附加运动约束的光纤陀螺测斜仪动态测量.pdfVIP

第 20 卷第 6 期 中国惯性技术学报 Vol.20 No.6 2012 年 12 月 Journal of Chinese Inertial Technology Dec. 2012 文章编号：1005-6734(2012)06-0650-04 附加运动约束的光纤陀螺测斜仪动态测量 颜廷洋，张春熹，高 爽，林 铁 （北京航空航天大学仪器科学与光电工程学院，北京 100191 ） 摘要：为实现光纤陀螺测斜仪精确高效测量，提出一种电缆速度和运动约束联合辅助的动态测量方法。 根据运动约束条件构造垂直于井眼轴线方向的虚拟速度，当电缆速度有效时，两者共同构成三维速度 辅助信息，当电缆速度失效时，仅利用虚拟速度作为外部辅助。设计间接组合卡尔曼滤波器估计和校 正惯性导航误差，实现井斜角和方位角的动态测量。现场实验结果表明：电缆速度有效时，井斜角误 差优于 0.1° ，方位角误差优于 1°；而电缆速度失效 5 min情况下，增加运动约束辅助后，方位角和井 斜角相对误差分别控制在 0.5°和 0.02°以内，验证了所提方法的可行性和有效性，为光纤陀螺测斜仪的 工程应用奠定基础。 关 键 词：光纤陀螺测斜仪；捷联惯性导航；动态测量；运动约束 中图分类号：V241.5 文献标志码：A Continuous measurement for fiber optic gyro inclinometer with motion constraint YAN Ting-yang, ZHANG Chun-xi, GAO Shuang, LIN Tie (School of Instrumentation Science and Opto-electronics Engineering, Beihang Univiersity, Beijing 100191, China) Abstract: A novel continuous borehole surveying scheme for fiber optic gyro inclinometer was proposed to improve the measurement accuracy and efficiency. Virtual velocity measurements were derived from motion constraints, and utilized with cable velocity measurements as external aiding sources when cable velocity was available. However when cable velocity measurements were unavailable, only virtual velocity measurements were used as aiding sources. An indirect feedback Kalman filter was designed to limit inertial navigation errors, and thus continuous measurement operations could be performed. Field Experiments show that the inclination error is less than 0.1°, and the azimuth error is less than 1° when cable velocity is available. Meanwhile,