The invention discloses a method and a device for measuring geometric parameters of a track in real time. The method comprises the following steps: acquiring inertial measurement unit (IMU) data and vertical displacement data at equal space intervals; adopting Doppler velocity measurement to determine the velocity of a global navigation satellite system (GNSS) antenna corresponding to the moment when the Nth pulse per second signal is received; correcting the third speed and the third attitude information of the measured carrier according to the speed of the GNSS antenna corresponding to the moment when the Nth pulse per second signal is received by adopting an extended Kalman filtering algorithm to obtain the fourth speed and the fourth attitude information of the measured carrier corresponding to the moment when the Nth pulse per second signal is received; according to the method, the inertial recursion value is corrected by adopting the speed of the GNSS antenna, so that the accuracy of the speed and the attitude information of the measured carrier is improved, and the accuracy of measuring the geometric parameters of the track is improved.
本发明公开了轨道几何参数实时测量方法及装置,方法包括:以等空间间隔采集惯性测量单元IMU数据及垂向位移数据;采用多普勒测速确定接收到第N个秒脉冲信号时刻对应的全球导航卫星系统GNSS天线的速度;采用扩展卡尔曼滤波算法根据接收到第N个秒脉冲信号时刻对应的GNSS天线的速度对被测载体的第三速度及第三姿态信息进行修正,得到被测载体在第N个秒脉冲信号时刻对应的第四速度及第四姿态信息;根据垂向位移数据、被测载体修正后的第二速度及第二姿态信息确定轨道几何参数,本发明采用GNSS天线的速度对惯性递推值进行修正,提高了被测载体的速度、姿态信息的准确性,提高了轨道几何参数测量的准确性。
Method and device for measuring geometric parameters of track in real time
轨道几何参数实时测量方法及装置
2023-08-29
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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