GNSS/INS多传感器组合高速铁路轨道测量系统

doi:10.11947/j.AGCS.2020.20190344

摘要/Abstract

摘要： 高速铁路轨道必须保持高平顺性、高稳定性和高可靠性，这直接关系到高速列车高速、安全且平稳运行。高速铁路轨道测量至少包括控制测量、线路测量和变形测量等工作。传统高速铁路轨道测量方法存在测量周期长、维护成本高、检测效率低等问题。为此，本文提出了一种基于全球导航卫星系统（global navigation satellite system，GNSS）/惯性导航系统（inertial navigation system，INS）多传感器组合的高速铁路轨道测量方法，并研制了相应的轨道测量系统。本文详细介绍了其主要构成和方法流程，并在实际高速铁路轨道精调工程中进行了应用示范。结果表明：该系统实现了轨道路基变形监测和高速铁路轨道不平顺绝对测量与相对测量的一体化，其轨道横向偏差精度2 mm、垂向偏差精度2 mm，变形点水平方向精度1 mm、垂直方向精度1.5 mm，显著提高了测量效率。

关键词: 工程测量, 高速铁路, 轨道不平顺, 变形监测, 全球导航卫星系统/惯性导航系统

Abstract: High-speed railway tracks must maintain high smoothness, high stability and high reliability, which is closely related to the high speed, safe and smooth running of high-speed trains. High-speed railway track measurement at least involves control survey, route survey, and deformation survey. Conventional high-speed railway track measurement method has the weaknesses such as long measurement cycle, high maintenance cost, and low detection efficiency. To this end, a novel track measurement system based on global navigation satellite system (GNSS)/inertial navigation system (INS) and multisensor for high-speed railway is proposed, and corresponding track measurement system is developed. This paper systematically introduces the main components and the process procedures of the track measurement system, and it has been applied in the actual high-speed railway track fine adjustment engineering and the results show that the proposed solution realizes the integration of the track subgrade deformation monitoring and the track irregularity absolute measurement and relative measurement for high-speed railway with 2 mm lateral deviation accuracy and 2 mm vertical deviation accuracy of track, and 1 mm horizontal accuracy and 1.5 mm vertical accuracy of deformation points, which significantly improves the measurement efficiency.

Key words: engineering surveying, high-speed railway, track irregularity, deformation monitoring, global navigation satellite system (GNSS)/inertial navigation system (INS)

中图分类号:

P258

黎奇, 白征东, 陈波波, 过静珺, 辛浩浩, 程宇航, 黎琼, 吴斐. GNSS/INS多传感器组合高速铁路轨道测量系统[J]. 测绘学报, 2020, 49(5): 569-579.

LI Qi, BAI Zhengdong, CHEN Bobo, GUO Jingjun, XIN Haohao, CHENG Yuhang, LI Qiong, WU Fei. A novel track measurement system based on GNSS/INS and multisensor for high-speed railway[J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(5): 569-579.

参考文献

[1] 李清泉, 毛庆洲. 道路/轨道动态精密测量进展[J]. 测绘学报, 2017, 46(10): 1734-1741. LI Qingquan, MAO Qingzhou. Progress on dynamic and precise engineering surveying for pavement and track[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(10): 1734-1741.
[2] LAWRENCE M B, BULLOCK R G, LIU Z. China’s high-speed rail development (English)—international development in focus[M]. Washington: World Bank Group, 2019.
[3] GE Daqing, WANG Yan, ZHANG Ling, et al. Using permanent scatterer InSAR to monitor land subsidence along high speed railway the first experiment in China[C]//Proceedings of “Fringe 2009 Workshop”. Frascati, Italy: ESA-SP, 2009.
[4] 中华人民共和国铁道部. TB 10601—2009 高速铁路工程测量规范[S]. 北京: 中国铁道出版社, 2009. Ministry of Railways of the PRC. TB 10601—2009 code for engineering survey of high-speed railway[S]. Beijing: China Railway Press, 2009.
[5] 黎奇, 白征东, 黎琼, 等. 定位测姿系统室外三维动态检定场的几何设计[J]. 清华大学学报(自然科学版), 2019, 59(11): 895-901. LI Qi, BAI Zhengdong, LI Qiong, et al. Geometric design of an outdoor three-dimensional kinematic verification field for a position and orientation system[J]. Journal of Tsinghua University (Science and Technology), 2019, 59(11): 895-901.
[6] 肖玉钢, 姜卫平, 陈华, 等. 北斗卫星导航系统的毫米级精度变形监测算法与实现[J]. 测绘学报, 2016, 45(1): 16-21. XIAO Yugang, JIANG Weiping, CHEN Hua, et al. Research and realization of deformation monitoring algorithm with millimeter level precision based on BeiDou navigation satellite system[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(1): 16-21.
[7] 刘维桢, 涂文靖, 杨飞, 等. 高速铁路基础设施综合一体化检测监测体系研究[J]. 中国铁路, 2019(3): 22-26. LIU Weizhen, TU Wenjing, YANG Fei, et al. Research on integrated inspection and monitoring system of highspeed railway infrastructure[J]. China Railway, 2019(3): 22-26.
[8] 侯卫星, 刘刚, 康熊. 0号高速综合检测列车[M]. 北京: 中国铁道出版社, 2010. HOU Weixing, LIU Gang, KANG Xiong. No. 0 high-speed comprehensive inspection train[M]. Beijing: China Railway Publishing House, 2010.
[9] 仲崇成, 李恒奎, 李鹏, 等. 高速综合检测列车综述[J]. 中国铁路, 2013(6): 89-93. ZHONG Chongcheng, LI Hengkui, LI Peng, et al. A summary of high-speed comprehensive inspection trains[J]. Chinese Railways, 2013(6): 89-93.
[10] 中华人民共和国国家质量监督检验检疫总局, 中国国家标准化管理委员会. GB/T 25021—2010 轨道检查车[S]. 北京: 中国标准出版社, 2010. General Administration of Quality Supervision, Inspection and Quarantine of the People’s Republic of China, Standardization Administration of the People’s Republic of China. GB/T 25021—2010 track inspection car[S]. Beijing: Standards Press of China, 2010.
[11] 中华人民共和国铁道部. TB/T 3147—2012 铁路轨道检查仪[S]. 北京: 中国铁道出版社, 2012. Ministry of Railways of the People’s Republic of China. TB/T 3147—2012 inspecting instrument for railway track[S]. Beijing: China Railway Publishing House, 2012.
[12] 张晓江, 张翔, 杨世峰, 等. 铁路轨道几何状态检测小车: 中国, 201320885311.1[P]. 2014-06-25. ZHANG Xiaojiang, ZHANG Xiang, YANG Shifeng, et al. Railway track geometry inspection trolley: CN, 201320885311.1[P]. 2014-06-25.
[13] 陈心一, 唐杰, 周敬勇, 等. 轨道几何状态测量仪: 中国, 200920313697.2[P]. 2010-07-14. CHEN Xinyi, TANG Jie, ZHOU Jingyong, et al. Rail geometrical state measuring apparatus: CN, 200920313697.2[P]. 2010-07-14.
[14] 牛小骥, 章红平, 陈起金, 等. 基于INS与全站仪组合的轨道几何状态测量系统及方法: 中国, 201410089658.4[P]. 2014-05-28. NIU Xiaoji, ZHANG Hongping, CHEN Qijin, et al. INS (inertial navigation system) and total station combination-based track geometrical state measurement system and method: CN, 201410089658.4[P]. 2014-05-28.
[15] 曾若飞, 张金龙, 袁玫, 等. 铁路精密测量装置: 中国, 201220420201.3[P]. 2013-03-13. ZENG Rofei, ZHANG Jinlong, YUAN Mei, et al. Precise railway measuring device: CN, 201220420201.3[P]. 2013-03-13.
[16] 丁喜成, 张体强. 用于无砟轨道的几何状态测量车: 中国, 200920276778.X[P]. 2010-08-11. DING Xicheng, ZHANG Tiqiang. Geometry state measurement vehicle for ballastless tracks: CN, 200920276778.X[P]. 2010-08-11.
[17] 王争鸣, 任晓春, 罗文彬. 一种用于高速铁路精密测量的全站仪测量小车: 中国, 201520103074.8[P]. 2015-07-29. WANG Zhengming, REN Xiaochun, LUO Wenbin. A total powerstation measurement dolly for high-speed railway precision measurement: CN, 201520103074.8[P]. 2015-07-29.
[18] 王国祥, 卢建康, 王国昌, 等. 铁路轨道几何状态测量轨检小车: 中国, 201320239975.0[P]. 2013-10-09. WANG Guoxiang, LU Jiankang, WANG Guochang, et al. Track inspection car for geometrical state measurement of railway track: CN, 201320239975.0[P]. 2013-10-09.
[19] 谭斌, 罗小军, 陈建, 等. 一种具有传感器组合的轨道自动测量车: 中国, 201721832122.2[P]. 2018-08-24. TAN Bin, LUO Xiaojun, CHEN Jian, et al. Car is measured from dynamic testing to track with sensor combination: CN, 201721832122.2[P]. 2018-08-24.
[20] 冯光东, 郭良浩, 刘志友, 等. 铁路轨道几何形态检测仪: 中国, 201320165789.7[P]. 2013-11-13. FENG Guangdong, GUO Lianghao, LIU Zhiyou, et al. Railway track geometrical morphology detector: CN, 201320165789.7[P]. 2013-11-13.
[21] 李毛毛, 周云, 邹文静, 等. 一种轨道几何状态高精度测量装置: 中国, 201810732939.5[P]. 2018-11-06. LI Maomao, ZHOU Yun, ZOU Wenjing, et al. Track geometrical state high-accuracy measurement device: CN, 201810732939.5[P]. 2018-11-06.
[22] 陈起金. 基于A-INS组合导航的铁路轨道几何状态精密测量技术研究[D]. 武汉: 武汉大学, 2016. CHEN Qijin. Research on the railway track geometry surveying technology based on aided INS[D]. Wuhan: Wuhan University, 2016.
[23] GAO Zhouzheng, GE Maorong, LI You, et al. Railway irregularity measuring using Rauch-Tung-Striebel smoothed multi-sensors fusion system: quad-GNSS PPP, IMU, odometer, and track gauge[J]. GPS Solutions, 2018, 22(2): 36.
[24] CHEN Qijin, NIU Xiaoji, ZUO Lili, et al. A railway track geometry measuring trolley system based on aided INS[J]. Sensors, 2018, 18(2): 538.
[25] 姜卫平. 卫星导航定位基准站网的发展现状、机遇与挑战[J]. 测绘学报, 2017, 46(10): 1379-1388. DOI:10.11947/j.AGCS.2017.20170424. JIANG Weiping. Challenges and opportunities of GNSS reference station network[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(10): 1379-1388. DOI:10.11947/j.AGCS.2017.20170424.
[26] 黎奇, 白征东, 赵思浩, 等. Allan方差方法分析环形激光陀螺仪噪声的性能评估[J]. 清华大学学报(自然科学版), 2019, 59(11): 887-894. LI Qi, BAI Zhengdong, ZHAO Sihao, et al. Performance evaluation of the Allan variance method for ring laser gyroscope noise analyses[J]. Journal of Tsinghua University (Science and Technology), 2019, 59(11): 887-894.
[27] 李广云, 范百兴. 精密工程测量技术及其发展[J]. 测绘学报, 2017, 46(10): 1742-1751. DOI:10.11947/j.AGCS.2017.20170313. LI Guangyun, FAN Baixing. The development of precise engineering surveying technology[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(10): 1742-1751. DOI:10.11947/j.AGCS.2017.20170313.
[28] JIANG Chen. A robust fault detection algorithm for the GNSS/INS integrated navigation systems[J]. Journal of Geodesy and Geoinformation Science, 2020, 3(1): 12-24 doi:10.11947/j.JGGS.2020.0102.