CN102337710B - GPS (Global Positioning System) track irregularity detection system and method - Google Patents
GPS (Global Positioning System) track irregularity detection system and method Download PDFInfo
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Abstract
The invention discloses a GPS (Global Positioning System) track irregularity detection system and method. The system comprises a measuring unit and a data postprocessing unit, wherein the measuring unit comprises a moving bracket movably arranged on the surface of a track, and a measuring device; the measuring device is rigidly fixed on the moving bracket and comprises two independently-arranged measured data acquisition recorders; the measured data acquisition recorders are used for measuring state data of the moving bracket in real time and recording the state data measured at every time to a data recording unit according to a time sequence arrangement; and the data postprocessing unit is used for processing the state data recorded in the data recording unit in an off-line way. The GPS (Global Positioning System) track irregularity detection system and method disclosed by the invention have the advantages of high measurement precision, high measurement speed and complete measuring functions.
Description
Technical field:
The invention belongs to track detection field, relate to a kind of GPS track detection device and detection method thereof, especially a kind of GPS track irregularity detection system and detection method thereof.
Background technology:
Track checking car, to simplify dolly, track detection car, the string of a musical instrument and track forces be to measure at present the capital equipment of track irregularity.Due to various self, make the precision of traditional measurement equipment be restricted and cannot realize high ferro ballastless track is detected fast and effectively.
Although track checking car can fast detecting track, need to complete with numerous inertial sensors every Detection task, complex structure, operation complicated, need training professionals to measure.Because there is offset error, it is all limited that track checking car can detect wavelength and the certainty of measurement of track irregularity, only can use as the checking after daily measurement, because of cost high, the whole nation is only equipped with tens units, cannot meet the detection demand to the 8.6 ten thousand kilometers of tracks in the whole nation.
Simplifying dolly is unique measureing equipment that high-speed railway rail requires accuracy of detection that meets, the certainty of measurement that can reach is higher, approximately 1.4 millimeters, but because it mainly adopts outside how much states of total station survey track, to measurement environment condition, as temperature, humidity, light, visibility, wind speed etc. require very high, simultaneously, because total powerstation self is relative measurement equipment, without fixing reference system, need to be by the help of railroad engineering survey net, observation to numerous CPIII reference points, to determine outside how much states of track, thereby waste time and energy, operation is very complicated, measuring speed and efficiency are all very low, can not meet the testing requirement to existing track equally, be only applicable to demarcation and the examination of railway construction construction.In addition, the price of essence inspection dolly is very expensive, and every up to 1,300,000 yuans.
The multiplex track detection car of works department carries out daily measurement to track at present, yet the Detection task of most track detection cars is all for the accuracy of detection of traditional ballasted track and cycle, its certainty of measurement cannot meet the requirement of high-speed railway rail, has the shortcomings such as measuring speed is slow, pause is got ready online, precision is not high, measurement wavelength is limited.
Also have some not to be equipped with the remote small station of mechanization checkout equipment, can only use the most original and backward string of a musical instrument and track forces to measure track irregularity.These two kinds of instrument measuring speeds are the slowest and be by naked eyes sense data, are subject to the impact of human factor larger, and certainty of measurement is low, can not quantize and information system management, is applicable to the detection to high-speed railway.
On the surface, the factor that affects various track geometry measuring device certainties of measurement is had nothing in common with each other, but in fact, they exist several total and often by the factor that people ignored, such as, the main measuring object of all devices only limits in circuit certain a bit or the geometric position of some points, rather than whole track strip circuit itself, in addition, in the measuring method of using, do not set up the ability of perfect measurement standard circuit, as string is surveyed method and inertial reference method.This is that limitation by current used measure theory and method itself causes.
By analysis, we by the main cause that affects track geometry measuring device precision be summarized as following some:
1. the limitation on measure theory
Theoretically, orbit measurement is real belongs to route survey, or rather, is the measurement to smoothed curve.Measure theory that can be traditional can not carry out perfection to smoothed curve to be described, and does not therefore also just possess the ability of processing smoothed curve.At present widely used measure theory be all based on rectangular coordinate system, the position of circuit to be described and to be processed, its main method is: first several points are carried out to position detection, then the position coordinates mark of these points is entered in a rectangular coordinate system, again these points are connected with straight line in order with point, are combined into a line and carry out computing as test line.Forming in this way line, is not in fact smoothed curve, and is a broken line.Therefore, no matter the number of survey mark has how many, and the line forming by the method and actual track curve always exist difference, affects the precision of tested track.
Smoothed curve is directive, because the direction of each observation point is pointed to the position of next point of proximity on curve.Because smoothed curve itself is continuous, next point of proximity and its observation point are infinite approachs.This explanation, has lost direction of curve, has also lost geometrical relationship between points on curve.Rectangular coordinate system is the ability that does not represent direction, and Here it is in rectangular coordinate system is to carry out to track the basic reason of complete description.
If want Measurement accuracy track, how first just must to consider accurate description smoothed curve.
We carry out a definition to smoothed curve: smoothed curve is one and maintains the line of unique and continuous feature in position with in direction except two end points.Locational uniqueness and continuity guaranteed curve this on geometric position, be one continuous, do not depositing the line of dislocation or breakpoint; Uniqueness in direction and continuity have guaranteed not exist in line flex point and intersection point;
For track, intersection point represents that a certain position in mileage exists a plurality of cross track (this situation is not considered track switch), dislocation represents on certain point, to have two tracks in mileage, and breakpoint represents in mileage there is no track at certain on a bit, and flex point refers to exist on mileage a track break.Obviously, for track, these several situations should not exist, and that is to say, on track, the position of any point and direction are all unique and continuous, therefore can say, track is a smoothed curve.Use rectangular coordinate system, only measurement is unfavorable to track for use location measurement and processing method.
2. the limitation in measuring method
Track detects with orbit measurement different.Orbit measurement is geometric position and the state of determining tested track self, it is to be compared with known orbit standardization position and state in the track geometry position measuring and state that track detects, with this judge tested track existing position and state geometrical deviation.In fact, track irregularity detects and is only limited to the track comparison between how much states relatively, and does not consider the difference on track absolute position.Therefore,, when detecting track irregularity, we not only need track itself to measure, and also will set up absolute smooth-going standard trajectory standard as a comparison simultaneously.Obviously, this definitely smooth-going standard trajectory is non-existent in reality, and we also cannot measure it, must otherwise obtain or substitute.Although, we can consider how designed path is used as standard trajectory, but this idea is irrealizable, this is only to exist with information mode because of one side designed path, the actual reference coordinates that its reference coordinates of using can be used when measuring track is different, on the other hand, and due to construction reason, total and the designed path of the position of actual track and state has bigger difference, and these difference are often multiple times than the irregularity information of track self.Therefore, designed path can not be used as standard trajectory.
Conventional track detection method has two kinds at present: string is surveyed method and inertial reference method.
String survey method is to use the string of a musical instrument (straight line) the alternate standard track of (≤10 meters) between the front and back short distance of orbit measurement point, this way is obviously inaccurate, or even wrong, because the selected string of a musical instrument directly depends on the geometric position state of actual track, it self is comprising the factor of some irregularities, must have influence on the final calculation result of track irregularity.In addition, at changeover portion and the arc section of track, select the string of a musical instrument basic just wrong as reference line, even it is revised, but still can exist no small error.
Inertial reference method is a kind of dynamic measurement method, by the measurement to the multidate information of checkout equipment own, as acceleration and angular velocity, and dynamic measuring data is carried out integration in time and obtained relative relevant track geometry change in location and the change information of state, finally this change information is compared with due change information and drawn track geometry irregularity information.Because kinetic measurement information has certain error, by integration, can make calculated relative geological information in time with larger drift error.Want to control drift error and just must improve the measuring accuracy of kinetic measurement equipment, reduce the detection time of track irregularity simultaneously, both shortened detection distance.And, determine that due state change information is very difficult too.
Track is level and smooth, and standard trajectory is also level and smooth, no matter is that string is surveyed method, or the coordinate system that inertial reference method is used is rectangular coordinate system equally, all can not set up level and smooth standard trajectory.Standard trajectory information inaccurate is a major reason that affects track accuracy of detection equally.
3. the defect in measuring technique
The technology of using in railroad engineering survey at present mainly contains three kinds: optical measuring technique (comprising total powerstation), inertia measurement technology and GPS-RTK location technology.These three kinds of technology exist many self defects.
Optical measuring technique is mainly divided into distance measurement (as laser ranging) or angular measurement (as transit, level gauge), or the combination of the two (as total powerstation), belong to static relative measurement equipment, its final purpose is to measure the relative position coordinates of target.There is a common defect in them, is exactly fixedly reference coordinates of neither one, before each measurement, must set up separately a local coordinate system, therefore, wants unified a plurality of survey mark data of processing, and just must carry out the conversion between local coordinate system by external information.Each Coordinate Conversion all can cause the increase of final measure error.Although people can increase Measuring Time and workload several times with repeatedly measuring or improving final certainty of measurement to selecting that a plurality of reference points are carried out to the closed method of measuring, and have reduced measurement efficiency.Optical measuring technique is affected by environment very large, and its certainty of measurement is limited, is only suitable for outside how much state measurements of track.
GPS-RTK is a kind of new gps carrier differential position, belong to static relative measurement technology, its major advantage one is to use same absolute coordinate system WGS84, each measurement result can be processed in this coordinate system, the 2nd, positioning precision reaches 0.5～2 centimetre, and the 3rd, there is no systematic error and drift error.GPS-RTK Technology Need difference station, because the working distance defection at survey mark and difference station directly affects positioning precision, so the maximum functional of GPS-RTK distance is limited to 3～5 kilometers.Although this certainty of measurement is greatly improved than the positioning precision of 10 meters of standard GPS, but far can not meet the certainty of measurement requirement that detects 1 millimeter of track irregularity, thus can only be in mapping railway engineering be controlled net CPI and CPII is this uses during to the relatively low control point of positioning accuracy request.In some new track geometry measuring devices, also use GPS-RTK location technology, its objective is outside how much states of measuring track.
The operating principle that inertia measurement technology is used is that the dynamic physical variable quantity (as acceleration, angular velocity) to measured body carries out continuous measurement, then, through carrying out in time integral and calculating, constantly extrapolates position and the state of measured body.The advantage of inertia measurement technology is that certainty of measurement is high, and Data Update is fast, and independence is strong, does not need other object of reference or reference coordinates.The precision that affects inertia measurement technology has a lot, and maximum is the measure error of sensor, because measure physical quantities need to be carried out 2 times integration in time, therefore, the measure error of sensor is non-linear increase in time equally.The certainty of measurement of the inertia measurement technology that the rotation that in addition, earth attraction, earth rotation and measurement coordinate system occur because of the displacement of going up at the earth's surface all directly affects.Inertia measurement technology is only applicable to short distance and short time use, is generally mainly used in the measurement of track inner geometry state.
4. the limitation of measureing equipment
Optical measuring apparatus belongs to fine measuring instrument, all very high to installation, use, maintenance and environmental requirement, such as the factors such as light intensity, temperature, humidity, air visibility, vibration, visual condition, component alignment error and operate miss all can have influence on the accuracy of measurement result, repetitive rate is low.Another defect of optical measuring apparatus is to rely on engineering survey net just can grow the measurement of distance.And the reference point CPIII that measures engineering survey net can increase Measuring Time and working strength greatly, affect operating efficiency.The quality of engineering survey net reference point locations coordinate can affect final certainty of measurement equally.
Although GPS-RTK good stability, affected by extraneous factor little, but need the ground-support equipments such as datum station and wireless telecommunications, because base station equipment is more expensive, so can not set up a large amount of permanent base stations, for track detects, provide service, during measurement, mobile base station must installed to the position use of choosing in advance.Because the measurement noise ratio of GPS-RTK is larger, also higher to satellite signal receiving quality requirement, so generally need 60 minutes above time just can obtain reliable positional information.The certainty of measurement of GPS-RTK and operating efficiency all can not meet the demand that track irregularity detects.
In orbit measurement, using maximum inertia measurement equipment is optical fibre gyro.The physical quantity that optical fibre gyro is surveyed is the rotation of sensor self, both angular velocity.Utilize angular velocity accumulation in time can calculate angle variable quantity.The great advantage of optical fibre gyro is that certainty of measurement is high, output frequency is high, and is not subject to ectocine, can accurately measure the Geometrical change of track.But any measureing equipment is all with measure error, because fibre optic gyroscope surveys is angular velocity, therefore, the measure error of angular velocity can cause angular measurement result to produce in time drift.In addition, the attitude of measureing equipment can directly have influence on the correct use of optical fibre gyro measured value, and therefore, people usually use accelerometer to determine the attitude of measureing equipment.The movement of measureing equipment and vibrations all can affect the measured value of accelerometer, and therefore, the certainty of measurement of attitude is also restricted.In a word, inertia measurement equipment be not suitable for long use because measuring speed is limited, measuring distance is restricted too.
5. the limitation of metering system
Restriction due to historical reasons and current measuring technique and method, traditional metering system more complicated, loaded down with trivial details, first be how much irregularities will determining track centerline, as rail to irregularity and be uneven suitable, then determine how much irregularities between two rails, as gauge irregularity, horizontal irregularity, superelevation irregularity and twist irregularity (distortion) irregularity etc.These irregularity parameters can only represent the track inner geometry irregularity in short distance, and to represent outside how much irregularities of track, both track long wave irregularity needed to use other parameter, as position deviation etc., this is because the benchmark that measurement track inner geometry irregularity is used is straight line, the benchmark of measuring outside how much irregularities of track is that this must cause the reduction of long wave irregularity certainty of measurement by measuring the relatively low geometrical curve of the resulting precision of CPIII.In addition, for railway maintenance, the most important thing is to obtain the measured value to every track geometry irregularity, and traditional metering system need to combine a plurality of survey data, such as, rail, to, gauge and horizontal irregularity, can cause the stack of measure error like this, affects the precision of final measured value.High ferro non-fragment orbit is very high to the requirement of irregularity, and the irregularity of left and right track is incoherent mutually each other, how much states measuring track centerline just equal to measure the average of how much states of left and right track, that is to say, measured track centerline geological information and the geological information of left and right track all exist certain deviation, one of reason that interorbital how much state deviations in track centerline and left and right are the final measured value precision of impact equally.Also there is some other weakness in the online processing mode in real time that current most of measureing equipment adopts, such as, for processing in real time what can provide, be only to pass by the survey data that gathers in the short time, metrical information is limited, and the disposal ability of computer is limited too, can not carry out complicated mathematical computations.
Summary of the invention:
The object of the invention is to use distinguished measure theory, measuring method, measuring technique, measureing equipment and metering system to overcome above-mentioned shortcoming, a kind of GPS track irregularity detection system and detection method thereof of carrying out track detection with position, direction and incline measurement is provided.
The object of the invention is to solve by the following technical programs:
A track irregularity detection system, comprises measuring unit and Data Post unit, and described measuring unit comprises traversing carriage and the measurement mechanism that is movably arranged on raceway surface; Described measurement mechanism is rigidly fixed on traversing carriage, and this measurement mechanism comprises 2 independent measurement data acquisition recorders that arrange; Described measurement data acquisition recorder is for measure in real time the status data of traversing carriage and the status data of measuring is arranged and is recorded to data record unit according to time sequencing at every turn; The status data that described Data Post unit records for processed offline data record unit.
Described measurement data acquisition recorder is calculated with data record center and is formed by a double antenna GPS positioning and directing instrument, three gyroscopes, three accelerometers and a navigation, wherein double antenna GPS positioning and directing instrument for the absolute position, the speed of service, rail of measuring traversing carriage to deflection and angle of slope, the three dimensional angular speed of three gyroscope survey traversing carriages, the three-dimensional acceleration of three accelerometer measures traversing carriages; The absolute position that export GPS positioning and directing instrument at described navigation calculating and data record center, the speed of service, rail are to deflection and angle of slope and the computing of navigating of the three-dimensional acceleration data exported of the three dimensional angular speed exported of three gyroscopes and three accelerometers, show that precise time, absolute position, rail are to deflection and angle of slope, and in chronological order status data is recorded in the document of measurement and data acquisition recorder inside; The status data of described traversing carriage refers to that the absolute position, rail of traversing carriage are to deflection, angle of slope.
Described traversing carriage comprises that four vertically move support and two transverse moving supports, and these four vertically move support and two transverse moving supports are flexibly connected by six connectors, make described traversing carriage become the non-rigid structure of a ZZ type.
Between described traversing carriage and track, be provided with carriage, this carriage comprises a main installing plate, two side installing plates, two directive wheels and a main scroll wheel; Described directive wheel comprises a fixed support, the first movable axis, spring, the second insulation movable axis and metal bearing; Described main scroll wheel is comprised of a cylindrical shape nylon part, two metal bearings and a metal shaft.
A track irregularity detection method, in accordance with the following steps:
(1) measure in real time the status data of track and it is arranged according to time sequencing; Described status data refers to that the absolute position, rail of survey mark are to deflection and angle of slope;
(2) absolute position in step (1) is calculated to be to corresponding mileage, and according to time order and function order, mileage is sorted;
(3) according to the order of step (2) gained mileage, the mileage in step (1), rail are carried out to screening and sequencing to deflection and angle of slope by selected step-length;
(4) ordering rail in step (3) is carried out to smoothing processing to deflection, and in direction mile coordinate system, set up rail to orientation measurement curve in-orbit;
(5) according to rail to orientation measurement curve geometric properties divide section; Determine in each section that rail is to the type of direction flat curve; And in-orbit on orientation measurement curve basis, by least square method, determine and represent the parameter of rail to the rail of direction flat curve to directivity function, making the quadratic sum of rail to direction flat curve and rail to orientation measurement curve deviate is minimum; When rail is zero to direction variable, rail is linear pattern to direction flat curve; When constant that rail is from non-zero to direction variable, rail is circular arc line style to direction flat curve; When rail is a variable to direction variable, rail is transition line style to direction flat curve;
(6) difference to orientation measurement curve and rail to direction flat curve by rail, calculates and oversteps the limit to direction irregularity curve;
(7) with integral way, to direction irregularity Curve transform, become rail to how much irregularity curves on rail, with this, must overstep the limit to how much irregularity absolute values;
(8) use different observation wavelength trackings to process calculating to how much irregularity absolute values, show that the rail of respective wavelength is to how much Irregularity detection values;
(9) by mileage order, read incline direction survey data, and it carries out smoothing processing, in incline direction mileage coordinate system, set up incline direction and measure curve;
(10) according to incline direction, measure the geometric properties division section of curve, determine the type of the tilted direction flat curve of each section; And measure on curve basis at incline direction, by least square method, determine the parameter of the incline direction function of incline direction flat curve, the quadratic sum that makes incline direction flat curve and incline direction measure deviate between curve is minimum; When angle of slope direction variable is zero, incline direction flat curve is linear pattern; When constant that angle of slope direction variable is non-zero, incline direction flat curve is circular arc line style;
(11) by incline direction, measure the difference of curve and incline direction flat curve, calculate incline direction irregularity curve;
(12) by the method for integration, incline direction irregularity curve is converted into how much irregularity curves of rail height, with this, draws the suitable absolute value that is uneven;
(13) use different observation wavelength to process how much irregularity absolute values of height, calculate the how much Irregularity detection values of height that adapt with wavelength; Described observation wavelength refers to the minimum length that detects track irregularity.
The present invention uses direction mile coordinate system, because rectangular coordinate system can not be described smoothed curve, so select direction mile coordinate system to carry out accurate description to smoothed curve, because direction mile coordinate system can be described position and the direction of any point in smoothed curve simultaneously, wherein mileage represents the absolute position of each survey mark in curve, direction represents that corresponding survey mark and next close on the sensing of survey mark, is representing the geometrical relationship between each survey mark in curve.Because smoothed curve has uniqueness and continuity Characteristics in position and direction, curve is unique and continuous equally in direction mile coordinate system.It is identical that direction of curve information changes with the relative position between any two consecutive points in curve, so direction of curve information is just representing the geometric position change information of curve, is equivalent to the derivative of curve positional information in rectangular coordinate system.Direction mile curve is not the geometric position of directly describing curve, but describes the geometric position change procedure of curve.Use direction mile coordinate system to have following advantage:
(1) retain positional information and the directional information of curve, retained the geometrical relationship between mid point of curve and point;
(2) guarantee the position of smoothed curve and direction is unique and continuous essential characteristic, described exactly smoothed curve;
(3) direction and mileage are two mutual incoherent physical quantitys, and measuring distance can not exert an influence to direction value;
(4) mileage is a kind of variable of unidirectional continuous growth, can be used as radix and uses, thereby reduced by a variable;
(5) direction number range is sealed, and therefore can not affect certainty of measurement because of the size of numerical value;
(6) because directional information is equivalent to the derivative of positional information, so it is simpler than processing positional information to process directional information;
(7) direction mile coordinate systems can be described a smoothed curve in two dimensional surface, use two orthogonal direction mile coordinate systems (horizontal direction and vertical direction) can describe a three-dimensional smoothed curve.
Therefore, by being carried out to continuous measurement, the position of track, horizontal direction (rail to) and vertical direction (angle of slope) just can in mileage coordinate system and angle of slope mileage coordinate system, accurately describe the three-dimensional geometric information of a track in-orbit.
The present invention sets up take the orientation measurement orbital curve that mileage is benchmark, automatically generates direction flat curve as examination criteria, by the calculating to direction irregularity curve, extrapolates how much irregularity curves of track
Want to use the position of track and orientation measurement information in direction mile coordinate system, to set up orientation measurement curve, first positional information to be converted into mileage information, and select an appropriate fixed step size by mileage order, directional information is re-started to screening and arranges.Because all can contain measure error in the measurement numerical value of direction and mileage, so, in order by the measurement coordinate point of indicating in direction mile coordinate system with straight line, to connect formed line be rough.According to the continuous feature in smoothed curve direction, can draw a smoothed curve by line is carried out to simple smoothing processing, with this, eliminate the noise in measured value, improve the precision of orientation measurement curve.
Draw after level and smooth orientation measurement curve, need to set up direction flat curve as the reference line of measuring orbital direction irregularity.So-called flat curve is exactly absolute smooth-going curve.The definition of flat curve is different from design curve.Design curve had both been emphasized the geometric position of curve, emphasized again how much states, both smooth-going states of curve simultaneously.Ideal curve is only emphasized the smooth-going state of curve, and does not consider the geometric position of curve.Therefore, we become one in overall geometry location aware situation by flat curve definition, and its how much state variation are minimum smoothed curve.
During designed path circuit, people are presented as three kinds of forms to the requirement of rail smooth state: straightway, circular arc line segment and transition line.Therefore, it is formed that smooth-going track is exactly that a railway line section by these three kinds of smooth-going features couples together, and its basic demand is that the overall geometry position deviation of smooth-going track and actual track is for minimum.
In direction mile coordinate system, what we will set up is direction flat curve, and utilizes the direction variable can three kinds of smooth-going ideal curves of accurate description:
(1) straight line---direction variable is zero;
(2) circular arc line---direction variable is the constant of non-zero;
(3) transition wire---direction variable is a variable;
Therefore, first we can divide section according to the geometric properties of orientation measurement curve, then determine the type of each section direction flat curve, finally by least square method, calculate the direction flat curve of each section, making the population deviation between orientation measurement curve and direction flat curve is minimum, then the direction flat curve of all sections is coupled together, form a total direction flat curve, the reference line as detection side to irregularity curve.Make can set up in this way the direction flat curve of any length, guaranteed the accuracy and precision of reference line.
Orbital direction irregularity curve can draw by the difference between orientation measurement curve and direction flat curve simply.Then how much irregularity curves that use simple integration method the direction irregularity Curve transform in direction mile coordinate system can be met at right angles in coordinate system.Make the track geometry irregularity that calculated in this way be similar to absolute value, do not measured wavelength and limit, there is high accuracy.In real work, the requirement that we detect track irregularity is not the absolute value of track irregularity, but relative Irregularity detection value in Orientation observation distance, such as 10 meters, 20 meters or 300 meters of viewing distances etc.We can process accordingly to track geometry irregularity absolute value, reach above demand.Its method is that how much irregularity absolute values of survey mark are deducted to the selected wavelength of survey mark how much irregularity absolute values before to obtain the relative irregularity numerical value under corresponding observation wavelength.
The present invention uses the position, rail of GPS positioning and directing technology and inertia measurement commercial measurement track to deflection and incline direction angle
Because optical measuring technique lacks the long ability apart from Continuous Observation, current used inertia measurement technology can not be measured for a long time because cannot get rid of drift error, all we select GPS to measure state-of-the-art technology---the method that double antenna GPS positioning and directing technology and inertia measurement combine, and solve direction is carried out accurately measuring continuously this difficult problem.
Double antenna GPS positioning and directing technology is to utilize 2 GPS measurement type antennas and 1 or 2 GPS receivers and 1 navigation computer center combined, use carrier difference technology accurately to measure the three-dimensional geometry position of the second antenna in sky, the northeast rectangular coordinate system that first day line position is initial point, and three dimensional local information is converted into horizontal direction angle and tilt angle information.Use the measured deflection of double antenna GPS positioning and directing technology and angle of slope to have that cost is low, simple in structure, multi-functional, accuracy is high and without advantages such as drift errors.The stability of GPS direction can make up fibre optic gyroscope with the defect of drift error, and the disadvantage such as the high accuracy of fibre optic gyroscope, high-efficiency and high reliability have been eliminated the strong noise of GPS directional technology and be easily disturbed, two kinds of different direction measurement methods are best of breeds.In addition, GPS positioning and directing technology is the same with inertia measurement technology, does not need other object of reference or ground-support equipment, and this is because the inner global coordinates system that uses of GPS positioning and directing technology can complete the measurement of any point on earth surface.
The present invention uses GPS inertia combination measureing equipment
In GPS positioning and directing technology and inertial navigation integration technology, in aircraft industry research, using for many years, is the matured product that a kind of integrated level is very high so our selected GPS inertia merges navigator.Use GPS inertia to merge navigator and have many advantages as data acquisition and recording equipment, such as, measurement function is complete, the survey data such as real-time output time, position, speed, acceleration, angular velocity, deflection and angle of slope, can work alone completely, certainty of measurement is high, speed is fast, data updating rate is high, automatic record data, continuous operation for a long time, do not need to feed instruction or other ground installation, as railroad engineering survey net or ground installation etc.Although price is higher, certainty of measurement and speed all improve one or several order of magnitude than traditional measurement equipment, and cost performance is very outstanding.
The present invention uses double track on-line measurement and data acquisition and off-line data post processing mode
For fear of measure error stack problem in traditional detection mode, GPS orbit measurement system adopts dual system double track metering system, simultaneously to the rail of every track to the straight row non-contact detection that taps into that is uneven.In order to accelerate detection speed, adopt data acquisition and data processing to carry out step by step mode, increase work efficiency.
Advantage of the present invention is: by orbital direction, measure the tested track of curve description more accurately with complete; Make full use of the certainty of measurement of inertia measurement equipment and the stability of GPS orientation realize to track comprehensively, rapidly, continuously, high accuracy and independent measurement; Use orbital direction flat curve as the benchmark that detects orbital direction irregularity, avoided using the long disadvantage of bringing that detects apart from track irregularity of straight line impact; Employing carries out to double track the complexity that contactless direct metering system has reduced orbit measurement, has avoided the possibility of measure error stack; Adopt the mode of operation of online orbit measurement and data acquisition and off-line data post processing, accelerated measuring speed, reduced technician's working time and requirement of strength, improved operating efficiency; By calculating the method for orbital direction irregularity reckoning track geometry irregularity, can measure the absolute value of track geometry irregularity, select any observation wavelength to be similar to processing of absolute value to measured, how much irregularities of relative orbit that draw respective wavelength, more have the detection and the maintenance work that are convenient to track.
Because detection method of the present invention and equipment can work alone completely, do not need the support of other ground-support equipment, such as railway engineering monitoring net, for reducing from now on input, the minimizing of railway construction and maintenance, build and operation expenses, new possibility is provided.
The present invention can detect the track irregularity of overlength wavelength, for structure distortion under monitoring subgrade settlement and line provides new method.
Detection principle of the present invention is not measured rate, can be directly installed on and on EMUs, realize 350 kilometers/hour of above real speed and detect, for train provides in real time relevant track circuit current state information in actual operation process, omnibearing static state and the multidate informations such as time, position, mileage, track circuit and speed, acceleration, rotating speed, vibration of train self are also provided in real time simultaneously, improve the monitoring capacity of train to self and track, guarantee traffic safety.
Accompanying drawing explanation:
Fig. 1 is the structural representation of measuring unit of the present invention;
Fig. 2 is the structural representation of carriage of the present invention;
Fig. 3 is method flow schematic diagram of the present invention;
Fig. 4 is that 10 meters of methods of the present invention observe the rail of wavelength to deviation comparison diagram;
Fig. 5 is that 20 meters of methods of the present invention observe the rail of wavelength to deviation comparison diagram;
Wherein 1 is left track, the 2nd, right track, 3 is first to vertically move support, 4 is second to vertically move support, 5 is the 3rd to vertically move support, 6 is the 4th to vertically move support, 7 is first transverse moving supports, 8 is second transverse moving supports, 9 is first gps antennas, 10 is second gps antennas, 11 is the 3rd gps antennas, 12 is the 4th gps antennas, 13 is GPS inertia measurement instrument, 14 is the 2nd GPS inertia measurement instrument, the 15th, active connection, the 16th, metal bearing, the 17th, side installing plate, the 18th, cylindrical shape nylon part, the 19th, fixed support, the 20th, movable axis, the 21st, shaft insulation.
The specific embodiment:
Below in conjunction with accompanying drawing, the present invention is described in further detail:
Referring to Fig. 1,2, a kind of GPS track irregularity detection system, comprises measuring unit and Data Post unit, and described measuring unit comprises traversing carriage and the measurement mechanism that is movably arranged on raceway surface; Described measurement mechanism is rigidly fixed on traversing carriage, and this measurement mechanism comprises 2 independent measurement data acquisition recorders that arrange; Described measurement data acquisition recorder is for measure in real time the status data of traversing carriage and the status data of measuring is arranged and is recorded to data record unit according to time sequencing at every turn; The status data that described Data Post unit records for processed offline data record unit.
Described 2 independent measurement data acquisition recorders that arrange are respectively the first measurement data acquisition recorder and the second measurement data acquisition recorder; Wherein the first measurement data acquisition recorder is comprised of the first double antenna GPS positioning and directing instrument and a GPS inertia measurement instrument, the first gps antenna on the first double antenna GPS positioning and directing instrument and the second gps antenna are separately positioned on first and vertically move support and second and vertically move on support, and first vertically moves support and second vertically moves between support and connect by active connection; Wherein the second measurement data acquisition recorder is comprised of the second double antenna GPS positioning and directing instrument and the 2nd GPS inertia measurement instrument, the 3rd gps antenna on the second double antenna GPS positioning and directing instrument and the 4th gps antenna are separately positioned on the 3rd and vertically move support and the 4th and vertically move on support, and the 3rd vertically moves support and the 4th vertically moves between support and connect by active connection; The one GPS inertia measurement instrument and the 2nd GPS inertia measurement instrument all comprise three gyroscopes, three accelerometers and navigate calculating and a data record center; Wherein double antenna GPS positioning and directing instrument for the absolute position, the speed of service, rail of measuring traversing carriage to deflection and angle of slope, the three dimensional angular speed of three gyroscope survey traversing carriages, the three-dimensional acceleration of three accelerometer measures traversing carriages; The absolute position that export GPS positioning and directing instrument at described navigation calculating and data record center, the speed of service, rail are to deflection and angle of slope and the computing of navigating of the three-dimensional acceleration data exported of the three dimensional angular speed exported of three gyroscopes and three accelerometers, show that precise time, absolute position, rail are to deflection and angle of slope, and it is inner with data acquisition recorder in chronological order status data to be recorded in to measurement; The status data of described traversing carriage refers to that the absolute position, rail of traversing carriage are to deflection and angle of slope.
Described traversing carriage comprises that four vertically move support and two transverse moving supports, and these four vertically move support and two transverse moving supports are flexibly connected by six connectors, make described traversing carriage become the non-rigid structure of a ZZ type.
Between described traversing carriage and track, be provided with carriage, this carriage comprises a main installing plate, two side installing plates, two directive wheels and a main scroll wheel; Described directive wheel comprises a fixed support, movable axis, spring, shaft insulation and a metal bearing; Described main scroll wheel is comprised of a cylindrical shape nylon part, two metal bearings and a metal shaft.
The survey data document recording in hard disk is input in the computer of data processing centre, uses GPS orbit measurement post-processing unit to process.GPS orbit measurement Data Post unit is according to following steps:
A) reads data log document;
B) the first processing of survey data, its main purpose is that the positional information in all survey data is converted into mileage parameter, and by mileage order, orientation measurement data are rearranged, select fixed step size that survey data is re-recorded in new document, so that processing to calculate, next step uses;
C) set up rail and measure curve to orientation measurement curve and incline direction: read all by mileage, arrange containing rail to direction and incline direction survey data, respectively rail is carried out to smoothing processing to bearing data and incline direction data, eliminate the noise in two kinds of direction measurement, form level and smooth rail and measure curve to orientation measurement curve and incline direction;
D) set up rail to direction flat curve and incline direction flat curve: the feature of measuring curve to orientation measurement curve and incline direction according to rail is carried out automatic segmentation, according to every section of essential characteristic of measuring curve, determine that every section of rail is to the kind of direction flat curve and incline direction flat curve, use least square method is set up the best rail of every section to direction flat curve and incline direction flat curve.
E) calculate rail to direction irregularity and incline direction irregularity: rail is carried out to difference to orientation measurement curve and rail to direction flat curve and must overstep the limit to direction irregularity curve, incline direction is measured to curve and incline direction flat curve and carry out difference and draw incline direction irregularity curve;
F) rail converts to direction irregularity curve and rail to how much irregularity curves and the conversion of incline direction irregularity curve and the how much irregularity curves that tilt: with integral way, the rail of fixed step size is converted into rail to how much irregularity curves to direction irregularity curve, and with the same manner, the incline direction irregularity curve of track step-length is converted into how much irregularity curves of rail height;
G) calculate phase tracking under different observation wavelength to how much irregularity curves and how much irregularity curves of relative height: institute's rail is deducted respectively to rail before selected wavelength fixed range to geometry Irregularity detection values to how much Irregularity detection values, with the phase tracking that draws respective wavelength to geometry irregularity curves.The measured value of how much irregularities of all height is deducted to the how much Irregularity detection values of height before selected wavelength fixed range, to draw how much irregularity curves of relative orbit height of respective wavelength.
H) with image, show the function of all curves and amplify arbitrarily and translation image display window;
In the present invention, the specific algorithm of geometrical deviation is by following formula:
Δv＝Δl·sin(Δθ)≈Δl·Δθ
Use following formula to calculate to measure track and laterally grow the geometrical deviation of distance with ideal track:
Wherein, l is mileage variable, and θ (l) is deviation of directivity angle variable, and v (l) is geometrical deviation variable.Like this, just deviation of directivity Curve transform has been become to geometric position aberration curve, and can draw the deviate of position on any mileage.
Core of the present invention is: use GPS inertia combination measuring system and " ZZ " type distressed structure to measure trailer double track is carried out to position simultaneously, survey data is measured and is recorded at deflection and angle of slope, propose first to describe tested track circuit with direction mile coordinate, set up orbital direction and measure curve, and on the basis of track orientation measurement curve, essential characteristic in conjunction with smooth-going track forms orbital direction flat curve, guarantee accuracy and the reliability of reference line, utilize Difference Calculation errant direction irregularity curve, by integration method, derive again the absolute value of track geometry irregularity, as required finally, select fixed observer wavelength to process track geometry irregularity curve, draw how much irregularity curves of regulation of respective wavelength.
We have carried out repeatedly repetition measurement experiment on the spot on newly-built Zheng Xi high speed passenger dedicated railway, long 1.6 kilometers of measurement circuit, test result shows, the track irregularities of the overwhelming majority are all less than 1 millimeter, only has the track of place's 3885 meter sections to have the irregularity that is greater than 3 millimeters.Shown in Fig. 4 and Fig. 5 is under 10 meters and 20 meters observation wavelength, on same section, to come and go seven rails to the survey data of irregularity, in figure, can find out, on same mileage, rail is essentially identical to Irregularity detection value, measured deviation≤0.5 millimeter.
From Fig. 4 and Fig. 5, compare and can find out, 20 meters of observation Irregularity detection value under wavelength observes measured value under wavelength closer to actual conditions than 10 meters.Fig. 4 is shown all exists the irregularity of 3 millimeters at A, B two places.Fig. 5 shows that the long irregularity of 20 metric waves of 3 millimeter only appears in track at A place, and B place is smooth-going.As can be seen here, the selection of observation wavelength directly affects track irregularity detected value.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention; can not assert that the specific embodiment of the present invention only limits to this; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; can also make some simple deduction or replace, all should be considered as belonging to the present invention and determine scope of patent protection by submitted to claims.
Claims (4)
1. a GPS track irregularity detection system, comprises measuring unit and Data Post unit, it is characterized in that: described measuring unit comprises traversing carriage and the measurement mechanism that is movably arranged on raceway surface; Described measurement mechanism is rigidly fixed on traversing carriage, and this measurement mechanism comprises 2 independent measurement data acquisition recorders that arrange; Described measurement data acquisition recorder is for measure in real time the status data of traversing carriage and the status data of measuring is arranged and is recorded to data record unit according to time sequencing at every turn; The status data that described Data Post unit records for processed offline data record unit; Between described traversing carriage and track, be provided with carriage, this carriage comprises a main installing plate, two side installing plates, two directive wheels and a main scroll wheel; Described directive wheel comprises a fixed support, the first movable axis, spring, the second movable axis and a metal bearing; Described main scroll wheel is comprised of a cylindrical shape nylon part, two metal bearings and a metal shaft.
2. a kind of GPS track irregularity detection system as claimed in claim 1, it is characterized in that: described measurement data acquisition recorder is calculated with data record center and formed by a double antenna GPS positioning and directing instrument, three gyroscopes, three accelerometers and a navigation, wherein double antenna GPS positioning and directing instrument for the absolute position, the speed of service, rail of measuring traversing carriage to deflection and angle of slope, the three dimensional angular speed of three gyroscope survey traversing carriages, the three-dimensional acceleration of three accelerometer measures traversing carriages; The absolute position that export GPS positioning and directing instrument at described navigation calculating and data record center, the speed of service, rail are to deflection and angle of slope and the computing of navigating of the three-dimensional acceleration data exported of the three dimensional angular speed exported of three gyroscopes and three accelerometers, show that precise time, absolute position, rail are to deflection and angle of slope, and it is inner with data acquisition recorder in chronological order status data to be recorded in to measurement; The status data of described traversing carriage refers to that the absolute position, rail of traversing carriage are to deflection and angle of slope.
3. a kind of GPS track irregularity detection system as claimed in claim 1, it is characterized in that: described traversing carriage comprises that four vertically move support and two transverse moving supports, these four vertically move support and two transverse moving supports are flexibly connected by six connectors, make described traversing carriage become the non-rigid structure of a ZZ type.
4. a GPS track irregularity detection method, is characterized in that, in accordance with the following steps:
(1) measure in real time the status data of track and it is arranged according to time sequencing; Described status data refers to that the absolute position, rail of survey mark are to deflection and angle of slope;
(2) absolute position in step (1) is calculated to be to corresponding mileage, and according to time order and function order, mileage is sorted;
(3) according to the order of step (2) gained mileage, the mileage in step (1), rail are carried out to screening and sequencing to deflection and angle of slope by selected step-length;
(4) ordering rail in step (3) is carried out to smoothing processing to deflection, and in direction mile coordinate system, set up rail to orientation measurement curve in-orbit;
(5) according to rail, to the geometric properties of orientation measurement curve, divide section, determine in each section that rail is to the type of direction flat curve; And in-orbit on orientation measurement curve basis, by least square method, determine and represent the parameter of rail to the rail of direction flat curve to directivity function, making the quadratic sum of rail to direction flat curve and rail to orientation measurement curve deviate is minimum; When rail is zero to direction variable, rail is linear pattern to direction flat curve; When constant that rail is from non-zero to direction variable, rail is circular arc line style to direction flat curve; When rail is a variable to direction variable, rail is transition line style to direction flat curve;
(6) difference to orientation measurement curve and rail to direction flat curve by rail, calculates and oversteps the limit to direction irregularity curve;
(7) with integral way, to direction irregularity Curve transform, become rail to how much irregularity curves on rail, with this, must overstep the limit to how much irregularity absolute values;
(8) use different observation wavelength trackings to process calculating to how much irregularity absolute values, show that the rail of respective wavelength is to how much Irregularity detection values;
(9) by mileage order, read incline direction survey data, and it carries out smoothing processing, in incline direction mileage coordinate system, set up incline direction and measure curve;
(10) according to incline direction, measure the geometric properties division section of curve, determine the type of the tilted direction flat curve of each section; And measure on curve basis at incline direction, by least square method, determine the parameter of the incline direction function of incline direction flat curve, the quadratic sum that makes incline direction flat curve and incline direction measure deviate between curve is minimum; When angle of slope direction variable is zero, incline direction flat curve is linear pattern; When constant that angle of slope direction variable is non-zero, incline direction flat curve is circular arc line style;
(11) by incline direction, measure the difference of curve and incline direction flat curve, calculate incline direction irregularity curve;
(12) by the method for integration, incline direction irregularity curve is converted into how much irregularity curves of rail height, with this, draws the suitable absolute value that is uneven;
(13) use different observation wavelength to process how much irregularity absolute values of height, calculate the how much Irregularity detection values of height that adapt with wavelength; Described observation wavelength refers to the maximum length that detects track irregularity.
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