Mileage positioning method of eddy current detection and inertial navigation combined magnetic levitation track detection equipment

Abstract

The invention relates to the technical field of precision engineering measurement, and discloses an eddy current detection and inertial navigation combined magnetic levitation track detection equipment mileage positioning method, which comprises the following steps: S1, synchronizing an eddy current detection sensor and inertial navigation time, and outputting eddy current detection data and inertial navigation data with time information; s2, acquiring the initial attitude of the magnetic levitation track detection equipment, and resolving the initial attitude according to the design line shape, the GNSS positioning system or the static inertial navigation data acquired in the S1 according to different conditions; and S3, decoding the eddy current detection data obtained in the step S1 to obtain an absolute position and the like. According to the method, the high-speed magnetic levitation track detection equipment mileage positioning method combining eddy current detection and inertial navigation is adopted, so that non-contact mileage positioning can be realized; a high-precision mileage positioning result can still be obtained in a tunnel and other environments which cannot receive GNSS signals; mEMS inertial navigation can be adopted, and sensor equipment is small in size, low in price and low in power consumption.

Description

Technical Field

[0001] The invention relates to the technical field of precision engineering measurement, and in particular to a mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation. Background Art

[0002] High-speed maglev trains are a new type of ground transportation that runs at high speed without contact with the track. The track is composed of prestressed concrete beams, connectors, functional parts, and long stators with tooth-groove structures. During the operation of high-speed maglev trains, the geometric parameters of the track will change due to factors such as loose bolts, foundation settlement, and external forces. This change directly affects the safety, stability, and comfort of vehicle operation. In order to reduce the impact of the track on train operations, it is necessary to maintain the track in good condition, and regular inspection and maintenance of the track is very important. After the high-speed maglev track is detected, the specific mileage, that is, mileage positioning, must be determined.

[0003] Mileage positioning is to mark the specific location of the high-speed maglev track detection equipment on the line. Mileage deviation will lead to positioning errors in the high-speed maglev track unevenness detection data, affecting the accuracy of high-speed maglev track status assessment and increasing the labor intensity of track maintenance. For high-speed maglev track unevenness detection, since the detection equipment is carried on the high-speed maglev track train, and the high-speed maglev track train does not contact the track, a non-contact mileage positioning method must be used.

[0004] In the existing wheel-rail railway track detection system, mileage measurement mostly adopts the method of mileage accumulation, such as photoelectric encoder, but photoelectric encoder is not suitable for non-contact detection system. High-speed maglev trains have no contact with the track during operation, resulting in the wheelset driving the photoelectric encoder that is not in contact with the track to work. Another commonly used GNSS positioning method can obtain mileage with high accuracy, but in GNSS signal blocking environments such as tunnels, the positioning mileage cannot be obtained and is greatly affected by the environment. At present, there is still a lack of a mileage positioning method for high-speed maglev track detection equipment with strong applicability, and the sensors used in the mileage must be small and lightweight to avoid adverse effects on the normal operation of the train. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation, which realizes contactless mileage positioning of magnetic levitation track detection equipment.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: The mileage positioning method of the maglev track detection equipment combined with eddy current detection and inertial navigation comprises: S1, the eddy current detection sensor is synchronized with the inertial navigation time, and the eddy current detection data and inertial navigation data with time information are output; S2, the initial attitude of the maglev track detection equipment is obtained, and the initial attitude is obtained by solving the design line shape, the GNSS positioning system or the static inertial navigation data obtained by S1 according to different conditions; S3, the eddy current detection data obtained by S1 is decoded to obtain the absolute position; S4, the inertial navigation is mechanically arranged by the inertial navigation data obtained by S1 and the initial attitude obtained by S2, and the position, speed and attitude of the inertial navigation are obtained; S5, the eddy current detection absolute position obtained by S3 and the inertial navigation mechanical arrangement result obtained by S4 are combined for navigation and calculation; S6, the mileage of the maglev track detection equipment is calculated by the speed obtained by S4, and the formula is: ; in, is the current mileage, The starting mileage.

[0007] In the present invention, preferably, in S1, the time synchronization system of the magnetic levitation track detection equipment sends time information to the industrial computer of the eddy current detection sensor and the inertial navigation through the serial port. After receiving the signal, the eddy current detection sensor and the inertial navigation write the time information in each frame data field of their output, accurate to milliseconds.

[0008] In the present invention, preferably, S2 includes: S21, if the maglev track has a designed linear shape, the heading angle is obtained from the horizontal curve, and the pitch angle is obtained from the vertical curve; S22, if the maglev track does not have a designed linear shape, and the maglev track detection equipment is connected to the GNSS positioning and speed measurement system, the GNSS speed is used to obtain the attitude; S23, if the maglev track does not have a designed linear shape and the maglev track detection equipment is not connected to the GNSS positioning and speed measurement system, the inertial navigation static alignment is used to obtain the attitude.

[0009] In the present invention, preferably, in S21, the heading angle is obtained from the flat curve, and the formula is: ; In the formula, represents the heading angle, Indicates the curve bias, Indicates the radius of the starting point of the curve. represents the radius of the curve end point, Indicates the distance between the high-speed maglev track equipment and the starting point of the curve. represents the total length of the curve, Indicates the curve deflection angle; The pitch angle is obtained from the vertical curve using the formula: ; In the formula, represents the pitch angle, is the front slope angle, is the back slope angle, is the total length of the slope section, The distance between the high-speed maglev track detection equipment and the starting point of the slope section.

[0010] In the present invention, preferably, in S22, the formula for obtaining the attitude using the GNSS velocity is: In the formula, represents the heading angle, represents the pitch angle, Indicates the north direction speed of the high-speed maglev track detection equipment. Indicates the east direction speed of the high-speed maglev track detection equipment. Indicates the zenith speed of the high-speed maglev track detection equipment.

[0011] In the present invention, preferably, in said S23, the high-speed maglev track detection equipment needs to be stationary for a preset time, the observation data of the accelerometer and the gyroscope are error compensated and averaged, and the accelerometer observation data is processed to be , after processing, the gyroscope observation data is , find the attitude direction cosine matrix ,Depend on Convert to get heading angle and pitch angle ; The attitude direction cosine matrix is ​​obtained as follows: : ; In the formula, represents the acceleration due to gravity, The magnitude of the Earth's rotational velocity.

[0012] In the present invention, preferably, the S3 includes: S31, calculating the plane coordinates by rough mileage and the normal calculation of the unified model curve element parameters , the elevation is obtained by the rigorous calculation model of the vertical curve elevation, and the calculated position coordinates are obtained ; S32, the absolute position coordinates and calculate the position coordinates If the difference between the two is less than the preset threshold, the absolute position coordinates are Send to the host computer, otherwise the absolute position coordinates Removed as outliers.

[0013] In the present invention, preferably, the eddy current detection sensor has 12 detection coils, and the data of the 12 detection coils are divided into 6 groups of voltage data according to each group of two detection coils. The voltage data of each group of coils obtains a signal through a voltage comparator, and the eddy current detection sensor obtains a total of 6 groups of signals, which are encoded and compared with the encoding-position database to obtain the current absolute position of the high-speed maglev track detection equipment, which is recorded as ; The preset threshold in S32 is 0.05m.

[0014] In the present invention, preferably, in S4, the inertial navigation data includes three-axis accelerometer data and three-axis gyroscope data, and the position of the inertial navigation is recorded as .

[0015] In the present invention, preferably, the S5 includes: S51, when the high-speed maglev track detection equipment pushes the distance exceeding 200 meters, taking the absolute position obtained by the host computer once, and fusing the absolute position with the position of the inertial navigation through Kalman filtering, the observation equation is: ; in, represents the observation vector, represents the lever arm conversion radian matrix, Indicates absolute position, represents the position of the inertial navigation system, Indicates the error of the eddy current detection sensor in S2 in obtaining the absolute position, for The position vector from the inertial navigation center to the high-speed maglev track detection equipment in the system, is the sensor coordinate system Transform to navigation coordinate system The cosine matrix of the system, represents the position error vector, Represents the attitude error vector; S52, the heading angle locking constraint method is used to further constrain the inertial navigation; S53, the Kalman filter combined navigation solution obtains the final position, speed and attitude of the high-speed maglev track detection equipment.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The mileage positioning method of high-speed maglev track detection equipment using a combination of eddy current detection and inertial navigation can achieve contactless mileage positioning.

[0017] 2. This mileage positioning method can still obtain high-precision mileage positioning results in environments such as tunnels where GNSS signals cannot be received.

[0018] 3. This mileage positioning method can use MEMS inertial navigation, and the sensor equipment is small in size, low in price and low in power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a flowchart of a mileage positioning method for a magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to an embodiment of the present invention.

[0020] Figure 2 This is a flow chart of S2 in a mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to an embodiment of the present invention.

[0021] Figure 3 This is a flow chart of S3 in a mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to an embodiment of the present invention.

[0022] Figure 4 The present invention is a schematic diagram of the structure of an eddy current detection sensor in a mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to an embodiment of the present invention.

[0023] Figure 5 This is a flow chart of S5 in a mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0025] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0027] See also Figure 1 A preferred embodiment of the present invention provides a method for locating the mileage of a magnetic levitation track detection equipment by combining eddy current detection with inertial navigation, which uses eddy current detection to obtain the absolute position of the high-speed magnetic levitation track detection equipment, uses a Kalman filter-based method to assist in inertial navigation data calculation, and calculates the mileage of the high-speed magnetic levitation track detection equipment from the speed obtained by the fusion calculation, thereby accurately determining the location of the high-speed magnetic levitation track disease, including: S1, the eddy current detection sensor is synchronized with the inertial navigation time, and outputs eddy current detection data and inertial navigation data with time information.

[0028] The high-speed maglev track is equipped with a positioning mark plate, which is composed of a copper-clad layer and a narrow slit. When the eddy current detection sensor is facing the positioning mark plate, different voltage values ​​are generated. The eddy current detection sensor and the inertial navigation system are synchronized by the time synchronization system of the track detection equipment. The time synchronization control system sends time information to the industrial computer of the eddy current detection sensor and the inertial navigation through the serial port. After receiving the signal, the eddy current detection sensor and the inertial navigation write the time information into each frame of data field they output, accurate to milliseconds, so as to synchronize the eddy current detection sensor and the inertial navigation, and keep consistent with the maglev track detection equipment, and output the eddy current detection sensor data and inertial navigation data with synchronized time information.

[0029] S2, the initial attitude of the maglev track detection equipment is obtained. Depending on the conditions, the initial attitude is calculated by the designed linear shape, GNSS positioning system or the stationary inertial navigation data obtained in S1.

[0030] When the maglev track has a designed alignment, the heading angle is obtained from the horizontal curve and the pitch angle is obtained from the vertical curve; when the maglev track detection equipment is connected to the Beidou positioning and speed measurement system and it is not a GNSS-denied environment, the GNSS speed is used to obtain the attitude; when there is no designed alignment and no GNSS positioning and speed measurement information, the inertial navigation static alignment is used to obtain the attitude.

[0031] Preferably, Figure 2 As shown, S2 includes: S21, when the high-speed maglev track has a designed linear shape, the heading angle is obtained from the flat curve, as shown in the following formula: In the formula, represents the heading angle, Indicates the curve bias, Indicates the starting radius of the curve. represents the end point radius of the curve, Indicates the distance between the high-speed maglev track equipment and the starting point of the curve. represents the total length of the curve, Indicates the curve deflection angle; The pitch angle is obtained from the vertical curve as follows: In the formula, represents the pitch angle, is the front slope angle, is the back slope angle, is the total length of the slope section, The distance between the high-speed maglev track detection equipment and the starting point of the slope section.

[0032] S22, when the high-speed maglev track detection equipment is connected to the Beidou GNSS positioning and speed measurement system, the initial attitude angle can be obtained as follows: In the formula, Indicates the north direction speed of the high-speed maglev track detection equipment. Indicates the east direction speed of the high-speed maglev track detection equipment. Indicates the zenith speed of the high-speed maglev track detection equipment.

[0033] S23, when there is no design line shape and no GNSS positioning and speed measurement information (i.e., the maglev track inspection equipment is not connected to the GNSS positioning and speed measurement system), the high-speed maglev track inspection equipment needs to be stationary for 5 minutes, and the observation data of the accelerometer and gyroscope are error compensated and averaged. The accelerometer observation data is processed as follows: , after processing, the gyroscope observation data is , calculate the attitude direction cosine matrix according to the following formula ,Depend on Conversion can obtain the heading angle and pitch angle ; In the formula, represents the acceleration due to gravity, The magnitude of the Earth's rotational velocity.

[0034] S3, decoding the eddy current detection data obtained in S1 to obtain the absolute position.

[0035] like Figure 4 As shown in the figure, the eddy current detection sensor has 12 detection coils. The data of the 12 detection coils in the S1 eddy current sensor data are divided into 6 groups of voltage data, with two detection coils as a group. The voltage data of each group of coils obtains a signal through the voltage comparator. The eddy current detection sensor obtains a total of 6 groups of signals, which are encoded and compared with the encoding-position database to obtain the current absolute position of the high-speed maglev track detection equipment, which is recorded as .

[0036] Preferably, Figure 3 As shown, S3 includes: S31, calculate the plane coordinate values ​​by rough mileage and correct calculation of unified model curve element parameters , the elevation is obtained by the rigorous calculation model of the vertical curve elevation ; S32, high-speed maglev track detection equipment absolute position coordinates and calculate the position coordinates The absolute position coordinates are sent to the host computer if the value is less than the preset threshold, otherwise they are removed as abnormal values. Preferably, the preset threshold is set to 0.05m, and the preset threshold can be set to other values ​​according to the accuracy requirements.

[0037] S4, mechanically arranges the inertial navigation based on the inertial navigation data obtained in S1 and the initial attitude obtained in S2 to obtain the position, speed and attitude of the inertial navigation.

[0038] The inertial navigation data obtained in S1 consists of three-axis accelerometer data and three-axis gyroscope data. The inertial navigation data obtained by S1 and the initial attitude of the high-speed maglev track detection equipment obtained by S2 are mechanically arranged to obtain the position, speed and attitude of the inertial navigation. The position is recorded as .

[0039] S5, performing combined navigation solution on the eddy current detection absolute position obtained by S3 and the inertial navigation mechanical arrangement result obtained by S4.

[0040] Preferably, Figure 5 As shown, S5 includes: S51, when the high-speed maglev track detection equipment pushes the distance exceeding 200 meters, take the absolute position obtained by the S3 host computer once , compare this position with the S4 inertial navigation mechanical arrangement result Fusion is performed through Kalman filtering, and the observation equation is: in, represents the observation vector, represents the lever arm conversion radian matrix, Indicates the error of the absolute position obtained by the S2 eddy current detection sensor. for The position vector from the inertial navigation center to the high-speed maglev track detection equipment in the system, is the sensor coordinate system Transform to navigation coordinate system The cosine matrix of the system, and represent the position error and attitude error vector respectively.

[0041] S52, the heading angle of the high-speed maglev track detection equipment can be obtained by the method of S2, and the heading angle locking constraint method is used to further constrain the inertial navigation.

[0042] S53, Kalman filter combined navigation solution to obtain the final position, speed and attitude of the high-speed maglev track detection equipment, where The speed at that moment is recorded as .

[0043] S6, calculates the mileage of the maglev track detection equipment based on the speed obtained in S4.

[0044] The mileage of the high-speed maglev track inspection equipment is calculated from the speed obtained in S5. The formula for calculating mileage from speed is: in, is the current mileage, The starting mileage.

[0045] The above description is a detailed description of the preferred feasible embodiments of the present invention, but the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modified changes completed under the technical spirit suggested by the present invention should fall within the patent scope covered by the present invention.

Claims

1. A mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation, characterized in that: include: S1, eddy current detection sensor is synchronized with inertial navigation time, outputting eddy current detection data and inertial navigation data with time information; S2, the initial attitude of the maglev track detection equipment is obtained. Depending on the conditions, the initial attitude is calculated by the design line shape, GNSS positioning system or the static inertial navigation data obtained in S1; S3, decoding the eddy current detection data obtained in S1 to obtain the absolute position; S4, mechanically arranges the inertial navigation data obtained by S1 and the initial attitude obtained by S2 to obtain the position, speed and attitude of the inertial navigation; S5, performing combined navigation solution on the eddy current detection absolute position obtained by S3 and the inertial navigation mechanical arrangement result obtained by S4; S6, calculate the mileage of the maglev track inspection equipment based on the speed obtained in S4, the formula is: ； in, is the current mileage, The starting mileage.

2. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 1 is characterized in that: In S1, the time synchronization system of the maglev track detection equipment sends time information to the industrial computer of the eddy current detection sensor and the inertial navigation through the serial port. After receiving the signal, the eddy current detection sensor and the inertial navigation write the time information in each frame data field of their output, accurate to milliseconds.

3. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 2 is characterized in that: The S2 includes: S21, if the maglev track has a designed linear shape, obtain the heading angle from the horizontal curve and obtain the pitch angle from the vertical curve; S22, if the maglev track does not have a designed linear shape, and the maglev track detection equipment is connected to the GNSS positioning and speed measurement system, the GNSS speed is used to obtain the attitude; S23: If the maglev track does not have a designed linear shape and the maglev track detection equipment is not connected to the GNSS positioning and speed measurement system, the inertial navigation static alignment is used to obtain the attitude.

4. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 3 is characterized in that: In S21, the heading angle is obtained from the flat curve, and the formula is: ； In the formula, represents the heading angle, Indicates the curve bias, Indicates the radius of the starting point of the curve. represents the radius of the curve end point, Indicates the distance between the high-speed maglev track equipment and the starting point of the curve. represents the total length of the curve, Indicates the curve deflection angle; The pitch angle is obtained from the vertical curve using the formula: ； In the formula, represents the pitch angle, is the front slope angle, is the back slope angle, is the total length of the slope section, The distance between the high-speed maglev track detection equipment and the starting point of the slope section.

5. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 3 is characterized in that: In S22, the formula for obtaining the attitude using the GNSS velocity is: In the formula, represents the heading angle, represents the pitch angle, Indicates the north direction speed of the high-speed maglev track detection equipment. Indicates the east direction speed of the high-speed maglev track detection equipment. Indicates the zenith speed of the high-speed maglev track detection equipment.

6. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 3 is characterized in that: In S23, the high-speed maglev track detection equipment needs to be stationary for a preset time, and the observation data of the accelerometer and the gyroscope are error compensated and averaged. The accelerometer observation data is processed to , after processing, the gyroscope observation data is , find the attitude direction cosine matrix ,Depend on Convert to get heading angle and pitch angle ; The attitude direction cosine matrix is ​​obtained as follows: : ； In the formula, represents the acceleration due to gravity, The magnitude of the Earth's rotational velocity.

7. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 3 is characterized in that: The S3 includes: S31, calculate plane coordinates by rough mileage and correct calculation of unified model curve element parameters , the elevation is obtained by the rigorous calculation model of the vertical curve elevation , get the calculated position coordinates ; S32, the absolute position coordinates and calculate the position coordinates If the difference between the two is less than the preset threshold, the absolute position coordinates are Send to the host computer, otherwise the absolute position coordinates Removed as outliers.

8. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 7 is characterized in that: The eddy current detection sensor has 12 detection coils. The data of the 12 detection coils are divided into 6 groups of voltage data according to the principle that every two detection coils are a group. The voltage data of each group of coils obtains a signal through a voltage comparator. The eddy current detection sensor obtains a total of 6 groups of signals. The 6 groups of signals form a code, which is compared with the code-position database to obtain the current absolute position of the high-speed maglev track detection equipment, which is recorded as ; The preset threshold in S32 is 0.05m.

9. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 8 is characterized in that: In S4, the inertial navigation data includes three-axis accelerometer data and three-axis gyroscope data, and the position of the inertial navigation is recorded as .

10. The mileage positioning method for magnetic levitation track detection equipment combining eddy current detection and inertial navigation according to claim 9 is characterized in that: The S5 includes: S51, when the high-speed maglev track detection equipment pushes the distance exceeding 200 meters, take the absolute position obtained by the host computer once, and fuse the absolute position with the position of the inertial navigation through Kalman filtering. The observation equation is: ； in, represents the observation vector, represents the lever arm conversion radian matrix, Indicates absolute position, represents the position of the inertial navigation system, Indicates the error of the eddy current detection sensor in S2 in obtaining the absolute position, for The position vector from the inertial navigation center to the high-speed maglev track detection equipment in the system, is the sensor coordinate system Transform to navigation coordinate system The cosine matrix of the system, represents the position error vector, represents the attitude error vector; S52, using a heading angle locking constraint method to further constrain the inertial navigation; S53, Kalman filter combined navigation solution obtains the final position, speed and attitude of the high-speed maglev track detection equipment.

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