CN118999483A - Method and device for rapidly and continuously measuring horizontal value of railway track - Google Patents
Method and device for rapidly and continuously measuring horizontal value of railway track Download PDFInfo
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- CN118999483A CN118999483A CN202410963152.5A CN202410963152A CN118999483A CN 118999483 A CN118999483 A CN 118999483A CN 202410963152 A CN202410963152 A CN 202410963152A CN 118999483 A CN118999483 A CN 118999483A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention relates to a method and a device for rapidly and continuously measuring a railway track horizontal value, wherein the method comprises the following steps: collecting initial gravitational acceleration of a rail, and calculating a first horizontal angle of the rail according to the gravitational acceleration; collecting the instantaneous angular velocity of the rail, and calculating a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle; sampling a plurality of first horizontal angles and a plurality of second horizontal angles in a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles; correcting the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency. The method realizes low-cost, high-efficiency and continuous acquisition of the track level value through acceleration measurement and integral calculation, and the measured data is easy to store and analyze in the later period.
Description
Technical Field
The invention belongs to the technical field of electronic measurement, in particular to a method and a device for quickly and continuously measuring a railway track level value, and particularly relates to a method and a device for quickly and continuously measuring a railway track level value without depending on external positioning information correction.
Background
Safe operation is a primary condition for railway development. The track level is the height difference of the top surfaces of the left steel rail and the right steel rail relative to the horizontal plane at the same mileage, the two steel rails should be kept at the same horizontal plane in a straight line section, and the curve section should be provided with the super height of the steel rails according to a design value. The level is a key parameter of the geometric state of the track, is important to driving comfort and safety, and is a precondition of fine adjustment in time for the level of the steel rail which does not meet the requirements, and accurate measurement and acquisition of the level value of the steel rail are carried out. An important measurement mode of the current track level is to measure and acquire a manual hand-held track gauge, a horizontal measuring instrument and the like, the measurement mode can only collect a horizontal value at a static state at a designated position, the measurement mode belongs to a discrete measurement mode, the measurement efficiency is low, the labor intensity is high, measurement data are inconvenient to store, study and analyze, and inexperienced staff is easy to cause human errors in diagnosis. Therefore, track level measurement needs to be developed towards more reliable, efficient, automated and digitized.
In view of the importance of the level to the railway safety operation, the research of the existing track level measuring method mainly comprises a track inspection trolley measuring method and a high-speed dynamic comprehensive inspection trolley measuring method. The rail detection trolley measuring method is based on a contact measurement principle, when the detection trolley runs on the surface of a steel rail, the change of the vehicle body posture is generated due to the change of the geometric state of the steel rail, the internal inertia measuring unit is used for sensing the change of the motion state, and the horizontal angle is obtained in an integral calculation mode. However, rail-mounted trolleys are expensive and the errors must be corrected by means of external positioning means, for example: and continuously correcting the pose of the detection equipment by adopting a GNSS positioning technology, and correcting the position error of the equipment by adopting a total station observation control point.
The measuring method of the high-speed dynamic comprehensive detection vehicle is generally to install measuring sensors on a vehicle body, an axial direction, a bogie and wheels, and a computer system synthesizes data of various sensors to calculate relevant parameters such as analysis level. The high-speed dynamic comprehensive detection vehicle measurement technology is limited by a vehicle body structure, cannot meet the requirement of track level measurement precision, still needs GNSS positioning information assistance, and cannot meet the requirement of track fine adjustment in position precision in a high-speed state.
In summary, the manual measurement mode has low efficiency, the acquired result is discretized, the rail inspection trolley measurement method has high price, the error must be corrected by relying on an external positioning means, the method is difficult to apply in tunnels and other shielding environments, the high-speed dynamic comprehensive detection trolley measurement method has low horizontal measurement precision, and the position precision cannot meet the requirement of rail fine adjustment.
Disclosure of Invention
In order to solve the problems of low efficiency, high cost and discretization of results of manual railway track level measurement, the first aspect of the invention provides a method for quickly and continuously measuring a railway track level value, which comprises the following steps: collecting initial gravitational acceleration of a rail, and calculating a first horizontal angle of the rail according to the gravitational acceleration; collecting the instantaneous angular velocity of the rail, and calculating a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle; sampling a plurality of first horizontal angles and a plurality of second horizontal angles in a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles; correcting the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency.
In some embodiments of the invention, the acquiring the instantaneous angular velocity of the rail, calculating the second horizontal angle of the rail in real time by motion integration and the first horizontal angle comprises: the first horizontal angle is taken as an initial value, the instantaneous angular speed of the rail is taken as an integral term, and the second horizontal angle of the rail is calculated through the initial value and the integral term.
In some embodiments of the present invention, constructing the difference sequence model from the plurality of first horizontal angles and the plurality of second horizontal angles includes: calculating the difference value between the first horizontal angle and the corresponding second horizontal angle during each sampling; a difference sequence model is fitted by a polynomial based on a sequence of a plurality of differences.
Further, the difference sequence model is a quadratic polynomial.
Preferably, the difference sequence model is expressed as:
,
Wherein Δγ M denotes a difference between the first horizontal angle and the second horizontal angle at the corresponding time M, t M denotes a time interval from the start time, b 0、b1、b2 denotes a coefficient of the quadratic polynomial, and ε denotes a random error term.
In some embodiments of the invention, calculating the continuous level value of the rail within the preset frequency based on the corrected first level angle includes: and calculating continuous level values of the rail in a preset frequency according to the length of the rail beam body and the corrected first level angle.
In a second aspect of the present invention, there is provided a railway track level value rapid succession measuring apparatus comprising: the acquisition module is used for acquiring initial gravitational acceleration of the rail and calculating a first horizontal angle of the rail according to the gravitational acceleration; the calculation module is used for collecting the instantaneous angular speed of the rail and calculating a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle; the construction module is used for sampling a plurality of first horizontal angles and a plurality of second horizontal angles in a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles; the correction module is used for correcting the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency.
Further, the construction module includes: the calculating unit is used for calculating the difference value between the first horizontal angle and the corresponding second horizontal angle when sampling each time; and the fitting unit is used for fitting a difference sequence model through a polynomial based on a sequence formed by a plurality of differences.
In a third aspect of the present invention, there is provided an electronic apparatus comprising: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the rapid continuous railway track level value measuring method provided by the first aspect of the invention.
In a fourth aspect of the invention, there is provided a computer readable medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the method for rapid succession of railway track level values provided by the invention in the first aspect.
The beneficial effects of the invention are as follows:
Based on the characteristic that the gravity value is easy to observe, the low-cost accelerometer is utilized to achieve short-time high-precision horizontal angle acquisition to serve as a horizontal initial value, (2) simultaneously, the characteristic that the gyroscope can sense angle change at high frequency is utilized, in the motion detection process, only a single gyroscope measured value is used for integrating to obtain continuous high-frequency horizontal angles, (3) under the condition that the continuous measurement time is too long, the short-time static numerical value of the accelerometer is utilized to recalculate the horizontal angle, the precision of the horizontal angle integration is optimized, and (4) the track horizontal value is calculated by utilizing the high-frequency horizontal angle calculated under the dynamic condition. The invention can continuously obtain the track level value with low cost and high efficiency, and the measured data is easy to store and analyze in the later period.
Drawings
FIG. 1 is a schematic flow diagram of a method for rapid continuous measurement of railway track level in some embodiments of the invention;
FIG. 2 is a schematic flow chart of a method for measuring the level of a railway track in rapid succession according to some embodiments of the invention;
FIG. 3 is a schematic top view of a method for rapid continuous measurement of railway track level in some embodiments of the invention
FIG. 4 is a schematic cross-sectional side view of a method for measuring the level of a railroad track in rapid succession in some embodiments of the invention;
FIG. 5 is a schematic illustration of a method for measuring the level of a railroad track in rapid succession in some embodiments of the invention;
FIG. 6 is a schematic illustration of a specific flow of a rapid continuous measurement device for railway track level in some embodiments of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to some embodiments of the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1 and 2, in a first aspect of the present invention, there is provided a method for measuring a railway track level value in rapid succession, comprising: s100, collecting initial gravitational acceleration of a rail, and calculating a first horizontal angle of the rail according to the gravitational acceleration; s200, acquiring the instantaneous angular speed of the rail, and calculating a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle; s300, sampling a plurality of first horizontal angles and a plurality of second horizontal angles in a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles; s400, correcting the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency.
It can be understood that, in the embodiment of the present invention, the first horizontal angle and the second horizontal angle are only convenient for description, the first horizontal angle actually represents an initial value obtained by first measurement of the railway track horizontal angle, and correspondingly the second horizontal angle is an intermediate value corrected by a motion integration method, and the finally corrected first horizontal angle is a whole-course high-frequency measurement value; since the measurement process is continuous, the final first horizontal angle is a full range high frequency continuous measurement (a set of sequential values over a sampling period).
In step S100 of some embodiments of the present invention, an initial gravitational acceleration of the rail is collected and a first horizontal angle of the rail is calculated from the gravitational acceleration. Specifically, referring to fig. 3-5, which show the structural principles of a detection device or system, the detection system has only one beam on two rails, the top of the beam has rotatable wheels contacting the rail tops, an accelerometer is arranged in the center of the beam, and a gyroscope is arranged right above the accelerometer.
Then observing gravity through an accelerometer to obtain a gravity horizontal componentConstant of gravityThen the horizontal angle of the steel rail is calculated as the known quantityThe formula of (2) is as follows:
(1)。
in step S200 of some embodiments of the present invention, the acquiring the instantaneous angular velocity of the rail, calculating the second horizontal angle of the rail in real time by the motion integration method and the first horizontal angle includes: the first horizontal angle is taken as an initial value, the instantaneous angular speed of the rail is taken as an integral term, and the second horizontal angle of the rail is calculated through the initial value and the integral term.
Specifically, under the movement stateThe horizontal angle of the moment isThe calculation formula is as follows:
(2)，
Wherein, The horizontal angle at the starting time is calculated by the formula (1),Is thatThe instantaneous angular velocity observed by the moment gyro,Represents the integral of the angular velocity from time 0 to time i,. The whole-course high-frequency horizontal angle sequence of the steel rail which is preliminarily obtained through initial rest and gyro integration is。
In step S200 of some embodiments of the present invention, constructing a difference sequence model according to the first plurality of horizontal angles and the second plurality of horizontal angles includes: calculating the difference value between the first horizontal angle and the corresponding second horizontal angle during each sampling; a difference sequence model is fitted by a polynomial based on a sequence of a plurality of differences.
Specifically, the current mainstream rail detection trolley and rail dynamic comprehensive detection train measurement method are expensive, and the error must be corrected by external positioning means such as GNSS or total station, so that the method is difficult to apply in electromagnetic interference and shielding environments. The invention only needs to use the accelerometer integrated in itself at a small amount of timeMeasuring horizontal angleAnd utilizeFor a pair ofPerforming correction in whichAnd (2) andThe number of sequences is much smaller thanThe representative only needs a small amount of correction, and the acquired horizontal angle precision is further improved. The specific correction method is as follows:
1) Calculation of Calculated from time accelerometer observationsFrom a horizontal angle initially obtained by initial rest and gyro integrationSequence of differences between。
2) And (3) performing time fitting on the difference sequence, and establishing a model as follows:
(3)，
In the formula (3), For corresponding timeAnd (3) withDifference value.For the time interval from the start instant, b 0、b1、b2 denotes the coefficients of the quadratic polynomial and epsilon denotes the random error term.
3) Then the correction value sequence of the whole-course high-frequency horizontal angle can be calculated according to the model formula (3)，，Is the time interval from the start time. And for the whole course high frequency horizontal angle sequenceAnd (3) correcting, wherein the whole corrected high-frequency horizontal angle sequence is as follows:。
further, the difference sequence model is a quadratic polynomial.
Preferably, the difference sequence model is expressed as:
,
Wherein Δγ M denotes the difference between the first horizontal angle and the corresponding second horizontal angle at the corresponding instant M, t M denotes the time interval from the start instant, b 0、b1、b2 denotes the coefficient of the quadratic polynomial and ε denotes the random error term.
In step S400 of some embodiments of the present invention, calculating the continuous level value of the rail within the preset frequency based on the corrected first level angle includes: and calculating continuous level values of the rail in a preset frequency according to the length of the rail beam body and the corrected first level angle.
Specifically, the horizontal value is a horizontal angle calculated fromLength of beam bodyCalculating the whole course high frequency level value/super high frequency of trackThe formula is as follows:
（4），
Level value sequence Obtained in a continuous motion state and in sequenceThe frequency is extremely high (reaching the gyroscope measuring frequency), which indicates that the track level value with high frequency and high precision can be obtained in rapid succession.
It should be noted that, the track irregularity is commonly referred to as track deformation, and the track irregularity refers to a deviation of a geometric state, a size, and a spatial position of the track from a normal state thereof. The linear track is uneven and not straight, and the position of the central line of the track and the deviation of the correct dimension of the height and the width are deviated; the curve track is out of round and is deviated from the correct position of the curve center line or the correct values of the variation of the superelevation, the track gauge and the downhill slope, which is called as track irregularity. The high comfort and high stability of the track depend on the high geometric smoothness of the track, and are reflected by the indexes such as track gauge, track direction, height, level, triangular pits and the like, namely the relative smoothness of the line. The static flatness tolerance of the high-speed railway track is given in the high-speed railway engineering measurement Specification (TB 10601-2009).
Among the geometrical parameters of the orbit, the horizontal (super-height) is the most specific, because other geometrical parameters are the relative shape of the orbit itself, but the horizontal (super-height) is an absolute measurement quantity with reference to the horizontal plane, that is, with reference to the direction of the earth's gravity, and if only a gyro measurement angle is used, only a change quantity can be obtained, so that a sensor capable of measuring the gravity is necessary, but the sensor capable of measuring the gravity can only measure the horizontal angle in a stationary state, and thus the rapid continuous measurement is impossible.
Example 2
Referring to fig. 6, in a second aspect of the present invention, there is provided a railway track level value quick-succession measuring apparatus 1 comprising: the acquisition module 11 is used for acquiring initial gravitational acceleration of the rail and calculating a first horizontal angle of the rail according to the gravitational acceleration; a calculating module 12, configured to collect an instantaneous angular velocity of the rail, and calculate a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle; a construction module 13, configured to sample a plurality of first horizontal angles and a plurality of second horizontal angles within a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles; a correction module 14, configured to correct the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency.
Further, the construction module 13 includes: the calculating unit is used for calculating the difference value between the first horizontal angle and the corresponding second horizontal angle when sampling each time; and the fitting unit is used for fitting a difference sequence model through a polynomial based on a sequence formed by a plurality of differences.
Example 3
Referring to fig. 7, a third aspect of the present invention provides an electronic device, including: one or more processors; and storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of the present invention in the first aspect.
The electronic device 500 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with programs stored in a Read Only Memory (ROM) 502 or loaded from a storage 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following devices may be connected to the I/O interface 505 in general: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 508 including, for example, a hard disk; and communication means 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 7 shows an electronic device 500 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 7 may represent one device or a plurality of devices as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or from the storage means 508, or from the ROM 502. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 501. It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Whereas in embodiments of the present disclosure, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to:
Computer program code for carrying out operations of embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++, python and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A method for rapid continuous measurement of railway track level values, comprising:
collecting initial gravitational acceleration of a rail, and calculating a first horizontal angle of the rail according to the gravitational acceleration;
Collecting the instantaneous angular velocity of the rail, and calculating a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle;
sampling a plurality of first horizontal angles and a plurality of second horizontal angles in a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles;
correcting the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency.
2. The method for rapid continuous measurement of railway track level as in claim 1, wherein the acquiring the instantaneous angular velocity of the rail, calculating in real time the second horizontal angle of the rail by motion integration and the first horizontal angle comprises:
the first horizontal angle is taken as an initial value, the instantaneous angular speed of the rail is taken as an integral term, and the second horizontal angle of the rail is calculated through the initial value and the integral term.
3. The method for rapid succession of railway track level measurements according to claim 1, wherein constructing a difference sequence model from a plurality of first horizontal angles and a plurality of second horizontal angles comprises:
Calculating the difference value between the first horizontal angle and the corresponding second horizontal angle during each sampling;
A difference sequence model is fitted by a polynomial based on a sequence of a plurality of differences.
4. A method for rapid succession of measurements of railway track level values according to claim 3, wherein the difference sequence model is a quadratic polynomial.
5. The method for rapid succession of measurements of railway track level values according to claim 4, characterized in that the difference sequence model is expressed as:
,
Wherein Δγ M denotes a difference between the first horizontal angle and the second horizontal angle at the corresponding time M, t M denotes a time interval from the start time, b 0、b1、b2 denotes a coefficient of the quadratic polynomial, and ε denotes a random error term.
6. The method for rapid continuous measurement of railway track level values according to claim 1, wherein calculating the continuous level value of the rail within the preset frequency based on the corrected first level angle comprises:
and calculating continuous level values of the rail in a preset frequency according to the length of the rail beam body and the corrected first level angle.
7. A rapid continuous railway track level measuring device comprising:
The acquisition module is used for acquiring initial gravitational acceleration of the rail and calculating a first horizontal angle of the rail according to the gravitational acceleration;
The calculation module is used for collecting the instantaneous angular speed of the rail and calculating a second horizontal angle of the rail in real time through a motion integration method and the first horizontal angle;
The construction module is used for sampling a plurality of first horizontal angles and a plurality of second horizontal angles in a preset time interval; constructing a difference sequence model according to the first horizontal angles and the second horizontal angles;
The correction module is used for correcting the first horizontal angle according to the difference sequence model; based on the corrected first horizontal angle, a continuous horizontal value of the rail is calculated within a preset frequency.
8. The rapid succession of railway track level measurement devices of claim 7, wherein the construction module comprises:
The calculating unit is used for calculating the difference value between the first horizontal angle and the corresponding second horizontal angle when sampling each time;
And the fitting unit is used for fitting a difference sequence model through a polynomial based on a sequence formed by a plurality of differences.
9. An electronic device, comprising: one or more processors; storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the method for rapid succession of railway track level values as claimed in any one of claims 1 to 6.
10. A computer readable medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method for rapid continuous measurement of railway track level values according to any one of claims 1 to 6.
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| JP2023083700A (en) * | 2021-12-06 | 2023-06-16 | 日本製鉄株式会社 | Track condition estimation method, track condition estimation device, and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20100068595A (en) * | 2008-12-15 | 2010-06-24 | 한국철도기술연구원 | System for measuring cross-level irregularity of track using inertial sensor, and method thereof |
| CN109798862A (en) * | 2019-03-19 | 2019-05-24 | 西安研硕信息技术有限公司 | A kind of rail longitudinal irregularity measurement method based on uniaxial gyro |
| CN110700029A (en) * | 2019-09-29 | 2020-01-17 | 清华大学 | Track ride comfort testing method and system |
| JP2023083700A (en) * | 2021-12-06 | 2023-06-16 | 日本製鉄株式会社 | Track condition estimation method, track condition estimation device, and vehicle |
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