铁路轨道几何参数捷联惯性测量基准的建立

摘要

为建立高精度铁路轨道几何参数的测量基准,针对传统陀螺稳定平台的不足,研究了基于捷联惯性技术的轨道几何参数测量基准的建立方法.通过分析轨道超高的基本测量原理,指出高精度姿态矩阵的解算是基于捷联惯性技术建立轨道几何参数测量基准的关键.为此,根据刚体运动学理论,建立了列车运动姿态、位置和速度微分方程；采用基于旋转矢量和四元数的方法分析了姿态矩阵解算中姿态、位置和速度的计算问题；采用多子样算法对姿态计算中的“圆锥误差”、速度计算中的“划桨误差”进行了补偿.仿真结果表明,基于多子样算法的捷联惯性基准建立方法能有效减小惯性测量系统随时间累积的计算误差,显著提高系统的精度.%In order to found the datum plane of measurement of railway track geometrical parameters, a method to found the datum plane based on the strapdown inertial technique was researched to overcome the shortcomings of the traditional gyro platform. By analyzing the basic cant measurement principle, it was pointed out that attitude matrix calculation with a high accuracy is the key to the measurement of railway track geometrical parameters based on the strapdown inertial technique. Therefore, corresponding attitude, position and velocity differential equations for a train were founded based on the motion theory of rigid body. With a method based on rotary vector and quaternion, the calculations of attitude, position and velocity were analyzed and studied, and the multiple-sample algorithms were utilized to compensate for coning motion errors in attitude calculation and sculling errors in velocity calculation. The simulation results show that the multiple-sample algorithms are able to strongly decrease the accumulative errors with time in an inertial measurement system and improve the accuracy of a measurement system.