Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks
Railway track irregularity surveying is important for the construction and the maintenance of railway lines. With the development of inertial devices, systems based on Inertial Navigation System (INS) have become feasible and popular approaches in track surveying applications. In order to overcome t...
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MDPI AG
2017-09-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/17/9/2083 |
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| author | Qingan Jiang Wenqi Wu Yun Li Mingming Jiang |
| author_facet | Qingan Jiang Wenqi Wu Yun Li Mingming Jiang |
| author_sort | Qingan Jiang |
| collection | DOAJ |
| description | Railway track irregularity surveying is important for the construction and the maintenance of railway lines. With the development of inertial devices, systems based on Inertial Navigation System (INS) have become feasible and popular approaches in track surveying applications. In order to overcome the requirement of high precision control points, this paper proposes a railway track irregularity measurement approach using the INS combined with the Zero Velocity Updates (ZUPT) technique and sub-decimeter scale landmarks. The equations for calculating track irregularity parameters from absolute position errors are deduced. Based on covariance analysis, the analytical relationships among the track irregularity measurements with the drifts of inertial sensors, the initial attitude errors and the observations of velocity and position are established. Simulations and experimental results show that the relative accuracy for 30 m chord of the proposed approach for track irregularity surveying can reach approximately 1 mm (1σ) with gyro bias instability of 0.01°/h, random walk noise of 0.005 ° / h , and accelerometer bias instability of 50 μ g , random noise of 10 μ g / Hz , while velocity observations are provided by the ZUPT technique at about every 60 m intervals. This accuracy can meet the most stringent requirements of millimeter scale medium wavelength track irregularity surveying for railway lines. Furthermore, this approach reduces the requirement of high precision landmarks which can lighten the maintenance burden of control points and improve the work efficiency of railway track irregularity measurements. |
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| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T21:56:47Z |
| publishDate | 2017-09-01 |
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| spelling | doaj.art-68c151f3a9554bb99fc34f3e6bae62722022-12-22T04:01:04ZengMDPI AGSensors1424-82202017-09-01179208310.3390/s17092083s17092083Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale LandmarksQingan Jiang0Wenqi Wu1Yun Li2Mingming Jiang3Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, ChinaDepartment of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, ChinaDepartment of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, ChinaDepartment of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, ChinaRailway track irregularity surveying is important for the construction and the maintenance of railway lines. With the development of inertial devices, systems based on Inertial Navigation System (INS) have become feasible and popular approaches in track surveying applications. In order to overcome the requirement of high precision control points, this paper proposes a railway track irregularity measurement approach using the INS combined with the Zero Velocity Updates (ZUPT) technique and sub-decimeter scale landmarks. The equations for calculating track irregularity parameters from absolute position errors are deduced. Based on covariance analysis, the analytical relationships among the track irregularity measurements with the drifts of inertial sensors, the initial attitude errors and the observations of velocity and position are established. Simulations and experimental results show that the relative accuracy for 30 m chord of the proposed approach for track irregularity surveying can reach approximately 1 mm (1σ) with gyro bias instability of 0.01°/h, random walk noise of 0.005 ° / h , and accelerometer bias instability of 50 μ g , random noise of 10 μ g / Hz , while velocity observations are provided by the ZUPT technique at about every 60 m intervals. This accuracy can meet the most stringent requirements of millimeter scale medium wavelength track irregularity surveying for railway lines. Furthermore, this approach reduces the requirement of high precision landmarks which can lighten the maintenance burden of control points and improve the work efficiency of railway track irregularity measurements.https://www.mdpi.com/1424-8220/17/9/2083railway track irregularityINSZUPTKalman filteringRTS smoothingcovariance analysis |
| spellingShingle | Qingan Jiang Wenqi Wu Yun Li Mingming Jiang Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks Sensors railway track irregularity INS ZUPT Kalman filtering RTS smoothing covariance analysis |
| title | Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks |
| title_full | Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks |
| title_fullStr | Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks |
| title_full_unstemmed | Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks |
| title_short | Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks |
| title_sort | millimeter scale track irregularity surveying based on zupt aided ins with sub decimeter scale landmarks |
| topic | railway track irregularity INS ZUPT Kalman filtering RTS smoothing covariance analysis |
| url | https://www.mdpi.com/1424-8220/17/9/2083 |
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