地铁隧道车载融合定位系统及精度校正算法研究

Research on on-board fusion positioning system and accuracy correction algorithm in subway tunneling

地铁隧道安全隐患综合检测车可实现隧道衬砌及表观隐患的快速检测。受限于地铁隧道封闭的地下环境及隧道内外部复杂的结构环境,当前隧道内单一定位技术仍存在定位精度低、累积误差大、多源采集不同步导致的定位信息“打架”等难题。本文开发了一种地铁隧道车载融合定位系统及精度校正算法,包括车载高精度编码信息采集和视觉图像采集系统、融合定位算法、精度校正算法、多源信息坐标转换矩阵等内容。相较已有定位方法,该融合定位系统可实现在直道和弯道条件下检测车车载装备和隧道安全隐患的快速动态融合定位。室内室外测试结果表明,区间的定位精度可达10 cm,地铁内直线测试区间300 m内和曲线测试区间100 m内相对误差控制小于等于0.06%。室内模型试验和现场试验结果验证了该融合定位系统及精度校正算法的有效性和稳定性,为地铁隧道安全隐患的快速检测定位和隧道安全运营提供了技术支撑。

The“Metro Tunnel Safety Hidden Danger Comprehensive Inspection Vehicle”offers quick and accurate inspection of subway tunnel linings and potential hazards.Traditional positioning technologies in tunnels face issues like low accuracy and data sync problems due to complex underground and structural environments.To address this,a new on-board fusion positioning system with an accuracy correction algorithm has been developed.This system includes precise coded data and image acquisition,a fusion positioning algorithm,an accuracy correction algorithm,and a multi-source information coordinate conversion matrix.This fusion positioning system is more accurate than existing methods,capable of fast and dynamic positioning in both straight and curved tunnel sections.It achieves a positioning accuracy of 10 cm,with a relative error of less than or equal to 0.06%over up to 300 m in straight and 100 m in curved sections.The system s effectiveness and stability are confirmed by indoor and outdoor tests,making it a valuable tool for rapidly detecting and locating hidden safety hazards in subway tunnels,thereby enhancing tunnel safety.