I think it would certainly be worth maintaining more contact using e-mail, since it is time stamped (though not to excess, of course) especially given the one collegue wanting your input but the subsequent rude response from the project leader.
As lisianthus said, though, moving this to anyone in HR would probably be a mistake - you've filled in time sheets, you know you are putting in lots more hours than simply those at the office.
Perhaps time for you to get copies of past time sheets and keep photocopies in future, so when you next have some internal review about your career and salary, you can point out that you feel your efforts are not always appreciated.
I assume from "Usually when I work these kind of hours, the senior person is really appreciative even though I'm not in the office. It feels like she's really resentful that I'm not there." that other projects you have been involved with have had senior staff who accept your circumstances mean that being in the office 'all hours' isn't possible, but you're certainly not a slacker, whereas this particular project has a leader who may be nasty towards you (and perhaps it is secret envy that you have done the right thing and been home to see your youngsters get to bed).
It should not be a 'requirement' that anyone gets pushed to work many hours past the (now usual) 37.5 / 40 hour week.
Admittedly the higher the salary, the greater the expectation, but I assume there's no consideration of paying overtime to get these projects completed. It probably boils down to many a project being difficult to estimate on timescales and firms regularly say "Yes" first and worry about meeting the deadline closer to the deadline, no matter how much stress they force on staff.
So, for LadyBiscuit - don't feel ridiculous, you're working hard, and if this pushy woman doesn't see it, then it's her problem. It isn't worth quitting your job over, but rather than taking it up with HR, make it an issue at a future salary review, because you are every bit as dedicated, just cannot stay all hours in the office, and do carry on working as you hope they appreciate.
Being nosy, do you know how other colleagues feel about the hours, and (perhaps more important) do they have partners and children who may resent the hours they spend at the office... (Or do you think they are getting sufficient extra income for the hours to be seen as necessary, and their standard of living, holidays, etc, are used to justify the hours they put it ?)
Also, do you consider yourself "on a par" in terms of effort you put in, or do you think some of them are doing that 'presenteeism' thing so they are there in body, but not necessarily working hard, just want to be seen to be there ?