CN104192166A - Rail attitude measuring method and device based on geomagnetic sensing - Google Patents

Abstract

The invention provides a rail attitude measuring method and device based on geomagnetic sensing. The method and device are convenient to operate, low in cost and high in precision. The measuring method comprises the steps that the direction and magnitude of a geomagnetic field and the magnitude and direction of the gravitational acceleration of a rail at any test point are measured, the azimuthal angle, pitch angle and tilt angle of the rail at the test point can be obtained through a corresponding computational formula, the direction and magnitude of the geomagnetic field can be obtained through a magnetic sensor, and the magnitude and direction of the gravitational acceleration can be obtained through a gravitational acceleration sensor, so that the detection cost is low, and the whole measuring process is quite convenient. In addition, due to the fact that the difference of the magnitude and direction of the geomagnetic field is quite weak on the surface of the earth and within the range of thousand of meters above and below the earth surface, the measurement result of the rail attitude measuring method based on geomagnetic sensing is high in accuracy, and the rail attitude measuring method and device are suitable for being applied and popularized in the technical field of rail detection.

Description

Method and device for measuring rail attitude based on geomagnetic sensing

technical field

The invention relates to the technical field of rail detection, in particular to a method and device for measuring rail attitude based on geomagnetic sensing.

Background technique

In the process of laying rails and overhauling rails, the alignment of rails is of great significance: in most occasions, the rails need to be aligned and level; in other occasions, the rails need to be at a certain inclination angle, curvature, pitch angle, etc. specific posture. At present, the equipment used for alignment during the actual laying of rails is mainly a gyroscope and an optical collimator. However, the gyroscope is expensive, takes a long time to calibrate, and is cumbersome to debug. After a period of time, the measurement accuracy drops greatly, and continuous calibration is required, which seriously affects the speed and accuracy of laying railroad tracks. The optical collimator has been widely used because of its high precision. However, the optical collimator can only measure whether the rail is a straight line, and cannot measure the specific parameters such as inclination angle, curvature, and pitch angle of each rail. Moreover, it is not suitable for environments with many obstacles, and there are problems such as difficult debugging and high quality requirements for operators. Therefore, the current technology does not have a rail alignment detection technology that is easy to operate, low in cost and high in precision.

Contents of the invention

The technical problem to be solved by the present invention is to provide a method for measuring rail attitude based on geomagnetic sensing, which is easy to operate, low in cost and high in precision.

The technical solution adopted by the present invention to solve the above-mentioned technical problems is: the rail attitude measurement method based on geomagnetic sensing comprises the following steps:

A. Establish a Cartesian coordinate system b, the x-axis of the Cartesian coordinate system b is provided with the first magnetic sensor, the first acceleration sensor and the positive directions of the magnetic sensitive axes of the first magnetic sensor and the first acceleration sensor are all consistent with The positive direction of the x-axis coincides, the y-axis is provided with a second magnetic sensor, a second acceleration sensor, and the positive directions of the magnetic sensitive axes of the second magnetic sensor and the second acceleration sensor all coincide with the positive direction of the y-axis, and on the z-axis Be provided with the 3rd magnetic sensor, the 3rd accelerometer and the 3rd magnetic sensor, the positive direction of the magnetic sensitivity axis of the 3rd accelerometer coincides with the positive direction of z-axis; Establish with O point as origin, with the longitudinal direction of rail as x axis, the Cartesian coordinate system s with the transverse direction of the rail as the y-axis, and the xOy plane represents the rail plane;

B. Utilize the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor to measure the magnetic vector components of the geomagnetic field vector on the three axes of x, y, and z in the Cartesian coordinate system b , using the first acceleration sensor, the second acceleration sensor, and the third acceleration sensor to measure the magnetic vector components of the acceleration of gravity on the three axes x, y, and z of the Cartesian coordinate system b ;

C. Calculate the magnetic vector components of the geomagnetic field vector on the three axes x, y, and z of the Cartesian coordinate system s through the following formula :

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$

Calculate the magnetic vector components of the gravitational acceleration on the three axes x, y, and z of the Cartesian coordinate system s by the following formula :

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$

The meanings of α, β and ξ are as follows: the Cartesian coordinate system b rotates clockwise with the x-axis for an angle of α, takes the y-axis as the central axis for a clockwise rotation of β, and takes the z-axis as the central axis for a clockwise rotation. Rotate the ξ angle to get the Cartesian coordinate system s;

D. Calculate the pitch angle θ, inclination γ and azimuth ψ of the rail by the following formula:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&psi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>$

Among them, the pitch angle θ represents the angle between the longitudinal axis of the rail and the horizontal plane, the inclination γ represents the angle between the horizontal axis of the rail and the horizontal plane, and the azimuth ψ represents the angle between the projection of the longitudinal axis of the rail on the horizontal plane and the direction of magnetic north.

Further, the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor are all GMI weak magnetic field sensors, the measurement range of the GMI weak magnetic sensor is greater than 200 Gauss, and the measurement accuracy is higher than 1 milligauss.

Further, the measurement ranges of the first gravity acceleration sensor, the second gravity acceleration sensor and the third gravity acceleration sensor are all greater than 20m/s ² , and the measurement accuracy is higher than 0.001m/s ² .

The present invention also provides a rail attitude measuring device based on geomagnetic sensing to realize the above measurement method, the rail attitude measuring device based on geomagnetic sensing includes a base, a first rail fixing block, and a second rail fixing block, the The upper surface of the base is provided with an installation base, the lower surface of the installation base is equipped with a test circuit, the upper surface of the installation base is equipped with a human-computer interaction device, and the test circuit includes a sensor module, a signal adjustment acquisition module, Control module, the signal adjustment acquisition module is arranged between the sensor module and the control module, the sensor module includes a three-axis magnetic sensor and a three-axis gravity acceleration sensor; the information adjustment acquisition module includes a signal adjustment and compensation circuit and a modulus Converting and counting circuits; the control module includes a microprocessor and a power supply for each component to realize data processing and storage, and is connected with human-computer interaction equipment; the lower surface of the base is provided with a first wedge-shaped groove and a second A wedge-shaped groove, the first wedge-shaped groove and the second wedge-shaped groove are arranged in parallel, the upper surface of the first rail fixing block is provided with a first wedge-shaped block matching the first wedge-shaped groove, and the second rail fixing block The upper surface of the upper surface is provided with a second wedge-shaped block suitable for the second wedge-shaped groove, and a first groove is opened on the side surface of the first rail fixing block facing the second rail fixing block, and the second rail fixing block A side surface facing the first rail fixing block is provided with a second groove. When the first wedge-shaped block is inserted into the first wedge-shaped groove and the second wedge-shaped block is inserted in the second wedge-shaped groove, the first groove and the second groove surround The resulting cavity has the same shape as the rail.

Further, the base is provided with a fixing device for fixing the first rail fixing block and the second rail fixing block.

Further, the fixing device includes an insertion hole and a pin provided on the base, the central axis of the insertion hole passes through the first wedge-shaped groove and the second wedge-shaped groove, and the first wedge-shaped block and the second wedge-shaped block are Both are provided with a through hole suitable for the plug, when the first wedge block is inserted into the first wedge slot and the second wedge block is inserted into the second wedge slot, the plug can be inserted into the socket and the through hole.

Further, the human-computer interaction device includes an LCD display, a keyboard, and a FLASH animation player, and the keyboard is provided with five keys, which are respectively a power switch, a storage key, a test key, a reset key, and a view key.

The beneficial effects of the present invention are: the rail attitude measurement method based on geomagnetic sensing in the present invention measures the direction and magnitude of the geomagnetic field and the magnitude and direction of the gravitational acceleration of the rail at any test point, and then uses the corresponding calculation formula as The azimuth, pitch angle and inclination angle of the rail at the test point can be obtained, the direction and magnitude of the geomagnetic field can be obtained through the magnetic sensor, and the magnitude and direction of the acceleration of gravity can be moved through the gravity acceleration sensor, so the detection cost is low , and the whole measurement process is very convenient. In addition, because the difference in the size and direction of the geomagnetic field is very weak on the surface of the earth and within a range of several kilometers up and down, it can be seen at a large distance along the surface (at least at the level of kilometers) As a group of parallel lines covering the surface, the component of the geomagnetic field on the horizontal plane can also be regarded as a group of parallel lines with constant size and direction, and its direction is the direction of magnetic north. Therefore, the rail attitude measurement based on geomagnetic sensing The method has high accuracy of measurement results.

Description of drawings

Fig. 1 is the structural representation of the rail attitude measuring device based on geomagnetic sensing according to the present invention;

Fig. 2 is a measurement circuit structural diagram of the present invention;

Explanation of reference numerals: base 1, first rail fixing block 2, second rail fixing block 3, installation base 4, first wedge-shaped groove 5, second wedge-shaped groove 6, first wedge-shaped block 7, second wedge-shaped block 8 , the first groove 9, the second groove 10.

Detailed ways

The rail attitude measurement method based on geomagnetic sensing in the present invention measures the direction and size of the geomagnetic field and the magnitude and direction of the acceleration of gravity of the rail at any test point, and then can obtain the position of the rail at the test point through the corresponding calculation formula. The azimuth, depression angle and inclination angle, the direction and magnitude of the geomagnetic field can be obtained through the magnetic sensor, and the magnitude and direction of the gravitational acceleration can be moved through the gravitational acceleration sensor. Therefore, the detection cost is low, and the whole measurement process is very convenient. , in addition, because the difference in the size and direction of the geomagnetic field is very weak on the surface of the earth and within the range of several kilometers up and down, it can be regarded as a layer covering the earth's surface at a large distance along the earth's surface (at least at the kilometer level). A group of parallel lines, the component of the geomagnetic field on the horizontal plane can also be regarded as a group of parallel lines with constant size and direction, and its direction is the direction of magnetic north. Therefore, the measurement accuracy of the rail attitude measurement method based on geomagnetic sensing is relatively high . Its specific measurement method is as follows:

The rail attitude measurement method based on geomagnetic sensing comprises the following steps:

A, establish the Cartesian coordinate system b, the x-axis of the Cartesian coordinate system b is provided with the first magnetic sensor, the first acceleration sensor and the positive directions of the magnetic sensitive axes of the first magnetic sensor and the first acceleration sensor are all consistent with The positive direction of the x-axis coincides, the y-axis is provided with a second magnetic sensor, a second acceleration sensor, and the positive directions of the magnetic sensitive axes of the second magnetic sensor and the second acceleration sensor all coincide with the positive direction of the y-axis, and on the z-axis Be provided with the 3rd magnetic sensor, the 3rd accelerometer and the 3rd magnetic sensor, the positive direction of the magnetic sensitivity axis of the 3rd accelerometer coincides with the positive direction of z-axis; Establish with O point as origin, with the longitudinal direction of rail as x axis, the transverse direction of the rail as the Cartesian coordinate system s of the y-axis, and the xOy plane represents the rail plane; the used triaxial magnetic sensor and the triaxial acceleration sensor of the inventive method are required to be installed in the same coordinate system, in order to implement this Requirements, check the data sheet of the integrated three-axis magnetic sensor chip to know the directions of the three magnetically sensitive axes of the chip, check the data sheet of the integrated three-axis accelerometer chip to know the directions of the three acceleration sensitive axes of the chip, solder the integrated three-axis The magnetic sensor chip and the integrated three-axis accelerometer chip are used on a PCB circuit board. When soldering, ensure that the three magnetically sensitive axes of the integrated three-axis magnetic sensor chip and the three acceleration sensitive axes of the integrated three-axis accelerometer chip are parallel to each other;

B. Utilize the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor to measure the magnetic vector components of the geomagnetic field vector on the three axes of x, y, and z in the Cartesian coordinate system b , using the first acceleration sensor, the second acceleration sensor, and the third acceleration sensor to measure the magnetic vector components of the acceleration of gravity on the three axes x, y, and z of the Cartesian coordinate system b ;

C. Calculate the magnetic vector components of the geomagnetic field vector on the three axes x, y, and z of the Cartesian coordinate system s through the following formula :

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$

Calculate the magnetic vector components of the gravitational acceleration on the three axes x, y, and z of the Cartesian coordinate system s by the following formula :

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$

The meanings of α, β and ξ are as follows: the Cartesian coordinate system b rotates clockwise with the x-axis for an angle of α, takes the y-axis as the central axis for a clockwise rotation of β, and takes the z-axis as the central axis for a clockwise rotation. Rotate the ξ angle to obtain the Cartesian coordinate system s; the Cartesian coordinate system b mentioned in the above method has an arbitrary fixed and known relative position with the rail. In order to simplify data processing, ensure that the sensor coordinate system b and The Cartesian coordinate system s of the railway track coincides with each other. When the Cartesian coordinate system b and the Cartesian coordinate system s coincide with each other, that is, the angles of α, β and ξ are zero, there is a relationship:

$\left[\begin{array}{c}{m}_x^{\mathrm{the\; s}}\\ m_{\mathrm{the\; y}}^{\mathrm{the\; s}}\\ m_z^{\mathrm{the\; s}}\end{array}\right]=\left[\begin{array}{c}{m}_x^b\\ m_{\mathrm{the\; y}}^b\\ m_z^b\end{array}\right]$ and $\left[\begin{array}{c}{G}_x^{\mathrm{the\; s}}\\ G_{\mathrm{the\; y}}^{\mathrm{the\; s}}\\ G_z^{\mathrm{the\; s}}\end{array}\right]=\left[\begin{array}{c}{G}_x^b\\ G_{\mathrm{the\; y}}^b\\ G_z^b\end{array}\right];$

D. Calculate the pitch angle θ, inclination γ and azimuth ψ of the rail by the following formula:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&psi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>$

Among them, the pitch angle θ represents the angle between the longitudinal axis of the rail and the horizontal plane, the inclination γ represents the angle between the horizontal axis of the rail and the horizontal plane, and the azimuth ψ represents the angle between the projection of the longitudinal axis of the rail on the horizontal plane and the direction of magnetic north.

Because the geomagnetic field is relatively weak, in order to ensure measurement accuracy, the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor use magnetic sensors with high precision, high sensitivity and high linearity to measure the geomagnetic field, such as giant magneto-impedance sensors and giant magnetoresistive sensors. As a preferred mode: the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor are all GMI weak magnetic field sensors, based on the size of the geomagnetic field is about 60 gauss, and the measurement range of the GMI weak magnetic sensor is greater than 200 Gauss, the measurement accuracy is higher than 1 milligauss.

In order to ensure the measurement accuracy of the gravitational acceleration, the first gravitational acceleration sensor, the second gravitational acceleration sensor and the third gravitational acceleration sensor should select a high-precision and high-sensitivity gravitational acceleration sensor, and the magnitude of the gravitational acceleration is about 9.8m/ ^s Therefore, the measurement ranges of the first gravity acceleration sensor, the second gravity acceleration sensor and the third gravity acceleration sensor are all greater than 20m/s ² , and the measurement accuracy is higher than 0.001m/s ² .

The present invention also provides a rail attitude measuring device based on geomagnetic sensing that realizes the above measuring method. The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, the rail attitude measuring device based on geomagnetic sensing includes a base 1, a first rail fixing block 2, and a second rail fixing block 3, and the upper surface of the base 1 is provided with a mounting base 4 , the lower surface of the installation base 4 is equipped with a test circuit, the upper surface of the installation base 4 is equipped with human-computer interaction equipment, the test circuit includes a sensor module, a signal adjustment acquisition module, a control module, the signal adjustment The acquisition module is arranged between the sensor module and the control module, and the sensor module includes a three-axis magnetic sensor and a three-axis gravity acceleration sensor; the information adjustment acquisition module includes a signal adjustment and compensation circuit and an analog-to-digital conversion and counting circuit; the control module It includes a microprocessor and a power supply for each component, realizes data processing and storage, and is connected with human-computer interaction equipment; the lower surface of the base 1 is provided with a first wedge-shaped groove 5 and a second wedge-shaped groove 6, so The first wedge-shaped groove 5 and the second wedge-shaped groove 6 are arranged in parallel, the upper surface of the first rail fixing block 2 is provided with a first wedge-shaped block 7 matching the first wedge-shaped groove 5, and the second rail is fixed The upper surface of the block 3 is provided with a second wedge-shaped block 8 adapted to the second wedge-shaped groove 6, and the first rail fixing block 2 has a first groove 9 on the side surface of the second rail fixing block 3, The second rail fixing block 3 has a second groove 10 on the side surface facing the first rail fixing block 2, when the first wedge block 7 is inserted into the first wedge slot 5 and the second wedge block 8 is inserted into the second wedge slot 6, the shape of the cavity surrounded by the first groove 9 and the second groove 10 is the same as that of the rail. When the rail attitude measuring device based on geomagnetic sensing is used again, only the first rail fixing block 2 and the second rail fixing block 3 are arranged on both sides of the rail and the rail is clamped in the middle, and then the first wedge block 7, The second wedge-shaped block 8 is respectively inserted into the first wedge-shaped groove 5 and the second wedge-shaped groove 6 provided on the lower surface of the base 1 to ensure the three magnetic sensitivity of the three-axis magnetic sensor when the three-axis magnetic sensor and the three-axis gravity acceleration sensor are installed. axis and the three magnetically sensitive axes of the three-axis gravity acceleration sensor are parallel to each other, and the sensor coordinate system b and the rail Cartesian coordinate system s coincide with each other. The Cartesian coordinate system s takes O as the origin and the longitudinal direction of the rail as the x axis , take the transverse direction of the rail as the y-axis, and the xOy plane represents the rail plane; then the three-axis magnetic sensor and the three-axis gravitational acceleration sensor are controlled by the control module to obtain the x, y, z three dimensions of the geomagnetic field vector in the Cartesian coordinate system s Magnetic vector components on axes And the magnetic vector components of the acceleration of gravity on the x, y, z axes of the Cartesian coordinate system s The collected data is adjusted and processed through the signal adjustment acquisition module, and then the data is processed through the formula program stored in the microprocessor in advance to obtain the azimuth, elevation angle and inclination angle of the rail at the test point and store the results. Its formula is as follows:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&psi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>$

Among them, the angle of depression θ represents the angle between the longitudinal axis of the rail and the horizontal plane, the inclination γ represents the angle between the horizontal axis of the rail and the horizontal plane, and the azimuth ψ represents the angle between the projection of the longitudinal axis of the rail on the horizontal plane and the magnetic north direction; then Slide the measuring device on the rail, measure the parameters of the rail at different positions, and repeat the above measurement process many times. The selected collected points should be enough and dense enough, so that the rail can be drawn myopically through the tangent of each test point. The shape of the space is very convenient to detect, and the measurement cost is also low, and the measurement accuracy is also high.

In order to prevent the base 1 from falling off from the first rail fixing block 2 and the second rail fixing block 3 , the base 1 is provided with a fixing device for fixing the first rail fixing block 2 and the second rail fixing block 3 . The fixing device can adopt various existing fixing structures. For the convenience of installation and disassembly, preferably, the fixing device includes a jack and a pin arranged on the base 1, and the central axis of the jack passes through the first The wedge-shaped groove 5 and the second wedge-shaped groove 6, the first wedge-shaped block 7 and the second wedge-shaped block 8 are all provided with a through hole suitable for the latch, when the first wedge-shaped block 7 is inserted into the first wedge-shaped groove 5 and the second wedge-shaped block When the second wedge-shaped block 8 is inserted into the second wedge-shaped groove 6, the plug pin can be inserted into the insertion hole and the through hole.

In order to facilitate the convenient operation of the operator, and allow the operator to understand the test process as much as possible, the human-computer interaction device includes an LCD display, a keyboard, a FLASH animation player, and the keyboard is provided with five buttons, which are respectively power switch, The storage key, test key, reset key and view key are convenient for the operator to control the test device.

Claims (7)

1. the rail attitude measurement method based on geomagnetic sensing, it is characterized in that comprising the following steps: A, establish the Cartesian coordinate system b, the x-axis of the Cartesian coordinate system b is provided with the first magnetic sensor, the first acceleration sensor and the positive directions of the magnetic sensitive axes of the first magnetic sensor and the first acceleration sensor are all consistent with The positive direction of the x-axis coincides, the y-axis is provided with a second magnetic sensor, a second acceleration sensor, and the positive directions of the magnetic sensitive axes of the second magnetic sensor and the second acceleration sensor all coincide with the positive direction of the y-axis, and on the z-axis Be provided with the 3rd magnetic sensor, the 3rd accelerometer and the 3rd magnetic sensor, the positive direction of the magnetic sensitivity axis of the 3rd accelerometer coincides with the positive direction of z-axis; Establish with O point as origin, with the longitudinal direction of rail as x axis, the Cartesian coordinate system s with the transverse direction of the rail as the y-axis, and the xOy plane represents the rail plane; B. Utilize the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor to measure the magnetic vector components of the geomagnetic field vector on the three axes of x, y, and z in the Cartesian coordinate system b , using the first acceleration sensor, the second acceleration sensor, and the third acceleration sensor to measure the magnetic vector components of the acceleration of gravity on the three axes x, y, and z of the Cartesian coordinate system b ; C. Calculate the magnetic vector components of the geomagnetic field vector on the three axes x, y, and z of the Cartesian coordinate system s through the following formula : $\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$ Calculate the magnetic vector components of the gravitational acceleration on the three axes x, y, and z of the Cartesian coordinate system s by the following formula : $\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; )</span>\end{array}\right]\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&xi;</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>$ The meanings of α, β and ξ are as follows: the Cartesian coordinate system b rotates clockwise with the x-axis for an angle of α, takes the y-axis as the central axis for a clockwise rotation of β angle, and takes the z-axis as the central axis for a clockwise rotation. Rotate the ξ angle to get the Cartesian coordinate system s; D. Calculate the pitch angle θ, inclination γ and azimuth ψ of the rail by the following formula: $\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; \&psi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}^{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>$ Among them, the pitch angle θ represents the angle between the longitudinal axis of the rail and the horizontal plane, the inclination γ represents the angle between the horizontal axis of the rail and the horizontal plane, and the azimuth ψ represents the angle between the projection of the longitudinal axis of the rail on the horizontal plane and the direction of magnetic north. 2. The rail attitude measurement method based on geomagnetic sensing as claimed in claim 1, characterized in that: the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor are all GMI weak magnetic field sensors, and the GMI weak The measurement range of the magnetic sensor is greater than 200 Gauss, and the measurement accuracy is higher than 1 milligauss. 3. The rail attitude measurement method based on geomagnetic sensing as claimed in claim 1, wherein the measurement ranges of the first acceleration-of-gravity sensor, the acceleration-of-gravity sensor and the third acceleration-of-gravity sensor are all greater than 20m/s ^2. The measurement accuracy is higher than 0.001m/s ² . 4. The rail attitude measuring device based on geomagnetic sensing is characterized in that: it comprises a base (1), a first rail fixed block (2), and a second rail fixed block (3), and the upper surface of the base (1) is provided with There is an installation base (4), the lower surface of the installation base (4) is equipped with a test circuit, the upper surface of the installation base (4) is equipped with human-computer interaction equipment, and the test circuit includes a sensor module, a signal Adjust the acquisition module and the control module, the signal adjustment acquisition module is arranged between the sensor module and the control module, the sensor module includes a three-axis magnetic sensor and a three-axis gravity acceleration sensor; the information adjustment acquisition module includes signal adjustment and compensation circuits, analog-to-digital conversion, and counting circuits; the control module includes a microprocessor and a power supply for supplying power to various components, realizes data processing and storage, and is connected with human-computer interaction equipment; the lower surface of the base (1) is provided with The first wedge-shaped groove (5) and the second wedge-shaped groove (6), the first wedge-shaped groove (5) and the second wedge-shaped groove (6) are arranged in parallel, and the upper surface of the first rail fixing block (2) is arranged There is a first wedge-shaped block (7) suitable for the first wedge-shaped groove (5), and the upper surface of the second rail fixing block (3) is provided with a second wedge-shaped groove (6). Wedge block (8), the first rail fixing block (2) has a first groove (9) on the side surface facing the second rail fixing block (3), and the second rail fixing block (3) faces One side surface of the first rail fixing block (2) has a second groove (10), when the first wedge (7) is inserted into the first wedge groove (5) and the second wedge (8) is inserted into the second wedge When inside the groove (6), the shape of the cavity surrounded by the first groove (9) and the second groove (10) is the same as that of the rail. 5. The rail attitude measuring device based on geomagnetic sensing as claimed in claim 4, characterized in that: said base (1) is provided with a fixed block for fixing the first rail (2), a second rail fixed block (3) fixtures. 6. The rail attitude measuring device based on geomagnetic sensing as claimed in claim 5, characterized in that: said fixing device comprises a socket and a bolt arranged on the base (1), and the central axis of the socket passes through The first wedge-shaped groove (5) and the second wedge-shaped groove (6), the first wedge-shaped block (7) and the second wedge-shaped block (8) are all provided with through holes that are compatible with the bolt, when the first wedge-shaped When the block (7) is inserted into the first wedge-shaped slot (5) and the second wedge-shaped block (8) is inserted into the second wedge-shaped slot (6), the plug pin can be inserted into the insertion hole and the through hole. 7. The rail attitude measuring device based on geomagnetic sensing as claimed in claim 6, characterized in that: said human-computer interaction device comprises an LCD display screen, a keyboard, a FLASH animation player, and said keyboard is provided with five buttons, They are power switch, storage key, test key, reset key and view key.