CN113503896A - Mileage calibration method of railway measuring trolley based on positioning system - Google Patents
Mileage calibration method of railway measuring trolley based on positioning system Download PDFInfo
- Publication number
- CN113503896A CN113503896A CN202110704221.7A CN202110704221A CN113503896A CN 113503896 A CN113503896 A CN 113503896A CN 202110704221 A CN202110704221 A CN 202110704221A CN 113503896 A CN113503896 A CN 113503896A
- Authority
- CN
- China
- Prior art keywords
- trolley
- time
- soaring
- real
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000005516 engineering process Methods 0.000 claims abstract description 35
- 238000004364 calculation method Methods 0.000 claims description 43
- 238000005259 measurement Methods 0.000 claims description 28
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 230000008859 change Effects 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 23
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims description 14
- 238000009825 accumulation Methods 0.000 claims description 11
- 206010070834 Sensitisation Diseases 0.000 claims description 6
- 230000008313 sensitization Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims description 5
- 238000003379 elimination reaction Methods 0.000 claims description 5
- 230000035945 sensitivity Effects 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 3
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims 2
- 238000010276 construction Methods 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a mileage calibration method of a railway engineering measuring trolley based on a positioning system, which comprises the steps of dividing the environment of a railway construction site, wherein the environment comprises various combination conditions of tunnel existence, track existence and signal existence, adopting different positioning measuring modes or different positioning measuring mode combinations aiming at different conditions, integrating the advantages of various positioning measuring modes and mutually making up the defects, wherein the positioning measuring modes comprise a three-dimensional laser scanner to realize modeling positioning, odometer positioning and a real-time dynamic carrier phase difference division technology.
Description
Technical Field
The invention relates to the field of engineering measurement, in particular to a mileage calibration method of a railway engineering measurement trolley based on a positioning system.
Background
In recent years, railway construction is always a key project of China, with the push of regional railway engineering, the economic development of regions is greatly promoted, the limitation of regions is eliminated, and the popularization and the communication of regional culture are accelerated. In the process of railway construction, the measurement of the mileage is an extremely important ring, and accurate arrangement of trackside equipment can be realized through the measurement of the mileage. In the traditional scheme, a manual detection mode is adopted, the mileage measurement of a line is completed by means of some detection tools, and the mileage data recording of data is realized by manual marking. However, with the spread of railway lines, the environment of railway construction sites is more complicated, including construction environments such as tunnels, wastelands, water flows and the like; these harsh natural environments present a significant impediment to the traditional method of measuring mileage by human beings. On the other hand, through a manual measurement mode, data errors are easy to occur, the work verification burden of detection personnel is increased, and the cost of mileage detection is also increased. Therefore, the intelligent degree of the railway mileage measurement process is improved, the mileage measurement error is effectively reduced, and the method has important significance for railway construction.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for calibrating the mileage of a railway engineering measuring trolley based on a positioning system.
In order to solve the technical problem, the invention adopts the following scheme:
a mileage calibration method of a railway engineering measuring trolley based on a positioning system comprises the following steps:
step 1: the trolley judges whether the trolley is positioned in the tunnel or outside the tunnel at present according to the photosensitive value of a photosensitive sensor arranged on the trolley body; if the trolley is in the tunnel, entering the step 2; if the trolley is positioned outside the tunnel, entering the step 5;
step 2: if the trolley is positioned in the tunnel, judging whether the trolley is positioned on a track or in a non-track area at present according to pressure values sensed by pressure sensors respectively arranged on the inner wheel and the outer wheel of the trolley; if the trolley is in the trackless area, entering the step 3; if the trolley is on the track, entering the step 4;
and step 3: if the trolley is positioned in the tunnel and is not positioned on the track, a three-dimensional laser scanner is arranged on the trolley to realize modeling and positioning, scanning modeling coordinate data are obtained and are used as real-time coordinates of the trolley, and the step 1 is returned;
and 4, step 4: counting by using a odometer arranged on wheels of the trolley when the trolley is positioned in the tunnel and on the track to obtain the travelling distance; acquiring mileage coordinate data through the traveling distance, taking the mileage coordinate data as a real-time coordinate of the trolley, and returning to the step 1;
and 5: if the trolley is positioned outside the tunnel, whether the received signal of the trolley reaches the set strength is further judged according to the signal value of the signal receiving equipment arranged on the trolley body; if the signal received by the trolley reaches the set signal intensity, entering step 6; otherwise, entering step 7;
step 6: when the received signal of the trolley reaches the set signal intensity, the coordinate data of the trolley is measured by a real-time dynamic carrier phase differential technology, the differential positioning coordinate of the trolley is obtained and is used as the real-time coordinate of the trolley, and the step 1 is returned;
and 7: if the signal received by the trolley does not reach the set signal intensity, judging whether the trolley is positioned on a track or in a track-free area at present according to pressure values sensed by pressure sensors respectively arranged on the inner wheel and the outer wheel of the trolley; if the trolley is in the trackless area, entering the step 8; if the trolley is on the track, entering step 9;
and 8: the trolley is not positioned on the track, the real-time position of the trolley is comprehensively judged by combining a speedometer arranged on the wheels of the trolley and a three-dimensional laser scanner arranged on the trolley through a real-time dynamic carrier phase difference technology, and the step 1 is returned;
and step 9: and (3) when the trolley is positioned on the track, comprehensively judging the real-time position of the trolley by combining a real-time dynamic carrier phase differential technology and a mileometer arranged on the wheels of the trolley, and returning to the step 1.
Further, in the step 1, whether the trolley is in a tunnel or out of the tunnel is judged according to the photosensitive change rate of the photosensitive sensor, a parameter of sensitivity is set to be lambda, and the photosensitive change rate delta lambda of a set time interval is taken; the absolute value of the sensitization change rate Delta lambda and a set sensitization change threshold Delta lambda are compared0For comparison, as follows:
wherein for | Delta lambda | ≦ Delta lambda0If the trolley state in the previous time interval is in the tunnel, keeping the trolley state in the tunnel; on the contrary, if the time interval of the previous period is smallAnd if the vehicle is in the state outside the tunnel, keeping the trolley in the state outside the tunnel.
Further, the inner wheel and the outer wheel in the step 2 comprise an inner rail wheel and an outer rubber wheel, wherein the inner rail wheel is used for travelling on the rail, and the outer rubber wheel is used for travelling on the ground; pressure sensors are arranged on the inner track wheel and the outer rubber wheel, and if the pressure sensed by the pressure sensors on the outer rubber wheel is greater than a set pressure value, the trolley is considered to move in the non-track area; and if the pressure sensed by the pressure sensor on the inner side rail wheel is greater than the set pressure value, the trolley is considered to advance on the rail.
Further, in the step 3, the trolley performs space full-section non-contact scanning measurement on the space where the trolley is located through a three-dimensional laser scanner arranged on the trolley body; wherein, the index point is provided with a mark which is a black and white reflective cross target or a marker ball; the process of acquiring the coordinate information by the three-dimensional laser scanner comprises the following steps:
step 31: the trolley scans and acquires and stores the position information of the calibration point through the three-dimensional laser scanner; the position information of the calibration point comprises the space coordinates of the calibration point in the same space coordinate system or reference system and point cloud data of the surface spectral characteristics of the calibration point;
step 32: scanning by the trolley through a three-dimensional laser scanner to obtain space coordinates of other entities in a space and a point cloud data set of surface spectral characteristics of the other entities;
step 33: obtaining a three-dimensional entity model of a space through point cloud splicing and filtering analysis;
step 34: obtaining scan modeling coordinate data (x3, y3, z3) of the target point through the index point in the three-dimensional solid model;
in step 34, the scan modeling coordinates are obtained relative to a calibration point, the geographic location of which is set in advance; and according to the geographic position of the calibration point, combining the scanning modeling coordinate data of the target point relative to the calibration point to obtain the geographic position of the target point.
Further, in the step 4, the trolley obtains the travel distance Δ l and the travel speed v through an odometer arranged on a wheel, obtains the travel distance of the trolley in each direction by combining a level meter arranged on the trolley, and obtains mileage coordinate data (x2, y2, z2) according to the accumulation of the travel distance.
Further, the traveling distance of the trolley in each direction is calculated as follows:
wherein, Δ y2Represents the travel distance of the trolley in the Y direction; Δ x2Represents the travel distance of the trolley in the X direction; Δ z2Represents the travel distance of the trolley in the Z direction; t is t1The time that the pressure sensors on the inner wheel and the outer wheel change from the land leveling pressure value on the land to the non-land leveling pressure value and then change to the land leveling pressure value again is represented, or the time that the inclination angle of the level meter changes from zero to the non-zero value and then returns to zero again is represented, wherein the land leveling pressure value is the pressure sensing value of the pressure sensor when the level meter is 0; v. oftRepresenting the travelling speed of the trolley obtained by the odometer at the moment t; thetatIndicating the inclination angle sensed by the level at the moment t; theta2tIs thetatThe angle is complemented.
Furthermore, in the calculation process of the mileage coordinate data and the travel distance, a jounce error elimination method is adopted to eliminate or reduce the travel distance measurement error of the trolley caused by jounce; the method for eliminating the bump error comprises the following steps:
step S1: a level gauge arranged in the trolley acquires the inclination angle of the trolley; if the inclination angle exceeds the set range, the trolley is considered to pass through a sloping field or a depression, at the moment, the initial speed of the trolley corresponding to the inclination angle is obtained through the odometer, and the process goes to step S2; if the inclination angle does not exceed the set range, the vehicle is considered to be running on flat ground, and the process goes to step S5;
step S2: judging whether the trolley is empty or not according to pressure sensors arranged on the inner wheel and the outer wheel; if the trolley is empty, the method proceeds to step S3: otherwise, go to step S4;
step S3: the trolley soaks over a slope or a depression, the soaring angle and the soaring initial speed of the trolley at the soaring moment are obtained by combining a level meter and a pressure sensor arranged on an inner wheel and an outer wheel, the soaring track and the landing coordinates of the trolley are obtained through simulation calculation, the traveling distance of the trolley is obtained according to the landing coordinates, and the step is finished;
step S4: judging whether the trolley passes through a slope or a depression without flying, and judging whether the trolley passes through the slope or the depression according to the inclination angle of the trolley obtained by the level gauge, wherein if the inclination angle is larger than the maximum value of the set range, the trolley is considered to pass through the slope; if the inclination angle is smaller than the minimum value of the set range, the trolley is considered to pass through the depression; proceeding to step S5;
step S5: and (5) acquiring the travel distance of the trolley in each direction by combining the level meter with the odometer, and ending the step.
Further, in step S1, the inclination angle represents an inclination angle with respect to a horizontal plane;
in the step S2, if the pressure sensing value of the pressure sensor arranged on the inner wheel and the outer wheel of the trolley is suddenly changed to 0, the trolley is considered to be empty, and the moment when the pressure sensing value of the pressure sensor is suddenly changed to 0 is used as the moment when the trolley is empty;
in the step S3, the simulation calculation of the soaring track and the landing coordinates of the trolley is carried out, and firstly, the advancing direction theta of the trolley is obtained through the gradienter1And obtaining the soaring angle theta formed by the trolley and the horizontal plane at the moment when the pressure sensor of the trolley is suddenly changed to 00(ii) a The soaring initial speed v at the soaring moment of the trolley is obtained by a milemeter arranged on the trolley0(ii) a According to the parabolic theorem, the following formula is obtained:
ΔZ′2＝0
wherein, deltas' represents the soaring displacement calculation distance of the trolley in the plane; Δ t2' represents the calculation distance of the soaring displacement of the trolley in a plane in the Y direction in the space position coordinate; Δ x2' represents the calculation distance of the soaring displacement of the trolley in a plane in the X direction in the space position coordinate; t' represents the soaring calculation time of the plane where the trolley falls back to the soaring moment after soaring; g represents the gravitational acceleration; the soaring displacement calculation distance in the plane represents the displacement calculation distance of the horizontal plane at the moment when the trolley falls back to the soaring state after soaring;
in order to ensure that the lift of the trolley is not fallen off and before and after the trolley falls on the ground, the calculation time t' of the soaring in the plane and the actual soaring time t are compared0A comparison is made in which the actual flight time t0Indicating a length of time that the pressure sensor has lasted 0; if t-t0If | is smaller than the set threshold, Δ y is directly corrected without correcting | y2′、Δx2'and Δ Z'2Substituting into the running distance accumulation of the trolley in each direction; if t-t0If | is larger than the set threshold, the correction is performed according to the following formula:
wherein, Δ y2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the Y direction; Δ x2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the X direction; Δ z2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the Z direction; will correct Δ x2 *、Δy2 *And Δ z2 *Substituting into the running distance accumulation of the trolley in each direction;
the traveling distance of the trolley in each direction in the step S5 is obtained through the above formula for calculating the traveling distance of the trolley based on the pythagorean theorem; the travel distance of the trolley in each direction is shown as the following formula:
wherein, Δ y2Represents the travel distance of the trolley in the Y direction; Δ x2Represents the travel distance of the trolley in the X direction; Δ z2Represents the travel distance of the trolley in the Z direction; t is t1Indicating the time elapsed for the pressure sensors on the inner and outer wheels to change from a flat ground pressure value to a non-flat ground pressure value and then back to a flat ground pressure value, orThe time that the inclination angle of the level meter changes from zero to a non-zero value and then returns to zero is used, wherein the pressure value of the flat ground is the pressure sensing value of the pressure sensor when the level meter is 0; v. oftRepresenting the travelling speed of the trolley obtained by the odometer at the moment t; thetatIndicating the inclination angle sensed by the level at the moment t; theta2tIs thetatThe angle is complemented.
Further, the positioning of the real-time dynamic carrier-phase differential technique in step 6 includes the following steps:
step 61: the reference station transmits the observed value and the coordinate information of the observation station to the rover station in an associated manner through a data chain;
step 62: the rover station receives the observation value and the coordinate information of the survey station and acquires satellite observation data through a satellite;
and step 63: the rover station forms the received and collected data into a differential observation value to obtain a differential positioning coordinate of the rover station;
the moving station in the step 61 is a trolley.
Further, the step 8 of comprehensively judging the real-time position of the trolley by combining a speedometer arranged on the wheels of the trolley and a three-dimensional laser scanner arranged on the trolley through a real-time dynamic carrier phase differential technology comprises the following steps:
step 81: judging a time node t 'when a signal received by the primary trolley closest to the current time reaches the set signal intensity, and acquiring differential positioning coordinates (x' 1, y '1, z' 1) of the trolley by using a real-time dynamic carrier phase differential technology corresponding to the time node;
step 82: acquiring the travel distance delta l acquired by the odometer from the time node t' to the current time;
step 83: drawing a circle by taking the differential positioning coordinates (x ' 1, y ' 1, z ' 1) as the center of a circle and the travel distance delta l as the radius; the range of the circular area represents the position range of the current trolley;
step 84: judging the current time, and obtaining the differential positioning coordinates (x1, y1, z1) of the trolley and the differential positioning coordinates (x '1, y' 1, z '1) of the time node t' by a real-time dynamic carrier phase differential technology) The distance of (d) and the travel distance Δ l; wherein if
Then the differential positioning coordinates (x1, y1, z1) of the current time are taken as the real-time coordinates of the trolley; if it is
Scanning modeling coordinate data (x3, y3, z3) obtained by scanning the three-dimensional laser scanner are used as real-time coordinates of the trolley; finishing the step;
in the step 9, the real-time position of the trolley is comprehensively judged by combining a real-time dynamic carrier phase differential technology with the odometer arranged on the wheels of the trolley, and the method comprises the following steps:
step 91: judging a time node t 'when a signal received by the primary trolley closest to the current time reaches the set signal intensity, and acquiring differential positioning coordinates (x' 1, y '1, z' 1) of the trolley by using a real-time dynamic carrier phase differential technology corresponding to the time node;
and step 92: acquiring the travel distance delta l acquired by the odometer from the time node t' to the current time;
step 93: drawing a circle by taking the differential positioning coordinates (x ' 1, y ' 1, z ' 1) as the center of a circle and the travel distance delta l as the radius; the range of the circular area represents the position range of the current trolley;
step 94: judging the magnitude relation between the distance between the differential positioning coordinates (x1, y1, z1) of the trolley and the differential positioning coordinates (x '1, y' 1, z '1) of the time node t' and the advancing distance delta l obtained by the current time through a real-time dynamic carrier phase differential technology; wherein if
Then the differential positioning coordinates (x1, y1, z1) of the current time are taken as the real-time coordinates of the trolley; if it is
Obtaining mileage coordinate data (x2, y2, z2) as real-time coordinates of the car by an odometer of the car; end upAnd (5) carrying out the following steps.
The invention has the beneficial effects that:
by dividing the environment of a railway construction site, wherein the environment comprises various combined conditions of tunnel existence, track existence and signal existence, different positioning measurement modes or different positioning measurement mode combinations are adopted aiming at different conditions, the advantages of various positioning measurement modes are integrated, and the defects are mutually compensated, wherein the positioning measurement modes comprise a three-dimensional laser scanner for realizing modeling positioning, odometer positioning and a real-time dynamic carrier phase difference technology;
the travelling distances of the trolley in X, Y, Y three directions are obtained by combining the odometer with the level meter, so that the accurate calculation of the coordinate data of the mileage of the trolley is realized, and the error is reduced;
by setting mileage reference points, the accumulated error of the mileage measurement of the trolley is distributed in the interval of each reference point, so that the error is prevented from being accumulated continuously, and the whole line is further influenced;
the soaring error of the trolley in the odometer positioning process or the travelling distance delta l counting process is eliminated through a bumping error elimination method, and the pressure sensor, the odometer and the level meter are combined to realize the accurate measurement of the coordinate data of the mileage of the trolley.
Drawings
FIG. 1 is a general flow chart of a first embodiment of the present invention;
FIG. 2 is a process of determining a photosensitive value of a cart according to a first embodiment of the present invention;
fig. 3 is a schematic modeling diagram of a three-dimensional laser scanner according to a first embodiment of the present invention;
fig. 4 is a schematic positioning diagram of a real-time dynamic carrier phase difference technique according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram of the location ranges of the cart in steps 8 and 9 according to the first embodiment of the present invention;
FIG. 6 is a schematic view of the second embodiment of the present invention at the moment of emptying the cart;
FIG. 7 is a parabolic schematic view of a cart according to a second embodiment of the present invention;
FIG. 8 is a schematic view of a cart according to a second embodiment of the present invention passing through a slope and a depression.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The first embodiment is as follows:
as shown in fig. 1, a method for calibrating the mileage of a railway engineering measuring carriage based on a positioning system includes the following steps:
step 1: the trolley judges whether the trolley is positioned in the tunnel or outside the tunnel at present according to the variation of the photosensitive value of the photosensitive sensor arranged on the trolley body; if the trolley is in the tunnel, entering the step 2; if the trolley is positioned outside the tunnel, entering the step 5;
step 2: if the trolley is positioned in the tunnel, judging whether the trolley is positioned on a track or in a non-track area at present according to pressure values sensed by pressure sensors respectively arranged on the inner wheel and the outer wheel of the trolley; if the trolley is in the trackless area, entering the step 3; if the trolley is on the track, entering the step 4;
and step 3: if the trolley is positioned in the tunnel and is not positioned on the track, a three-dimensional laser scanner is arranged on the trolley to realize modeling and positioning, scanning modeling coordinate data are obtained and are used as real-time coordinates of the trolley, and the step 1 is returned;
and 4, step 4: counting by using a odometer arranged on wheels of the trolley when the trolley is positioned in the tunnel and on the track to obtain the travelling distance; acquiring mileage coordinate data through the traveling distance, taking the mileage coordinate data as a real-time coordinate of the trolley, and returning to the step 1;
and 5: if the trolley is positioned outside the tunnel, whether the received signal of the trolley reaches the set strength is further judged according to the signal value of the signal receiving equipment arranged on the trolley body; if the signal received by the trolley reaches the set signal intensity, entering step 6; otherwise, entering step 7; wherein reaching the set signal strength indicates that the signal received by the trolley is greater than or equal to the set signal strength; in some other embodiments, whether the received signal is greater than the set signal strength may also be used as a criterion;
step 6: when the received signal of the trolley reaches the set signal intensity, the coordinate data of the trolley is measured by a Real-Time Kinematic (RTK) carrier phase differential technology, the differential positioning coordinate of the trolley is obtained and is used as the Real-Time coordinate of the trolley, and the step 1 is returned;
and 7: if the signal received by the trolley does not reach the set signal intensity, judging whether the trolley is positioned on a track or in a track-free area at present according to pressure values sensed by pressure sensors respectively arranged on the inner wheel and the outer wheel of the trolley; if the trolley is in the trackless area, entering the step 8; if the trolley is on the track, entering step 9;
and 8: the trolley is not positioned on the track, the real-time position of the trolley is comprehensively judged by combining a speedometer arranged on the wheels of the trolley and a three-dimensional laser scanner arranged on the trolley through a real-time dynamic carrier phase difference technology, and the step 1 is returned;
and step 9: and (3) when the trolley is positioned on the track, comprehensively judging the real-time position of the trolley by combining a real-time dynamic carrier phase differential technology and a mileometer arranged on the wheels of the trolley, and returning to the step 1.
As shown in fig. 2, the determination of whether the cart is inside or outside the tunnel in step 1 is mainly performed by the light sensing change rate of the light sensor. In this example, the parameter for setting the sensitivity is λThe light sensing change rate Δ λ is obtained at set time intervals, and the set time intervals may be 1min or 30 s. The absolute value of the sensitization change rate Delta lambda and a set sensitization change threshold Delta lambda are compared0For comparison, as follows:
wherein for | Delta lambda | ≦ Delta lambda0If the trolley state in the previous time interval is in the tunnel, keeping the trolley state in the tunnel; and on the contrary, if the trolley in the previous time interval is in the state outside the tunnel, the trolley is kept in the state outside the tunnel.
If the trolley is in the tunnel, the trolley is considered to have no signal, so that the trolley is in the tunnel and does not need to read the signal value of the signal receiving equipment.
The inner wheels and the outer wheels in the step 2 comprise inner rail wheels and outer rubber wheels, wherein the inner rail wheels are used for travelling on the rails, and the outer rubber wheels are used for travelling on the ground. In the embodiment, pressure sensors are arranged on the inner track wheel and the outer rubber wheel, wherein if the pressure sensed by the pressure sensors on the outer rubber wheel is greater than a set pressure value, the trolley is considered to move in a trackless area; similarly, if the pressure sensed by the pressure sensor on the inner side rail wheel is greater than the set pressure value, the trolley is considered to advance on the rail. The set pressure value is set to avoid the condition that the outer rubber wheel contacts the ground when the trolley advances on the rail, or the inner rail wheel contacts the ground when the trolley advances on the ground to generate misjudgment.
As shown in fig. 3, in step 3, the trolley performs spatial full-section non-contact scanning measurement on the space where the trolley is located through a three-dimensional laser scanner arranged on the trolley body. Wherein, the index point is provided with a mark which can be a black and white reflective cross target or a marker ball. The process of acquiring the coordinate information by the three-dimensional laser scanner comprises the following steps:
step 31: the trolley scans and acquires and stores the position information of the calibration point through the three-dimensional laser scanner; the position information of the calibration point comprises the space coordinates of the calibration point in the same space coordinate system or reference system and point cloud data of the surface spectral characteristics of the calibration point; in this example, the same spatial coordinate system or reference system is the space scanned by the scanner;
step 32: scanning by the trolley through a three-dimensional laser scanner to obtain space coordinates of other entities in a space and a point cloud data set of surface spectral characteristics of the other entities;
step 33: obtaining a three-dimensional entity model of a space through point cloud splicing and filtering analysis;
step 34: the scan modeling coordinate data (x3, y3, z3) of the target point is obtained through the index point in the three-dimensional solid model.
In step 34, the scan modeling coordinates are obtained relative to the calibration point, the geographic position of the calibration point is set during the actual operation, and the geographic position of the target point is obtained according to the geographic position of the calibration point and by combining the scan modeling coordinate data of the target point relative to the calibration point. Any two points in the three-dimensional solid model can be specified in the three-dimensional solid model, and the positions, the distances and the relative displacement of the two points in the space can be calculated. In addition, in other steps, the scan modeling coordinate data can also be obtained by the process of step 31 to step 34.
It should be noted that the data obtained by scanning the three-dimensional laser scanner is huge, the calculation amount is also large, the required modeling time is long, the requirement on the configuration of the computer is high, and the power consumption is also large, so that the three-dimensional laser scanner is inconvenient to use all the way. When the signal value received by the trolley does not reach the set signal intensity, the coordinate position of the trolley is difficult to judge in real time through a real-time dynamic carrier phase differential technology, on the other hand, the trolley is in a trackless area, the environment of the trackless area is complex, the trolley possibly bumps, and at the moment, the mileage of the trolley is difficult to accurately acquire through a mileage meter arranged on wheels, so that the three-dimensional laser scanner is used for positioning or auxiliary positioning.
In the step 4, the odometer is a device for measuring the travel and speed of the vehicle, the mileage is calculated by measuring the rotation angle of the axle, the odometer is a hall code disc, a rotary rheostat, a photoelectric rotary encoder or the like, and the photoelectric rotary encoder is used as the odometer in the present example. The traveling distance delta l and the traveling speed v of the wheels, which are obtained by the car through an odometer arranged on the wheels, are combined with a level meter arranged on the car to obtain the traveling distance of the car in each direction, and mileage coordinate data (x2, y2, z2) are obtained according to the accumulation of the traveling distances.
Wherein, the travelling distance of the trolley in each direction is obtained by the Pythagorean theorem, which is shown as the following formula:
wherein, Δ y2Represents the travel distance of the trolley in the Y direction; Δ x2Represents the travel distance of the trolley in the X direction; Δ z2Represents the travel distance of the trolley in the Z direction; t is t1The time that the pressure sensors on the inner wheel and the outer wheel change from the land leveling pressure value on the land to the non-land leveling pressure value and then change to the land leveling pressure value again is represented, or the time that the inclination angle of the level meter changes from zero to the non-zero value and then returns to zero again is represented, wherein the land leveling pressure value is the pressure sensing value of the pressure sensor when the level meter is 0; v. oftRepresenting the travelling speed of the trolley obtained by the odometer at the moment t; thetatIndicating the inclination angle sensed by the level at the moment t; theta2tIs thetatThe angle is complemented. In this example, when the carriage travels on a trackless track, the wheel odometer records only the travel distance of the wheelsAnd delta l, the travel distance delta l is not accumulated to obtain mileage coordinate data.
It should be noted that in some other embodiments, the odometry coordinate data of the trolley can also be obtained directly through the travel distance and the travel direction of the trolley, and the height coordinate z2 in the odometry coordinate data of the trolley is replaced by the height coordinate in the scanning modeling coordinate data or the height coordinate obtained through the real-time dynamic carrier-phase differential technology.
As shown in fig. 4, the real-time dynamic carrier phase difference technique in step 6 is mainly implemented by satellite positioning. The traditional high-precision satellite positioning must adopt a carrier phase observation value, and the RTK positioning technology is a real-time dynamic positioning technology based on the carrier phase observation value, can provide a space positioning result of a station in a specified coordinate system in real time and has extremely high precision; wherein the number of satellites is required to be kept more than four. The positioning of the real-time dynamic carrier phase difference technology comprises the following steps:
step 61: the reference station transmits the observed value and the coordinate information of the observation station to the rover station in an associated manner through a data chain;
step 62: the rover station receives the observation value and the coordinate information of the survey station and acquires satellite observation data through a satellite;
and step 63: and the rover station forms the differential observed value by the received and collected data to obtain the differential positioning coordinate of the rover station.
The rover station in step 61 is a dolly in this example. In other steps, the differential positioning coordinates of the rover station, i.e. the dolly, can also be obtained through steps 61-63.
As shown in fig. 5, the step 8 of comprehensively determining the real-time position of the cart by using a real-time dynamic carrier-phase differential technique in combination with a speedometer arranged on the cart wheels and a three-dimensional laser scanner arranged on the cart includes the following steps:
step 81: judging a time node t 'when a signal received by the primary trolley closest to the current time reaches the set signal intensity, and acquiring differential positioning coordinates (x' 1, y '1, z' 1) of the trolley by using a real-time dynamic carrier phase differential technology corresponding to the time node;
step 82: acquiring the travel distance delta l acquired by the odometer from the time node t' to the current time;
step 83: drawing a circle by taking the differential positioning coordinates (x ' 1, y ' 1, z ' 1) as the center of a circle and the travel distance delta l as the radius; the range of the circular area represents the position range of the current trolley;
step 84: judging the magnitude relation between the distance between the differential positioning coordinates (x1, y1, z1) of the trolley and the differential positioning coordinates (x '1, y' 1, z '1) of the time node t' and the advancing distance delta l obtained by the current time through a real-time dynamic carrier phase differential technology; wherein if
Then the differential positioning coordinates (x1, y1, z1) of the current time are taken as the real-time coordinates of the trolley; if it is
Scanning modeling coordinate data (x3, y3, z3) obtained by scanning the three-dimensional laser scanner are used as real-time coordinates of the trolley; and finishing the step.
In the step 9, when the trolley travels on the track, the odometer can more accurately record the travel distance Δ l of the trolley, so as to obtain accurate mileage coordinate data (x2, y2, z2), and therefore, when the trolley is located on the track outside the tunnel, the real-time position of the trolley can be determined only by combining the odometer arranged on the wheels of the trolley through the real-time dynamic carrier-phase differential technology. The real-time position of the trolley is comprehensively judged by combining a real-time dynamic carrier phase differential technology with a speedometer arranged on the wheels of the trolley, and the method comprises the following steps:
step 91: judging a time node t 'when a signal received by the primary trolley closest to the current time reaches the set signal intensity, and acquiring differential positioning coordinates (x' 1, y '1, z' 1) of the trolley by using a real-time dynamic carrier phase differential technology corresponding to the time node;
and step 92: acquiring the travel distance delta l acquired by the odometer from the time node t' to the current time;
step 93: drawing a circle by taking the differential positioning coordinates (x ' 1, y ' 1, z ' 1) as the center of a circle and the travel distance delta l as the radius; the range of the circular area represents the position range of the current trolley;
step 94: judging the magnitude relation between the distance between the differential positioning coordinates (x1, y1, z1) of the trolley and the differential positioning coordinates (x '1, y' 1, z '1) of the time node t' and the advancing distance delta l obtained by the current time through a real-time dynamic carrier phase differential technology; wherein if
Then the differential positioning coordinates (x1, y1, z1) of the current time are taken as the real-time coordinates of the trolley; if it is
Obtaining mileage coordinate data (x2, y2, z2) as real-time coordinates of the car by an odometer of the car; and finishing the step.
The mileage counting of the cart may have an error due to a phenomenon such as wheel slip, and a mileage reference point is provided on a traveling path of the cart to avoid accumulation of the error. In the process of travelling of the trolley, if the trolley passes through the mileage reference point, the coordinate position data of the mileage reference point is manually set to realize the calibration of the mileage coordinate data, so that the error of mileage counting is distributed in the interval of each mileage reference point, and the accumulation of the error is avoided. In this example, the mileage reference point is CP iii point, and the mileage reference point may also be used as the calibration point in step 34.
In the implementation process, the environment of a railway construction site is divided, wherein the environment comprises various combination conditions of tunnel existence, track existence and signal existence, different positioning measurement modes or different positioning measurement mode combinations are adopted according to different conditions, the advantages of various positioning measurement modes are integrated, and the defects are mutually compensated, wherein the positioning measurement modes comprise a three-dimensional laser scanner for realizing modeling positioning, odometer positioning and a real-time dynamic carrier phase difference technology; the travelling distances of the trolley in X, Y, Y three directions are obtained by combining the odometer with the level meter, so that the accurate calculation of the coordinate data of the mileage of the trolley is realized, and the error is reduced; by setting the mileage reference point, the accumulated error of the mileage measurement of the trolley is distributed in the interval of each reference point, so that the error is prevented from being accumulated continuously, and the whole line is further influenced.
Example 2:
the embodiment is obtained by improvement on the basis of the first embodiment, wherein in the calculation process of the mileage coordinate data or the travel distance, a measurement error is formed because a trolley is bumpy, particularly the environment of a trackless area is complex; therefore, in the calculation process of the mileage coordinate data and the travel distance, a bump error elimination method is adopted to eliminate or reduce the travel distance measurement error of the trolley caused by bump. The method for eliminating the bump error comprises the following steps:
step S1: a level gauge arranged in the trolley acquires the inclination angle of the trolley; if the inclination angle exceeds the set range, the trolley is considered to pass through a sloping field or a depression, at the moment, the initial speed of the trolley corresponding to the inclination angle is obtained through the odometer, and the process goes to step S2; if the inclination angle does not exceed the set range, the vehicle is considered to be running on flat ground, and the process goes to step S5;
step S2: judging whether the trolley is empty or not according to pressure sensors arranged on the inner wheel and the outer wheel; if the trolley is empty, the method proceeds to step S3: otherwise, go to step S4;
step S3: the trolley soaks over a slope or a depression, the soaring angle and the soaring initial speed of the trolley at the soaring moment are obtained by combining a level meter and a pressure sensor arranged on an inner wheel and an outer wheel, the soaring track and the landing coordinates of the trolley are obtained through simulation calculation, the traveling distance of the trolley is obtained according to the landing coordinates, and the step is finished;
step S4: judging whether the trolley passes through a slope or a depression without flying, and judging whether the trolley passes through the slope or the depression according to the inclination angle of the trolley obtained by the level gauge, wherein if the inclination angle is larger than the maximum value of the set range, the trolley is considered to pass through the slope; if the inclination angle is smaller than the minimum value of the set range, the trolley is considered to pass through the depression; proceeding to step S5; the range is set to 0 in this example;
step S5: and (5) acquiring the travel distance of the trolley in each direction by combining the level meter with the odometer, and ending the step.
In step S1, the inclination angle represents an inclination angle from the horizontal plane. The set range of the inclination angle can be-10 degrees to 10 degrees or-5 degrees to 5 degrees, and the like, in the embodiment, the set range of the inclination angle is 0, namely the vehicle body is inclined, the vehicle is considered to pass through a sloping field or a depression, the accurate detection is realized, and the error is reduced.
In the step S2, if the pressure sensing value of the pressure sensor provided on the inner wheel and the outer wheel of the trolley is suddenly changed to 0, the trolley is considered to be empty, and the moment when the pressure sensing value of the pressure sensor is suddenly changed to 0 is used as the moment when the trolley is empty.
As shown in fig. 6 and 7, in the simulation calculation of the flight path and landing coordinates of the trolley in the step S3, the traveling direction θ of the trolley is obtained by the level meter1And obtaining the soaring angle theta formed by the trolley and the horizontal plane at the moment when the pressure sensor of the trolley is suddenly changed to 00(ii) a The soaring initial speed v at the soaring moment of the trolley is obtained by a milemeter arranged on the trolley0. According to the parabolic theorem, the following formula is obtained:
ΔZ′2＝0
wherein, deltas' represents the soaring displacement calculation distance of the trolley in the plane; Δ y2' represents the calculation distance of the soaring displacement of the trolley in a plane in the Y direction in the space position coordinate; Δ x2' represents the calculation distance of the soaring displacement of the trolley in a plane in the X direction in the space position coordinate; t' represents the soaring calculation time of the plane where the trolley falls back to the soaring moment after soaring; g represents the gravitational acceleration. And the soaring displacement calculation distance in the plane represents the displacement calculation distance of the horizontal plane at the moment when the trolley falls back to the soaring space after being soared.
In order to ensure that the lift of the trolley is not fallen off and before and after the trolley falls on the ground, the calculation time t' of the soaring in the plane and the actual soaring time t are compared0A comparison is made in which the actual flight time t0Indicating the length of time that the pressure sensor lasts at 0. If t-t0If | is smaller than the set threshold, Δ y is directly corrected without correcting | y2′、Δx2'and Δ Z'2Substituting into the running distance accumulation of the trolley in each direction; if t-t0If | is larger than the set threshold, the correction is performed according to the following formula:
wherein, Δ y2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the Y direction; Δ x2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the X direction; Δ z2 *And the calculation distance of the soaring displacement of the trolley corrected in the Z direction is shown. Will correct Δ x2 *、Δy2 *And Δ z2 *Substituting into the running distance accumulation of the trolley in each direction.
As shown in fig. 8, the traveling distance of the cart in each direction in step S5 is obtained by the above-mentioned formula for calculating the traveling distance of the cart based on the pythagorean theorem. The travel distance of the trolley in each direction is shown as the following formula:
wherein, Δ y2Represents the travel distance of the trolley in the Y direction; Δ x2Represents the travel distance of the trolley in the X direction; Δ z2Represents the travel distance of the trolley in the Z direction; t is t1The time that the pressure sensors on the inner wheel and the outer wheel change from the land leveling pressure value on the land to the non-land leveling pressure value and then change to the land leveling pressure value again is represented, or the time that the inclination angle of the level meter changes from zero to the non-zero value and then returns to zero again is represented, wherein the land leveling pressure value is the pressure sensing value of the pressure sensor when the level meter is 0; v. oftRepresenting the travelling speed of the trolley obtained by the odometer at the moment t; thetatIndicating the inclination angle sensed by the level at the moment t; theta2tIs thetatThe angle is complemented.
The soaring error of the trolley in the odometer positioning process or the travelling distance delta l counting process is eliminated through a bumping error elimination method, and the pressure sensor, the odometer and the level meter are combined to realize the accurate measurement of the coordinate data of the mileage of the trolley.
The above description is only one specific example of the present invention and should not be construed as limiting the invention in any way. It will be apparent to persons skilled in the relevant art(s) that, having the benefit of this disclosure and its principles, various modifications and changes in form and detail can be made without departing from the principles and structures of the invention, which are, however, encompassed by the appended claims.
Claims (10)
1. A mileage calibration method of a railway engineering measuring trolley based on a positioning system is characterized by comprising the following steps:
step 1: the trolley judges whether the trolley is positioned in the tunnel or outside the tunnel at present according to the photosensitive value of a photosensitive sensor arranged on the trolley body; if the trolley is in the tunnel, entering the step 2; if the trolley is positioned outside the tunnel, entering the step 5;
step 2: if the trolley is positioned in the tunnel, judging whether the trolley is positioned on a track or in a non-track area at present according to pressure values sensed by pressure sensors respectively arranged on the inner wheel and the outer wheel of the trolley; if the trolley is in the trackless area, entering the step 3; if the trolley is on the track, entering the step 4;
and step 3: if the trolley is positioned in the tunnel and is not positioned on the track, a three-dimensional laser scanner is arranged on the trolley to realize modeling and positioning, scanning modeling coordinate data are obtained and are used as real-time coordinates of the trolley, and the step 1 is returned;
and 4, step 4: counting by using a odometer arranged on wheels of the trolley when the trolley is positioned in the tunnel and on the track to obtain the travelling distance; acquiring mileage coordinate data through the traveling distance, taking the mileage coordinate data as a real-time coordinate of the trolley, and returning to the step 1;
and 5: if the trolley is positioned outside the tunnel, whether the received signal of the trolley reaches the set strength is further judged according to the signal value of the signal receiving equipment arranged on the trolley body; if the signal received by the trolley reaches the set signal intensity, entering step 6; otherwise, entering step 7;
step 6: when the received signal of the trolley reaches the set signal intensity, the coordinate data of the trolley is measured by a real-time dynamic carrier phase differential technology, the differential positioning coordinate of the trolley is obtained and is used as the real-time coordinate of the trolley, and the step 1 is returned;
and 7: if the signal received by the trolley does not reach the set signal intensity, judging whether the trolley is positioned on a track or in a track-free area at present according to pressure values sensed by pressure sensors respectively arranged on the inner wheel and the outer wheel of the trolley; if the trolley is in the trackless area, entering the step 8; if the trolley is on the track, entering step 9;
and 8: the trolley is not positioned on the track, the real-time position of the trolley is comprehensively judged by combining a speedometer arranged on the wheels of the trolley and a three-dimensional laser scanner arranged on the trolley through a real-time dynamic carrier phase difference technology, and the step 1 is returned;
and step 9: and (3) when the trolley is positioned on the track, comprehensively judging the real-time position of the trolley by combining a real-time dynamic carrier phase differential technology and a mileometer arranged on the wheels of the trolley, and returning to the step 1.
2. The method for calibrating the mileage of the railway engineering measuring trolley based on the positioning system as claimed in claim 1, wherein the step 1 is to judge whether the trolley is in the tunnel or out of the tunnel according to the sensitivity change rate of the photosensitive sensor, the parameter of the set sensitivity is λ, and the sensitivity change rate Δ λ of the set time interval is taken; the absolute value of the sensitization change rate Delta lambda and a set sensitization change threshold Delta lambda are compared0For comparison, as follows:
wherein for | Delta lambda | ≦ Delta lambda0If the trolley state in the previous time interval is in the tunnel, keeping the trolley state in the tunnel; and on the contrary, if the trolley in the previous time interval is in the state outside the tunnel, the trolley is kept in the state outside the tunnel.
3. The method for calibrating the mileage of the railway engineering measuring trolley based on the positioning system as claimed in claim 1, wherein the inner and outer wheels in step 2 comprise an inner rail wheel and an outer rubber wheel, wherein the inner rail wheel is used for traveling on the rail, and the outer rubber wheel is used for traveling on the ground; pressure sensors are arranged on the inner track wheel and the outer rubber wheel, and if the pressure sensed by the pressure sensors on the outer rubber wheel is greater than a set pressure value, the trolley is considered to move in the non-track area; and if the pressure sensed by the pressure sensor on the inner side rail wheel is greater than the set pressure value, the trolley is considered to advance on the rail.
4. The method for calibrating the mileage of the railway engineering measuring trolley based on the positioning system as claimed in claim 1, wherein in the step 3, the trolley performs the spatial full-section non-contact scanning measurement on the space where the trolley is located through a three-dimensional laser scanner arranged on the trolley body; wherein, the index point is provided with a mark which is a black and white reflective cross target or a marker ball; the process of acquiring the coordinate information by the three-dimensional laser scanner comprises the following steps:
step 31: the trolley scans and acquires and stores the position information of the calibration point through the three-dimensional laser scanner; the position information of the calibration point comprises the space coordinates of the calibration point in the same space coordinate system or reference system and point cloud data of the surface spectral characteristics of the calibration point;
step 32: scanning by the trolley through a three-dimensional laser scanner to obtain space coordinates of other entities in a space and a point cloud data set of surface spectral characteristics of the other entities;
step 33: obtaining a three-dimensional entity model of a space through point cloud splicing and filtering analysis;
step 34: obtaining scan modeling coordinate data (x3, y3, z3) of the target point through the index point in the three-dimensional solid model;
in step 34, the scan modeling coordinates are obtained relative to a calibration point, the geographic location of which is set in advance; and according to the geographic position of the calibration point, combining the scanning modeling coordinate data of the target point relative to the calibration point to obtain the geographic position of the target point.
5. The method for calibrating the mileage of a railway engineering measuring carriage based on a positioning system as claimed in claim 1, wherein the carriage in step 4 obtains the travel distance Δ l and the travel speed v by means of odometers installed on wheels, obtains the travel distance of the carriage in each direction by means of a level meter installed on the carriage, and obtains the mileage coordinate data (x2, y2, z2) according to the accumulation of the travel distances.
6. The method for calibrating the mileage of a railway engineering measuring carriage based on a positioning system as claimed in claim 5, wherein the traveling distance of the carriage in each direction is calculated as follows:
wherein, Δ y2Represents the travel distance of the trolley in the Y direction; Δ x2Represents the travel distance of the trolley in the X direction; Δ z2Represents the travel distance of the trolley in the Z direction; t is t1The time that the pressure sensors on the inner wheel and the outer wheel change from the land leveling pressure value on the land to the non-land leveling pressure value and then change to the land leveling pressure value again is represented, or the time that the inclination angle of the level meter changes from zero to the non-zero value and then returns to zero again is represented, wherein the land leveling pressure value is the pressure sensing value of the pressure sensor when the level meter is 0; v. oftRepresenting the travelling speed of the trolley obtained by the odometer at the moment t; thetatIndicating the inclination angle sensed by the level at the moment t; theta2tIs thetatThe angle is complemented.
7. The method for calibrating the mileage of a railway engineering measuring car based on a positioning system as claimed in claim 1, wherein a bump error elimination method is used to eliminate or reduce the measurement error of the distance travelled by the car due to bump in the calculation process of the mileage coordinate data and the distance travelled; the method for eliminating the bump error comprises the following steps:
step S1: a level gauge arranged in the trolley acquires the inclination angle of the trolley; if the inclination angle exceeds the set range, the trolley is considered to pass through a sloping field or a depression, at the moment, the initial speed of the trolley corresponding to the inclination angle is obtained through the odometer, and the process goes to step S2; if the inclination angle does not exceed the set range, the vehicle is considered to be running on flat ground, and the process goes to step S5;
step S2: judging whether the trolley is empty or not according to pressure sensors arranged on the inner wheel and the outer wheel; if the trolley is empty, the method proceeds to step S3: otherwise, go to step S4;
step S3: the trolley soaks over a slope or a depression, the soaring angle and the soaring initial speed of the trolley at the soaring moment are obtained by combining a level meter and a pressure sensor arranged on an inner wheel and an outer wheel, the soaring track and the landing coordinates of the trolley are obtained through simulation calculation, the traveling distance of the trolley is obtained according to the landing coordinates, and the step is finished;
step S4: judging whether the trolley passes through a slope or a depression without flying, and judging whether the trolley passes through the slope or the depression according to the inclination angle of the trolley obtained by the level gauge, wherein if the inclination angle is larger than the maximum value of the set range, the trolley is considered to pass through the slope; if the inclination angle is smaller than the minimum value of the set range, the trolley is considered to pass through the depression; proceeding to step S5;
step S5: and (5) acquiring the travel distance of the trolley in each direction by combining the level meter with the odometer, and ending the step.
8. The method for calibrating the mileage of a measurement car for railroad engineering based on a positioning system as claimed in claim 7, wherein in the step S1, the inclination angle represents an inclination angle with respect to a horizontal plane;
in the step S2, if the pressure sensing value of the pressure sensor arranged on the inner wheel and the outer wheel of the trolley is suddenly changed to 0, the trolley is considered to be empty, and the moment when the pressure sensing value of the pressure sensor is suddenly changed to 0 is used as the moment when the trolley is empty;
in the step S3, the simulation calculation of the soaring track and the landing coordinates of the trolley is carried out, and firstly, the advancing direction theta of the trolley is obtained through the gradienter1And obtaining the soaring angle theta formed by the trolley and the horizontal plane at the moment when the pressure sensor of the trolley is suddenly changed to 00(ii) a The soaring initial speed v at the soaring moment of the trolley is obtained by a milemeter arranged on the trolley0(ii) a According to the parabolic theorem, the following formula is obtained:
ΔZ′2＝0
wherein, deltas' represents the soaring displacement calculation distance of the trolley in the plane; Δ y2' represents the calculation distance of the soaring displacement of the trolley in a plane in the Y direction in the space position coordinate; Δ x2' represents the calculation distance of the soaring displacement of the trolley in a plane in the X direction in the space position coordinate; t' represents the soaring calculation time of the plane where the trolley falls back to the soaring moment after soaring; g represents the gravitational acceleration; the soaring displacement calculation distance in the plane represents the displacement calculation distance of the horizontal plane at the moment when the trolley falls back to the soaring state after soaring;
in order to ensure the lift-off of the trolley andno drop is generated before and after the landing, and the calculation time t' of the soaring in the plane is compared with the actual soaring time t0A comparison is made in which the actual flight time t0Indicating a length of time that the pressure sensor has lasted 0; if t-t0If | is smaller than the set threshold, Δ y is directly corrected without correcting | y2′、Δx2'and Δ Z'2Substituting into the running distance accumulation of the trolley in each direction; if t-t0If | is larger than the set threshold, the correction is performed according to the following formula:
wherein, Δ y2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the Y direction; Δ x2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the X direction; Δ z2 *Representing the calculation distance of the soaring displacement of the trolley corrected in the Z direction; will correct Δ x2 *、Δy2 *And Δ z2 *Substituting into the running distance accumulation of the trolley in each direction;
the traveling distance of the trolley in each direction in the step S5 is obtained through the above formula for calculating the traveling distance of the trolley based on the pythagorean theorem; the travel distance of the trolley in each direction is shown as the following formula:
wherein, Δ y2Represents the travel distance of the trolley in the Y direction; Δ x2Represents the travel distance of the trolley in the X direction; Δ z2Represents the travel distance of the trolley in the Z direction; t is t1The time that the pressure sensors on the inner wheel and the outer wheel change from the land leveling pressure value on the land to the non-land leveling pressure value and then change to the land leveling pressure value again is represented, or the time that the inclination angle of the level meter changes from zero to the non-zero value and then returns to zero again is represented, wherein the land leveling pressure value is the pressure sensing value of the pressure sensor when the level meter is 0; v. oftRepresenting the travelling speed of the trolley obtained by the odometer at the moment t; thetatIndicating the inclination angle sensed by the level at the moment t; theta2tIs thetatThe angle is complemented.
9. The method for calibrating the mileage of a railway engineering measuring car based on a positioning system as claimed in claim 1, wherein the positioning of the real-time dynamic carrier phase differential technology in the step 6 comprises the steps of:
step 61: the reference station transmits the observed value and the coordinate information of the observation station to the rover station in an associated manner through a data chain;
step 62: the rover station receives the observation value and the coordinate information of the survey station and acquires satellite observation data through a satellite;
and step 63: the rover station forms the received and collected data into a differential observation value to obtain a differential positioning coordinate of the rover station;
the moving station in the step 61 is a trolley.
10. The method for calibrating the mileage of a railway engineering measuring carriage based on a positioning system as claimed in claim 1, wherein the step 8 of comprehensively determining the real-time position of the carriage by combining the odometer arranged on the carriage wheels and the three-dimensional laser scanner arranged on the carriage through a real-time dynamic carrier phase differential technique comprises the steps of:
step 81: judging a time node t 'when a signal received by the primary trolley closest to the current time reaches the set signal intensity, and acquiring differential positioning coordinates (x' 1, y '1, z' 1) of the trolley by using a real-time dynamic carrier phase differential technology corresponding to the time node;
step 82: acquiring the travel distance delta l acquired by the odometer from the time node t' to the current time;
step 83: drawing a circle by taking the differential positioning coordinates (x ' 1, y ' 1, z ' 1) as the center of a circle and the travel distance delta l as the radius; the range of the circular area represents the position range of the current trolley;
step 84: judging the magnitude relation between the distance between the differential positioning coordinates (x1, y1, z1) of the trolley and the differential positioning coordinates (x '1, y' 1, z '1) of the time node t' and the advancing distance delta l obtained by the current time through a real-time dynamic carrier phase differential technology; wherein if
Then the differential positioning coordinates (x1, y1, z1) of the current time are taken as the real-time coordinates of the trolley; if it is
Scanning modeling coordinate data (x3, y3, z3) obtained by scanning the three-dimensional laser scanner are used as real-time coordinates of the trolley; finishing the step;
in the step 9, the real-time position of the trolley is comprehensively judged by combining a real-time dynamic carrier phase differential technology with the odometer arranged on the wheels of the trolley, and the method comprises the following steps:
step 91: judging a time node t 'when a signal received by the primary trolley closest to the current time reaches the set signal intensity, and acquiring differential positioning coordinates (x' 1, y '1, z' 1) of the trolley by using a real-time dynamic carrier phase differential technology corresponding to the time node;
and step 92: acquiring the travel distance delta l acquired by the odometer from the time node t' to the current time;
step 93: drawing a circle by taking the differential positioning coordinates (x ' 1, y ' 1, z ' 1) as the center of a circle and the travel distance delta l as the radius; the range of the circular area represents the position range of the current trolley;
step 94: judging the magnitude relation between the distance between the differential positioning coordinates (x1, y1, z1) of the trolley and the differential positioning coordinates (x '1, y' 1, z '1) of the time node t' and the advancing distance delta l obtained by the current time through a real-time dynamic carrier phase differential technology; wherein if
Then the differential positioning coordinates (x1, y1, z1) of the current time are taken as the real-time coordinates of the trolley; if it is
Obtaining mileage coordinate data (x2, y2, z2) as real-time coordinates of the car by an odometer of the car; and finishing the step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110704221.7A CN113503896A (en) | 2021-06-24 | 2021-06-24 | Mileage calibration method of railway measuring trolley based on positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110704221.7A CN113503896A (en) | 2021-06-24 | 2021-06-24 | Mileage calibration method of railway measuring trolley based on positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113503896A true CN113503896A (en) | 2021-10-15 |
Family
ID=78010486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110704221.7A Pending CN113503896A (en) | 2021-06-24 | 2021-06-24 | Mileage calibration method of railway measuring trolley based on positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113503896A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183794A (en) * | 2022-06-22 | 2022-10-14 | 广州大铁锐威科技有限公司 | GNSS-based railway track measurement method, system, device and medium |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2184549A1 (en) * | 1995-09-14 | 1997-03-15 | Hidekazu Oshizawa | Method and Apparatus for Calibration of a Distance Sensor in a Vehicle Navigation System |
| DE19637616A1 (en) * | 1996-09-16 | 1998-03-19 | Bosch Gmbh Robert | Method for automatically calibrating a displacement sensor and device |
| EP1221586A2 (en) * | 2001-01-08 | 2002-07-10 | Motorola, Inc. | Position and heading error-correction method and apparatus for vehicle navigation systems |
| JP2004271255A (en) * | 2003-03-06 | 2004-09-30 | Railway Technical Res Inst | Train own-vehicle position detection method and train own-vehicle position detection system |
| US20060106533A1 (en) * | 2004-11-12 | 2006-05-18 | Mitsubishi Denki Kabushiki Kaisha | System for autonomous vehicle navigation with carrier phase DGPS and laser-scanner augmentation |
| KR20120074530A (en) * | 2010-12-28 | 2012-07-06 | 한국철도기술연구원 | Railway vehicle's running distance measuring system |
| CN104792790A (en) * | 2015-04-10 | 2015-07-22 | 北京力铁轨道交通设备有限公司 | Tunnel state detection device and detection method |
| CN104864889A (en) * | 2015-05-29 | 2015-08-26 | 山东鲁能智能技术有限公司 | System and method for correcting robot speedometer based on visual sense |
| RU2016138395A3 (en) * | 2016-09-27 | 2018-03-28 | ||
| CN108362308A (en) * | 2018-01-19 | 2018-08-03 | 同济大学 | A kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld |
| CN110514220A (en) * | 2019-09-22 | 2019-11-29 | 武汉中海庭数据技术有限公司 | A kind of vehicle mileage calibration method, device and storage medium |
| CN110657788A (en) * | 2018-06-29 | 2020-01-07 | 北京自动化控制设备研究所 | Dynamic detection method for smoothness of crane track |
| US20200025578A1 (en) * | 2017-12-12 | 2020-01-23 | Maser Consulting, P.A. | Tunnel mapping system and methods |
| CN110871824A (en) * | 2019-11-22 | 2020-03-10 | 武汉纵横天地空间信息技术有限公司 | Method and system for monitoring surrounding environment of track |
| CN110887460A (en) * | 2019-11-22 | 2020-03-17 | 武汉纵横天地空间信息技术有限公司 | Tunnel deformation monitoring method and system based on laser scanner and odometer |
| CN111623796A (en) * | 2019-09-21 | 2020-09-04 | 梁帆 | Steel rail mileage estimation method based on information fusion |
| CN112945264A (en) * | 2021-01-27 | 2021-06-11 | 中国铁建电气化局集团有限公司 | Portable intelligent measurement trolley with stroke recording function |
-
2021
- 2021-06-24 CN CN202110704221.7A patent/CN113503896A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2184549A1 (en) * | 1995-09-14 | 1997-03-15 | Hidekazu Oshizawa | Method and Apparatus for Calibration of a Distance Sensor in a Vehicle Navigation System |
| DE19637616A1 (en) * | 1996-09-16 | 1998-03-19 | Bosch Gmbh Robert | Method for automatically calibrating a displacement sensor and device |
| EP1221586A2 (en) * | 2001-01-08 | 2002-07-10 | Motorola, Inc. | Position and heading error-correction method and apparatus for vehicle navigation systems |
| JP2004271255A (en) * | 2003-03-06 | 2004-09-30 | Railway Technical Res Inst | Train own-vehicle position detection method and train own-vehicle position detection system |
| US20060106533A1 (en) * | 2004-11-12 | 2006-05-18 | Mitsubishi Denki Kabushiki Kaisha | System for autonomous vehicle navigation with carrier phase DGPS and laser-scanner augmentation |
| KR20120074530A (en) * | 2010-12-28 | 2012-07-06 | 한국철도기술연구원 | Railway vehicle's running distance measuring system |
| CN104792790A (en) * | 2015-04-10 | 2015-07-22 | 北京力铁轨道交通设备有限公司 | Tunnel state detection device and detection method |
| CN104864889A (en) * | 2015-05-29 | 2015-08-26 | 山东鲁能智能技术有限公司 | System and method for correcting robot speedometer based on visual sense |
| RU2016138395A3 (en) * | 2016-09-27 | 2018-03-28 | ||
| US20200025578A1 (en) * | 2017-12-12 | 2020-01-23 | Maser Consulting, P.A. | Tunnel mapping system and methods |
| CN108362308A (en) * | 2018-01-19 | 2018-08-03 | 同济大学 | A kind of mobile laser measurement system mileage bearing calibration using tunnel circumferential weld |
| CN110657788A (en) * | 2018-06-29 | 2020-01-07 | 北京自动化控制设备研究所 | Dynamic detection method for smoothness of crane track |
| CN111623796A (en) * | 2019-09-21 | 2020-09-04 | 梁帆 | Steel rail mileage estimation method based on information fusion |
| CN110514220A (en) * | 2019-09-22 | 2019-11-29 | 武汉中海庭数据技术有限公司 | A kind of vehicle mileage calibration method, device and storage medium |
| CN110871824A (en) * | 2019-11-22 | 2020-03-10 | 武汉纵横天地空间信息技术有限公司 | Method and system for monitoring surrounding environment of track |
| CN110887460A (en) * | 2019-11-22 | 2020-03-17 | 武汉纵横天地空间信息技术有限公司 | Tunnel deformation monitoring method and system based on laser scanner and odometer |
| CN112945264A (en) * | 2021-01-27 | 2021-06-11 | 中国铁建电气化局集团有限公司 | Portable intelligent measurement trolley with stroke recording function |
Non-Patent Citations (6)
| Title |
|---|
| LIU JIANG等: "Track-constrained GNSS/Odometer-based Train Localization using a Particle Filter", 2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM, 31 December 2016 (2016-12-31) * |
| 吴昕慧;蔡煊;陶汉卿;: "基于多传感器的列车里程计定位误差检测及校正方法", 城市轨道交通研究, no. 05, 10 May 2016 (2016-05-10), pages 19 - 25 * |
| 李海涛, 窦晓亮, 郭勤涛等: "基于模型校准的轨道车辆地板组合断面振动传递规律研究", 机械设计与制造工程, vol. 50, no. 5, 15 May 2021 (2021-05-15), pages 83 - 87 * |
| 郑敏;严凤;熊勇钢;: "基于三维激光扫描的地铁隧道快速监测方法研究", 人民长江, no. 04, 5 June 2020 (2020-06-05), pages 142 - 146 * |
| 郭玲;: "移动扫描技术在地铁隧道监测中的应用", 矿山测量, no. 01, 15 February 2020 (2020-02-15), pages 76 - 79 * |
| 钟南;宋茂忠;刘皓凯;: "基于虚拟卫星的隧道内卫星导航信号增强方法", 电讯技术, no. 05, 27 May 2020 (2020-05-27), pages 511 - 516 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183794A (en) * | 2022-06-22 | 2022-10-14 | 广州大铁锐威科技有限公司 | GNSS-based railway track measurement method, system, device and medium |
| CN115183794B (en) * | 2022-06-22 | 2024-04-16 | 广州大铁锐威科技有限公司 | GNSS-based railway track measurement method, system, device and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107402006B (en) | Based on the matched train precision positioning method of track geometry characteristic information and system | |
| CN103115581B (en) | Multifunction railway measuring system and method | |
| CN110108255B (en) | Universal mobile data acquisition and processing tunnel detection system for multiple scanners | |
| US8352188B2 (en) | Apparatus for generating high resolution surface topology map using surface profiling and surveying instrumentation | |
| CN105667542B (en) | Rail transit train wheel footpath calibration method | |
| CN104195930B (en) | Surface evenness detecting system based on multisensor and method | |
| CN107121082A (en) | Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method | |
| CN114390992B (en) | Method for determining the actual position of a track and measuring vehicle | |
| CN115768952A (en) | Method for measuring the position of a track | |
| CN110530300A (en) | A kind of vertical Irregularity detection method of track | |
| CN111895996A (en) | High-speed track detection system and method | |
| CN113503896A (en) | Mileage calibration method of railway measuring trolley based on positioning system | |
| CN114132358B (en) | Multi-platform intelligent track comprehensive detection system | |
| Zhou et al. | Onboard train localization based on railway track irregularity matching | |
| US20240067181A1 (en) | Surface profile measuring apparatus and method having no minimum speed requirement | |
| Chen et al. | Experimental study on the potential of vehicle’s attitude response to railway track irregularity in precise train localization | |
| CN110658543B (en) | High-speed railway track geometric parameter detection method based on non-contact measurement | |
| CN114162170B (en) | Track measurement system and measurement method | |
| JP4386985B2 (en) | In-vehicle measuring device for road surface extension | |
| RU2287187C1 (en) | Method for determining standard coordinate model of railroad track and device for realization of said method | |
| Gräfe | High precision kinematic surveying with laser scanners | |
| CN212300369U (en) | High-speed track detection system | |
| CN114166172A (en) | Method for continuously measuring flatness of concrete floor | |
| RU2261302C2 (en) | Method of and device for determining spatial parameters of rail track | |
| RU2820228C1 (en) | Device for determination of road surface evenness |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |