考虑设计姿态辅助IMU/ODO的轨道不平顺检测算法
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信息工程大学

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国家自然科学基金项目(面上项目,重点项目,重大项目)


A Track Irregularity Detection Algorithm Considering Design Attitude Assisted IMU/ODO
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Information Engineering University

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The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

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    摘要:

    采用GNSS定位的轨道几何状态测量仪在隧道、地铁等GNSS拒止环境中无法工作。由于即使铁路轨道发生变形,其仍然接近设计线形,实际轨道位置与其设计值的差异始终保持在一定范围内。为此,本文结合铁路设计参数与惯导/里程计信息,提出了一种考虑设计姿态辅助IMU/ODO的轨道不平顺检测算法,该方法将设计姿态与惯导解算姿态相结合进行卡尔曼滤波,并使用里程计速度进行航位推算。通过计算实验,分析了轨道设计姿态信息对轨道不平顺检测精度的提升作用。实验结果表明:铁路设计姿态信息能够显著提高轨道不平顺检测精度,所提方法较基于全站仪辅助的动态检测方法,在30m弦轨道不平顺检测精度相当,且整体检测效率较高,满足日常轨道检测的需要。

    Abstract:

    The track geometry state measuring instrument using GNSS positioning cannot work in GNSS rejection environment such as tunnel and subway. Since the railroad track is still close to the design alignment even if it is deformed, the difference between the actual track position and its design value always remains within a certain range. For this reason, a track irregularity detection algorithm considering design attitude assisted IMU/ODO was proposed by combining railroad design parameters with inertial guidance/odometer information, which combined design attitude with inertial guidance solved attitude for Kalman filtering and uses odometer velocity for heading projection. Through computational experiments, the effect of track design attitude information on the improvement of track irregularity detection accuracy was analyzed. The experimental results show that the railroad design attitude information can significantly improve the track irregularity detection accuracy, and the proposed method is comparable to the dynamic detection method based on the total station assisted by the 30m chord track irregularity detection accuracy, and the overall detection efficiency is high to meet the needs of daily track detection.

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李松伟,乔书波,马洪磊,杨显赐,彭华东.考虑设计姿态辅助IMU/ODO的轨道不平顺检测算法[J].南京信息工程大学学报,,():

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  • 收稿日期:2023-03-25
  • 最后修改日期:2023-05-16
  • 录用日期:2023-05-23
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