精密磁悬浮陀螺全站仪特殊环境数据算法分析及稳定性研究

发布时间：2018-04-06 00:38

本文选题：精密磁悬浮陀螺全站仪　切入点：误差分析　出处：《长安大学》2013年博士论文

【摘要】：从陀螺仪的发展进程看，陀螺仪软硬件系统都在不断地发展和完善。国内外专家学者主要是集中在三个方面进行不懈的努力和探索，即仪器的硬件的改进和研制、观测方法的完善和观测数据处理公式和精度的研究以及仪器应用方面的拓展，通过这些研究来提高仪器的精度、稳定性和应用范围。多年来，长安大学测绘与空间信息研究所与中国航天科技集团第十六研究所经过联合技术攻关，研制的国内首台基于磁悬浮支承体系，数分钟内定向精度优于5″的高精度磁悬浮陀螺全站仪，先后应用于国内几十项重大工程，并取得满意的定向精度。该仪器系统借助磁悬浮技术使高速旋转的陀螺马达处于悬浮状态，消除了传统陀螺机械摩擦干扰力矩等不良影响，并通过力矩传感器和陀螺转子之间的相互作用，测量两个精寻盘位采集的4万组电流值，计算出测线的真北方位。但在某些实验和工程应用中，发现某些环境中的强风、振动或磁场对仪器采集的转子电流值产生影响，数据含有显著的噪声，离散度偏大，陀螺仪转子系统受测量环境的影响明显，影响了仪器的定向精度和稳定性。为了提高仪器的精度和稳定性，论文研究了磁悬浮陀螺全站仪系统误差问题，对其进行分类研究和分析，对仪器采集的转子电流数据运用时间序列分析、小波分析、自适应过滤法及自适应渐消滤波法进行滤波、预测和建模，以提高转子电流的数据精度，从而提高仪器定向精度和稳定性，为今后仪器的小型化、智能化、自动化发展提供改进的依据。论文研究的主要结论如下： 1.仪器误差主要包括系统误差、偶然误差及起算数据误差的影响，仪器的转子圆度误差和质量不平衡等系统误差的影响可通过数理统计的方法加以检验判断，通过观测方法的改进、计算方法的改正和仪器的检校加以消除或减弱。而仪器电压的不稳定、频率的变化、外界振动及温度梯度变化使转子转速不均，从而产生干扰力矩导致力矩器的指向力矩突变而产生偶然误差可通过统计学的方法加以分析，用相应的数据处理方法加以剔除。 2.利用时间序列分析法分析了用于计算定向角的转子电流数据统计特性，，通过计算编程建立磁悬浮陀螺全站仪定向误差的线性、平稳的时间序列模型。根据建立的时间序列模型自主地修正转子电流数据，利用修正的转子电流数据计算定向角，提高了仪器的定向精度。 3.基于磁悬浮支承体系的磁悬浮陀螺全站仪在定向测量过程中，由于受到仪器内部结构和外界观测环境多种因素的影响，其转子电流数据会产生非稳定性的波动，这种非稳定性可由残差序列的条件异方差特性所反映。通过对条件异方差模型（GARCH模型）的性质和建模过程的分析研究，经编程计算建立磁悬浮陀螺全站仪采集的转子电流数据的GARCH模型。通过所建模型分析不仅可得，产生转子电流数据非平稳波动的基本原因不是由于仪器内部结构所产生，而是由外界环境因素引起的。而且可以判断产生转子电流条件异方差数据具有时变性和簇集性两个特征，据此选择仪器采集数据的最佳时段，为转子电流数据特征分析和处理提供一种新方法。 4.利用小波分析法，对仪器采集的转子电流观测数据的误差进行剔除，有效地从强噪声干扰的转子电流数据中提取用于计算定向角的数据，较好地改善仪器的定向结果，提高了仪器定向角的精度。 5．利用自适应过滤法原理及计算方法，建立自适应过滤法模型动态地预测磁悬浮陀螺全站仪数据的变化趋势。这种模型适合于作周期性变化的磁悬浮陀螺全站仪观测数据的预报，此方法可以作为仪器观测数据自动监测的有效手段之一。 6．将渐消因子引入到自适应滤波算法中,运用渐消自适应Kalman滤波算法原理处理磁悬浮陀螺全站仪系统采集的转子电流值,对仪器定向精度的提高有一定的作用，但是效果不明显。
[Abstract]:From the development process of gyro, gyroscope hardware and software system are in constant development and improvement. Experts and scholars at home and abroad is mainly to make unremitting efforts and exploration in three aspects, namely the improvement and development of the hardware equipment, observation method and the improvement of data processing formula and precision of the research and Application of the instrument to improve the precision of instrument development, through these studies, the stability and the scope of application.
Over the years, Chang'an University of Surveying and mapping and Spatial Information Research Institute and sixteenth China Aerospace Science and technology group through joint technical research, developed the first domestic based on the magnetic bearing system, high precision magnetic gyro station within minutes of directional accuracy is less than 5 ", the first to dozens of major domestic engineering, and made satisfactory accuracy. The instrument system by means of magnetic levitation technology to make high-speed rotation of the gyro motor in a suspended state, to eliminate the adverse effects of traditional gyro mechanical friction torque, and the interaction between the torque sensor and gyro rotor, measuring two fine plate of a collection of 40 thousand groups for current value, calculate the range north line but in some experiments and engineering applications, some in the environment of strong winds, vibration or impact on the value of the magnetic field of rotor current instrument, data contain significant The noise, the degree of dispersion is large, the rotor system of the gyroscope is influenced by the measured environment, which affects the orientation precision and stability of the instrument.
In order to improve the precision and stability of the instrument, the paper studied the magnetic gyro error problem, the classification of its research and analysis, using time series analysis, data acquisition instrument of rotor current wavelet analysis, adaptive filtering and adaptive fading filter filtering, prediction and modeling, in order to improve the rotor current the data accuracy, thereby improving the instrument orientation precision and stability for miniaturization, intelligent instruments in the future, provide the basis of improving the development of automation. The main conclusions of this paper are as follows:
1. instrument error mainly includes system error, accidental error and error of original data, the instrument of the rotor roundness error and mass unbalance influence of system error can be judged by the method of mathematical statistics, through the improvement of observation method, calculation method of the correction and calibration instrument to eliminate or weaken the instrument. Voltage instability, frequency change, external vibration and temperature gradient change of rotor speed is uneven, resulting in disturbance torque torque torque is the lead point mutation and random error can be analyzed by statistical method, using the corresponding data processing method to eliminate.
2. using time series analysis method is used to calculate the rotor current orientation angle data statistical characteristics analysis, a linear magnetic gyro orientation error calculated by programming, time series model. According to the stationary time series model established independently modified rotor current data, using data correction calculation of the rotor current orientation angle, improve the orientation the accuracy of the instrument.
3. based on the magnetic gyro magnetic bearing system in directional measurement process, due to the impact of the internal structure and external environment observation instruments and a variety of factors, the rotor current data will produce unstable fluctuations, the stability can be reflected by the residual sequence of a different variance characteristic. Through the model of conditional heteroskedasticity (Analysis on the nature of the GARCH model) and the process of modeling, the GARCH model calculation of rotor current data to establish the magnetic gyro acquisition by programming. Through the model analysis can not only have basic reasons for the rotor current data non-stationary fluctuation is not due to the internal structure of instrument, but caused by environmental factors. And you can judge the rotor current conditions of heteroscedastic data are time-varying and clustering of two characteristics, select the most data acquisition instrument A good time period provides a new method for the analysis and processing of the characteristics of the rotor current data.
4., wavelet analysis is used to eliminate the error of rotor current observation data collected by the instrument. It effectively extracts data for calculating the orientation angle from rotor current data with strong noise, which improves the orientation results of instruments and improves the accuracy of instrument orientation angle.
5. the use of adaptive filtering principle and calculation method to establish the dynamic adaptive filtering method to predict the change trend of magnetic data model of gyro magnetic gyro station observation data. This model is suitable for the periodic change of the forecast, this method can be used as an effective means of data automatic monitoring instrument.
6., the fading factor is introduced into the adaptive filtering algorithm, and the principle of adaptive Kalman filtering algorithm is applied to deal with the rotor current value collected by the maglev gyro total station system, which plays a certain role in improving the directional accuracy of the instrument, but the effect is not obvious.

【学位授予单位】：长安大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：P204

【引证文献】