基于惯性导航系统的轨道不平顺方法

针对目前轨道存在的不平顺现象,设计出了一种轨道不平顺检测系统。传统的惯性导航系统直接装在运载体上的底盘上,且为单惯性导航系统。振动信号传递不直接,采集数据不全面。通过在轨检车两侧的专用惯导平台进行双惯性导航系统的固装,信号采集更为直接和全面。内部导航采用四元数法进行姿态矩阵的实时更新。双惯性导航系统可以实现左右钢轨x、y以及z轴三轴数据的实时采集,对采集的数据进行拟合和积分,即可得到轨道的相关不平顺信息。且轨检车上搭配轴角编码器可以实现数据的同步采集,采样时间和采样里程的实时输出。通过系统动态测试和人为静态测试,验证了设计的合理性。左右轨垂向高低不平顺误差分别在(-0. 66 mm,0. 52 mm)和(-0. 43 mm,0. 56 mm);左右轨横向不平顺误差分别在(-0. 51 mm,0. 64 mm)和(-0. 42 mm,0. 43 mm)之间,轨距偏差在(-0. 55 mm,0. 83 mm)之间。

Research on Track Irregularity Method Based on Inertial Navigation System

A track irregularity detection system is designed for the current irregularity of the track. The traditional inertial navigation system is directly mounted on the chassis on the carrier, and is a single inertial navigation system. The vibration signal transmission is not direct, and the collected data is not comprehensive. This topic carries out the fixed installation of the dual inertial navigation system through the dedicated inertial navigation platform on both sides of the rail inspection vehicle, and the signal acquisition is more direct and comprehensive. Through the internal navigation calculation, the quaternion method is used to update the attitude matrix in real time. The dual inertial navigation system can realize the real-time acquisition of the X, Y and Z axis three-axis data of the left and right rails, and fitting and integrating the collected data to obtain the relevant irregularity information of the track. And the axle angle encoder with the shaft angle encoder can realize the synchronous acquisition of data, the sampling time and the real-time output of the sampling mileage. The rationality of the design was verified by systematic dynamic testing and artificial static testing. The vertical and horizontal irregularities of the left and right rails are (-0.66mm, 0.52mm) and (-0.43mm, 0.56mm), and the lateral irregularities of the left and right rails are (-0.51mm, 0.64mm) and (-0.42mm, respectively. Between 0.43 mm), the gauge deviation is between (-0.55 mm, 0.83 mm).