CN101078627A - On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target - Google Patents

Abstract

The invention relates to an on-line calibration method for automatic guiding system of shield machine based on gyro total station and laser target, characterized in that in digging process of shield machine, laser total station is used to track prism at the lower part of laser target and the change of horizontal azimuth angle of strap-down gyro north finder while by two accumulators in gyro north finder elevation angle and roll angle of gyro north finder are calculated; then by three altitude angles measured accurately angle speed of Z axis, which can not be measured by strap-down gyro north finder, is calculated; and then it is combined with angle speeds of X and Y axes measured by gyro to carry out strap-down altitude algorithm; finally three angles measured accurately are used as observing values and kalman filter is used to evaluate gyro excursion while it is compensated in system. The invention is provided with the merit that the error of gyro excursion can be eliminated on line and can be used to improve accuracy of automatic guiding system.

Description

A kind of online calibration method of the shield machine automatic guiding system based on gyroscope total station-laser target

Technical field

The present invention relates to a kind of online calibration method of the shield machine automatic guiding system based on gyroscope total station-laser target, can be used for the gyroscopic drift of online correction based on the shield machine automatic guiding system of gyroscope total station-laser target.

Background technology

The shield machine automatic guiding system is a kind of measurement, instrument and meter and computer hardware technique of integrating, has the system that the shield machine position and attitude is carried out the kinetic measurement function, mainly be made up of gyroscope total station, laser target, backsight reference prism and automatic guiding system computing machine based on gyroscope total station-laser target automatic guiding system, wherein gyroscope total station mainly is made up of strapdown gyroscope north searching instrument and laser total station.This system have the precision height, independently seek north, easy and simple to handle, only need the advantage of a backsight known coordinate point.The strapdown gyroscope north searching instrument is one of core component of automatic guiding system, and its precision has directly determined system's automatically north seeking precision, therefore must determine every error coefficient of gyroscope north searching instrument by rating test, and compensate in system.

Correlative study shows that every error coefficient of gyroscope north searching instrument is not changeless, and especially gyroscopic drift each starts all inequalityly, changes along with the use of system or the passing of resting period.Therefore, usually need carry out half a year or three months periodic calibrating once to the shield machine automatic guiding system, the work of demarcating is loaded down with trivial details and complicated, needs the professional to use special-purpose testing equipment just can finish, and this has brought a difficult problem in the engineering application for applying unit.

Summary of the invention

Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of online calibration method of the shield machine automatic guiding system based on gyroscope total station-laser target is provided, this method has realized the on-line proving in the automatic guiding system operation process, remove the shield machine automatic guiding system from and carried out half a year or three months periodic calibrating once, also improved the automatic guide precision of system simultaneously.

Technical solution of the present invention is: a kind of online calibration method of the shield machine automatic guiding system based on gyroscope total station-laser target, its characteristics are to comprise the following steps:

(1) the strapdown gyroscope north searching instrument carries out initial alignment, determine the initial level position angle of strapdown gyroscope north searching instrument _ ₀, initial pitching angle theta ₀With initial roll angle γ ₀

(2) have the reflecting prism of the laser total station emission laser of the objective function of automatically locking to the laser target bottom, automatically lock the reflecting prism of laser target bottom then, and measure continuously the horizontal azimuth of strapdown gyroscope north searching instrument _, measurement result with symbol _ _lExpression;

(3) the strapdown gyroscope north searching instrument enters the strapdown attitude type, utilize the initial level position angle that step (1) calculates _ ₀, initial pitching angle theta ₀With initial roll angle γ ₀Initialization strapdown attitude type, then according to the output real-time continuous of gyro in the gyroscope north searching instrument resolve the horizontal azimuth of strapdown gyroscope north searching instrument _, pitching angle theta and roll angle γ;

(4) adopt the output of two acceleration in the strapdown gyroscope north searching instrument to calculate pitching angle theta and roll angle γ, result of calculation θ _αAnd γ _αExpression;

(5) step (3) is calculated _, θ and γ respectively with step (2) calculate _ _l, the θ that calculates of step (4) _αAnd γ _αSubtract each other, incite somebody to action then _-_ _l, θ-θ _αAnd γ-γ _αAs observed quantity, adopt the gyroscopic drift of Kalman filter On-line Estimation, and in the strapdown gyroscope north searching instrument, compensate.

Principle of the present invention is: every error coefficient of strapdown gyroscope north searching instrument is not changeless, and especially gyroscopic drift each starts all inequalityly, changes along with the use of system or the passing of resting period.Therefore, need carry out half a year or three months periodic calibrating once to the shield machine automatic guiding system usually.Because during the operation of shield machine automatic guiding system; gyroscope total station is fixed on the tunnel tube wall; and follow the tracks of the laser target that is fixed on the shield machine; its horizontal attitude does not change in time; its horizontal azimuth is along with the driving of shield machine changes (this variation can accurately be measured by laser total station) very slowly; so horizontal azimuth in the strapdown gyroscope north searching instrument course of work; the angle of pitch and roll angle all can accurately measure; as observed quantity, adopt Kalman filter can accurately estimate the gyroscopic drift of strapdown gyroscope north searching instrument these three measured values.Simultaneously, adopt Kalman filter to estimate the gyroscopic drift of strapdown gyroscope north searching instrument, necessarily require the strapdown gyroscope north searching instrument to carry out the strapdown attitude algorithm, but since the strapdown gyroscope north searching instrument can only measured X to Y to angular velocity, can't carry out the strapdown attitude algorithm.Utilize strapdown gyroscope north searching instrument this characteristics that remain static equally, utilize horizontal azimuth, the angle of pitch and the roll angle of the strapdown gyroscope north searching instrument that accurately measures to calculate Z axis angular rate increment, utilize the angular velocity of X, Y and three directions of Z just can realize the strapdown attitude algorithm like this, finally realized utilizing the gyroscopic drift of Kalman filter On-line Estimation.

The present invention's advantage compared with prior art is: the present invention has realized the on-line proving of gyroscope total station-laser target automatic guiding system, has removed complicated periodic calibrating from, has also improved the precision of automatic guiding system simultaneously.

Description of drawings

Fig. 1 is the structured flowchart based on the shield machine automatic guiding system of gyroscope total station-laser target;

Fig. 2 is a theory diagram of the present invention;

Fig. 3 is the process flow diagram that resolves of Kalman filtering rudimentary algorithm of the present invention.

Embodiment

As shown in Figure 1, shield machine automatic guiding system based on gyroscope total station and laser target, mainly be made up of gyroscope total station, laser target, automatic guiding system computing machine and backsight reference prism, wherein gyroscope total station is made up of strapdown gyroscope north searching instrument and laser total station; Gyroscope north searching instrument is independently sought north and is determined the angle of gradient and the roll angle of gyroscope total station; Laser total station emission laser measuring the distance of gyroscope total station to backsight reference prism and laser target, and provides position coordinates according to the backsight reference prism, the coordinate and the coordinates of laser target of calculating laser total station to backsight reference prism and laser target; Laser target reflects the laser total station emitted laser by the incident direction, and measures the roll angle and the angle of gradient of the angle and the shield machine of its axis and incident laser; Finally by the output of automatic guiding system computer acquisition gyroscope total station and laser target, and calculate the horizontal azimuth of shield machine.

As shown in Figure 2, concrete grammar of the present invention is as follows:

(1) the strapdown gyroscope north searching instrument carries out initial alignment, determine the initial level position angle of strapdown gyroscope north searching instrument _ ₀, the initial angle of pitch _ ₀With initial roll angle γ ₀

(2) have the reflecting prism of the laser total station emission laser of the objective function of automatically locking to the laser target bottom, automatically lock the reflecting prism of laser target bottom then, and measure continuously the horizontal azimuth of strapdown gyroscope north searching instrument _, measurement result with symbol _ _lExpression;

(3) the strapdown gyroscope north searching instrument enters the strapdown attitude type, utilize the initial level position angle that step (1) calculates _ ₀, initial pitching angle theta ₀With initial roll angle γ ₀Initialization strapdown attitude type, then according to the output real-time continuous of gyro in the gyroscope north searching instrument resolve the horizontal azimuth of strapdown gyroscope north searching instrument _, pitching angle theta and roll angle γ, concrete steps are as follows:

(a) the initial horizontal azimuth of the strapdown gyroscope north searching instrument that obtains according to strapdown gyroscope north searching instrument initial alignment _ ₀, pitching angle theta ₀With roll angle γ ₀Calculate initial attitude matrix C _b ⁿ(0) and hypercomplex number q (0), computing formula is as follows:

Order $C_b^n=\left[\begin{array}{ccc}{T}_{11}& T_{12}& T_{13}\\ T_{21}& T_{22}& T_{23}\\ T_{31}& T_{32}& T_{33}\end{array}\right]$

Then have:

$q_0\left(0\right)=\±\frac{1}{2}\sqrt{1+T_{11}+T_{22}-T_{33}}---\left(2\right)$

$q_1\left(0\right)=\±\frac{1}{2}\sqrt{1+T_{11}-T_{22}-T_{33}}---\left(3\right)$

$q_2\left(0\right)=\±\frac{1}{2}\sqrt{1-T_{11}+T_{22}-T_{33}}---\left(4\right)$

$q_3\left(0\right)=\±\frac{1}{2}\sqrt{1-T_{11}-T_{22}+T_{33}}---\left(5\right)$

(b) utilize _ _l, θ ₀And γ ₀Calculate the z axis angular rate increment Delta θ of strapdown gyroscope north searching instrument _z:

Δθ _z＝ω _iecoslatsin_ _lsinγ ₀-ω _iecoslatsinθ ₀cos_ _lcosγ ₀+ω _iesinlatcosθ ₀cosγ ₀

(c) upgrade hypercomplex number and attitude matrix

$q(n+1)=\{(1-\frac{{\left({\mathrm{\Δ\θ}}_0\right)}^2}{8}+\frac{{\left({\mathrm{\Δ\θ}}_0\right)}^4}{384})I+(\frac{1}{2}-\frac{{\left({\mathrm{\Δ\θ}}_0\right)}^2}{48}\left(\mathrm{\Δ\θ}\right))\}q\left(n\right)---\left(6\right)$

Wherein,

$\mathrm{\Δ\θ}=\left[\begin{array}{cccc}0& -{\mathrm{\Δ\θ}}_x& -{\mathrm{\Δ\θ}}_y& -{\mathrm{\Δ\θ}}_z\\ {\mathrm{\Δ\θ}}_x& 0& {\mathrm{\Δ\θ}}_z& -{\mathrm{\Δ\θ}}_y\\ {\mathrm{\Δ\θ}}_y& -{\mathrm{\Δ\θ}}_z& 0& {\mathrm{\Δ\θ}}_x\\ {\mathrm{\Δ\θ}}_z& {\mathrm{\Δ\θ}}_y& {-\mathrm{\Δ\θ}}_x& 0\end{array}\right]$

${\mathrm{\Δ\θ}}_0=\sqrt{{\mathrm{\Δ\θ}}_x^2+{\mathrm{\Δ\θ}}_y^2+{\mathrm{\Δ\θ}}_z^2}$

Attitude matrix C _b ⁿMore new formula as follows:

$C_b^n=\left[\begin{array}{ccc}{T}_{11}& T_{12}& T_{13}\\ T_{21}& T_{22}& T_{23}\\ T_{31}& T_{32}& T_{33}\end{array}\right]=\left[\begin{array}{ccc}{q}_0^2+{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="A20071011805500161.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2-q_2^2-q_3^2& 2(q_1{q}_2-q_0{q}_3)& 2(q_1{q}_3+q_0{q}_2)\\ 2(q_1{q}_2+q_0{q}_3)& q_0^2-{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="A20071011805500161.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2+q_2^2-q_3^2& 2(q_2{q}_3-q_0{q}_1)\\ 2(q_1{q}_3-q_0{q}_2)& 2(q_2{q}_3+q_0{q}_1)& q_0^2-{\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="A20071011805500161.png"\; state="\{\{state\}\}">q</figure-callout>}}_1^2-q_2^2+q_3^2\end{array}\right]---\left(7\right)$

(d) calculate the horizontal azimuth of strapdown gyroscope north searching instrument _:

Main value is judged as following table

T 22	T 21	_ true value	_ place quadrant
				+	+	_	First quartile
-	+	_+π	Second quadrant
				-	-	_+π	Third quadrant
+	-	_+2π	Four-quadrant

(e) pitching angle theta of calculating strapdown gyroscope north searching instrument:

θ＝sin ^-1(T ₂₃) (9)

(f) the roll angle γ of calculating strapdown gyroscope north searching instrument:

$\mathrm{\&gamma;}={\mathrm{tg}}^{-1}(-\frac{T_{31}}{T_{33}})---\left(10\right)$

Main value is judged as following table

T 33	T 31	The γ true value	γ place quadrant
				+	-	γ	First quartile
-	-	γ+π	Second quadrant
				-	+	γ+π	Third quadrant
+	+	γ	Four-quadrant

(4) according to the output f of two acceleration in the strapdown gyroscope north searching instrument _xAnd f _y, the formula below adopting calculates pitching angle theta and roll angle γ, result of calculation θ _αAnd γ _αExpression:

${\mathrm{\&theta;}}_a=\arcsin \left(\frac{f_y}{g}\right)---\left(11\right)$

${\mathrm{\&gamma;}}_a=\arcsin \left(\frac{{-f}_{\mathrm{xo}}}{\cos {\mathrm{\&theta;}}_a\&CenterDot;g}\right)---\left(12\right)$

Wherein, g represents acceleration of gravity.

(5) step (3) is calculated _, θ and γ respectively with step (2) calculate _ _l, the θ that calculates of step (4) _αAnd γ _αSubtract each other, incite somebody to action then _-_ _l, θ-θ _αAnd γ-γ _αAs observed quantity, adopt the gyroscopic drift of Kalman filter On-line Estimation, and in the strapdown gyroscope north searching instrument, compensate, the Kalman filter of employing is:

State equation:

$\stackrel{\&CenterDot;}{X}=\mathrm{FX}+\mathrm{GW}---\left(13\right)$

Wherein, X is a system state vector, and W is the system noise vector, and F is system's transition matrix, and G is the noise transition matrix:

X＝[φ _x φ _y φ _z ε _x ε _y ε _z] ^T

$w={\left[\begin{array}{ccc}{w}_{{\mathrm{\&epsiv;}}_x}& w_{{\mathrm{\&epsiv;}}_y}& w_{{\mathrm{\&epsiv;}}_z}\end{array}\right]}^T$

$F=\left[\begin{array}{cc}{C}_b^n& 0_{3\&times;3}\\ 0_{3\&times;3}& 0_{3\&times;3}\end{array}\right]$

$G=C_b^n$

The measurement equation of system

Z＝HX+η (14)

Wherein: Z is a measurement vector, and H is an observing matrix, and η is a measurement noise:

Z＝[φ _x φ _y φ _z] ^T

H＝[I _3×3 0 _3×3]

η＝[η _φx η _φy η _φz] ^T

Order $C_n^t=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right],$ Have:

φ _x＝sin ^-1(C ₂₃) (15)

${\mathrm{\&phi;}}_y={\mathrm{tg}}^{-1}(-\frac{C_{31}}{C_{33}})---\left(16\right)$

${\mathrm{\&phi;}}_z={\mathrm{tg}}^{-1}\left(\frac{C_{21}}{C_{22}}\right)---\left(17\right)$

φ _zMain value is judged as following table

C 22	C 21	φ zTrue value	φ zThe place quadrant
				+	+	φ z	First quartile
-	+	φ z+π	Second quadrant
				-	-	φ z+π	Third quadrant
+	-	φ z+2π	Four-quadrant

Wherein, $C_n^t=C_b^t\&CenterDot;C_n^b$

The layout of Kalman filtering rudimentary algorithm, the process flow diagram of this algorithm be as shown in Figure 3:

State one-step prediction equation

${\stackrel{\mathrm{\&Lambda;}}{X}}_{k/k-1}={\mathrm{\&phi;}}_{k,k-1}{\stackrel{\mathrm{\&Lambda;}}{X}}_{k-1}---\left(18\right)$

The State Estimation accounting equation

${\stackrel{\mathrm{\&Lambda;}}{X}}_k={\stackrel{\mathrm{\&Lambda;}}{X}}_{k/k-1}+K_k(Z_k-H_k{\stackrel{\mathrm{\&Lambda;}}{X}}_{k/k-1})---\left(19\right)$

Filtering increment equation

${\stackrel{\mathrm{\&Lambda;}}{K}}_k={\stackrel{\mathrm{\&Lambda;}}{P}}_{k/k-1}{H}_k^T{(H_k{P}_{k/k-1}{H}_k^T+R_k)}^{-1}---\left(20\right)$

One-step prediction square error equation

${\stackrel{\mathrm{\&Lambda;}}{P}}_{k/k-1}={\mathrm{\&phi;}}_{k,k-1}{P}_{k-1}{\mathrm{\&phi;}}_{k,k-1}^T+{\mathrm{\&Gamma;}}_{k-1}{Q}_{k-1}{\mathrm{\&Gamma;}}_{k-1}^T---\left(21\right)$

Estimate the square error equation

${\stackrel{\mathrm{\&Lambda;}}{P}}_k=(I-K_k{H}_k)P_{k/k-1}{(I-K_k{H}_k)}^T+K_k{P}_k{K}_k^T.---\left(22\right)$

Claims (4)

1, a kind of online calibration method of the shield machine automatic guiding system based on gyroscope total station-laser target is characterized in that comprising the following steps:

(1) the strapdown gyroscope north searching instrument carries out initial alignment, determine the initial level position angle of strapdown gyroscope north searching instrument _ ₀, initial pitching angle theta ₀With initial roll angle γ ₀

(2) have the reflecting prism of the laser total station emission laser of the objective function of automatically locking to the laser target bottom, automatically lock the reflecting prism of laser target bottom then, and measure continuously the horizontal azimuth of strapdown gyroscope north searching instrument _, measurement result with symbol _ _lExpression;

(3) the strapdown gyroscope north searching instrument enters the strapdown attitude type, utilize the initial level position angle that step (1) calculates _ ₀, initial pitching angle theta ₀With initial roll angle γ ₀Initialization strapdown attitude type, then according to the output real-time continuous of gyro in the gyroscope north searching instrument resolve the horizontal azimuth of strapdown gyroscope north searching instrument _, pitching angle theta and roll angle γ;

(4) adopt the output of two acceleration in the strapdown gyroscope north searching instrument to calculate pitching angle theta and roll angle γ, result of calculation θ _aAnd γ _aExpression;

(5) step (3) is calculated _, θ and γ respectively with step (2) calculate _ _l, the θ that calculates of step (4) _aAnd γ _aSubtract each other, incite somebody to action then _-_ _l, θ-θ _aAnd γ-γ _aAs observed quantity, adopt the gyroscopic drift of Kalman filter On-line Estimation, and in the strapdown gyroscope north searching instrument, compensate.

2, the online calibration method of the shield machine automatic guiding system based on gyroscope total station-laser target according to claim 1, it is characterized in that: the concrete steps of the described strapdown attitude type of step (3) are:

(1) the initial level position angle of the strapdown gyroscope north searching instrument that obtains according to strapdown gyroscope north searching instrument initial alignment _ ₀, initial pitching angle theta ₀With initial roll angle γ ₀Calculate initial attitude matrix C _b ⁿ(0) and hypercomplex number q (0), computing formula is as follows:

Order $C_b^n=\left[\begin{array}{ccc}{T}_{11}& T_{12}& T_{13}\\ T_{21}& T_{22}& T_{23}\\ T_{31}& T_{32}& T_{33}\end{array}\right]$

Then have:

$q_0\left(0\right)=\&PlusMinus;\frac{1}{2}\sqrt{1+T_{11}+T_{22}-T_{33}}$

$q_1\left(0\right)=\&PlusMinus;\frac{1}{2}\sqrt{1+T_{11}-T_{22}-T_{33}}$

$q_2\left(0\right)=\&PlusMinus;\frac{1}{2}\sqrt{1-T_{11}+T_{22}-T_{33}}$

$q_3\left(0\right)=\&PlusMinus;\frac{1}{2}\sqrt{1-T_{11}-T_{22}+T_{33}}$

(2) utilize _ _l, θ ₀And γ ₀Calculate the z axis angular rate increment Delta θ of strapdown gyroscope north searching instrument _z:

Δθ _z＝ω _ie coslat sin_ _l sinγ ₀-ω _ie coslat sinθ ₀ cos _ _l cosγ ₀+ω _ie sin lat cos θ ₀ cosγ ₀；

(3) upgrade hypercomplex number and attitude matrix

$q(n+1)=\{(1-\frac{{\left({\mathrm{\&Delta;\&theta;}}_0\right)}^2}{8}+\frac{{\left({\mathrm{\&Delta;\&theta;}}_0\right)}^4}{384})I+(\frac{1}{2}-\frac{{\left({\mathrm{\&Delta;\&theta;}}_0\right)}^2}{48})\left(\mathrm{\&Delta;\&theta;}\right)\}q\left(n\right)$

Wherein,

$\mathrm{\&Delta;\&theta;}=\left[\begin{array}{cccc}0& -{\mathrm{\&Delta;\&theta;}}_x& -{\mathrm{\&Delta;\&theta;}}_y& -{\mathrm{\&Delta;\&theta;}}_z\\ {\mathrm{\&Delta;\&theta;}}_x& 0& {\mathrm{\&Delta;\&theta;}}_z& -{\mathrm{\&Delta;\&theta;}}_y\\ {\mathrm{\&Delta;\&theta;}}_y& -{\mathrm{\&Delta;\&theta;}}_z& 0& {\mathrm{\&Delta;\&theta;}}_x\\ {\mathrm{\&Delta;\&theta;}}_z& {\mathrm{\&Delta;\&theta;}}_y& -{\mathrm{\&Delta;\&theta;}}_x& 0\end{array}\right]$

${\mathrm{\&Delta;\&theta;}}_0=\sqrt{{\mathrm{\&Delta;\&theta;}}_x^2+{\mathrm{\&Delta;\&theta;}}_y^2+{\mathrm{\&Delta;\&theta;}}_z^2}$

Attitude matrix C _b ⁿMore new formula as follows:

$C_b^n=\left[\begin{array}{ccc}{T}_{11}& T_{12}& T_{13}\\ T_{21}& T_{22}& T_{23}\\ T_{31}& T_{32}& T_{33}\end{array}\right]=\left[\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1{q}_2-q_0{q}_3)& 2(q_1{q}_3+q_0{q}_2)\\ 2(q_1{q}_2+q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_2{q}_3-q_0{q}_1)\\ 2(q_1{q}_3-q_0{q}_2)& 2(q_2{q}_3+q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right];$

(4) calculate the horizontal azimuth of strapdown gyroscope north searching instrument _:

Main value is judged as following table T ₂₂ T ₂₁ _ true value _ place quadrant + + _ First quartile - + _+π Second quadrant - - _+π Third quadrant + - _+2π Four-quadrant

(5) pitching angle theta of calculating strapdown gyroscope north searching instrument:

θ＝sin ^-1(T ₂₃)；

(6) the roll angle γ of calculating strapdown gyroscope north searching instrument:

$\mathrm{\&gamma;}={\mathrm{tg}}^{-1}(-\frac{T_{31}}{T_{33}})$

Main value is judged as following table T ₃₃ T ₃₁ The γ true value γ place quadrant + - γ First quartile - - γ+π Second quadrant - + γ+π Third quadrant + + γ Four-quadrant

3, the online calibration method of a kind of shield machine automatic guiding system based on gyroscope total station-laser target according to claim 1, it is characterized in that: the described Kalman filter of step (5) is: state equation:

$\stackrel{\&CenterDot;}{X}=\mathrm{FX}+\mathrm{GW}$

Wherein, X is a system state vector, and W is the system noise vector, and F is system's transition matrix, and G is for making an uproar+the sound transition matrix:

X＝[φ _x φ _y φ _z ε _x ε _y ε _z] ^T

$w={\left[\begin{array}{ccc}{w}_{{\mathrm{\&epsiv;}}_x}& w_{{\mathrm{\&epsiv;}}_y}& w_{{\mathrm{\&epsiv;}}_z}\end{array}\right]}^T$

$F=\left[\begin{array}{cc}{C}_b^n& 0_{3\&times;3}\\ 0_{3\&times;3}& 0_{3\&times;3}\end{array}\right]$

$G=C_b^n$

The measurement equation of system

Z＝HX+η

Wherein: Z is a measurement vector, and H is an observing matrix, and η is a measurement noise:

Z＝[φ _x φ _y φ _z] ^T

H＝[I _3×3 0 _3×3】

η＝[η _φx η _φy η _φz] ^T

Order $C_n^t=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right],$ Have:

φ _x＝sin ^-1(C ₂₃)

${\mathrm{\&phi;}}_y={\mathrm{tg}}^{-1}(-\frac{C_{31}}{C_{33}})$

${\mathrm{\&phi;}}_z={\mathrm{tg}}^{-1}\left(\frac{C_{21}}{C_{22}}\right)$

φ _zMain value is judged as following table C ₂₂ C ₂₁ φ _zTrue value φ _zThe place quadrant + + φ _z First quartile - + φ _z+π Second quadrant - - φ _z+π Third quadrant + - φ _z+2π Four-quadrant

Wherein, $C_n^t=C_b^t\&CenterDot;C_n^b$

4, the online calibration method of a kind of shield machine automatic guiding system based on gyroscope total station-laser target according to claim 1 is characterized in that: adopt the output of two acceleration in the strapdown gyroscope north searching instrument to calculate pitching angle theta in the described step (4) and roll angle γ is as follows: the output f of two acceleration in the gyroscope north searching instrument _xAnd f _y, the formula below adopting calculates pitching angle theta and roll angle γ, result of calculation θ _aAnd γ _aExpression:

${\mathrm{\&theta;}}_a=\arcsin \left(\frac{f_y}{g}\right)$

${\mathrm{\&gamma;}}_a=\arcsin \left(\frac{-f_{\mathrm{xo}}}{\cos {\mathrm{\&theta;}}_a\&CenterDot;g}\right)$

Wherein, g represents acceleration of gravity.

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