JP5965251B2 - Orbit position data giving system and orbit position data giving method - Google Patents

Description

  The present invention relates to a track position data adding system and a track position data adding method for associating test value data output in time series from sensors installed in a vehicle traveling on a track with track position data.

  In a vehicle traveling on a track, in order to perform track maintenance, the state of the track is inspected. Examples of the inspection include rail damage, wear or displacement, rail clearance check, vehicle Such as shaking inspection is performed using various sensors.

  When performing these inspections, the inspection value data acquired using the sensor needs to be stored in association with the orbital position data indicating the position of the orbital position of the inspection value data. There is.

  Conventionally, inspection vehicles such as track inspection vehicles are equipped with an encoder that measures the distance from the rotation of wheels to obtain track position data and an on-vehicle receiver that can receive track position data from the ground unit. The inspection value data and the orbital position data can be associated with each other.

  However, if it is attempted to acquire inspection value data with a normal business vehicle without using an inspection-dedicated vehicle, it is difficult to determine the track position because the device for acquiring the track position data is not equipped. There is a problem.

  As a means for solving such a problem, those shown in Patent Document 1 and Patent Document 2 are known.

  In Patent Document 1, in order to collate the train vibration data measured with the track inspection vehicle with the vibration data measured with the commercial vehicle, the acceleration data in the traveling direction measured with the commercial vehicle is double-integrated into the distance. Thus, the traveling kilometer as the track position data is obtained, and the vertical and horizontal acceleration data are collated with the track position data.

  In the vehicle running motion analysis system and method of Patent Document 2, a GPS antenna and a GPS receiver are provided, and the position information of the vehicle is corrected based on the position information acquired from the GPS signal received by the GPS receiver by the GPS antenna. ing.

Japanese Patent No. 2720172 Japanese Patent No. 3993222

  However, in the configuration of Patent Document 1, the acceleration data in the traveling direction is double-integrated. However, the offset and error included in the acceleration data increase due to the integration, and it is difficult to accurately perform collation. There is. In Patent Document 1, in order to correct the error of the acceleration data, the departure and stop are always performed between the stations, and the sum of the acceleration becomes 0. Therefore, the sampled acceleration data is integrated, When the sum between stations is not 0, this operation is divided by the number of samplings to obtain a correction number, and correction is performed to subtract this from each sampling data, but it is uniformly over a long distance between the stations. In order to correct | amend, there exists a problem that correction | amendment becomes coarse and accuracy is bad.

  Further, in the configuration of Patent Document 2, since the position information acquired by the GPS signal is latitude / longitude information having a certain range of error, the latitude / longitude information acquired by the GPS signal is further associated with the orbital position. There is a problem that verification work is required.

  The present invention has been made in view of the above problems, and an object thereof is to provide a system and method for more accurately and stably associating inspection value data with trajectory position data.

In order to solve the above-mentioned problem, the present invention according to claim 1 provides the orbital position data for associating the inspection value data acquired in time series by the sensors installed in the vehicle traveling on the orbit with the orbital position data. A system,
A data recording device that sequentially acquires angular velocity data representing a yaw angular velocity by an angular velocity sensor installed on the vehicle in synchronization with the inspection value data, and stores them in time series together with the inspection value data;
A data analysis device for analyzing data recorded by the data recording device, the data analysis device,
Means for extracting a time-series set of angular velocity data satisfying a prescribed condition from the stored angular velocity data, matching the time-series set as a detection curve with a curve in a curve linear diagram of a trajectory control chart;
Means for obtaining a velocity from a representative yaw angular velocity of the detection curve and a radius of curvature of the curve in the curve linear diagram matched with the detection curve, and setting it as a definite velocity in the detection curve;
If necessary, calculate the speed to interpolate between the determined speeds, integrate these speeds to determine the distance, and use the calculated distance to associate the saved inspection value data with the trajectory position data of the trajectory control chart Means to do,
Is provided.

  According to a second aspect of the present invention, in the first aspect of the invention, the interpolation of the speeds between the determined speeds is performed by integrating the traveling direction acceleration.

  The invention according to claim 3 is the invention according to claim 2, wherein in the section between the determined speeds, the result of the section end point obtained by integrating the traveling direction acceleration with the determined speed at the section start point as the initial value, and the determined speed at the section end point And the error corresponding to the position in the section obtained from the difference is removed from the integration of the acceleration in the traveling direction.

The invention according to claim 4 is a track position data providing method for associating test value data acquired in time series with a sensor installed in a vehicle traveling on a track with track position data,
Synchronously with the inspection value data, sequentially acquiring angular velocity data representing the yaw angular velocity by an angular velocity sensor installed on the vehicle, and storing in time series together with the inspection value data;
Extracting a time-series set of angular velocity data satisfying a prescribed condition from the stored angular velocity data, and matching the time-series set as a detection curve with a curve in a linear curve diagram of a trajectory control chart;
Obtaining a velocity from the representative yaw angular velocity of the detection curve and the radius of curvature of the curve in the curve linear diagram matched to the detection curve, and setting it as a definite velocity in the detection curve;
If necessary, calculate the speed to interpolate between the determined speeds, integrate these speeds to determine the distance, and use the calculated distance to associate the saved inspection value data with the trajectory position data of the trajectory control chart A process of performing;
Is provided.

  According to a fifth aspect of the present invention, in the fourth aspect of the invention, the interpolation of the speed between the determined speeds is performed by integrating the traveling direction acceleration.

  The invention according to claim 6 is the invention according to claim 5, wherein in the section between the determined speeds, the result of the section end point obtained by integrating the traveling direction acceleration with the determined speed at the section start point as the initial value, and the determined speed at the section end point And the error corresponding to the position in the section obtained from the difference is removed from the integration of the acceleration in the traveling direction.

  According to the present invention, the angular velocity data representing the yaw angular velocity has a change tendency similar to that of the linear curve diagram of the trajectory control chart, so that a time-series set of yaw angular velocities satisfying the prescribed conditions can be matched with the curve. By performing this matching, the vehicle speed when passing through the curve can be accurately obtained from the yaw angular velocity and the known curvature radius of the curve. If this accurate speed is defined as the determined speed, and the distance is obtained using this determined speed and associated with the orbit position data, the orbit position data and the inspection value data can be associated with each other with high accuracy. .

It is a schematic explanatory drawing which shows the whole track position data provision system which implemented the track position data provision method by this invention. It is a functional block diagram of the data recording device by this invention. It is a functional block diagram of the data analysis apparatus by this invention. It is a figure which shows the relationship between the curve linear diagram of a track management chart, and a yaw angular velocity. (A)-(c) is explanatory drawing of the symbol of a turning change point. It is an example of a curve linear table. It is an example of a curve table. It is an example of a default object table. Represents a field in the data output table. It is a figure showing the relationship between angular velocity data and a fixed velocity. It is explanatory drawing showing the method of interpolating speed. (A) is an example of a case where a test value, that is, a yaw angular velocity and a kilometer are temporarily associated with each other before association between a yaw angular velocity and a linear curve diagram, and (b) is a curve. This is an example in which the speed is associated with the kilometer using the determined speed as the determined speed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In the figure, the orbital position data providing system 10 is roughly divided into a data recording device 12 which is installed on a vehicle and measures angular velocity and the like, and records the angular velocity data obtained by the measurement, and a data recording device 12 on the ground. Can be roughly divided into a data analysis device 14 and a charger 16 that analyze the data recorded in (1).

  The data recording device 12 further includes a sensor unit 20, a recording circuit 22, and a battery 28, and is a portable device.

The sensor unit 20 includes, for example, an acceleration a _{x in} the traveling direction of the vehicle, an acceleration a _{y in} the horizontal direction of the vehicle, an acceleration a _{z in} the vertical direction of the vehicle, a roll angular velocity r _r that is a change in the roll angle of the vehicle, and a change in the pitch angle of the vehicle. detecting the pitch angular velocity r _p, yaw rate r _y is a yaw angle change of the vehicle is. For example, the sensor unit 20 includes two micro inertial sensors (“MESAG” manufactured by Tokyo Keiki Co., Ltd.) that output three-axis acceleration and two-axis angular velocity, and these three accelerations and 3 Two angular velocities can be detected. Or the sensor part 20 can also be comprised from three accelerometers and three angular velocity meters.

  As shown in FIG. 2, the recording circuit 22 includes a memory 32, a control unit 34 that stores inspection value data including angular velocity data in the memory 32, a marking unit 36, and an input unit 38. An A / D converter can be provided between the sensor unit 20 and the control unit 34 as necessary.

  The memory 32 can be an arbitrary recording medium that is integrated with or separate from the data recording device 12, and stores inspection value data including angular velocity data for each fixed period in time series. The marking unit 36 can be manually operated. When this operation is performed, marking data as measurement reference data described later is stored in the memory 32 in association with data from the sensor unit 20. The input unit 38 is used to input measurement / recording start / end / recording end commands and measurement reference data described later. Note that at least a part of the control unit 34, the marking unit 36, and the input unit 38 can be configured by a portable computer such as a notebook computer provided with input means such as a keyboard and a mouse.

  In this example, the data recording device 12 serves both as a function for assigning orbital position data and a function for performing inspection necessary for track maintenance, and also serves as an inspection device. The inspection value data obtained from the sensor unit 20 is used for performing fluctuation measurement. When the data recording device 12 has only a function for giving orbital position data, the sensor unit 20 outputs only at least one angular velocity data or only at least one angular velocity data and acceleration data in the traveling direction. It may be.

  The data analysis device 14 is configured by a computer having a CPU, and the data analysis device 14 which is a computer executes processing as shown in FIG. 3 by executing a trajectory position data addition program stored in the data analysis device 14. It functions as the section determination processing means 140, the angular velocity data set extraction means 142, the matching means 144, the speed calculation means 146, the speed interpolation means 150, and the inspection value data association processing means 152. The data analysis device 14 also functions as a data storage unit when the memory 32 is set or when data in the memory 32 is downloaded. The computer constituting the data analysis device 14 may be the same as the computer constituting a part of the data recording device 12, or may be different.

  The data analysis device 14 records a curve linear table 42 in which the correspondence between the curve linear data of the track and the kilometer as the track position data is recorded, and the correspondence with the curvature radius of each track curve. Curve table 44, stoppage data on track, other predetermined object data, and predetermined object table 46 in which correspondence between kilometer distance as track position data and inspection value data are associated with kilometer distance as track position data A data output table 48 is stored. The curve linear table 42 and the curve table 44 are respectively created based on the existing trajectory management chart.

  FIG. 4A is an example of a linear curve diagram of the trajectory control chart. The trajectory linear chart of the trajectory control chart is about a kilometer in the horizontal axis and the right curve above the neutral line (from the start point to the end point of the trajectory). (Right curve), the lower side represents the left curve (left curve from the start point to the end point of the trajectory).

  The meanings of the symbols BTC, BCC, ECC, ETC, BIT, EIT, BRT, PRT, and ERT used in the curve linear diagram of the trajectory control chart, the curve linear table 42, and the curve table 44 are shown in FIGS. These symbols represent turning change points. Each of these turning change points is represented as a bending point in the linear curve diagram.

  As shown in FIG. 6A, in the curve linear table 42, the correspondence between each turning change point of the curve linear diagram and about a kilometer is recorded as one record. Each record further has fields for page, direction, radius of curvature R (m), cant C (mm), and slack S (mm). The page represents the page of the trajectory management chart, the direction represents the right curve, L represents the left curve, and the curvature radius R represents the curvature radius in the end point direction. The curvature radius R, cant C and slack S are recorded in the corresponding record as the curvature radius, cant and slack of the trajectory from that point when the turning change point is the arc curve start point BCC and the start point EIT of the next arc curve. Is done.

  As shown in FIG. 6B, in the curve table 44, a curve ID for identifying each curve, a radius of curvature, and the association of the characteristic value of the curve are recorded as one record. The curve ID can be a serial number at least between the stops. As shown in FIG. 5 (b), a curve that changes along the way is regarded as one curve, and the radius of curvature can be representative of the radius of curvature at the center of the curve. Further, in the case of FIG. 5C, it can be handled as two curves with a boundary where the direction changes.

  As shown in FIG. 6C, in the default object table 46, the association between the stop name and the kilometer distance is recorded as one record. The symbol indicates that IN is a kilometer on the starting point side of the platform of the stop, C is a representative kilometer of the stop, and OUT is a kilometer on the terminal side of the platform of the stop. It should be noted that information on a predetermined object other than the stop can be recorded in the predetermined object table 46. For example, the predetermined object table 46 can include correspondence with tunnels, bridges, and kilometers of ATS (ground child).

  The curve linear table 42 and the curve table 44 can be configured as a single table, and the default table 46 can also be configured to be absorbed by these tables. Such a table can be omitted.

  The procedure of the orbital position data providing system and the orbital position data providing method configured as described above will be described.

1. Preparation Before Measurement The battery 28 of the data recording device 12 is charged by the charger 16 in advance, and a memory 32 having a recordable capacity is set in the data recording device 12.

2. Measurement on the vehicle In order to obtain the inspection value data including the angular velocity data, the data recording device 12 is carried to the vehicle, and the data recording device 12 is installed in an arbitrary place of the vehicle, for example, on a floor or a seat. At this time, it is necessary to install the sensor unit 20 so that the direction of the sensor unit 20 coincides with the coordinates of the vehicle. Before the measurement, the kilometer and / or stop name as the measurement reference data of the measurement start point is input from the input unit 38.

  When the measurement / recording start command is input from the input unit 38, the data recording device 12 starts measurement and recording, and the data from the sensor unit 20 is time-sequentially regardless of whether the vehicle is stopped / running. When the measurement / recording end command is input from the input unit 38, the measurement and recording are terminated. After the measurement, the kilometer and / or stop name is input from the input unit 38 as the measurement reference data of the measurement end point.

  In this example, the inspection value data recorded in the memory 32 is traveling direction acceleration data, left / right direction acceleration data, vertical acceleration data, roll angular velocity data, pitch angular velocity data, and yaw angular velocity data, which are recorded in synchronization. The Further, the memory 32 records the kilometer distance and / or the stop name of the measurement start point and the measurement end point as measurement reference data. That is, at this time, the inspection value data including each angular velocity data is associated with a common data ID (or serial number), and the data ID is substantially equivalent to a provisional kilometer having the constant period as a constant kilometer. Will be associated with. The measurement reference data at the measurement start point and the measurement end point are also associated with the data ID.

  Preferably, the operator operates the marking unit 36 when stopping or passing a predetermined object such as a stop stored in the predetermined object table 46 during measurement. Thus, marking data as measurement reference data is recorded in the memory 32 in association with the data ID in synchronization with the inspection value data including the angular velocity data obtained by the sensor unit 20.

  During the measurement, when the vehicle stops at the stop, instead of recording the marking data, the kilometer and / or stop name of the stop may be recorded as the measurement reference data using the input unit 38.

3. Processing on the ground After the measurement is completed, the data recorded in the memory 32 is processed on the ground by the orbital position data adding program by the data analysis device 14.

3-1 Processing Section Determination Processing A processing section for performing the orbital position data adding process is determined, and yaw angular velocity data that is angular velocity data recorded in the memory 32 corresponding to the processing section is read.

  The processing section can be determined by any method / means. For example, the processing section can be determined as follows.

The processing interval can be between the measurement start point and the measurement end point, that is, the entire measurement interval. In this case, the kilometer of the measurement start point and the measurement end point recorded in the memory 32 is read out and set as the process reference start kilometer and the process standard end kilometer.

When the entire measurement section is long, it is preferable to sweep between the processing sections sequentially, with any two pieces of measurement reference data recorded in the memory 32 as a processing section. As an interval between two pieces of measurement reference data, for example, it can be considered between adjacent stops. When the selected two pieces of measurement reference data are recorded in the memory 32 as kilometers, the kilometers are set as a processing reference start kilometer and a processing standard end kilometer.

  In each of the above examples, when the measurement start point, the measurement end point or the measurement reference data is recorded as the stop name in the memory 32, the predetermined reference table 46 is referred to, and the conversion standard start is converted to the kilometer. It is about kilometer and processing standard end kilometer. It should be noted that the conversion to the kilometer corresponding to any of the stop names IN, C, and OUT in the default table 46 is determined in advance according to the relationship between the position of the vehicle on which the data recording device 12 is installed and the platform. In general, when the data recording device 12 is installed near the head, near the middle, or near the tail of the vehicle, it is only necessary to read out the OUT, C, and IN kilometers of the stop. Of course, a predetermined object other than the stop can be set as the start or end of the processing section.

Alternatively, the processing section may be a section for each predetermined distance (for example, 1 km, 5 km, etc.). In this case, as a matter of course, there is no distance information in the yaw angular velocity recorded in the memory 32, and therefore, a range to be read from the memory 32 is determined using a provisionally associated kilometer. More specifically, the provisional distance between adjacent data IDs is determined in advance by dividing the provisional measurement distance L obtained by the difference in kilometers between the measurement start point and the measurement end point by the number of data. The yaw angular velocity data corresponding to the determined distance may be read out.

  How to determine the processing section may be determined in advance by the system or may be determined by selection by an operator.

3-2 Extraction of Angular Velocity Data As shown in FIG. 4, the curve linear diagram and the yaw angular velocity graph have very similar change trends. Data of yaw angular velocity, which is angular velocity data corresponding to the processing section recorded in the memory 32, is read, and data satisfying the specified condition is extracted in order to find data corresponding to the curve. The prescribed condition may be that the absolute value exceeds a predetermined threshold value Yth and exceeds the threshold value Yth for a predetermined number of data, and a time-series data set of yaw angular velocities satisfying this prescribed condition Can be regarded as data corresponding to one curve. Hereinafter, this time-series data set is referred to as a detection curve.

3-3 Curve Matching In order to determine which curve in the curve table 44 the detected curve corresponds to, the detected curve and the curve in the curve table are matched. The matching condition can be that the order of the curves does not reverse, the direction of the curves, and the similarity of the characteristic values of the curves. When matching is performed, the detection curve is associated with the curve ID of the curve table 44.

3-4 Calculation of velocity Determine the representative yaw angular velocity of the detection curve. Here, it is assumed that when the vehicle travels along a curve, the vehicle travels at a constant speed in a portion having a constant curvature radius. In order to obtain this speed, the representative yaw angular speed is determined by an arbitrary method. For example, it can be determined as follows.
The yaw angular velocity corresponding to the center data in the detection curve is set as the representative yaw angular velocity.
The average value of the yaw angular velocities corresponding to a predetermined number of data before and after the center data in the detection curve is taken as the representative yaw angular velocity. The predetermined number that is the number of data to be averaged can be made variable according to the total number of data constituting the detection curve, and can be a predetermined ratio number.

  When the representative yaw angular velocity Y0 of the detection curve is thus determined, the curvature radius Rc of the matched curve is read from the curve table 44, and the velocity V is obtained from V = Y0 × Rc. Thus, the speed of the vehicle when passing through this curve is obtained corresponding to each detection curve. Since the accuracy of the yaw angular velocity is high and the obtained velocity is good, this velocity is set as the final velocity. The determined speed can be set to the speed at the next time point, for example (see FIG. 7).

・ The final speed is the speed at the center point of the detection curve. That is, it is set as the speed with respect to the data at the center of the time-series data set of the extracted yaw angular speed (FIG. 7B).
The determined speed is a speed for all data of the extracted time-series data set of the yaw angular speed (FIG. 7C).

3-5 Speed Interpolation For the determined speed obtained as described above, the speed between the determined speeds is obtained by interpolation as necessary. As an interpolation method, the following method can be considered.
- determine the speed between the adjacent process using the integral of the acceleration in the traveling direction is interpolated by the integral value of the acceleration a _x of the traveling direction obtained from the sensor unit 20.

  This method will be described in detail with reference to FIG.

In FIG. 8, V ₀ and V _n is a definite speed adjacent respectively, As you integrating the acceleration a _x in the traveling direction therebetween interval integral value in the integral interval endpoint should be a V _n ideally It is.

However, since the acceleration data has an offset, the error is expanded by integrating. In other words, the velocity _{V a} is,
V _a = V ₀ + ΣAcc + Σoffset (where Acc: true acceleration, offset: acceleration offset)
It becomes.

When the integral value of the offset at the end of the integration interval is OFF _n , the speed V _{an at the} end of the integration interval by acceleration integration is
V _an = V _n + OFF _n
It becomes. The offset corresponding to the position of the section obtained from the integral value OFF _{n of the} offset, which is the difference between the integration section end point velocity V _an and the determined speed V _n by the acceleration integration, is removed, and interpolation is performed between V _{0 and} V _n. The speed V _i (i indicates that the data ID is i-th from the start of the integration interval) is set to OFF _i for the i-th offset,
V _i = V _ai −OFF _i
= V _ai −OFF _n × i / n
_{= V ai + (V n -V} an) × (ID i -ID 0) / (ID n -ID 0)
It can be expressed as.

Here, V _ai is the i-th velocity obtained by acceleration integration,
_{V ai = V a (i-} 1) + T s × (a x (i-1) + a xi) / 2
It can be expressed as. Here, V _a0 = V ₀ , a _xi represents the acceleration in the i-th traveling direction, and T _s is the sampling time.
Method of using GPS signal A GPS receiver is provided in the data recording device 12, and the speed obtained from the GPS receiver (referred to as GPS speed) is captured as test value data in synchronization with other test value data and stored in the memory 32. In such a case, it is conceivable to interpolate using the GPS speed.
-A method of evenly apportioning This is a method of interpolating assuming that the speed changes linearly at a constant acceleration or constant deceleration between fixed speeds. Since the interpolation can be performed without using the inspection value from the sensor unit, the processing becomes simple.

3-6 distance calculation Next, by sequentially integrating the determined velocity and the interpolated velocity V _i, the distance, i.e. as can be obtained kilometers. Specifically, by using the speed V _i,
D _i = D _(i−1) + T _s × (V _(i−1) + V _i ) / 2
It can ask for.

The integration interval can coincide with the processing interval, or there is a point where the kilometer is fixed, such as when there is marking data as measurement reference data recorded in the memory 32 in the processing interval. Is the integration interval between points where the kilometer is fixed. Further, when the initial value is set to the kilometer of the start point of the integration section, and the distance of the end point of the integration section when the integration is performed is different from the actual kilometer, further correction may be performed. For example, when the actual distance in the integration interval is D _k and the distance obtained by integration from the integration interval start point to the integration interval end point is D _n , the correction is performed using the distance D _i obtained by integration in the integration interval. The corrected distance D _i ′ is
D _i ′ = D _i × D _k / D _n
It may be done by doing.

3-7 Correlation processing between orbital position data and inspection value data Thus, when the kilometer distance and the data ID are associated with each other, this correspondence relationship is stored in the data output table 48. The data output table 48 can have the fields shown in FIG. 6D, whereby the data ID and the kilometer corresponding to the data ID are associated with the inspection value data corresponding to the data ID. Also, the calculated speed is associated with about a kilometer.

3-8 Repeating Process The above processes 3-1 to 3-7 are sequentially performed while changing the processing section. Usually, the start point of the processing section determined first is the measurement start point, and the end point of the processing section determined last is the measurement end point. Processing is performed for all the processing sections, and the processing is completed by associating the kilometer with the data ID.

  By the data output table 48 created in this way, about kilometer is given to the acceleration data and the angular velocity data which are inspection value data.

  According to the above processing, it is possible to collate with about a kilometer by using the yaw angular velocity. Since the yaw angular velocity has a change tendency similar to that of the curve linear diagram, it is possible to accurately compare the kilometer and the inspection value data. Further, since the yaw angular velocity is higher in sensitivity to the curve than other angular velocities, the velocity in the curve can be accurately obtained. Since there are usually a plurality of curves between the stops serving as the measurement reference data, and an accurate speed can be obtained for each curve, the accuracy of association with the kilometer can be increased.

3-9 km accuracy improvement process 2
In the above example, the yaw angular velocity is used without the coordinate conversion of the yaw angular velocity output of the sensor unit 20, and the position of the bending point appears accurately in the yaw angular velocity graph without the coordinate conversion. In order to improve accuracy, the data analysis device 14 or the data recording device 12 is subjected to a known coordinate transformation using three-axis angular velocities such as a yaw angular velocity, a roll angular velocity, and a pitch angular velocity, and using an acceleration as necessary. It is also possible to provide means for performing a process of performing transformation from the vehicle body system to the coordinate system outside the vehicle.

4). Comparison FIG. 9A is an example in which the inspection value, that is, the yaw angular velocity and the kilometer are temporarily associated with each other before the yaw angular velocity and the linear curve diagram are associated with each other. b) is an example in which the speed of the curve is used as the determined speed and associated with the kilometer. The rectangular part in the figure corresponds to the actual curve. In FIG. 9, a two-dot chain line represents speed. The speed in FIG. 9A is obtained by integrating the acceleration without using the fixed speed. It can be seen that the association shown in FIG. 9B is associated with higher accuracy than in FIG. 9A.

5. About the measurement standard data As mentioned above, the measurement standard data indicates the data of about a kilometer manually input directly from the marking unit 36 or the input unit 38, or the passing of a predetermined object such as a stop, a bridge or a tunnel. In addition to the data, it can also be data representing that the passage is automatically detected by a separate sensor. Or it can also be set as the data which detects automatically the passage of the ground element arranged at intervals along track, such as other ATS and data Depot (trademark) (made by Tokyo Keiki Rail Techno Co., Ltd.). Alternatively, as the measurement reference data, a GPS receiver may be provided in the data recording device 12 to obtain position data obtained from the GPS receiver. In this case, a correspondence table between the position data and the kilometer on the track may be provided separately.

6). Regarding the inspection value In the above explanation example, the inspection value data is the same as or the same as the data detected by the sensor that detects the yaw angular velocity and the acceleration in the traveling direction. The data may be data of another measurement value detected by another sensor.

DESCRIPTION OF SYMBOLS 10 Orbital position data provision system 12 Data recording device 14 Data analysis device 140 Processing section determination processing means 144 Matching means 146 Speed calculation means 150 Speed interpolation means 152 Inspection value data association processing means 20 Sensor unit

Claims (6)

A track position data providing system for associating test value data acquired in time series with sensors installed in a vehicle traveling on a track with track position data,
A data recording device that sequentially acquires angular velocity data representing a yaw angular velocity by an angular velocity sensor installed on the vehicle in synchronization with the inspection value data, and stores them in time series together with the inspection value data;
A data analysis device for analyzing data recorded by the data recording device, the data analysis device,
Means for extracting a time-series set of angular velocity data satisfying a prescribed condition from the stored angular velocity data, matching the time-series set as a detection curve with a curve in a curve linear diagram of a trajectory control chart;
Means for obtaining a velocity from a representative yaw angular velocity of the detection curve and a radius of curvature of the curve in the curve linear diagram matched with the detection curve, and setting it as a definite velocity in the detection curve;
If necessary, calculate the speed to interpolate between the determined speeds, integrate these speeds to determine the distance, and use the calculated distance to associate the saved inspection value data with the trajectory position data of the trajectory control chart Means to do,
Orbital position data providing system comprising:   The trajectory position data adding system according to claim 1, wherein the interpolation of the speed between the determined speeds is performed by integrating the acceleration in the traveling direction.   In the section between the determined speeds, the difference between the section end result obtained by integrating the acceleration in the traveling direction with the determined speed at the section start point as the initial value and the determined speed of the section end point is obtained, and the position in the section obtained from the difference is determined. The orbital position data adding system according to claim 2, wherein the error is removed from the integral of the acceleration in the traveling direction. A method for providing orbital position data in which test value data acquired in a time series by a sensor installed in a vehicle traveling on an orbit is associated with orbital position data,
Synchronously with the inspection value data, sequentially acquiring angular velocity data representing the yaw angular velocity by an angular velocity sensor installed on the vehicle, and storing in time series together with the inspection value data;
Extracting a time-series set of angular velocity data satisfying a prescribed condition from the stored angular velocity data, and matching the time-series set as a detection curve with a curve in a linear curve diagram of a trajectory control chart;
Obtaining a velocity from the representative yaw angular velocity of the detection curve and the radius of curvature of the curve in the curve linear diagram matched to the detection curve, and setting it as a definite velocity in the detection curve;
If necessary, calculate the speed to interpolate between the determined speeds, integrate these speeds to determine the distance, and use the calculated distance to associate the saved inspection value data with the trajectory position data of the trajectory control chart A process of performing;
An orbital position data providing method comprising:   5. The method of applying trajectory position data according to claim 4, wherein the interpolation of the speed between the determined speeds is performed by integrating the traveling direction acceleration.   In the section between the determined speeds, the difference between the section end result obtained by integrating the acceleration in the traveling direction with the determined speed at the section start point as the initial value and the determined speed of the section end point is obtained, and the position in the section obtained from the difference is determined. 6. The method according to claim 5, wherein the error is removed from the integral of the acceleration in the traveling direction.