Improvement Design Of Real-time Geometric Parameter Detection System For Metro Catenary Based On Lidar

Nowadays,with the rapid development of urban rail electrification,electric energy has become the main form of energy needed for the operation of urban rail trains.Through the sliding friction mode of pantograph and catenary above the electric locomotive,electric energy is transmitted to the train.Whether the locomotive can run steadily and continuously is decided by the pantograph and catenary,so it is of great significance to judge the good degree of the working performance of the pantograph and catenary and to effectively detect its state.With the increasing requirements of pantograph and catenary detection technology and accuracy,this paper,as an improvement of the Metro catenary geometric parameters detection system,is the key research part of the urban rail safety assurance project.It can display real-time detection data of the catenary lead height and pull-out value,and reflect the status of the catenary on the pantograph and catenary monitoring platform,so that the relevant operators of the Metro can timely understand the operation status of the equipment.In this paper,an improved real-time measurement system for geometric parameters of Metro catenary is studied.Based on Beijing Metro Line 6,the improvement and effective demonstration are discussed from three aspects:lidar measurement,train vibration compensation system and positioning system.The data validity control and data pre-processing of lidar detection are separately carried out.Then the vibration compensation device based on Kalman filter algorithm and the effective superposition of multi-sensor fusion positioning information are added to realize the accurate measurement of the lead-up pull-out value of the catenary of the whole Metro line.The main research methods are as follows:(1)Improving the preliminary data preprocessing of LMS511 lidar.The LMS511 lidar is selected,and the parameters are set reasonably according to the field conditions and technical indicators.The best measurement accuracy and resolution that can be achieved in theory are obtained.At the same time,some reasonable suggestions are put forward for the installation of LMS511.The detected data are effectively controlled and the data of LIDAR algorithm are preliminarily preprocessed.(2)Improve the structure and measurement principle of the train vibration compensation measuring device.Combining Kalman filter algorithm to analyze the train vibration compensation,the train vibration compensation value is superimposed with the pre-processing data of lidar above the train by coordinate transformation,which makes the data of the lead-up pull-out value of the catenary more accurate after adding the vibration compensation module.(3)To improve the location of multi-sensor data fusion.In order to ensure the reliability of speed detection,the joint velocity measurement is based on CA model by using both Doppler velocimetry radar and odometer velocimetry sensor;the estimated velocity and mileage are corrected effectively by Kalman filtering algorithm;and the recognition of OCS hall structure(suspension device)by adding velocity sensor and RFID module respectively,so as to reduce the accumulation.Error,multi-sensor fusion positioning,effectively reduce the error between real-time detection data and real data of catenary geometric parameters system.