Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR

Wang, Qian; Tang, Chao; Dong, Cuijun; Mao, Qingzhou; Tang, Fei; Chen, Jianping; Hou, Haiqian; Xiong, Yonggang

doi:10.3390/s20030645

Cited by 10 publications

(5 citation statements)

References 38 publications

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“…Li et al [12], Wang et al [13] uses INS/odometer integrated DR to calculate the position and attitude of MLS in underground space, which uses laser scanner to survey the control points along the track and then correct the pose error by assuming that it is distributed according to polynomials. Their studies have the same disadvantages: the position error is only corrected near the control points, and the overall error of the solution is not corrected from the internal law of DR, resulting in the uncorrected attitude error, and without considering the possible gross errors of some control point coordinates, finally only the absolute surveying accuracy of sub centimeter level can be achieved.…”

Section: Research Statusmentioning

confidence: 99%

“…x is the track and y is the CPIII control point. The relative accuracy between CPIII control points is better than 1 mm [13]. Therefore, CPIII control network is suitable for been used as the external reference to correct the error of INS/ odometer integrated navigation from the perspective of 'scale' and 'shape'.…”

Section: Relationship Between Control Points and Surveying Equipmentmentioning

confidence: 99%

“…Based on the analysis that the position error caused by gyro bias error roughly presents a circular distribution, and the larger the distance interval between control points of correction, the greater the position deviation at the middle. In the experiment, the algorithm of this paper is used for error estimation with different distance intervals between control points of correction, and the unused control points are utilized to verify the effect of correction [13]. Figure 9 shows the principle of using control points of correction and verification at an interval of 120 m.…”

Section: Experimental Situationmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic precision surveying of railway tunnels based on MLS with robust constraints of track control network

Dong

Mao

Kou³

et al. 2022

Meas. Sci. Technol.

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The inertial navigation system (INS) / odometer integrated dead reckoning (DR) is usually used for the positioning and orientation of mobile LiDAR system (MLS) in the precision surveying of railway tunnels. However, due to the accumulation of pose errors and the creaky method of joint surveying of track control points, it is difficult to achieve the millimeter level absolute accuracy of point clouds relative to the track control network under dynamic conditions, especially when there are gross errors of some control points coordinates. This paper puts forward an algorithm to optimize accuracy of INS/ odometer integrated DR with robust constraints of track control network. The errors of DR are divided into two types, which affect the relative accuracy and the absolute accuracy respectively; The concept of virtual mileage coordinate system (VMCS) is proposed, in this coordinate system, the influence of gyro bias error on position is modeled as a circular distribution and estimated indirectly by using the high-precision relative spatial relationship of control points; An absolute accuracy optimization method with constraints by sequence match between positions of surveying equipment and track control points is proposed, and the gross errors of control point coordinates are detected and processed based on reduced weight iteration method. The experimental results of North China high speed railway tunnel show that when the distance interval of control points of correction is 120m, the RMS of coordinates in X, Y and Z directions are 0.003m, 0.003m and 0.005m respectively. When the distance interval of control points of correction is 420m, the RMS in X, Y and Z directions are 0.029m, 0.030m and 0.010m respectively. When there are gross errors of some control point coordinates and the distance interval of control points of correction is 120m, the RMS of coordinates in X, Y and Z directions are 0.005m, 0.006m and 0.006m respectively, and the gross errors of 4cm in one direction of the three-dimensional control point coordinates can be detected. The experimental results verified the high accuracy of the algorithm and its robustness to the gross errors of control point coordinates.

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Section: Research Statusmentioning

confidence: 99%

Section: Relationship Between Control Points and Surveying Equipmentmentioning

confidence: 99%

Section: Experimental Situationmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic precision surveying of railway tunnels based on MLS with robust constraints of track control network

Dong

Mao

Kou³

et al. 2022

Meas. Sci. Technol.

Self Cite

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“…One of these is, of course, laser scanning. As presented in [ 25 ] by Qian Wang, et al, a mobile laser scanning system (MLSS) was used for the inspection of subway tunnels, and the key technology of the positioning and orientation system (POS) was investigated. The authors obtained an “accuracy of the 3D coordinates of the point clouds of 8 mm, and the experiment also showed that it takes less than 4 h to complete all the inspection work for a 5–6 km long tunnel.” The missing of the very practical GNSS technology for accurate positioning in tunnels or radio-obscured spaces must be replaced by laser scanning, ultrasonic scanning, methods that must be also completed with map matching (MM), intermittent responders, coordinates of control points, and so forth [ 26 ].…”

Section: Related Workmentioning

confidence: 99%

Robotic Railway Multi-Sensing and Profiling Unit Based on Artificial Intelligence and Data Fusion

Minea

Dumitrescu

Dima

2021

Sensors

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This article presents the research and results of field tests and simulations regarding an autonomous/robotic railway vehicle, designed to collect multiple information on safety and functional parameters of a surface railway and/or subway section, based on data fusion and machine learning. The maintenance of complex railways, or subway networks with long operating times is a difficult process and intensive resources consuming. The proposed solution delivers human operators in the fault management service and operations from the time-consuming task of railway inspection and measurements, by integrating several sensors and collecting most relevant information on railway, associated automation equipment and infrastructure on a single intelligent platform. The robotic cart integrates autonomy, remote sensing, artificial intelligence, and ability to detect even infrastructural anomalies. Moreover, via a future process of complex statistical filtering of data, it is foreseen that the solution might be configured to offer second-order information about infrastructure changes, such as land sliding, water flooding, or similar modifications. Results of simulations and field tests show the ability of the platform to integrate several fault management operations in a single process, useful in increasing railway capacity and resilience.

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“…Based on mobile laser scanning technology, many scholars at home and abroad have designed building information models (BIMs) to develop deformation monitoring systems for tunnels or other retaining structures [10,11]. At the same time, 3D laser scanning technology can not only design the structural positioning and orientation system [12][13][14][15][16][17] but also create a 3D building information model (BIM) [18,19] based on the orientation system. In fact, by optimizing the deformation data extraction and improving the registration algorithm [20][21][22][23], the accuracy of tunnel 3D modeling and deformation monitoring can be efectively improved [14,[24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Experiment and Application of NATM Tunnel Deformation Monitoring Based on 3D Laser Scanning

Yang

et al. 2023

Structural Control and Health Monitoring

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In recent years, 3D laser scanning technology has been applied to tunnel engineering. Although more intelligent than traditional measurement technology, it is still challenging to estimate the real-time deformation of NATM tunnel excavation from laser detection and ranging point clouds. To further improve the measurement accuracy of 3D laser scanning technology in the tunnel construction process, this paper proposes an improved Kriging filtering algorithm. Considering the spatial correlation of the described object, the optimization method of point cloud grid filtering is studied. By analyzing the full-space deformation field of the tunnel lining, the deformation information of the measuring points on the surface of the tunnel lining is extracted. Based on the actual project, through the on-site monitoring comparison test, the three-dimensional laser point cloud data are grid processed and analyzed, and the deformation data obtained from the test are compared with the data measured by traditional methods. The experimental results show that the Kriging filtering algorithm can not only efficiently identify and extract the tunnel profile visualization data but also efficiently and accurately obtain the tunnel deformation. The measurement results obtained by using the proposed technology are in good agreement with those obtained by using traditional monitoring methods. Therefore, tunnel deformation monitoring based on 3D laser scanning technology can better reflect the evolution of the tunnel full-space deformation field under certain environmental conditions and can provide an effective safety warning for tunnel construction.

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Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR

Cited by 10 publications

References 38 publications

Dynamic precision surveying of railway tunnels based on MLS with robust constraints of track control network

Dynamic precision surveying of railway tunnels based on MLS with robust constraints of track control network

Robotic Railway Multi-Sensing and Profiling Unit Based on Artificial Intelligence and Data Fusion

Experiment and Application of NATM Tunnel Deformation Monitoring Based on 3D Laser Scanning

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