CN109552356A - Smoothness of high-speed railway track detection system and method based on satellite positioning and inertial navigation - Google Patents
Smoothness of high-speed railway track detection system and method based on satellite positioning and inertial navigation Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to smoothness of high-speed railway track detection field more particularly to a kind of smoothness of high-speed railway track detection systems and method based on satellite positioning and inertial navigation.The present invention passes through to utilize sets up the station GNSS base station laying GT-CORS net on CP II, geometric parameter outside available high-precision track.By devices such as gauge detection device, sleeper identification, odometers on track checking car, in conjunction with the acquisition of three GNSS antenna accurate coordinates results, orbit parameter can be calculated, accurately adjust rail for instructing.Extensive satellite positioning monitoring point network-building method grade Combined Calculation, the triantennary GNSS rail inspection short baseline of equipment are quick, grade calculation method reaches 1~2mm of plane, the precision of measurement of higher degree error ± 2.5mm, get rid of the dependence to CPIII, to which by being increased to 1000m/h track detecting speed from former 100m/h, property significantly improves economic cost, wide the technology development and application prospect that track external parameter detects working efficiency, significantly reduces.
Description
Technical field
The present invention relates to smoothness of high-speed railway track detection field more particularly to a kind of high-speed rails based on satellite positioning and inertial navigation
Orbital forcing detection system and method.
Background technique
With the fast development of China express railway, the continuous promotion of overall trip speed, to the ride comfort of high speed railway track
It is required that also higher and higher.The inspection that China express railway orbital forcing is combined using dynamic inspection vehicle bigness scale and track detection car accurate measurement
Survey method moves the integral status of inspection vehicle energy quick diagnosis route, determines substantially section and deformation etc. where detecting track deformation
Then grade recycles track detection car to carry out accurate measurement in disease area and adjusts rail.
Track detection car there are two main classes product currently used for accurate adjustment.First kind product is based on total station and combines displacement and incline
Angle transducer principle and the rail measuring apparatus (abbreviation absolute measurement trolley) manufactured be such as: Amberg, GEDO, south mapping, iron four
The brands such as institute；Rail checking instrument (the letter that second class product is manufactured based on inertial navigation technique in conjunction with displacement and obliquity sensor principle
Claim relative measurement trolley), such as: life is bright, Rui Bang, Gionee believe brand.
In addition, Trimble Applanix company, foreign countries devises a set of track geometry line position detection and train positioning synthesis
Solution POS-TG (reference can be made to Chinese patent CN20214809U), be integrated in the program including Inertial Measurement Unit and
Numerous sensors including GPS receiver, are capable of providing track irregularity detection service.But such product is used in dynamic
It detects in vehicle, is installed on the non-powered bogie wheel shaft of dynamic detection vehicle, belongs to dynamic detection scheme.
The country, doctor Han Yunfei of Xi'an Ao Tong numeral science and technology Co., Ltd propose a kind of GPS track irregularity detection
System and detection method (reference can be made to Chinese patent CN102337710A), using the group of inertial survey technique and GPS double antenna
Close measurement method, the program used GPS double antenna measurement to obtain synchronous deflection and pitch angle assist the course INS and
Pitch angle measurement value is asked with solving the precision diverging of inertial navigation system (Inertial Navigation System, INS)
Topic.Wuhan University professor Niu little Ji propose a kind of track irregularity detection system based on INS/GNSS and method (reference can be made to
Chinese patent CN103343498A), inertial navigation system (INS), which is used, with Global Navigation Satellite System (GNSS) combines survey
The technology of amount detects track irregularity, and the program realizes the Absolutely orientation of trolley Centimeter Level using single GNSS,
The opposite geometric parameter measurement of track is realized using INS.
Following disadvantage exists in the prior art: (1) measurement efficiency is low；
(2) measurement result is influenced by the precision at the control point CPIII；
(3) measurement accuracy is low；
(4) various technologies are limited to, it is impossible to be used in the tune rail for adjusting the injustice of rail, especially long wave pliable.
Summary of the invention
The problem to be solved by the present invention is that providing a kind of based on satellite positioning and the inspection of the smoothness of high-speed railway track of inertial navigation
Examining system and method can both carry out relative measurement to track, while can also carry out absolute measurement to track, and measurement result can be straight
It connects for adjusting rail；The influence of CPIII coordinate is not depended on, measurement efficiency and measurement accuracy greatly improve.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
The present invention provides a kind of smoothness of high-speed railway track detection system and method based on satellite positioning and inertial navigation, including with
Lower step:
(1) the multiple base stations built along fixed track, obtain real-time GNSS satellite data, calculation base station it is accurate
Coordinate；
(2) track detection car is placed in orbit, observes certain time, obtains simultaneous observation GNSS satellite data；
(3) data measured by track gauge sensor, sleeper identifier, odometer, the inertial navigation system on track detection car, knot
Satellite data in conjunction (1), (2) calculates geometric parameter outside each sleeper；Using on external geometric parameter and track detection car
Data calculate each sleeper inner geometry parameter, accurately adjust rail for instructing.
As a preferred solution, the step of (1) are as follows:
In high-speed railway rail along both side every 1 kilometer of construction, one fixed base station GT-GNSS, the base station is mainly used for
GNSS satellite data are acquired, data are sent to data processing by high-speed rail private network, optical fiber private network or wireless network by the satellite data
Center or be stored in receiver is handled.
As a preferred solution, the method for GNSS satellite data acquisition described in step (2) are as follows:
A. the track detection car equipped with Beidou triantennary and integrated receiver, inertial navigation sensor is placed in high-speed railway rail
On, and be pushed at the sleeper to be measured static 10 minutes；B. carry out track detection car and advance in orbit to utilize sleeper after 100 meters
Identification device track record characteristic point, then static 10 minutes in sleeper position；C. above step is repeated, until completing whole section of rail
The ride comfort in road measures.
As a preferred solution, track detection car includes three idler wheel car bodies, three satellite earth antennas, integrated rail inspection
Satellite receiver, inertial navigation system, track gauge sensor, odometer, sleeper identifier, trolley pole, PC machine；Inertial navigation system records rail
It examines vehicle and obtains three-dimensional state during the motion；Track gauge sensor by track gauge sensor record in real time track checking car movement and
The well-behaved data of stationary state measurement；Sleeper identifier records the sleeper number that track checking car passes through in motion state in real time.
As a preferred solution, three satellite signal receiving antennas are fixed on track detection car, satellite signal receiving
Antenna receives GNSS signal and obtains observation data；Integrated rail inspection satellite receiver demodulates satellite signal receiving antenna reception
Three groups of original observed datas, three groups of original observed datas are uploaded to the PC machine on track detection car vehicle by network interface, and PC machine is synchronous
Record inertial guidance data, mileage, gauge data and sleeper marking data；Program-controlled solving unit in PC machine examines instrument using rail
On GNSS data and leaving the right or normal track examine the GNSS data at the station GT-CORS of instrument most nearby and resolved, obtain the essence of trajectory characteristic point
True coordinate carries out Combined Calculation for extracting each sensing data and the GNSS raw observation data of track checking car respectively, acquires
After trajectory characteristic point accurate coordinates, data are identified in conjunction with inertial guidance data and sleeper, carry out data fusion, it can be in the hope of each
The external geometric parameter of sleeper, that is, calculate the high-precision three-dimensional coordinate of static place's sleeper, and result is stored and shown
Show.
As a preferred solution, the base station GT-GNSS is established using the CPII near track as datum mark in base station.
The invention has the advantages that:
The present invention passes through using the station the erection GNSS base station laying GT-CORS net on CP II, available high-precision
Geometric parameter outside track.The devices such as the gauge detection device, inclinator, sleeper identification, the odometer that are detected by rail, knot
The acquisition for closing three GNSS antenna accurate coordinates results, can calculate track centre coordinate, gauge, level (superelevation), rail to/
Just, orbit parameters such as (twist irregularities) are distorted, accurately adjust rail for instructing.Extensive satellite positioning monitoring point network-building method milli
Meter level Combined Calculation, the triantennary GNSS rail inspection short baseline of equipment are quick, grade calculation method reaches 1~2mm of plane, and elevation is surveyed
The precision for measuring error ± 2.5mm, gets rid of the dependence to CPIII, thus by being increased to 1000m/h track detecting from former 100m/h
Speed, significantly property improve track external parameter detection working efficiency, the economic cost significantly reduced, wide technology and develop
And application prospect, important, crucial effect will be played to the measurement of rail track high-precision, high efficiency, low-maintenance cost.
Detailed description of the invention
Fig. 1: high-speed rail base station construction method；
Fig. 2: high-speed rail base station data process flow diagram；
Fig. 3: track detection car flow chart of data processing figure；
Fig. 4: the external geometric parameter of sleeper obtains flow chart；
Specific embodiment
Embodiment 1:
The present invention provides a kind of smoothness of high-speed railway track detection system and method based on satellite positioning and inertial navigation, including with
Lower step:
(1) the multiple base stations built along fixed track, obtain real-time GNSS satellite data, calculation base station it is accurate
Coordinate；
(2) track detection car is placed in orbit, observes certain time, obtains simultaneous observation GNSS satellite data；
(3) data measured by track gauge sensor, sleeper identifier, odometer, the inertial navigation system on track detection car, knot
Satellite data in conjunction (1), (2) calculates geometric parameter outside each sleeper；Using on external geometric parameter and track detection car
Data calculate each sleeper inner geometry parameter, accurately adjust rail for instructing.
As a preferred solution, the method for GNSS satellite data acquisition described in step (2) are as follows:
A. the track detection car equipped with Beidou triantennary and integrated receiver, inertial navigation sensor is placed in high-speed railway rail
On, and be pushed at the sleeper to be measured static 10 minutes；B. carry out track detection car and advance in orbit to utilize sleeper after 100 meters
Identification device track record characteristic point, then static 10 minutes in sleeper position；C. above step is repeated, until completing whole section of rail
The ride comfort in road measures.
As a preferred solution, track detection car includes three idler wheel car bodies, three satellite earth antennas, integrated rail inspection
Satellite receiver, inertial navigation system, track gauge sensor, odometer, sleeper identifier, trolley pole, PC machine；Inertial navigation system records rail
It examines vehicle and obtains three-dimensional state during the motion；Track gauge sensor by track gauge sensor record in real time track checking car movement and
The well-behaved data of stationary state measurement；Sleeper identifier records the sleeper number that track checking car passes through in motion state in real time.
As a preferred solution, three satellite signal receiving antennas are fixed on track detection car, satellite signal receiving
Antenna receives GNSS signal and obtains observation data；Integrated rail inspection satellite receiver demodulates satellite signal receiving antenna reception
Three groups of original observed datas, three groups of original observed datas are uploaded to the PC machine on track detection car vehicle by network interface, and PC machine is synchronous
Record inertial guidance data, mileage, gauge data and sleeper marking data；Program-controlled solving unit in PC machine examines instrument using rail
On GNSS data and leaving the right or normal track examine the GNSS data at the station GT-CORS of instrument most nearby and resolved, obtain the essence of trajectory characteristic point
True coordinate carries out Combined Calculation for extracting each sensing data and the GNSS raw observation data of track checking car respectively, acquires
After trajectory characteristic point accurate coordinates, data are identified in conjunction with inertial guidance data and sleeper, carry out data fusion, it can be in the hope of each
The external geometric parameter of sleeper, that is, calculate the high-precision three-dimensional coordinate of static place's sleeper, and result is stored and shown
Show.
Specifically, as a preferred solution, the step of (1) are as follows:
The base station be mainly used for acquire GNSS satellite data, the satellite data by high-speed rail private network, optical fiber private network or
Data are sent to data processing centre or are stored in receiver and handled by wireless network.
The CPII that oneself establishes using high-speed rail stands, and along both side hands on its foundation pier every 1km every 1 kilometer in high-speed railway rail
For installation GNSS multi-frequency high-precision receiver, a fixed base station GT-GNSS is built, is continuously measured, composition is high iron-based
It stands at net (station GT-CORS), as shown in Figure 1.Base station data is sent to data processing by high-speed rail private network, optical fiber private network or wireless network
Center is handled, and the accurate coordinates of high-speed rail datum mark are obtained.Data processing centre can not also be set, Satellite Observations are deposited
It is placed in base station receiver, goes access evidence further according to needs afterwards, carry out Data Post.
The resolving of high-speed rail datum mark net uses precise ephemeris, Clock Bias and earth rotation parameter (ERP), error of refining mould
Type, while supporting the Combined Calculation of multisystem (BDS/GNSS/GLONASS), multifrequency (single-frequency/double frequency/tri- frequencies), to improve it
Calculation accuracy, base station data process flow diagram are shown in Fig. 2.
(1) first by obtaining the more accurate absolute geocentric coordinates in base station with the station IGS Combined Calculation；Due to the station IGS mesh
Before there is no BDS data, and the distance generally away from high-speed rail base station is farther out, so needing using prolonged GNSS dual-frequency data group
It is resolved at LC observation.
(2) Baseline estimation is carried out to base station data, using tri- frequency of BDS/GNSS according to being calculated.
(3) triangle closing error inspection is carried out to single baseline calculated result, if list lubber line error≤1mm, triangle close
It closes difference and answers≤1.7mm；
(4) if single baseline triangle closing error passed examination, whole base station data networkings is resolved, and in terms of networking
Relative accuracy≤1mm of the result of calculation as final result, between base station.
Data processing on track detection car must carry out after the resolving that high-speed rail base station is netted is completed.It is netted and is solved with base station when calculating
The accurate coordinates of calculation are used as given value using tri- frequency of BDS/GNSS of all base stations and rover station according to as observation
GNSS precise ephemeris, Clock Bias and earth rotation parameter (ERP), error model of refining carry out networking Combined Calculation, to improve
Its calculation accuracy.
(1) rover station simple epoch solution is carried out first.Carrying out simple epoch solution mainly has 2 purposes: first is that by singly going through
First calculation result automatically determines the static measurement time, and data of track detection car when mobile are rejected.Second is that utilizing simple epoch solution
As a result the distance between rover station is calculated, and is compared with known length, the epoch data to transfinite are rejected.If setting single epoch stream
Error 2mm in dynamic position of standing firm, then error is 2 × 1.4=2.8mm in baseline, and poor using error in 2 times as limiting, then limiting difference is
5.6mm, the distance between the rover station that single epoch is calculated, rejects the number of the epoch when compared with known length more than 6mm
According to.
(2) for the time hop counts evidence of static observation, (30s or 60s) carries out static resolving at times, by calculation result meter
The distance between rover station is calculated, and is compared with known length, the data to transfinite are rejected.
(3) it for qualified data, using the known length between rover station as constraint condition, carries out between attached restrictive condition
Adjustment is connect, and in this, as the final result of rover station.
(4) calculated result of same different periods is compared, progress precision analysis, calculating mean value, middle error,
And worst error (compared with mean value).
After acquiring trajectory characteristic point accurate coordinates, data are identified in conjunction with INS data and sleeper, carry out data fusion, it can
In the hope of the accurate coordinates (external geometric parameter) of each sleeper.Flow chart of data processing is shown in Fig. 4.
Three GNSS antenna accurate coordinates knots are combined in conjunction with devices such as gauge measurement, inclination angle measurement, sleeper identification, odometers
The acquisition of fruit can calculate track centre coordinate, gauge, level (superelevation), rail into/height, distortion (twist irregularity) etc. tracks
Outer geometric parameter accurately adjusts rail for instructing.
Claims (6)
1. a kind of smoothness of high-speed railway track detection system and method based on satellite positioning and inertial navigation, it is characterised in that including following
Step:
(1) the multiple base stations built along fixed track obtain real-time GNSS satellite data, the accurate seat of calculation base station
Mark；
(2) track detection car is placed in orbit, observes certain time, obtains simultaneous observation GNSS satellite data；
(3) data measured by track gauge sensor, sleeper identifier, odometer, the inertial navigation system on track detection car, in conjunction with
(1), the satellite data in (2) calculates geometric parameter outside each sleeper；Utilize the number on external geometric parameter and track detection car
According to each sleeper inner geometry parameter is calculated, accurately rail is adjusted for instructing.
2. a kind of smoothness of high-speed railway track detection system and side based on satellite positioning and inertial navigation according to claim 1
Method, which is characterized in that (1) the step of are as follows:
In high-speed railway rail along both side every 1 kilometer of construction, one fixed base station GT-GNSS, the base station is mainly used for acquiring
Data are sent to data processing centre by high-speed rail private network, optical fiber private network or wireless network by GNSS satellite data, the satellite data
Or it is stored in receiver and is handled.
3. a kind of smoothness of high-speed railway track detection system and side based on satellite positioning and inertial navigation according to claim 1
Method, which is characterized in that the method for GNSS satellite data acquisition described in step (2) are as follows:
A. the track detection car equipped with Beidou triantennary and integrated receiver, inertial navigation sensor is placed on high-speed railway rail, and
It is pushed at the sleeper to be measured static 10 minutes；B. carry out track detection car and advance in orbit to utilize sleeper identification dress after 100 meters
Track record characteristic point is set, then static 10 minutes in sleeper position；C. above step is repeated, until completing the smooth of whole section of track
Property measurement.
4. a kind of smoothness of high-speed railway track detection system and side based on satellite positioning and inertial navigation according to claim 3
Method, which is characterized in that track detection car includes three idler wheel car bodies, three satellite earth antennas, integrated rail inspection satellite receiver, is used to
Guiding systems, track gauge sensor, odometer, sleeper identifier, trolley pole, PC machine；Inertial navigation system records track checking car in motion process
In three-dimensional state；Track gauge sensor records the rule that track checking car is measured in movement and stationary state by track gauge sensor in real time
Square data；Sleeper identifier records the sleeper number that track checking car passes through in motion state in real time.
5. a kind of smoothness of high-speed railway track detection system and side based on satellite positioning and inertial navigation according to claim 4
Method, which is characterized in that
Three satellite signal receiving antennas are fixed on track detection car, and satellite signal receiving antenna receives GNSS signal and observed
Data；Integrated rail inspection satellite receiver demodulates the received three groups of original observed datas of satellite signal receiving antenna, and three groups former
The observation data that begin are uploaded to the PC machine on track detection car vehicle, PC machine synchronous recording inertial guidance data, mileage, gauge by network interface
Data and sleeper marking data；Program-controlled solving unit in PC machine examines the GNSS data on instrument and leave the right or normal track using rail examines instrument most nearby
GT-CORS station GNSS data resolved, the accurate coordinates of trajectory characteristic point are obtained, for extracting each of track checking car respectively
Sensing data and GNSS raw observation data carry out Combined Calculation, after acquiring trajectory characteristic point accurate coordinates, in conjunction with used
Derivative evidence and sleeper identify data, carry out data fusion, can calculate static in the hope of the external geometric parameter of each sleeper
Locate the high-precision three-dimensional coordinate of sleeper, and result is stored and shown.
6. a kind of smoothness of high-speed railway track detection system and side based on satellite positioning and inertial navigation according to claim 2
Method, which is characterized in that the base station GT-GNSS is established using the CPII near track as datum mark in base station.
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| CN109987116A (en) * | 2019-04-13 | 2019-07-09 | 西南交通大学 | A kind of high-temperature superconducting magnetic levitation track checking car |
| CN110001712A (en) * | 2019-05-08 | 2019-07-12 | 中铁第一勘察设计院集团有限公司 | Existing Railway Line based on satellite navigation and positioning base station net controls measuring system |
| CN110203247A (en) * | 2019-06-18 | 2019-09-06 | 上海应用技术大学 | A kind of multisensor synchronous for track detecting |
| CN110203223A (en) * | 2019-06-18 | 2019-09-06 | 上海应用技术大学 | A kind of track irregularity detection device |
| CN110344327A (en) * | 2019-07-03 | 2019-10-18 | 西南交通大学 | A kind of cable-stayed bridge upper rail control net real-time grid DEM method of CPIII point |
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| CN109987116A (en) * | 2019-04-13 | 2019-07-09 | 西南交通大学 | A kind of high-temperature superconducting magnetic levitation track checking car |
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| CN110673182B (en) * | 2019-09-29 | 2021-07-06 | 清华大学 | GNSS high-precision rapid positioning method and device |
| CN110700029A (en) * | 2019-09-29 | 2020-01-17 | 清华大学 | Track ride comfort testing method and system |
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| CN111091595A (en) * | 2019-12-23 | 2020-05-01 | 吉林省广播电视研究所(吉林省广播电视局科技信息中心) | Strabismus three-dimensional mapping method and mapping system |
| CN111795698A (en) * | 2020-08-09 | 2020-10-20 | 宁波一直轨道科技有限公司 | High-speed track detection and installation device |
| CN111942431A (en) * | 2020-08-20 | 2020-11-17 | 四川拓绘科技有限公司 | Method for eliminating unevenness of ballast railway track of existing railway |
| CN111942431B (en) * | 2020-08-20 | 2022-05-03 | 四川铁拓科技有限公司 | Method for eliminating unevenness of ballast railway track of existing railway |
| CN114201722B (en) * | 2021-10-28 | 2024-04-02 | 北京自动化控制设备研究所 | Dynamic calculation method based on post-processing car body-bogie installation relationship |
| CN114201722A (en) * | 2021-10-28 | 2022-03-18 | 北京自动化控制设备研究所 | Dynamic calculation method based on post-processing vehicle body-bogie installation relation |
| CN114880533A (en) * | 2022-07-12 | 2022-08-09 | 济南致通华铁测量技术有限公司 | System and method for realizing railway mileage mark display |
| CN114880533B (en) * | 2022-07-12 | 2022-09-13 | 济南致通华铁测量技术有限公司 | System and method for realizing railway mileage mark display |
| CN116007618B (en) * | 2023-03-27 | 2023-06-23 | 中国铁路设计集团有限公司 | Accurate positioning method for track accurate measurement and accurate tamping operation in track traffic tunnel |
| CN116007618A (en) * | 2023-03-27 | 2023-04-25 | 中国铁路设计集团有限公司 | Accurate positioning method for track accurate measurement and accurate tamping operation in track traffic tunnel |
| CN116971228A (en) * | 2023-07-31 | 2023-10-31 | 中国铁路设计集团有限公司 | Beidou-inertial navigation track geometrical state rapid detection method for power traction |
| CN116971228B (en) * | 2023-07-31 | 2024-03-26 | 中国铁路设计集团有限公司 | Beidou-inertial navigation track geometrical state rapid detection method for power traction |
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