CN103575265B - High-speed railway linear-sign, satellite and mileage gauge based mileage positioning method - Google Patents

Abstract

The invention belongs to the railway track detection field, and relates to a high-speed railway linear-sign/satellite/mileage gauge based mileage positioning method. The method comprises the following steps: 1, acquiring and processing mileage gauge data; 2, acquiring and processing satellite data; 3, acquiring and processing high-speed railway linear-sign data; 4, calibrating the mileage gauge scale coefficient in real time; and 5, calculating the mileage. The method realizes a high-speed railway mileage positioning precision of above 10cm and 0.625m lower than a sleeper laying spacing under positive lines, bridges, tunnels and the like, allows the track fault to be accurately positioned to a concrete sleeper, and improves the work efficiency.

Description

A kind of mileage localization method based on high ferro linear flag, satellite and mileage gauge

Technical field

The invention belongs to railway track detection field, be related to a kind of based in high ferro linear flag, satellite and mileage gauge Journey localization method.

Background technology

It is often necessary to measure to orbit parameter in ballastless track of high-speed railway construction, maintenance process, according to measurement Result is adjusted to track, safeguards.This is accomplished by system and provides accurate mileage information.Existing mileage localization method is to defend Star, mileometer and artificial single-point GPS is adopted wherein satellite positioning method more to mark method, mileometer resolution mostly is hundreds of arteries and veins Punching/turn, manually has substantial connection to the response speed of table and operator, and precision is meter level, is not enough to navigate to concrete sleeper.

Content of the invention

The technical problem to be solved of the present invention is：There is provided a kind of based on high ferro linear flag, satellite and mileage gauge High-precision mileage localization method.

The technical scheme that the present invention takes is：A kind of mileage positioning side based on high ferro linear flag, satellite and mileage gauge Method, comprises the steps of：

Step 1, mileage gauge data acquisition and procession：

One high-resolution photoelectricity mileage gauge is installed outside in rail car wheel shaft, mileage gauge is sent out to industrial computer by fixed frequency Send accumulated pulse number, record N_L,i；

Step 2, satellite data acquisition and process：

Step 2.1, satellite data acquisition：

Satellite data is received by DVB, turnover rate is not less than 1Hz；

Step 2.2, satellite data formedness judges：

DVB exports the XYZ information under ECEF coordinate system according to setpoint frequency, in being calculated using XYZ coordinate data Journey；Often receive one group of satellite data, judge satellite information formedness；When satellite in order when, calculate satellite mileage increment, no Then do not record；Criterion is satellite in order：Satellite number NUM>N1, and positional precision degree of strength PDOP<N2, wherein, n1 is not little It is not more than 3 in 4, n2；

Step 2.3, satellite mileage increment is calculated with corresponding mileage gauge pulse increment：

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}---\left(1\right)$

ΔN_G,i=N_L,i-N_L,i-1(2)

Wherein, (X_G,i,Y_G,i,Z_G,i) for i moment corresponding satellite fix railcar positional information；

ΔL_G,iFor the i-1 moment to i moment satellite fix track car kilometer increment；

ΔN_G,iMileage gauge pulse increment for the i-1 moment to i moment；

Step 2.4, updates accumulated distance：

$L_{1,i}=\underset{m=1}{\overset{i}{\&Sigma;}}{\mathrm{\&Delta;L}}_{G,m}---\left(3\right)$

Wherein, L_1,iAccumulated distance for the i moment；

ΔL_G,mFor the m-1 moment to m moment satellite fix track car kilometer increment；

Step 3, high ferro linear flag's data acquisition and procession：

Step 3.1, high ferro linear flag's label gathers：

Can be received including lateral separation D by high ferro linear flag's acquisition device_C, vertical apart from H_C, mileage gauge add up Umber of pulse N_L,jPacket, obtain corresponding three-dimensional coordinate (X in linear flag data storehouse using tabling look-up_C,j,Y_C,j,Z_C,j)；

Step 3.2, high ferro linear flag's mileage increment and corresponding mileage gauge pulse increment：

Calculate often the distance between two neighboring high ferro linear flag point Δ L_C,j：

${\mathrm{\&Delta;L}}_{C,j}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}---\left(4\right)$

Calculate corresponding mileage gauge pulse increment Δ N_C,j：

ΔN_C,j=N_C,j-N_C,j-1(5)

Step 3.3, updates accumulated distance L_1,j：

$L_{1,j}=\underset{k=1}{\overset{j}{\&Sigma;}}{\mathrm{\&Delta;L}}_{C,j}---\left(6\right)$

Step 4, mileage gauge calibration factor real-time calibration：

Step 4.1, basic mileage gauge calibration factor calculates：

Mileage gauge photoelectric encoder be N pulse/turn, wheel diameter be D rice, then calibration factor basic value k₀For：

$k_0=\frac{\mathrm{\&pi;}D}{N}---\left(7\right)$

Step 4.2, calibration factor k calculates and revises：

With T for a nominal time window, using high-precision satellite data and high ferro linear flag's data, to scale system Number is demarcated；

Being located in T time interval has m group satellite data effectively, and n group high ferro linear flag's data is effective, if m+n>P, wherein P is the natural number not less than 10, then calculate and revise mileage gauge calibration factor；Otherwise, make Δ k_i=Δ k_i-1；

Scale factor error rectification value computing formula is as follows：

If：Δ L=[Δ L_G,1ΔL_G,2…ΔL_G,mΔL_C,1ΔL_C,2…ΔL_C,n]^T(8)

Δ N=[Δ N_G,1ΔN_G,2…ΔN_G,mΔN_C,1ΔN_C,2…ΔN_C,n]^T(9)

Then：Δk_i=(Δ N^T·ΔN)^-1·ΔN^T·ΔL (10)

Order：K=k₀+Δk_i(11)

Step 5, mileage calculation：

L=L₀+k(N_L-N₀) (12)

Wherein, L is current mileage,

N_LFor current PRF number,

L₀For revising the mileage in moment recently,

N₀For the nearest umber of pulse revising the moment.

The device have the advantages that：The present invention realizes in the high-speed railway of multiple condition such as main track, bridge, tunnel Journey positioning precision is better than 10cm, less than sleeper laying spacing 0.625m, rail fault can be pin-pointed to concrete sleeper, carry High workload efficiency.

Specific embodiment

Application in ballastless track of high-speed railway fault location for the present invention, should equipped with light resolution photoelectricity mileage gauge, Use in the railcar of DVB and high ferro linear flag's acquisition device (the patent number of quoting 201110089812.4).Specifically Operating procedure is as follows：

Step 1：Mileage gauge data acquisition and procession

One high-resolution photoelectricity mileage gauge is installed outside in rail car wheel shaft, mileage gauge is sent out to industrial computer by fixed frequency Send accumulated pulse number, record N_L,i.

Step 2：Satellite data acquisition and process

Step 2.1 satellite data acquisition

Satellite data is received by DVB, turnover rate is not less than 1Hz.

Step 2.2 satellite data formedness judges

DVB exports the XYZ information under ECEF coordinate system according to setpoint frequency, in being calculated using XYZ coordinate data Journey.Often receive one group of satellite data, judge satellite information formedness.When satellite in order when, calculate satellite mileage increment；No Then do not record.Criterion is satellite in order：

Satellite number NUM>N1, and positional precision degree of strength PDOP<n2

Wherein, n1 is natural number, and n2 is natural number.

Step 2.3 satellite mileage increment and corresponding mileage gauge pulse increment：

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}$

ΔN_G,i=N_L,i-N_L,i-1

Wherein, (X_G,i,Y_G,i,Z_G,i) for i moment corresponding satellite fix railcar positional information；

ΔL_G,iFor the i-1 moment to i moment satellite fix track car kilometer increment；

ΔN_G,iMileage gauge pulse increment for the i-1 moment to i moment.

Step 2.4 updates accumulated distance：

$L_{1,i}=\underset{m=1}{\overset{i}{\&Sigma;}}{\mathrm{\&Delta;L}}_{G,m}$

Wherein, L_1,iAccumulated distance for the i moment.

Step 3：High ferro linear flag's data acquisition and procession

Step 3.1：High ferro linear flag's label gathers

Can be received including lateral separation D by high ferro linear flag's acquisition device_C, vertical apart from H_C, mileage gauge add up Umber of pulse N_L,jPacket.Obtain corresponding three-dimensional coordinate (X using tabling look-up in linear flag data storehouse_C,j,Y_C,j,Z_C,j).

Step 3.2：High ferro linear flag's mileage increment and corresponding mileage gauge pulse increment

Calculate often the distance between two neighboring high ferro linear flag point：

${\mathrm{\&Delta;L}}_{C,j}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}$

Corresponding mileage gauge pulse increment：

ΔN_C,j=N_C,j-N_C,j-1

Step 3.3 updates accumulated distance：

$L_{1,j}=\underset{k=1}{\overset{j}{\&Sigma;}}{\mathrm{\&Delta;L}}_{C,j}$

Step 4：Mileage gauge calibration factor real-time calibration

Step 4.1：Basic mileage gauge calibration factor calculates

Mileage gauge photoelectric encoder be N pulse/turn, wheel diameter be Dm, then calibration factor basic value be：

Step 4.2：Calibration factor calculates and revises

With T for a nominal time window, using high-precision satellite data and high ferro linear flag's data, to scale system Number is demarcated.

Being located in T time interval has m group satellite data effectively, and n group high ferro linear flag's data is effective, if m+n>(p is p One natural number), then calculate and revise mileage gauge calibration factor；Otherwise, make Δ k_i=Δ k_i-1.

Scale factor error rectification value computing formula is as follows：

If：Δ L=[Δ L_G,1ΔL_{Dissipate 2}…ΔL_G,mΔL_C,1ΔL_C,2…ΔL_C,n]^T

Δ N=[Δ N_G,1ΔN_G,2…ΔN_G,mΔN_C,1ΔN_C,2…ΔN_C,n]^T

Then：Δk_i=(Δ N^T·ΔN)^-1·ΔN^T·ΔL

Order：K=k₀+Δk_i

Step 5：Mileage calculation

L=L₀+k(N_L-N₀)

In formula, L is current mileage

N_LFor current PRF number

L₀For the nearest mileage revising the moment

N₀For the nearest umber of pulse revising the moment

Embodiment

Step 1：Mileage gauge data acquisition and procession

The photoelectric encoder of one 3600 pulses/turn is installed outside track checking car left rear wheel wheel hub, encoder presses the frequency of 200Hz Rate sends accumulated pulse number to industrial computer, records N_L,i.

Step 2：Satellite data acquisition and process

Step 2.1 satellite data acquisition

Satellite equipment selects Psudo-carrier phase DGPS, receives satellite data by DVB, and turnover rate is 1Hz.

Step 2.2 satellite data formedness judges

DVB with the XYZ information under the rate-adaptive pacemaker ECEF coordinate system of 1Hz, in being calculated using XYZ coordinate data Journey.Every 1s receives one group of satellite data, when judging satellite in order, calculates satellite mileage increment；Otherwise do not record.Satellite Criterion is in order：Satellite number NUM>6, and PDOP<3.

Step 2.3 satellite mileage increment and corresponding mileage gauge pulse increment：

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}$

ΔN_G,i=N_L,i-N_L,i-1

(X_G,i,Y_G,i,Z_G,i) it is i moment corresponding satellite information；

ΔL_G,iSatellite mileage increment for the i-1 moment to i moment.

ΔN_G,iMileage gauge pulse increment for the i-1 moment to i moment.

Step 2.4 updates accumulated distance：

$L_{1,j}=\underset{m=1}{\overset{i}{\&Sigma;}}{\mathrm{\&Delta;L}}_{G,m}$

Step 3：High ferro linear flag's data acquisition and procession

Step 3.1：High ferro linear flag's label gathers

Can be received including lateral separation D by high ferro linear flag's acquisition device_C, vertical apart from H_C, left mileage gauge tire out Meter umber of pulse N_L,jPacket.Obtain corresponding three-dimensional coordinate (X using tabling look-up in linear flag data storehouse_C,j,Y_C,j, Z_C,j).

Step 3.2：High ferro linear flag's mileage increment and corresponding mileage gauge pulse increment

Calculate often the distance between two neighboring high ferro linear flag point：

${\mathrm{\&Delta;L}}_{C,i}=\sqrt{{(X_{C,j}-X_{C,j-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}$

Corresponding mileage gauge pulse increment

ΔN_C,j=N_C,j-N_C,j-1

Step 3.3 updates accumulated distance：

$L_{1,j}=\underset{k=1}{\overset{j}{\&Sigma;}}{\mathrm{\&Delta;L}}_{C,j}$

Step 4：Mileage gauge calibration factor real-time calibration

Step 4.1：Basic mileage gauge calibration factor calculates

Mileage gauge photoelectric encoder be 3600 pulses/turn, wheel diameter be 0.915m, then calibration factor basic value be：

k₀=0.0007985 (m/^)

Step 4.2：Calibration factor calculates and revises

With 5min for a nominal time window, using high-precision satellite data and high ferro linear flag's data, to quarter Degree coefficient is demarcated.

It is located in 5min time interval and has m group DGPS data effectively, n group high ferro linear flag's data is effective, if m+n>10, Then calculate and revise mileage gauge calibration factor；Otherwise, make Δ k_i=Δ k_i-1.

Scale factor error rectification value computing formula is as follows：

If：Δ L=[Δ L_G,1ΔL_G,2…ΔL_G,mΔL_C,1ΔL_C,2…ΔL_C,n]^T

Δ N=[Δ N_G,1ΔN_G,2…ΔN_G,mΔN_C,1ΔN_C,2…ΔN_C,n]^T

Then：Δk_i=(Δ N^T·ΔN)^-1·ΔN^T·ΔL

Order：K=k₀+Δk_i

Step 5：Mileage calculation

L=L₀+k(N_L-N₀)

In formula, L is current mileage

N_LFor current PRF number

L₀For the nearest mileage revising the moment

N₀For the nearest umber of pulse revising the moment

So far, calculated the mileage information of high-speed railway.

Claims (1)

1. a kind of mileage localization method based on high ferro linear flag, satellite and mileage gauge, it is characterized by methods described comprise with Lower step：

Step 1, mileage gauge data acquisition and procession：

One high-resolution photoelectricity mileage gauge is installed outside in rail car wheel shaft, mileage gauge is pressed fixed frequency and sent to industrial computer and tires out Meter umber of pulse, records N_L,i；

Step 2, satellite data acquisition and process：

Step 2.1, satellite data acquisition：

Satellite data is received by DVB, turnover rate is not less than 1Hz；

Step 2.2, satellite data formedness judges：

DVB exports the XYZ information under ECEF coordinate system according to setpoint frequency, calculates mileage using XYZ coordinate data； Often receive one group of satellite data, judge satellite information formedness；When satellite in order when, calculate satellite mileage increment, otherwise Do not record；Criterion is satellite in order：Satellite number NUM>N1, and positional precision degree of strength PDOP<N2, wherein, n1 is not less than 4, n2 are not more than 3；

Step 2.3, satellite mileage increment is calculated with corresponding mileage gauge pulse increment：

${\mathrm{\&Delta;L}}_{G,i}=\sqrt{{(X_{G,i}-X_{G,i-1})}^2+{(Y_{G,i}-Y_{G,i-1})}^2+{(Z_{G,i}-Z_{G,i-1})}^2}---\left(1\right)$

△N_G,i=N_L,i-N_L,i-1(2)

Wherein, (X_G,i,Y_G,i,Z_G,i) for i moment corresponding satellite fix railcar positional information；

△L_G,iFor the i-1 moment to i moment satellite fix track car kilometer increment；

ΔN_G,iMileage gauge pulse increment for the i-1 moment to i moment；

Step 2.4, updates accumulated distance：

$L_{1,i}=\underset{m=1}{\overset{i}{\&Sigma;}}{\mathrm{\&Delta;L}}_{G,m}---\left(3\right)$

Wherein, L_1,iAccumulated distance for the i moment；

ΔL_G,mFor the m-1 moment to m moment satellite fix track car kilometer increment；

Step 3, high ferro linear flag's data acquisition and procession：

Step 3.1, high ferro linear flag's label gathers：

Can be received including lateral separation D by high ferro linear flag's acquisition device_C, vertical apart from H_C, mileage gauge accumulated pulse Number N_L,jPacket, obtain corresponding three-dimensional coordinate (X in linear flag data storehouse using tabling look-up_C,j,Y_C,j,Z_C,j)；

Step 3.2, high ferro linear flag's mileage increment and corresponding mileage gauge pulse increment：

Calculate often the distance between two neighboring high ferro linear flag point Δ L_C,j：

${\mathrm{\&Delta;L}}_{C,j}=\sqrt{{(X_{C,j}-X_{C,i-1})}^2+{(Y_{C,j}-Y_{C,j-1})}^2+{(Z_{C,j}-Z_{C,j-1})}^2}---\left(4\right)$

Calculate corresponding mileage gauge pulse increment Δ N_C,j：

ΔN_C,j=N_C,j-N_C,j-1(5)

Step 3.3, updates accumulated distance L_1,j：

$L_{1,j}=\underset{k=1}{\overset{j}{\&Sigma;}}{\mathrm{\&Delta;L}}_{C,j}---\left(6\right)$

Step 4, mileage gauge calibration factor real-time calibration：

Step 4.1, basic mileage gauge calibration factor calculates：

Mileage gauge photoelectric encoder be N pulse/turn, wheel diameter be D rice, then calibration factor basic value k₀For：

$k_0=\frac{\mathrm{\&pi;}D}{N}---\left(7\right)$

Step 4.2, calibration factor k calculates and revises：

With T for a nominal time window, using high-precision satellite data and high ferro linear flag's data, calibration factor is entered Rower is fixed；

Being located in T time interval has m group satellite data effectively, and n group high ferro linear flag's data is effective, if m+n>P, wherein p are Natural number not less than 10, then calculate and revise mileage gauge calibration factor；Otherwise, make Δ k_i=△ k_i-1；

Scale factor error rectification value computing formula is as follows：

If：△ L=[△ L_G,1ΔL_G,2… △L_G,mΔL_C,1ΔL_C,2… △L_C,n]^T(8)

△ N=[△ N_G,1△N_G,2… △N_G,m△N_C,1△N_C,2… △N_C,n]^T(9)

Then：△k_i=(△ N^T·△N)^-1·△N^T·△L (10)

Order：K=k₀+△k_i(11)

Step 5, mileage calculation：

L=L₀+k(N_L-N₀) (12)

Wherein, L is current mileage,

N_LFor current PRF number,

L₀For revising the mileage in moment recently,

N₀For the nearest umber of pulse revising the moment.