北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (5): 764-769.doi: 10.13700/j.bh.1001-5965.2014.0382

• 论文 • 上一篇    下一篇

电缆长度辅助的光纤陀螺测斜仪组合测量方法

张春熹, 林铁, 王璐, 李先慕, 徐美宝   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191
  • 收稿日期:2014-06-25 修回日期:2014-08-05 出版日期:2015-05-20 发布日期:2015-06-02
  • 通讯作者: 张春熹(1965—),男,湖南岳阳人,教授,zhangchunxi@buaa.edu.cn,主要研究方向为惯性导航技术、光纤陀螺及信号检测等. E-mail:zhangchunxi@buaa.edu.cn

Integrated surveying method for FOG inclinometer aided by cable length

ZHANG Chunxi, LIN Tie, WANG Lu, LI Xianmu, XU Meibao   

  1. School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-06-25 Revised:2014-08-05 Online:2015-05-20 Published:2015-06-02

摘要:

为实现光纤陀螺(FOG)测斜仪高精度长时间测量,结合测井作业方式,提出基于卡尔曼滤波技术的电缆长度信息辅助的组合测量方法.介绍了捷联惯性测量系统(ISS)误差模型和电缆长度测量模型,设计了组合测量方法的总体方案,建立了组合测量系统误差状态模型及量测更新模型.采用半实物仿真计算对本文提出的组合测量方法进行了验证.仿真结果表明:14 400 s的仿真过程,井斜角误差小于0.02°,工具面角误差小于0.12°,方位角误差小于0.98°,位置误差小于47.5 m.相比纯惯性测量,误差得到了有效的抑制,保证了仪器长时间保精度的测量,提高了仪器的性能.

关键词: 光纤陀螺测斜仪, 电缆长度, 误差模型, 卡尔曼滤波, 组合测量

Abstract:

In order to realize long-term surveying with high accuracy of fiber optic gyroscope (FOG) inclinometer, according to the logging operation, an integrated surveying method based on Kalman filter technology was proposed, which was aided by cable length information. The error model of inertial surveying system (ISS) and the measurement model of the cable length were introduced. The overall scheme of the integrated surveying method was designed. Meanwhile, the error state-space model of the integrated surveying system and the measurement update model were established. The proposed method was validated by semi-physical simulation. The simulation results show that, during 14 400 s simulation process, inclination angle error is less than 0.02°, toolface angle error is less than 0.12°, azimuth error is less than 0.98° and the position error is less than 47.5 m. Compared with the pure inertial measurement results, surveying errors can be reduced effectively, the long-term surveying precision is guaranteed and the performance of the instrument is improved.

Key words: fiber optic gyroscope (FOG) inclinometer, cable length, error model, Kalman filter, integrated measurement

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