發(fā)布時間：2018-04-06 00:38

  本文選題：精密磁懸浮陀螺全站儀　切入點(diǎn)：誤差分析　出處：《長安大學(xué)》2013年博士論文

【摘要】：從陀螺儀的發(fā)展進(jìn)程看，陀螺儀軟硬件系統(tǒng)都在不斷地發(fā)展和完善。國內(nèi)外專家學(xué)者主要是集中在三個方面進(jìn)行不懈的努力和探索，即儀器的硬件的改進(jìn)和研制、觀測方法的完善和觀測數(shù)據(jù)處理公式和精度的研究以及儀器應(yīng)用方面的拓展，通過這些研究來提高儀器的精度、穩(wěn)定性和應(yīng)用范圍。 多年來，長安大學(xué)測繪與空間信息研究所與中國航天科技集團(tuán)第十六研究所經(jīng)過聯(lián)合技術(shù)攻關(guān)，研制的國內(nèi)首臺基于磁懸浮支承體系，數(shù)分鐘內(nèi)定向精度優(yōu)于5″的高精度磁懸浮陀螺全站儀，先后應(yīng)用于國內(nèi)幾十項(xiàng)重大工程，并取得滿意的定向精度。該儀器系統(tǒng)借助磁懸浮技術(shù)使高速旋轉(zhuǎn)的陀螺馬達(dá)處于懸浮狀態(tài)，消除了傳統(tǒng)陀螺機(jī)械摩擦干擾力矩等不良影響，并通過力矩傳感器和陀螺轉(zhuǎn)子之間的相互作用，測量兩個精尋盤位采集的4萬組電流值，計(jì)算出測線的真北方位。但在某些實(shí)驗(yàn)和工程應(yīng)用中，發(fā)現(xiàn)某些環(huán)境中的強(qiáng)風(fēng)、振動或磁場對儀器采集的轉(zhuǎn)子電流值產(chǎn)生影響，數(shù)據(jù)含有顯著的噪聲，離散度偏大，陀螺儀轉(zhuǎn)子系統(tǒng)受測量環(huán)境的影響明顯，影響了儀器的定向精度和穩(wěn)定性。 為了提高儀器的精度和穩(wěn)定性，論文研究了磁懸浮陀螺全站儀系統(tǒng)誤差問題，對其進(jìn)行分類研究和分析，對儀器采集的轉(zhuǎn)子電流數(shù)據(jù)運(yùn)用時間序列分析、小波分析、自適應(yīng)過濾法及自適應(yīng)漸消濾波法進(jìn)行濾波、預(yù)測和建模，以提高轉(zhuǎn)子電流的數(shù)據(jù)精度，從而提高儀器定向精度和穩(wěn)定性，為今后儀器的小型化、智能化、自動化發(fā)展提供改進(jìn)的依據(jù)。論文研究的主要結(jié)論如下： 1.儀器誤差主要包括系統(tǒng)誤差、偶然誤差及起算數(shù)據(jù)誤差的影響，儀器的轉(zhuǎn)子圓度誤差和質(zhì)量不平衡等系統(tǒng)誤差的影響可通過數(shù)理統(tǒng)計(jì)的方法加以檢驗(yàn)判斷，通過觀測方法的改進(jìn)、計(jì)算方法的改正和儀器的檢校加以消除或減弱。而儀器電壓的不穩(wěn)定、頻率的變化、外界振動及溫度梯度變化使轉(zhuǎn)子轉(zhuǎn)速不均，從而產(chǎn)生干擾力矩導(dǎo)致力矩器的指向力矩突變而產(chǎn)生偶然誤差可通過統(tǒng)計(jì)學(xué)的方法加以分析，用相應(yīng)的數(shù)據(jù)處理方法加以剔除。 2.利用時間序列分析法分析了用于計(jì)算定向角的轉(zhuǎn)子電流數(shù)據(jù)統(tǒng)計(jì)特性，，通過計(jì)算編程建立磁懸浮陀螺全站儀定向誤差的線性、平穩(wěn)的時間序列模型。根據(jù)建立的時間序列模型自主地修正轉(zhuǎn)子電流數(shù)據(jù)，利用修正的轉(zhuǎn)子電流數(shù)據(jù)計(jì)算定向角，提高了儀器的定向精度。 3.基于磁懸浮支承體系的磁懸浮陀螺全站儀在定向測量過程中，由于受到儀器內(nèi)部結(jié)構(gòu)和外界觀測環(huán)境多種因素的影響，其轉(zhuǎn)子電流數(shù)據(jù)會產(chǎn)生非穩(wěn)定性的波動，這種非穩(wěn)定性可由殘差序列的條件異方差特性所反映。通過對條件異方差模型（GARCH模型）的性質(zhì)和建模過程的分析研究，經(jīng)編程計(jì)算建立磁懸浮陀螺全站儀采集的轉(zhuǎn)子電流數(shù)據(jù)的GARCH模型。通過所建模型分析不僅可得，產(chǎn)生轉(zhuǎn)子電流數(shù)據(jù)非平穩(wěn)波動的基本原因不是由于儀器內(nèi)部結(jié)構(gòu)所產(chǎn)生，而是由外界環(huán)境因素引起的。而且可以判斷產(chǎn)生轉(zhuǎn)子電流條件異方差數(shù)據(jù)具有時變性和簇集性兩個特征，據(jù)此選擇儀器采集數(shù)據(jù)的最佳時段，為轉(zhuǎn)子電流數(shù)據(jù)特征分析和處理提供一種新方法。 4.利用小波分析法，對儀器采集的轉(zhuǎn)子電流觀測數(shù)據(jù)的誤差進(jìn)行剔除，有效地從強(qiáng)噪聲干擾的轉(zhuǎn)子電流數(shù)據(jù)中提取用于計(jì)算定向角的數(shù)據(jù)，較好地改善儀器的定向結(jié)果，提高了儀器定向角的精度。 5．利用自適應(yīng)過濾法原理及計(jì)算方法，建立自適應(yīng)過濾法模型動態(tài)地預(yù)測磁懸浮陀螺全站儀數(shù)據(jù)的變化趨勢。這種模型適合于作周期性變化的磁懸浮陀螺全站儀觀測數(shù)據(jù)的預(yù)報，此方法可以作為儀器觀測數(shù)據(jù)自動監(jiān)測的有效手段之一。 6．將漸消因子引入到自適應(yīng)濾波算法中,運(yùn)用漸消自適應(yīng)Kalman濾波算法原理處理磁懸浮陀螺全站儀系統(tǒng)采集的轉(zhuǎn)子電流值,對儀器定向精度的提高有一定的作用，但是效果不明顯。
[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.

【學(xué)位授予單位】：長安大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：P204

【引證文獻(xiàn)】

相關(guān)期刊論文 前1條

1 石震;楊志強(qiáng);馬驥;;基于雙位置的磁懸浮陀螺異常數(shù)據(jù)檢測[J];測繪科學(xué);2015年10期

本文編號：1717219