Laser-Aided INS and Odometer Navigation System for Subway Track Irregularity Measurement
Publication: Journal of Surveying Engineering
Volume 143, Issue 4
Abstract
Track irregularity is one of the most important factors in the regular maintenance and overhaul work needed to determine the state of a railway for safe operation. In this paper, a mobile approach to the measurement of subway track irregularity is proposed. A high-precision three-dimensional (3D) curve of railway track was surveyed by a track trolley equipped with a laser-aided inertial navigation system (INS)/odometer navigation system. Models for measuring the alignment, vertical, cant, and twist irregularities were established. These four types of irregularities were estimated using the 3D track curve. To solve the problem of inherent drift of the INS/odometer system, a laser scanner on the trolley was used to obtain observations of control points along the rail track for position updates. Measurements of real track irregularities were conducted to validate the proposed method. The experimental results indicate that this approach has good repeatability. The accuracy of track-irregularity measurements meets the technical requirements of the Shenzhen Metro in China.
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Acknowledgments
The authors express their gratitude to Professor Yong Liu and Dr. Zhimin Xiong at Wuhan University for hardware design and experimental data collection. The authors thank Dr. Qijin Chen at Wuhan University for providing reference papers. The authors’ deepest gratitude goes to the anonymous reviewers for their careful work and thoughtful suggestions, which have helped improve this paper substantially. This research is supported by the National Natural Science Foundation of China (Grants 41371377 and 91546106), the Shenzhen Future Industry Development Funding Program (Grant 201507211219247860), the National Natural Science Foundation of China (Grant 41271452), and Key Technologies R&D Program of China (Grant 2015BAK03B04).
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Information & Authors
Information
Published In
Journal of Surveying Engineering
Volume 143 • Issue 4 • November 2017
Copyright
© 2017 American Society of Civil Engineers.
History
Received: Apr 7, 2016
Accepted: Mar 9, 2017
Published online: May 22, 2017
Discussion open until: Oct 22, 2017
Published in print: Nov 1, 2017
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