A method, system, equipment, medium and product for constructing a three-dimensional control network for high-speed railway tracks

Abstract

The present application discloses a method, system, equipment, medium, and product for constructing a three-dimensional control network for a high-speed railway track, and relates to the field of high-speed railway measurement. The method comprises: controlling a measurement robot to conduct field observations at a survey station of the high-speed railway track to obtain a baseline vector in a three-dimensional rectangular coordinate system of the survey station; using a pre-established large-angle adjustment model to convert the baseline vector in the three-dimensional rectangular coordinate system of the survey station into a baseline vector in a geocentric three-dimensional rectangular coordinate system; using a pre-established small-angle adjustment model to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system to obtain the coordinates of each control point and each survey station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system; and constructing a three-dimensional control network for the high-speed railway track based on the coordinates of each control point and each survey station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system. The present application improves the efficiency of re-surveying the high-speed railway track control network.

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 high-speed railway tracks. Background Art

[0002] During the operation phase of a high-speed railway, the track control network needs to be re-surveyed 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 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 the high-speed railway track control network: (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 the high-speed railway; (2) Taking into account the deformation of the projection edge 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 high-speed railway tracks, which can improve the efficiency of re-surveying the control network for high-speed railway tracks.

[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 measurement 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] A pre-established large-angle adjustment model is used to convert the baseline vector in the survey station three-dimensional rectangular coordinate system into a 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 survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is greater than a first set value;

[0008] A pre-established 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; 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 system for constructing a three-dimensional railway track control network, comprising:

[0011] An observation module is used to control the measurement robot to conduct field observations at a measuring station on 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 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 survey station three-dimensional rectangular coordinate system into the baseline vector in the geocentric three-dimensional rectangular coordinate system 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 survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is greater than a first set value;

[0013] A small-angle conversion module is configured 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 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 the three-dimensional control network of the high-speed railway track based on 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, equipment, medium and product for constructing a three-dimensional control network for a high-speed railway track. During the measurement process, only a measuring robot is used to conduct field observation 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, 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 of the measuring station in the three-dimensional rectangular coordinate system into a baseline vector in the geocentric three-dimensional rectangular coordinate system. 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 and each measuring station of the high-speed railway track 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 reduced field measurement efficiency due to overlap between segments, and improving the efficiency of re-surveying each control point during the operation phase 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 following briefly introduces the drawings required for use in the embodiments. 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 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 according to an 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 the 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to 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, terminal 102 communicates with server 104 via a network. A data storage system can store data that server 104 needs to process. The data storage system can be set up separately, integrated with server 104, or placed on a cloud or other server. Terminal 102 can send instructions to server 104. After receiving the instructions, server 104 controls the measurement robot to conduct field observations at the survey station of the high-speed railway track to obtain the baseline vector in the survey station's three-dimensional rectangular coordinate system. A pre-established large-angle adjustment model is used to convert the baseline vector in the survey station's three-dimensional rectangular coordinate system into a baseline vector in the geocentric three-dimensional rectangular coordinate system. A pre-established 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 and each survey 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 based on the coordinates of each control point and each survey station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system. Server 104 can provide feedback on the three-dimensional control network of the high-speed railway track to terminal 102. Furthermore, in some embodiments, the method for constructing a high-speed railway track three-dimensional control network may also be implemented solely by the server 104 or the terminal 102 .

[0029] Terminal 102 may include, but is not limited to, various desktop computers, laptops, smartphones, tablet computers, IoT devices, and portable wearable devices. IoT devices may include smart speakers, smart TVs, smart air conditioners, and smart car devices. Portable wearable devices may include smart watches, smart bracelets, and head-mounted devices. Server 104 may be implemented as a standalone 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, specifically a computer device such as a terminal or a server, or a terminal and a server. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in the example is used for explanation, including the following steps 201 to 204.

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

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

[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 a measuring station.

[0034] In an exemplary embodiment, a full-circle survey method is used to perform field observations at each survey station on 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, the baseline vector in the three-dimensional rectangular coordinate system of the survey station is converted into a baseline vector in a 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, transforms the baseline vector in the geocentric three-dimensional rectangular coordinate system 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.

[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 survey 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 a 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 measuring 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 this 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 based on 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] To better understand the technical solution of this application, the following describes the reasoning process of the large-angle adjustment model and the small-angle adjustment model. Since this application is based on the coordinate transformation model between the survey station 3D rectangular coordinate system and the geocentric 3D rectangular coordinate system, the reasoning is based on the idea of 3D rectangular coordinate transformation.

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

[0055] like Figure 3 As shown, in the O-XYZ three-dimensional rectangular coordinate system, there are vectors After the 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 angle of rotation 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 high-speed railways during the operation phase. 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 entire three-dimensional control network is no longer established using digital leveling instruments, and 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 high-speed railways during the operation phase.

[0069] Based on the same inventive concept, embodiments of the present application also provide a high-speed railway track three-dimensional control network construction system for implementing the above-mentioned high-speed railway track three-dimensional control network construction method. The implementation solution provided by this system is similar to the implementation solution described in the above-mentioned method. Therefore, the specific limitations in one or more embodiments of the high-speed railway track three-dimensional control network construction system provided below can be referred 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 measurement station of the high-speed railway track to obtain the baseline vector in the three-dimensional rectangular coordinate system of the measurement station. The baseline vector is the coordinate value of each control point in the three-dimensional rectangular coordinate system of the measurement 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 based on 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 via a system bus, and the communication interface is connected to the system bus via 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 via 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 shown in the figure, or combine certain components, or have a different component arrangement.

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

[0080] In an exemplary embodiment, a computer program product is provided, including a computer program. 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 skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented 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 memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may 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 may 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 databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0085] The technical features of the above embodiments can 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 document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may 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: Control the measurement robot to conduct field observations at the measuring station of the high-speed railway track and obtain the baseline vector in the 3D rectangular coordinate system of the measuring station: ;in, is the baseline vector in the three-dimensional rectangular coordinate system of the measuring station, i Indicates the measuring station. j represents the control point, is the baseline vector in the three-dimensional rectangular coordinate system of the measuring station x The component in the axial direction, is the baseline vector in the three-dimensional rectangular coordinate system of the measuring station y The component in the axial direction, is the baseline vector in the three-dimensional rectangular coordinate system of the measuring station z The component in the axial direction, For measuring station i To Control Point j The slope distance, For measuring station i To Control Point j The direction observation value of For control points j Relative to the station i The vertical angle of the baseline vector is the coordinate of each control point in the three-dimensional rectangular coordinate system of the measuring station; The pre-established large-angle adjustment model 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: ； in, is the baseline vector in the geocentric three-dimensional rectangular coordinate system, is the baseline vector in the geocentric three-dimensional rectangular coordinate system x The component in the axial direction, is the baseline vector in the geocentric three-dimensional rectangular coordinate system y The component in the axial direction, is the baseline vector in the geocentric three-dimensional rectangular coordinate system z The component in the axial direction, For measuring station i The coordinate transformation parameters are obtained by using the least square method; the large-angle adjustment model is a transformation 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; A pre-established 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; 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 observations at the measuring station of the high-speed railway track to obtain the baseline vector in the 3D rectangular coordinate system of the measuring station. Specifically, the following steps are performed: 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 survey method is used to conduct 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 small angle adjustment model uses the following formula to transform the baseline vector in the geocentric three-dimensional rectangular coordinate system: ； in, is the coordinate of the baseline starting point in the geocentric three-dimensional rectangular coordinate system, 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. The measuring station is the geocentric three-dimensional rectangular coordinate system i of x Axis coordinates, The measuring station is the geocentric three-dimensional rectangular coordinate system i of y Axis coordinates, The measuring station is the geocentric three-dimensional rectangular coordinate system i of z Axis coordinates, is the control point in the geocentric three-dimensional rectangular coordinate system j of x Axis coordinates, is the control point in the geocentric three-dimensional rectangular coordinate system j of y Axis coordinates, is the control point in the geocentric three-dimensional rectangular coordinate system j of z Axis coordinates, For measuring station i The coordinate transformation parameters of the small angle adjustment model are obtained by using the least squares method.

5. 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 4, 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 conduct field observations at a measuring station on 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 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 survey station three-dimensional rectangular coordinate system into the baseline vector in the geocentric three-dimensional rectangular coordinate system 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 survey station three-dimensional rectangular coordinate system and the geocentric three-dimensional rectangular coordinate system is greater than a first set value; A small-angle conversion module is configured 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 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 the three-dimensional control network of the high-speed railway track based on the coordinates of each control point and each measuring station of the high-speed railway track in the geocentric three-dimensional rectangular coordinate system.

6. 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 according to any one of claims 1 to 4.

7. 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 according to any one of claims 1 to 4 is implemented.

8. 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 according to any one of claims 1 to 4 is implemented.

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