基于A-INS组合导航的现代有轨电车轨道几何状态快速精密测量  

Modern Tramway Track Geometric Quality Inspection Based on Aided INS

作　　者：周禹昆 陈起金 牛小骥[1] ZHOU Yukun;CHEN Qijin;NIU Xiaoji(GNSS Research Center of Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心

出　　处：《铁道标准设计》2019年第10期66-71,共6页Railway Standard Design

基　　金：国家自然科学基金(41674038)

摘　　要：铁路轨道是现代有轨电车运行的基础,其几何状态对于车辆的运行安全、行车速度、平稳舒适性起着决定性的作用。传统轻型轨道几何状态测量仪(轨检小车)以高精度全站仪为核心测量设备来检测轨道几何平顺性,测量效率低,难以满足线路维护的需求。提出基于带有辅助信息的惯性导航系统(A-INS),通过获取轨道的高精度三维坐标和姿态的方法,来实现有轨电车轨道几何平顺性的快速检测与准确评估。在武汉现代有轨电车轨道几何不平顺测量应用结果表明,轨向不平顺和高低不平顺重复测量误差小于0.2 mm,超高和轨距偏差的重复测量误差小于0.2 mm。实测结果说明:基于A-INS组合导航的轨道几何状态测量系统,可以满足现代有轨电车轨道不平顺检测的精度要求。Modern tramway track geometric quality inspection is very important for track maintenance and for passenger safety and comfort. Conventional lightweight track geometry measuring trolley based on total station is ineffective in track geometric quality inspection and cannot satisfy the maintenance requirements of tramway track. The aided inertial navigation system(A-INS) for track geometric quality inspection is presented in this paper. This system gains high-precision 3 D coordinates and attitudes of measured track to achieve fast and precise tramway track geometric measurement. Field test results on the track of Wuhan modern tramway show that the error of repeated measurement of the track irregularity is less than 0.2 mm, and the error of repeated measurement of gauge and cross level is less than 0.2 mm. The results also prove that the aided inertial navigation system can meet the accuracy requirements of the tramway track inspection.

关 键 词：现代有轨电车 轨道几何状态测量 轨道不平顺 惯性测量 相对测量 组合导航 卡尔曼滤波 

分 类 号：U213.215[交通运输工程—道路与铁道工程] U216.3