【作者】 余祖俊；

【导师】 朱衡君；

【作者基本信息】 北京交通大学 ， 载运工具运用工程， 2008， 博士

【摘要】 铁路作为我国最重要的交通运输基础设施,其高效安全的运营对国民经济的发展和人民生命财产的安全具有重要意义。历史数据表明,线路几何尺寸是表征轨道交通安全状态最为重要的参数。随着轨道交通向高速、高密度方向发展,车载式动态检测技术已成为线路几何参数的主要检测手段,其核心是非接触式检测技术和高精度动态测量基准技术。本论文以线路全断面动态检测为例,详细论述了线路几何安全状态的非接触式动态检测和高精度动态测量基准获取的原理方法,为解决轨道交通基础设施线路几何安全状态的动态检测奠定了基础,具有重要的理论和工程实践意义。论文提出了一种新的基于车路振动模型的惯性基准算法,此算法充分利用了线路、车辆、陀螺仪和加速度计的已知特性,通过KF/UKF滤波算法,大大提高了传统惯性基准的测量精度。仿真数据表明,这种新算法具有收敛性好、实时性高等优点。同时,提出了一种地面辅助的瞬时位置姿态测量方法,此方法利用地面定点固定的反射镜组和车载的激光器及成像检测设备,定点测量出运动车辆相对于地面基准的瞬时位置和角度。基于以上两种新方法,论文提出了车载惯性基准与地面辅助瞬时位置姿态测量相融合的动态基准测量方案,定点修正了传统惯性基准测量随时间漂移的累计误差问题。最后,论文论述了非接触式的基于光传播时问原理的旋转激光扫描测距传感器应用于线路全断面车载动态测量的基本原理及方法,提出了一种新的基于一维坐标的高精度标定方法,其精度比常规的三维坐标法大大提高。同时,利用文中提出的新惯性基准算法及地面辅助的瞬时位置姿态测量方法,实现了对轨道交通基础设施全断面的高精度动态检测,并在北京地铁5号线、10号线、机场线和京津城际客运专线的全断面限界检测验收工作中得到了应用,取得了较好的效果。更多还原

【Abstract】 As an important national transportation infrastructure,railway and its traffic safety are of great importance to national economy and people’s daily lives.Historical data show that geometries of railway lines are the most important parameters indicating the status of traffic safety.As railway develops toward higher speed and heavier traffic density,on-board kinematical detection methods have become the major means in safety monitoring.Its key technical problems include non-contact detection and high-accuracy referencing technologies for kinematical measurement.The kinematical measurement of complete line-profile is taken as an example in this dissertation and the principles of non-contact detection of line safety and high-accuracy reference acquisition for kinematical measurement are discussed in both theoretical and practical points of view, providing a basic solution for key problems in kinematical detections of railway safety and thus having great significance in both theoretical and practical aspects.A new algorithm is proposed in the dissertation for inertial referencing based on vehicle-track vibration model.This algorithm utilizes KF/UKF algorithm and makes full use of known features of tracks,vehicles and sensors,resulting in significantly improved measurement accuracy over the traditional inertial referencing system. Numerical simulations show that this new algorithm has advantages of good convergence and real-time processing ability.A ground-assistant position-pose measurement method,with a reflecting mirror set on ground and laser,imaging and detection equipment on board,is also proposed to measure the instantaneous position and angular displacements of a moving rail-guided vehicle with respect to ground referencing points.Based on these two new methods,a kinematical referencing strategy, consisting of both ground-assistant instantaneous position-pose measurement and on-board inertial referencing techniques,is then proposed in the dissertation to provide corrections at fixed points for errors accumulated over time in traditional inertial referencingFinally,the application principles and methods for propagation-time-based laser scanner used in the field of complete line-profile measurements are studied.A new calibration method based on 1-D coordinates is proposed,with much higher accuracy than traditional 3-D coordinates-based methods.Furthermore,the proposed new methods for inertial referencing and ground-assistant instantaneous position-pose measurement are used to make high-accuracy kinematical measurements for railway infrastructure,and good results are obtained in engineering projects of complete line-profile measurement in Line 5,Line 10 and Airport Line of Beijing Metro and Beijing-Tianjin high-speed railway.更多还原