JP4828169B2 - Track centerline survey method - Google Patents

Description

  The present invention relates to a track centerline surveying method for surveying a track centerline that is the center of a railway track.

  The railway company creates and has a track plan of scale 1/2500 to scale 1/500 for the business line. The track plan is often created by ground surveys at the completion of construction, but recently some of them have been created by aerial photogrammetry. In addition, when construction work such as a track change is performed after the start of business, the work for changing the track plan is performed each time. The existing track plan is created separately for each predetermined section, and the created age differs depending on the section. Therefore, even in the same line section, track plan views with different measurement methods (ground survey or aerial photogrammetry) and data formats (paper diagram or electronic diagram) are mixed.

  On the other hand, there is a demand for digitizing and using the track plan of the entire section. In order to meet such a demand, it is necessary to digitize the paper diagram and convert it into electronic data, and to connect the plan views of each line in the line section.

  It is possible to digitize by reading a paper map (track plan) with a scanner, but the track plan is drawn on a plane Cartesian coordinate system (for example, based on the world geodetic system or the Japanese geodetic system). If not, it is difficult to connect with the track plan of other sections.

Therefore, for sections where the track plan is not created corresponding to the plane Cartesian coordinate system, the track is closed and the ground survey or aerial photogrammetry is performed, and the track plan corresponding to the plane Cartesian coordinate system is used. Will be recreated.
JP 7-334550 A

  However, ground surveying after closing the track after the start of business has a major impact on railway users and should be avoided unless it is unavoidable. In addition, aerial photogrammetry is more expensive than ground survey, and enormous costs are incurred when targeting a wide section.

  The present invention has been made in view of the above circumstances, and it is not necessary to close the track, and the track center line can be increased over a wide range of line sections at a significantly lower cost than aerial photogrammetry. An object of the present invention is to provide a track centerline surveying method capable of accurately measuring.

The first aspect of the present invention is to measure position information with the GPS surveying instrument while traveling on the line of the survey target line section with a train equipped with a GPS surveying instrument, and travel the survey target line section a plurality of times. A step of obtaining a plurality of survey results, and a step of estimating a track center line using a plurality of survey results obtained for the survey target line section , wherein the track center line estimation step includes the survey target. Identifying the range corresponding to the line straight line from multiple survey results obtained for the line section, statistically analyzing the measurement results for each range identified as the line straight line, and estimating the line straight line and adjacent estimation And a step of estimating a line curve portion suitable for the intersecting portion at a location where the extension lines of the line straight portion intersect with each other .

According to the track centerline surveying method configured in this way, the position information is measured by the GPS surveying instrument while traveling on the survey target line with the train equipped with the GPS surveying instrument, so the track is closed. A large number of measurement results can be obtained without any problem, and even if an error is included in the survey results output by the GPS surveying instrument, it is possible to improve the survey accuracy by estimating the track center line from the many measurement results. . In addition, even if the survey results of the GPS surveying instrument vary in a band around the actual track center, the straight line portion of the track can be estimated with high accuracy by statistical analysis, and if the accuracy of the estimated straight line portion is high Higher accuracy is achieved by estimating the line curve part that matches the intersection at the intersection of the extension line of the estimated straight line part, compared with the case of statistical analysis and estimation from the survey result of the line curve part. it can.

According to a second aspect of the present invention, in the above-described track centerline surveying method, the step of estimating the track curve portion starts the curve of the estimated track curve portion based on a track curve table relating to the curve portion of the survey target line section. The radius of the curve indicating the position and the end position and the curve radius are specified, and the curved line shape determined from the specified distance of the kilometer and the curve radius is adjusted to the intersection to determine the line curve portion.

  As a result, the curve shape obtained from the data of the trajectory curve table relating to the curve portion of the survey line segment has extremely high accuracy compared to the survey result of the GPS surveying instrument, while the straight line portion obtained by statistical analysis is also terminated. Since the accuracy is high except for the start end, the line curve portion determined by matching the shape of the curve portion to the intersection is very accurate.

According to a third aspect of the present invention, in the line centerline surveying method, the step of estimating the line straight line section is a method of minimizing a sum of squares of the lengths of the perpendicular lines taken from the position of each measurement result on the estimated line. Thus, the line straight line portion is estimated.

  As a result, the survey result of the GPS surveying instrument is obtained in a band-like manner around the center of the actual track. However, since both the X coordinate and the Y coordinate include errors, the vertical line drawn on the estimated straight line from the position of each measurement result By adopting a method of minimizing the sum of squares of the lengths, estimation with less error becomes possible.

  According to the present invention, it is not necessary to close the track, and the track centerline surveying can measure the track centerline with high accuracy over a wide range of the line section at a significantly lower cost than the aerial photogrammetry. Can provide a method.

Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings.
FIG. 1 shows an outline of a track centerline surveying method according to the present embodiment. As shown in FIG. 1, a train 11 equipped with a GPS surveying instrument 10 is repeatedly traveled on a track 12 of the survey target line section, and the GPS surveying instrument 10 is positioned at regular time intervals (for example, at intervals of 1 second) while traveling. Record the data. A large number of the obtained position data is statistically analyzed by the computer 13 to obtain the line center line, and the line center line is drawn on the plane rectangular coordinate system to create the line plan view 14.

  FIG. 2 is a process diagram of the track centerline surveying method according to the present embodiment. In the orbital traveling GPS surveying step (ST1), GPS surveying devices 10-1 to 10-n are placed on each train 11 that is traveling in the line of the survey target line section at regular intervals (for example, 1 second). Survey the position. One train is only required to be mounted on one train, and a plurality of GPS survey devices may be mounted if a large number of measurement data is acquired at the same point in one run. . Each GPS surveying instrument 10-1 to 10-n receives the position and time information of each GPS satellite transmitted to the earth's surface by radio waves from a plurality of GPS satellites and receives the position information of the GPS surveying instrument (in this example, the world Calculate and output longitude information and latitude information in the geodetic system. Position information is sequentially stored in a recorder built in the GPS surveying devices 10-1 to 10-n.

  There are two methods of GPS surveying: obtaining precise results and obtaining only coarse measurement results. It may be difficult to install a large-scale device on a train in operation due to various restrictions. This time, a rough measurement method was adopted. In this embodiment, a GPS surveying instrument having a measurement error of 2 m or less is used. However, if it can be mounted on a train in operation, a GPS surveying instrument with higher accuracy can be used. Since the business train runs many times on the same track, a large number of survey results can be obtained for each position on the track, and the accuracy can be improved by statistical analysis.

  In this way, in the track traveling GPS surveying step (ST1), the GPS surveying instrument 10 is mounted on the commercial train and surveying is performed, so that there is an advantage that surveying can be performed without closing the track.

  Next, in the survey data reading step (ST2), the survey results are read from the GPS survey instruments 10-1 to 10-n collected from the trains 11 used for the GPS survey and stored in the memory 15 of the computer 13. The survey results at this time are longitude information and latitude information based on the world geodetic system.

  Next, in the expansion process (ST3) to the plane rectangular coordinate system, the survey results stored in the memory 15 are converted from the format based on the world geodetic system to the plane rectangular coordinate system, and each survey result is plotted in the plane rectangular coordinate system. To do. The survey result plotted in the plane rectangular coordinate system is displayed on the display 16 of the computer 13.

  FIG. 3 is a diagram showing survey results plotted in a plane rectangular coordinate system. The survey results are distributed in a band along the center of the track. FIG. 4 is a histogram showing how the actual measurement results are distributed with respect to the estimated line. An estimated line corresponding to the center of the line is arbitrarily determined, and how much the measurement result is distributed with respect to the estimated line is shown. As shown in the figure, it can be seen that, except for the singular point data, the survey results are within ± 2 m. This almost coincides with the accuracy of the used GPS surveying instrument.

  Next, in the selection process (ST4) of the straight line portion estimation data, a survey result estimated to be a straight line portion of the track is selected from the survey result displayed on the display 16. If the survey result used for the estimation of the track straight line part includes the survey result of the track curve part, the survey accuracy of the track straight line part decreases. Therefore, as shown in FIG. 5, the survey result that is expected to be the survey result of the track straight line portion is selected for each straight line portion from the survey result displayed on the display 16. In the example shown in FIG. 5, three predicted line straight portions D1, D2, and D3 are extracted, and survey results included therein are selected for each predicted line straight portion D1, D2, and D3. The selection method of the survey result is not particularly limited. For example, by specifying the range D1, D2, and D3 of each predicted line straight portion with a pointing device such as a mouse while being displayed on the display 16, each specified predicted line is specified. The survey results included in the range of the straight line portions D1, D2, and D3 may be designated collectively.

  Here, for the extraction of the predicted track straight line portions D1, D2, and D3, the track curve table created for the survey target line section can be used. In the track curve table, the start point and end point of each curve portion are registered in the form of kilometer as information on the track curve existing in the survey line. If two curve portions are not continuous in the trajectory curve table, a straight line portion always exists between a certain curve portion and the next curve portion. Therefore, the range in which the track straight line portion exists can be predicted from the track curve table. When the radius of the track curve portion is large, it is difficult to distinguish between the straight line portion and the curve portion. Therefore, it is preferable to predict the straight line portion from the track curve table from the viewpoint of preventing extraction of the straight line portion.

  Next, in the straight line portion estimation step (ST5), the survey result selected for each predicted line straight portion D1, D2, D3 is statistically analyzed to obtain a straight line portion. In general, when a point is measured by a GPS surveying instrument, a large number of points that vary around a true point are obtained. In this case, the coordinate value of the target point can be estimated by taking the average of the obtained data, and a value representing the degree of variation such as standard deviation can be calculated, and the estimated value can be evaluated. However, the coordinate value obtained by the GPS surveying instrument mounted on the train cannot specify which point on the track center line is measured. Data actually observed with a train-equipped GPS surveying instrument can be obtained in a striped manner around the actual line center line. As far as the straight line portion is concerned, since the measured values vary on both sides of the estimated straight line, a linear regression equation can be obtained by a statistical method. In a linear regression equation in a general XY coordinate system, the X coordinate value of the measurement point is assured and the residual sum of squares of the Y coordinate value is minimized (or vice versa), which is obtained by the GPS surveying instrument. Since the measurement value includes an error in both the X coordinate and the Y coordinate, this method cannot be used. Therefore, the following method is adopted.

  FIG. 6 shows an example of statistical analysis for obtaining the straight line portion. From each measurement result (black square mark), a linear equation that minimizes the sum of the squares of the lengths of the perpendiculars on the estimated straight line is obtained.

  Here, since it is difficult to determine the measurement results of the straight line both ends of the predicted line straight portions D1, D2, and D3 as the curve start portion, it is desirable to exclude them from statistical analysis in order to increase the accuracy of the linear equation. . The straight line expression represents the line center line of the straight line portion, and the end and start position of the straight line portion can be specified with high accuracy by the process of ST6-2 described later.

  Based on the obtained linear formula, a straight line portion of the line (a line segment having a start point and an end point) is provisionally determined, a straight line number is assigned to the straight line segment, and the start point, end point coordinates, and inclination information are obtained as a straight line portion. Register with a number. Thereafter, the linear equation is also obtained for the predicted line straight portions D2 and D3 in the same procedure, the linear portion is provisionally determined from the obtained linear equation, the straight portion number is assigned, and the start point, end point coordinates, and inclination information are linear portions. Register with a number.

  In addition, a straight line portion registered with a straight line number is displayed on the display 16. As shown in FIG. 7, in this example, there are three straight portions (first straight portion L1, second straight portion L2, and third straight portion L3) in the measurement target line section. In addition, although an actual line segment has a large number of straight line portions and curved line portions in one line segment, a simple model line segment is illustrated for easy understanding.

  Next, in the curve portion estimation step (ST6-1), a curve portion that matches the intersection of the extension lines of the first straight line portion L1, the second straight line portion L2, and the third straight line portion L3 obtained previously is estimated. . It is desirable to use the trajectory curve table of the corresponding line section for the estimation of the curved portion.

  FIG. 8 is a diagram showing a part of an actual trajectory curve table extracted from a certain line section. As shown in the figure, in the trajectory curve table, a line name 81, a kilometer 82, a radius of curvature 83, a direction 84, curve information 85, and other items relating to each curved portion are registered. Moreover, the order of description of the curve portions in the trajectory curve table matches the order of appearance from the line segment start point to the line segment end point in the line segment. That is, it means that the order of each curve portion in the line segment can also be acquired from the trajectory curve table.

  Specifically, the process of selecting the curve portion C1 that falls between the first straight line portion L1 and the second straight line portion L2 shown in FIG. 9 from the trajectory curve table will be described. As shown in FIG. 7, the first straight line portion L1 is the first straight line portion in the measurement target line section, and the second straight line portion L2 is the second straight line portion. It becomes the first curve part. Therefore, the order of the curve portions is determined from the straight line numbers of the straight portions on both sides sandwiching the curve portion to be estimated, and the curve portions in the determined order are selected from the trajectory curve table of the line section.

  At this time, instead of selecting the corresponding curved portion only by the order of the curved portion, the kilometer 82 indicating the distance from the reference point of the curved portion or the direction 84 indicating the bending direction of the curved portion is included in the selection condition. Is desirable to prevent selection errors. Since the kilometer 82 indicates the distance from the reference point of the curved part in the line segment, if the deviation is beyond the allowable range compared to the distance obtained by adding the straight line part and the curved part already determined, There is an error in the fixed straight line portion or curved portion or the curved portion selected this time. Further, if the bending direction 84 of the curved portion is opposite to the intersecting direction of the straight portions on both sides, there is an error in either the previously determined straight portion or curved portion or the currently selected curved portion. .

  Next, in the orbit curve fitting step (ST6-2), the curve radius 83, the direction 84 and the curvature information 85 relating to the currently selected curve portion are acquired from the orbit curve table. BTC of the curvature information 85 indicates the distance from the reference point of the curve start point in the curve portion, and ETC indicates the distance from the reference point of the curve end point in the curve portion. Now, assuming that the curve radius 83 = R obtained from the trajectory curve table, the curved portion existing between the first straight line portion L1 and the second straight line portion L2 has the same curvature as the circle of radius = R, and The arc length is an ETC-BTC curve shape. Specifically, an inscribed circle of radius = R is defined for the intersection where the extended lines from the first straight line portion L1 and the second straight line portion L2 intersect, and the inscribed circle and the first straight line portion L1 are defined. And the intersection with 2nd straight line part L2 (or those extension lines) is calculated | required, It can be set as the curve part which calculates | requires the circular arc part from this calculated | required one intersection to the other intersection.

  In addition, as for the shape of the curve part, the relaxation curve is put into the predetermined distance from the curve start point and the curve end point in the curve part. BCC indicates the vertex position of the relaxation curve forming the relaxation curve on the curve start point side, and ECC indicates the vertex position of the relaxation curve forming the relaxation curve on the curve end point side. As the relaxation curve shape, a sine wave curve or a cubic parabola is used. Therefore, the shape of the curved portion is not a simple arc but a combination of two relaxation curves and an arc having a constant curvature (radius = R) sandwiched between them. Therefore, a correction is made to put a relaxation curve by a predetermined distance at both ends of the arc portion determined from the radius (= R) and the arc length (= ETC-BTC) acquired from the trajectory curve table. The length of the relaxation curve is determined by BCC and ECC.

  As described above, the shape and length of the curved portion including the relaxation curve can be determined. A curved portion having a shape and a length including the relaxation curve is an arc, and a sector shape is formed in which the radius is the same radius = R as the inscribed circle. In this example, the fan shape is used for ease of fitting operation, but the shape is not limited to the fan shape as long as it has a shape and length including at least the relaxation curve.

  In the present embodiment, by fitting the sector shape into the intersection of the extension lines of both the first straight line portion L1 and the second straight line portion L2, the terminal ends or the start ends of the first straight line portion L1 and the second straight line portion L2. To correct. Specifically, as shown in FIG. 9, one end (BTC) of the fan-shaped arc portion is positioned on the first straight portion L1, and one side LL1 of the fan-shaped portion is perpendicular to the first straight portion L1. At the same time, the other end (ETC) of the arc portion is located on the second straight line portion L2, and the fan-shaped one side LL2 is in contact with the second straight line portion L2 at a right angle so that the sector shape is the first straight portion. It fits into the intersection of L1 and the 2nd straight line part L2.

  At this time, one end (BTC) of the fan-shaped arc portion is not necessarily located on the terminal end of the first linear portion L1 provisionally determined in ST5. Therefore, correction is performed with the position of the intersection with one end (BTC) of the arc portion as the end of the first straight line portion L1. Similarly, since the other end (ETC) of the fan-shaped arc portion is not necessarily located on the start end of the second straight line portion L2 provisionally determined in ST5, the position of the intersection with the other end (ETC) of the arc portion Is corrected to be the starting end of the second straight line portion L2.

  In this way, the position information in the plane rectangular coordinate system of the curved line portion C1 existing between the first straight line portion L1 and the second straight line portion L2 is determined. As shown in FIG. 7, the line center line is connected by fitting the curved line portion C1 into the intersection of the first straight line portion L1 and the second straight line portion L2.

  The value of kilometer in the track curve table increases as the distance from the reference point increases, but the difference and radius between the starting point and the ending point in the curved part is highly accurate when laying or renovating the curved line. Since it is determined based on ground surveying, the length of the arc of the curved portion is a highly accurate value that does not include an error of about a kilometer. Further, although it is difficult to specify the end and start points of the first straight line portion L1 and the second straight line portion L2 only by the straight line portion estimation in ST5, the straight line that serves as a reference for the first straight line portion L1 and the second straight line portion L2 The equation can be obtained with high accuracy by the above statistical analysis by selecting the survey result. Accordingly, the curved line portion C1 and the first straight line portion L1 determined by the method of fitting the fan-shaped shape created from the highly reliable data in the trajectory curve table into the intersection between the first straight line portion L1 and the second straight line portion L2. The arc start position (BTC) that is the end of the arc and the arc end position (ETC) that is the start of the second straight line portion L2 are errors compared to the case where the straight line portion and the curve portion are statistically analyzed using only GPS survey values. It can be said that the position information is highly reliable and greatly suppressed.

  Similarly, at the intersection of the second straight line portion L2 and the third straight line portion L3, a sector shape is created from the data in the trajectory curve table, and the created sector shape is used as the second straight line portion L2 and the third straight line portion L3. And the curved line C2, the end of the second straight line L2, and the start of the third straight line L3 are determined.

  Next, in the line plan view data storing step ST7, the line plan view in which the line center data is drawn in the plane rectangular coordinate system by connecting the straight line portions L1 to L3 and the curve portions C1 and C2 as shown in FIG. Data is stored in the track plan view storage unit 17. The track plan view storage unit 17 may be a mass storage medium attached to the computer 13, or may be a mass storage device connected via a data communication network. In addition, the line plan data of the entire measurement target line section has a very large amount of data. However, if the measurement target line section is divided into a plurality of blocks and the line plan view data is divided in units of blocks, at least one is required. It can also be divided and stored in a plurality of storage media having a storage capacity for blocks.

  As described above, according to the present embodiment, GPS surveying devices 10-1 to 10-n are mounted on a plurality of business trains, and GPS surveying is performed while traveling on the measurement target section, so the track is closed. There is also an advantage that surveying for creating a track plan can be performed.

  In addition, since the position information is measured by the GPS surveying devices 10-1 to 10-n mounted on the train that repeatedly travels in the same line section, a large number of measurement results can be acquired for the measurement target line section. It is possible to increase the accuracy of statistical analysis when obtaining a linear expression.

  In addition, since the curve part is obtained by combining a highly accurate linear equation obtained by statistical analysis using a large number of measured values and a fan shape created from highly reliable data in the trajectory curve table, statistical analysis is performed. Then, it is possible to obtain a curved portion that is difficult to obtain with high accuracy. In addition, in the process of obtaining the curved portion, it is possible to specify straight line end portions (start and end points) that are difficult to maintain with statistical analysis alone. As a result, over the entire range of the line to be measured, the line plan view data that can withstand practical use with few surveying errors can be created easily and at low cost for all of the straight portions L1 to L3 and the curved portions C1 and C2. can do.

  In the above description, the GPS surveying instrument is mounted on the business vehicle. However, even if the GPS surveying device is mounted on a vehicle other than the business vehicle, the survey can be performed without closing the track.

  Further, the GPS surveying instrument may be provided with a wireless function so that the survey result is sequentially transmitted by wireless communication with the center side.

  The present invention is not limited to the above-described embodiment and modifications thereof, and various modifications can be made without departing from the spirit of the present invention.

  The present invention is applicable to creation of digitized line plan data.

Schematic of track centerline surveying method according to one embodiment of the present invention Process drawing of track centerline surveying method according to above embodiment Figure showing survey results plotted in a plane Cartesian coordinate system Figure showing a distribution table created based on actual measurement results The figure which shows the state which selected the prediction track straight line part from the survey result The figure which shows an example of the statistical analysis for calculating | requiring a straight part The figure which shows the state which created the track center line from the calculated straight line part and curve part Figure showing a part of the orbit curve table Diagram showing how to find the curve

Explanation of symbols

10 GPS Surveyor 11 Vehicle 12 Track 13 Computer 14 Track Plan 15 Memory 16 Display 17 Track Plan Storage

Claims (3)

A step of measuring position information with the GPS surveying instrument while traveling on a line of the survey target line section with a train equipped with a GPS surveying instrument, and acquiring a plurality of survey results by traveling the survey target line section a plurality of times. When,
A line center line is estimated using a plurality of survey results acquired for the survey target line section , and
The track center line estimation step includes:
Identifying a range corresponding to the line straight line portion from a plurality of survey results obtained for the survey target line section, and estimating the line straight line portion by statistically analyzing the measurement results for each range identified as the line straight line portion;
A line center line surveying method , comprising: a step of estimating a line curve portion adapted to the intersection at an intersection of adjacent extension lines of the estimated line straight portions . The step of estimating the track curve portion specifies the curve radius and the curve radius indicating the curve start position and the end position of the estimated track curve portion based on the trajectory curve table regarding the curve portion of the survey target line section, and line centerline surveying method according to claim 1, characterized in that the kilometrage and determined from the curve radius curved section shape determines the line curved portion crowded fit the intersection. The step of estimating the line straight portion, claim 1 or claim, characterized in that estimating the line straight portion in a manner that minimizes the sum of squares of the length of the perpendicular line drawn to the estimated straight line from the position of the measurement results Item 2. A line centerline surveying method according to item 2 .

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