基于多传感器融合的轨检车构架位姿测量方法  

Position and Attitude Measurement Method of Track Inspection Vehicle Bogie Based on Multi-Sensors

作　　者：张欣 韩志 陈春雷 罗哉 江文松 ZHANG Xin;HAN Zhi;CHEN Chunlei;LUO Zai;JIANG Wensong(College of Metrology&Measurement Engineering,China Jiliang University,Hangzhou,Zhejiang 310018,China;Infrastructure Inspection Research Institute,China Academy of Railway Sciences Co Ltd,Beijing 100018,China)

机构地区：[1]中国计量大学计量测试工程学院,浙江杭州310018 [2]中国铁道科学研究院集团有限公司基础设施检测研究所,北京100018

出　　处：《计量学报》2024年第1期18-23,共6页Acta Metrologica Sinica

基　　金：中国国家铁路集团有限公司科技研究开发计划(N2022G053)。

摘　　要：针对轨道检查车构架运动会影响轨道几何检测系统测量精度的问题,提出一种基于多传感器融合的构架位姿测量方法。该方法利用加速度传感器和双轴倾角传感器采集构架位姿原始信号,通过构架中心位姿解算方法将多个传感器采集的原始信号进行融合解算,获取构架几何中心位姿。为了验证其准确性和适应性,利用该方法分别在实验室和国家铁道试验中心标定试验线上进行了验证试验和在轨试验,结果表明,以第95%分位数作为评估标准,该方法测量的构架中心横向、垂向位移、侧滚角和摇头角与标准值的误差分别小于0.88 mm、0.44 mm、0.07°、0.04°,该方法与轨检系统测得数据的差异分别小于0.99 mm、0.73 mm、0.08°。构架位姿测量方法可以准确测量轨检车构架位姿,运用于运营车辆,可辅助判别轨道病害,提高轨道检测效率。Aiming at the problem that the frame motion of the track inspection vehicle affects the measurement accuracy of the track geometry detection system,a method of frame pose measurement based on multi-sensor fusion is proposed.In this method,acceleration sensor and biaxial inclination sensor are used to collect the original signal of the frame pose.Then,the original signals collected by multiple sensors are fused and solved by the method of solving the pose of the center of the frame.Finally,the geometric center pose of the frame is obtained.Under the circumstance,verification and adaptability experiments separately based on laboratory and national railway track test center calibration line are conducted.The results shows,the 95 th percentile errors of measured lateral distance、vertical distance、roll angel and yaw angle are less than 0.88 mm、0.44 mm、0.07°、0.04°,respectively,in comparison with standard values,while the corresponding 95 th percentile differences of measured position and attitude data and track inspection data are no more than 0.99 mm、0.73 mm、0.08°,which turns out the method is available to measure track geometry train bogie's position and attitude accurately,so as to tell track disease and improve the efficiency of track inspection subsidiarily by applying to commercial vehicles.

关 键 词：位姿测量 轨检车构架 多传感器融合 轨道几何不平顺 

分 类 号：TB92[一般工业技术—计量学]