RU2287187C1 - Method for determining standard coordinate model of railroad track and device for realization of said method - Google Patents

Method for determining standard coordinate model of railroad track and device for realization of said method Download PDF

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RU2287187C1
RU2287187C1 RU2005109793/28A RU2005109793A RU2287187C1 RU 2287187 C1 RU2287187 C1 RU 2287187C1 RU 2005109793/28 A RU2005109793/28 A RU 2005109793/28A RU 2005109793 A RU2005109793 A RU 2005109793A RU 2287187 C1 RU2287187 C1 RU 2287187C1
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Russia
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track
coordinates
satellite
angles
railroad
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RU2005109793/28A
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Russian (ru)
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Станислав Ильич Матвеев (RU)
Станислав Ильич Матвеев
Валерий Михайлович Круглов (RU)
Валерий Михайлович Круглов
Сергей Алексеевич Лёвин (RU)
Сергей Алексеевич Лёвин
Дмитрий Сергеевич Манойло (RU)
Дмитрий Сергеевич Манойло
Александр Станиславович Матвеев (RU)
Александр Станиславович Матвеев
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Государственное образовательное учреждение высшего профессионального образования Московский государственный университет путей сообщения (МИИТ)
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Abstract

FIELD: metrological equipment for navigational systems of railroad transport.
SUBSTANCE: in accordance to method, working sides of railroad track are coordinated with given stationing interval by means of measuring-computing complex mounted on moving object. Measuring-computing complex includes rover, gyroscopic indicator of Euler angles, indicators of track and width of track, controller, personal computer. To provide unity of measurements on railroad main, single three-dimensional orthogonal system of coordinates is used in special projection. Abscissa axis on the surface of Earth ellipsoid is combined with geodesic line, coinciding with main direction of railroad main. As ordinates, geometrical perpendiculars to abscissa axis are used. Coordinates system base consists of system of temporary base stations of satellite radio-navigation system. Satellite radio-navigation system stations are positioned along the railroad with 50-100km intervals for the time of movement of measuring-computing complex. Continuous synchronous recording of indications of all devices and satellite receivers of base stations is performed. Coordinate models of railroad track having no substantial distortions of angles and distances are taken as standard. For compensating systematic errors, indications of Euler angle indicator on measuring-computer complex are smoothed by sliding average filter on sliding interval, equal to length of wheel circle of moving object. Corrections for inclination of antenna are introduced to satellite coordinates of receipt of rover of measuring-computing complex. Indications of course track indicator are calibrated by means of center-affine transformations, converting to series of directional angles and scaled horizontal projections. Joint estimation of complex measurements and parameters of statistic model is performed by means of recurrent generalized method of least squares.
EFFECT: increased precision when determining standard coordinate model.
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Description

The invention relates to metrological support for navigation systems of railway transport and the maintenance of the geometry of railway tracks.
Currently, navigation of all modes of transport is based on satellite radio navigation systems (SRNS) of the GLONASS type (Russia), GPS (USA) and others. Zheleznodorozhny has an advantage over other modes of transport, consisting in the fact that its moving path is fixed on the ground with high accuracy, which, in turn, allows you to determine the reference coordinate model of the track (EKMP) of the railway. This feature has not yet been used. The present invention is actually directed to the realization of such a possibility.
By ECMP we mean metrized reference functions (models) presented in the form of uniform (e.g., meter) point scales that conditionally fix the position of the working faces of the left and right rails in a three-dimensional orthogonal coordinate system with the accuracy necessary for the diagnosis of path geometric parameters. Such a definition makes it possible to attribute the EQFM to group working standards that allow one to determine the basic geometric parameters of the path (coordinates, lengths of sections, longitudinal and transverse slopes, elevations of rails, bending arrows, subsidence, straightening, etc.), perform calibration and self-calibration of angular and linear sensors navigation systems and their self-tuning according to the reference model.
In the known method for determining the spatial parameters of the rail track and the device for its implementation / 1 /, the coordinates of the left and right rails are determined by measuring the Euler angles with a gyroscopic cross-pointer and distances by track and gauge sensors mounted on the track trolley.
This way of coordinating the path is the closest in technical essence. He is taken as a prototype.
The prototype does not provide an accurate definition of a continuous reference coordinate model throughout the railway, i.e. does not satisfy the basic principle of metrology - ensuring the uniformity of measurements.
The technical result of the proposed facility is to create EKMP throughout the railway to ensure self-calibration and self-adjustment of navigation systems of locomotives, diagnostic and alignment systems.
The essence of the claimed invention lies in the fact that to ensure the uniformity of measurements along the entire line, a unified orthogonal coordinate system in the projection of V.A. is established that does not give practically significant distortions of angles and distances. Kougia. The central line of projection and the abscissa axis on the surface of the earth's ellipsoid take a geodesic line that coincides with the main direction of the highway. The ordinates on the ellipsoid take the geodetic normals to the abscissa axis.
The position of any point M of the railway track on the ellipsoid (Fig. 1a) and on the plane (Fig. 1b) is determined by the same x and y coordinates, measured in the first case — along geodesics, in the second — along straight lines. If the path deviates from the abscissa axis to 50 km, the distortions of the angles and distances are negligible, therefore, the coordinate models of the path in such a coordinate system, determined with sufficient accuracy for diagnosing the geometry of the path, are standard. The third coordinate - height H - is determined in the generally accepted orthometric height system.
To improve the accuracy of the results, coordination is performed by jointly evaluating the parameters (coordinates of the model points) based on the results of integrated satellite, gyroscopic and range-finding measurements. For this purpose, a system of temporary base stations of SRNS is created along the highway from two-frequency geodetic receivers installed 50-100 km apart. The software is equipped with a measuring and computing complex (IVC), including a movable satellite receiver (rover), a Euler angle sensor, track and gauge sensors, a controller and a personal computer. When the software travels along the highway, the controller continuously records synchronously the readings of all the measuring devices of the IVK. At the same time, continuous recording of satellite information is conducted at temporary base stations that operate for the duration of the CPM throughout the main line.
To compensate for the influence of skews and eccentricity of the wheels, the readings of the Eulerian angle sensor are smoothed by a moving average filter on the sliding interval equal to the circumference of the wheel of the software. At the moments of receiving satellite measurements t i, the values of the smoothed course angle a i , the transverse q i and the longitudinal ν i inclination angles, the path sensor s i and the satellite coordinates x i , y i obtained from the relative phase definitions are fixed. Corrections for longitudinal and transverse slopes are introduced into the coordinates. In accordance with figure 2, the formula for calculating the coordinates of the axis of the path are
Figure 00000002
where α i is the directional angle of the software course at point i; δα = arctan (p / t); p = acos (ν) sin (k); t = acos (k) sin (ν);
Figure 00000003
; x a ; y a ; N a - satellite coordinates of the center of the antenna; and - the length of the antenna.
Using the coordinates of the path axis, from the solution of inverse geodetic problems, successive directional angles α i , horizontal distances are calculated
Figure 00000004
and reference path picket
Figure 00000005
On straight sections of the path, they form a sequence of points j located at a considerable (about 0.5–2 km) distance from each other. For these points, the average weight values of the directional angles of the straight sections are calculated
Figure 00000006
and then form two-dimensional arrays of satellite M and m polar coordinates recorded from the sensors
Figure 00000007
calculate the average coordinates
Figure 00000008
,
Figure 00000009
,
Figure 00000010
,
Figure 00000011
Subtracting which of the corresponding elements of the arrays M and m, we obtain arrays of central coordinates
Figure 00000012
and
Figure 00000013
then calculate the matrix of centrifugal transformations A by the formula:
Figure 00000014
After that, the readings of the sensors s i and a i at all points i belonging to the interval of the path from point j-1 to point j are recalculated into the reference ones by the formula:
Figure 00000015
With this conversion, scaling and calibration of the sensor readings occurs
Figure 00000016
and calibration of heading readings
Figure 00000017
In all the above formulas, the angular values are expressed in radian measure.
The readings of the longitudinal and transverse tilt angles are calibrated according to the readings of digital electronic levels oriented along the longitudinal and transverse axes of the software.
After calibration, all types of complex measurements: Euler angles, distances and satellite coordinates are almost independent random sequences. With their help they form two parallel and coincident in distance information flow:
- the sequence of vectors of satellite coordinates x i is accompanied by covariance matrices K (x) i . This sequence forms an extended confidence region with a diameter of 20-50 mm;
- the corresponding increment of coordinates dx i obtained by numerical integration of the polar coordinates p: gyro readings (directional angles and longitudinal tilt angles t) and track sensor (s) as
Figure 00000018
The increments, due to the previously performed filtration procedures, are highly accurate - on the order of 1 mm per 10 m of track.
Neglecting the curvature of the trajectory on the interval i- (i + 1), and differentiating dx i , with respect to all variables, we obtain
Figure 00000019
By the covariance theorem of the vector function, for the covariance matrix of increments K (dx) i , we have
Figure 00000020
The joint processing of these flows by the recurrent generalized least-squares method according to the principle of accounting for the errors of the initial data allows us to maintain the accuracy of satellite measurements at long distances and the mutual high accuracy of waypoints at distances of up to 100 and more meters.
From indirect measurements of x i and dx i coming from the controller to the PC, the Gauss-Markov statistical model is formed:
Figure 00000021
with matrices A and K (l) of a quasi-diagonal structure. The sixth-order diagonal blocks are of the form
Figure 00000022
where I are the unit matrices of the third order, K (l), K (x) ii and K (dx) ii are the covariance matrices of the measurement vectors
Figure 00000023
,
Figure 00000024
and
Figure 00000025
.
To increase the estimation efficiency, system (7) is multiplied to the left by K (l) -1/2
Figure 00000026
where μ is the mean square error of a unit of weight, and the blocks
Figure 00000027
have the form
Figure 00000028
and they directly solve the quasi-diagonal system (9) using plane Givens rotations, which make it possible to evaluate each measurement by the generalized recursive least squares method, perform the rejection of rough measurements, and accumulate the quadratic form of the correction vector ν T К (l) -1 ν. As a result, system (9) is reduced to an upper triangular ribbon form
Figure 00000029
whose solution (assessment
Figure 00000030
) are found by the reverse substitution method, after which the root mean square error of the unit of weight is calculated
Figure 00000031
To solve the issue of accuracy estimation, the covariance matrix of parameters is calculated
Figure 00000032
or only its diagonal elements, allowing to calculate the root mean square errors of the parameters
Figure 00000033
.
Studies have shown that with high accuracy in determining increments, the accuracy of estimating x increases proportionally
Figure 00000034
, where m is the number of satellite definition points, and the estimation results coincide with the Kalman filtering estimates.
For extended arteries, the principle of autoregressive transformations of the moving average is applied, when Givens rotations are performed on a moving interval of k точекm points without any noticeable loss of accuracy.
A device for determining the reference coordinate model of the path, including the CPM (see figure 3), consisting of a satellite dual-frequency GLONASS / GPS receiver (rover) - 1, a gyroscopic sensor of Euler angles - 2, sensors of track and track gauge - 3, controller for synchronous recording the readings of these measuring devices by the clock of the rover - 4 and the personal computer - 5 installed on any software (for example, the TsNII-4 travel measuring complex), and the system of temporary base stations from satellite receivers of the same type as the rover installed in ol railway through the 50-100 km from each other.
The determination of the coordinates of the model points is carried out by the proposed device by the method described in paragraph 1 of the present invention. Other differences from the prototype are the presence of dual-frequency satellite receivers installed on software and temporary base station systems; the controller’s procedures for filtering Euler angles by a moving average filter on a sliding interval equal to the circumference of the software wheel wheel and synchronizing the readings of all measuring devices of the IVK according to the clock of the satellite receiver of the rover.
The claimed inventions are so interconnected that they form a single inventive concept. Indeed, for the proposed method for determining the reference coordinate model railways Ways a device was invented for its implementation. Therefore, the claimed invention satisfy the requirement of unity of invention.
The obtained reference coordinate models of the path are a new class of continuous reference geodetic networks for special purposes and can be effectively used instead of reference systems for controlling the plan and profile of the track created on highways.
On the basis of ECMP, strategically safe autonomous self-calibrating and self-adjusting navigation systems of railway transport using reference coordinate models without the use of satellite technologies (dual-use technologies) can be created.
Information sources
1. Scherbakov V.V., Kruglov V.M. et al. Patent for an invention: A method for determining the spatial parameters of a rail track and a device for its implementation. Application No. 2003111110/11 (011816) dated 04/17/2003 (prototype).
2. Matveev S.I., Kougia V.A., Tsvetkov V.Ya. Geoinformation systems and technologies in railway transport. - M .: UMK MPS of Russia, 2002. - P.288.

Claims (2)

1. The method of determining the reference coordinate model of the railway track, which consists in coordinating the working faces of the rail track over a given picket interval using a measuring and computing complex (IVK) installed on a moving object (PO), characterized in that they take a single three-dimensional orthogonal coordinate system in the projection of V.A. Kougius, whose abscissa axis on the surface of the earth's ellipsoid is combined with a geodesic line coinciding with the direction of the main route, and the ordinates take the geodetic normals to the abscissa axis, the basis of which is the system of temporary base stations of the SRNS located along the highway after 50-100 km for the duration of the CPM travel with continuous synchronous recording of the readings of all devices and satellite receivers of base stations, coordinate models of the path that do not have significant distortions of angles and distances in such a system are taken as reference, to compensate for systematic errors, the readings of the sensor of Euler angles of the IVC smooth the filter ohms of the moving average on the slip interval equal to the circumference of the software wheel’s wheel, corrections for the antenna tilt are introduced into the satellite coordinates of the receiver of the IVC rover, and the heading angle and track sensor are calibrated by centrifugal transformations, translating them into a sequence of directional angles and scaled horizontal alignments necessary for numbering using a personal computer a random sequence of increments of coordinates, then perform a joint assessment of complex measurements ( computable satellite coordinates and increments the origin) and the parameters (coordinates) of the statistical model generalized recursive least squares method, and then the reference coordinate path model is used as a basis for self-calibration of metrology and bootstrapping railroad navigation systems transport, as well as for automated diagnostics and alignment of the geometry of the railway track.
2. The device for implementing the method according to claim 1, characterized in that an IVC installed on any software is included, including a dual-frequency satellite receiver of the SRNS (rover), a gyroscopic sensor of Euler angles, track sensors and track gauges, a controller for synchronous recording of all measurements of the clock time of the receiver - rover, smoothing the reading of the heading angle and the longitudinal angle of inclination of the moving average filter on the sliding interval equal to the circumference of the software wheel, a personal computer for self-calibration of the sensor readings in angles and distances, as well as the system of temporary base stations of the SRNS from two-frequency geodetic receivers, installed 50-100 km apart from each other during the passage of the CPM along the entire highway.
RU2005109793/28A 2005-04-06 2005-04-06 Method for determining standard coordinate model of railroad track and device for realization of said method RU2287187C1 (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2569487C1 (en) * 2014-09-19 2015-11-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет путей сообщения" МГУПС (МИИТ) Method of adaptive generation of unified global system of 3d coordinates directly on ellipsoid
RU2580436C2 (en) * 2014-08-29 2016-04-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет путей сообщения" МГУПС (МИИТ) Method of adaptive formation of single system of trajectories of russian railway motion according to global coordinates in new 3d rectangular system of coordinates directly on ellipsoid
CN111597509A (en) * 2020-05-19 2020-08-28 中铁二院工程集团有限责任公司 Railway center line measuring and setting method based on reference ellipsoid

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2580436C2 (en) * 2014-08-29 2016-04-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет путей сообщения" МГУПС (МИИТ) Method of adaptive formation of single system of trajectories of russian railway motion according to global coordinates in new 3d rectangular system of coordinates directly on ellipsoid
RU2569487C1 (en) * 2014-09-19 2015-11-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет путей сообщения" МГУПС (МИИТ) Method of adaptive generation of unified global system of 3d coordinates directly on ellipsoid
CN111597509A (en) * 2020-05-19 2020-08-28 中铁二院工程集团有限责任公司 Railway center line measuring and setting method based on reference ellipsoid
CN111597509B (en) * 2020-05-19 2021-02-02 中铁二院工程集团有限责任公司 Railway center line measuring and setting method based on reference ellipsoid

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