CN108332743A - A kind of combination measurement method suitable for optical fibre gyro trepanning position indicator - Google Patents
A kind of combination measurement method suitable for optical fibre gyro trepanning position indicator Download PDFInfo
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- 239000013307 optical fiber Substances 0.000 title claims abstract description 23
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- 238000005553 drilling Methods 0.000 claims abstract description 90
- 238000005259 measurement Methods 0.000 claims abstract description 68
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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Abstract
The present invention relates to field of measuring technique, disclose a kind of combination measurement method suitable for optical fibre gyro trepanning position indicator.The combination measurement method is to carry out use processing with the Inertia information that optical fibre gyro trepanning position indicator acquires in real time by using underground drilling machine measurement point geographical location information and the distinctive constraint of velocity information of drilling machine operation, with locating holes position.The present invention can effectively improve the measurement accuracy of underground drilling machine optical fibre gyro trepanning position indicator by being merged into row information, high-precision combination metering system can be realized under conditions of equally accurate inertia measurement device in use, reduce the processing cost of underground drilling machine optical fibre gyro trepanning position indicator.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a combined measurement method of a fiber-optic gyroscope opening locator.
Background
The safe production is a necessary condition for coal mining, and before coal mining, gas drainage needs to be carried out on a coal seam drilled hole. This requires drilling a large number of gas extraction holes downhole. In order to ensure the underground safety and higher gas extraction rate, the construction drilling machine is required to carry out punching operation according to a pre-designed azimuth angle and a pre-designed pitch angle. Therefore, before drilling, the attitude information of the drill rod of the drilling machine must be accurately measured so as to ensure that the attitude of the drill rod of the drilling machine is finally adjusted to the pre-designed azimuth angle and pitch angle.
Currently, the known determination of the azimuth angle and the pitch angle of the underground drilling rig is completed by means of manual measurement. The attitude information of the underground drilling machine is determined by means of the azimuth angle of the roadway, and through a manual projection and geometric measurement method. The disadvantages of this manual measurement method are obvious: consumes a great deal of manpower, has long measuring time and large measuring error, and is difficult to meet the actual requirements of quick and accurate measurement. In order to overcome the defects of the manual measurement method, the fiber-optic gyroscope which is widely applied to the inertial measurement technology of aerospace is adopted for opening and positioning, the attitude angle of the drill rod of the underground drilling machine is measured, and the operation efficiency can be effectively improved. However, the high-precision inertial measurement device is high in cost, and due to the limitation of the inertial measurement technical principle, the measurement error of the underground drilling machine fiber-optic gyroscope open-hole orientator pure inertial measurement method is gradually accumulated along with time, so that the measurement precision of the underground drilling machine fiber-optic gyroscope open-hole orientator is seriously influenced, the gas extraction quantity is slightly influenced, and the safety of coal mine workers is threatened.
The inertial measurement is divided into platform type and strap-down type inertial measurement, and the strap-down type inertial measurement is an inertial measurement mode in which a gyroscope and an accelerometer are directly and fixedly connected on a machine body. Strapdown inertial measurement is a mode of measurement in which a mathematical platform replaces a physical platform in platform-type inertial measurement. The strapdown inertial measurement has the advantages of simple mechanical structure, small size and low relative cost, but the gyro and the accelerometer are directly and fixedly connected on a machine body, so that the input dynamic range of the gyro and the accelerometer is large, better requirements are provided for the selected gyro and the selected accelerometer, and in addition, a mathematical platform is selected to replace a physical platform, and the requirements on a computer for data processing are high.
Disclosure of Invention
The invention aims to overcome at least one defect in the prior art, and provides a strapdown inertial combined measurement method which overcomes the defect of pure inertial measurement, realizes high-precision measurement of a hole-forming locator and has low measurement cost and is suitable for a coal mine underground drill fiber-optic gyroscope hole-forming locator.
In order to solve the technical problems, the technical scheme of the invention is as follows: the combined measurement method is suitable for the fiber-optic gyroscope open-hole position finder, and the geographic position information of a measurement point of an underground drilling machine, the speed constraint information specific to the operation of the drilling machine and the inertial information acquired by the fiber-optic gyroscope open-hole position finder in real time are used for carrying out information fusion processing so as to position the open-hole position.
Further, the method specifically comprises the following steps:
s1, comparing the geographical position information of the measuring point of the underground drilling rig optical fiber gyro open pore position indicator and the speed constraint information specific to the drilling rig operation with the position information and the speed information of the drilling rig collected by the optical fiber gyro open pore position indicator in real time to obtain a difference signal;
s2, obtaining a compensation signal through the difference signal in the step S1;
and S3, estimating and online correcting the measured position information and speed information error information of the drilling machine by the compensation signal in the step S2, and compensating the measured error in real time to realize high-precision measurement of the underground drilling machine optical fiber gyroscope open hole position finder.
Further, in the step S1, the drilling machine position information and the drilling machine speed information are respectively calculated by a strapdown inertial navigation algorithm and then output.
Further, the step S1In the method, a fiber optic gyroscope is adopted to output a fiber optic gyroscope opening position finder body coordinate system O of the underground drilling rigbXbYbZbAngular velocity information, and a coordinate system O of the body of the underground drilling rig fiber-optic gyroscope open-hole positioning instrument output by adopting an accelerometerbXbYbZbThe angular velocity information and the specific force information are calculated by a strapdown inertial navigation algorithm, and then the speed information V of the underground drilling machine fiber-optic gyroscope open hole positioning instrument is outputx,Vy,Vz。
Further, in step S2, a kalman filter model is established, and the difference signal in step S1 is used as the observed quantity of the kalman filter to perform data fusion to obtain a compensation signal.
Further, in step S1, the calculation formula of the speed difference is:
wherein,
Vxrepresenting the east speed calculated by the strapdown inertial navigation algorithm of the underground drilling machine fiber-optic gyroscope open-hole locator; vyRepresenting the north velocity calculated by the strapdown inertial navigation algorithm of the underground drilling machine optical fiber gyroscope open-hole locator; vzAnd the method represents the space-wise speed calculated by the strapdown inertial navigation algorithm of the underground drilling machine fiber-optic gyroscope open-hole locator.
Further, in step S1, the position difference formula is:
wherein Lat represents the latitude calculated by the strapdown inertial navigation algorithm of the underground drilling rig fiber-optic gyroscope open-hole locator; lon represents longitude calculated by a strapdown inertial navigation algorithm of a fiber-optic gyroscope open-hole locator of the underground drilling rig; h represents wellThe height calculated by the strapdown inertial navigation algorithm of the down-drilling machine optical fiber gyroscope open-hole positioning instrument; lat0Representing the latitude of a measuring point of a fiber-optic gyroscope opening positioner of the underground drilling machine; lon0Representing the longitude of a measuring point of a fiber-optic gyroscope opening positioner of the underground drilling machine; h0And the height of the measurement point of the fiber-optic gyroscope opening positioner of the underground drilling machine is represented.
Further, the kalman filter model is as follows:
Z(t)＝H(t)X(t)+V(t) (2)
the formula (1) is a state equation of a continuous system; equation (2) is a measurement equation for a continuous system.
The Kalman filter is dispersed to obtain:
Xk＝φk,k-1Xk-1+Γk-1Wk-1(3)
Zk＝HkXk+Vk(4)
formula (3) is a state equation of the system discretization; equation (4) is a measurement equation of system discretization.
Wherein: xkIs tkTime of day state variable, Xk-1Is tk-1A time state variable; phi is ak,k-1Is tk-1Time to tkTransferring the array in one step; gamma-shapedk-1Driving the array for system noise; wk-1Exciting a noise sequence for the system; zkIs tkObserving a variable at a moment; hkIs a measuring array; vkTo measure the noise sequence.
Further, the state variables are selected as:
X＝[δγxδγyδγzδvxδvyδvzηxηyηzδfxδfyδfzδωxδωyδωz]
in the formula: delta gammaxRepresenting a local geographical coordinate system OtXtYtZtLower position error X-axis component, δ γyRepresenting a local geographical coordinate system OtXtYtZtLower position error Y-axis component, δ γzRepresenting a local geographical coordinate system OtXtYtZtLower position error Z-axis component, δ vxRepresenting a local geographical coordinate system OtXtYtZtX-axis component of velocity error, δ vyRepresenting a local geographical coordinate system OtXtYtZtVelocity error Y-axis component, δ vzRepresenting a local geographical coordinate system OtXtYtZtVelocity error Z-axis component of (C η)xIndicating the error in azimuth angle psi, ηyRepresenting tilt angle θ error, ηzShowing the error of the roll angle phi;
the one-step transfer matrix is:
compared with the prior art, the invention has the beneficial effects that:
the combined measurement method overcomes the limitation of pure inertia measurement technology, can effectively improve the measurement precision of the underground drilling machine fiber-optic gyroscope open pore position indicator, can realize a high-precision combined measurement system under the condition of using a medium-precision inertia measurement device, and greatly reduces the processing cost of the underground drilling machine fiber-optic gyroscope open pore position indicator.
Drawings
FIG. 1 is a schematic view of the components of an optical fiber strapdown inertial measurement unit of an underground optical fiber inertial opening positioner.
FIG. 2 is a block diagram of the strapdown inertial measurement method of the present invention.
In the figure, 1 is a base, 2 is a fiber optic gyro assembly, 3 is a meter-adding assembly, and 4 is a shell.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
The embodiment provides a combined measurement method suitable for a fiber-optic gyroscope open-hole positioning instrument, which performs information fusion processing by using geographic position information of a measurement point of an underground drilling machine, speed constraint information specific to operation of the drilling machine and inertial information acquired by the fiber-optic gyroscope open-hole positioning instrument in real time so as to position an open-hole position.
The method specifically comprises the following steps.
S1, comparing geographical position information of a measuring point of an underground drilling machine optical fiber gyroscope open hole positioning instrument and speed constraint information specific to drilling machine operation with drilling machine position information and speed information output by strapdown inertial measurement respectively to obtain difference signals.
And S2, performing data fusion by using the difference signal in the step S1 as an observed quantity of the Kalman filter to obtain a compensation signal.
And S3, estimating and online correcting the measured position information and speed information error information of the drilling machine by the compensation signal in the step S2, and compensating the measured error in real time to realize high-precision measurement of the underground drilling machine optical fiber gyroscope open hole position finder.
The specific steps are as follows.
One, strapdown inertial measurement
Fiber-optic gyroscope open hole locator body coordinate system O of underground drilling machine output by fiber-optic gyroscope in strapdown inertial measurementbXbYbZbAngular velocity information of the lower part; downhole drilling machine fiber-optic gyroscope open hole locator machine body coordinate system O output by accelerometerbXbYbZbSpecific force information of; then after the angular velocity information and the specific force information are solved by adopting a strapdown inertial navigation algorithm, the velocity information V of the underground drilling machine optical fiber gyroscope open hole positioner is outputx,Vy,Vz(ii) a The position information of the underground drilling rig fiber-optic gyroscope open hole positioning instrument comprises latitude Lat, longitude Lon and height H; the attitude information of the underground drilling rig fiber optic gyroscope open hole positioning instrument comprises an azimuth angle psi, a roll angle phi and an inclination angle theta.
Information comparison
According to the operation characteristics of the underground drilling machine, the position and the linear speed are kept unchanged when the coal seam is drilled, and only the posture of the drill rod is changed. Therefore, two characteristic information of the geographical position and the speed constraint of the measuring point are used as external information sources to be compared with the output of the strapdown inertial measurement unit of the underground drilling machine fiber-optic gyroscope open-hole locator:
speed difference output by information comparison A unit
Position difference output by information comparison B unit
Wherein:
Vxrepresenting the east speed calculated by the strapdown inertial navigation algorithm of the underground drilling machine fiber-optic gyroscope open-hole locator;
Vyrepresenting the north velocity calculated by the strapdown inertial navigation algorithm of the underground drilling machine optical fiber gyroscope open-hole locator;
Vzrepresenting the space velocity calculated by the strapdown inertial navigation algorithm of the underground drilling machine fiber-optic gyroscope open-hole locator;
lat represents the latitude calculated by the strapdown inertial navigation algorithm of the underground drilling machine optical fiber gyroscope open-hole positioning instrument;
lon represents longitude calculated by a strapdown inertial navigation algorithm of a fiber-optic gyroscope open-hole locator of the underground drilling rig;
h represents the height calculated by the strapdown inertial navigation algorithm of the underground drilling machine optical fiber gyroscope open hole locator;
Lat0representing the latitude of a measuring point of a fiber-optic gyroscope opening positioner of the underground drilling machine;
Lon0representing the longitude of a measuring point of a fiber-optic gyroscope opening positioner of the underground drilling machine;
H0and the height of the measurement point of the fiber-optic gyroscope opening positioner of the underground drilling machine is represented.
Three, Kalman filtering
The Kalman filter basic equation is:
Z(t)＝H(t)X(t)+V(t) (2)
the formula (1) is a state equation of a continuous system; equation (2) is a measurement equation for a continuous system.
The Kalman filter is dispersed to obtain:
Xk＝φk,k-1Xk-1+Γk-1Wk-1(3)
Zk＝HkXk+Vk(4)
formula (3) is a state equation of the system discretization; equation (4) is a measurement equation of system discretization.
Wherein:
Xkis tkTime of day state variable, Xk-1Is tk-1A time state variable;
φk,k-1is tk-1Time to tkTransferring the array in one step;
Γk-1driving the array for system noise;
Wk-1exciting a noise sequence for the system;
Zkis tkObserving a variable at a moment;
Hkis a measuring array;
Vkto measure the noise sequence.
The state variables are selected as:
X＝[δγxδγyδγzδvxδvyδvzηxηyηzδfxδfyδfzδωxδωyδωz]
in the formula:
δγxrepresenting a local geographical coordinate system OtXtYtZtThe X-axis component of the position error below,
δγyrepresenting a local geographical coordinate system OtXtYtZtThe Y-axis component of the lower position error,
δγzrepresenting a local geographical coordinate system OtXtYtZtThe Z-axis component of the lower position error,
δvxrepresenting a local geographical coordinate system OtXtYtZtThe X-axis component of the velocity error,
δvyrepresenting a local geographical coordinate system OtXtYtZtThe Y-axis component of the velocity error,
δvzrepresenting a local geographical coordinate system OtXtYtZtThe Z-axis component of the velocity error,
ηxwhich represents the error in the azimuth angle psi,
ηywhich is indicative of the error in the tilt angle theta,
ηzthe error in the roll angle phi is shown,
the one-step transfer matrix is:
output Z of Kalman filter receiving information comparison unitKA、ZKBAs observed quantity
Z＝[δγxδγyδγzδvxδvyδvz]＝[ZKBZKA]
Thus, it is possible to obtain: the measurement array is
And (4) realizing real-time optimal estimation of the state quantity by using a Kalman filter.
Fourthly, attitude error compensation correction and display
And (4) sending the output of the Kalman filter to a strapdown inertial measurement unit, and compensating and correcting the output attitude angle of the strapdown inertial measurement unit.
Outputting compensated attitude information of the underground drilling rig fiber-optic gyroscope open hole position finderAnd displaying an interface for the computer.
The strapdown inertial combination measurement method suitable for the fiber-optic gyroscope open-hole locator of the downhole drilling machine provided by the embodiment is used for estimating relevant errors of strapdown inertial combination, correcting and compensating after information comparison between position information and speed information output by strapdown inertia and known geographical position information of the fiber-optic gyroscope open-hole locator of the downhole drilling machine and speed constraint information of the fiber-optic gyroscope open-hole locator of the downhole drilling machine when the fiber-optic gyroscope open-hole locator is static and Kalman filtering processing is carried out on a difference value output by the information comparison. And the corrected and compensated strapdown inertial measurement outputs attitude information to a computer for displaying so as to adjust the attitude of the underground drilling machine.
The strapdown inertial measurement method for the open-hole locator of the fiber-optic gyroscope of the underground drilling rig can effectively improve the measurement precision of the open-hole locator of the fiber-optic gyroscope of the underground drilling rig by information fusion, can realize a high-precision combined measurement system under the condition of using middle-precision inertial measurement devices (the fiber-optic gyroscope and the accelerometer), and reduces the processing cost of the open-hole locator of the fiber-optic gyroscope of the underground drilling rig.
Example 2
This embodiment provides a measurement system to which the combined measurement method of embodiment 1 is applied. The device comprises a fiber-optic gyroscope, an accelerometer, a strapdown inertial measurement unit, a comparison unit, a position information module for measuring the geographic position of a measurement point of the fiber-optic gyroscope open-hole locator, a speed constraint information module for measuring the speed constraint when the fiber-optic gyroscope open-hole locator is static, and a Kalman filtering module.
In this embodiment, the fiber optic gyroscope, the accelerometer, and the strapdown inertial measurement unit together form the fiber optic gyroscope open-hole locator fiber strapdown inertial measurement unit. As shown in fig. 1, the fiber optic gyro open hole locator fiber strap down inertial measurement unit includes a base 1, a fiber optic gyro assembly 2, a gauging assembly 3 and a housing 4.
As shown in fig. 2, the fiber optic gyroscope and the accelerometer are both connected with an input end of a strapdown inertial measurement unit, the strapdown inertial measurement unit is connected with an input end of a comparison unit, the position information module and the speed constraint information module are respectively connected with an input end of the comparison unit, and an output end of the comparison unit is connected with an input end of the strapdown inertial measurement unit after passing through the kalman filtering module;
the fiber optic gyroscope and the accelerometer respectively transmit angular velocity signals and specific force signals to the strapdown inertial measurement unit, the strapdown inertial measurement unit respectively outputs position signals and speed signals to the comparison unit after performing strapdown inertial navigation resolving on the angular velocity signals and the specific force signals, the comparison unit compares the resolved position signals with geographic position signals of measuring points of the fiber optic gyroscope open-cell locator, compares the resolved speed signals with speed constraint signals of the fiber optic gyroscope open-cell locator, and feeds the compared signals back to the strapdown inertial measurement unit after Kalman filtering through a Kalman filter.
The comparison unit comprises a comparison unit A for speed comparison and a comparison unit B for position comparison.
The display is connected with the strapdown inertial measurement unit and used for displaying the attitude information of the drilling machine.
The system of the embodiment has the advantages of high measurement precision and low cost.
The same or similar reference numbers in the drawings correspond to the same or similar parts; the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent. It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A combined measurement method suitable for a fiber-optic gyroscope open-hole positioning instrument is characterized in that information fusion processing is carried out by utilizing geographic position information of a measuring point of an underground drilling machine, speed constraint information specific to operation of the drilling machine and inertial information acquired by the fiber-optic gyroscope open-hole positioning instrument in real time so as to position an open-hole position.
2. The combined measurement method suitable for the fiber-optic gyroscope opening positioning instrument according to the claim 1, is characterized by comprising the following steps:
s1, comparing geographical position information of a measuring point of an underground drilling machine optical fiber gyro open pore position indicator and speed constraint information specific to drilling machine operation with drilling machine position information and speed information acquired by the optical fiber gyro open pore position indicator in real time to obtain a difference signal;
s2, obtaining a compensation signal through the difference signal in the step S1;
and S3, estimating and online correcting the measured position information and speed information error information of the drilling machine by the compensation signal in the step S2, and compensating the measured error in real time to realize high-precision measurement of the underground drilling machine optical fiber gyroscope open hole position finder.
3. The method for combined measurement suitable for the fiber optic gyro open hole positioning instrument according to claim 2, wherein in the step S1, the drilling machine position information and the drilling machine speed information are respectively calculated by a strapdown inertial navigation algorithm and then output.
4. The method as claimed in claim 3, wherein in step S1, the fiber-optic gyroscope is used to output the coordinate system O of the fiber-optic gyroscope aperture positioning machine body of the downhole drilling machinebXbYbZbAngular velocity information, and a coordinate system O of the body of the underground drilling rig fiber-optic gyroscope open-hole positioning instrument output by adopting an accelerometerbXbYbZbThe angular velocity information and the specific force information are calculated by a strapdown inertial navigation algorithm, and then the speed information V of the underground drilling machine fiber-optic gyroscope open hole positioning instrument is outputx,Vy,Vz。
5. The method as claimed in any one of claims 2 to 4, wherein in step S2, a Kalman filter model is established, and the difference signal in step S1 is used as the observed quantity of the Kalman filter to perform data fusion to obtain the compensation signal.
6. The method for combined measurement of fiber optic gyro aperture positioning instrument according to claim 5, wherein in step S1, the velocity difference is calculated by the following formula:
wherein,
Vxrepresenting the east speed calculated by the strapdown inertial navigation algorithm of the underground drilling machine fiber-optic gyroscope open-hole locator;
Vyrepresenting the north velocity calculated by the strapdown inertial navigation algorithm of the underground drilling machine optical fiber gyroscope open-hole locator;
Vzand the method represents the space-wise speed calculated by the strapdown inertial navigation algorithm of the underground drilling machine fiber-optic gyroscope open-hole locator.
7. The combined measurement method suitable for the fiber-optic gyroscope opening aligner according to claim 5, wherein in step S1, the position difference formula is as follows:
wherein Lat represents the latitude calculated by the strapdown inertial navigation algorithm of the underground drilling rig fiber-optic gyroscope open-hole locator;
lon represents longitude calculated by a strapdown inertial navigation algorithm of a fiber-optic gyroscope open-hole locator of the underground drilling rig;
h represents the height calculated by the strapdown inertial navigation algorithm of the underground drilling machine optical fiber gyroscope open hole locator;
Lat0representing the latitude of a measuring point of a fiber-optic gyroscope opening positioner of the underground drilling machine;
Lon0representing the longitude of a measuring point of a fiber-optic gyroscope opening positioner of the underground drilling machine;
H0and the height of the measurement point of the fiber-optic gyroscope opening positioner of the underground drilling machine is represented.
8. The method according to claim 5, wherein the Kalman filter model is as follows:
Z(t)＝H(t)X(t)+V(t) (2)
the formula (1) is a state equation of a continuous system; equation (2) is a measurement equation for a continuous system.
The Kalman filter is dispersed to obtain:
Xk＝φk,k-1Xk-1+Γk-1Wk-1(3)
Zk＝HkXk+Vk(4)
formula (3) is a state equation of the system discretization; equation (4) is a measurement equation of system discretization.
Wherein:
Xkis tkTime of day state variable, Xk-1Is tk-1A time state variable;
φk,k-1is tk-1Time to tkTransferring the array in one step;
Γk-1driving the array for system noise;
Wk-1exciting a noise sequence for the system;
Zkis tkObserving a variable at a moment;
Hkis a measuring array;
Vkto measure the noise sequence.
9. The combined measurement method suitable for the fiber-optic gyroscope aperture positioning instrument according to claim 8, wherein the state variables are selected from:
X＝[δγxδγyδγzδvxδvyδvzηxηyηzδfxδfyδfzδωxδωyδωz]
in the formula:
δγxrepresenting a local geographical coordinate system OtXtYtZtThe X-axis component of the position error below,
δγyrepresenting a local geographical coordinate system OtXtYtZtThe Y-axis component of the lower position error,
δγzrepresenting a local geographical coordinate system OtXtYtZtThe Z-axis component of the lower position error,
δvxrepresenting a local geographical coordinate system OtXtYtZtThe X-axis component of the velocity error,
δvyrepresenting a local geographical coordinate system OtXtYtZtThe Y-axis component of the velocity error,
δvzrepresenting a local geographical coordinate system OtXtYtZtThe Z-axis component of the velocity error,
ηxwhich represents the error in the azimuth angle psi,
ηywhich is indicative of the error in the tilt angle theta,
ηzthe error in the roll angle phi is shown,
the one-step transfer matrix is:
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| CN1932238A (en) * | 2006-07-17 | 2007-03-21 | 北京航空航天大学 | Full optical fiber digital inclinometer |
| CN103591955A (en) * | 2013-11-21 | 2014-02-19 | 西安中科光电精密工程有限公司 | Combined navigation system |
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|---|---|---|---|---|
| CN1932238A (en) * | 2006-07-17 | 2007-03-21 | 北京航空航天大学 | Full optical fiber digital inclinometer |
| CN103591955A (en) * | 2013-11-21 | 2014-02-19 | 西安中科光电精密工程有限公司 | Combined navigation system |
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