为解决振动下惯性随钻测量(Measurement While Drilling,MWD)方位角失真的问题,提出一种方位漂移在线闭环补偿方法。考虑陀螺仪随时间漂移而加速度计长时测量稳定,利用多传感器分布式信息融合,获得微惯性测量单元(Micro Inertial Measur...为解决振动下惯性随钻测量(Measurement While Drilling,MWD)方位角失真的问题,提出一种方位漂移在线闭环补偿方法。考虑陀螺仪随时间漂移而加速度计长时测量稳定,利用多传感器分布式信息融合,获得微惯性测量单元(Micro Inertial Measurement Unit,MIMU)测量加速度和重力加速度在钻具坐标系下的向量误差,建立存在振动的方位陀螺漂移PI控制模型,设计一种基于函数逼近理论的新型神经网络结构,通过优化权值直接确定法(Optimized Weights Direct Determination,OWDD)快速确定网络权值,将神经网络辨识信息反馈给PI控制器,实现对方位陀螺漂移的自适应控制,实时跟踪误差趋向并补偿。最后设计实验,振动台实验中方位角误差由10.15°/h减小到0.21°/h,实际钻井实验中方位角误差由10.53°/h减小到0.3°/h。结果表明振动下方位角测量精度明显提高。展开更多
A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of nav...A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.展开更多
This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerome ：e...This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerome ：er output and causes a degradation of attitude steady accuracy. In order to improve control accuracy, this paper proposes a proportional multiple-integral observer- based control strategy to estimate and compensate the accelerometer error. The basic idea of this paper is to approximate the error property by using a q-order polynomial function and extend the error and its derivatives as augmented states. Then a proportional multiple-integral observer is developed to estimate the error, with which the relationship between the error and the imbalance torque is formulated. The estimated value is compared to an angle threshold, the result of which is used to compen- sate the accelerometer output. Through static and vehicle-mounted experiments, it is demonstrated that compared with the tra- ditional method, the proposed method can improve the attitude steady accuracy effectively.展开更多
An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotatin...An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotating axis. A novel inertial measurement unit （IMU） scheme with error compensation for the rotating axis of fiber optic gyros （FOG） RINS is presented. In the scheme, two couples of inertial sensors with similar error characteristics are mounted oppositely on the rotating axes to compensate the sensors error. Without any change for the rotation cycle, this scheme improves the system＇s precision and reliability, and also offers the redundancy for the system. The results of 36 h navigation simulation prove that the accuracy of the system is improved notably compared with normal strapdown INS, besides the heading accuracy is increased by 3 times compared with single-axial RINS, and the position accuracy is improved by 1 order of magnitude.展开更多
文摘为解决振动下惯性随钻测量(Measurement While Drilling,MWD)方位角失真的问题,提出一种方位漂移在线闭环补偿方法。考虑陀螺仪随时间漂移而加速度计长时测量稳定,利用多传感器分布式信息融合,获得微惯性测量单元(Micro Inertial Measurement Unit,MIMU)测量加速度和重力加速度在钻具坐标系下的向量误差,建立存在振动的方位陀螺漂移PI控制模型,设计一种基于函数逼近理论的新型神经网络结构,通过优化权值直接确定法(Optimized Weights Direct Determination,OWDD)快速确定网络权值,将神经网络辨识信息反馈给PI控制器,实现对方位陀螺漂移的自适应控制,实时跟踪误差趋向并补偿。最后设计实验,振动台实验中方位角误差由10.15°/h减小到0.21°/h,实际钻井实验中方位角误差由10.53°/h减小到0.3°/h。结果表明振动下方位角测量精度明显提高。
基金Sponsored by the National Natural Science Foundation of China (Grant No.60901042)the Natural Science Foundation of Heilongjiang Province(Grant No.F2007-08)
文摘A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.
基金supported by the National Natural Science Foundation of China(Grant Nos.61174121,61333005 and 61121003)the Ph.D Programs Foundations of the Ministry of Education China
文摘This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerome ：er output and causes a degradation of attitude steady accuracy. In order to improve control accuracy, this paper proposes a proportional multiple-integral observer- based control strategy to estimate and compensate the accelerometer error. The basic idea of this paper is to approximate the error property by using a q-order polynomial function and extend the error and its derivatives as augmented states. Then a proportional multiple-integral observer is developed to estimate the error, with which the relationship between the error and the imbalance torque is formulated. The estimated value is compared to an angle threshold, the result of which is used to compen- sate the accelerometer output. Through static and vehicle-mounted experiments, it is demonstrated that compared with the tra- ditional method, the proposed method can improve the attitude steady accuracy effectively.
基金supported by the National Natural Science Foundation of China (No.40904018)the Key Laboratory Foundation of the Ministry of Education of China (No.201001)the Doctoral Innovation Foundation of Naval University of Engineering (No.BSJJ2011008)
文摘An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotating axis. A novel inertial measurement unit （IMU） scheme with error compensation for the rotating axis of fiber optic gyros （FOG） RINS is presented. In the scheme, two couples of inertial sensors with similar error characteristics are mounted oppositely on the rotating axes to compensate the sensors error. Without any change for the rotation cycle, this scheme improves the system＇s precision and reliability, and also offers the redundancy for the system. The results of 36 h navigation simulation prove that the accuracy of the system is improved notably compared with normal strapdown INS, besides the heading accuracy is increased by 3 times compared with single-axial RINS, and the position accuracy is improved by 1 order of magnitude.
