CN112344907B - Railway track level measurement method and system, readable storage medium and electronic equipment - Google Patents

Abstract

The invention discloses a railway track horizontal measurement method, a railway track horizontal measurement system, a readable storage medium and electronic equipment, wherein a first level and a first distortion which are respectively obtained are obtained by different measurement mechanisms and sensor systems, a second level is obtained by inverse difference of a change rate of the first distortion, dynamic response characteristics of the first level and the second level have more difference characteristics, and more abundant and more complementary information content is contained, and the method belongs to multi-sensor multi-source information fusion, so that the problems of track horizontal dynamic time delay, large false values and the like can be effectively overcome, and a track horizontal measurement result with higher precision is obtained.

Description

Translated fromChinese

铁路轨道水平测量方法、系统、可读存储介质及电子设备Railway track level measurement method, system, readable storage medium and electronic device

技术领域technical field

本发明涉及，具体涉及一种铁路轨道水平测量方法、系统、可读存储介质及电子设备。The present invention relates to, in particular, a railway track level measurement method, system, readable storage medium and electronic equipment.

背景技术Background technique

铁路轨道几何参数的状态事关铁路运输安全，随着我国铁路运营路网规划的快速发展、运营速度的不断提升，对铁路轨道几何参数检测精度的要求也越来越高。The state of railway track geometric parameters is related to the safety of railway transportation. With the rapid development of my country's railway network planning and the continuous improvement of operation speed, the requirements for the detection accuracy of railway track geometric parameters are also getting higher and higher.

在铁路轨道从新线建设期到线路运营期、线路维修与大修期的全生命周期中，都需对轨道几何参数进行严格的检测和控制。轨道几何参数通常以静态几何参数、动态几何参数二种情形进行工程与数学描述，其差异在于前者是指在没有而后者是指在有列车动静态载荷作用下的轨道几何参数，相应的检测方法称为轨道静检或轨道动检。In the whole life cycle of the railway track from the new line construction period to the line operation period, line maintenance and overhaul period, it is necessary to strictly detect and control the geometric parameters of the track. Track geometric parameters are usually described in engineering and mathematics in two situations: static geometric parameters and dynamic geometric parameters. The method is called orbital static inspection or orbital dynamic inspection.

轨道动检通常采用动态轨检车、线路确认车等大型动态轨检列车进行，而轨道静检通常采用轨距尺(机械式、电子式)等尺类检测工具以及各种静态轨检小车(轨道检查仪、轨道测量仪)等数字化检测仪器进行。但是，从测量技术的角度讲，除尺类检测工具外，无论是大型动态轨检列车还是静态轨检小车都是在检测车沿钢轨走行过程中进行连续测量，它们都属于动态测量的范畴，轨道几何各参数的检测都会受到测量机构及传感器动态响应特性等因素的影响。Track dynamic inspection is usually carried out by large dynamic track inspection trains such as dynamic track inspection vehicles and line confirmation vehicles, while track static inspection usually uses ruler-type inspection tools such as gauge rulers (mechanical, electronic) and various static rail inspection trolleys ( Track inspection instrument, track measuring instrument) and other digital testing instruments. However, from the perspective of measurement technology, in addition to ruler-type inspection tools, whether it is a large-scale dynamic rail inspection train or a static rail inspection trolley, continuous measurement is carried out during the inspection car’s walking along the rail, and they all belong to the category of dynamic measurement. The detection of various parameters of the track geometry will be affected by factors such as the measurement mechanism and the dynamic response characteristics of the sensor.

轨道水平，以及与轨道水平相关的超高、扭曲(又称：三角坑)等参数是轨道几何参数的重要组成部分，其中，轨道水平为直测参数，而超高、扭曲为根据轨道水平测量数据进行后处理而获得的推算参数。大型动态轨检列车、静态轨检小车等通常采用倾角传感器或惯性导航组合来进行轨道水平参数的测量，其检测精度受传感器响应特性的影响很大，存在显著的动态时延(检测波形的相位滞后)、虚假大值(检测波形的异常波动)等问题，针对此，通常会采取遴选高精度高频响倾角传感器、模拟或数字滤波、波形智能纠偏等手段来改善检测效果，有时也会采取增加一个陀螺并与倾角传感器同步测量轨道水平的方法，但无法真正有效地防止这些问题对轨检精度的影响，无法适应铁路行业对轨道水平/超高/扭曲等日益提高的检测要求。The track level, as well as the superelevation and distortion related to the track level (also known as: triangular pit) and other parameters are important components of the track geometric parameters. Among them, the track level is a direct measurement parameter, while the superelevation and distortion are measured according to the track level Inferred parameters obtained by post-processing the data. Large dynamic track inspection trains and static track inspection cars usually use a combination of inclination sensors or inertial navigation to measure track level parameters. The detection accuracy is greatly affected by the response characteristics of the sensor, and there is a significant dynamic time delay (the phase of the detection waveform Lag), false large value (abnormal fluctuation of detection waveform) and other problems, for this, it is usually adopted to improve the detection effect by selecting high-precision high-frequency response inclination sensor, analog or digital filtering, and intelligent waveform correction. The method of adding a gyro and measuring the track level synchronously with the inclination sensor cannot really effectively prevent these problems from affecting the accuracy of track inspection, and cannot adapt to the increasing detection requirements of the railway industry for track level/superelevation/distortion.

发明内容Contents of the invention

本发明所要解决的问题是：提供一种铁路轨道水平测量方法、系统、可读存储介质及电子设备，The problem to be solved by the present invention is to provide a railway track level measurement method, system, readable storage medium and electronic equipment,

本发明为解决上述问题所提供的技术方案为：一种铁路轨道水平测量方法，所述方法包括以下步骤，The technical solution provided by the present invention to solve the above problems is: a method for measuring railway track level, said method comprising the following steps,

(1)、在保留现行检测方法轨道水平测量机构与传感器的基础上，增加轨道扭曲测量机构与传感器，通过信号调理与模数转换，分别获取第一水平、第一扭曲测量波形；(1), on the basis of retaining the current detection method track level measuring mechanism and sensor, add the track twist measuring mechanism and sensor, and obtain the first level and the first twist measurement waveform respectively through signal conditioning and analog-to-digital conversion;

(2)、通过变化率逆差分算法，以第一扭曲测量波形为依据进行数据处理，获取第二水平测量波形；(2) Through the rate-of-change inverse difference algorithm, data processing is performed on the basis of the first distortion measurement waveform to obtain the second horizontal measurement waveform;

(3)、通过波形有效性分段算法，以第一水平为依据进行数据处理，将测量过程划分为正常测量段、局部异常段及其过渡段三种不同的测量状态分段；(3) Through the segmentation algorithm of waveform validity, data processing is carried out based on the first level, and the measurement process is divided into three different measurement state segments: normal measurement segment, local abnormal segment and transition segment;

(4)、通过正常测量段数据融合算法进行第一水平与第二水平的信息融合；以正常测量段第二水平的相位特征为边界条件逐点纠正正常测量段第一水平的动态时延，同时以正常测量段第一水平趋势为边界条件逐点纠正正常测量段第二水平的零点漂移，再按逐点平均的方法获得高精度的正常测量段第三水平测量波形；(4) Carry out the information fusion of the first level and the second level through the data fusion algorithm of the normal measurement section; take the phase characteristic of the second level of the normal measurement section as the boundary condition to correct the dynamic time delay of the first level of the normal measurement section point by point, At the same time, the zero drift of the second level of the normal measurement section is corrected point by point with the first horizontal trend of the normal measurement section as the boundary condition, and then the high-precision third level measurement waveform of the normal measurement section is obtained by point-by-point averaging;

(5)、通过局部异常段数据融合算法进行第一水平与第二水平的信息融合；以与局部异常段相邻的正常测量段的第一水平趋势与第二水平的趋势差为边界条件纠正局部异常段第二水平的零点漂移，作为高精度的局部异常段第三水平测量波形；(5) Carry out the information fusion of the first level and the second level through the data fusion algorithm of the local abnormal section; use the trend difference between the first level trend and the second level trend of the normal measurement section adjacent to the local abnormal section as the boundary condition to correct the local anomaly The zero drift of the second level of the segment is used as a high-precision measurement waveform of the third level of the local abnormal segment;

(6)、通过过渡段数据融合算法进行第一水平与第二水平的信息融合；以过渡段第二水平的相位特征为边界条件逐点纠正过渡段第一水平的动态时延，同时以与过渡段相邻的正常测量段的第一水平趋势为边界条件逐点纠正过渡段第二水平的零点漂移，再按加权平均的方法获得高精度的过渡段第三水平测量波形；(6), carry out the information fusion of the first level and the second level through the data fusion algorithm of the transition section; take the phase feature of the second level of the transition section as the boundary condition to correct the dynamic time delay of the first level of the transition section point by point, and simultaneously The first horizontal trend of the normal measurement section adjacent to the transition section is the boundary condition to correct the zero drift of the second level of the transition section point by point, and then obtain the high-precision measurement waveform of the third level of the transition section by the method of weighted average;

(7)、将正常测量段、过渡段、局部异常段的第三水平测量波形按测点顺序连接，形成信息融合后获得的轨道第三水平的完整波形，并作为轨道水平的最终测量成果输出；相应地，轨道超高、扭曲依据轨道第三水平的完整波形按既有算式进行计算。(7) Connect the third-level measurement waveforms of the normal measurement section, transition section, and local abnormal section according to the order of the measurement points to form a complete waveform of the third level of the track obtained after information fusion, and output it as the final measurement result of the track level ; Correspondingly, the track superelevation and distortion are calculated according to the existing formula based on the complete waveform of the third level of the track.

优选的，所述增加轨道扭曲测量机构与传感器，为联接二个能够独立地反映轨道水平且前后相隔一定距离的水平测量梁、具有一转动副的扭曲测量机构，以及能够敏感该测量机构的扭曲的相对角度传感器。Preferably, the added track distortion measuring mechanism and sensor are to connect two horizontal measuring beams that can independently reflect the level of the track and are separated by a certain distance from front to back, a twist measuring mechanism with a rotating pair, and can be sensitive to the distortion of the measuring mechanism relative angle sensor.

优选的，所述通过变化率逆差分算法，以第一扭曲测量波形为依据进行数据处理，获取第二水平测量波形，其所依据的数学原理是：扭曲为前后间隔一定距离的二个水平之间的差值，可对水平波形进行差分运算得到扭曲波形，因此也可对扭曲波形进行逆差分运算得到水平波形。Preferably, the data processing is performed on the basis of the first distortion measurement waveform through the rate-of-change inverse difference algorithm to obtain the second horizontal measurement waveform, and the mathematical principle on which it is based is: the distortion is one of two levels separated by a certain distance. The difference between the horizontal waveforms can be differentially calculated to obtain the distorted waveform, so the inverse differential operation can also be performed on the distorted waveform to obtain the horizontal waveform.

优选的，所述通过波形有效性分段算法，以第一水平为依据进行数据处理，将测量过程划分为正常测量段、局部异常段及其过渡段等不同的测量状态分段，其所依据的数学原理是：水平测量波形在受到或没受到轨缝或钢轨表面剥落掉块等局部缺陷影响时的波形的奇异值和局部方差存在显著差异，因此可依此将水平测量波形归为正常测量段或异常测量段，而难于确定分段类型且介于正常测量段、异常测量段之间的归为过渡段。Preferably, the waveform validity segmentation algorithm is used to perform data processing on the basis of the first level, and divide the measurement process into different measurement state segments such as normal measurement segment, local abnormal segment and transition segment, etc., which are based on The mathematical principle is that there are significant differences in the singular value and local variance of the waveform when the horizontal measurement waveform is affected or not affected by local defects such as rail gaps or peeling blocks on the rail surface, so the horizontal measurement waveform can be classified as normal measurement. segment or abnormal measurement segment, and it is difficult to determine the segment type and is classified as a transition segment between the normal measurement segment and the abnormal measurement segment.

优选的，通过正常测量段或过渡段第二水平的相位特征为边界条件逐点纠正正常测量段或过渡段第一水平的动态时延，其所依据的数学原理是：新增的扭曲测量机构和传感器具有很高的动态频响，测量波形的时延极小，可作为相位基准用于消除第一水平的动态时延。Preferably, the dynamic time delay of the first level of the normal measurement section or the transition section is corrected point by point through the phase characteristics of the second level of the normal measurement section or the transition section as the boundary condition. The mathematical principle on which it is based is: the newly added distortion measurement mechanism And the sensor has a high dynamic frequency response, and the time delay of the measurement waveform is extremely small, which can be used as a phase reference to eliminate the first level of dynamic time delay.

优选的，以正常测量段或过渡段第一水平趋势为边界条件逐点纠正正常测量段或过渡段第二水平的零点漂移，其所依据的数学原理是：逆差分运算存在一个与边界条件相关的常数，表现为第二水平的零点漂移，因此可以以同段第一水平的趋势替换第二水平的趋势以实现第二水平的零点渐消。Preferably, the zero drift of the normal measurement section or the second level of the transition section is corrected point by point with the normal measurement section or the first horizontal trend of the transition section as the boundary condition. The constant of is expressed as the zero point drift of the second level, so the trend of the second level can be replaced by the trend of the first level in the same period to realize the zero point fading of the second level.

优选的，以与局部异常段相邻的正常测量段的第一水平与第二水平的趋势差为边界条件纠正局部异常段第二水平的零点漂移，其所依据的数学原理是：逆差分常数的变化是缓慢的和逐步累积的，表现为第二水平的零点漂移也是缓慢的和逐步累积的，因此可以以相邻的正常测量段的第一水平及第二水平的趋势差计算第二水平的零点偏差，用于消除局部异常段第二水平的零点偏差。Preferably, using the trend difference between the first level and the second level of the normal measurement section adjacent to the local abnormal section as the boundary condition to correct the zero drift of the second level of the local abnormal section, the mathematical principle on which it is based is: the change of the inverse differential constant It is slow and gradually accumulated, showing that the zero drift of the second level is also slow and gradually accumulated, so the zero point of the second level can be calculated based on the trend difference between the first level and the second level of the adjacent normal measurement period Deviation, used to eliminate the zero point deviation of the second level of the local anomaly segment.

本发明还包括了一种轨道水平测量系统，应用于所述的铁路轨道水平测量方法，包括，轨道水平采集模块，用于直接测量轨道水平参数的大小，获取所述第一水平波形；The present invention also includes a track level measurement system, which is applied to the railway track level measurement method, including a track level acquisition module, which is used to directly measure the size of track level parameters and obtain the first level waveform;

轨道扭曲采集模块，用于直接测量轨道扭曲参数的大小，获取所述第一所扭曲波形；The track distortion acquisition module is used to directly measure the size of the track distortion parameter and obtain the first twist waveform;

信息转换与融合模块，用于根据所述第一扭曲计算所述第二水平，并通过信息融合，依据所述第一水平和所述第二水平获得高精度的第三水平测量波形输出。The information conversion and fusion module is configured to calculate the second level according to the first distortion, and obtain a high-precision third level measurement waveform output based on the first level and the second level through information fusion.

本发明还包括了一种可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现所述的铁路轨道水平测量方法。The present invention also includes a readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the method for measuring the level of the railway track is realized.

本发明还包括了一种电子设备，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现所述的铁路轨道水平测量方法。The present invention also includes an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. The processor implements the method for measuring the level of a railway track when executing the program.

与现有技术相比，本发明的优点是：本发明分别获取的第一水平和第一扭曲由不同的测量机构和传感器系统获得，第二水平由第一扭曲经变化率逆差分获得，第一水平与第二水平的动态响应特性具有更多差异特征，并蕴含着更丰富且互补性更强的信息量，属于多传感器多源信息融合，因而能够有效克服轨道水平动态时延、虚假大值等问题，获得具有更高精度的轨道水平测量成果。Compared with the prior art, the present invention has the advantages that: the first level and the first distortion respectively obtained by the present invention are obtained by different measurement mechanisms and sensor systems; The dynamic response characteristics of the first level and the second level have more different characteristics, and contain richer and more complementary information, which belongs to the fusion of multi-sensor and multi-source information, so it can effectively overcome the track-level dynamic time delay, false large value and other issues to obtain track level measurement results with higher precision.

附图说明Description of drawings

此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention.

图1是本发明的铁路轨道水平测量方法的流程示意图；Fig. 1 is the schematic flow sheet of railway track level measuring method of the present invention;

图2是本发明轨道扭曲测量机构原理图。Fig. 2 is a schematic diagram of the track distortion measuring mechanism of the present invention.

具体实施方式Detailed ways

以下将配合附图及实施例来详细说明本发明的实施方式，借此对本发明如何应用技术手段来解决技术问题并达成技术功效的实现过程能充分理解并据以实施。The implementation of the present invention will be described in detail below with reference to the drawings and examples, so as to fully understand and implement the implementation process of how to use technical means to solve technical problems and achieve technical effects in the present invention.

请参阅图1，本发明的第一实施例提出一种铁路轨道水平测量方法，应用于测量装置对轨道水平的测量，包括以下步骤：Please refer to Fig. 1, the first embodiment of the present invention proposes a kind of railway track level measurement method, is applied to the measurement of track level by measuring device, comprises the following steps:

S1.通过测量装置的水平测量机构，获取第一水平测量数据和波形。S1. Obtain first horizontal measurement data and waveforms through the horizontal measurement mechanism of the measurement device.

具体的，所述第一水平由测量装置的水平测量机构配合高频响、高精度水平传感器敏感轨道水平参数并经信号调理电路和量化电路转换为数字量而获得。Specifically, the first level is obtained by the level measuring mechanism of the measuring device in cooperation with the high-response, high-precision level sensor sensitive track level parameters and converted into digital quantities by the signal conditioning circuit and the quantization circuit.

在本实施例中，所述高频响、高精度水平传感器为基于伺服加速度计原理的倾角传感器。In this embodiment, the high-response, high-precision level sensor is an inclination sensor based on the principle of a servo accelerometer.

在其他实施例中，所述高频响、高精度水平传感器也可以为惯性导航组合系统。In other embodiments, the high-response, high-precision level sensor may also be an inertial navigation integrated system.

S2.通过测量装置的扭曲测量机构，同步获取第一扭曲测量数据和波形。S2. Synchronously acquire the first twist measurement data and waveform through the twist measurement mechanism of the measurement device.

具体的，所述第一扭曲由测量装置的扭曲测量机构配合高精度角度传感器敏感轨道扭曲参数并经信号调理电路和量化电路转换为数字量而获得。Specifically, the first distortion is obtained by the distortion measuring mechanism of the measuring device in cooperation with the sensitive track distortion parameters of the high-precision angle sensor and converted into digital quantities by the signal conditioning circuit and the quantization circuit.

在本实施例中，所述扭曲测量机构为一联接前后相隔一定距离的二根水平测量梁、具有一转动副的联接梁，所述高精度角度传感器为导电塑料角位移传感器。In this embodiment, the distortion measuring mechanism is two horizontal measuring beams connected with a certain distance before and after, and a connecting beam with a rotating pair, and the high-precision angle sensor is a conductive plastic angular displacement sensor.

在其他实施例中，所述高精度角度传感器也可以为差动电容式角位移传感器、差动电感式角位移传感器、霍尔式角位移传感器等。In other embodiments, the high-precision angle sensor may also be a differential capacitive angular displacement sensor, a differential inductive angular displacement sensor, a Hall-type angular displacement sensor, and the like.

S3.通过变化率逆差分算法，对第一扭曲测量数据和波形进行变换，获得第二水平测量数据与波形。S3. Transform the first distortion measurement data and waveform by using the rate-of-change inverse difference algorithm to obtain the second horizontal measurement data and waveform.

具体的，所述第一扭曲与第二水平之间，满足以下运算关系：Specifically, the following operational relationship is satisfied between the first distortion and the second level:

式中：X＝[x0，x1，...，xn]T为轨道扭曲测量数据序列，Y＝[y0，y1，...，yn]为轨道水平测量数据序列。矩阵除前后若干行为全0外，中间行均只有二个间隔为k的非零项，k为所述前后水平测量梁之间一定距离等效的测点间隔。In the formula: X=[x0, x1,...,xn]T is the track distortion measurement data sequence, Y=[y0, y1,...,yn] is the track level measurement data sequence. In addition to several rows before and after the matrix are all 0, the middle row has only two non-zero items with an interval of k, where k is the interval of measuring points equivalent to a certain distance between the front and rear horizontal measuring beams.

S4.以所述第一水平波形的形态为依据，对所述测量波形进行分类。S4. Classify the measured waveforms based on the shape of the first horizontal waveform.

具体的，所述第一水平波形的形态，可以分为正常测量、局部异常及其过渡过程三种不同形态，相应地可以把测量波形分为正常测量段、局部异常段及其过渡段三种不同的数据分段。Specifically, the form of the first horizontal waveform can be divided into three different forms: normal measurement, local abnormality and its transition process, and correspondingly, the measurement waveform can be divided into three types: normal measurement section, local abnormality section and transition section Different data segments.

本实施例中，通过对所述第一水平进行奇异值分解，以奇异值作为描述波形形态的参数，建立基于奇异值的分段判据。In this embodiment, by performing singular value decomposition on the first level, using the singular value as a parameter describing the shape of the waveform, a segmentation criterion based on the singular value is established.

在其他实施例中，也可以对所述第一水平进行局部方差计算，以局部方差作为描述波形形态的参数，建立基于局部方差的分段判据。In other embodiments, the local variance calculation may also be performed on the first level, and the local variance is used as a parameter describing the shape of the waveform to establish a segmentation criterion based on the local variance.

S5.对所述正常测量段的所述第一水平进行动态时延矫正。S5. Perform dynamic delay correction on the first level of the normal measurement segment.

具体的，以所述正常测量段的所述第二水平的波峰特征为参照，匹配所述正常测量段的所述第一水平的对应波峰，计算其相位差即距离差值用于矫正所述正常测量段第一水平波峰出现的位置。Specifically, using the peak feature of the second level of the normal measurement section as a reference, match the corresponding peak of the first level of the normal measurement section, and calculate the phase difference, that is, the distance difference, to correct the The position where the first horizontal peak appears in the normal measurement section.

S6.对所述正常测量段的所述第二水平进行动态零点矫正。S6. Perform dynamic zero point correction on the second level of the normal measurement section.

具体的，以所述正常测量段的所述第一水平的局部均值为参照，计算其与所述正常测量段的所述第二水平的均值差，作为第二水平动态零点差，用于矫正所述正常测量段第二水平的动态零点漂移。Specifically, taking the local mean value of the first level of the normal measurement segment as a reference, calculate the mean difference between it and the second level of the normal measurement segment as the second level dynamic zero point difference for correction The dynamic zero drift of the second level of the normal measurement period.

S7.对所述正常测量段的所述第一水平、第二水平矫正后的波形进行信息融合。S7. Perform information fusion on the corrected waveforms of the first level and the second level of the normal measurement segment.

具体的，此时获得的所述正常测量段的所述第一水平、第二水平矫正后的波形均具备作为所述正常测量段的高精度的第三水平测量波形输出的条件，也可以采用逐点平均等简单算法进行计算再作为所述正常测量段的高精度的第三水平测量波形输出。Specifically, the corrected waveforms of the first level and the second level of the normal measurement section obtained at this time all meet the conditions for outputting the high-precision third level measurement waveform of the normal measurement section, and can also be used Simple algorithms such as point-by-point averaging are used for calculation and then output as the high-precision third level measurement waveform of the normal measurement section.

S8.对所述局部段的所述第二水平进行动态零点矫正。S8. Perform dynamic zero-point correction on the second level of the partial segment.

具体的，以与所述局部异常段相邻的正常测量段的所述第一水平的局部均值为参照，计算其与所述相邻的正常测量段的所述第二水平的均值差，作为所述局部异常段第二水平动态零点差，用于所述局部异常段矫正第二水平的动态零点漂移，获得高精度的所述局部异常段第三水平测量波形输出。Specifically, taking the local average value of the first level of the normal measurement segment adjacent to the local abnormal segment as a reference, calculate the mean value difference between it and the second level of the adjacent normal measurement segment, as the The dynamic zero point difference of the second level of the local abnormal section is used for correcting the dynamic zero point drift of the second level of the local abnormal section to obtain a high-precision third level measurement waveform output of the local abnormal section.

S9.对所述过渡段的所述第一水平进行动态时延矫正。S9. Perform dynamic delay correction on the first level of the transition section.

具体的，以所述过渡段的所述第二水平的波峰特征为参照，匹配所述过渡段的所述第一水平的对应波峰，计算其相位差即距离差值用于所述过渡段矫正第一水平波峰出现的位置。Specifically, using the peak feature of the second level of the transition section as a reference, match the corresponding peak of the first level of the transition section, and calculate the phase difference, that is, the distance difference, for the correction of the transition section The location of the first horizontal peak.

S10.对所述过渡段的所述第二水平进行动态零点矫正。S10. Perform dynamic zero point correction on the second level of the transition section.

具体的，以与所述过渡段相邻的所述正常测量段的所述第一水平的局部均值为参照，计算其与相邻的所述正常测量段的所述第二水平的均值差，作为所述过渡段第二水平动态零点差，用于矫正所述过渡段第二水平的动态零点漂移。Specifically, taking the local average value of the first level of the normal measurement segment adjacent to the transition segment as a reference, calculate the mean difference between it and the second level of the adjacent normal measurement segment, as the The dynamic zero point difference of the second level of the transition section is used to correct the dynamic zero point drift of the second level of the transition section.

S11.对所述过渡段的所述第一水平、第二水平矫正后的波形进行信息融合。S11. Perform information fusion on the corrected waveforms of the first level and the second level of the transition section.

具体地，此时获得的所述过渡段的所述第一水平、第二水平矫正后的波形均不完全具备作为所述正常测量段的高精度的第三水平测量波形输出的条件，可以采用逐点加权平均等算法进行计算再作为所述过渡段的高精度的第三水平测量波形输出。Specifically, the corrected waveforms of the first level and the second level of the transition section obtained at this time do not fully meet the conditions for outputting the high-precision third level measurement waveform of the normal measurement section, and the Point-by-point weighted average and other algorithms are used for calculation and output as the high-precision third level measurement waveform of the transition section.

进一步地，所述逐点加权平均算法，其基本原则为从正常测量段进入过渡段时所述过渡段的所述第一水平矫正后的波形与所述第二水平矫正后的波形的加权平均的权重相等，而越接近局部异常段所述过渡段的所述第一水平矫正后的波形的加权平均的权重越小直至为零，获得高精度的所述过渡段第三水平测量波形输出。Further, the basic principle of the point-by-point weighted average algorithm is the weighted average of the first level corrected waveform and the second level corrected waveform of the transition section when entering the transition section from the normal measurement section weights are equal, and the weight of the weighted average of the first level corrected waveform of the transition section closer to the local abnormal section is smaller until it is zero, and the output of the third level measurement waveform of the transition section with high precision is obtained.

S12.对所述各分段的第三水平测量波形进行数据连接，获得最终、完整的第三水平输出。S12. Data connection is performed on the third level measurement waveforms of each segment to obtain a final and complete third level output.

S13.对所述最终、完整的第三水平测量波形进行数据换算，获得扭曲测量波形输出。S13. Perform data conversion on the final and complete third horizontal measurement waveform to obtain a distortion measurement waveform output.

具体的，扭曲为测点间隔为k的前后二点之间的第三水平之差。Specifically, the distortion is the difference of the third level between two points before and after the measuring point interval is k.

S14.对所述最终、完整的第三水平测量波形进行数据换算，获得超高测量波形输出。S14. Perform data conversion on the final and complete third horizontal measurement waveform to obtain an output of ultra-high measurement waveform.

具体的，超高为对应测点附近第三水平测量波形的局部均值。Specifically, the superelevation is the local mean value of the third horizontal measurement waveform near the corresponding measurement point.

本发明的优势在于，本发明可同步测量轨道水平和轨道扭曲，获得蕴含着更丰富且互补性更强的多传感器多源信息，通过深度的信息融合，能够有效克服轨道水平动态时延、虚假大值等问题，获得具有更高精度的轨道水平测量成果。The advantage of the present invention is that the present invention can simultaneously measure the orbital level and orbital distortion, obtain multi-sensor and multi-source information that contains richer and more complementary information, and can effectively overcome the dynamic time delay of orbital level and false information through deep information fusion. Large values and other issues can be obtained to obtain track level measurement results with higher precision.

请参阅图2，本发明第二实施例提出一种轨道水平测量系统，应用于测量装置对轨道水平、超高、扭曲的测量，包括：Please refer to Fig. 2, the second embodiment of the present invention proposes a track level measurement system, which is applied to the measurement of track level, superelevation and distortion by the measuring device, including:

所述水平测量系统总体由具有垂向走行轮和横向导向轮的前后二根水平测量梁1与2，以及具有一个回转副的联接梁3组成，可沿被测轨道的钢轨6左右移动。The horizontal measuring system is generally composed of twohorizontal measuring beams 1 and 2 at the front and rear with vertical travel wheels and lateral guide wheels, and a connectingbeam 3 with a rotary pair, which can move left and right along therail 6 of the track to be measured.

在所述水平测量系统的前后二根水平测量梁1与2中设置一个或二个水平传感器4用于测量轨道的水平状态以获得所述第一水平。One or twolevel sensors 4 are arranged in the front and rearlevel measuring beams 1 and 2 of the level measuring system to measure the level state of the track to obtain the first level.

在所述水平测量系统的联接梁3中设置一个角位移传感器5用于测量所述回转副的转角以获得所述第一扭曲。Anangular displacement sensor 5 is arranged in the connectingbeam 3 of the horizontal measuring system for measuring the rotation angle of the slewing pair to obtain the first twist.

本发明第三实施例提供一种可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现上述的铁路轨道水平测量方法。The third embodiment of the present invention provides a readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the above-mentioned railway track level measurement method is realized.

本发明第四实施例提供一种电子设备，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述的方法，该电子设备可以为手推式轨道测量小车，也可以为中低速自行式轨道测量小车。The fourth embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the above method is implemented. The electronic device It can be a hand-push track measuring trolley, or a medium-low speed self-propelled track measuring trolley.

以上仅就本发明的最佳实施例作了说明，但不能理解为是对权利要求的限制。本发明不仅局限于以上实施例，其具体结构允许有变化。凡在本发明独立权利要求的保护范围内所作的各种变化均在本发明保护范围内。The above are only descriptions of the preferred embodiments of the present invention, but should not be construed as limiting the claims. The present invention is not limited to the above embodiments, and its specific structure is allowed to vary. All changes made within the protection scope of the independent claims of the present invention are within the protection scope of the present invention.

Claims (10)

1. A railway track horizontal measurement method is characterized in that: the method comprises the following steps of (a) carrying out,

(1) On the basis of keeping a track horizontal measuring mechanism and a sensor of the existing detection method, a track torsion measuring mechanism and a sensor are added, and a first horizontal measuring waveform and a first torsion measuring waveform are respectively obtained through signal conditioning and analog-to-digital conversion;

(2) Performing data processing by using the first distortion measurement waveform as a basis through a change rate inverse differential algorithm to obtain a second horizontal measurement waveform;

(3) Carrying out data processing by using a waveform effectiveness segmentation algorithm and taking a first level as a basis, and dividing a measuring process into three different measuring state segments of a normal measuring segment, a local abnormal segment and a transition segment of the local abnormal segment;

(4) Performing information fusion of the first level and the second level through a normal measurement section data fusion algorithm; correcting the dynamic time delay of the first level of the normal measurement section point by taking the phase characteristic of the second level of the normal measurement section as a boundary condition, correcting the zero drift of the second level of the normal measurement section point by taking the first level trend of the normal measurement section as a boundary condition, and obtaining a high-precision third level measurement waveform of the normal measurement section by a point-by-point averaging method;

(5) Performing information fusion of the first level and the second level through a local abnormal section data fusion algorithm; correcting zero drift of a second level of the local abnormal section by taking a trend difference between a first level and a second level of a normal measurement section adjacent to the local abnormal section as a boundary condition, and taking the zero drift as a high-precision third level measurement waveform of the local abnormal section;

(6) Performing information fusion of the first level and the second level through a transition section data fusion algorithm; correcting dynamic time delay of the first level of the transition section point by taking the phase characteristic of the second level of the transition section as a boundary condition, correcting zero drift of the second level of the transition section point by taking the first horizontal trend of a normal measurement section adjacent to the transition section as a boundary condition, and obtaining a high-precision third level measurement waveform of the transition section by a weighted average method;

(7) Connecting the third horizontal measurement waveforms of the normal measurement section, the transition section and the local abnormal section according to the sequence of the measurement points to form a complete waveform of the third horizontal of the track obtained after information fusion, and outputting the complete waveform as a final measurement result of the horizontal of the track; correspondingly, the track superelevation and the track distortion are calculated according to the existing formula according to the complete waveform of the third level of the track.

2. A method of measuring the level of a railway track according to claim 1, wherein: the track twist measuring mechanism and the track twist sensor are connected with two horizontal measuring beams which can independently reflect the track level and are spaced from each other at a certain distance, a twist measuring mechanism with a rotating pair and a relative angle sensor which can sense the twist of the measuring mechanism.

3. A method of measuring the level of a railway track according to claim 1, wherein: the data processing is carried out by using the first distorted measurement waveform as a basis through a change rate inverse differential algorithm to obtain a second horizontal measurement waveform, and the mathematical principle of the basis is as follows: the distortion is a difference between two levels spaced a certain distance from each other, and the horizontal waveform can be subjected to a differential operation to obtain a distorted waveform, and therefore the distorted waveform can also be subjected to an inverse differential operation to obtain a horizontal waveform.

4. A method of measuring the level of a railway track according to claim 1, wherein: the method comprises the following steps of performing data processing by using a waveform effectiveness segmentation algorithm and taking a first level as a basis, and dividing a measurement process into three different measurement state segments of a normal measurement segment, a local abnormal segment and a transition segment thereof according to the mathematical principle that: the horizontal measurement waveform has obvious difference in singular value and local variance when being affected by rail gap or local defect of steel rail surface stripping and chipping, so that the horizontal measurement waveform can be classified as a normal measurement section or an abnormal measurement section, and the section type is difficult to determine, and the section between the normal measurement section and the abnormal measurement section is classified as a transition section.

5. A method of measuring the level of a railway track according to claim 1, wherein: correcting the dynamic time delay of the first level of the normal measurement section or the transition section point by taking the phase characteristics of the second level of the normal measurement section or the transition section as boundary conditions according to the mathematical principle that: the newly added distortion measuring mechanism and the sensor have high dynamic frequency response, the time delay of the measured waveform is extremely small, and the time delay can be used as a phase reference for eliminating the dynamic time delay of the first level.

6. A method of measuring the level of a railway track according to claim 1, wherein: correcting the zero drift of the second level of the normal measurement section or the transition section point by taking the first level trend of the normal measurement section or the transition section as a boundary condition according to the mathematical principle that: the inverse difference operation has a constant related to the boundary condition, which shows the zero point drift of the second level, so that the trend of the second level can be replaced by the trend of the first level in the same segment to realize the zero point fading of the second level.

7. A method of measuring the level of a railway track according to claim 1, wherein: correcting zero drift of a second level of a local abnormal section by taking a trend difference of a first level and the second level of a normal measurement section adjacent to the local abnormal section as a boundary condition according to the mathematical principle that: the change of the inverse differential constant is slow and gradually accumulated, and the zero-point drift of the second level is also slow and gradually accumulated, so that the zero-point deviation of the second level can be calculated according to the trend difference of the first level and the second level of the adjacent normal measurement sections, and the zero-point deviation of the second level of the local abnormal section is eliminated.

8. A track leveling system applied to the railway track leveling method according to any one of claims 1 to 7, characterized in that: comprises the steps of (a) preparing a substrate,

the track level acquisition module is used for directly measuring the magnitude of a track level parameter and acquiring the first level measurement waveform;

the track distortion acquisition module is used for directly measuring the size of track distortion parameters and acquiring the first distortion measurement waveform;

and the information conversion and fusion module is used for calculating the second level according to the first distortion, and obtaining high-precision third level measurement waveform output according to the first level and the second level through information fusion.

9. A readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the method of railway track leveling of any one of claims 1-7.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the method of railway track leveling according to any of claims 1-7.

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