Integrated Navigation Method For Fast And High-Precision Detection Of Geometric Parameters Of High-Speed Railway Tracks

The importance of rail transit in the field of transportation is becoming more and more important.With the rapid development of China’s rail transit industry,higher requirements are imposed on the measurement of geometric parameters of the track.Under the influence of vehicle dynamics and natural erosion,the track line will lead to irregular track lines,changes in geometric parameters such as orbit,gauge,height,etc.,which directly affect the operational safety of the train,and also determine the speed and stability of the train.At present,the basic maintenance of existing track lines and the laying of new track lines are in urgent need of high-efficiency and high-precision orbital parameter detection equipment.Therefore,the inertial/satellite/odometer integrated navigation filtering algorithm for orbital geometric parameter detection is studied to fully exert inertia/satellite/odometer integrated navigation system is of great significance for the accurate measurement of the geometric parameters of high-speed railway tracks.In this paper,the key technology of the inertial/satellite/odometer integrated navigation system for railway track inspector is studied for the application requirements of the track geometry parameter detection of the high-speed railway track inspector,and the prototype of the railway track inspector and the orbital track are completed.The geometric parameter detection experiment satisfies the accuracy requirements of the track geometry parameter detection of the high-speed railway track checker.The main research work and innovations of the thesis are as follows:1.Designed and implemented a high-speed railway track checker system based on inertial/satellite/odometer integrated navigation system.Firstly,according to the highprecision and fast requirements of the railway track geometry checker,the overall scheme design and error analysis of the railway track checker were carried out,and the software and hardware schemes of the system were designed in detail.Finally,the development of the system prototype is completed.2.Design and implementation of inertial /GNSS/ odometer integrated navigation system based on federated Kalman filter for high-speed railway track inspecting instrument.In this paper,firstly,the error equation of an inertial/GNSS/odometer integrated navigation system was derived,and the error models of the strapdown inertial navigation system and inertial/odometer dead reckoning were established.The federated Kalman filter architecture was established to estimate the system error,and the system error was then corrected using feedback.The information distribution coefficient of the state vector fusion algorithm is determined based on the orthogonality of innovation and the DOP value of the satellite signal,and the data smoothing algorithm based on forward filtering and backward smoothing is established.3.The research on the fast and high precision dual position alignment method of inertial navigation system based on railway track is studied.Firstly,based on the application scenario of inertial navigation system for railway track checker,a fast and high-precision static base initial alignment method based on double position alignment is proposed.The track test shows that the initial alignment method can improve the initial In the case of alignment accuracy,the initial alignment time is greatly shortened,which has high engineering application value.4.The dynamic zero-speed correction method of the inertial navigation system for railway track inspection instrument is studied.Aiming at the application scenarios such as railway track checker tunnel and underground track,the satellite signal is blocked,unable to locate and fix the speed.A dynamic zero-speed correction method for the vehicle inertial navigation system is proposed.This method integrates the railway track checker in the orbital operation process.The condition of zero and vertical velocity of the vehicle body is combined with the attitude angle error of the inertial navigation system to establish a complete zero-speed correction model.Based on Kalman filter,the position,velocity and attitude information of the inertial navigation system are corrected under dynamic conditions.The track test shows that the method can effectively suppress the error divergence of the inertial navigation system under dynamic conditions and has high engineering application value.5.The GNSS signal outlier detection and correction method based on the Kalman filter innovation orthogonality is studied.Aiming at the influence of GNSS signal on the accuracy and stability of inertial/satellite/odometer combination navigation,a method of detecting and correcting the value based on the orthogonality of Kalman filter innovation is proposed.The method firstly determines whether the orthogonality of the Kalman filter innovation is maintained,determines whether there is a wild value in the satellite semaphore measurement,and then uses the weighted constraint of the detected wild value data based on the function,combined with the accuracy factor of the satellite signal(Dilution of Precision,DOP),constructing a Kalman filter for data filtering,this method maintains the orthogonality of the innovation,while minimizing the influence of the wild value on the accuracy and stability of the integrated navigation system.Orbital test experiments show that this method can effectively detect and correct the wild value of satellite signals.