High-speed railway track three-dimensional control network construction method, system, equipment, medium and product

Abstract

The invention discloses a high-speed railway track three-dimensional control network construction method, system and device, a medium and a product, and relates to the field of high-speed railway measurement, and the method comprises the steps: controlling a measurement robot to carry out field observation at a measurement station of a high-speed railway track, and obtaining a baseline vector under a three-dimensional rectangular coordinate system of the measurement station; converting the baseline vector under the three-dimensional rectangular coordinate system of the observation station into a baseline vector under a geocentric three-dimensional rectangular coordinate system by adopting a pre-established large-angle adjustment model; transforming the baseline vector under the geocentric three-dimensional rectangular coordinate system by adopting a pre-established small-angle adjustment model to obtain coordinates of each control point and each station point of the high-speed railway track under the geocentric three-dimensional rectangular coordinate system; and constructing a three-dimensional control network of the high-speed railway track according to the coordinates of each control point and each station point of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system. According to the invention, the retest efficiency of the high-speed railway track control network is improved.

Description

Technical Field

[0001] The present application relates to the field of high-speed railway measurement, and in particular to a method, system, equipment, medium and product for constructing a three-dimensional control network for a high-speed railway track. Background Art

[0002] During the operation phase of high-speed railways, it is necessary to re-survey the track control network regularly, that is, to check whether the plane coordinates and elevations of existing points have changed. The current re-survey method is to use the plane control network to determine the plane coordinates of each control point, and use the elevation network to determine the elevation of each control point, and then determine whether the plane position and elevation of each point have changed. However, there are two problems in the measurement of high-speed railway track control networks: (1) The elevation control network and the plane control network are established separately, and the elevation control network uses a digital level to collect data, which is very inefficient and seriously affects the normal operation of high-speed railways; (2) Taking into account the deformation of the edge of the projection belt and the selection of the projection surface, the plane control network must be established in sections (generally no more than 12 km per section), and the overlap between adjacent sections needs to be considered, resulting in a large number of repeated observations and complicated data processing. Summary of the invention

[0003] The purpose of this application is to provide a method, system, equipment, medium and product for constructing a three-dimensional control network for a high-speed railway track, which can improve the efficiency of retesting the high-speed railway track control network.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a method for constructing a three-dimensional control network for a high-speed railway track, comprising:

[0006] Controlling the measuring robot to perform field observation at a measuring station of the high-speed railway track to obtain a baseline vector in a three-dimensional rectangular coordinate system of the measuring station; the baseline vector is a coordinate value of each control point in the three-dimensional rectangular coordinate system of the measuring station;

[0007] The large-angle adjustment model established in advance is used to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into the baseline vector in the geocentric three-dimensional rectangular coordinate system; the large-angle adjustment model is a conversion model when the angle between the coordinate axes of the three-dimensional rectangular coordinate system of the survey station and the geocentric three-dimensional rectangular coordinate system is greater than a first set value;

[0008] The baseline vector in the geocentric three-dimensional rectangular coordinate system is transformed by using a pre-established small-angle adjustment model to obtain the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system; the small-angle adjustment model is a conversion model when the angle between the coordinate axes of the measuring station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is less than a second set value;

[0009] According to the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system, a three-dimensional control network of the high-speed railway track is constructed.

[0010] In a second aspect, the present application provides a railway track three-dimensional control network construction system, including:

[0011] An observation module is used to control the measurement robot to perform field observation at a measuring station of a high-speed railway track to obtain a baseline vector in a three-dimensional rectangular coordinate system of the measuring station; the baseline vector is a coordinate value of each control point in the three-dimensional rectangular coordinate system of the measuring station;

[0012] A large-angle conversion module is used to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into the baseline vector in the geocentric three-dimensional rectangular coordinate system by using a pre-established large-angle adjustment model; the large-angle adjustment model is a conversion model when the angle between the coordinate axes of the three-dimensional rectangular coordinate system of the survey station and the geocentric three-dimensional rectangular coordinate system is greater than a first set value;

[0013] A small angle conversion module is used to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system by using a pre-established small angle adjustment model to obtain the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system; the small angle adjustment model is a conversion model when the angle between the coordinate axes of the measuring station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is less than a second set value;

[0014] The control network construction module is used to construct a three-dimensional control network of the high-speed railway track according to the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

[0015] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned method for constructing a three-dimensional control network for high-speed railway tracks.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for constructing a three-dimensional control network for high-speed railway tracks.

[0017] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above-mentioned method for constructing a three-dimensional control network for high-speed railway tracks.

[0018] According to the specific embodiments provided in this application, this application has the following technical effects:

[0019] The present application provides a method, system, device, medium and product for constructing a three-dimensional control network of a high-speed railway track. During the measurement process, only a measurement robot is used to conduct field observation at a measuring station of the high-speed railway track to obtain a baseline vector in a three-dimensional rectangular coordinate system of the measuring station, and a digital level is no longer used, thereby improving the measurement efficiency. A large-angle adjustment model is used to convert the baseline vector in the three-dimensional rectangular coordinate system of the measuring station into a baseline vector in a geocentric three-dimensional rectangular coordinate system, and then a small-angle adjustment model is used to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system to obtain the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system. Then, the coordinates of all measuring stations and all control points in the geocentric three-dimensional rectangular coordinate system are connected to form a three-dimensional control network. The construction process of the three-dimensional control network does not involve segmentation, thereby avoiding the problem of reducing the field measurement efficiency due to overlap between segments, and improving the efficiency of re-surveying each control point in the operation stage of the high-speed railway track. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is an application environment diagram of a method for constructing a three-dimensional control network for a high-speed railway track in one embodiment of the present application;

[0022] Figure 2 A schematic diagram of a process for constructing a three-dimensional control network for a high-speed railway track provided in one embodiment of the present application;

[0023] Figure 3 A schematic diagram of coordinate conversion in one embodiment of the present application;

[0024] Figure 4 A schematic diagram of functional modules of a high-speed railway track three-dimensional control network system provided in one embodiment of the present application;

[0025] Figure 5 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] The method for constructing a high-speed railway track three-dimensional control network provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send instructions to the server 104. After receiving the instructions, the server 104 controls the measurement robot to perform field observations at the measuring station of the high-speed railway track to obtain the baseline vector of the measuring station in the three-dimensional rectangular coordinate system; the baseline vector of the measuring station in the three-dimensional rectangular coordinate system is converted into the baseline vector of the geocentric three-dimensional rectangular coordinate system by using the pre-established large-angle adjustment model; the baseline vector in the geocentric three-dimensional rectangular coordinate system is transformed by using the pre-established small-angle adjustment model to obtain the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system; the three-dimensional control network of the high-speed railway track is constructed according to the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system. The server 104 can feedback the three-dimensional control network of the high-speed railway track to the terminal 102. In addition, in some embodiments, the method for constructing a three-dimensional control network for a high-speed railway track may also be implemented by the server 104 or the terminal 102 alone.

[0029] The terminal 102 may be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers, or may be a cloud server.

[0030] In an exemplary embodiment, Figure 2 As shown, a method for constructing a high-speed railway track three-dimensional control network is provided. The method is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or can be executed by a terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in the example is used for explanation, and the steps include the following steps 201 to 204.

[0031] Step 201, control the measurement robot to perform field observation at the measuring station of the high-speed railway track to obtain the baseline vector in the three-dimensional rectangular coordinate system of the measuring station. The baseline vector is the coordinate value of each control point in the three-dimensional rectangular coordinate system of the measuring station.

[0032] In an exemplary embodiment, the measurement robot is controlled to perform field observation at each measuring station of the high-speed railway track to obtain the baseline vectors in the three-dimensional rectangular coordinate system of the multiple measuring stations. The baseline vectors in the three-dimensional rectangular coordinate system of the multiple measuring stations are the observation results of each measuring station.

[0033] There are multiple measuring stations and a large number of control points on the high-speed railway track (for example, there is a control point on each side of the high-speed railway track every 60 meters). The measurement robot can observe the coordinates of multiple control points (such as 4, 8, or 12) at one measuring station.

[0034] In an exemplary embodiment, a full-circle measurement method is used to perform field observations at each measuring station of the high-speed railway track.

[0035] The baseline vector in the three-dimensional rectangular coordinate system of the measuring station is:

[0036]

[0037] Among them, [ΔX ij ΔY ij ΔZ ij ] T is the baseline vector in the three-dimensional rectangular coordinate system of the measuring station, i represents the measuring station, j represents the control point, ΔX ij is the component of the baseline vector in the x-axis direction in the three-dimensional rectangular coordinate system of the measuring station, ΔY ij is the component of the baseline vector in the y-axis direction in the three-dimensional rectangular coordinate system of the measuring station, ΔZ ij is the component of the baseline vector in the z-axis direction in the three-dimensional rectangular coordinate system of the measuring station, D ij is the slope distance from station i to control point j, L ij is the direction observation value from station i to control point j, β ij is the vertical angle of control point j relative to station point i.

[0038] Step 202, using a pre-established large-angle adjustment model, converts the baseline vector in the three-dimensional rectangular coordinate system of the survey station into a baseline vector in the geocentric three-dimensional rectangular coordinate system.

[0039] The large-angle adjustment model is a conversion model when the angle between the coordinate axes of the survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is greater than a first set value. After obtaining the coordinate conversion parameters, the large-angle adjustment model converts the baseline vector under the survey station three-dimensional rectangular coordinate system into the baseline vector under the geocentric three-dimensional rectangular coordinate system using the following formula:

[0040]

[0041]

[0042] Where ΔX ij ` is the component of the baseline vector in the x-axis direction in the geocentric three-dimensional rectangular coordinate system, ΔY ij ` is the component of the baseline vector in the y-axis direction in the geocentric three-dimensional rectangular coordinate system, ΔZ ij ` is the component of the baseline vector in the z-axis direction in the geocentric three-dimensional rectangular coordinate system, [k(i) 11 k(i) 12 k(i) 13 k(i) 21 k(i) 22 k(i) 23 k(i) 31 k(i) 32 k(i) 33 ] T is the coordinate transformation parameter of measuring station i, which is solved by the least square method.

[0043] Step 203, using a pre-established small angle adjustment model, transforming the baseline vector in the geocentric three-dimensional rectangular coordinate system, and obtaining the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

[0044] Since the accuracy of the large-angle adjustment model is difficult to meet the requirements of track control network adjustment, the main function of the small-angle adjustment model is to transform the baseline vector in the station coordinate system so that the angle between the transformed baseline vector and the corresponding baseline vector in the geocentric three-dimensional rectangular coordinate system is small.

[0045] The small angle adjustment model is a conversion model when the angle between the coordinate axes of the survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is less than the second set value, and can be expressed by the following formula:

[0046]

[0047] Among them, [k(i) x k(i) y k(i) zk(i)`] is the coordinate transformation parameter of the small angle adjustment model of station i, which is solved by the least squares method.

[0048] The first setting value is greater than the second setting value.

[0049] In an exemplary embodiment, the small angle adjustment model uses the following formula to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system:

[0050]

[0051] In the present application, the process of solving the coordinate transformation parameters of the large-angle adjustment model and the small-angle adjustment model is the same: assuming that there are n-1 baseline vectors, 3 (n-1) equations can be obtained. Under the condition of having at least 3 reference points, if the number of equations is greater than the number of coordinate transformation parameters to be solved, the least squares method is used to obtain the optimal estimate of each coordinate transformation parameter.

[0052] Step 204, constructing a three-dimensional control network of the high-speed railway track according to the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

[0053] In order to better understand the technical solution of this application, the reasoning process of the large angle adjustment model and the small angle adjustment model is introduced below. Since this application is based on the coordinate conversion model between the survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system, the reasoning is carried out from the idea of ​​three-dimensional rectangular coordinate conversion.

[0054] (1) Reasoning of the large-angle adjustment model.

[0055] like Figure 3 As shown, in the O-XYZ three-dimensional rectangular coordinate system, there are vectors After rotation, the vector becomes a vector but Among them, R is the transformation matrix and m is the scale factor.

[0056] again

[0057] but Where E is the identity matrix.

[0058] Let K = (m × RE), then

[0059] set up Where ΔX AB is the change in x-axis coordinate between point A and point B, ΔY AB is the change in the y-axis coordinate between point A and point B, ΔZ ABis the change in the z-axis coordinate between point A and point B, U C is the U-axis coordinate of point C in the geocentric three-dimensional rectangular coordinate system, V C is the V-axis coordinate of point C in the geocentric three-dimensional rectangular coordinate system, T C is the T-axis coordinate of point C in the geocentric three-dimensional rectangular coordinate system, U A is the U-axis coordinate of point A in the geocentric three-dimensional rectangular coordinate system, V A is the V-axis coordinate of point A in the geocentric three-dimensional rectangular coordinate system, T A is the T-axis coordinate of point A in the geocentric three-dimensional rectangular coordinate system, K is the coordinate transformation matrix, k 11 , k 12 , k 13 , k 21 , k 22 , k 23 , k 31 , k 32 , k 33 These are the coordinate transformation parameters of the large-angle adjustment model.

[0060] but This formula is the large angle adjustment model.

[0061] Since there is a correlation between the nine coordinate transformation parameters, the main function of the large-angle adjustment model is to transform the three-dimensional rectangular coordinate system of the survey station so that the angle between it and the geocentric three-dimensional rectangular coordinate system is small.

[0062] (2) Reasoning of small angle adjustment model.

[0063] set up Where R is the rotation matrix, θ x is the angle of rotation around the x-axis, θ y is the angle of rotation around the y-axis, θ z is the rotation angle around the z-axis.

[0064] When the angle between the two coordinate axes is small, the rotation matrix can be approximately written as:

[0065]

[0066] but Where K is the coordinate transformation matrix.

[0067] Let k`=m-1, k x =mθ x , k y =mθ y , k z =mθ z , where k x , k y , kz , k` are the coordinate transformation parameters of the small angle adjustment model. Substitute K into Available This formula is the small angle adjustment model.

[0068] The method for constructing a three-dimensional control network for high-speed railway tracks provided in the present application can be applied to the re-survey of the track control network of the high-speed railway during the operation stage. The coordinates in the survey station coordinate system are converted into coordinates in the geocentric three-dimensional rectangular coordinate system. Then, the coordinates of all survey stations and all control points in the geocentric three-dimensional rectangular coordinate system are connected to form a three-dimensional control network. The plane control network and the elevation control network are merged into a unified three-dimensional control network for the entire line. A surveying robot is used for field observation. The measurement method is exactly the same as the field measurement method of the traditional plane control network. However, the establishment process of the entire three-dimensional control network no longer uses a digital leveling instrument, and it is no longer established in sections, so as to avoid reducing the efficiency of field measurement due to overlap between sections. The present application focuses more on the processing of internal data, directly constructs a three-dimensional control network, and uses three-dimensional coordinates to determine whether the position of the control point has changed, thereby improving the re-survey efficiency of the track control network of the high-speed railway during the operation stage.

[0069] Based on the same inventive concept, the embodiment of the present application also provides a high-speed railway track three-dimensional control network construction system for implementing the high-speed railway track three-dimensional control network construction method involved above. The implementation solution provided by the system to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more high-speed railway track three-dimensional control network construction system embodiments provided below can refer to the limitations of the high-speed railway track three-dimensional control network construction method above, and will not be repeated here.

[0070] In an exemplary embodiment, Figure 4 As shown, a high-speed railway track three-dimensional control network construction system is provided, including: an observation module 401, a large angle conversion module 402, a small angle conversion module 403 and a control network construction module 404.

[0071] The observation module 401 is used to control the measurement robot to perform field observation at the measuring station of the high-speed railway track to obtain the baseline vector in the three-dimensional rectangular coordinate system of the measuring station. The baseline vector is the coordinate value of each control point in the three-dimensional rectangular coordinate system of the measuring station.

[0072] The large-angle conversion module 402 is used to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into the baseline vector in the geocentric three-dimensional rectangular coordinate system by using a pre-established large-angle adjustment model.

[0073] The large-angle adjustment model is a conversion model when the angle between the coordinate axes of the survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is greater than a first set value.

[0074] The small angle conversion module 403 is used to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system using a pre-established small angle adjustment model to obtain the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

[0075] The small angle adjustment model is a conversion model when the angle between the coordinate axes of the survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is less than a second set value.

[0076] The control network construction module 404 is used to construct a three-dimensional control network of the high-speed railway track according to the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

[0077] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store large-angle adjustment models and small-angle adjustment models. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for constructing a three-dimensional control network for a high-speed railway track is implemented.

[0078] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0079] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0080] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0081] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0082] In this application, all actions to obtain signals, information or data are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization of the corresponding system owner.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0084] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0085] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for constructing a three-dimensional control network for a high-speed railway track, characterized in that: The method for constructing a three-dimensional control network for a high-speed railway track comprises: Controlling the measuring robot to perform field observation at a measuring station of the high-speed railway track to obtain a baseline vector in a three-dimensional rectangular coordinate system of the measuring station; the baseline vector is the coordinate of each control point in the three-dimensional rectangular coordinate system of the measuring station; The large-angle adjustment model established in advance is used to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into the baseline vector in the geocentric three-dimensional rectangular coordinate system; the large-angle adjustment model is a conversion model when the angle between the coordinate axes of the three-dimensional rectangular coordinate system of the survey station and the geocentric three-dimensional rectangular coordinate system is greater than a first set value; The baseline vector in the geocentric three-dimensional rectangular coordinate system is transformed by using a pre-established small-angle adjustment model to obtain the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system; the small-angle adjustment model is a conversion model when the angle between the coordinate axes of the measuring station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is less than a second set value; According to the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system, a three-dimensional control network of the high-speed railway track is constructed.

2. The method for constructing a high-speed railway track three-dimensional control network according to claim 1, characterized in that: Control the measurement robot to conduct field observation at the measuring station of the high-speed railway track to obtain the baseline vector in the three-dimensional rectangular coordinate system of the measuring station, including: The measurement robot is controlled to perform field observation at each measuring station of the high-speed railway track to obtain the baseline vectors in the three-dimensional rectangular coordinate system of the multiple measuring stations; the baseline vectors in the three-dimensional rectangular coordinate system of the multiple measuring stations are the observation results of each measuring station.

3. The method for constructing a high-speed railway track three-dimensional control network according to claim 1, characterized in that: The full-circle measurement method is used to carry out field observations at each measuring station on the high-speed railway track.

4. The method for constructing a high-speed railway track three-dimensional control network according to claim 1, characterized in that: The baseline vector in the three-dimensional rectangular coordinate system of the measuring station is: Among them, [ΔX ij ΔY ij ΔZ ij ] T is the baseline vector in the three-dimensional rectangular coordinate system of the measuring station, i represents the measuring station, j represents the control point, ΔX ij is the component of the baseline vector in the x-axis direction in the three-dimensional rectangular coordinate system of the measuring station, ΔY ij is the component of the baseline vector in the y-axis direction in the three-dimensional rectangular coordinate system of the measuring station, ΔZ ij is the component of the baseline vector in the z-axis direction in the three-dimensional rectangular coordinate system of the measuring station, D ij is the slope distance from station i to control point j, L ij is the direction observation value from station i to control point j, β ij is the vertical angle of control point j relative to station point i.

5. The method for constructing a high-speed railway track three-dimensional control network according to claim 4, characterized in that: The large-angle adjustment model uses the following formula to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into the baseline vector in the geocentric three-dimensional rectangular coordinate system: Among them, [ΔX ij ` ΔY ij ` ΔZ ij `] T is the baseline vector in the geocentric three-dimensional rectangular coordinate system, ΔX ij ` is the component of the baseline vector in the x-axis direction in the geocentric three-dimensional rectangular coordinate system, ΔY ij ` is the component of the baseline vector in the y-axis direction in the geocentric three-dimensional rectangular coordinate system, ΔZ ij ` is the component of the baseline vector in the z-axis direction in the geocentric three-dimensional rectangular coordinate system, [k(i) 11 k(i) 12 k(i) 13 k(i) 21 k(i) 22 k(i) 23 k(i) 31 k(i) 32 k(i) 33 ] T is the coordinate transformation parameter of measuring station i, which is solved by the least square method.

6. The method for constructing a high-speed railway track three-dimensional control network according to claim 5, characterized in that: The small angle adjustment model uses the following formula to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system: Among them, [U i V i T i ] T is the coordinate of the starting point of the baseline in the geocentric three-dimensional rectangular coordinate system, [U j V j T j ] T is the coordinate of the end point of the baseline in the geocentric three-dimensional rectangular coordinate system. The starting point of the baseline is the survey station, and the end point of the baseline is the control point. i is the x-axis coordinate of the measuring station i in the geocentric three-dimensional rectangular coordinate system, V i is the y-axis coordinate of the measuring station i in the geocentric three-dimensional rectangular coordinate system, T i is the z-axis coordinate of the measuring station i in the geocentric three-dimensional rectangular coordinate system, U j is the x-axis coordinate of the control point j in the geocentric three-dimensional rectangular coordinate system, V j is the y-axis coordinate of the control point j in the geocentric three-dimensional rectangular coordinate system, T j is the z-axis coordinate of the control point j in the geocentric three-dimensional rectangular coordinate system, [k(i) x k(i) y k(i) z k(i)`] is the coordinate transformation parameter of the small angle adjustment model of station i, which is solved by the least squares method.

7. A high-speed railway track three-dimensional control network construction system, applied to the high-speed railway track three-dimensional control network construction method according to any one of claims 1 to 6, characterized in that: The high-speed railway track three-dimensional control network construction system includes: An observation module is used to control the measurement robot to perform field observation at a measuring station of a high-speed railway track to obtain a baseline vector in a three-dimensional rectangular coordinate system of the measuring station; the baseline vector is a coordinate value of each control point in the three-dimensional rectangular coordinate system of the measuring station; A large-angle conversion module is used to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into the baseline vector in the geocentric three-dimensional rectangular coordinate system by using a pre-established large-angle adjustment model; the large-angle adjustment model is a conversion model when the angle between the coordinate axes of the three-dimensional rectangular coordinate system of the survey station and the geocentric three-dimensional rectangular coordinate system is greater than a first set value; A small angle conversion module is used to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system by using a pre-established small angle adjustment model to obtain the coordinates of each control point of the high-speed railway track and each measuring station in the geocentric three-dimensional rectangular coordinate system; the small angle adjustment model is a conversion model when the angle between the coordinate axes of the measuring station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is less than a second set value; The control network construction module is used to construct a three-dimensional control network of the high-speed railway track according to the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for constructing a three-dimensional control network for a high-speed railway track as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for constructing a three-dimensional control network for a high-speed railway track described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for constructing a three-dimensional control network for a high-speed railway track described in any one of claims 1 to 6 is implemented.

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