全断面掘进机光纤陀螺捷联寻北系统
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摘要
提出一种采用光纤陀螺捷联寻北系统来获得全断面掘进机机头方位角的方法,有效避免激光导向系统因机内不通视和粉尘烟雾等因素影响测量精度的问题。获取陀螺仪输出的地球自转角速度水平分量以及机载倾角仪输出的俯仰角与滚动角,通过坐标旋转变换进行陀螺敏感轴倾斜误差补偿,并利用地球自转角速度在载体坐标系各轴的分量构造公式消除纬度值,采用四位置寻北法计算出掘进机机头方位角。将系统安装于全断面掘进机中进行实验,得到寻北精度为0.07?,满足隧道施工要求。
In order to get the horizontal angle of the head of full face tunnel boring machine, a fiber optic gyroscope strap-down north-seeker is proposed, effectively avoiding the problems of bad visibility and smoke interference when using laser guiding system. The horizontal component of the earth's angular velocity is measured by fiber optic gyroscope, and elevation angle and roll angle of the tunnel boring machine is measured by inclinometer. Tilt error of gyroscope sensitive axis is compensated by coordinate rotation transformation. Moreover, latitude is eliminated by structural formulas using the components of the earth's angular velocity in the carrier coordinate. The horizontal angle of the tunnel boring machine can be calculated by four-position algorithm. The strap-down north-seeker is installed in a full face tunnel boring machine and can achieve 0.07? seeking north precision in the experiment of working condition, which satisfies the requirement of tunnel construction.
In order to get the horizontal angle of the head of full face tunnel boring machine, a fiber optic gyroscope strap-down north-seeker is proposed, effectively avoiding the problems of bad visibility and smoke interference when using laser guiding system. The horizontal component of the earth's angular velocity is measured by fiber optic gyroscope, and elevation angle and roll angle of the tunnel boring machine is measured by inclinometer. Tilt error of gyroscope sensitive axis is compensated by coordinate rotation transformation. Moreover, latitude is eliminated by structural formulas using the components of the earth's angular velocity in the carrier coordinate. The horizontal angle of the tunnel boring machine can be calculated by four-position algorithm. The strap-down north-seeker is installed in a full face tunnel boring machine and can achieve 0.07? seeking north precision in the experiment of working condition, which satisfies the requirement of tunnel construction.
引文
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[8]王丽芬,谢英,杨功流,等.基于光纤陀螺的捷联寻北仪误差分析[J].光电工程,2011,38(5):46-51.WANG Lifen,XIE Ying,YANG Gongliu,et al.Error Analysis of the Strap-down North-finder Based on the Fiber Optic Gyroscope[J].Opto-Electronic Engineering,2011,38(5):46-51.
[9]Eduardo S R,Vladimir A N.Comparison between Two Basic Schemes in Function of the True Earth’s North Detection[C]//International Conference on Integrated Navigation Systems,Saint Petersburg,Russia,May 29-31,2006,21:315-318.
[10]王海明,李四海.一种纬度未知的全姿态光纤陀螺寻北方法[J].中国惯性技术学报,2014,22(1):63-66.WANG Haiming,LI Sihai.Seeking North Method for Fiber Optic Gyroscope North-seeker at All-attitude and Unknown Latitude[J].Journal of Chinese Inertial Technology,2014,22(1):63-66.
[11]张俊杰,李志全.一种缩短闭环干涉式光纤陀螺仪(IFOG)预热时间的方法[J].仪器仪表学报,2005,26(8):149-151.ZHANG Junjie,LI Zhiquan.A Novel Method to Shorten the Warm-up Time of Closed-loop IFOG[J].Chinese Journal of Science Instrument,2005,26(8):149-151.
[2]王彩,李月强,刘力双.顶管机自动导向水平角测量系统研究[J].光学技术,2015,41(3):239-242.WANG Cai,LI Yueqiang,LIU Lishuang.Horizontal Angle Measurement of Automatic Navigation System of Pipe Jacking Machine[J].Optical Technique,2015,41(3):239-242.
[3]张厚美,古力.盾构机姿态参数的测量及计算方法研究[J].现代隧道技术,2004,41(2):15-20.ZHANG Houmei,GU Li.On the Measurement and the Method of Computation of the Posture Parameters of Shields[J].Modern Tunnelling Technology,2004,41(2):15-20.
[4]吕国岭,黄威然,庞红军.盾构自动导向方法的应用研究[J].隧道建设,2005,25(5):11-14.LüGuoling,HUANG Weiran,PANG Hongjun.Research on Application of Automatic Guidance System in Shield Tunnelling[J].Tunnel Construction,2005,25(5):11-14.
[5]朱国力,文香稳,潘明华.曲线拟合在倾角仪测量误差补偿中的应用[J].华中科技大学学报:自然科学版,2010,38(5):83-85.ZHU Guoli,WEN Xiangwen,PAN Minghua.Application of Curve Fitting to Compensation of Measurement Errors from an Inclinator[J].Journal of Huazhong University of Science and Technology:Natural Science Edition,2010,38(5):83-85.
[6]王志乾,赵继印,谢慕君,等.基于倾斜补偿提高多位置捷联寻北精度的研究[J].系统仿真学报,2009,21(2):518-520.WANG Zhiqian,ZHAO Jiyin,XIE Mujun,et al.Study on Improving Precision of Multi-position Strap-down North-seeking Based on Slope Compensation Scheme[J].Journal of System Simulation,2009,21(2):518-520.
[7]ROGERS R M.Applied Mathematics in Integrated Navigation Systems:Second Edition[M].Virginia:American Institute of Aeronautics and Astronautics,2003:105-112.
[8]王丽芬,谢英,杨功流,等.基于光纤陀螺的捷联寻北仪误差分析[J].光电工程,2011,38(5):46-51.WANG Lifen,XIE Ying,YANG Gongliu,et al.Error Analysis of the Strap-down North-finder Based on the Fiber Optic Gyroscope[J].Opto-Electronic Engineering,2011,38(5):46-51.
[9]Eduardo S R,Vladimir A N.Comparison between Two Basic Schemes in Function of the True Earth’s North Detection[C]//International Conference on Integrated Navigation Systems,Saint Petersburg,Russia,May 29-31,2006,21:315-318.
[10]王海明,李四海.一种纬度未知的全姿态光纤陀螺寻北方法[J].中国惯性技术学报,2014,22(1):63-66.WANG Haiming,LI Sihai.Seeking North Method for Fiber Optic Gyroscope North-seeker at All-attitude and Unknown Latitude[J].Journal of Chinese Inertial Technology,2014,22(1):63-66.
[11]张俊杰,李志全.一种缩短闭环干涉式光纤陀螺仪(IFOG)预热时间的方法[J].仪器仪表学报,2005,26(8):149-151.ZHANG Junjie,LI Zhiquan.A Novel Method to Shorten the Warm-up Time of Closed-loop IFOG[J].Chinese Journal of Science Instrument,2005,26(8):149-151.