A method for track line shape reconstruction

Abstract

The present invention provides a method for reconstructing orbital linearity, comprising: collecting orbital internal geometric parameter data of a first preset length by using orbital geometric state satellite control measurement technology; X External geometry data Y ; Calculate the internal geometric parameter data of the track X The line to which each point belongs and the corresponding line mileage range is determined; the external geometric parameter data is converted into Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t , and clearly define the linear attributes to which it belongs. Y i The linear shape and its parameters are obtained by fitting according to the linear shape to which it belongs. The present invention makes full use of multi-source information such as inertial trajectory, satellite track, overall linear shape, etc. to reconstruct the track linear shape, which can be used for actual linear shape control of existing lines in railway engineering systems. It has fast measurement speed, low maintenance cost, good environmental adaptability, high reconstruction accuracy, and helps to ensure the long-term stability of the track linear shape.

Description

Technical Field

[0001] The present invention relates to the technical field of track detection data processing, and in particular to a track linear reconstruction method. Background Art

[0002] The centerline of a railway track is a low-order geometric continuous curve, and its alignment includes a straight line (T), a transition curve (S), and a circular curve (C). Under high-speed driving conditions, the alignment of the track will affect the dynamic response of the train and the riding comfort. Therefore, the alignment parameters should be reasonably set in the track design and the alignment should be kept stable during track operation. However, under the repeated dynamic action of the train, the track deformation will continue to accumulate, and the designed alignment may be destroyed. At this time, the track alignment should be reconstructed to provide a basis for track evaluation and operation.

[0003] The "High-speed Railway Line Maintenance Rules" (TG / GW115-2023) requires that "signs should be set at the straight-slow (slow-straight) points and the round-slow (round-slow) points of the curve, and the starting and ending points of the on-site curve, the length of the transition curve, the total length of the curve, the radius of the curve, and the actual superelevation should all be consistent with the design documents." However, the line shape reconstructed according to the design documents often has a certain deviation from the actual track status. It is more reasonable to reconstruct the line shape based on the measured data.

[0004] The measured track data includes the dynamic inspection data collected by the comprehensive inspection train / track inspection vehicle and the static inspection data collected by the track inspection instrument and the track measuring instrument. The static inspection data includes the relative measurement data of the internal geometric dimensions of the track (left / right height, left / right track direction, left / right positive vector, track gauge, level, twist, etc.) and the absolute measurement data of the external geometric dimensions of the track (north-east-height or lateral / vertical deviation).

[0005] The dynamic inspection data can be used to estimate the curve control points such as straight-to-slow (ZH), slow-to-round (HY), slow-to-round (YH), ​​and slow-to-straight (HZ). However, since it uses an inertial reference, it is difficult to determine the start and end points of the on-site curve, the length of the slow-to-slow curve, and the time difference between the curve and the vertical axis with high accuracy. l 0 , Curve turning angle α , Curve radius R and the center of the curve O Equilinear elements.

[0006] Relative measurement data can also be used to estimate curve control points such as straight-gentle (ZH), gentle-round (HY), round-gentle (YH), ​​and gentle-straight (HZ). However, since the internal geometric dimensions express the smoothness of the track, the line shape cannot be accurately reconstructed.

[0007] High-speed railway alignment reconstruction generally uses absolute measurement data, that is, through the north-east-height or horizontal / vertical deviation of the track, the target alignment is constructed by least squares, weighted iteration or particle swarm optimization. However, the absolute measurement technology represented by "CPIII network + total station" currently has the following problems: 1) low measurement efficiency (<1km / 8h), poor environmental adaptability (sensitive to temperature, light and wind speed), and high cost of use; 2) the conventional least squares circle fitting method is simple in calculation and efficient, but for large radius curves and when the CPIII network is significantly deformed, its estimated curve radius is R and the center of the curve O There will be large deviations. Summary of the invention

[0008] In view of the above situation, it is necessary to provide a track alignment reconstruction method to address the problem in the prior art that it is difficult to quickly and accurately estimate alignment parameters based on measured data, resulting in low alignment reconstruction accuracy.

[0009] A track line shape reconstruction method comprises the following steps:

[0010] Collect the internal geometric parameter data of the first preset length of the orbit through the orbit geometry state satellite control measurement technology X External geometry data Y , X ={ x 1 , x 2 , …, x n}, x 1 , x 2 , x n The first, second, and n Internal geometric parameters, Y ={ y 1 , y 2 , …, y m}, y 1 , y 2 , y m The first, second, and m External geometric parameters;

[0011] Calculate the internal geometry of the track X The line shape to which each point belongs, and the corresponding line shape mileage range [1, r1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ],in, r 1 , r 2 , r i , r i+1 , r t The first, second, and i , i +1, t Linear segmentation points;

[0012] By determining the linear mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t , and specify the linear attributes to which it belongs, where Y 1 , Y 2 , Y i , Y t The first, second, and i , t subsamples, Y i ={ , ,…, }, , , Respectively r i , r i +1, r i+1 External geometric parameters;

[0013] right Y i Fit the line shape to which it belongs to and obtain the line shape and its parameters.

[0014] The above-mentioned orbital linear reconstruction method, wherein the orbital internal geometric parameter data of the first preset length is collected by orbital geometric state satellite control measurement technology X External geometry data Y , specifically including:

[0015] The orbit geometry state star control measurement technology is to merge the satellite track and the inertial trajectory, and the 0-level orbit inspection instrument continuously collects the orbit internal geometry parameter data according to the step distance. X GNSS continuously collects orbital external geometry data according to the clock Y ;

[0016] The internal geometric parameter data of the track X Including data on level (superelevation), gauge, height, track direction, verse and twist along the track mileage direction;

[0017] The external geometric parameter data Y Includes data on north (N), east (E) and height (H) in the rail engineering coordinate system.

[0018] The above-mentioned track linear reconstruction method, wherein the calculation of track internal geometric parameter data X In the process of the line shape to which each point belongs, the line shape includes three types: a straight line (T), a transition curve (S) and a circular curve (C), among which the transition curve adopts a cubic parabola line shape.

[0019] The above track alignment reconstruction method, wherein the determined linear mileage range [1, r 1 ),[ r 1 , r 2 ),…,[ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by lineY 1 , Y 2 ,…, Y i ,…, Y t , and clearly define the linear attributes, including:

[0020] By determining the linear mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t ;

[0021] According to the linear attributes of the internal geometric parameter data of the same mileage range, Y 1 , Y 2 ,…, Y i ,…, Y t It is classified into one of three categories: straight line (T), transition curve (S) and circular curve (C).

[0022] The above-mentioned track linear reconstruction method, wherein the Y i Fit the line shape to which it belongs to and obtain the line shape and its parameters, including:

[0023] The external geometric parameter data of the line shape is a straight line (T) Y i Perform straight line fitting, calculate the steering angle and intersection coordinates, and calculate the tangent length based on the steering angle and intersection coordinates;

[0024] The external geometric parameter data of the circular curve (C) Y i Perform Pratt circle fitting and calculate the circle radius and center coordinates;

[0025] The external geometric parameter data of the transition curve (S) Y i Perform cubic parabola fitting and calculate the length of the transition curve.

[0026] The track alignment reconstruction method provided by the present invention uses the internal geometric parameter data of the level 0 track inspection instrument to perform data segmentation of the linear attributes of the Beidou and other GNSS satellite positioning data, and then fits the segmented data according to the linear attributes. Because it uses Beidou satellites to measure the external geometric parameters of the track, and uses high-precision fitting techniques such as Pratt circle fitting to improve the accuracy of linear reconstruction, it has both rapidity and accuracy. The track alignment reconstruction method in this embodiment can be used for the actual linear control of existing lines in the railway engineering system. It has fast measurement speed, low maintenance cost, good environmental adaptability, high reconstruction accuracy, and helps to ensure the long-term stability of the track alignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the embodiments of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 is a schematic flow chart of a trajectory linear reconstruction method in one embodiment of the present invention;

[0029] Figure 2 A sample of measured data of a certain track in one embodiment of the present invention;

[0030] Figure 3 A mapping curve between a timestamp and a mileage stamp between measured data samples in one embodiment of the present invention;

[0031] Figure 4 It is a schematic diagram of the design values ​​of the track direction, verse and horizontal (superelevation) parameters of a curved track in one embodiment of the present invention;

[0032] Figure 5 It is a schematic diagram of the reconstructed line shape and original data in the first embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1The track linear reconstruction method in the embodiment of the present invention is applied to the track detection field to reconstruct the actual linear shape of the track. The track linear reconstruction method includes steps S11 to S14.

[0035] Step S11, collecting orbital internal geometric parameter data of a first preset length by using orbital geometric state satellite control measurement technology X External geometry data Y , X ={ x 1 , x 2 , …, x n}, x 1 , x 2 , x n The first, second, and n Internal geometric parameters, Y ={ y 1 , y 2 , …, y m}, y 1 , y 2 , y m The first, second, and m External geometric parameters.

[0036] According to the Railway Track Inspection Instrument (TB / T 3147-2020), track geometry parameters can be divided into two categories: internal track geometry parameters and external track geometry parameters. The internal track geometry parameters describe the relative shape and position relationship within the track, including track size and shape geometry parameters such as gauge, superelevation, level, track direction, height, positive vector, distortion (triangular pit), and gauge change rate. The external track geometry parameters describe the position or coordinates of the track in the engineering coordinate system, including the plane (lateral) and elevation (vertical) deviations of the centerline of the track and the left and right tracks relative to the design line position. The former is generally measured by a track inspection instrument, and its measurement method is often called a relative measurement method, with a measurement efficiency of 4~8km / h; the latter is generally measured by "CPIII network + total station + track measuring instrument", and its measurement method is often called an absolute measurement method, with a measurement efficiency of <1km / 8h.

[0037] Compared with the measurement method of the external geometric dimensions of the track using the "CPIII network + total station", the use of GNSS satellite positioning has higher measurement efficiency and better environmental adaptability, and through ground-based augmentation technologies such as RTK (real-time kinematic positioning) and CORS (continuously operating reference station), it can achieve a dynamic positioning accuracy of ≤10mm.

[0038] Specifically, according to the orbit geometry state satellite control measurement technology, the level 0 orbit inspection instrument is placed on the orbit and continuously collects orbit level (superelevation), track gauge, height, track direction, verse and distortion data according to the step distance, that is, the internal geometry parameter data of the orbit. X ={ x 1 , x 2 ,…, x n At the same time, the “star control” base stations covering adjacent railway lines are continuously arranged along the track, continuously tracking all visible GNSS satellites according to the clock and sending data to the mobile station fixed on the level 0 track inspection instrument in real time through the data link. The mobile receiving station estimates its north-east-altitude ( N , E , H ) coordinate data, that is, track external geometric parameter data Y ={ y 1 , y 2 ,…, y m}.

[0039] For details, see Figure 2 , is a sample of measured data of a certain track, where Figure 2 a) is the internal geometric parameter data of the track X ={ x 1 , x 2 ,…, x 4801}, Figure 2 b) is the track external geometric parameter data Y ={ y 1 , y 2 ,…, y 538 Due to different timings, for example, the sampling step of the level 0 orbit inspection instrument is generally 0.125m, and the "star control" mobile station updates the status at a clock interval of 10s. n > m , but the timestamp m With mileage stampn There is a clear mapping relationship. For details, see Figure 3 , which is the mapping curve between timestamp and mileage stamp between measured data samples.

[0040] More preferably, this embodiment uses BDS's CORS technology for foundation reinforcement.

[0041] Step S12, calculating the internal geometric parameter data of the track X The line shape to which each point belongs, and the corresponding line shape mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ],in, r 1 , r 2 , r i , r i+1 , r t The first, second, and i , i +1, t Linear dividing points.

[0042] The plane alignment of railway lines includes straight lines (T), transition curves (S) and circular curves (C). The straight lines (T) and circular curves (C) are connected by transition curves, and the transition curves are cubic parabolic and follow the slope. Therefore, the track direction, sine and level (superelevation) show obvious regularity. For details, see Figure 4 , which is the design value form of the track direction, verse and horizontal (superelevation) parameters of the curved track. The design values ​​of the geometric parameters such as track direction, verse and horizontal (superelevation) of the curved track are in a trapezoidal shape along the mileage direction, and the corresponding corner points are the curve control points.

[0043] This feature can be used to calculate the internal geometric parameter data of the track X The line shape to which each point belongs, and the corresponding line shape mileage range [1, r ZH ),[ r ZH , r HY ), [ r HY ,r YH ), [ r YH , r HZ ), [ r HZ , n Specifically, the control points of the curves such as straight-slow (ZH), slow-round (HY), slow-round (YH), ​​and slow-straight (HZ) are calculated at mileages of 688.10288, 688.17863, 688.45525, and 688.53838 km, which are the data segmentation points. r ZH =827, r HY =1433, r YH =3645, r HZ =4311.

[0044] Step S13, based on the determined linear mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t , and specify the linear attributes to which it belongs, where Y 1 , Y 2 , Y i , Y t are the 1st, 2nd, i-th, and t-th subsamples respectively, Y i ={ , ,…, }, , , Respectively ri , r i +1, r i+1 External geometric parameters.

[0045] Specifically, by data segmentation point r ZH =827, r HY =1433, r YH =3645, r HZ =4311, based on the mapping curve between timestamp and mileage stamp between measured data samples (see Figure 3 ), external geometric parameter data Y Divide by line Y 1 ={ y 1 ,…, y 97}, Y 2 ={ y 98 ,…, y 187}, Y 3 ={ y 188 ,…, y 417}, Y 4 ={ y 418 ,…, y 485}, Y 5 ={ y 486 ,…, y 538} 5 sub-samples. Correspondingly, each sample belongs to the linear shape of straight line (T), transition curve (S), circular curve (C), transition curve (S) and straight line (T).

[0046] Step S14: Y i Fit the line shape to which it belongs to and obtain the line shape and its parameters.

[0047] According to the Gauss-Markov theorem, such as external geometric parameter data Y iIf the errors satisfy zero mean, homoscedasticity and are uncorrelated, then the linear fit using the least squares method (OLS) will be the best linear estimate. Specifically, the external geometric parameter data of the linear shape is a straight line (T) Y 1 and Y 5 Perform straight line fitting respectively, and get the straight line, the expression is:

[0048]

[0049] in: N External geometric parameter data Y i The north coordinate value in , E External geometric parameter data Y i The east coordinate value in , , is the coefficient.

[0050] For the front (clamp) straight line T1, =-0.277903261394532, =3263825.79891752; for the rear (clamp) straight line T2, =-0.333572456882572, =3292035.56844441. And calculate the steering angle α =-2.9165°, intersection coordinates JD=(506739.3067, 3123001.2929); based on the steering angle and intersection coordinates, the starting point tangent length is calculated to be 217.3512m, and the end point tangent length is calculated to be 217.7596m.

[0051] Due to the non-uniform sampling of the measurement points and the small steering angle, the results of conventional circle fitting methods (such as Kasa circle fitting) have large deviations. The Pratt method can obtain better estimates of the center and radius under large radius and strong noise conditions by modifying the objective function. Specifically, the external geometric parameter data of the circular curve (C) is Y 3 Perform Pratt circle fitting as follows:

[0052]

[0053] in: E 0 is the center coordinate O The east coordinate value of N 0 is the center coordinate O The north coordinate value of Ris the circular curve radius.

[0054] get E 0 =508794.357267012, N 0 =3129726.53116403, R =7029.85667997840. Correspondingly, the radius of the circular curve is R =7029.85667997840m, center coordinates O =(508794.357267012, 3129726.53116403).

[0055] The "High-speed Railway Design Code" (TB 10621-2014) stipulates that the transition curve "adopts a cubic parabola line shape", so the line shape is the external geometric parameter data of the transition curve (S) Y 2 , Y 4 Perform cubic parabola fitting and calculate the length of the transition curve. The expression is as follows:

[0056]

[0057] in, , is the coefficient.

[0058] Among them, the front relaxation curve S1, =-1.59950785413079×10 -7 , =0.243283256439155, =-123343.930499705, =20848178953.7099; after the transition curve =3.36571571302631×10 -7 , =-0.511451728000588, =259065.783985152, =-43738374916.9636.

[0059] For details, see Figure 5 , is a schematic diagram of the reconstructed line shape and original data, Figure 5 In the figure, curve control points such as straight-slow (ZH), slow-round (HY), slow-round (YH), ​​and slow-straight (HZ) are displayed. Figure 5 It can be seen that the reconstructed line shape fits the measured data well.

[0060] In summary, according to the track alignment reconstruction method provided by the present invention, the internal geometric parameter data of the level 0 track inspection instrument is used to segment the linear attribute data of the Beidou and other GNSS satellite positioning data, and then the segmented data is fitted according to the linear attribute. Because it uses Beidou satellites to measure the external geometric parameters of the track, and uses high-precision fitting techniques such as Pratt circle fitting to improve the accuracy of linear reconstruction, it has both speed and accuracy. The track alignment reconstruction method in this embodiment can be used for the actual linear control of existing lines in the railway engineering system. It has fast measurement speed, low maintenance cost, good environmental adaptability, high reconstruction accuracy, and helps to ensure the long-term stability of the track alignment.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0062] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for reconstructing track line shape, It is characterized in that The following steps are involved: Collect the internal geometric parameter data of the first preset length of the orbit through the orbit geometry state satellite control measurement technology X External geometry data Y , X ={ x 1 , x 2 , …, x n }, x 1 , x 2 , x n The first, second, and n Internal geometric parameters, Y ={ y 1 , y 2 , …, y m }, y 1 , y 2 , y m The first, second, and m External geometric parameters; Calculate the internal geometry of the track X The line shape to which each point belongs, and the corresponding line shape mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ],in, r 1 , r 2 , r i , r i+1 , r t The first, second, and i , i +1, t Linear segmentation points; By determining the linear mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t , and specify the linear attributes to which it belongs, where Y 1 , Y 2 , Y i , Y t are the 1st, 2nd, i-th, and t-th subsamples respectively, Y i ={ , ,…, }, , , Respectively r i , r i +1, r i+1 External geometric parameters; right Y i Fit the line shape to which it belongs to and obtain the line shape and its parameters; The orbital internal geometric parameter data of the first preset length is collected by using the orbital geometric state satellite control measurement technology. X External geometry data Y , specifically including: The orbit geometry state star control measurement technology is to merge the satellite track and the inertial trajectory, and the 0-level orbit inspection instrument continuously collects the orbit internal geometry parameter data according to the step distance. X GNSS continuously collects orbital external geometry data according to the clock Y ; The internal geometric parameter data of the track X Including data on level, gauge, height, track direction, verse and twist along the track mileage direction; The external geometric parameter data Y Includes data on north, east and height in the track engineering coordinate system; The linear mileage range determined by [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t , and clearly define the linear attributes, including: By determining the linear mileage range [1, r 1 ),[ r 1 , r 2 ),…, [ r i , r i+1 ),…,[ r t , n ], the external geometric parameter data Y Divide by line Y 1 , Y 2 ,…, Y i ,…, Y t ; According to the linear attributes of the internal geometric parameter data of the same mileage range, Y 1 , Y 2 ,…, Y i ,…, Y t Classified as one of three types: straight line, transition curve and circular curve; The pair Y i Fit the line shape to which it belongs to and obtain the line shape and its parameters, including: Set the external geometric parameter data of the line shape to a straight line Y i Perform straight line fitting, calculate the steering angle and intersection coordinates, and calculate the tangent length based on the steering angle and intersection coordinates; The external geometric parameter data of the line shape is a circular curve Y i Perform Pratt circle fitting and calculate the circle radius and center coordinates; Set the external geometric parameter data of the line shape to the transition curve Y i Perform cubic parabola fitting and calculate the length of the transition curve.

2. The track line reconstruction method according to claim 1, It is characterized in that The calculation track internal geometric parameter data X In the process of determining the line shape to which each point belongs, the line shape includes three types: a straight line, a transition curve and a circular curve, wherein the transition curve adopts a cubic parabola line shape.

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