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为了解决倾角仪在硬岩掘进过程中强振动环境下的失效问题,基于倾角仪输出精度高、微型机电系统(MEMS)陀螺仪抗振动强的优点,提出了多传感融合的姿态测量方法.采用Allan方差方法建立MEMS陀螺仪的随机误差模型,并用扩展卡尔曼滤波算法对陀螺仪的零漂进行有效估计和补偿,在倾角仪失效情况下采用修正过的陀螺仪数据计算掘进机的姿态角.仿真和实验表明:该算法能有效实现振动环境下姿态测量的计算,保证多传感器融合系统误差不超过0.06°.
In order to solve the failure problem of inclinometer in the strong vibration environment during hard rock tunneling, the attitude measurement method based on multi-sensor fusion is proposed based on the high accuracy of inclinometer output and strong anti-vibration of MEMS gyroscope. The Allan variance method is used to establish the random error model of MEMS gyroscope. The extended Kalman filter algorithm is used to estimate and compensate the zero drift of the gyroscope. The gyroscope data are used to calculate the attitude of the boring machine when the inclinometer fails The simulation and experiment show that this algorithm can effectively calculate the attitude measurement in vibration environment and ensure the error of multi - sensor fusion system does not exceed 0.06 °.