基于惯性导航技术的滚石运动特征参数提取研究

Characteristic parameters extraction of rockfall motion based on inertial navigation system

现有研究滚石运动的手段存在设备布设复杂、获取数据单一等不足,在计算时普遍采用滚石轨迹随机分布的计算方法进行模糊化处理,精度较低。为快速准确获取滚石运动特征参数,提出利用惯性导航技术进行研究。介绍了惯性导航技术的基本原理,并通过室内试验对滚石试样运动速度及运动姿态进行解算,将解算结果与高速摄像机拍摄图像进行比较,验证了惯性导航技术的准确性。结果表明:(1)采用惯性导航技术,可快速准确获取滚石在运动过程中的加速度、速度、角速度等特征参数,并能够进一步解算滚石运动姿态及能量变化;(2)碰撞姿态对滚石碰撞过程具有明显影响,碰撞姿态将决定滚石后续运动方向、运动速度及冲击能量的大小。

The existing research methods of rockfall motion have shortcomings such as complex equipment layout and single data acquisition.In the calculation process,the random distribution of rockfall trajectory is generally adopted for fuzzy processing,which is poor in accuracy.To quickly obtain the rockfall motion parameters,a inertial navigation technique is proposed.The basic principle of inertial navigation technique is introduced.Through laboratory experiment,we resolve the velocity and posture of rock sample.Compared with the high-speed camera,the accuracy of inertial navigation technique is verified.The results show that:(1)By using the inertial navigation technology,the dynamic changes of the characteristic parameters such as acceleration,velocity and angular velocity can be obtained quickly during the rockfall motion,the posture and energy change can further be calculated.(2)The collision posture has a significant influence on the rockfall collision process,which will determine the subsequent direction,velocity and impact energy of the rockfall.