Method of multi-sensor attitude measurement system on TBM

被引：0

作者：

Zhang, Chuncao ^{[1
]}

Zhang, Jianbo ^{[1
]}

Zhu, Guoli ^{[1
]}

机构：

[1] School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2015年 / 43卷 / 12期

关键词：

Attitude measurement; Extend Kalman filtering; Inclinometer; Micro-electromechanical systems (MEMS) gyroscope; Multi-sensor fusion; Tunnel boring machine (TBM);

D O I：

10.13245/j.hust.151210

中图分类号：

学科分类号：

摘要：

A multi-sensor attitude measurement method was proposed to fuse information from inclinometer and micro-electromechanical systems (MEMS) gyroscope. The virtues of two sensors were combined to overcome the difficulties of vibration caused by hard rock during tunneling and inaccuracy. Stochastic error model of MEMS gyroscope was built on the basis of Allan variance modeling. Two sensors were fused to measure angles using extend Kalman filtering algorithm, which estimated and compensated zero bias of gyroscope with the high accurate output of inclinometer. The attitude of TBM under the strong vibration was calculated by gyroscope which was compensated using multi-sensor fusion algorithm. Finally, using simulation and test results, it is shown that the multiple sensor information fusion algorithm is effective and improves the accuracy of attitude measurement. It ensures that the error of multi-sensor attitude measurement system is less than 0.06°. © 2015, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

引用

页码：48 / 51and81

页数：5133

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