Magnetically suspended gyroscope north-seeking data gross error rejecting method based on double position characteristics
A magnetic levitation gyro and gross error rejection technology, which is applied to measuring devices, instruments, etc., can solve the problems of gyro data transition and reduce the north-finding accuracy of the magnetic levitation gyroscope, etc.
Active Publication Date: 2015-12-09
CHANGAN UNIV
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Problems solved by technology
However, through the analysis of a large number of engineering measured data, it is found that in some extreme engineering environments, due to the adverse effects of strong disturbance torque, the gyro data jumps, resulting in a large amount of gross error data, which seriously reduces the north-finding accuracy of the magnetic levitation gyro
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Embodiment 1
[0116] A station is set up on the control point J1 of a survey line J1→J2 of the underground conductor, and an external disturbance torque is applied to the gyro north-seeking data of the survey line when performing north-seeking observations. The coordinate azimuth α' of the survey line can be calculated from the known coordinates of the original underground conductor 坐 =57°50′41″, the azimuth angle of the gyro coordinates measured by the gyro total station is α 坐(未修正) =57°51′01″, the difference between the two is 20″, it can be seen that the disturbance torque causes a large deviation in the north-finding and orientation results of the gyro.
[0117] Step 1: Calculation of the prior value of the azimuth angle of the underground gyroscope.
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The invention discloses a magnetically suspended gyroscope north-seeking data gross error rejecting method based on double position characteristics. The method comprises the following steps: calculating the priori value of azimuth angle of gyroscope; individually collecting the rotor current data of a first precision seeking balance position and a second precision seeking balance position under different installation positions, establishing a regression equation set of rotor current value and the azimuth angle of installed gyroscope; taking the priori value of azimuth angle of gyroscope as the north-seeking azimuth angle, then substituting the priori value into the regression equation set to calculate the predict value of gyroscope north-seeking sampled data; on an installation position, collecting the rotor current data of two precision seeking positions, calculating the estimated error; individually calculating the double position rotor current value regression prediction interval on the current installation position; eliminating the rotor current data that is not in the regression prediction interval; and finally calculating the gyroscope positioning result after correction. According to the method, gyroscope azimuth angle, which is calculated according to an original underground lead coordinate azimuth angle, is taken as the priori value; then the confidence interval of gyroscope rotor current value is predicted, the gross error of north-seeking data under the influence of strong disturbance torque is ejected, and the north-seeking result is corrected.
Description
technical field [0001] The invention belongs to the field of underground engineering surveying, and in particular relates to a method for eliminating gross errors in magnetic levitation gyro north-seeking data based on dual-position features. High-precision penetration measurement in mines. Background technique [0002] The magnetic levitation gyro total station is a high-precision gyro orientation instrument newly independently developed in my country. This instrument has been successfully used in more than 30 underground projects such as mines, tunnels, and subways in China, and has achieved good orientation results. The magnetic levitation gyroscope replaces the suspension belt support system of the traditional gyro theodolite through the magnetic levitation support technology, which minimizes the influence of the external disturbance torque on the gyro north-seeking process, and uses the non-contact photoelectric torque feedback control technology to realize the strap-do...
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Login to view more IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 石震马骥杨志强
Owner CHANGAN UNIV
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