Method for using an inertial navigation trolley for track measurement

Abstract

This invention relates to the field of old subway line inspection technology, and discloses a method for using an inertial navigation system (INS) trolley for track measurement. The INS trolley includes a frame, a measuring mechanism, and a calibration mechanism. The measuring mechanism and calibration mechanism are mounted on the frame and arranged in a second direction perpendicular to a first direction, so that the measuring mechanism can aim at the calibration mechanism along the second direction. The method of use includes the following steps: placing the INS trolley on the track so that the INS trolley and the track are aligned along the first direction; driving the measuring mechanism to aim at the calibration mechanism along the second direction, so that the INS trolley performs calibration measurement in the second direction. This invention can improve the accuracy of track measurement for old subway lines using INS trolleys.

Description

Technical Field

[0001] This invention relates to the field of old subway line inspection technology, and in particular to a method for using an inertial navigation trolley for track measurement. Background Technology

[0002] In related technologies, the CP3 control network is a high-precision three-dimensional control network designed for high-speed railways. Its control points are typically arranged in pairs on both sides of the railway and spaced apart along the extension direction of the subway line. An inertial navigation trolley is used to detect the geometric state and irregularities of the subway track. It typically consists of a frame and a measuring mechanism mounted on the frame. During track measurement, the inertial navigation trolley needs to perform single-point measurements based on control points on the side of the railway to determine the spatial relative position between the measuring mechanism and the frame, thereby ensuring the accuracy of the inertial navigation trolley's detection of the subway track's geometric state.

[0003] However, most of the old subways in China do not have a CP3 control network. Their control points are usually laid out at intervals below the centerline track, which makes it impossible for conventional inertial navigation trolleys to complete single-point measurements through the control points of old subways, thus affecting the accuracy of the inertial navigation trolley's line measurement. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a method for using an inertial navigation trolley for track measurement, which aims to improve the accuracy of track measurement for old subway lines.

[0005] To achieve the above objectives, the present invention provides a method for using an inertial navigation trolley for track measurement. The inertial navigation trolley for track measurement includes a frame, a measuring mechanism, and a calibration mechanism. The measuring mechanism and the calibration mechanism are disposed on the frame and arranged in a second direction perpendicular to the first direction, so that the measuring mechanism can aim at the calibration mechanism along the second direction. The method of use includes: Place the inertial navigation trolley for track measurement on the track so that the inertial navigation trolley for track measurement and the track are aligned along the first direction; The measuring mechanism is driven to aim at the calibration mechanism in the second direction, so that the inertial navigation trolley for track measurement can perform calibration measurement in the second direction.

[0006] In one embodiment, the step of driving the measuring mechanism to aim at the calibration mechanism along the second direction, so that the inertial navigation trolley for track measurement performs calibration measurement in the second direction includes: The aiming head is driven to align with the calibration mechanism along the second direction, and the horizontal and vertical angles AV of the calibration mechanism in the second direction are observed. 横V标 ; The first vertical angle correction A of the inertial navigation trolley used for track measurement is calculated using the following formula. V横 : AV横 =AV 横V标 -A 参 In the formula, A 参 The reference vertical angle for the inertial navigation trolley used for track measurement in the second direction.

[0007] In one embodiment, the method of using the inertial navigation trolley for track measurement further includes: The inertial navigation trolley for track measurement is positioned between two adjacent control points on the track, and the measuring mechanism is driven to aim at the target position above any adjacent control point along the first direction, so that the inertial navigation trolley for track measurement can perform calibration measurement in the first direction.

[0008] In one embodiment, the step of driving the measuring mechanism to aim at the target position above any adjacent control point along the first direction further includes: Place the leveling rod at any control point; The observation elevation is calculated based on the elevation of the control point and the reference height of the measuring mechanism to confirm the corresponding reading of the leveling rod at the observation elevation. Using the corresponding reading of the leveling rod at the observed elevation as the target position, the measuring mechanism (20) aims at the corresponding reading on the leveling rod along the first direction.

[0009] In one embodiment, the step of driving the aiming unit to aim at the target position above any adjacent control point along the first direction, so that the inertial navigation trolley for track measurement performs single-point calibration measurement in the first direction, includes: Position the inertial navigation trolley for track measurement between two adjacent control points on the track; The aiming head is directed to aim at the target positions on the two control points along the first direction, and the vertical angle A of the two target positions is observed respectively. 前竖 A 后竖 ; The second vertical angle correction AV of the inertial navigation trolley used for track measurement is calculated using the following formula. 纵 : In the formula, θ 纵 The tilt angle of the inertial navigation trolley used for track measurement in the second direction.

[0010] In one embodiment, the step of positioning the inertial navigation trolley for track measurement between two adjacent control points on the track includes: Position the inertial navigation trolley used for track measurement at the midpoint between two adjacent control points on the track.

[0011] In one embodiment, the method of using the inertial navigation trolley for track measurement further includes: The inertial navigation trolley for track measurement is driven to move along the track in the first direction and stop at any control point to perform cross-sectional measurements at the control point.

[0012] In one embodiment, the method of using the inertial navigation trolley for track measurement further includes: The inertial navigation trolley used for track measurement is driven to move along a first direction from one of the control points to another to perform interval measurements between the two control points.

[0013] This invention provides a method for using an inertial navigation trolley for track measurement, which has the following advantages compared to the prior art: The inertial navigation trolley for track measurement in this embodiment of the invention will not deviate relative to the first direction when placed on the track; furthermore, the inertial navigation trolley for track measurement is also equipped with a measuring mechanism and a calibration mechanism. It is understood that even when no control points are set up on either side of the track, since the trolley frame is fixed relative to the first direction, and the calibration mechanism and measuring mechanism are arranged in a second direction perpendicular to the first direction, the distance and relative angle between the measuring mechanism and the calibration mechanism can be observed by aiming the measuring mechanism at the calibration mechanism along the second direction. This allows the inertial navigation trolley for track measurement to complete single-point calibration measurement in the second direction, which helps to avoid deviations during subsequent line measurement, thereby improving the line measurement accuracy of the inertial navigation trolley. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the inertial navigation trolley for track measurement according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the method of using the inertial navigation trolley for track measurement according to an embodiment of the present invention; Figure 3 This is the present invention. Figure 2 A flowchart of one embodiment of step S2; Figure 4 This is the present invention. Figure 2 A flowchart of an embodiment of step S3; Figure 5 This is a flowchart illustrating another embodiment of the method for using the inertial navigation trolley for track measurement described in this invention.

[0015] In the figure, 100 is the inertial navigation trolley for track measurement; 10 is the frame; 11 is the detection component; 12 is the guide component; 121 is the guide wheel; 20 is the measuring mechanism; 21 is the aiming part; 30 is the calibration mechanism; 31 is the mounting frame; 311 is the first rod; 312 is the second rod; and 32 is the prism assembly. Detailed Implementation

[0016] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0017] It should be understood that the terms "before," "after," etc., are used in this invention to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, "before" information can also be called "after" information, and "after" information can also be called "before" information, without departing from the scope of this invention.

[0018] like Figure 1 As shown, an inertial navigation trolley 100 for track measurement according to an embodiment of the present invention includes a frame 10, a measuring mechanism 20, and a calibration mechanism 30. The frame 10 can be mounted on a track. The frame 10 is provided with a detection component 11 and a guide component 12. The detection component 11 can detect and collect track data at the current position, and the guide component 12 can guide the frame 10 to move along the track in a first direction. The measuring mechanism 20 is mounted on the frame 10 and has a rotatable aiming part 21. The aiming part 21 can aim at a target position and measure the distance and relative angle between the measuring mechanism 20 and the target position. The calibration mechanism 30 is mounted on the frame 10, and the calibration mechanism 30 and the measuring mechanism 20 are arranged in a second direction perpendicular to the first direction, so that the aiming part 21 can aim at the calibration mechanism 30 in the second direction.

[0019] Optionally, in some embodiments, the detection component 11 may include, but is not limited to, a track gauge assembly, an odometer assembly, a track gauge sensor, and an inclination sensor, for detecting and acquiring parameters such as track gauge, mileage, and inclination at the location of the inertial navigation trolley 100 used for track measurement. The measurement mechanism 20 may specifically be configured as a total station, and the aiming part 21 of the total station can rotate flexibly relative to the frame 10, facilitating the switching of the surveyor between different target positions.

[0020] It is understandable that even if no control points are set up on both sides of the track, since the frame 10 is fixed relative to the first direction and the calibration mechanism 30 and the measuring mechanism 20 are arranged in a second direction perpendicular to the first direction, the distance and relative angle between the measuring mechanism 20 and the calibration mechanism 30 can be observed by rotating the aiming part 21 of the measuring mechanism 20 and aiming at the calibration mechanism 30 in the second direction. This allows the inertial navigation trolley 100 for track measurement to complete single-point calibration measurement in the second direction, which helps to avoid deviations during subsequent line measurement and thus improves the line measurement accuracy of the inertial navigation trolley.

[0021] like Figure 1As shown, the calibration mechanism 30 of this embodiment includes a mounting frame 31 and a prism assembly 32. The mounting frame 31 is disposed on the top of the vehicle frame 10 and arranged with the measuring mechanism 20 in a second direction. The prism assembly 32 is disposed on the mounting frame 31 and faces the aiming part 21. The line connecting the center of the prism assembly 32 and the center of the aiming part 21 is parallel to the second direction. This arrangement ensures that when the aiming part 21 aims at the center of the prism assembly 32, it can accurately obtain the horizontal and vertical angles in the second direction.

[0022] like Figure 1 As shown, the mounting bracket 31 of this embodiment includes a first rod 311 and a second rod 312. One end of the first rod 311 is detachably mounted to the frame 10, and the other end extends vertically. The second rod 312 extends horizontally and is connected to the top of the first rod 311. A prism assembly 32 is disposed at the end of the second rod 312 away from the first rod 311. The first rod 311 is rotatably disposed about the vertical direction, and / or the second rod 312 is rotatably disposed about the first rod 311. With this configuration, the spatial position of the prism assembly 32 can be changed by flexibly adjusting the mounting bracket 31 to ensure that it can be positioned opposite to the aiming part 21 of the calibration mechanism 30 in the second direction.

[0023] In some embodiments, a GNSS receiver may also be installed on the frame 10, which is capable of receiving satellite signals to provide accurate absolute position information for the inertial navigation trolley 100 for orbit measurement, thereby further expanding the functionality of the inertial navigation trolley 100 for orbit measurement.

[0024] like Figure 1 As shown, in this embodiment of the invention, the guiding mechanism is located on one side of the frame 10 in the second direction. The guiding mechanism includes at least two guide wheels 121, which are arranged along the first direction and can sequentially abut against the track. This arrangement allows for two-point positioning by having the two guide wheels 121 sequentially abut against the side of the track, ensuring that the frame 10 as a whole does not deviate relative to the first direction, and ensuring that the calibration mechanism 30 and the measuring mechanism 20 can be aligned and positioned in the second direction.

[0025] like Figure 1 As shown, the measuring mechanism 20 of this embodiment of the invention is located at the center of the frame 10 in the second direction.

[0026] like Figure 2 As shown, the present invention also proposes a method of using an inertial navigation trolley 100 for track measurement, which uses the aforementioned inertial navigation trolley 100 for track measurement, including the following steps: S1. Place the inertial navigation trolley 100 for track measurement on the track so that the inertial navigation trolley 100 for track measurement and the track are aligned along the first direction; S2. Drive the measuring mechanism 20 to aim at the calibration mechanism 30 in the second direction, so that the inertial navigation trolley 100 for track measurement can perform calibration measurement in the second direction.

[0027] Specifically, in this embodiment, in step S1, when the inertial navigation trolley 100 for track measurement is placed on the track, the guide wheel 121 of the guide assembly 12 can be made to abut against the track to prevent the frame 10 of the inertial navigation trolley 100 for track measurement from being misaligned relative to the first direction; after calibrating the position of the frame 10, the frame 10 can be locked so that the inertial navigation trolley 100 for track measurement remains stationary relative to the track.

[0028] The step of aiming the aiming part 21 of the measuring mechanism 20 at the target position above any adjacent control point along the first direction includes: Place the leveling rod at any control point; The observation elevation is calculated based on the elevation of the control point and the reference height of the measuring mechanism 20 to confirm the corresponding reading of the leveling rod at the observation elevation. Using the corresponding reading on the observation elevation of the leveling rod as the target position, the aiming unit 21 aims at the corresponding reading on the leveling rod along the first direction.

[0029] Specifically, in this embodiment, the principle for calculating the observed elevation is to ensure that the observation position of the total station, which serves as the measuring mechanism 20, falls within the display range of the front and rear leveling rods, and that the total station is kept as horizontal as possible during observation. This setting helps to ensure the measurement accuracy of the total station and avoids deviations in the measured horizontal and vertical angles.

[0030] Further, please refer to Figure 3 , Figure 3 yes Figure 2 A flowchart of one embodiment of step S2. Step S2, in a specific implementation, may include: S21, drive the aiming unit 21 to aim at the calibration mechanism 30 along the second direction, and observe the horizontal and vertical angles AV of the calibration mechanism 30 in the second direction. 横V标 ; S22. Calculate the first vertical angle correction AV of the inertial navigation trolley 100 used for track measurement using the following formula. 横 : AV 横 =AV 横V标 -A 参 In the formula, A 参 The reference vertical angle for the inertial navigation trolley used for track measurement in the second direction.

[0031] Specifically, in this embodiment, the reference vertical angle A of the inertial navigation trolley 100 for track measurement in the second direction is... 参This can be considered as the vertical angle calibrated at the factory for the inertial navigation trolley 100 used for track measurement.

[0032] Furthermore, the steps for using the inertial navigation trolley 100 for track measurement also include: S3. Position the inertial navigation trolley 100 for track measurement between two adjacent control points on the track, and drive the measuring mechanism 20 to aim at the target position above any adjacent control point along the first direction, so that the inertial navigation trolley 100 for track measurement performs calibration measurement in the first direction.

[0033] In step S3, the aiming part 21 of the measuring mechanism 20 can be aimed at the target position above any adjacent control point along the first direction to achieve single-point measurement calibration in the first direction, or the aiming part 21 can be aimed at the target position above the control points on both sides along the first direction to perform two calibrations respectively, which helps to ensure the calibration measurement accuracy of the inertial navigation trolley 100 for track measurement in the first direction.

[0034] Please see Figure 4 , Figure 4 yes Figure 2 A flowchart of one embodiment of step S3. Further, step S3 may, in specific implementations, include: S31. Position the inertial navigation trolley 100 for track measurement at the midpoint between two adjacent control points on the track; S32, drive the aiming unit 21 to aim at the target positions on the two control points along the first direction, and observe the vertical angle A of the two target positions respectively. 前竖 A 后竖 ; S33. Calculate the second vertical angle correction of the inertial navigation trolley 100 used for track measurement using the following formula: In the formula, θ 纵 The inclination angle of the inertial navigation trolley 100 in the second direction for track measurement.

[0035] Furthermore, such as Figure 5 As shown, in another embodiment of the method of using the inertial navigation trolley 100 for track measurement according to the present invention, after step S3, the method of using the inertial navigation trolley 100 for track measurement further includes: S4. Drive the inertial navigation trolley 100 for track measurement to move along the first direction on the track, and stop the inertial navigation trolley 100 for track measurement at any control point, so as to perform cross-sectional measurement at the control point.

[0036] Due to the age of the subway stations, the control points are typically laid out by placing only one control point at intervals along the track centerline under the track. Therefore, in this embodiment, the inertial navigation trolley 100 for track measurement is pushed along the track to the vicinity of the control point. Then, the detection component 11 acquires parameters such as the angles of the lateral and longitudinal tilt sensors and the track gauge sensor data. Based on the horizontal angle and the first vertical angle correction A in the second direction obtained by the calibration mechanism 30, the control points are then adjusted accordingly. V横 The second vertical angle correction AV 纵 The spatial position and deviation of the inertial navigation trolley 100 used for track measurement are calculated to complete the single-point cross-section measurement.

[0037] Specifically, step S4 may include the following in its implementation: Calculate the three-dimensional spatial coordinates of the center of the measuring mechanism 20; The spatial unit vector projected from the center point of the measuring mechanism 20 onto the track plane n 投 ; Obtain the three-dimensional coordinates {E} of the center point of the measuring mechanism 20 projected onto the track surface. 投 N 投 H 投}; Calculate the measured three-dimensional coordinates {E} of the left and right rails 左轨 N 左轨 H 左轨}、{E 右轨 N 右轨 H 右轨}; Calculate the left rail lateral deviation, left rail elevation deviation, right rail lateral deviation, right rail elevation deviation, track gauge deviation, and superelevation deviation to complete the single-point cross-section measurement.

[0038] Furthermore, in other embodiments of the method of using the inertial navigation trolley 100 for track measurement described in this invention, after step S4, the method of using the inertial navigation trolley 100 for track measurement further includes: S5. Drive the inertial navigation trolley 100 for track measurement to move from one control point to another along a first direction, and during the movement of the inertial navigation trolley 100 for track measurement, control the detection component 11 to continuously output data to perform interval measurement between the two control points.

[0039] Specifically, in this embodiment, when the inertial navigation trolley 100 for track measurement moves between two adjacent control points and continuously outputs subway line detection data, the inertial navigation trolley 100 can calculate and display information such as the current position mileage of the inertial navigation trolley, the names of surrounding control points, the distance to surrounding control points, the distance to the previous section, and the reference distance to the next section in real time, providing a reference for the on-site operator. When the inertial navigation trolley 100 for track measurement arrives at the next control point, step S4 can be repeated to perform single-point section measurement at the next control point.

[0040] It is understood that the method of using the inertial navigation trolley 100 for track measurement of the present invention enables the detection of the entire subway line by moving the inertial navigation trolley 100 along the subway track and alternately performing single-point cross-section measurements and section measurements. Subsequently, the sensor data, calibration data, configuration data, and design centerline parameters collected on-site by the inertial navigation trolley 100 are processed and calculated to generate information such as the lateral and elevation deviations of the left and right rails, track irregularities, fine-tuning schemes for ballasted tracks, and fine-tuning schemes for ballastless tracks.

[0041] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for using an inertial navigation trolley for track measurement, characterized in that, The inertial navigation trolley for track measurement includes a frame, a measuring mechanism, and a calibration mechanism. The measuring mechanism and the calibration mechanism are mounted on the frame and arranged in a second direction perpendicular to the first direction, so that the measuring mechanism can aim at the calibration mechanism along the second direction. Its usage includes the following steps: Place the inertial navigation trolley for track measurement on the track so that the inertial navigation trolley for track measurement and the track are aligned along the first direction; The measuring mechanism is driven to aim at the calibration mechanism in the second direction, so that the inertial navigation trolley for track measurement can perform calibration measurement in the second direction.

2. The method of using an inertial navigation trolley for track measurement according to claim 1, characterized in that, The step of driving the measuring mechanism to aim at the calibration mechanism along the second direction, so that the inertial navigation trolley for track measurement performs calibration measurement in the second direction includes: The measuring mechanism is driven to aim at the calibration mechanism along the second direction, and the horizontal and vertical angles AV of the calibration mechanism in the second direction are observed. 横V标 ; The first vertical angle correction A of the inertial navigation trolley used for track measurement is calculated using the following formula. V横 : OF 横 =OFF 横V标 -A 参 In the formula, A 参 The reference vertical angle for the inertial navigation trolley used for track measurement in the second direction.

3. A method of using an inertial navigation trolley for track measurement according to any one of claims 1 to 2, characterized in that, The method of using the inertial navigation trolley for track measurement also includes: The inertial navigation trolley for track measurement is positioned between two adjacent control points on the track, and the measuring mechanism is driven to aim at the target position above any adjacent control point along the first direction, so that the inertial navigation trolley for track measurement can perform calibration measurement in the first direction.

4. The method of using an inertial navigation trolley for track measurement according to claim 3, characterized in that, The step of driving the measuring mechanism to aim at the target position above any adjacent control point along the first direction further includes: Place the leveling rod at any control point; The observation elevation is calculated based on the elevation of the control point and the reference height of the measuring mechanism to confirm the corresponding reading of the leveling rod at the observation elevation. Using the corresponding reading on the observation elevation of the leveling rod as the target position, the measuring mechanism aims at the corresponding reading on the leveling rod along the first direction.

5. The method of using an inertial navigation trolley for track measurement according to claim 3, characterized in that, The steps of driving the measuring mechanism to aim at the target position above any adjacent control point along the first direction, so that the inertial navigation trolley for track measurement can perform single-point calibration measurement in the first direction, include: Position the inertial navigation trolley for track measurement between two adjacent control points on the track; The aiming head is directed to aim at the target positions on the two control points along the first direction, and the vertical angle A of the two target positions is observed respectively. 前竖 A 后竖 ; The second vertical angle correction AV of the inertial navigation trolley used for track measurement is calculated using the following formula. 纵 : In the formula, θ 纵 The tilt angle of the inertial navigation trolley used for track measurement in the second direction.

6. The method of using an inertial navigation trolley for track measurement according to claim 5, characterized in that, The step of positioning the inertial navigation trolley for track measurement between two adjacent control points on the track includes: Position the inertial navigation trolley used for track measurement at the midpoint between two adjacent control points on the track.

7. The method of using an inertial navigation trolley for track measurement according to claim 3, characterized in that, The method of using the inertial navigation trolley for track measurement also includes: The inertial navigation trolley for track measurement is driven to move along the track in the first direction and stop at any control point to perform cross-sectional measurements at the control point.

8. The method of using an inertial navigation trolley for track measurement according to claim 6, characterized in that, The method of using the inertial navigation trolley for track measurement also includes: The inertial navigation trolley used for track measurement is driven to move along a first direction from one of the control points to another to perform interval measurements between the two control points.

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