Research On A Track Measurement Technology Based On GNSS/INS And Multi-sensor Integration For High-speed Railway

After more than a decade of construction and development,China’s high-speed railway has entered the long-term operation and maintenance stage from the large-scale design and construction stage,which has set higher requirements on the accuracy and efficiency of track measurement.With the comprehensive completion of Bei Dou navigation satellite system(BDS),the theoretical researches of global navigation satellite system(GNSS),inertial navigation system(INS)and multi-sensor integrated system are also continuously deepened,which brings new opportunities for technological innovation of track measurement.The thesis systematically analyzes the principles and methods of a GNSS/INS and multi-sensor integrated track measurement technology for high-speed railway based on the previous research results of the “BDS/GNSS/INS integrated track irregularity measurement technology and application for high-speed railway” project,and analyzes and researches in detail the accuracy analyses and instrument selection of attitude measuring instruments,the performance verification of the track inspection trolley,and the performance testing of the proposed technology.The main research results are as follows:1.According to the actual needs of rapid measurement for outer and inner geometry parameters of high-speed railway track,the basic principle of the GNSS/INS and multisensor integrated precision survey method is analyzed,which achieves the integration of absolute measurement and relative measurement for the track geometry.2.A complete set of track measurement methods based on GNSS/INS and multisensor integration for high-speed railway is proposed,including its main instrument constitutes,track measurement steps and data processing methods,which is used for rapid measurement of track geometry and long-term monitoring of subgrade deformation.3.The Allan variance method is used to analyze the timescale relative accuracy of various types of inertial instruments and a multi-antenna GNSS attitude measurement device in various conditions,which provides effective references for accuracy analyses and instrument selection of the attitude measuring instrument in the track inspection trolley.4.The geometric design of a high-precison kinematic position and orientation verification field is proposed and the related verification method is improved.The contrastive analyses between the kinematic measurement results of a track inspection trolley under development and the static calibration results show that the improved method can be used to test the kinematic measurement accuracy of the track inspection trolley.5.The proposed technology has been tested in several sections of high-speed railway to evaluate the actual performance,including track geometry measurement,track fine adjustment,and subgrade deformation monitoring.Its measurement accuracy meets the relevant requirements of the current Chinese Code for Engineering Survey of High-speed Railway,and it significantly improves the measurement efficiency compared with conventional track measurement method based on total station and level.