阅读说明：本技术 高速铁路轨道平顺性动静结合快速检测系统 (Rapid detection system for smoothness dynamic and static combination of high-speed railway track ) 是由 任晓春 邓川 武瑞宏 袁永信 于 2020-06-24 设计创作，主要内容包括：本发明涉及高速铁路轨道平顺性动静结合快速检测系统,包括搭载平台和其上设置的测量单元；测量单元包括控制终端、数据采集模块和传感器,还包括棱镜、惯性测量装置、GNSS接收机或全站仪；数据采集模块向传感器发送测量指令,接收传感器数据,并向控制终端实时发送；棱镜接收全站仪发出的光信号并反射；惯性测量装置连续测量搭载平台的空间三维姿态,并发送给数据采集模块；GNSS接收机接收GNSS信号,并将接收到的定位信息传输给数据采集模块；全站仪观测线路两侧布设的CPIII控制点,并将CPIII控制点观测值传输给控制终端。该系统采用模块式设计方式,通过独立测量模块在统一搭载平台上的相互优化组合,实现不同的功能应用。(The invention relates to a rapid detection system for the smoothness and the dynamic and static combination of a high-speed railway track, which comprises a carrying platform and a measuring unit arranged on the carrying platform; the measuring unit comprises a control terminal, a data acquisition module and a sensor, and also comprises a prism, an inertia measuring device, a GNSS receiver or a total station; the data acquisition module sends a measurement instruction to the sensor, receives sensor data and sends the sensor data to the control terminal in real time; the prism receives and reflects an optical signal sent by the total station; the inertia measuring device continuously measures the spatial three-dimensional attitude of the carrying platform and sends the spatial three-dimensional attitude to the data acquisition module; the GNSS receiver receives a GNSS signal and transmits the received positioning information to the data acquisition module; and the total station observes CPIII control points arranged on two sides of the line and transmits the observed values of the CPIII control points to the control terminal. The system adopts a modular design mode, and different functional applications are realized through the mutual optimized combination of the independent measuring modules on the unified carrying platform.)

1. High-speed railway track smoothness dynamic and static combines quick detecting system, its characterized in that:

the system comprises a carrying platform and a measuring unit arranged on the carrying platform;

the carrying platform is a rail car;

the measuring unit comprises a control terminal (9), a data acquisition module (10) and a sensor, and further comprises a prism (19) or an inertial measuring device (11), or a GNSS receiver (18) or a total station (12) is configured when the inertial measuring device (11) is configured;

the data acquisition module (10) sends a measurement instruction to the sensor, receives, stores and synchronizes the sensor data with time, and sends acquired data to the control terminal (9) in real time; the prism (19) receives an optical signal sent by the total station and reflects the optical signal back; the inertial measurement device (11) continuously measures the spatial three-dimensional attitude of the carrying platform and sends the spatial three-dimensional attitude to the data acquisition module (10); the GNSS receiver (18) receives the GNSS signals according to the measurement instruction and transmits the received positioning information to the data acquisition module (10); and the total station (12) observes the CPIII control points arranged on two sides of the circuit according to the acquisition instruction of the control terminal (9), and transmits the observed values of the CPIII control points to the control terminal (9).

2. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 1, characterized in that:

the rail car is a T-shaped rail car and comprises a longitudinal beam (2) and a transverse beam (1) perpendicular to the longitudinal beam, walking wheels (3) in contact with the top surface of a steel rail are arranged at the bottoms of the front end and the rear end of the longitudinal beam (2) and the bottom of the outer end of the transverse beam (1), measuring wheels (4) in contact with the inner side surface of the steel rail are arranged at the two ends of the bottom of the transverse beam (1), and guide wheels (5) in contact with the inner side surface of the steel rail are arranged on the side surfaces of the walking wheels (.

3. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 2, characterized in that:

the sensor comprises a displacement sensor (13), an inclination angle sensor (14), an encoder (15), a sleeper identifier (16) and a temperature sensor (17).

4. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 3, characterized in that:

the displacement sensors (13) are arranged inside two ends of the beam (1) and are connected with the measuring wheels (4) in parallel to measure the track gauge variation between the two steel rails.

5. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 4, characterized in that:

the inclination angle sensor (14) is arranged in the middle section of the cross beam (1) and used for measuring the current position posture of the carrying platform.

6. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 5, characterized in that:

the encoder (15) is connected with the traveling wheels (3) through a group of coupling gears and measures the rotating mileage of the traveling wheels (3).

7. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 6, characterized in that:

the sleeper identifier (16) is a laser ranging sensor and is positioned inside one end of the cross beam (1) to measure the distance between the carrying platform and the track bed.

8. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 7, characterized in that:

the temperature sensor (17) is arranged inside the beam (1) and measures the ambient temperature.

9. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 8, characterized in that:

the control terminal (9) is arranged above the cross beam (1) based on the support of the push rod (7);

the data acquisition module (10) is arranged inside the cross beam (1).

10. The high-speed railway track smoothness dynamic-static combination rapid detection system of claim 9, characterized in that:

the prism (19), the total station (12) or the GNSS receiver (18) is arranged above the beam (1) based on the support of the support column (8);

the inertia measuring device (11) is positioned at the top of the beam (1).

Technical Field

The invention belongs to the technical field of rail measurement, and particularly relates to a high-speed railway track smoothness dynamic and static combination rapid detection system.

Background

The basic guarantee of the comfort and the safety of the high-speed running wheel-rail train is from the high smoothness of the track, the requirement of the smoothness of the track is increased in a geometric exponential mode along with the operation speed, and the high smoothness track with lasting stability is a main mark for distinguishing the high-speed railway from the ordinary railway. Due to the influences of factors such as positioning and installation of the rails, long-term action of wheel rails, uneven deformation of the rail structure and the like, the rails of the high-speed railway can not meet the design requirements in the aspects of gauge, level (superelevation), rail direction, height and the like, so that the abnormal fluctuation or fluctuation of the rails can be caused, and the high-speed, stable and comfortable running of the train can be influenced. Therefore, in the process of construction and operation of the high-speed railway, efficient and accurate detection needs to be carried out on the smoothness of the track of the high-speed railway so as to ensure the high smoothness of the track.

At present, a track geometric state measuring instrument (hereinafter referred to as a rail inspection trolley) is a main device for detecting the smoothness of a high-speed railway track, and can be widely applied to stages of sleeper positioning, long-track fine adjustment, operation maintenance and the like. According to the difference of technical principle and measuring mode, the rail inspection trolley can be roughly divided into: (1) a static absolute measurement rail inspection trolley taking a total station as core measurement equipment; (2) a dynamic relative measurement rail inspection trolley taking a gyroscope as a core measurement device; (3) the dynamic absolute measurement rail inspection trolley takes inertial measurement as core measurement equipment.

The static absolute measurement rail inspection trolley based on the total station is characterized in that the total station is erected near the center line of a rail, free station setting is carried out by utilizing a rail control network (CP III) arranged along the line, a polar coordinate measurement method is adopted to measure a prism on the rail inspection trolley, and the smoothness of the rail is detected in a static measurement mode of stopping one by one. The equipment has the advantages of higher measurement precision, capability of acquiring the internal and external geometric states of the track, low equipment purchase cost, but strong dependence on a track control network and low data acquisition efficiency. Therefore, the equipment is suitable for sleeper positioning under severe construction conditions and has low requirement on measurement efficiency.

The gyroscope is mounted on the rail inspection trolley, and the detection of the smoothness of the rail is realized by continuously acquiring the attitude change of the rail inspection trolley during running on the rail. The device has the advantages that the device does not depend on a track control network, can carry out dynamic measurement, has higher operation efficiency, but has the defects that the external geometric state of the track cannot be obtained, and the measurement precision of the long-wave irregularity of the track is difficult to meet. Therefore, this type of equipment is suitable for routine inspection of rails, but cannot be used for tie positioning and large tamping operations.

The dynamic absolute measurement rail inspection trolley based on inertial measurement utilizes the relative measurement advantages of inertial measurement and the absolute positioning capability of a total station or GNSS, adopts a mode of combining relative measurement and absolute measurement, and realizes the detection of the smoothness of a rail by comprehensively resolving multi-source collected data. The equipment has the advantages of being capable of dynamically acquiring the internal and external geometric states of the track, and high in operation efficiency, but has the disadvantages of long initialization time and high equipment purchase cost. Therefore, the equipment is suitable for long rail fine adjustment and operation maintenance stages with large workload and higher requirements on measurement efficiency.

In summary, the existing track detection equipment is more or less restricted and limited in the aspects of data acquisition, measurement accuracy, operation efficiency, application environment and the like, and is poor in universality, and various devices need to be configured in the full life cycle of the high-speed railway, so that the requirement of the high-speed railway in China on efficient and accurate detection of track smoothness can be met.

Disclosure of Invention

The invention aims to provide a high-speed railway track smoothness dynamic and static combination rapid detection system, which adopts a modular design mode, realizes different functional applications by mutually optimizing and combining independent measurement modules on a unified carrying platform, solves the defects or shortcomings of the existing track detection equipment in various aspects, and achieves the purpose of efficiently and accurately detecting the track smoothness.

The technical scheme adopted by the invention is as follows:

high-speed railway track smoothness dynamic and static combines quick detecting system, its characterized in that:

the system comprises a carrying platform and a measuring unit arranged on the carrying platform;

the carrying platform is a rail car;

the measuring unit comprises a control terminal, a data acquisition module and a sensor, and also comprises a prism or an inertial measuring device, or a GNSS receiver or a total station is configured when the inertial measuring device is configured;

the data acquisition module sends a measurement instruction to the sensor, receives, stores and synchronizes sensor data with time, and sends acquired data to the control terminal in real time; the prism receives an optical signal sent by the total station and reflects the optical signal back; the inertia measuring device continuously measures the spatial three-dimensional attitude of the carrying platform and sends the spatial three-dimensional attitude to the data acquisition module; the GNSS receiver receives a GNSS signal according to the measurement instruction and transmits the received positioning information to the data acquisition module; and the total station observes CPIII control points arranged on two sides of the circuit according to the acquisition instruction of the control terminal, and transmits the observed values of the CPIII control points to the control terminal.

The rail car is a T-shaped rail car and comprises a longitudinal beam and a cross beam, wherein one side of the longitudinal beam is perpendicular to the longitudinal beam, walking wheels in contact with the top surface of a steel rail are arranged at the bottoms of the front end and the rear end of the longitudinal beam and the bottom of the outer end of the cross beam, measuring wheels in contact with the inner side surface of the steel rail are arranged at the two ends of the bottom of the cross beam, and guide wheels in contact with the inner side surface of the.

The sensors include displacement sensors, tilt sensors, encoders, tie identifiers, and temperature sensors.

The displacement sensors are arranged inside two ends of the cross beam and are connected with the measuring wheels in parallel to measure the track gauge variation between the two steel rails.

The inclination angle sensor is arranged in the middle section of the cross beam and used for measuring the current position posture of the carrying platform.

The encoder is connected with the walking wheels through a group of coupling gears and measures the rotation mileage of the walking wheels.

The sleeper recognizer is a laser ranging sensor and is positioned inside one end of the cross beam to measure the distance between the carrying platform and the track bed.

The temperature sensor is arranged inside the beam and measures the temperature of the surrounding environment.

The control terminal is arranged above the cross beam based on the support of the push rod;

the data acquisition module is arranged inside the cross beam.

The prism, the total station or the GNSS receiver is arranged above the beam based on the support of the support upright;

the inertia measuring device is positioned at the top of the cross beam.

The invention has the following advantages:

1. the rapid detection system for the smoothness of the high-speed railway track by combining the dynamic and static components is provided with the separated carrying platform and the measuring module, so that the whole system is broken into parts, and the rapid detection system is convenient for field operators to carry, assemble and use.

2. The rapid detection system for the smoothness and the movement of the high-speed railway track adopts a modular design mode, designs the unified carrying platform and the independent measuring modules, realizes different functional applications by mutually optimizing and combining the independent measuring modules on the unified carrying platform, gets rid of the restriction and the limitation of the application field, and is suitable for the full life cycle of the high-speed railway.

3. The rapid detection system for the smoothness and the dynamic and static combination of the high-speed railway track is provided with the sleeper identifier, and the accurate identification and the automatic extraction of the position of the sleeper are realized by measuring the distance change between the carrying platform and the track bed.

4. The high-speed railway track smoothness dynamic and static combination rapid detection system is internally provided with the temperature sensor, and real-time temperature difference correction is carried out on multi-source collected data by measuring the ambient temperature in real time, so that the measurement accuracy is improved.

Drawings

Fig. 1 is a front view of a mounting platform according to the present invention.

Fig. 2 is a plan view of the mounting platform according to the present invention.

Fig. 3 is a side view of the mounting platform according to the present invention.

Fig. 4 is a bottom view of the mounting platform according to the present invention.

Fig. 5 is a schematic diagram of an inertial measurement unit, a total station, a GNSS receiver, and a prism according to the present invention.

Fig. 6 is a schematic view of the static absolute measurement rail inspection trolley based on the total station.

FIG. 7 is a schematic view of the dynamic relative measurement rail inspection trolley based on inertial measurement.

Fig. 8 is a schematic view of the dynamic absolute measurement rail inspection trolley based on the total station and the inertial measurement.

Fig. 9 is a schematic diagram of a dynamic absolute measurement rail inspection trolley based on GNSS and inertial measurement according to the present invention.

In the figure, 1-a cross beam, 2-a longitudinal beam, 3-a walking wheel, 4-a measuring wheel, 5-a guide wheel, 6-a brake device, 7-a push rod, 8-a supporting upright post, 9-a control terminal, 10-a data acquisition module, 11-an inertial measurement device, 12-a total station, 13-a displacement sensor, 14-an inclination angle sensor, 15-an encoder, 16-a sleeper recognizer, 17-a temperature sensor, 18-a GNSS receiver and 19-a prism.

Detailed Description

The present invention will be described in detail with reference to specific embodiments.

The invention relates to a rapid detection system for the smoothness and the dynamic and static combination of a high-speed railway track, which comprises a carrying platform and a measuring unit arranged on the carrying platform; the carrying platform is a rail car; the measuring unit comprises a control terminal 9, a data acquisition module 10 and a sensor, and further comprises a prism 19 or an inertial measuring device 11, or a GNSS receiver 18 or a total station 12 is configured simultaneously when the inertial measuring device 11 is configured.

The data acquisition module 10 sends a measurement instruction to the sensor, receives, stores and synchronizes sensor data with time, and sends acquired data to the control terminal 9 in real time; the prism 19 receives the optical signal sent by the total station and reflects the optical signal back; an inertia measuring device 11 (a three-axis inertia measuring device with zero offset stability superior to 0.01 degree/h can be selected as an optional model) continuously measures the space three-dimensional attitude of the carrying platform and sends the attitude to a data acquisition module 10; the GNSS receiver 18 receives GNSS signals according to the measurement instruction and transmits the received positioning information to the data acquisition module 10; the total station 12 observes the CPIII control points arranged on both sides of the line according to the acquisition instruction of the control terminal 9, and transmits the observed values of the CPIII control points to the control terminal 9.

The rail car is a T-shaped rail car and comprises a longitudinal beam 2 and a cross beam 1, wherein one side of the longitudinal beam is perpendicular to the longitudinal beam, walking wheels 3 in contact with the top surface of a steel rail are arranged at the bottoms of the front end and the rear end of the longitudinal beam 2 and the bottom of the outer end of the cross beam 1, measuring wheels 4 in contact with the inner side surface of the steel rail are arranged at the two ends of the bottom of the cross beam 1, and guide wheels 5 in contact with the inner side surface of the steel rail.

The sensors include a displacement sensor 13, a tilt sensor 14, an encoder 15, a tie identifier 16 and a temperature sensor 17.

The displacement sensors 13 are arranged inside two ends of the beam 1 and are connected with the measuring wheels 4 in parallel to measure the track gauge variation between the two steel rails. The model of the displacement sensor can be selected as Novotechnik TR series.

The inclination angle sensor 14 is arranged in the middle section of the cross beam 1 (the selectable type is a double-shaft inclination angle sensor with the angle measurement precision superior to 0.005 degrees), and measures the current position and posture of the carrying platform.

The encoder 15 is connected with the traveling wheels 3 through a group of coupling gears and measures the rotating mileage of the traveling wheels 3. The encoder can be selected from the model of Yike EC 50P-5000.

The sleeper identifier 16 is a laser ranging sensor, is located inside one end of the cross beam 1, and measures the distance between the carrying platform and the track bed. The selectable type of the laser ranging sensor is an IL series of Kenzhi CMOS analog laser sensors.

The temperature sensor 17 is arranged inside the beam 1 (an optional type is a probe type thermal resistance temperature sensor) and measures the ambient temperature.

A control terminal 9 (a portable computer with a control program installed) is arranged above the cross beam 1 based on the support of the push rod 7; the data acquisition module 10 is arranged inside the crossbeam 1.

The prism 19, the total station 12 or the GNSS receiver 18 is arranged above the beam 1 based on the support of the support column 8; the inertial measurement unit 11 is located on top of the beam 1.

Referring to the drawings:

the rapid detection system for the smoothness, the movement and the static of the high-speed railway track is composed of a carrying platform and an independent measuring module, and the measuring module can move back and forth along the track by pushing the carrying platform.

The carrying platform is of a T-shaped frame structure and mainly comprises structural components such as a cross beam 1, a longitudinal beam 2, a walking wheel 3, a measuring wheel 4, a guide wheel 5, a brake device 6, a push rod 7, a supporting upright post 8 and the like, and a data acquisition module 10, a displacement sensor 13, an inclination angle sensor 14, an encoder 15, a sleeper recognizer 16, a temperature sensor 17 and the like are arranged in the carrying platform.

The independent measurement module comprises an inertial measurement unit 11, a total station 12, a GNSS receiver 18 and a prism 19.

One end of the cross beam 1 is vertically connected with the longitudinal beam 2, and a running wheel 3 which is contacted with the top surface of the steel rail is arranged below the other end of the cross beam. Two ends of the bottom of the beam 1 are respectively vertically provided with a measuring wheel 4 which is contacted with the inner side surface of the steel rail.

The longitudinal beam 2 is composed of a left box and a right box and is arranged along the extending direction of the steel rail. The bottoms of the left end box and the right end box are respectively provided with a walking wheel 3 which is contacted with the top surface of the steel rail, and the side surface of the walking wheel 3 is provided with a guide wheel 5 which is vertical to the walking wheel.

And the contact point of the measuring wheel 4 and the inner side surface of the steel rail is positioned 16mm below the top surface of the steel rail, so that a reference is provided for measuring the gauge.

The guide wheels 5 are in contact with the inner side faces of the steel rails, and the carrying platform is guaranteed to be orthogonal to the rails.

And the brake device 6 is respectively arranged in the left end box and the right end box and consists of a power-off brake, a brake shaft and a brake gear. The brake shaft is arranged in parallel with the wheel shaft of the walking wheel 3. The brake gear is intermeshed with the gear of the running wheels 3.

The push rod 7 is installed on a push rod base on the upper portion of the cross beam 1 through two movable bolts and used for pushing the carrying platform to move back and forth along the rail, and a tray is arranged at the handle of the push rod 7 and used for controlling the placement of the terminal 9.

The control terminal 9 is used for sending acquisition instructions to the data acquisition module 10 and the total station 12, receiving and storing the acquired data, processing the received multi-source data, and obtaining the information of the internal and external geometrical states of the track through comprehensive calculation.

The supporting upright post 8 is installed on a base on the upper portion of the cross beam 1 through a bottom adapter plate, a system power supply is arranged in the supporting upright post 8 and used for supplying power to a high-speed railway track smoothness dynamic and static combination rapid detection system, and a fixture is arranged on the upper portion of the supporting upright post 8 and used for fixedly installing the total station 12, the GNSS receiver 18 and the prism 19.

The data acquisition module 10 is placed inside the cross beam 1 and used for sending measurement instructions to the inertial measurement unit 11, the GNSS receiver 18, the displacement sensor 13, the tilt sensor 14, the encoder 15, the sleeper identifier 16 and the temperature sensor 17, receiving, storing and time-synchronizing various acquired data, and sending the acquired data to the control terminal 9 in real time.

The inertia measurement device 11 is mounted on the base on the upper portion of the beam 1 through a bottom adapter plate and used for continuously measuring the spatial three-dimensional attitude of the carrying platform according to a measurement instruction and transmitting the measured spatial three-dimensional attitude data to the data acquisition module 10.

The total station 12 is an intelligent measuring robot with automatic target collimation and motor driving, is installed on a fixture at the top of the support column 8, and is used for observing CPIII control points arranged on two sides of a line according to an acquisition instruction and transmitting the observed value of the CPIII control points to the control terminal 9.

The GNSS receiver 18 is mounted on the fixture at the top of the support column 8, and is configured to receive GNSS signals according to the measurement instruction.

The prism 19 is mounted on a fixture at the top of the support column 8 and used for receiving and reflecting an optical signal sent by the total station.

The displacement sensors 13 are respectively arranged inside two ends of the beam 1, are connected with the measuring wheels 4 in parallel, and are used for measuring the track gauge variation between two steel rails according to a measuring instruction and transmitting the track gauge variation to the data acquisition module 10.

The inclination angle sensor 14 is arranged in the middle section of the cross beam 1 and used for measuring the current position and posture of the carrying platform according to a measurement instruction and transmitting the measured position and posture data to the data acquisition module 10.

The encoders 15 are respectively arranged in the left end box and the right end box, the encoders 15 are connected with the traveling wheels 3 through a group of coupling gears, 1:1 synchronous rotation is realized, and the encoders are used for measuring the rotating mileage of the traveling wheels 3 according to a measurement instruction and transmitting the measured mileage value to the data acquisition module 10.

The sleeper recognizer 16 is a laser ranging sensor, is vertically installed in the end, close to the longitudinal beam 2, of the cross beam 1, and is used for measuring the distance between the carrying platform and the track bed according to a measurement instruction and transmitting a distance measurement value to the data acquisition module 10.

The temperature sensor 17 is arranged inside the beam 1 and used for measuring the ambient temperature according to the measurement instruction and transmitting the temperature measurement value to the data acquisition module 10.

Fig. 6 shows a static absolute measurement rail inspection trolley based on a total station in the high-speed railway track smoothness dynamic and static combination rapid detection system, which is composed of a carrying platform, the total station 12 and a prism 19. When the track smoothness is detected, the total station 12 is erected near the central line of the track, a CP III control network arranged along the line is used for freely setting a station, the three-dimensional coordinates of the set station are obtained, after the accuracy of the set station is qualified, the total station 12 obtains the coordinates of the prism 19 by measuring the prism 19 arranged on the track detection trolley, the geometric state of the track is obtained in a 'one-step one-stop' static measurement mode, and the track smoothness is accurately detected.

Fig. 7 shows a dynamic relative measurement rail inspection trolley based on inertial measurement in the high-speed railway track smoothness dynamic and static combination rapid detection system, which is composed of a carrying platform and an inertial measurement device 11. When the track smoothness is detected, the dynamic relative measurement rail inspection trolley based on the inertia measurement is pushed to the starting point of the measurement section to be static, and after the inertia measurement device 11 is initialized, the dynamic relative measurement rail inspection trolley is continuously pushed to move forward until the end point of the measurement section is finished. The inertial measurement unit 11 dynamically acquires the spatial three-dimensional attitude of the track, and the displacement sensor 13, the tilt sensor 14, the encoder 15 and other high-speed sensors acquire the track gauge, the superelevation, the mileage and other information of the track in real time. The control terminal 9 can comprehensively resolve multisource collected data acquired by the data acquisition module 10 to obtain internal geometric state information of the track, and efficient and accurate detection of track smoothness is achieved.

Fig. 8 shows a dynamic absolute measurement rail inspection trolley based on total station and inertial measurement in the high-speed railway track smoothness dynamic and static combination rapid detection system, which is composed of a carrying platform, a total station 12 and an inertial measurement device 11. When the track smoothness is detected, the dynamic absolute measurement track inspection trolley based on the total station and the inertial measurement is pushed to the position near a station to be static, CP III control points arranged on two sides of an observation line of the total station 12 are utilized to freely establish the station without leveling, the continuous traveling is carried out between the stations, the inertial measurement device 11 is used for dynamically acquiring the spatial three-dimensional attitude of the track, and high-speed sensors such as the displacement sensor 13, the inclination sensor 14, the encoder 15 and the like acquire information such as the track gauge, the superelevation and the mileage of the track in real time. The control terminal 9 can comprehensively resolve the multisource collected data acquired by the data acquisition module 10 to obtain the internal and external geometric state information of the track, so that efficient and accurate detection of the track smoothness is realized.

Fig. 9 shows a dynamic absolute measurement rail inspection trolley based on GNSS and inertial measurement in the high-speed railway track smoothness dynamic and static combined rapid detection system of the present invention, which is composed of a carrying platform, a GNSS receiver 18 and an inertial measurement device 11. When the track smoothness is detected, the dynamic absolute measurement rail inspection trolley based on the GNSS and the inertial measurement is pushed to the starting point of the measurement section to be static, and after the GNSS receiver 18 is locked with the star and the inertial measurement device 11 is initialized, the dynamic absolute measurement rail inspection trolley is continuously pushed to advance until the end point of the measurement section is finished. The GNSS provides long-distance, large-range and relatively accurate auxiliary correction information for the inertial measurement unit 11, the inertial measurement unit 11 dynamically acquires the spatial three-dimensional attitude of the track, and the high-speed sensors such as the displacement sensor 13, the tilt sensor 14 and the encoder 15 acquire information such as the track gauge, the superelevation and the mileage of the track in real time. The control terminal 9 can comprehensively resolve the multisource collected data acquired by the data acquisition module 10 to obtain the internal and external geometric state information of the track, so that efficient and accurate detection of the track smoothness is realized.

The invention is not limited to the examples, and any equivalent changes to the technical solution of the invention by a person skilled in the art after reading the description of the invention are covered by the claims of the invention.