CN101634221B - Method for extracting angular rate by accelerometers - Google Patents
Method for extracting angular rate by accelerometers Download PDFInfo
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- CN101634221B CN101634221B CN2008101344326A CN200810134432A CN101634221B CN 101634221 B CN101634221 B CN 101634221B CN 2008101344326 A CN2008101344326 A CN 2008101344326A CN 200810134432 A CN200810134432 A CN 200810134432A CN 101634221 B CN101634221 B CN 101634221B
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Abstract
The invention discloses a method for extracting an angular rate by accelerometers, which comprises the following steps: a, utilizing a first accelerometer and a second accelerometer perpendicular to the first accelerometer to respectively extract sampling information of two adjacent moments; b, deducing an oscillating amplitude value and an oscillating average value of the first accelerometer according to the step a and the acquired sampling information; c, deducing an oscillating frequency of the first accelerometer according to the oscillating amplitude value and the oscillating average value of the first accelerometer; and d, deducing a value of the angular rate in the same axial direction as the second accelerometer according to an angular rate sampling value provided by an angular rate output sampling device in the same axial direction as the first accelerometer and according to the oscillating frequency of the first accelerometer. The method for extracting the angular rate by the accelerometers can reduce the number of angular rate measuring devices to achieve the aim of saving cost.
Description
Technical field
The present invention relates to a kind of inclinometer that utilizes accelerometer to extract angular speed.
Background technology
Gyrolevel is the main survey tool that cased well etc. has magnetic disturbance oil well well track.The gyrolevel that uses both at home and abroad at present mainly adopts mechanical gyro to measure hole deviation and azimuth as angular-rate sensor.Since the mechanical gyroes inclinometer by the gyro machine of framework supporting, High Rotation Speed, framework supporting dangle and brush assembly of electric forms so that this class inclinometer exist complex structure, fragile, shock resistance is poor, the life-span is short, drift is large, the shortcoming of low precision and operating maintenance inconvenience.
Adopt optical fibre gyro acquisition angle velocity information in the continuous fiber gyrolevel for oil well, adopt accelerometer to gather the ratio force information in relative inertness space.Optic fiber gyroscope inclinometer has the precision height, uses reliable, the characteristics such as assembling is simple, applied range.Both can be used for carrying out open-hole measurement, and also can be used for the measurement of cased well, it has very widely application space in the field of old well repetition measurement.Optic fiber gyroscope inclinometer has adopted high-quality quartz flexible accelerometer and high-precision optical fiber gyro instrument.
The rotatory inertia body that is used for optic fiber gyroscope continuous gradienter is the core component of optic fiber gyroscope inclinometer.The IMU that existing optic fiber gyroscope inclinometer majority all adopts three-axis gyroscope and three axis accelerometer to form.Be CN2804803 such as China Patent Publication No., name is called the micro-mechanical-electronic system technology inertial measurement device, it discloses a kind of micro-mechanical-electronic system technology inertial measurement device, have three and be respectively applied to measurement space X, Y, the angular rate gyroscope of Z axis angular speed and three are respectively applied to measurement space X, Y, the linear acceleration transducer of z axis acceleration, make each angular rate gyroscope and the parallel setting of each linear acceleration transducer by an adaptive transit line plate, wherein each spatial axes angular rate gyroscope and each spatial axis acceleration transducer are by the sensitive circuit of the chip formation that adopts micro-mechanical-electronic system technology, signal processor, main amplifier and zero offset controller, the brightness nonlinear correction device, range expander, the temperature drift compensation device, bandwidth extender forms, the output of sensitive circuit is connected to the input of main amplifier through signal processor, the zero offset controller, the brightness nonlinear correction device, range expander, temperature drift compensation device and bandwidth extender are in parallel, and its common output end is connected to the input of main amplifier.Use three-axis gyroscope and three axis accelerometer to make the volume of optical fibre gyro become large, cost increases.The light source of existing three axis optical fibre gyro and drive circuit thereof and Fibre Optical Sensor and treatment circuit thereof are all in same cavity, because the light source of optical fibre gyro will produce certain heat in the course of the work, particularly light source power consumption under the higher environment of temperature becomes large, make the aggravation of light source self-heating, Fibre Optical Sensor is caused certain influence.
Summary of the invention:
The present invention is intended to overcome above-mentioned shortcoming of the prior art, and a kind of method of utilizing accelerometer to extract angular speed is provided.
According to a kind of method of utilizing accelerometer to extract angular speed provided by the invention, may further comprise the steps: a), utilize the first accelerometer to extract respectively the sample information in the two adjacent moment with the second accelerometer vertical with described the first accelerometer; B), calculate oscillation amplitude and the vibration average of the first accelerometer according to step a and the sample information obtained; C), the frequency of oscillation of extrapolating the first accelerometer according to described oscillation amplitude and the described vibration average of described the first accelerometer; D), extrapolate and the homoaxial angular speed value of the second accelerometer according to the angular speed sampled value that provides with the homoaxial angular speed output sampling device of described the first accelerometer and the described frequency of oscillation of described the first accelerometer.
Also have following additional technical feature according to a kind of method of utilizing accelerometer to extract angular speed provided by the invention:
Before described the first accelerometer and described the second accelerometer carry out intelligence sample, control being arranged on the axial respectively input of vertical angular speed output device of described the first accelerometer and described the second accelerometer, make its input be in all the time nought state.
Compared with prior art have following advantage according to the method for utilizing accelerometer to extract angular speed provided by the invention:
The quantity that 1, can reduce the angular rate measurement device according to the method for utilizing accelerometer to extract angular speed provided by the invention reaches cost-effective purpose.
2, according to the inclinometer that adopts angular speed extracting method provided by the invention, owing to adopted two optical fibre gyros, so reduce the purpose of instrument outside dimension, saved simultaneously cost of production.
3, according to the method for utilizing accelerometer to extract angular speed provided by the invention, thereby owing to reduced the heat dissipation capacity that the quantity of optical fibre gyro has reduced light source, reduced the impact of light source on each sensor in the inclinometer.
Description of drawings
Fig. 1 is the flow chart that utilizes accelerometer to extract the method for angular speed according to provided by the invention;
Fig. 2 is the structural representation that utilizes the inclinometer of the method that accelerometer extracts angular speed according to provided by the invention;
Fig. 3 is the optical fibre gyro structural representation according to inclinometer of the present invention.
The specific embodiment:
The below describes embodiments of the invention in detail, and the example of described embodiment is shown in the drawings, and wherein identical label represents identical element from start to finish.Be used for explaining the present invention that described embodiment is exemplary, and can not be interpreted as limitation of the present invention below by the embodiment that is described with reference to the drawings.
Referring to Fig. 1, according to a kind of method of utilizing accelerometer to extract angular speed provided by the invention, may further comprise the steps: a), utilize the first accelerometer and the second accelerometer score vertical with described the first accelerometer to get indescribably the sample information in the two adjacent moment; B), calculate oscillation amplitude and the vibration average of the first accelerometer according to step a and the sample information obtained; C), the frequency of oscillation of extrapolating the first accelerometer according to described oscillation amplitude and the described vibration average of described the first accelerometer; D), extrapolate and the homoaxial angular speed value of the second accelerometer according to the angular speed sampled value that provides with the homoaxial angular speed output sampling device of described the first accelerometer and the described frequency of oscillation of described the first accelerometer.Because under the actual working environment, certain axial angle speed of facing mutually for two moment may not be identical, in conjunction with the related sensor sample information in a upper moment and this moment, can determine the respective corners speed in this moment.
Referring to Fig. 1, according to a further embodiment of the invention, before described the first accelerometer and described the second accelerometer carry out intelligence sample, control being arranged on the axial respectively input of vertical angular speed output device of described the first accelerometer and described the second accelerometer, make its input be in all the time nought state.With further, the division by mode of operation can make the inertial navigation posture renewal algorithm of optic fiber gyroscope continuous gradienter always work under the less state in angle of slope.
Referring to Fig. 2, Fig. 3, according to a kind of inclinometer provided by the invention, comprise the rotating mechanism 1 that is installed in the described shell body, drive driving mechanism 2 and the supporter 8 of described rotating mechanism 1, described rotating mechanism 1 comprises: cold storage body 3, the angular speed output sampling device 4 that links to each other with described cold storage body 3, be installed in the first accelerometer 51 in the described rotating mechanism 1, the second accelerometer 52, the 3rd accelerometer 53, encoder 6 and slip ring 7, it is characterized in that: described angular speed output sampling device 4 is coaxial with described the first accelerometer 51, extrapolates and the second accelerometer 52 homoaxial angular speed values for cooperating with described the first accelerometer 51.Thereby owing to reduced the heat dissipation capacity that the quantity of optical fibre gyro has reduced light source, reduced the impact of light source on each sensor in the inclinometer.
Referring to Fig. 2, Fig. 3, according to a further embodiment of the invention, described angular speed output sampling device 4 is fibre optic gyroscope.Adopt optic fiber gyroscope inclinometer to have the precision height herein, use reliable, the characteristics such as assembling is simple, applied range.
Referring to Fig. 2, Fig. 3, according to further embodiment of the present utility model, described fibre optic gyroscope comprises: be installed in respectively gyro treatment circuit circuit board 41 on the described fibre optic gyroscope body, coupler 42, probe 43, with the coaxial axial optical fiber sensor of described the first accelerometer 51, radial light fiber sensor 45, Weight plate 46 and the light source 47 coaxial with described the second accelerometer 52.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can change these embodiment that scope of the present invention is limited by claims and equivalent thereof.
Claims (2)
1. method of utilizing accelerometer to extract angular speed, adopt a kind of inclinometer, comprise the rotating mechanism that is installed in the shell body, drive driving mechanism and the supporter of described rotating mechanism, described rotating mechanism comprises: cold storage body, the angular speed output sampling device that links to each other with described cold storage body, be installed in the first accelerometer in the described rotating mechanism, the second accelerometer, the 3rd accelerometer, encoder and slip ring, it is characterized in that: described angular speed output sampling device and described the first accelerometer are coaxial, extrapolate and the homoaxial angular speed value of the second accelerometer for cooperating with described the first accelerometer, described angular speed output sampling device is fibre optic gyroscope, and described fibre optic gyroscope comprises: be installed in respectively the gyro treatment circuit circuit board on the described fibre optic gyroscope body, coupler, probe, the axial optical fiber sensor coaxial with described the first accelerometer, the radial light fiber sensor coaxial with described the second accelerometer, Weight plate and light source;
May further comprise the steps:
A), utilize the first accelerometer to extract respectively the sample information in the two adjacent moment with the second accelerometer vertical with described the first accelerometer;
B), calculate oscillation amplitude and the vibration average of the first accelerometer according to step a and the sample information obtained;
C), the frequency of oscillation of extrapolating the first accelerometer according to described oscillation amplitude and the described vibration average of described the first accelerometer;
D), extrapolate and the homoaxial angular speed value of the second accelerometer according to the angular speed sampled value that provides with the homoaxial angular speed output sampling device of described the first accelerometer and the described frequency of oscillation of described the first accelerometer.
2. the method for utilizing accelerometer to extract angular speed according to claim 1, it is characterized in that: before described the first accelerometer and described the second accelerometer carry out intelligence sample, control being arranged on the axial respectively input of vertical angular speed output device of described the first accelerometer and described the second accelerometer, make its input be in all the time nought state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008101344326A CN101634221B (en) | 2008-07-23 | 2008-07-23 | Method for extracting angular rate by accelerometers |
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| CN2008101344326A CN101634221B (en) | 2008-07-23 | 2008-07-23 | Method for extracting angular rate by accelerometers |
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| CN101634221A CN101634221A (en) | 2010-01-27 |
| CN101634221B true CN101634221B (en) | 2013-10-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102337881B (en) * | 2011-09-01 | 2014-03-19 | 中国航空工业第六一八研究所 | Assembly method of inertial measurement component in continuous inclinometer |
| CN103061747A (en) * | 2012-12-17 | 2013-04-24 | 北京合康科技发展有限责任公司 | Electronic clinometer using fixed point measuring method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4361961A (en) * | 1978-11-13 | 1982-12-07 | Ruhrkohle Ag | Device for measuring the angular orientation of horizontal bores |
| GB2256492A (en) * | 1990-12-12 | 1992-12-09 | Inst Francais Du Petrole | Method for correcting magnetic measurements made to determe the azimuth of a well |
| CN1811127A (en) * | 2006-02-09 | 2006-08-02 | 北京航空航天大学 | Control system suitable for continuous fiber gyrolevel for oil well |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201155325Y (en) * | 2007-11-21 | 2008-11-26 | 航天科工惯性技术有限公司 | Rotating inertia body for optical fibre gyroscope continuous gradient meter |
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- 2008-07-23 CN CN2008101344326A patent/CN101634221B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4361961A (en) * | 1978-11-13 | 1982-12-07 | Ruhrkohle Ag | Device for measuring the angular orientation of horizontal bores |
| GB2256492A (en) * | 1990-12-12 | 1992-12-09 | Inst Francais Du Petrole | Method for correcting magnetic measurements made to determe the azimuth of a well |
| CN1811127A (en) * | 2006-02-09 | 2006-08-02 | 北京航空航天大学 | Control system suitable for continuous fiber gyrolevel for oil well |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2008-14893A 2008.01.24 |
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