The aim of this work is the development of a model-based methodology for the estimation of lateral track irregularities from measurements from different sensors mounted on an in-service vehicle: a gyroscope to measure wheelset yaw angular velocity, two accelerometers to measure lateral acceleration of the wheelset and bogie frame, and an encoder to obtain forward velocity of the vehicle. The proposed methodology is based on the Kalman filtering technique, through the use of a highly simplified linear dynamic model of a bogie, capable of capturing the most relevant lateral dynamic behaviour of the entire vehicle. The simplified dynamic model (SM) is based on a vehicle running at variable forward velocity on a track, which comprises straight, curve and transition sections. Finally, the proposed methodology has been experimentally validated through an experimental campaign carried out in a 90 m 1:10 scaled track facility at the University of Seville and an instrumented scaled vehicle. The results of the estimation of the lateral alignment are analysed in the space domain and in the space frequency domain, according to standards. These results are promising, showing a good performance for monitoring lateral alignment on straight and curve tracks, with a very low computational cost. Only in the case of very sharp curves, when continuous flange contact takes place, the estimator is not able to precisely estimate lateral alignment.

这项工作的目的是开发一种基于模型的方法，用于根据在役车辆上安装的不同传感器的测量结果来估算横向履带的不规则性：一个用于测量轮对偏航角速度的陀螺仪，用于测量车轮横向加速度的两个加速度计。轮对和转向架框架，以及用于获得车辆前进速度的编码器。所提出的方法基于卡尔曼滤波技术，通过使用高度简化的转向架线性动力学模型，能够捕获整个车辆最相关的横向动态行为。简化的动态模型（SM）基于在轨道上以可变的前进速度行驶的车辆，该车辆包括直线段，曲线段和过渡段。最后，通过在塞维利亚大学的90 m 1:10缩放轨道设施和仪器化缩放车辆中进行的实验活动，对所提出的方法进行了实验验证。根据标准，在空间域和空间频率域中分析横向对准的估计结果。这些结果令人鼓舞，显示了在直线和曲线轨道上监视横向对齐的良好性能，而计算成本却非常低。仅在非常尖锐的曲线的情况下，当发生连续的法兰接触时，估算器无法精确估算横向对齐。根据标准，在空间域和空间频率域中分析横向对准的估计结果。这些结果令人鼓舞，显示了在直线和曲线轨道上监视横向对齐的良好性能，而计算成本却非常低。仅在非常尖锐的曲线的情况下，当发生连续的法兰接触时，估算器无法精确估算横向对齐。根据标准，在空间域和空间频率域中分析横向对准的估计结果。这些结果令人鼓舞，显示了在直线和曲线轨道上监视横向对齐的良好性能，而计算成本却非常低。仅在非常尖锐的曲线中，当发生连续的法兰接触时，估算器无法精确估算横向对齐。