Department of Mechanical and Manufacturing Engineering, University of Seville, Seville 41092, Spain.
Department of Materials and Transportation Engineering, University of Seville, Seville 41092, Spain.
Sensors (Basel). 2021 Jan 20;21(3):683. doi: 10.3390/s21030683.
This paper describes the kinematics used for the calculation of track geometric irregularities of a new (TGMS) to be installed in railway vehicles. The TGMS includes a computer for data acquisition and process, a set of sensors including an (IMU, 3D gyroscope and 3D accelerometer), two video cameras and an encoder. The kinematic description, that is borrowed from the multibody dynamics analysis of railway vehicles used in computer simulation codes, is used to calculate the relative motion between the vehicle and the track, and also for the computer vision system and its calibration. The multibody framework is thus used to find the formulas that are needed to calculate the track irregularities (gauge, cross-level, alignment and vertical profile) as a function of sensor data. The TGMS has been experimentally tested in a 1:10 scaled vehicle and track specifically designed for this investigation. The geometric irregularities of a 90 m-scale track have been measured with an alternative and accurate method and the results are compared with the results of the TGMS. Results show a good agreement between both methods of calculation of the geometric irregularities.
本文描述了一种新的（TGMS）在铁路车辆中计算轨道几何不平整的运动学。TGMS 包括一个用于数据采集和处理的计算机、一套传感器，包括一个惯性测量单元（IMU、3D 陀螺仪和 3D 加速度计）、两个摄像机和一个编码器。运动学描述借用了用于计算机模拟代码中铁路车辆多体动力学分析的描述，用于计算车辆和轨道之间的相对运动，以及计算机视觉系统及其校准。因此，多体框架被用来找到计算轨道不平整（轨距、横越水平、准直和垂直轮廓）作为传感器数据函数的公式。TGMS 已经在专门为此调查设计的 1:10 比例车辆和轨道上进行了实验测试。已经使用替代和准确的方法测量了 90 米长轨道的几何不平整，并将结果与 TGMS 的结果进行了比较。结果表明，两种计算几何不平整的方法之间具有良好的一致性。
