On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target

A laser target and automatic guidance technology, which is applied in the field of gyro drift, can solve the problems of cumbersome and complicated calibration work, and difficult problems in the application of unit engineering, so as to achieve the effect of eliminating regular calibration and improving accuracy

Inactive Publication Date: 2007-11-28
BEIHANG UNIV
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Problems solved by technology

Therefore, it is usually necessary to calibrate the automatic guidance system of the shield machine every half a year or every three month

Method used

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  • On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target
  • On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target
  • On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target

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Embodiment Construction

[0016] As shown in Figure 1, the automatic guidance system of the shield machine based on the gyro total station and the laser target is mainly composed of the gyro total station, the laser target, the automatic guidance system computer and the rear-view reference prism, among which the gyro total station It is composed of a strapdown gyro north finder and a laser total station; the gyro north finder performs independent north finding and determines the slope angle and roll angle of the gyro total station; the laser total station emits laser light to the rear-view reference prism and the laser marker Target to measure the distance from the gyro total station to the backsight reference prism and the laser target, and provide position coordinates according to the backsight reference prism, and calculate the coordinates of the laser total station and the coordinates of the laser target; the laser target will be the laser total station The laser emitted by the instrument is reflect...

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Abstract

The invention relates to an on-line calibration method for automatic guiding system of shield machine based on gyro total station and laser target, characterized in that in digging process of shield machine, laser total station is used to track prism at the lower part of laser target and the change of horizontal azimuth angle of strap-down gyro north finder while by two accumulators in gyro north finder elevation angle and roll angle of gyro north finder are calculated; then by three altitude angles measured accurately angle speed of Z axis, which can not be measured by strap-down gyro north finder, is calculated; and then it is combined with angle speeds of X and Y axes measured by gyro to carry out strap-down altitude algorithm; finally three angles measured accurately are used as observing values and kalman filter is used to evaluate gyro excursion while it is compensated in system. The invention is provided with the merit that the error of gyro excursion can be eliminated on line and can be used to improve accuracy of automatic guiding system.

Description

technical field [0001] The invention relates to an online calibration method for an automatic guidance system of a shield machine based on a gyro total station-laser target, which can be used for online correction of the gyro drift of the automatic guidance system of a shield machine based on a gyro total station-laser target. Background technique [0002] The shield machine automatic guidance system is a system that integrates measurement, instrumentation and computer software and hardware technologies, and has the function of dynamically measuring the position and attitude of the shield machine. The automatic guidance system based on the gyro total station-laser target is mainly composed of It consists of gyro total station, laser target, backsight reference prism and automatic guidance system computer, among which gyro total station is mainly composed of strapdown gyro north finder and laser total station. The system has the advantages of high precision, autonomous north-...

Claims

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Application Information

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IPC IPC(8): G01C21/18
Inventor 刘百奇房建成全伟杨照华杨胜李金涛
Owner BEIHANG UNIV
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