摘要
为提升线路沉降检测效率,提出基于惯性基准的线路沉降车载检测方法。基于测量原理推算误差来源,采用角速度测量法测量轨道高程,用增量求和法预处理IMU数据,基于列车行驶过程中的动态零速假设建立里程计观测修正模型,基于扩展卡尔曼滤波框架实时估计姿态及陀螺仪零偏,融合惯性推算结果与位移测量值计算轨面高程和高低不平顺,建立局部沉降快速筛查与区段高程测量相结合的检测流程,并在不同线路开展试验验证。结果表明:该方法测量轨道超高重复性偏差的95%分位数最大值为0.9 mm,重复性偏差均值为0.24 mm,对姿态测量准确性的提升较为明显;350 km·h^(-1)速度等级下测量的1 000 m长波高低不平顺重复性偏差的95%分位数为1.57 mm,均值为0.58 mm;120 km·h^(-1)速度等级下测量的风险沉降区段的1 000 m高低不平顺最大重复性偏差为0.5 mm,相对高程的最大重复性偏差为5 mm;80 km·h^(-1)检测速度下测量的400 m内相对高程与绝对测量的最大偏差为1.87 mm,能够满足线路沉降区段的车载快速测量的需求。
To improve the efficiency of line settlement detection,an on-board detection method for track settlement based on inertial reference is proposed.The sources of error are deduced based on the measurement principle,and the angular velocity measurement method is proposed to measure.The IMU data are preprocessed by the incremental summation method.The odometer observation correction model is established by utilizing the dynamic zero-speed assumption during train travel,and the attitude and gyroscope zero-bias are estimated in real-time based on the extended Kalman filter.Then,the fusion of inertial results and displacement measurements is used to calculate the track elevation and the vertical irregularity.A detection method combining rapid screening of local settlement and section elevation measurement is built,and tests are conducted on different lines.The results show that the 95%value of the repeatability deviation for measuring track superelevation is 0.9 mm,with a mean value of 0.24 mm,representing a more significant improvement in attitude measurement accuracy.The 95%quartile of the repeatability deviation for 1,000 m long-wave vertical irregularity measured at a speed of 350 km·h^(-1) is 1.57 mm,with a mean value of 0.58 mm;the maximum repeatability deviation of the 1,000 m elevation and vertical irregularity of the risky settlement section measured at a speed of 120 km·h^(-1) is 0.5 mm,and the maximum repeatability deviation of the relative elevation is 5 mm;the maximum deviation of the relative elevation within 400 m measured at a detection speed of 80 km·h^(-1) from absolute measurement is 1.87 mm.These results demonstrate that the proposed method can meet the requirements for on-board rapid measurements in track settlement sections.
作者
陈仕明
刘秀波
柯在田
王昊
余宁
魏世斌
CHEN Shiming;LIU Xiubo;KE Zaitian;YU Ning;WANG Hao;WEI Shibin(Infrastructure Inspection Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China;Beijing Tieke Yingmai Technology Co.,Ltd.,Beijing 100081,China)
出处
《中国铁道科学》
北大核心
2025年第1期50-59,共10页
China Railway Science
基金
国家自然科学基金资助项目(52278465)
中国国家铁路集团有限公司科技研究开发计划课题(K2022T002)
中国铁道科学研究院集团有限公司院基金课题(2021YJ218)。
关键词
线路
沉降
惯性基准
相对高程
车载检测
扩展卡尔曼滤波
Railroad line
Settlement
Inertial reference
Relative elevation
On-board detection
Extended Kalman filter
作者简介
第一作者:陈仕明(1995-),男,江苏盐城人,助理研究员,博士。E-mail:chenshiming199510@163.com;通讯作者:刘秀波(1971-),男,山东青州人,研究员,博士。E-mail:xbliu@rails.cn。
