The invention relates to the technical field of track geometry, and provides a steel rail profile and IMU synchronous collection method, device, equipment and medium, and the method comprises the steps: triggering an IMU and a clock counter of the IMU according to a trigger signal, and collecting acceleration data and angular velocity data of a vehicle body through the triggered IMU; performing filtering processing on the acceleration data and the angular velocity data through a filtering logic unit, and extracting digital filtering delay after data filtering processing; updating the clock count corresponding to the clock counter according to the digital filtering delay and the delay of the IMU, and dynamically adjusting the acquisition time of the laser sensor according to the updated clock count; triggering the laser sensor according to the acquisition time and the trigger signal, and acquiring steel rail profile data of the vehicle body through the triggered laser sensor; steel rail profile data collected by the laser sensor and acceleration data and angular velocity data collected by the IMU are determined as synchronous collection data. According to the invention, the accuracy of data synchronous acquisition can be improved.

    本发明涉及轨道几何技术领域,提出了一种钢轨廓形与IMU同步采集方法、装置、设备及介质,包括:根据触发信号触发IMU及IMU的时钟计数器,通过触发后的IMU采集车体的加速度数据及角速度数据;通过滤波逻辑单元对加速度数据及角速度数据进行滤波处理,提取数据滤波处理后的数字滤波延迟;根据数字滤波延迟及IMU的自身延迟对时钟计数器对应的时钟计数进行更新,根据更新后的时钟计数动态调整激光传感器的采集时间;按照采集时间及触发信号触发激光传感器,通过触发后的激光传感器采集车体的钢轨廓形数据;将激光传感器采集到的钢轨廓形数据与IMU采集到的加速度数据与角速度数据确定为同步采集数据。本发明可以提高数据同步采集时的精准性。


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    Title :

    Steel rail profile and IMU (Inertial Measurement Unit) synchronous acquisition method, device and equipment and medium


    Additional title:

    一种钢轨廓形与IMU同步采集方法、装置、设备及介质


    Contributors:
    DING YING (author) / JIA JUN (author) / ZHANG PING (author)

    Publication date :

    2025-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B61K Andere Hilfseinrichtungen für Eisenbahnen , OTHER AUXILIARY EQUIPMENT FOR RAILWAYS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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