AT527463A1 - Method for determining a reference position of a reference object in a track environment, measuring device and system - Google Patents

Abstract

A method for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4) comprises the steps of: generating measurement data by detecting the track environment (4), evaluating the measurement data by detecting the reference object (3.1, 3.2, 3.3) in the track environment (4) and determining the reference position (2.1, 2.2, 2.3) of the reference object (3.1, 3.2, 3.3) based on the measurement data, wherein the detection of the track environment (4) takes place by detecting radar radiation (5). A measuring device for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4) and a system (1) with such a measuring device (6).

Description

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Method for determining a reference position of a reference object

project in a track environment, measuring device and system

The invention relates to a method for determining a reference position of a reference object in a track environment. The invention also relates to a measuring device for determining a reference position of a reference object in a track environment. The invention also relates to

a system with such a measuring device.

WO 2017/178093 A1 discloses a method and a measuring system for detecting a fixed point next to a track. The fixed point, marked by an optical recognition pattern, is detected using a stereo camera system. The image capture is sensitive to changing light conditions, weather influences such as fog or rain, and to dirt, especially in a dusty environment.

exercise.

It is an object of the invention to provide an improved method for determining a reference position of a reference object in a track environment, which is particularly flexible and robust

in operation and ensures particularly precise measurement results.

This object is achieved by a method having the features of claim 1. It was recognized that the determination of the reference position of a reference object in the track environment can be carried out particularly robustly, flexibly and precisely using measurement data generated by detecting radar radiation. Radar radiation penetrates fog and re-

Fluctuations in natural radar

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radiation on the measurement data generated in this way are essentially negligible. The method reliably guarantees particularly precise measurement results. In addition, radar sensors for detecting radar radiation are insensitive to dirt, especially dust. The method is therefore particularly suitable for use in a dirty, especially dusty, environment, such as a track construction site, especially during track bed compaction. Furthermore, the method can be used equally during the day and at night, in open areas and/or in an area that is at least partially closed, especially underground, for example in a tunnel. This makes the method particularly flexible in use and economical.

economically feasible.

The reference position is understood to be a position of the reference object, in particular in a global or local coordinate system. The local coordinate system can be a measuring coordinate system of a measuring device for carrying out the method and/or a coordinate system that is fixed with respect to a track carriage, in particular movable along the track, and/or a coordinate system that is fixed with respect to a section of the track. The global coordinate system can be a geographical coordinate system, in particular a coordinate system.

system for land surveying.

The track environment is understood to mean the area which, in particular laterally, borders on the track rails, in particular the track grid, in particular the clearance profile of the track carriageway and/or which extends above the surface of the earth, in particular the track floor. The measurement data are preferably generated by recording the lateral track environment.

The lateral track environment is the lateral environment of the

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Track, in particular with respect to the longitudinal extension of the track. Preferably, the lateral track environment is understood to mean the area that extends to the side of the track rails, in particular the track grid, in particular the clearance profile of the track carriageway, and/or that is at a lateral distance of at least 0.5 m to at least

one of the above objects or areas.

The radar radiation is preferably detected from a transverse track direction or from a direction with at least one directional component oriented parallel to the transverse track direction. The transverse track direction is oriented horizontally and perpendicular to the longitudinal track direction. The detected radar radiation preferably forms an angle of at least 45°, in particular at least 60°, in particular at least 75°, in particular at least 85°, with a vertically downward direction. The radar radiation is preferably detected at least partially, in particular essentially, in particular completely, from a horizontal direction. The generation of the measurement data can include the detection of the lateral, upper, lower, front and/or rear track environment. The reference object is arranged at least in sections, in particular completely, in the track environment. The detection of the track environment can be one-sided.

on one side or both sides of the track.

The measurement data can be correlated with a specific radar signature of the reference object. To identify the reference object based on the measurement data, the specific radar signature of the reference object can be identified, in particular by comparing it with radar signatures of known

reference objects.

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The reference position of the reference object can be determined using

the travel time of the radar radiation and/or by triangulation.

The measurement data can be an image of the track environment that the reference object has. The detected radar radiation can be an at least partial

radar radiation reflected from the reference object.

The detection of the radar radiation can be carried out by locally fixing a sensor device for detecting the radar radiation. Alternatively, the sensor device can be moved when detecting the radar radiation, in particular continuously and/or step by step. For example, the sensor device can be attached to a track located along the track, in particular on

the track rails, moving carriages.

The method is preferably, in particular completely, carried out on the ground, in particular on the track. In particular, the detection and/or emission of the radar radiation takes place on the ground, in particular on or at the track. The sensor device and/or a transmitting device, in particular the measuring device, is preferably ground-based.

connected, especially located on or near the track.

The reference position is preferably determined, in particular initially, in the local coordinate system, in particular the measuring coordinate system. This reference position can be determined as the relative position of the reference object to a measuring position of the measuring device. If the measuring position is known, the global position of the reference object can be determined based on the reference position, in particular in a global coordinate system.

The global position of the measuring system can be

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for example by means of known navigation methods, in particular with

using a GPS and/or a GNSS method.

Based on the reference position, in particular alternatively, the measuring position of the measuring device and/or the position of a track carriage equipped with the measuring device and/or the track on which the measuring device is arranged can be determined, in particular in the global coordinate system. Preferably, the global position of the reference object is known, in particular stored in a storage unit of the measuring device. Based on the global position of the reference object and the determined reference position, in particular the relative position, the corresponding position, for example of the measuring device, can be determined in the

global coordinate system.

The detected radar radiation preferably has a frequency in the range from 0.5 GHz to 500 GHz, in particular from 1 GHz to 100 GHz, in particular from 5 GHz to 80 GHz.

In particular, position determination is possible regardless of weather conditions, the time of day and/or the availability of a satellite navigation signal. For example, position determination can also be carried out underground, at night, in fog, in heavy rain and/or in a dusty

rich track construction site must be carried out precisely.

Preferably, additional measurement data are recorded in the form of optical radiation, in particular camera images. This can further improve the accuracy of the method, especially under sufficient visibility conditions.

be increased again.

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A method according to claim 2 is particularly flexible and robust. By means of radar radiation, natural objects of the vegetation and/or the earth's surface, such as trees or rocks, can be used as reference objects. Special structural precautions, in particular markings, can be omitted. This makes it possible to achieve a high local density of surveying bases in the form of reference objects in an economical manner. Artificial reference objects can be infrastructure objects, such as special land surveying points, in particular markings, in particular having a measuring bolt, with or without a measuring marking. Artificial reference objects can also be infrastructure objects, in particular track infrastructure objects, such as bridge elements and/or platform elements, in particular platform edges and/or tunnel entrances and/or track masts and/or

track signals and/or noise protection elements and/or level crossings.

A method according to claim 3 leads to particularly precise measurement results. A signal reflector, in particular a radar reflector, can be detected particularly reliably as a reference object when evaluating the measurement data, in particular its radar signature can be reliably recognized. The radar reflector is preferably a triple mirror. The radar reflector can be pyramid-shaped or designed as a truncated pyramid. The triple mirror preferably has an opening at the intersection point of its mirrors. It can therefore essentially be designed as a truncated pyramid. Here-

The position determination is robust against manufacturing tolerances. A method according to claim 4 is particularly robust and leads to precise

Measurement results. The detected radar radiation is preferably transmitted through the

radar radiation emitted at at least one transmitting position

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In particular, the radar radiation detected is a reflection of the emitted radar radiation. This makes the measuring method largely independent of external influences and the measurement data can be evaluated with particularly high contrast and reliably. The radiation of the radar radiation at the at least one transmitting position can be directed, with a specific main radiation direction or undirected. Preferably, in the case of directed radiation of the radar radiation, at least 60%, in particular at least 80%, in particular at least 90%, of the radiation power is directed into a circular cone-shaped area with an opening angle of maximum 45°, in particular maximum 30°, in particular maximum

10°, radiated.

Alternatively, only natural radar radiation can be recorded to generate the measurement data. A suitable sensor device is

also called passive radar.

A distance between the reference object and the measuring device can be detected by measuring the time of flight, in particular when the radar radiation is emitted at a single transmitting position, and/or by detecting the radar radiation at different locations, in particular simultaneously or with a time delay.

different detection and/or transmission positions.

A method according to claim 5 can be carried out in a time-efficient manner and leads to particularly precise measurement results. As the radar radiation is emitted by several radar transmitters, in particular those positioned at a distance from one another, additional information about the track environment can be recorded, in particular a three-dimensional image of the track environment. The radar transmitters are preferably arranged along a, in particular

special straight line and/or grid-shaped and/or equidistant

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The grid-shaped arrangement preferably comprises at least 2x2, in particular at least 3x3, in particular at least

at least 4x4, in particular at least 10x10 radar transmitters.

The radar radiation can be detected with a single or multiple radar sensors. Preferably, the antennas of the at least one radar sensor and the at least one radar transmitter are identical. The number

the radar transmitter and the radar sensors can be identical.

A method according to one of claims 6 or 7 is particularly economical in operation and leads to precise measurement results. The phased array antenna is also referred to as a phased-controlled group antenna. In such a transmission device, several radar transmitters can be combined in a linear arrangement or in a matrix arrangement. An effective main radiation direction of the radar radiation can be electronically set using the phased array antenna. The main radiation direction can be changed, in particular step by step, for scanning the track environment. A corresponding change in the main radiation direction using a phased array antenna is also referred to as electronic beam steering. In principle, mechanical beam steering is also possible by moving the at least one radar sensor. Electronic beam steering has the advantage that it is very robust in operation, in particular

particularly low-maintenance.

A method according to claim 8 can be carried out particularly economically. The natural radar radiation can be detected exclusively or in addition to the actively generated radar radiation. When only natural radar radiation is detected, radar transmitters and the devices used to control them can be

The energy used in operation can be completely saved.

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A method according to claim 9 can be carried out in a time-efficient manner and ensures a high measurement resolution. The plurality of radar sensors can be arranged in accordance with the plurality of radar transmitters, in particular along a line, in particular a straight line, and/or in a grid arrangement, in particular with at least 2x2, in particular at least 3x3, in particular at least 4x4, in particular at least 10x10 radar sensors. The plurality of radar sensors ensure detection of the distance of the reference object.

object from the measuring device by triangulation.

A method according to claim 10 ensures the recognition of the reference object in a reliable manner. Because the measurement data form an image of the three-dimensional geometry of the track environment, the at least one reference object, in particular its specific radar signature, can be recognized particularly reliably using the measurement data. The three-dimensional geometry of the track environment is preferably detected by beam swiveling and/or moving the at least one radar sensor. In particular, the three-dimensional geometry of the track environment can be generated by step-by-step scanning of the track environment with the radar radiation. The measurement data can be in the form of a three-dimensional

nal point cloud can be represented.

A method according to claim 11 ensures reliable detection of the reference object and precise determination of the reference position. The radar radiation penetrates solid bodies, particularly when their frequency is in a range of 1 GHz to 100 GHz, at least partially. The degree of reflection depends on the material composition of the track object. The material composition can thus be determined from the measurement data.

Composition of the track environment, especially the reference object

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This makes it possible to identify the specific radar signature of a particular reference object particularly reliably. For example, the measurement data can be used to identify whether the reference object contains one of the materials concrete and/or wood and/or steel, in particular

especially consists of it.

A method according to claim 12 can be carried out in a particularly flexible manner. For example, the position of the reference object in a global coordinate system can be determined by a user as a reference position, in particular by means of a portable position detection device. When the reference object is later detected, the global position of the measuring device and/or the track can be determined using this information and the reference position detected as the relative position between the measuring device and the reference object. The manually determined reference position can be stored, for example, in a storage unit of the measuring device and/or a central storage unit of a central

stored in a specific computer system.

A further object of the invention is to provide an improved measuring device for determining a reference position of a reference object in a track environment, which is particularly robust

in operation and provides particularly precise measurement results.

This object is achieved by a measuring device with the features of claim 13. The advantages of the measuring device preferably correspond to the advantages of the method described above. The measuring device is preferably further developed with at least one of the features described above in connection with the method.

are written.

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The sensor device can have at least one radar sensor, in particular a single or multiple radar sensors. The radar sensors are preferably designed to detect radar radiation of the frequency range described above and/or according to the above

arranged according to the description.

The measuring device can have a transmitting device for emitting the radar radiation, in particular with at least one, in particular a single or several, radar transmitters. The transmitting device is preferably designed according to the above description, in particular as a phase-

sed array antenna.

The evaluation device can have an electronic processing unit for processing digital data, in particular the measurement data, in particular a processor. The evaluation device is preferably located in signal

connection with the sensor device and/or the transmitting device.

Preferably, the evaluation device comprises a storage unit with information stored thereon relating to one or more reference objects, in particular with data which correlate with the specific radar signature of the at least one reference object and/or with position data, in particular with the global position of the at least one reference object.

The storage unit of the evaluation device can store a computer program

gram product for carrying out the process described above

be deposited.

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A measuring device according to claim 14 is particularly flexible and economical to use. The track carriage can have a traction motor

and/or be designed as a multi-purpose vehicle.

Preferably, at least one track processing device, in particular a track tamping unit and/or a lifting and straightening unit, is attached to the track carriage. The measuring device is preferably a component of a device for track processing, in particular a track construction machine. Because the measuring device is particularly robust in operation, it is particularly suitable for use in dirty

stressed environment of a track construction site.

A further object of the invention is to provide an improved system which is particularly robust in operation and

provides particularly precise measurement results.

This object is achieved by a system having the features of claim 15. The advantages of the system preferably correspond to the advantages of the method or measuring device described above. The system can be further developed with at least one of the features described above in connection with the method and/or the measuring device.

direction are described.

The at least one radar reflector is preferably a triple mirror. The triple mirror can be attached to the reference object. The arrangement of the reference position is understood to mean that the radar reflector is located near the reference position, in particular in a known distance.

stood by it, is arranged.

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Further features, details and advantages of the invention will become apparent from the following description of several embodiments of

hand of the figures. Showing:

5 Fig. 1 A schematic representation of a system with a measuring device for determining a reference position of a reference object in a track environment with

by radar radiation in a side view,

10 Fig.2 is a schematic representation of the system in Fig. 1 in a front view, wherein the measuring device comprises a track carriage with a transmitter device arranged thereon for emitting the radar radiation into the track environment,

15

Fig. 3 is a schematic representation of the system in Fig. 1 in a plan view, with the measuring device shown in different measuring positions along the track,

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Fig. 4A is a schematic representation of the transmitting device of the system in Fig. 1, where several radar transmitters are

ter-shaped and arranged in the same transmission plane,

25 Fig. 4B shows a transmitting device according to a further embodiment, wherein all of the plurality of radar transmitters are arranged in a grid-like manner and on a curved surface.

net are,

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Fig. 4C shows a transmitting device according to a further embodiment, wherein all of the plurality of radar transmitters

are arranged in a straight line, or

Fig. 4D shows a transmitting device according to a further embodiment, wherein all of the plurality of radar transmitters

arranged on a curved line.

A first embodiment of a system 1 and a method for determining a reference position 2.1, 2.2, 2.3 of a reference object 3.1, 3.2, 3.3 in a track environment 4 by means of radar radiation 5 is described with reference to FIGS. 1 to 4A.

The system 1 comprises a measuring device 6 and at least one signal reflector 7. The signal reflector 7 is preferably designed as a radar reflector, in particular as a triple mirror. The triple mirror can be designed to be tip-free for particularly precise detection of the reference position 3.1, in particular it can have a hole 7.1 in the area of an intersection point of its mirrors 7.2. The system can have at least one marking 8, in particular in the form of a permanently installed measuring point. The marking 8 can be designed as a concrete base. The marking 8 preferably comprises a measuring bolt

8.1.

The track environment 4 has artificial reference objects 3.1, 3.2, in particular the signal reflector 7 and the marking 8, and natural reference objects 3.3, in particular objects of natural vegetation, for example a tree 9. Other reference objects can be, for example,

wise artificial reference objects, especially infrastructure objects, such as

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a track mast 10, an overhead line 11, a bridge, a noise barrier, a platform, in particular a platform edge, and/or natural reference objects, such as the topology of the earth's surface, in particular

a hill and/or a rock, and/or a river, can be used.

The measuring device 6 comprises a carriage 12, in particular a track carriage. The measuring device 1 preferably also has a track processing device 13 for carrying out track work, in particular for compacting a track bed 14 and/or for aligning a track 15. The track bed 14 preferably consists of track ballast. The track 15 comprises track rails 16 and track sleepers 17. The track processing device 13 can comprise a track tamping unit 18 and/or

have a lifting and straightening unit not shown.

The measuring device 6 comprises a sensor device 19 for generating measurement data by detecting the lateral track environment 4. The sensor device 19 is designed to detect the radar radiation 5.

For this purpose, the sensor device 19 comprises several radar sensors 20.

The measuring device 6 has a transmitting device 21.1 for emitting the radar radiation 5 into the track environment 4 at at least one transmitting position. To emit the radar radiation 5, the transmitting device comprises several radar transmitters 22, which are arranged in a grid and in a single transmitting plane 23. The radar transmitters 22 are preferably arranged in a 4x4 array. In particular, the transmitting device 21.1 can be designed as a phased array antenna. A phased array antenna enables electronic beam steering. A main radiation direction

The direction 24 of the radar radiation 5 is preferably high in a neutral position.

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horizontally and in the cross-track direction or perpendicular to the transmission plane 23. The main radiation direction 24 is preferably electronically oriented around a first axis 25 and a second axis 26 perpendicular thereto.

swiveling.

Main emission directions 241.1, 241.2, 241.3, which are pivoted relative to one another by different angles a about the horizontal, first axis 25, are shown in Fig. 2. Main emission directions 241.1, 242.1, 243.1, which are pivoted relative to one another by different angles ß about the vertical, second axis 26, are shown in Fig. 3. The transmitting device 21.1 is thus designed for raster-like scanning of the lateral

Track environment 4 in horizontal and vertical directions.

The radar radiation 5 reflected from the track environment 4, in particular the reference objects 3.1, 3.2, 3.3, is detected by the sensor device 19. Preferably, the sensor device 19 and the transmitting device 21.1 are designed as a structural unit, in particular in the same building.

housing arranged.

Preferably, the sensor device 19 has several radar sensors 20. The number of radar sensors 20 can correspond to the number of radar transmitters 22. In particular, these can each have the same radar antenna

to transmit and receive radar radiation 5.

The measuring device 6 has an evaluation device 27 for evaluating the measurement data generated by detecting the track environment 4. The

Evaluation device 27 is designed to recognize the at least one reference object 3.1, 3.2, 3.3 based on the measurement data and the associated

Reference position 2.1, 2.2, 2.3 based on the measurement data.

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the evaluation device 27 is in signal connection with the sensor input

direction 19

The measuring device 6 preferably has a storage unit 28 for storing the measurement data and/or the respective determined reference position 2.1, 2.2, 2.3. The storage unit 28 can be attached to the carriage 12. Alternatively or additionally, the evaluation device 27 can be in signal connection with a central storage unit (not shown). The signal connection is preferably a radio connection, in particular a mobile radio connection, in particular an LTE connection. The measuring device can have a corresponding radio

module 29.

The measuring device 6 can have a satellite navigation device 30, which preferably comprises a GPS module and/or a GNSS module.

summarizes.

The measuring device 6 can have an optical sensor 31, in particular a camera, in particular a stereo camera, for optically detecting the, in particular

special lateral, track environment 4.

The measuring device 6 can also have a laser scanner 32 for detecting the,

particularly lateral, track environment 4.

Preferably, the measuring device 6, in particular the sensor device 19 and/or the transmitting device 21.1 and/or the evaluation device 27 and/or the storage unit 28 and/or the radio module 29

and/or the satellite navigation device 30 and/or the optical

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Sensor 31 and/or the laser scanner 32, and/or the track processing device 13, in particular the at least one track tamping unit 18, are attached to the carriage 12. The carriage 12 preferably has a traction motor 33 for moving the carriage 12 along the track 15. The carriage 12 can be designed as a pure track carriage or as a two-way vehicle for driving on track rails 16 and roads.

be.

The measuring device 6 can have a user interface (not shown) for manual input of at least one reference position 2.1, 2.2, 2.3.

point out.

The functioning of the method, the system 1 or the measuring device

tion 6 is as follows:

The measuring device 6 is arranged on the track 15, in particular the carriage 12 is arranged on the track rails. By means of the traction motor 33, the measuring device 6 is moved to a desired section of the track 15 on which the method is to be carried out.

The measuring device 1 is in a first measuring position 34.1.

The sensor device 19 and the transmitting device 21.1 are activated. The transmitting device 21.1 emits the radar radiation 5 via the multiple radar transmitters 22 into the lateral track environment 4, in particular in the first main radiation direction 241,1. To generate the measurement data, the radar radiation 5 reflected from the track environment 4 is transmitted by means of the transmitters.

sensor device 19.

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The main radiation direction 24 is changed electronically by means of the transmitting device 21.1, in particular pivoted about the vertical second axis 26. The radar radiation 5 is emitted in the next main radiation direction 24.1. The reflected radar radiation 5 is again detected by the sensor device 19. The pivoting of the main radiation direction 24 is subsequently carried out in predetermined angular steps ß about the vertical second axis 26. The respective angular step ß can be 0.1°. Overall, the main radiation direction 24 can be pivoted about the second axis 26 by a maximum of 120°, in particular a maximum of 90°, in particular 60°.

the.

Likewise, the main radiation direction 24 is pivoted about the horizontal, first axis 25, in particular successively by an angular step a of, for example, 0.1°. Preferably, the pivoting movement is carried out by a single angular step a about the first axis 25 after each complete run of the pivoting movement about the second axis 26. Overall, the main radiation direction 24 can be pivoted about the first axis 25 by a maximum of 120°, in particular a maximum of 90°, in particular 60°.

This allows the track environment 4 to be recorded in a grid-like manner.

The reference object 3.1, in particular the signal reflector 7, reflects the emitted radar radiation 5. The reflected radar radiation 5 is detected by the sensor device 19. The recorded measurement data include information about the three-dimensional geometry of the track environment 4. The measurement data can preferably be represented as a three-dimensional point cloud. Due to the dependence of the degree of reflection of the radar radiation 5 on the material composition of the respective reference object 3.1, 3.2, 3.3, the measurement data can also contain information about the material

Composition of the track environment 4.

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The measurement data are evaluated by means of the evaluation device 27. The evaluation for the recognition of the reference object 3.1 in the track environment 4 can be carried out using known methods of pattern recognition, in particular

especially image recognition.

The evaluation device 27 is used to determine the direction in which the reference object 3.1 is located with respect to the measuring device 6. The distance of the reference object 3.1 can be determined based on the travel time of the radar

radiation and/or by triangulation.

Signal reflectors 7 are, due to their outstanding reflection properties, particularly reliably identifiable based on the measurement data and

locatable.

The first reference position 2.1 of the reference object 3.1 can be used as a local reference position, in particular as a relative position to the measuring position 34.1.

be determined.

Preferably, the global position of the reference object 3.1, 3.2, 3.3 is known, for example because the reference object is a marking or a signal reflector 7 arranged on it. The global position of other reference objects 3.3, in particular natural reference objects 3.3, is initially unknown. The first measurement position 34.1 is determined in a global coordinate system by means of the satellite navigation device 30. Based on the first measurement position 34.1 and the first reference position 2.1 determined as a relative position, the global

bale position of the reference object 3.3. Thus, the

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global positions of initially unknown reference objects 3.3 can be determined. The global positions 3.1, 3.2, 3.3 are or will preferably be stored in the storage unit 28 and/or in the central storage unit.

lays.

The detection of the track environment 4 preferably takes place at further measuring positions 34.2, 34.3 along the track 15, in particular during a continuous movement of the measuring device 6, in particular of the carriage 12, along the track 15 and/or when the measuring device 6 is at a standstill. The detection of the track environment 4 at the multiple measuring positions 34.1, 34.2, 34.3 ensures that the same reference object 3.1 can be detected from multiple directions and/or a large number of the reference objects 3.1, 3.2, 3.3 can be detected along the track 15, thus increasing the precision

of the procedure can be increased.

The respective reference position 2.1, 2.2, 2.3 provides, as the relative position of the reference object 3.1, 3.2, 3.3 to the respective measuring position 34.1, 34.2, 34.3, precise information about the arrangement, in particular the position and/or orientation of the measuring device 6, in particular of the underlying track 15, with respect to the reference object 3.1, 3.2, 3.3. This makes it possible to detect deviations in the arrangement of the track 15 and/or to rearrange the track 15 in accordance with a desired arrangement. If the position of the reference object 3.1, 3.2, 3.3 is known in the global coordinate system, in particular stored in the storage unit 28, the arrangement of the measuring device 6, in particular of the underlying track 15, in the global coordinate system can be determined via the reference position 2.1, 2.2, 2.3 determined as the relative position.

system can be closed. Determining the reference positions 2.1,

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2.2, 2.3 of the reference objects 3.1, 3.2, 3.3 thus also enables a precise position determination in a reference coordinate system, in particular

especially in the global coordinate system.

By means of the track processing device 13, in particular by means of the track tamping unit 18 and/or the lifting and straightening unit (not shown), a track construction measure, in particular the compaction of the track bed 14 and/or the rearrangement of the track grid, can be carried out precisely at the desired position. In particular, the deviation of the actual arrangement of the track grid from its target arrangement can be determined using

the determined reference positions 2.1, 2.2, 2.3.

The method, the system 1 and the measuring device 6 ensure precise orientation in the area of a track 15, in particular with regard to the lateral track environment 4. Because the track environment 4 is detected by means of the radar radiation 5, the at least one reference object 3.1, 3.2, 3.3 can be detected particularly reliably and recognized using the measurement data generated. The method is particularly robust against meteorological influences and can be carried out reliably even in heavy fog, rain or changing sunlight. The maintenance of the radar transmitters 22 and the radar sensors 23 is particularly low-effort, since they are insensitive to contamination, in particular dust. Consequently, the method, the system 1 and the measuring device 6 are particularly suitable for applications in a dusty environment, for example in the area of track construction work.

particularly in the area of track bed compaction.

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Further embodiments of transmitting devices 21.2, 21.3, 21.4 are described with reference to Figs. 4B, 4C and 4D. The transmitting devices 21.2, 21.3, 21.4 are compatible with the measuring device 6.

The transmitting device 21.2 shown in Fig. 4B has several radar transmitters 22, whereby all of the radar transmitters 22 are arranged in a grid pattern and on a curved surface 35, in particular a cylinder surface. This makes it possible to influence the direction of radiation of the radar radiation 5, in particular the measuring range and/or the measuring resolution. In addition, the transmitting device 21.2 corresponds to the

transmitting device 21.1 described above.

A transmitting device 21.3 is described with reference to Fig. 4C, in which several radar transmitters 22 are arranged equidistant from one another along a straight line 36. A corresponding transmitting device 21.3 can be produced particularly economically. If the line 36 is aligned obliquely to the longitudinal extension of the track 15, a three-dimensional geometry of the track environment 4 can be determined by moving the measuring device 6 along the track 15, in particular according to the functionality of a line

scanners, are recorded.

With reference to Fig. 4D, a transmitting device 21.4 is described in which several radar transmitters 22 are arranged along a curved line 37, in particular equidistant from one another. The arrangement of the radar transmitters 22 along the curved line 37 can influence the measuring range and/or the measuring resolution. In other respects, the transmitting device 21.4 corresponds to the transmitting device 21.3 described above.

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Claims (1)

15 20 25 23010 "24 - patent claims 1. Method for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4), comprising the steps: 1.1 Generating measurement data by recording the track environment (4), 1.2 Evaluating the measurement data to identify the reference object (3.1, 3.2, 3.3) in the track environment (4), 1.3 Determining the reference position (2.1, 2.2, 2.3) of the reference object (3.1, 3.2, 3.3) based on the measurement data, characterized in that 1.4 the detection of the track environment (4) is carried out by detecting radar radiation (5). 2. Method according to claim 1, characterized in that when evaluating the measurement data, an artificial reference object (3.1, 3.2), in particular an infrastructure object, and/or a natural reference object (3.3), in particular an object of vegetation and/or Earth's surface is detected. 3. Method according to claim 2, characterized in that Evaluating the measurement data a radar reflector (7) is detected. 4. Method according to one of the preceding claims, characterized by emitting radar radiation (5) at at least one transmitting position into the track environment (4), wherein the radar radiation emitted by the track environment (4) reflected radar radiation (5) is detected. 15 20 25 10th 11th 23010 "25 - Method according to claim 4, characterized in that the radar radiation (5) is emitted by means of several radar transmitters (22). Method according to claim 4 or 5, characterized in that the radar radiation (5) is emitted by means of a phased array antenna (21.1, 21.2, 21.3, 21.4). Method according to one of claims 4 to 6, characterized by Changing a main radiation direction (24) of the radar radiation (5). Method according to one of the preceding claims, characterized by generating the measurement data by detecting natural radar radiation. lung (5). Method according to one of the preceding claims, characterized in that the detection of the radar radiation (5) by means of several, spaced-apart radar sensors (20). Method according to one of the preceding claims, characterized in that the detection of the track environment (4) comprises the detection of information about the three-dimensional geometry of the track environment. exercise (4). Method according to one of the preceding claims, characterized in that the detection of the track environment (4) comprises the detection of information about the material composition of the track environment. exercise (4). 10 15 20 25 23010 "26 - 12. Method according to one of the preceding claims, characterized by manually determining at least one reference position (2.1, 2.2, 2.3) by a user. 13. Measuring device (6) for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4), comprising 13.1 a sensor device (19) for generating measurement data by detecting the track environment (4), and 13.2 an evaluation device (27) for detecting at least one reference object (3.1, 3.2, 3.3) of the track environment (4) based on the measurement data and for determining the reference position (2.1, 2.2, 2.3) of the reference object (3.1, 3.2, 3.3) based on the measurement data, characterized in that 13.3 the sensor device (19) comprises at least one radar sensor (20) for detecting the track environment (4) by detecting radar radiation (5). 14. Measuring device (6) according to claim 13, characterized by a track carriage (12) for traveling on the track (15), on which the sensor device (19) is attached. 15. System (1), comprising 15.1 a measuring device (6) according to one of claims 13 or 14, and 15.2 at least one radar reflector (7) at the reference position (2.1).