CN105716577A - Method and device for measuring dip angles based on biaxial gravity acceleration sensor - Google Patents

Abstract

The invention discloses a method and device for measuring dip angles based on a biaxial gravity acceleration sensor. The method comprises the steps that firstly, a biaxial gravity acceleration sensor measuring platform is fixed to the side face of an inclined cylinder to be detected and moves along the side face of the inclined cylinder to be detected to obtain the maximum dip angle eta x0 between the biaxial gravity acceleration sensor measuring platform and the axis x and the maximum dip angle eta y0 between the biaxial gravity acceleration sensor measuring platform and the axis y, the position is recorded as A, the dip angle eta z0 between the biaxial gravity acceleration sensor measuring platform and the axis z is obtained according to the three-dimensional space vector coordinate relation, dip angle collection is carried out k times, the maximum error is removed to obtain eta x1, eta x2,..., eta xl and eta yl, eta y2,..., eta yl, the data is substituted into a dip angle eta z0 formula, and the weighting average value of the z-axis dip angles of l sets of data is calculated; then, the biaxial gravity acceleration sensor measuring platform is rotated around the inclined cylinder to be detected by 180 degrees, the position is recorded as B, the dip angle collecting process is repeated, and the z-axis dip angle weighting average value eta z' is obtained; finally, calibration of the biaxial gravity acceleration sensor measuring platform is achieved through eta z and eta z', the deviation angle beta obtained when the biaxial gravity acceleration sensor measuring platform and the inclined cylinder are matched is calculated, and the dip angle between the inclined cylinder to be detected and the axis z is solved.

Description

A kind of method based on twin shaft Gravity accelerometer measurement of dip angle and device

Technical field

The present invention relates to signal measurement field, specifically a kind of method based on twin shaft Gravity accelerometer measurement of dip angle and device.

Background technology

In explained hereafter and measurement process, higher occasion is required for certainty of measurement, it is sometimes desirable to keep the level of platform or certain angle with inclinometer, the research of slant angle sensor is particularly important.To some cylindrical works, its bottom surface and cylinder need to meet vertical requirement, and when adopting twin shaft Gravity accelerometer to carry out squareness measurement, but there is many measurement error factors in the application in double-shaft tilt angle sensor.The deviation that wherein tested direction and obliquity sensor ideal are measured between direction is one of measurement error factor, only solves its algorithm calibration problem, could use this sensor better, improves certainty of measurement.Double-shaft tilt angle sensor measures angle can cause algorithm Correction Problems, the nominal data recorded is adopted to draw inclination value, measure the experimental result at inclination angle and calculate that result exists certain error twin shaft gravity sensor measuring table and has been difficult to agree with cylinder, often there is inclination angle.Single-axis acceleration sensors can only realize one direction, low amplitude of oscillation incline measurement, two axle slant angle sensors, and direction and the amplitude of oscillation can not be taken into account.The measurement of gradient and correction can be produced bigger error.

Due to based on the method for twin shaft Gravity accelerometer measurement of dip angle and device, the measurement apparatus overcoming existing measurement and bearing calibration existence is complicated, the weak points such as measurement error is bigger, it is provided that a kind of detect the tilted cylindrical envelope measurement of dip angle and automatic correcting method that speed is fast, error is little.Therefore the present invention's has enforcement simple operation, it is not necessary to object of reference, and has degree of accuracy height, the features such as cost is low, and dip correction is also provided reliable standard for follow-up by this.

Summary of the invention

The invention aims to the deficiency existed for prior art, it is provided that a kind of possess integrity, the method for reliability is higher, precision is higher measurement of dip angle and device.

The solution that the present invention proposes is: first, twin shaft Gravity accelerometer measuring table is fixed on tilted cylindrical envelope side to be measured, obtains its inclination maximum η with x-axis, y-axis by moving along tilt column body side surface to be measured_x0、η_y0, remember that this position is A, obtain the inclination angle η of itself and z-axis according to three dimensions vectorial coordinate relation_z0, carry out k inclination angle collection and rejecting gross error obtain η_x1,η_x2,...,η_xlAnd η_y1,η_y2,...,η_yl, above-mentioned data are substituted into inclination angle η_z0Formula, calculates the weighted mean η at the z-axis inclination angle of l group data_z；Then, twin shaft Gravity accelerometer measuring table is rotated 180 ° along tilted cylindrical envelope to be measured, remembers that this position is B, repeat above-mentioned inclination angle gatherer process, obtain z-axis inclination angle weighted mean η_z'；Finally, by η_z、η_z' realize the calibration of twin shaft Gravity accelerometer measuring table, and calculate deviation angle β when twin shaft Gravity accelerometer measuring table agrees with mutually with tilted cylindrical envelope, obtain the inclination angle of tilted cylindrical envelope to be measured and z-axis.

A kind of method based on twin shaft Gravity accelerometer measurement of dip angle of present invention proposition and device, comprise the following steps:

Step one: twin shaft Gravity accelerometer measuring table is fixed on tilted cylindrical envelope side to be measured, obtains its inclination maximum η with x-axis, y-axis by moving horizontally clockwise along tilt column body side surface to be measured_x0、η_y0, and remember that this position is A；

Step 2: according to inclination angle η_x0, inclination angle η_y0The inclination angle η of twin shaft Gravity accelerometer measuring table and z-axis is obtained in conjunction with three dimensions vector relations_z0, concrete formula is

Step 3: carry out k inclination angle and collect the inclination angle η of twin shaft Gravity accelerometer measuring table and x-axis_x1,η_x2,...,η_xkAnd with the inclination angle η of y-axis_y1,η_y2,...,η_yk, calculate meansigma methods respectively is simultaneouslyWithStandard deviationWithAnd note

Wherein, ν_xi、ν_yiGather residual error for i & lt, utilize Lay spy's rule, reject | v_i| the inclination data of > 3 σ, obtain η_x1,η_x2,...,η_xlAnd η_y1,η_y2,...,η_yl；

Step 4: the η that step 3 is tried to achieve_x1,η_x2,...,η_xlWith η_y1,η_y2,...,η_ylBring inclination angle η into_z0Formula, calculates and obtains η_z1,η_z2,...,η_zl, and it is weighted average computation, it is thus achieved that the real-time z-axis inclination value η of twin shaft Gravity accelerometer measuring table of l group data_z, concrete formula is

Wherein, η_zp=η_z1+η_z2+...+η_zl；

Step 5: twin shaft Gravity accelerometer measuring table Bound moisture level is rotated 180 ° to another inclination maximum place along tilted cylindrical envelope side horizontal to be measured, being designated as this position is B, repeat step 2 to step 4 inclination angle gatherer process, obtain the real-time inclination angle η of itself and z-axis_z'；

Step 6: deviation angle when definition twin shaft Gravity accelerometer measuring table agrees with mutually with tilted cylindrical envelope to be measured is β, and the deviation angle respectively β of note position A and position B₁And β₂, in conjunction with η_zAnd η_z' deviation angle β can be obtained, concrete formula is

Meanwhile, after note introducing β, tilted cylindrical envelope to be measured is η with the inclination angle of z-axis, geometrical relationship obtain its concrete formula

So far, inclination cylinder Dip countion to be measured has been completed.

Described method, the deviation angle β when measuring table of twin shaft Gravity accelerometer described in step 6 agrees with mutually with tilted cylindrical envelope to be measured analyzes process, the deviation angle respectively β of note position A and position B₁And β₂, twice measurement the inclination angle η of the z-axis obtained_z, η_z' and deviation angle β₁, β₂, meet following formula geometrical relationship

In formula, η_sFor introducing auxiliary angle, if ignoring rotation error, position A is equal with the deviation angle of position B, namely

β₁=β₂=β

Then have

Described method, the solving of tilted cylindrical envelope to be measured and z-axis inclination angle η in step 6, set up target angle computation model, the inclination angle defining tested inclination cylinder and z-axis is η, geometrical relationship obtain following formula,

η=η_z±β

The vertical line of definition twin shaft Gravity accelerometer measuring table and the angle respectively α of tilted cylindrical envelope to be measured and horizontal plane₁And α₂, then by geometrical relationship therein, can obtain,

In conjunction with η=η_z± β, is easy to get

Accompanying drawing explanation

Fig. 1 is that apparatus of the present invention specifically put figure；

Fig. 2 is the computation model that the present invention realizes deviation angle when twin shaft Gravity accelerometer measuring table agrees with mutually with tilted cylindrical envelope to be measured；

Fig. 3 is that the present invention realizes tilted cylindrical envelope to be measured and z-axis measurement of dip angle model；

Fig. 4 is that the present invention realizes the method based on twin shaft Gravity accelerometer measurement of dip angle and the flow chart of device.

Detailed description of the invention

The present invention proposes a kind of current acquisition passage method for self-calibrating based on least square linear interpolation.Elaborate below in conjunction with accompanying drawing:

The device of the present embodiment, as it is shown in figure 1, twin shaft Gravity accelerometer measuring table is fixed on inclination cylinder to be measured, reads measuring table and x, the inclination angle of y-axis by sensor.

Deviation angle computation model when the twin shaft Gravity accelerometer measuring table of the present embodiment agrees with mutually with tilted cylindrical envelope to be measured is as shown in Figure 2.

The tilted cylindrical envelope to be measured of the present embodiment is with z-axis measurement of dip angle model as shown in Figure 3.

Such as Fig. 4, a kind of method based on twin shaft Gravity accelerometer measurement of dip angle of the present embodiment and device, the inclination angle to ask for tilt column body, specifically comprises the following steps that below

1. the work surface monomer supporting product of new generation developed for China Mining University: double extension suspended type hydraulic prop, twin shaft Gravity accelerometer measuring table is fixed on tilted cylindrical envelope side to be measured, obtains its inclination maximum η with x-axis, y-axis by moving horizontally clockwise along tilt column body side surface to be measured_x0、η_y0, and remember that this position is A；

2. first defining two group of three axial vector, wherein [x, y, z] individual z-axis [x ', y ', z '] that is parallel to is tilt later vector.If vector [x, y, z] tilts η ' around y-axis_x, tilt η ' further around x-axis rotation_y, so from [x, y, z's] to [x ', y ', z '] is converted to

It is computed obtaining

If x, y are horizontally oriented, z is vertically oriented.[x, y, z]=[0,0,1]

Then just have

X '=sin η '_x

Y '=sin η '_ycosη′_x

Z '=cos η '_xcosη′_y

Geometrical relationship can obtain

X '=sin η_xY '=sin η_y

And the deviation angle that double-axel acceleration sensor is to z-axis

Launched to obtain by Taylor's formula

3. carry out eight inclination angles at location A and collect the inclination angle η of twin shaft Gravity accelerometer measuring table and x-axis_x1,η_x2,...,η_x8And with the inclination angle η of y-axis_y1,η_y2,...,η_y8, as shown in Table 1

One or eight twin shaft Gravity accelerometer measuring tables of table and x, the inclination value of y-axis (unit: °)

	1	2	3	4	5	6	7	8
									ηx	1.532	1.534	1.531	1.533	1.532	1.533	1.571	1.532
ηy	2.122	2.122	2.124	2.123	2.125	2.123	1.976	2.123

Calculate meansigma methods respectively is simultaneouslyWithStandard deviationWithAnd note

Wherein, ν_xi、ν_yiGather residual error for i & lt, utilize Lay spy's rule, the data that the 7th time gathers | v_i| > 3 σ, inclination data is judged to blunder error, thus being rejected, obtains η_x1,η_x2,...,η_x7And η_y1,η_y2,...,η_y7As shown in Table 2

Table two rejects twin shaft Gravity accelerometer measuring table and x after error, the inclination value of y-axis (unit: °)

	1	2	3	4	5	6	7
								ηx	1.532	1.534	1.531	1.533	1.532	1.533	1.532
ηy	2.122	2.122	2.124	2.123	2.125	2.123	2.123

4. η step 3 tried to achieve_x1,η_x2,...,η_x7With η_y1,η_y2,...,η_y7Bring inclination angle η into_z0Formula, calculates and obtains η_z1,η_z2,...,η_z7, as shown in Table 3

The inclination value of table three twin shaft Gravity accelerometer measuring table and z-axis (unit: °)

	1	2	3	4	5	6	7
								ηz	88.357	88.353	88.356	88.352	88.356	88.354	88.355

And it is weighted average computation, it is thus achieved that the real-time z-axis inclination value η of twin shaft Gravity accelerometer measuring table that 7 times gather_z

5. twin shaft Gravity accelerometer measuring table Bound moisture level being rotated 180 ° to another inclination maximum place along tilted cylindrical envelope side horizontal to be measured, being designated as this position is B, repeats step 2 to step 4 inclination angle gatherer process, obtains the real-time inclination angle η of itself and z-axis_z′

η_z'=90.563；

6. deviation angle when definition twin shaft Gravity accelerometer measuring table agrees with mutually with tilted cylindrical envelope to be measured is β, and the deviation angle respectively β of note position A and position B₁And β₂, in conjunction with η_zAnd η_z' deviation angle β can be obtained, concrete formula is

Meanwhile, after note introducing β, tilted cylindrical envelope to be measured is η with the inclination angle of z-axis, geometrical relationship can obtain its concrete formula

So far, inclination cylinder Dip countion to be measured has been completed.

Claims (3)

1. the invention discloses a kind of method based on twin shaft Gravity accelerometer measurement of dip angle and device, it is characterised in that comprise the following steps:

Step one: twin shaft Gravity accelerometer measuring table is fixed on tilted cylindrical envelope side to be measured, obtains its inclination maximum η with x-axis, y-axis by moving horizontally clockwise along tilt column body side surface to be measured_x0、η_y0, and remember that this position is A；

Step 2: according to inclination angle η_x0, inclination angle η_y0The inclination angle η of twin shaft Gravity accelerometer measuring table and z-axis is obtained in conjunction with three dimensions vector relations_z0, concrete formula is

${\mathrm{\η}}_{z0}=\frac{\mathrm{\π}}{2}-\sqrt{{\sin }^2{\mathrm{\η}}_{x0}-{\cos }^2{\mathrm{\η}}_{y0}}-\frac{{\left(\sqrt{{\sin }^2{\mathrm{\η}}_{x0}-{\cos }^2{\mathrm{\η}}_{y0}}\right)}^3}{6};$

Step 3: carry out k inclination angle and collect the inclination angle η of twin shaft Gravity accelerometer measuring table and x-axis_x1,η_x2,…,η_xkAnd with the inclination angle η of y-axis_y1,η_y2,…,η_yk, calculate meansigma methods respectively is simultaneouslyWithStandard deviationWithAnd note

$\left\{\begin{array}{c}{\mathrm{\ν}}_{xi}={\mathrm{\η}}_{xi}-{\mathrm{\η}}_{\stackrel{\‾}{x}}\\ {\mathrm{\ν}}_{yi}={\mathrm{\η}}_{yi}-{\mathrm{\η}}_{\stackrel{\‾}{y}}\end{array}\right.$

Wherein, ν_xi、ν_yiGather residual error for i & lt, utilize Lay spy's rule, reject | v_i| the inclination data of > 3 σ, obtain η_x1,η_x2,…,η_xlAnd η_y1,η_y2,…,η_yl；

Step 4: the η that step 3 is tried to achieve_x1,η_x2,…,η_xlWith η_y1,η_y2,…,η_ylBring inclination angle η into_z0Formula, calculates and obtains η_z1,η_z2,…,η_zl, and it is weighted average computation, it is thus achieved that the real-time z-axis inclination value η of twin shaft Gravity accelerometer measuring table of l group data_z, concrete formula is

${\mathrm{\η}}_z=\underset{j=1}{\overset{l}{\Σ}}\frac{{{\mathrm{\η}}_{zj}}^2}{{\mathrm{\η}}_{zp}}$

Wherein, η_zp=η_z1+η_z2+…+η_zl；

Step 5: twin shaft Gravity accelerometer measuring table Bound moisture level is rotated 180 ° to another inclination maximum place along tilted cylindrical envelope side horizontal to be measured, being designated as this position is B, repeat step 2 to step 4 inclination angle gatherer process, obtain the real-time inclination angle η of itself and z-axis_z'；

Step 6: deviation angle when definition twin shaft Gravity accelerometer measuring table agrees with mutually with tilted cylindrical envelope to be measured is β, and the deviation angle respectively β of note position A and position B₁And β₂, in conjunction with η_zAnd η_z' deviation angle β can be obtained, concrete formula is

$\mathrm{\β}=\frac{{{\mathrm{\η}}_z}^{\′}-{\mathrm{\η}}_z}{2}$

Meanwhile, after note introducing β, tilted cylindrical envelope to be measured is η with the inclination angle of z-axis, geometrical relationship obtain its concrete formula

$\mathrm{\η}=\frac{\mathrm{\π}}{2}-\frac{{\mathrm{\η}}_z+{{\mathrm{\η}}_z}^{\′}}{2}$

So far, inclination cylinder Dip countion to be measured has been completed.

2. according to the method described in claim 1, it is characterised in that the deviation angle β when measuring table of twin shaft Gravity accelerometer described in step 6 agrees with mutually with tilted cylindrical envelope to be measured introduces and analyzes, the deviation angle respectively β of note position A and position B₁And β₂, twice measurement the inclination angle η of the z-axis obtained_z, η_z' and deviation angle β₁, β₂, meet following formula geometrical relationship

$\left\{\begin{array}{c}{\mathrm{\η}}_z={\mathrm{\β}}_1+{\mathrm{\η}}_s\\ {\mathrm{\η}}_s={\mathrm{\β}}_2+{\mathrm{\η}}_z^{\′}\end{array}\right.$

In formula, η_sFor introducing auxiliary angle, if ignoring rotation error, position A is equal with the deviation angle of position B, namely

β₁=β₂=β

Then have

$\mathrm{\β}=\frac{{{\mathrm{\η}}_z}^{\′}-{\mathrm{\η}}_z}{2}.$

3. according to the method described in claim 1, it is characterised in that tilted cylindrical envelope to be measured described in step 6 solves with z-axis inclination angle η's, sets up target angle computation model, and the inclination angle defining tested inclination cylinder and z-axis is η, geometrical relationship obtain following formula,

η=η_z±β

The vertical line of definition twin shaft Gravity accelerometer measuring table and the angle respectively α of tilted cylindrical envelope to be measured and horizontal plane₁And α₂, then by geometrical relationship therein, can obtain,

$\left\{\begin{array}{c}\mathrm{\η}=\frac{\mathrm{\π}}{2}-{\mathrm{\α}}_1-{\mathrm{\α}}_2\\ {\mathrm{\α}}_1=\mathrm{\β}\\ {\mathrm{\α}}_2=\frac{\mathrm{\π}}{2}-{\mathrm{\η}}_z\end{array}\right.$

In conjunction with η=η_z± β, is easy to get $\mathrm{\η}=\frac{\mathrm{\π}}{2}-\frac{{\mathrm{\η}}_z+{{\mathrm{\η}}_z}^{\′}}{2}.$