CN107128328A - A kind of track geometry status detection method based on measurement in a closed series - Google Patents
A kind of track geometry status detection method based on measurement in a closed series Download PDFInfo
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- CN107128328A CN107128328A CN201710297063.1A CN201710297063A CN107128328A CN 107128328 A CN107128328 A CN 107128328A CN 201710297063 A CN201710297063 A CN 201710297063A CN 107128328 A CN107128328 A CN 107128328A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of track geometry status detection method based on measurement in a closed series, comprise the following steps：Website is set at spacing intervals on a complete detection circuit；Track geometry status somascope is set in orbit；Coordinate of the prism centers point in each site location in absolute coordinate system on track detection car is measured using total powerstation, coordinate of the prism centers point in each site location in track detection car coordinate system is obtained according to installation site of the prism centers point on track detection car；Coordinate of the track point in absolute coordinate system is tried to achieve at the azimuth of each site location, level inclination, height inclination angle according to track detection car；When carrying out relative measurement between website, the relative information of track geometry status is obtained using track detection car equal interval sampling, the plane coordinates and elevation of track between all websites is calculated.The present invention combines the advantage of relative measurement and absolute measurement, can realize the quick and high-acruracy survey of orbit plane coordinate and elevation.
Description
Technical field
The present invention relates to a kind of track detection method, more particularly to a kind of track geometry status detection based on measurement in a closed series
Method.
Background technology
The development of railroad building technology and maturation, the especially development of high ferro technology and maturation so that conveniently iron
Selection of the road trip as people.But the increasing and subgrade settlement of the quickening, railway operation amount with train running speed
Etc. the generation of phenomenon, track geometry status changes to constitute a threat to the traffic safety of train.In order to ensure the driving of train
Safety simultaneously provides steady environment of comfortably riding to passenger, and railway department must strictly be detected to track condition.
At present, track geometry status detection method includes two kinds of relative measurement and absolute measurement.Relative measurement is generally used
The inner geometry state parameter of track geometry status somascope (abbreviation track detection car) measure track, measuring speed is fast but precision is low
And the absolute coordinate of track can not be obtained；Absolute measurement generally uses the absolute coordinate of total station survey track, measurement accuracy
It is high but speed is slow, it is impossible to meet the detection demand of the very long trunk railway of China.
Therefore, it is necessary to reference to relative measurement speed is fast and the high advantage of absolute measurement precision, obtain a kind of new measurement
Method, to realize the high efficient detection of track geometry status.
The content of the invention
It is an object of the invention to provide a kind of track geometry status detection method based on measurement in a closed series, this method can
Realize the quick and high-acruracy survey of orbit plane coordinate and elevation.
In order to solve the above technical problems, the track geometry status detection method provided by the present invention based on measurement in a closed series,
Comprise the following steps：
1) website is set at spacing intervals on a complete detection circuit；
2) track geometry status somascope is set in orbit；
3) seat of the prism centers point in each site location in absolute coordinate system on track detection car is measured using total powerstation
Mark；
4) according to installation site of the prism centers point on track detection car obtain prism centers point in each site location
Coordinate in track detection car coordinate system；
5) each site location is tried to achieve at the azimuth of each site location, level inclination, height inclination angle according to track detection car
Coordinate of the track point in absolute coordinate system, calculation formula is as follows：
In formula：α is azimuth；β is level inclination；θ is height inclination angle；(X, Y, Z) is track point in track detection car coordinate
Coordinate in system；(e0,n0,h0) it is coordinate of the prism centers point in site location in absolute coordinate system；(X0,Y0,Z0) be
Coordinate of the prism centers point in site location in track detection car coordinate system；
6) relative information of the equidistant acquisition trajectory geometry state of track detection car is used between two websites of arbitrary neighborhood,
Sampled point quantity is N, and spacing is Δ, and the angle change that rail is exported to gyro is δi(i=1,2,3 ..., N), the output of height gyro
Angle change be σi(i=1,2,3 ..., N), a definition wherein website is start site A, and another website is termination website B,
Using start site as origin, it is x-axis along the direction of advance of track detection car, using the width of track as y-axis, sets up in plane
Relative coordinate system xoy；Then the coordinate in start site to the track point terminated in site-bound in relative coordinate system xoy is
(xi,yi)：
In formula：As i=1, track point coordinates (x at start site0,y0) it is (0,0)；
In formula：LAFor the mileage of start site；LBTo terminate the mileage of website；N is in start site to termination site-bound
Sampling number；
Finally, start site is obtained to the plane coordinates (e for terminating the track point in site-boundi,ni)：
In formula：
Wherein (eA,nA) for the plane coordinates of track point at start site, (eB,nB) it is the flat of track point at termination website
Areal coordinate, can be obtained by (formula 1)；(xA,yA) it is coordinate of the track point in xoy, (x at start siteB,yB) stood to terminate
Coordinate of the track point in xoy at point, can be obtained by (formula 2)；
For start site to the elevation for terminating site-bound inner orbit, the plane coordinates of its solution procedure and track is asked
Solution preocess is similar, comprises the following steps that：
Using start site as origin, using the direction of advance of track detection car as x' axles, using direction straight up as y' axles, build
Relative coordinate system x'o'y' in vertical vertical plane, then in start site to the track point terminated in site-bound in relative coordinate system x'
Coordinate in o'y' is (x'i,y'i)：
In formula：Δ is sampling interval, is obtained by (formula 3)；σiThe angle change exported for height gyro；As i=1, rise
Track point coordinates (x' at initial station point0,y'0) it is (0,0)；
Finally, start site is obtained to the elevation and mileage (L for terminating the track in site-boundi,hi)：
In formula：
Wherein hAFor the elevation of track point at start site, hB, can be by (formula 1) to terminate the elevation of track point at website
Obtain；LAFor the mileage of track point at start site, LBIt is given value to terminate the mileage of track point at website；(x'A,y
'A) it is coordinate of the track point in x'o'y', (x' at start siteB,y'B) for terminate website at track point in x'o'y'
Coordinate, can be obtained by (formula 5)；
7) repeat step 6) until calculating the plane coordinates and elevation of track between all websites.
Further, the spacing between adjacent sites in 80m between 120m.
The present invention combines the advantage of relative measurement and absolute measurement, the measurement in a closed series side for total powerstation of being arranged in pairs or groups using track detection car
Method, obtains the plane coordinates and elevation of whole piece track, and then reflect the ride comfort of track；The combination measurement method is integrally improved
The detection efficiency of track geometry status, and substantial amounts of manpower and materials are saved, it is adapted to the day of high speed railway track geometry state
Often detection and maintenance.
Brief description of the drawings
Fig. 1 is that website sets schematic diagram；
Fig. 2 is the flow for calculating orbit plane coordinate and elevation at website；
Fig. 3 is the flow of orbit plane coordinate and elevation between calculating website.
Embodiment
The present invention is further described below in conjunction with the drawings and specific embodiments.
As shown in Figure 1-Figure 3, the track geometry status detection method provided by the present invention based on measurement in a closed series, including with
Lower step：
1) spacing every 80m to 120m on a complete detection circuit sets a website, and number consecutively；
2) track geometry status somascope is set in orbit；
3) seat of the prism centers point in each site location in absolute coordinate system on track detection car is measured using total powerstation
Mark；
4) according to installation site of the prism centers point on track detection car obtain prism centers point in each site location
Coordinate in track detection car coordinate system；
5) each site location is tried to achieve at the azimuth of each site location, level inclination, height inclination angle according to track detection car
Coordinate of the track point in absolute coordinate system, calculation formula is as follows：
In formula：α is azimuth；β is level inclination；θ is height inclination angle；(X, Y, Z) is track point in track detection car coordinate
Coordinate in system；(e0,n0,h0) it is coordinate of the prism centers point in site location in absolute coordinate system；(X0,Y0,Z0) be
Coordinate of the prism centers point in site location in track detection car coordinate system；
The absolute coordinate system refers to that terrestrial coordinate system oenh, o represent origin, and e represents east to that is, eastern coordinate, n is represented
The north is to that is, northern coordinate, eastern coordinate e and north coordinate n are collectively referred to as plane coordinates, and h represents high direction, i.e. elevation；And total powerstation
Measured in absolute coordinate system；
Track detection car coordinate system OXYZ is fixed on track detection car, and O represents origin, and X points to track detection car longeron direction (i.e.
Track detection car direction of advance), Y points to track detection car crossbeam direction, and Z points to direction straight up；
6) (including two websites) use the equidistant acquisition trajectory geometry shape of track detection car between two websites of arbitrary neighborhood
The relative information of state, sampled point quantity is N, and spacing is Δ, and the angle change that rail is exported to gyro is δi(i=1,2,3 ...,
N), the angle change of height gyro output is σi(i=1,2,3 ..., N), it is start site A, Ling Yizhan to define a wherein website
Point is terminates website B, using start site as origin, and along the direction of advance of track detection car, for x-axis, (x-axis is pointed to before track detection car
Enter direction, namely dolly longeron direction), by y-axis of the width of track, (y-axis is inverse in the horizontal plane relative to x-axis
Hour hands deflect 90 ° and obtained), the relative coordinate system xoy set up in plane；Then in start site to the track terminated in site-bound
Coordinate of the point in relative coordinate system xoy is (xi,yi)：
In formula：As i=1, track point coordinates (x at start site0,y0) it is (0,0)；
In formula：LAFor the mileage of start site；LBTo terminate the mileage of website；N is in start site to termination site-bound
Sampling number；
Finally, start site is obtained to the plane coordinates (e for terminating the track point in site-boundi,ni)：
In formula：
Wherein (eA,nA) for the plane coordinates of track point at start site, (eB,nB) it is the flat of track point at termination website
Areal coordinate, can be obtained by (formula 1)；(xA,yA) it is coordinate of the track point in xoy, (x at start siteB,yB) stood to terminate
Coordinate of the track point in xoy at point, can be obtained by (formula 2)；
For start site to the elevation for terminating site-bound inner orbit, the plane coordinates of its solution procedure and track is asked
Solution preocess is similar, comprises the following steps that：
Using start site as origin, by x' axles of the direction of advance of track detection car, (x' axles point to the advance side of track detection car
To, namely dolly longeron direction), using direction straight up as y' axles, the relative coordinate system x'o' set up in vertical plane
Y', then the coordinate in start site to the track point terminated in site-bound in relative coordinate system x'o'y' is (x'i,y'i)：
In formula：Δ is sampling interval, is obtained by (formula 3)；σiThe angle change exported for height gyro；As i=1, rise
Track point coordinates (x' at initial station point0,y'0) it is (0,0)；
Finally, start site is obtained to the elevation and mileage (L for terminating the track in site-boundi,hi)：
In formula：
Wherein hAFor the elevation of track point at start site, hB, can be by (formula 1) to terminate the elevation of track point at website
Obtain；LAFor the mileage of track point at start site, LBIt is given value to terminate the mileage of track point at website；(x'A,y
'A) it is coordinate of the track point in x'o'y', (x' at start siteB,y'B) for terminate website at track point in x'o'y'
Coordinate, can be obtained by (formula 5)；
7) repeat step 6) until calculating the plane coordinates and elevation of track between all websites.
Claims (2)
1. a kind of track geometry status detection method based on measurement in a closed series, it is characterised in that：Comprise the following steps：
1) website is set at spacing intervals on a complete detection circuit；
2) track geometry status somascope is set in orbit；
3) coordinate of the prism centers point in each site location in absolute coordinate system on track detection car is measured using total powerstation；
4) the in-orbit inspection in each site location of prism centers point is obtained according to installation site of the prism centers point on track detection car
Coordinate in dolly coordinate system；
5) track of each site location is tried to achieve at the azimuth of each site location, level inclination, height inclination angle according to track detection car
Coordinate of the point in absolute coordinate system, calculation formula is as follows：
In formula：α is azimuth；β is level inclination；θ is height inclination angle；(X, Y, Z) is track point in track detection car coordinate system
Coordinate；(e0,n0,h0) it is coordinate of the prism centers point in site location in absolute coordinate system；(X0,Y0,Z0) it is prism
Coordinate of the central point in site location in track detection car coordinate system；
6) relative information of the equidistant acquisition trajectory geometry state of track detection car, sampling are used between two websites of arbitrary neighborhood
Point quantity is N, and spacing is Δ, and the angle change that rail is exported to gyro is δi(i=1,2,3 ..., N), the angle of height gyro output
Degree change turns to σi(i=1,2,3 ..., N), a definition wherein website is start site A, and another website is terminates website B, to rise
Initial station point is origin, is x-axis along the direction of advance of track detection car, using the width of track as y-axis, sets up relative in plane
Coordinate system xoy；Then the coordinate in start site to the track point terminated in site-bound in relative coordinate system xoy is (xi,
yi)：
In formula：As i=1, track point coordinates (x at start site0,y0) it is (0,0)；
In formula：LAFor the mileage of start site；LBTo terminate the mileage of website；N is adopting in start site to termination site-bound
Number of samples；
Finally, start site is obtained to the plane coordinates (e for terminating the track point in site-boundi,ni)：
In formula：
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<mo>=</mo>
<mi>arctan</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mi>B</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>A</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>x</mi>
<mi>B</mi>
</msub>
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<msub>
<mi>x</mi>
<mi>A</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
Wherein (eA,nA) for the plane coordinates of track point at start site, (eB,nB) sat to terminate the plane of track point at website
Mark, can be obtained by (formula 1)；(xA,yA) it is coordinate of the track point in xoy, (x at start siteB,yB) it is to terminate at website
Coordinate of the track point in xoy, can be obtained by (formula 2)；
For start site to the elevation for terminating site-bound inner orbit, the solution of the plane coordinates of its solution procedure and track
Journey is similar, comprises the following steps that：
Using start site as origin, using the direction of advance of track detection car as x' axles, using direction straight up as y' axles, set up perpendicular
Relative coordinate system x'o'y' in face, then in start site to the track point terminated in site-bound in relative coordinate system x'o'y'
Interior coordinate is (x'i,y'i)：
In formula：Δ is sampling interval, is obtained by (formula 3)；σiThe angle change exported for height gyro；As i=1, start site
Locate track point coordinates (x'0,y'0) it is (0,0)；
Finally, start site is obtained to the elevation and mileage (L for terminating the track point in site-boundi,hi)：
In formula：
<mrow>
<msup>
<mi>&gamma;</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<mi>arctan</mi>
<mrow>
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</msup>
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</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
Wherein hAFor the elevation of track point at start site, hBTo terminate the elevation of track point at website, it can be obtained by (formula 1)；
LAFor the mileage of track point at start site, LBIt is given value to terminate the mileage of track point at website；(x'A,y'A) be
Coordinate of the track point in x'o'y', (x' at initial station pointB,y'B) to terminate coordinate of the track point in x'o'y' at website,
It can be obtained by (formula 5)；
7) repeat step 6) until calculating the plane coordinates and elevation of track between all websites.
2. the track geometry status detection method according to claim 1 based on measurement in a closed series, it is characterised in that：Neighbor stations
Spacing between point is in 80m between 120m.
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| CN108360318A (en) * | 2018-02-09 | 2018-08-03 | 武汉迈普时空导航科技有限公司 | A-INS accurate measurements for track irregularity detection are segmented linear approximating method |
| CN109059844A (en) * | 2018-09-28 | 2018-12-21 | 上海宝冶建筑工程有限公司 | A kind of measurement method of long range rail linearity degree and flatness |
| CN109649433A (en) * | 2019-01-30 | 2019-04-19 | 暨南大学 | Groove profile rail irregularity detection method, computer installation and computer readable storage medium |
| CN109883449A (en) * | 2019-04-04 | 2019-06-14 | 四川拓绘科技有限公司 | A kind of detection method of interior track detection car plane and elevation structural parameters |
| CN109959334A (en) * | 2019-03-01 | 2019-07-02 | 湖南悟空信息科技有限公司 | A kind of calculation method of track automatic measurement vehicle video coordinates |
| CN110466560A (en) * | 2019-08-06 | 2019-11-19 | 中国铁建重工集团股份有限公司 | Track detecting component |
| CN111238457A (en) * | 2020-03-12 | 2020-06-05 | 四川拓绘科技有限公司 | Post-processing method for track measurement |
| CN112464425A (en) * | 2019-09-07 | 2021-03-09 | 中铁十六局集团有限公司 | Rail inspection trolley detection data error judgment method |
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| CN108360318A (en) * | 2018-02-09 | 2018-08-03 | 武汉迈普时空导航科技有限公司 | A-INS accurate measurements for track irregularity detection are segmented linear approximating method |
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| CN109649433A (en) * | 2019-01-30 | 2019-04-19 | 暨南大学 | Groove profile rail irregularity detection method, computer installation and computer readable storage medium |
| CN109649433B (en) * | 2019-01-30 | 2020-07-07 | 暨南大学 | Groove-type rail irregularity detection method, computer device, and computer-readable storage medium |
| CN109959334A (en) * | 2019-03-01 | 2019-07-02 | 湖南悟空信息科技有限公司 | A kind of calculation method of track automatic measurement vehicle video coordinates |
| CN109883449A (en) * | 2019-04-04 | 2019-06-14 | 四川拓绘科技有限公司 | A kind of detection method of interior track detection car plane and elevation structural parameters |
| CN110466560A (en) * | 2019-08-06 | 2019-11-19 | 中国铁建重工集团股份有限公司 | Track detecting component |
| CN112464425A (en) * | 2019-09-07 | 2021-03-09 | 中铁十六局集团有限公司 | Rail inspection trolley detection data error judgment method |
| CN111238457A (en) * | 2020-03-12 | 2020-06-05 | 四川拓绘科技有限公司 | Post-processing method for track measurement |
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