII ballastless track plate comprises the following steps:
s1, data acquisition is carried out through each acquisition device, and the method comprises the following steps:
providing time information for each sensor by using a time synchronization module;
continuous positioning is carried out by using high-precision inertial navigation, and coordinate attitude data are acquired;
the odometer collects mileage data;
absolute positioning is carried out by using a total station, current position data are obtained, and the accuracy of data acquisition of each sensor is ensured;
two high-precision distance measuring sensors are used for acquiring elevation data of the rail bearing tables at two sides;
two 2D line structure optical scanners are used for collecting track plate track bearing platform point cloud data on two sides;
s2, performing time synchronization and space synchronization on each acquisition device:
adding time information to the data acquired by each sensor through a time synchronization module to complete time synchronization;
determining the central position of each sensor, calibrating, converting a coordinate system by using the following formula after determining calibration parameters, and completing the space synchronization of each sensor;
，
in the method, in the process of the invention,、/>、/>for the coordinates before conversion, +.>、/>、/>Coordinates after conversion>，/>，/>For translation parameters->As a scale factor, < >>Is of a rotary typeA torque matrix equation;
s3, high-precision gesture determination positioning:
the combined navigation system of total station and inertial navigation is used, absolute positioning is carried out once through the total station at certain intervals, and continuous positioning is carried out through inertial navigation in the process of collecting data; processing and analyzing according to the acquired inertial navigation data, using an odometer and using NHC method to assist in position information, performing inverse smoothing after adopting Kalman filtering through initial alignment, mechanical arrangement and error compensation to obtain final pose data of the integrated navigation system, and completing high-precision pose positioning of inertial navigation;
s4, carrying out point cloud fusion: performing point cloud fusion after synchronization of multiple sensors, correcting the scanned cross section point cloud data according to the calibration parameters and the sensor data, identifying the point cloud of the track board track bearing platform, and acquiring the point cloud data with absolute pose of each line of the track bearing platform according to the high-precision pose positioning obtained in the step S3;
s5, acquiring the center three-dimensional coordinates of the point cloud data of each bearing rail platform from the point cloud data with the absolute pose obtained in the S4 by a bearing rail platform center extraction method;
s6, based on the method of S5, acquiring center three-dimensional coordinates of all the point cloud data of the rail bearing platform, fusing, completing rapid accurate measurement of the rail bearing platform, segmenting according to the line shape, and fitting the extracted center three-dimensional coordinate data by using a least square method to obtain a track center line;
s7, comparing and analyzing the track center line fitted by the S6 with design data, calculating the height deviation and the transverse deviation of the steel rail, and calculating the specification and the usage information of each rail bearing table buckle fitting through the deviation to realize fine adjustment operation on the rail bearing table of the CRTSIII ballastless track plate.
2. The rapid accurate measurement and accurate adjustment method for the track bearing platform of the CRTSIII type ballastless track plate according to claim 1, wherein the method comprises the following steps of: in S3, in the process of collecting data, a quaternion algorithm is adopted for inertial navigation attitude update:
，
in the method, in the process of the invention,is real number, < >>Are mutually orthogonal unit vectors;
and converting according to a quaternion algorithm to obtain an inertial navigation position updating formula:
，
wherein R is a navigation coordinate system, i is an inertial navigation coordinate system, and a mounting deviation exists between the system and a car body coordinate system b of the trolley; the three axial directions of a car body coordinate system b system of the trolley are respectively directed to the front left upper direction of the trolley;wherein->The direction cosine matrix from the vehicle body to the inertial navigation coordinate system represents the installation relationship between the inertial navigation and the vehicle body; />The relation between the direction cosine matrix between the inertial navigation system and the posture quaternion real number is shown as the following formula:
，
the relationship with Euler angle is:
，
in the method, in the process of the invention,representing three Euler angles, namely a course angle, a pitch angle and a roll angle;
corresponding the two matrix values to obtain an attitude angle;
the track calculation method based on inertial navigation and the combination of the mileometers adopts the attitude information of the inertial navigation and the speed information of the mileometers to carry out track calculation, and the position update equation is shown as follows:
，
in the method, in the process of the invention,the relative displacement vector of the trolley relative to the last observation position is measured under the navigation system; />For the speed vector of the car under the car body system, wherein +.>Is the forward speed of the trolley;
and combining and calculating the inertial navigation data and the mileage data by adopting a Kalman filtering analysis method to obtain high-precision attitude determination positioning data.
3. The rapid accurate measurement and accurate adjustment method for the track bearing platform of the CRTSIII type ballastless track plate according to claim 2, wherein the method comprises the following steps of: in the track reckoning process, after each system propagation and observation update, a system state vector, an error covariance matrix and a state transition matrix are recorded, and after data reach the end, data smoothing is performed from the end to the starting point in a reverse direction.
4. The rapid accurate measurement and fine adjustment method for the track-bearing platform of the CRTSIII type ballastless track slab according to claim 1, wherein the track-bearing platform center extraction method in S5 is as follows: after the point cloud data of the absolute pose of the bearing platform is obtained, the central coordinates of the bearing platform are extracted by using a feature extraction algorithm, filtering denoising and an intelligent extraction algorithm of the center of the bearing platform of the track plate, the side points and plane points on the point cloud of the bearing platform are extracted by threshold segmentation, then the optimal plane and side straight line equation are obtained by using a RANSAC algorithm, and the central position coordinates of the bearing platform are obtained by solving the intersection point.
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