阅读说明：本技术 基于北斗的轨检小车定位测量系统及方法 (Rail inspection trolley positioning and measuring system and method based on Beidou ) 是由 李昌 徐学永 王进 严后选 冯灿 陈炜灿 施金金 黄浩 高照锋 欧阳磊 刘梦楠 于 2019-10-15 设计创作，主要内容包括：本发明提供了一种基于北斗的轨检小车定位测量系统,包括轨检小车、北斗定位终端、北斗连续运行基准站、移动终端、数据中心；轨检小车运行于待检测的轨道上；北斗连续运行基准站设置于待测轨道两侧的一定范围内,且通过北斗卫星获取自身的坐标；北斗定位终端设置于轨检小车上；移动终端与数据中心信号连接,用于辅助测量人员进行操作和获取北斗定位终端精确坐标；数据中心与北斗定位终端、北斗连续运行基准站信号连接,通过北斗定位终端、北斗连续运行基准站的卫星观测数据进行差分计算获取北斗定位终端精确坐标。(The invention provides a Beidou-based rail inspection trolley positioning and measuring system, which comprises a rail inspection trolley, a Beidou positioning terminal, a Beidou continuous operation reference station, a mobile terminal and a data center, wherein the Beidou positioning terminal is connected with the rail inspection trolley; the rail inspection trolley runs on a rail to be detected; the Beidou continuous operation reference station is arranged in a certain range on two sides of the track to be detected, and the coordinate of the Beidou continuous operation reference station is acquired through a Beidou satellite; the Beidou positioning terminal is arranged on the rail inspection trolley; the mobile terminal is in signal connection with the data center and is used for assisting a measurer to operate and acquiring the accurate coordinate of the Beidou positioning terminal; the data center is in signal connection with the Beidou positioning terminal and the Beidou continuous operation reference station, and differential calculation is carried out on satellite observation data of the Beidou positioning terminal and the Beidou continuous operation reference station to obtain the precise coordinates of the Beidou positioning terminal.)

1. A rail inspection trolley positioning and measuring system based on Beidou is characterized by comprising a rail inspection trolley, a Beidou positioning terminal, a Beidou continuous operation reference station, a mobile terminal and a data center; wherein

The rail inspection trolley runs on a rail to be detected;

the Beidou continuous operation reference station is arranged in a certain range on two sides of the track to be detected, and the coordinate of the Beidou continuous operation reference station is acquired through a Beidou satellite;

the Beidou positioning terminal is arranged on the rail inspection trolley;

the mobile terminal is in signal connection with the data center and is used for assisting a measurer to operate and acquiring the accurate coordinate of the Beidou positioning terminal;

the data center is in signal connection with the Beidou positioning terminal and the Beidou continuous operation reference station, and differential calculation is carried out on satellite observation data of the Beidou positioning terminal and the Beidou continuous operation reference station to obtain the precise coordinates of the Beidou positioning terminal.

2. The system of claim 1, wherein the positioning antenna of the Beidou positioning terminal is arranged on the prism position of the rail inspection trolley.

3. The system for realizing positioning and measuring of the rail inspection trolley based on any claim is characterized in that when the rail inspection trolley starts measuring, a starting instruction is sent to a data center through a mobile terminal, and the data center records the time for starting measuring the trolley; the rail inspection trolley stops moving at a measuring point, a movement stopping instruction is sent to a data center through a mobile terminal, and the data center records the time when the trolley stops moving; when the rail inspection trolley moves, a moving instruction is sent to a data center through a mobile terminal, and the data center records the moving time of the trolley at the moment; when the rail inspection trolley is measured, an ending instruction is sent to the data center through the mobile terminal, and the data center records the trolley measurement ending time.

The data center carries out single-point positioning calculation on satellite observation data acquired by the Beidou positioning terminal to obtain the rough coordinates of the trolley, and selects an optimal differential calculation reference station from all reference stations according to the rough coordinates of the trolley and a distance nearest principle;

the data center acquires satellite observation data of the Beidou positioning terminal and the optimal reference station in corresponding time periods according to the starting time and the ending time of the trolley in the measurement time period to construct a differential model, and calculates the accurate coordinates of the Beidou positioning terminal;

the data center takes the time when the trolley stops moving as a timestamp, the accurate coordinate of the Beidou positioning terminal which is calculated in a differential mode is sent to the mobile terminal, and the accurate coordinate of the Beidou positioning terminal is the rail inspection trolley positioning coordinate.

Technical Field

The invention relates to a railway measurement technology, in particular to a Beidou-based rail inspection trolley positioning measurement system and method.

Background

The railway, as the national important infrastructure, has a great promoting effect on the economic construction and social development of China, is the main artery of the national economy, and is the backbone and the middle and hard strength in the modern comprehensive transportation network. The rail is an engineering structure for directly supporting and guiding the train to run in railway engineering. When the train runs on the track, the gravity load effect is generated on the track, so that the geometric shape and position changes of the track structure are generated, and the changes are not smooth in the track. The irregularity of the track is an external disturbance to the train, is a main source of train vibration and even can cause the train to derail or roll over.

The rail inspection trolley is a convenient tool for detecting the irregularity of the rail. The absolute position reference measurement of the rail inspection trolley is the basis of rail irregularity detection. The total station freely sets a station at the center of a line, looks back at a CP III control point, calculates the three-dimensional coordinate of the prism position of the rail detection trolley according to the space rear intersection principle, and calculates the rail irregularity by taking the coordinate as a calculation reference and combining sensors such as a rail gauge and a gyroscope on the rail detection trolley. The precision of the conventional rail inspection trolley absolute position reference measuring mode is influenced by the precision of CP III control points on the periphery of a line, the CP III control points are influenced by other conditions such as sedimentation deformation and the like, the number of the CP III control points is large, about 16 to 32 points exist in each kilometer, and the precision of the CP III control points needs to be maintained at a high cost. Therefore, the conventional rail inspection trolley absolute position reference measurement based on the total station instrument excessively depends on the CP III control point and the total station instrument, and is high in measurement cost and low in measurement efficiency.

Disclosure of Invention

The invention aims to provide a rail inspection trolley positioning and measuring system based on Beidou.

The invention also aims to provide a rail inspection trolley positioning and measuring method based on the Beidou.

The technical scheme for realizing the purpose of the invention is as follows: a rail inspection trolley positioning and measuring system based on Beidou comprises a rail inspection trolley, a Beidou positioning terminal, a Beidou continuous operation reference station, a mobile terminal and a data center; wherein the rail inspection trolley runs on a rail to be detected; the Beidou continuous operation reference station is arranged in a certain range on two sides of the track to be detected, and the coordinate of the Beidou continuous operation reference station is acquired through a Beidou satellite; the Beidou positioning terminal is arranged on the rail inspection trolley; the mobile terminal is in signal connection with the data center and is used for assisting a measurer to operate and acquiring the accurate coordinate of the Beidou positioning terminal; the data center is in signal connection with the Beidou positioning terminal and the Beidou continuous operation reference station, and the precise coordinates of the Beidou positioning terminal are obtained by carrying out differential calculation on satellite observation data of the Beidou positioning terminal and the Beidou continuous operation reference station.

A rail inspection trolley positioning and measuring method based on Beidou comprises the following steps: when the rail inspection trolley starts to measure, a starting instruction is sent to a data center through a mobile terminal, and the data center records the time for the trolley to start to measure; the rail inspection trolley stops moving at a measuring point, a movement stopping instruction is sent to a data center through a mobile terminal, and the data center records the time when the trolley stops moving; when the rail inspection trolley moves, a moving instruction is sent to a data center through a mobile terminal, and the data center records the moving time of the trolley at the moment; when the rail inspection trolley is measured, sending an ending instruction to a data center through a mobile terminal, and recording the trolley measurement ending time by the data center; the data center carries out single-point positioning calculation on satellite observation data acquired by the Beidou positioning terminal to obtain the rough coordinates of the trolley, and selects an optimal differential calculation reference station from all reference stations according to the rough coordinates of the trolley and a distance nearest principle; the data center acquires satellite observation data of the Beidou positioning terminal and the optimal reference station in corresponding time periods according to the starting time and the ending time of the trolley in the measurement time period to construct a differential model, and calculates the accurate coordinates of the Beidou positioning terminal; the data center takes the time when the trolley stops moving as a timestamp, the accurate coordinate of the Beidou positioning terminal which is calculated in a differential mode is sent to the mobile terminal, and the accurate coordinate of the Beidou positioning terminal is the rail inspection trolley positioning coordinate.

Compared with the prior art, the invention has the following advantages: (1) the total station is not needed, the CP III control point is not needed, and a measurer only needs to operate the rail inspection trolley under the assistance of client control software, so that the high-precision positioning of the rail inspection trolley can be realized, and the measurement cost is reduced; (2) the Beidou positioning terminal on the rail inspection trolley and the Beidou continuous operation reference station form differential positioning to obtain a high-precision positioning result, an absolute position reference is provided for the rail inspection trolley, and the absolute position reference is used as a calculation value to calculate out ultrahigh, short and long wave irregularity, plane and elevation deviation by combining sensors such as a track gauge and a gyroscope on the rail inspection trolley.

The invention is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention.

Detailed Description

With reference to fig. 1, a Beidou-based rail inspection trolley positioning and measuring system comprises a rail inspection trolley, a Beidou positioning terminal, a Beidou continuous operation reference station, a mobile terminal and a data center; wherein the rail inspection trolley runs on a rail to be detected; the Beidou continuous operation reference station is arranged in a certain range on two sides of the track to be detected, and the coordinate of the Beidou continuous operation reference station is acquired through a Beidou satellite; the Beidou positioning terminal is arranged on the rail inspection trolley, and a positioning antenna of the Beidou positioning terminal is arranged on the prism position of the rail inspection trolley; the mobile terminal is in signal connection with the data center and is used for assisting a measurer to operate and acquiring the accurate coordinate of the Beidou positioning terminal; the data center is in signal connection with the Beidou positioning terminal and the Beidou continuous operation reference station, and differential calculation is carried out on satellite observation data of the Beidou positioning terminal and the Beidou continuous operation reference station to obtain the precise coordinates of the Beidou positioning terminal.

A rail inspection trolley positioning and measuring method based on Beidou comprises the following steps:

when the rail inspection trolley starts to measure, a starting instruction is sent to a data center through a mobile terminal, and the data center records the time for the trolley to start to measure; the rail inspection trolley stops moving at a measuring point, a movement stopping instruction is sent to a data center through a mobile terminal, and the data center records the time when the trolley stops moving; when the rail inspection trolley moves, a moving instruction is sent to a data center through a mobile terminal, and the data center records the moving time of the trolley at the moment; when the rail inspection trolley is measured, an ending instruction is sent to the data center through the mobile terminal, and the data center records the trolley measurement ending time.

The data center carries out single-point positioning calculation on satellite observation data acquired by the Beidou positioning terminal to obtain the rough coordinates of the trolley, and selects an optimal differential calculation reference station from all reference stations according to the rough coordinates of the trolley and a distance nearest principle; the single-point positioning has the advantages of simplicity, rapidness and no dependence on other survey station information, but the positioning precision is low, so that the general coordinates of the rail inspection trolley are calculated by using the single-point positioning technology.

The data center acquires satellite observation data of the Beidou positioning terminal and the optimal reference station in corresponding time periods according to the starting time and the ending time of the trolley in the measurement time period to construct a differential model, and calculates the accurate coordinates of the Beidou positioning terminal; in the differential positioning mode, most common errors are weakened by the reference station and the rover station through a difference calculation method, the positioning accuracy is high, and the accurate coordinates of the rail inspection trolley are calculated by using a differential positioning technology.

The data center takes the time when the trolley stops moving as a timestamp, the accurate coordinate of the Beidou positioning terminal which is calculated in a differential mode is sent to the mobile terminal, and the accurate coordinate of the Beidou positioning terminal is the rail inspection trolley positioning coordinate.

Because the code element width of the ranging code is wide, the requirement of high-precision positioning cannot be met by adopting pseudo-range measurement, the precision can reach one percent of the carrier wavelength when carrier phase measurement is adopted, and the theoretical precision can reach millimeter level. Therefore, the invention adopts a carrier phase relative measurement method. Suppose that the phase of the carrier signal broadcast by the satellite at a certain time is

And the signal is captured by the receiver over a period of time with a phase ofDistance between two adjacent plates

While

In which N whole weeks and less than one week are included

Two parts. The observation equation for the carrier phase measurement is as follows:

in formula (1), ρ is the geometric distance between guard spaces, λ is the carrier wavelength, and (X)ⁱ,Yⁱ,Zⁱ) Is the spatial coordinates of satellite i, (X, Y, Z) are the receiver coordinates, c is the speed of light,

in order for the receiver to be out of clock,

is the clock error of the satellite, N is the integer ambiguity, V_ionIs an ionospheric error, V_tropFor tropospheric error, δ (ρ)_mul) For the effect of multipath,. epsilon_iTo observe the noise.

In differential positioning, a reference station and a rover station observe the same group of satellites, common errors are eliminated through a difference solving method, and the calculation precision and the calculation efficiency are improved.

First a single difference is made between different station receivers and then a double difference is made between different satellites. Set at a certain time t₁The two receivers i, j synchronously observe the satellite p, and the observation equations of the two receivers are as follows:

the parameters in the formula (2) have the same meanings as those in the formula (1),

is t₁The time of day receiver i makes a carrier phase observation of the observation satellite p,

is t₁The time of day receiver i is relative to the satellite of observation p,

is t₁The clock difference of the time of day receiver i,

is t₁The clock difference of the time of day satellite p,

is t₁The integer ambiguity of the receiver i for the observation satellite p at the moment,

is t₁The receiver of time i observes the ionospheric error of the satellite p,

is t₁The tropospheric error of the receiver i for the observation satellite p at the moment,

is t₁The time of day receiver j observes the carrier phase observations of satellite p,

is t₁The time of day receiver j is relative to the range of observation satellite p,

is t₁The clock difference of the time of day receiver j,

is t₁The integer ambiguity of the time of day receiver j for the observation satellite p,

is t₁The ionospheric error of the receiver j versus the observation satellite p at the moment,

is t₁The troposphere error of the receiver j to the observation satellite p at the moment, c is the speed of light, f is the frequency, and the difference between the two can be obtained by calculating the following steps:

formula (3) can be abbreviated as:

and then, solving the difference between the reference star and the non-reference star of the survey station again to obtain a double-difference equation. Two stations are set to observe satellites p and q simultaneously, and a double-difference observation equation can be obtained by the formula (4) as follows:

wherein the content of the first and second substances,for a single difference of the carrier phase observations of receiver i, j for observation satellite p,the single difference of the satellite-earth distances of the receivers i and j to the observation satellite p,

for a single difference in the integer ambiguity of the receiver i, j for the observation satellite p,

for a single difference in ionospheric error values of the receiver i, j to the observation satellite p,

for a single difference in tropospheric error values of receivers i, j to observation satellite p,

for a single difference of the carrier phase observations of receiver i, j to observation satellite q,

for the single difference of the satellite distances between the receiver i, j and the observation satellite q,

for a single difference in the integer ambiguity of the receiver i, j versus the observation satellite q,

for a single difference in ionospheric error values of the receiver i, j to the observation satellite q,

the receiver i, j is a single difference in tropospheric error values for the observation satellite q,

after simplification, the formula (5) is as follows:

wherein the content of the first and second substances,

it can be seen from equation (6) that the satellite clock difference and the receiver clock difference after the second difference are eliminated. Wherein the content of the first and second substances,

is t₁The time receiver i, j observes the double differences of the actual observed values of the carrier phases of the satellites p, q;

is t₁A time receiver i, j pair observes the double differences of satellite distances p, q;

is t₁The time receiver i, j is used for observing the ambiguity double difference of the whole cycle of the satellites p, q;is t₁The time receiver i, j pair observes the ionospheric error double differences of the satellites p, q;

is t₁And the time receiver i, j is double-differenced to troposphere errors of the observation satellites p, q.

And (3) establishing an observation equation by all the common-view satellites of the rover station and the reference station according to the formula (6), then obtaining a corresponding error equation matrix, and obtaining the position parameters of the rover station by utilizing least square solution according to an indirect adjustment principle.