CN103575265B

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

Info

Publication number: CN103575265B
Application number: CN201210264088.9A
Authority: CN
Inventors: 张金红; 侯迎团; 刘进; 焦飞; 许大川; 刘小溪
Original assignee: No 618 Research Institute of China Aviation Industry
Current assignee: No 618 Research Institute of China Aviation Industry
Priority date: 2012-07-27
Filing date: 2012-07-27
Publication date: 2017-02-08
Anticipated expiration: 2032-07-27
Also published as: CN103575265A

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 mileage positioning method based on high-speed rail linear markers, satellites and odometers

技术领域technical field

本发明属于铁路轨道检测领域，涉及一种基于高铁线性标志、卫星和里程仪的里程定位方法。The invention belongs to the field of railway track detection and relates to a mileage positioning method based on high-speed rail linear signs, satellites and odometers.

背景技术Background technique

在高速铁路无砟轨道建设、维护过程中，经常需要对轨道参数进行测量，根据测量结果对轨道进行调整、维护。这就需要系统提供精确的里程信息。现有的里程定位方法为卫星、里程表和人工对标方法，其中卫星定位方法多采用单点GPS，里程表分辨率多为几百脉冲/转，人工对表与操作人员的反应速度有密切关系，精度为米级，不足以定位到具体轨枕。During the construction and maintenance of high-speed railway ballastless track, it is often necessary to measure track parameters, and adjust and maintain the track according to the measurement results. This requires the system to provide accurate mileage information. The existing mileage positioning methods are satellites, odometers and manual benchmarking methods. Among them, the satellite positioning method mostly uses single-point GPS, and the resolution of the odometer is mostly hundreds of pulses/rev. relationship, the accuracy is at the meter level, which is not enough to locate specific sleepers.

发明内容Contents of the invention

本发明的所要解决的技术问题是：提供一种基于高铁线性标志、卫星和里程仪的高精度的里程定位方法。The technical problem to be solved by the present invention is to provide a high-precision mileage positioning method based on high-speed rail linear signs, satellites and odometers.

本发明采取的技术方案为：一种基于高铁线性标志、卫星和里程仪的里程定位方法,包含以下步骤：The technical solution adopted by the present invention is: a mileage positioning method based on high-speed rail linear signs, satellites and odometers, comprising the following steps:

步骤1，里程仪数据采集与处理：Step 1, odometer data collection and processing:

在轨道车某轮轴外侧安装一高分辨率光电里程仪，里程仪按固定频率向工控机发送累计脉冲数，记录N_L,i；Install a high-resolution photoelectric odometer on the outside of a wheel axle of the rail car, and the odometer sends the accumulated pulse number to the industrial computer at a fixed frequency, and records N _L,i ;

步骤2，卫星数据采集与处理：Step 2, satellite data collection and processing:

步骤2.1，卫星数据采集：Step 2.1, satellite data collection:

通过卫星接收机接收卫星数据，更新率不小于1Hz；Receive satellite data through a satellite receiver, and the update rate is not less than 1Hz;

步骤2.2，卫星数据良好性判断：Step 2.2, satellite data goodness judgment:

卫星接收机按照设定频率输出ECEF坐标系下的XYZ信息，采用XYZ坐标数据计算里程；每接收一组卫星数据，判断卫星信息良好性；当卫星状况良好时，计算卫星里程增量，否则不记录；卫星状况良好判据为：卫星数NUM>n1，且位置精度强弱度PDOP<n2，其中，n1不小于4，n2不大于3；The satellite receiver outputs the XYZ information under the ECEF coordinate system according to the set frequency, and uses the XYZ coordinate data to calculate the mileage; each time a set of satellite data is received, the satellite information is judged to be good; when the satellite is in good condition, the satellite mileage increment is calculated, otherwise it is not Record; the criteria for good satellite condition are: the number of satellites NUM>n1, and the strength of position accuracy PDOP<n2, where n1 is not less than 4 and n2 is not greater than 3;

步骤2.3，卫星里程增量与对应的里程仪脉冲增量计算：Step 2.3, calculation of satellite mileage increment and corresponding odometer pulse increment:

${ΔL Δ L}_{G G,, i i} = = \sqrt{{(({X x}_{G G,, i i} - - {X x}_{G G,, i i - - 11}))}^{22} + + {(({Y Y}_{G G,, i i} - - {Y Y}_{G G,, i i - - 11}))}^{22} + + {(({Z Z}_{G G,, i i} - - {Z Z}_{G G,, i i - - 11}))}^{22}} - - - - - - ((11))$

ΔN_G,i＝N_L,i-N_L,i-1 (2)ΔN _G,i =N _L,i -N _L,i-1 (2)

其中，(X_G,i,Y_G,i,Z_G,i)为i时刻对应的卫星定位的轨道车位置信息；Among them, (X _{G, i} , Y _{G, i} , Z _{G, i} ) is the position information of the rail vehicle corresponding to the satellite positioning at time i;

ΔL_G,i为i-1时刻到i时刻卫星定位的的轨道车里程增量；ΔL _G,i is the mileage increment of the rail car from the time i-1 to the satellite positioning at the time i;

ΔN_G,i为i-1时刻到i时刻的里程仪脉冲增量；ΔN _G,i is the odometer pulse increment from time i-1 to time i;

步骤2.4，更新累积里程：Step 2.4, update accumulated mileage:

${L L}_{11,, i i} = = {Σ Σ}_{m m = = 11}^{i i} {ΔL Δ L}_{G G,, m m} - - - - - - ((33))$

其中，L_1,i为i时刻的累积里程；Among them, L _1,i is the accumulated mileage at time i;

ΔL_G,m为m-1时刻到m时刻卫星定位的的轨道车里程增量；ΔL _G,m is the mileage increment of the rail car for satellite positioning from time m-1 to time m;

步骤3，高铁线性标志数据采集与处理：Step 3, high-speed rail linear sign data collection and processing:

步骤3.1，高铁线性标志标号采集：Step 3.1, collection of high-speed rail linear signs and labels:

通过高铁线性标志获取装置可以接收到包括横向距离D_C、垂向距离H_C、里程仪累计脉冲数N_L,j的数据包，采用查表在线性标志数据库中得到对应的三维坐标(X_C,j,Y_C,j,Z_C,j)；The high-speed rail linear mark acquisition device can receive data packets including the lateral distance D _C , the vertical distance H _C , and the accumulated pulse number N _L,j of the odometer, and obtain the corresponding three-dimensional coordinates (X _{C ,j} ,Y _C,j ,Z _C,j );

步骤3.2，高铁线性标志里程增量与对应的里程仪脉冲增量：Step 3.2, high-speed rail linear mark mileage increment and corresponding odometer pulse increment:

计算每相邻两个高铁线性标志点之间的距离ΔL_C,j：Calculate the distance ΔL _C,j between two adjacent high-speed rail linear marker points:

${ΔL ΔL}_{C C,, j j} = = \sqrt{{(({X x}_{C C,, j j} - - {X x}_{C C,, j j - - 11}))}^{22} + + {(({Y Y}_{C C,, j j} - - {Y Y}_{C C,, j j - - 11}))}^{22} + + {(({Z Z}_{C C,, j j} - - {Z Z}_{C C,, j j - - 11}))}^{22}} - - - - - - ((44))$

计算对应的里程仪脉冲增量ΔN_C,j：Calculate the corresponding odometer pulse increment ΔN _C,j :

ΔN_C,j＝N_C,j-N_C,j-1 (5)ΔN _C,j =N _C,j -N _C,j-1 (5)

步骤3.3，更新累积里程L_1,j：Step 3.3, update the accumulated mileage L _1,j :

${L L}_{11,, j j} = = {Σ Σ}_{k k = = 11}^{j j} {ΔL Δ L}_{C C,, j j} - - - - - - ((66))$

步骤4，里程仪刻度系数实时标定：Step 4, real-time calibration of the odometer scale coefficient:

步骤4.1，基本里程仪刻度系数计算：Step 4.1, basic odometer scale coefficient calculation:

里程仪光电编码器为N脉冲/转，车轮直径为D米，则刻度系数基础值k₀为：The photoelectric encoder of the odometer is N pulses/revolution, and the wheel diameter is D meters, so the basic value of the scale coefficient k0 is _:

${k k}_{00} = = \frac{π π D D.}{N N} - - - - - - ((77))$

步骤4.2，刻度系数k计算与修正：Step 4.2, Calculation and Correction of Scale Coefficient k:

以T为一个标定时间窗口，利用高精度的卫星数据和高铁线性标志数据，对刻度系数进行标定；Take T as a calibration time window, and use high-precision satellite data and high-speed rail linear marker data to calibrate the scale coefficient;

设在T时间间隔内有m组卫星数据有效，n组高铁线性标志数据有效，若m+n>p，其中p为不小于10的自然数，则计算并修正里程仪刻度系数；否则，令Δk_i＝Δk_i-1；Assuming that m groups of satellite data are valid and n groups of high-speed rail linear sign data are valid within the T time interval, if m+n>p, where p is a natural number not less than 10, calculate and correct the odometer scale coefficient; otherwise, set Δk _i = Δk _i-1 ;

刻度系数修正值计算公式如下：The calculation formula of scale coefficient correction value is as follows:

设：ΔL＝[ΔL_G,1 ΔL_G,2…ΔL_G,m ΔL_C,1 ΔL_C,2…ΔL_C,n]^T (8)Suppose: ΔL＝[ΔL _G,1 ΔL _G,2 ... ΔL _G,m ΔL _C,1 ΔL _C,2 ...ΔL _C,n ] ^T (8)

ΔN＝[ΔN_G,1 ΔN_G,2…ΔN_G,m ΔN_C,1 ΔN_C,2…ΔN_C,n]^T (9)ΔN＝[ΔN _G,1 ΔN _G,2 ... ΔN _G,m ΔN _C,1 ΔN _C,2 ...ΔN _C,n ] ^T (9)

则：Δk_i＝(ΔN^T·ΔN)^-1·ΔN^T·ΔL (10)Then: Δk _i = (ΔN ^T ·ΔN) ^-1 ·ΔN ^T ·ΔL (10)

令：k＝k₀+Δk_i (11)Order: k＝k ₀ +Δk _i (11)

步骤5，里程计算：Step 5, mileage calculation:

L＝L₀+k(N_L-N₀) (12)L＝L ₀ +k(N _L -N ₀ ) (12)

其中，L为当前里程，Among them, L is the current mileage,

N_L为当前脉冲数，N _L is the current pulse number,

L₀为最近修正时刻的里程，L ₀ is the mileage at the latest correction time,

N₀为最近修正时刻的脉冲数。N ₀ is the number of pulses at the latest correction time.

本发明具有的有益效果：本发明实现在正线、桥梁、隧道等多种条件的高速铁路里程定位精度优于10cm，小于轨枕铺设间距0.625m，可以将轨道故障精确定位到具体轨枕，提高工作效率。The present invention has beneficial effects: the present invention realizes that the mileage positioning accuracy of high-speed railways under various conditions such as main lines, bridges, and tunnels is better than 10cm, which is less than the sleeper laying distance of 0.625m, and track faults can be accurately located to specific sleepers, improving work efficiency. efficiency.

具体实施方式detailed description

本发明在高速铁路无砟轨道故障定位中的应用，应在装有光分辨率光电里程仪、卫星接收机和高铁线性标志获取装置(专利报出号201110089812.4)的轨道车上使用。具体操作步骤如下：The application of the present invention in fault location of ballastless track of high-speed railway should be used on rail cars equipped with optical resolution photoelectric odometer, satellite receiver and high-speed railway linear mark acquisition device (patent report number 201110089812.4). The specific operation steps are as follows:

步骤1：里程仪数据采集与处理Step 1: Odometer data collection and processing

在轨道车某轮轴外侧安装一高分辨率光电里程仪，里程仪按固定频率向工控机发送累计脉冲数，记录N_L,i。A high-resolution photoelectric odometer is installed on the outside of a wheel axle of the rail car, and the odometer sends the accumulated pulse number to the industrial computer at a fixed frequency to record N _L,i .

步骤2：卫星数据采集与处理Step 2: Satellite data collection and processing

步骤2.1卫星数据采集Step 2.1 Satellite Data Acquisition

通过卫星接收机接收卫星数据，更新率不小于1Hz。The satellite data is received by the satellite receiver, and the update rate is not less than 1Hz.

步骤2.2卫星数据良好性判断Step 2.2 Satellite Data Goodness Judgment

卫星接收机按照设定频率输出ECEF坐标系下的XYZ信息，采用XYZ坐标数据计算里程。每接收一组卫星数据，判断卫星信息良好性。当卫星状况良好时，计算卫星里程增量；否则不记录。卫星状况良好判据为：The satellite receiver outputs the XYZ information in the ECEF coordinate system according to the set frequency, and uses the XYZ coordinate data to calculate the mileage. Each time a group of satellite data is received, the goodness of the satellite information is judged. When the satellite is in good condition, the satellite mileage delta is calculated; otherwise, it is not recorded. The criteria for good satellite condition are:

卫星数NUM>n1，且位置精度强弱度PDOP<n2The number of satellites NUM>n1, and the strength of position accuracy PDOP<n2

其中，n1为自然数，n2为自然数。Among them, n1 is a natural number, and n2 is a natural number.

步骤2.3卫星里程增量与对应的里程仪脉冲增量：Step 2.3 Satellite mileage increment and corresponding odometer pulse increment:

${ΔL Δ L}_{G G,, i i} = = \sqrt{{(({X x}_{G G,, i i} - - {X x}_{G G,, i i - - 11}))}^{22} + + {(({Y Y}_{G G,, i i} - - {Y Y}_{G G,, i i - - 11}))}^{22} + + {(({Z Z}_{G G,, i i} - - {Z Z}_{G G,, i i - - 11}))}^{22}}$

ΔN_G,i＝N_L,i-N_L,i-1 ΔN _G,i =N _L,i -N _L,i-1

ΔN_G,i为i-1时刻到i时刻的里程仪脉冲增量。ΔN _G,i is the odometer pulse increment from time i-1 to time i.

步骤2.4更新累积里程：Step 2.4 Update accumulated mileage:

${L L}_{11,, i i} = = {Σ Σ}_{m m = = 11}^{i i} {ΔL Δ L}_{G G,, m m}$

其中，L_1,i为i时刻的累积里程。Among them, L _1,i is the accumulated mileage at time i.

步骤3：高铁线性标志数据采集与处理Step 3: Acquisition and processing of high-speed rail linear sign data

步骤3.1：高铁线性标志标号采集Step 3.1: Acquisition of high-speed rail linear signs and labels

通过高铁线性标志获取装置可以接收到包括横向距离D_C、垂向距离H_C、里程仪累计脉冲数N_L,j的数据包。采用查表在线性标志数据库中得到对应的三维坐标(X_C,j,Y_C,j,Z_C,j)。The data packet including the lateral distance D _C , the vertical distance H _C , and the accumulated pulse number N _L,j of the odometer can be received by the high-speed rail linear sign acquisition device. The corresponding three-dimensional coordinates (X _C,j ,Y _C,j ,Z _C,j ) are obtained in the linear mark database by using the look-up table.

步骤3.2：高铁线性标志里程增量与对应的里程仪脉冲增量Step 3.2: The mileage increment of the high-speed rail linear mark and the corresponding odometer pulse increment

计算每相邻两个高铁线性标志点之间的距离：Calculate the distance between every two adjacent high-speed rail linear marker points:

${ΔL Δ L}_{C C,, j j} = = \sqrt{{(({X x}_{C C,, j j} - - {X x}_{C C,, j j - - 11}))}^{22} + + {(({Y Y}_{C C,, j j} - - {Y Y}_{C C,, j j - - 11}))}^{22} + + {(({Z Z}_{C C,, j j} - - {Z Z}_{C C,, j j - - 11}))}^{22}}$

对应的里程仪脉冲增量：Corresponding odometer pulse increment:

ΔN_C,j＝N_C,j-N_C,j-1 ΔN _C,j =N _C,j -N _C,j-1

步骤3.3更新累积里程：Step 3.3 Update accumulated mileage:

${L L}_{11,, j j} = = {Σ Σ}_{k k = = 11}^{j j} {ΔL Δ L}_{C C,, j j}$

步骤4：里程仪刻度系数实时标定Step 4: Real-time calibration of the odometer scale coefficient

步骤4.1：基本里程仪刻度系数计算Step 4.1: Basic Odometer Scale Coefficient Calculation

里程仪光电编码器为N脉冲/转，车轮直径为Dm，则刻度系数基础值为：The photoelectric encoder of the odometer is N pulses/revolution, and the wheel diameter is Dm, so the basic value of the scale coefficient is:

步骤4.2：刻度系数计算与修正Step 4.2: Scale coefficient calculation and correction

以T为一个标定时间窗口，利用高精度的卫星数据和高铁线性标志数据，对刻度系数进行标定。Taking T as a calibration time window, the scale coefficient is calibrated by using high-precision satellite data and high-speed rail linear sign data.

设在T时间间隔内有m组卫星数据有效，n组高铁线性标志数据有效，若m+n>p(p为一自然数)，则计算并修正里程仪刻度系数；否则，令Δk_i＝Δk_i-1。Assuming that there are m groups of satellite data valid within the time interval T, and n groups of high-speed rail linear sign data are valid, if m+n>p (p is a natural number), then calculate and correct the odometer scale coefficient; otherwise, let Δk _i =Δk _i-1 .

设：ΔL＝[ΔL_G,1 ΔL_散散2…ΔL_G,m ΔL_C,1 ΔL_C,2…ΔL_C,n]^T Suppose: ΔL＝[ΔL _G,1 ΔL _{Sansan 2} ... ΔL _G,m ΔL _C,1 ΔL _C,2 ...ΔL _C,n ] ^T

ΔN＝[ΔN_G,1 ΔN_G,2…ΔN_G,m ΔN_C,1 ΔN_C,2…ΔN_C,n]^T ΔN＝[ΔN _G,1 ΔN _G,2 ... ΔN _G,m ΔN _C,1 ΔN _C,2 ...ΔN _C,n ] ^T

则：Δk_i＝(ΔN^T·ΔN)^-1·ΔN^T·ΔLThen: Δk _i ＝(ΔN ^T ·ΔN) ^-1 ·ΔN ^T ·ΔL

令：k＝k₀+Δk_i Order: k＝k ₀ +Δk _i

步骤5：里程计算Step 5: Mileage Calculation

L＝L₀+k(N_L-N₀)L＝L ₀ +k(N _L -N ₀ )

式中，L为当前里程In the formula, L is the current mileage

N_L为当前脉冲数N _L is the current pulse number

L₀为最近修正时刻的里程L ₀ is the mileage at the latest correction time

N₀为最近修正时刻的脉冲数N ₀ is the number of pulses at the latest correction time

实施例Example

在轨检车左后轮轮毂外侧安装一3600脉冲/转的光电编码器，编码器按200Hz的频率向工控机发送累计脉冲数，记录N_L,i。Install a 3600 pulse/revolution photoelectric encoder on the outside of the left rear wheel hub of the rail inspection vehicle. The encoder sends the accumulated pulse number to the industrial computer at a frequency of 200Hz, and records N _L,i .

步骤2.1卫星数据采集Step 2.1 Satellite Data Acquisition

卫星设备选用载波相位差分GPS，通过卫星接收机接收卫星数据，更新率为1Hz。The satellite equipment uses carrier phase differential GPS to receive satellite data through a satellite receiver with an update rate of 1Hz.

步骤2.2卫星数据良好性判断Step 2.2 Satellite Data Goodness Judgment

卫星接收机以1Hz的频率输出ECEF坐标系下的XYZ信息，采用XYZ坐标数据计算里程。每1s接收一组卫星数据，当判断卫星状况良好时，计算卫星里程增量；否则不记录。卫星状况良好判据为：卫星数NUM>6，且PDOP<3。The satellite receiver outputs the XYZ information in the ECEF coordinate system at a frequency of 1 Hz, and uses the XYZ coordinate data to calculate the mileage. A set of satellite data is received every 1s, and when the satellite is judged to be in good condition, the satellite mileage increment is calculated; otherwise, it is not recorded. The criteria for good satellite condition are: the number of satellites NUM>6, and PDOP<3.

ΔN_G,i＝N_L,i-N_L,i-1 ΔN _G,i =N _L,i -N _L,i-1

(X_G,i,Y_G,i,Z_G,i)为i时刻对应的卫星信息；(X _G,i ,Y _G,i ,Z _G,i ) is the satellite information corresponding to time i;

ΔL_G,i为i-1时刻到i时刻的卫星里程增量。ΔL _G,i is the satellite mileage increment from time i-1 to time i.

步骤2.4更新累积里程：Step 2.4 Update accumulated mileage:

${L L}_{11,, j j} = = {Σ Σ}_{m m = = 11}^{i i} {ΔL Δ L}_{G G,, m m}$

通过高铁线性标志获取装置可以接收到包括横向距离D_C、垂向距离H_C、左里程仪累计脉冲数N_L,j的数据包。采用查表在线性标志数据库中得到对应的三维坐标(X_C,j,Y_C,j,Z_C,j)。The data packet including the lateral distance D _C , the vertical distance H _C , and the accumulated pulse number N _L,j of the left odometer can be received by the high-speed rail linear sign acquisition device. The corresponding three-dimensional coordinates (X _C,j ,Y _C,j ,Z _C,j ) are obtained in the linear mark database by using the look-up table.

${ΔL Δ L}_{C C,, i i} = = \sqrt{{(({X x}_{C C,, j j} - - {X x}_{C C,, j j - - 11}))}^{22} + + {(({Y Y}_{C C,, j j} - - {Y Y}_{C C,, j j - - 11}))}^{22} + + {(({Z Z}_{C C,, j j} - - {Z Z}_{C C,, j j - - 11}))}^{22}}$

对应的里程仪脉冲增量Corresponding odometer pulse increment

ΔN_C,j＝N_C,j-N_C,j-1 ΔN _C,j =N _C,j -N _C,j-1

步骤3.3更新累积里程：Step 3.3 Update accumulated mileage:

${L L}_{11,, j j} = = {Σ Σ}_{k k = = 11}^{j j} {ΔL Δ L}_{C C,, j j}$

里程仪光电编码器为3600脉冲/转，车轮直径为0.915m，则刻度系数基础值为：The photoelectric encoder of the odometer is 3600 pulses/rev, and the wheel diameter is 0.915m, so the basic value of the scale coefficient is:

k₀＝0.0007985(m/^)k ₀ =0.0007985(m/^)

以5min为一个标定时间窗口，利用高精度的卫星数据和高铁线性标志数据，对刻度系数进行标定。Taking 5 minutes as a calibration time window, the calibration coefficients are calibrated using high-precision satellite data and high-speed rail linear sign data.

设在5min时间间隔内有m组DGPS数据有效，n组高铁线性标志数据有效，若m+n>10，则计算并修正里程仪刻度系数；否则，令Δk_i＝Δk_i-1。Assuming that m sets of DGPS data and n sets of high-speed rail linear sign data are valid within a time interval of 5 minutes, if m+n>10, calculate and correct the odometer scale coefficient; otherwise, set Δk _i =Δk _i-1 .

设：ΔL＝[ΔL_G,1 ΔL_G,2…ΔL_G,m ΔL_C,1 ΔL_C,2…ΔL_C,n]^T Suppose: ΔL＝[ΔL _G,1 ΔL _G,2 ... ΔL _G,m ΔL _C,1 ΔL _C,2 ...ΔL _C,n ] ^T

ΔN＝[ΔN_G,1ΔN_G,2…ΔN_G,m ΔN_C,1 ΔN_C,2…ΔN_C,n]^T ΔN＝[ΔN _G,1 ΔN _G,2 ... ΔN _G,m ΔN _C,1 ΔN _C,2 ...ΔN _C,n ] ^T

令：k＝k₀+Δk_i Order: k＝k ₀ +Δk _i

步骤5：里程计算Step 5: Mileage Calculation

L＝L₀+k(N_L-N₀)L＝L ₀ +k(N _L -N ₀ )

式中，L为当前里程In the formula, L is the current mileage

N_L为当前脉冲数N _L is the current pulse number

至此，已经计算得到了高速铁路的里程信息。So far, the mileage information of the high-speed railway has been calculated.

Claims

1. A mileage positioning method based on high-speed rail linear signs, satellites and odometers, characterized in that the method comprises the following steps:

Step 1, odometer data collection and processing:

Install a high-resolution photoelectric odometer on the outside of a wheel axle of the rail car, and the odometer sends the accumulated pulse number to the industrial computer at a fixed frequency, and records N _L,i ;

Step 2, satellite data collection and processing:

Step 2.1, satellite data collection:

Receive satellite data through a satellite receiver, and the update rate is not less than 1Hz;

Step 2.2, satellite data goodness judgment:

The satellite receiver outputs the XYZ information under the ECEF coordinate system according to the set frequency, and uses the XYZ coordinate data to calculate the mileage; each time a set of satellite data is received, the satellite information is judged to be good; when the satellite is in good condition, the satellite mileage increment is calculated, otherwise it is not Record; the criteria for good satellite condition are: the number of satellites NUM>n1, and the strength of position accuracy PDOP<n2, where n1 is not less than 4 and n2 is not greater than 3;

Step 2.3, calculation of satellite mileage increment and corresponding odometer pulse increment:

{ΔL ΔL}_{G G,, i i} = = \sqrt{{(({X x}_{G G,, i i} - - {X x}_{G G,, i i - - 11}))}^{22} + + {(({Y Y}_{G G,, i i} - - {Y Y}_{G G,, i i - - 11}))}^{22} + + {(({Z Z}_{G G,, i i} - - {Z Z}_{G G,, i i - - 11}))}^{22}} - - - - - - ((11))

△N _G,i ＝N _L,i -N _L,i-1 (2)

Among them, (X _{G, i} , Y _{G, i} , Z _{G, i} ) is the position information of the rail vehicle corresponding to the satellite positioning at time i;

△L _G,i is the mileage increment of the rail car for satellite positioning from time i-1 to time i;

ΔN _G,i is the odometer pulse increment from time i-1 to time i;

Step 2.4, update accumulated mileage:

{L L}_{11,, i i} = = {Σ Σ}_{m m = = 11}^{i i} {ΔL Δ L}_{G G,, m m} - - - - - - ((33))

Among them, L _1,i is the accumulated mileage at time i;

ΔL _G,m is the mileage increment of the rail car for satellite positioning from time m-1 to time m;

Step 3, high-speed rail linear sign data collection and processing:

Step 3.1, collection of high-speed rail linear signs and labels:

The high-speed rail linear mark acquisition device can receive data packets including the lateral distance D _C , the vertical distance H _C , and the accumulated pulse number N _L,j of the odometer, and obtain the corresponding three-dimensional coordinates (X _{C ,j} ,Y _C,j ,Z _C,j );

Step 3.2, high-speed rail linear mark mileage increment and corresponding odometer pulse increment:

Calculate the distance ΔL _C,j between two adjacent high-speed rail linear marker points:

{ΔL Δ L}_{C C,, j j} = = \sqrt{{(({X x}_{C C,, j j} - - {X x}_{C C,, i i - - 11}))}^{22} + + {(({Y Y}_{C C,, j j} - - {Y Y}_{C C,, j j - - 11}))}^{22} + + {(({Z Z}_{C C,, j j} - - {Z Z}_{C C,, j j - - 11}))}^{22}} - - - - - - ((44))

Calculate the corresponding odometer pulse increment ΔN _C,j :

ΔN _C,j =N _C,j -N _C,j-1 (5)

Step 3.3, update the accumulated mileage L _1,j :

{L L}_{11,, j j} = = {Σ Σ}_{k k = = 11}^{j j} {ΔL Δ L}_{C C,, j j} - - - - - - ((66))

Step 4, real-time calibration of the odometer scale coefficient:

Step 4.1, basic odometer scale coefficient calculation:

The photoelectric encoder of the odometer is N pulses/revolution, and the wheel diameter is D meters, so the basic value of the scale coefficient k0 is _:

{k k}_{00} = = \frac{π π D D.}{N N} - - - - - - ((77))

Step 4.2, calculation and correction of scale coefficient k:

Take T as a calibration time window, and use high-precision satellite data and high-speed rail linear marker data to calibrate the scale coefficient;

Assuming that m groups of satellite data are valid and n groups of high-speed rail linear sign data are valid within the T time interval, if m+n>p, where p is a natural number not less than 10, calculate and correct the odometer scale coefficient; otherwise, set Δk _i =△k _i-1 ;

The calculation formula of scale coefficient correction value is as follows:

Suppose: △L＝[△L _G,1 ΔL _G,2 … △L _G,m ΔL _C,1 ΔL _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＝k ₀ +△k _i (11)

Step 5, mileage calculation:

L＝L ₀ +k(N _L -N ₀ ) (12)

Among them, L is the current mileage,

N _L is the current pulse number,

L ₀ is the mileage at the latest correction time,

N ₀ is the number of pulses at the latest correction time.