大型盾构机用激光惯导安装误差标定仿真研究

Installation Error Calibration Simulation of Laser Inertial Navigation System for Large Shield Machine

针对大型盾构机在掘进过程中动态小、对惯导安装误差估计可观性差的问题,提出了以单轴旋转激光惯导为核心的盾构机导向系统方案。首先,推导了单轴旋转激光惯导在全站仪辅助情况下的系统状态空间模型,设计了四项实验,详细分析了IMU旋转、全站仪斜距以及惯导与观测点之间的杆臂对安装误差估计可观测性和估计精度的影响,得出了“单轴旋转激励+减小斜距+增大杆臂”的安装误差估计最优方案。其次,结合大型盾构机实际施工情况,进行了安装误差精度估计仿真验证,结果表明:IMU与编码器之间的安装误差估计精度优于7″,惯导与盾构机之间的安装误差水平分量估计精度优于2″,方位分量优于40″,对实际工程具有很强的指导价值。

In view of the problem of small dynamics for large shield machine which results in the poor observability of INS installation error estimation,the scheme of shield machine guidance system with uniaxial rotating laser inertial navigation system as the core is proposed.Firstly,a state-space model of the system assisted by total station is derived,and four experiments are designed,the influences of IMU rotation,the slope distance of total station and the rod arm between INS and observation point on the observability and accuracy of installation error estimation are analyzed in detail,the installation error estimation optimal scheme of“uniaxial rotation excitation+decreasing slope distance+increasing rod arm”is proposed.Based on the actual construction situation of large shield machine,simulation verification of installation error accuracy estimation is carried out.The results show that the estimation accuracy of installation error between IMU and encoder is better than 7″,the estimation accuracy of installation error horizontal component between INS and shield machine is better than 2″,and the azimuth component is better than 40″,which has a strong guiding value for practical engineering.