Track irregularity detecting system and method based on INS/GNSS

Abstract

The invention discloses a track irregularity detecting system and method based on an INS / GNSS. According to the method, an INS / GNSS combined measurement system is taken as a core measurement device, is fixed and arranged on a moving support and moves along with the moving support on a track, and a three-dimensional position coordinate sequence of the track and an attitude angle sequence of the track are obtained through measurement. Track irregularity is evaluated through a track irregularity evaluation method based on the coordinate method according to the combination of tack design curve parameters, the three-dimensional position coordinate sequence of the track, the attitude angle sequence of the track and a gauge measured value. According to the track irregularity detecting system and method, high-accuracy and high-efficiency dynamic measurement of the track irregularity is achieved, the track irregularity is evaluated on the basis of the coordinate method, and the evaluation method is simpler and more convenient to conduct, intuitive and easy to understand.

Description

technical field [0001] The invention belongs to the field of railway track measurement, and relates to a track irregularity detection system and method based on the combined measurement technology of an inertial navigation system (INS) and a global navigation satellite system (GNSS). Background technique [0002] Dynamic track inspection vehicles, light rail inspection trolleys, strings and track rulers are the main equipment and methods for measuring track irregularities at present (see Chinese patent CN102337710A). At the same time, it meets the detection requirements of high-speed rail ballastless track irregularities. [0003] 1. Dynamic rail inspection vehicle [0004] The dynamic rail inspection vehicle adopts the principle of inertial reference measurement and integrates many measurement devices including inertial sensors. It has the advantages of high measurement efficiency, strong comprehensiveness and complete measurement items. It can detect and evaluate the over...

AI Technical Summary

Problems solved by technology

[0007] The light-duty precision track inspection trolley based on the total station has the following defects in the detection of track irregularities: 1) The efficiency is low. The efficiency is 150m / h, and it is difficult to quickly complete the measurement task within the skylight time; 2) It is highly dependent on the control points of the track control network (CPIII). The upper CPIII control point has problems such as high maintenance cost and serious damage, which brings a lot of inconvenience to the actual measurement; 3) It is not conducive to long-wave detection, limited by the measurement capability of the total station, the measurement distance of a station is about 60m, and the distance between the stations needs to be Carry out overlapping section measurement in order to achieve the unification of the coordinate system; the measurement accuracy of the overlapping section is affected by the accuracy of the control points, so there is a "margin error", that is, it is difficult to convert the position coordinates of each station into a unified coordinate system with high precision, which will Seriously damage the detection accuracy of long-wave band irregularities; 4) It does not have the ability to detect ultra-short-wave track irregularities; 5) The environmental conditions are harsh, and the total station is greatly affected by the external measurement environment, such as temperature, humidity, light, visibility, etc., harsh Basically unable to work under conditions

GPS dual antenna is an effective auxiliary means of inertial measurement, but the scheme still has the following deficiencies: 1) The measurement items are incomplete. This method measures the two rails separately, and the connection between the measured values ​​of the two rails is lost 2) There is a problem of distortion in the measurement of short-wave irregularity; 3) It is difficult to establish a connection between the evaluation of track irregularity and the current evaluation method; 4) Data processing is very complicated , requires more manual intervention, and in the process of establishing the ideal curve, there is a possibility of human misjudgment when dividing the track type section;

[0019] Due to various reasons, the dynamic detection based on the dynamic track inspection vehicle is still difficult to guide the fine adjustment of the track; the actual track measurement urgently needs a portable light rail inspection trolley with high measurement accuracy, easy operation and high work efficiency. The existing inertial measurement technology The track inspection trolley needs further research and improvement, and there is no mature product

At present, only the precision track inspection trolley based on the high-precision total station can meet the accuracy requirements of the high-speed rail track irregularity measurement accuracy. This method can directly provide the absolute position coordinate sequence of the measured track, and detect the track irregularity according to the position coordinates. Evaluation The method is simple, intuitive, and easy to understand, but the scheme urgently needs to be improved in terms of data acquisition efficiency and coordinate system to meet the detection requirements of high-speed rail track irregularities

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