CN112197791B - Method for correcting drift error of isolating switch monitoring equipment - Google Patents
Method for correcting drift error of isolating switch monitoring equipment Download PDFInfo
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- CN112197791B CN112197791B CN202010969413.6A CN202010969413A CN112197791B CN 112197791 B CN112197791 B CN 112197791B CN 202010969413 A CN202010969413 A CN 202010969413A CN 112197791 B CN112197791 B CN 112197791B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
- G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
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Abstract
The invention discloses a method for correcting drift errors of isolating switch monitoring equipment, which comprises the steps of electrifying a mems inertial device, reading configuration data from a memory, continuously acquiring 5s data of a mems gyroscope, a mems accelerometer and a temperature sensor, evaluating and calibrating white noise of the data, then respectively carrying out sliding window sampling processing on the acquired mems gyroscope data and mems accelerometer data, carrying out combined detection on a carrier motion state formed by the mems gyroscope data and the mems accelerometer data according to an adaptive threshold, judging whether the carrier motion state is a static state or not, establishing an error compensation state vector compensation matrix through an online real-time calibration algorithm according to the carrier motion state, and otherwise carrying out error compensation on output data by using an error compensation state vector, finally updating the data, and repeating the steps until the error correction is completed.
Description
Technical Field
The invention belongs to the technical field of power grids, and particularly relates to an isolating switch monitoring equipment drift error correction method based on a mems inertial device.
Background
The 'one-key sequential control' is taken as a key technology for the transformation of the intelligent power grid, is one of important technical means for reducing the workload of primary power grid maintenance personnel and relieving the insufficient manpower of the primary power grid maintenance personnel, provides a new monitoring means for the safe and reliable operation of each primary substation and transformer substation of the national power grid, and has very important significance for guaranteeing the electricity consumption of residents and industry. The isolator monitoring device is one of the key sensors for "one-touch sequential control".
At present, except for a limit switch, a mems inertia device is generally adopted as a core detector for monitoring the state of an isolating switch.
The inertial device is easy to drift after long-term operation, and error increase occurs to cause misjudgment of the state of the isolating switch. Even if the current aerospace-grade gyroscope with the optimal performance is used, the state of the isolating switch can be judged wrongly due to drift errors after continuous power-on operation for months or even years.
Therefore, further research is needed to correct the drift error of the isolated switch monitoring device.
Disclosure of Invention
Aiming at the defects or technical requirements in the prior art, the invention provides a method for correcting the drift error of isolating switch monitoring equipment, which corrects the drift error of a mems inertial device by a method of motion detection and online real-time calibration so as to improve the measurement precision of the isolating switch monitoring equipment on the state of a knife switch and avoid the occurrence of state misjudgment.
The technical scheme adopted by the invention for solving the technical problem is as follows: a drift error correction method for an isolation switch monitoring device comprises the following steps
(1) Electrifying the mems inertia device: respectively electrifying the mems gyroscope, the mems accelerometer, the main chip, the memory, the crystal oscillator and the temperature sensor;
(2) initial data binding: reading configuration data from a memory;
(3)5s static calibration: continuously acquiring 5s data of the mems gyroscope, the mems accelerometer and the temperature sensor, and evaluating and calibrating white noise of the data;
(4) carrying out sliding window sampling processing on the acquired mems gyroscope data;
(5) carrying out sliding window sampling processing on the acquired mems accelerometer data;
(6) carrying out combined detection on the motion state of a carrier formed by the mems gyroscope data and the mems accelerometer data according to an adaptive threshold, and judging whether the carrier is in a static state;
(7) if so, establishing an error compensation state vector compensation matrix through an online real-time calibration algorithm according to the motion state of the carrier;
(8) otherwise, the error compensation state vector is used for carrying out error compensation on the output data;
(9) and (5) updating the data, and then repeating the steps (4) - (8) until the error correction is completed.
The step (4) adopts the following formula:
in the formula, ω i ＝[ω xi ,ω yi ,ω zi ] T Is the data output by the mems gyroscope at time i.
Wherein, the step (5) adopts the following formula:
in the formula, a i ＝[a xi ,a yi ,a zi ] T Is the data output by the accelerometer at time i, mems.
Wherein, the step (6) adopts the following formula:
in the formula, a D 、ω D The threshold value is preset and can be set according to an actual system.
Wherein, the step (7) is to select the attitude angle error phi and the speed error delta v of the mems gyroscope n Gyro constant zero bias
Normal zero offset of mems accelerometer
Forming a state vector of the Kalman filtering system for the state vector:
the system state space model is
In the formula (I), the compound is shown in the specification,
H G ＝[0 6×3 I 6×6 0 6×11 ]，
β s ＝diag(1/τ sx 1/τ sy 1/τ sz )(s＝G,A)，
the subscripts indicate columns 1 and 3 of the matrix, and V is the measurement noise.
The invention has the beneficial effects that: the method can solve the problem of the shift error of the mems inertial device in the long-term power-on working process of the isolating switch monitoring equipment, and realize the technical requirements of 'one-time calibration and full-life cycle operation' of the isolating switch monitoring equipment.
Drawings
FIG. 1 is a data processing flow diagram of the error correction method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the method for correcting drift error of isolation switch monitoring equipment disclosed by the invention comprises the following steps
(1) Electrifying the mems inertia device: and respectively electrifying the mems gyroscope, the mems accelerometer, the main chip, the memory, the crystal oscillator and the temperature sensor.
(2) Initial data binding: the configuration data is read from the memory.
(3)5s static calibration: and continuously acquiring 5s data of the mems gyroscope, the mems accelerometer and the temperature sensor, and evaluating and calibrating white noise of the data.
(4) Carrying out sliding window sampling processing on the acquired mems gyroscope data:
in the formula, ω i ＝[ω xi ,ω yi ,ω zi ] T The output data of the gyroscope at the time i mems.
(5) Carrying out sliding window sampling processing on the acquired mems accelerometer data:
in the formula, a i ＝[a xi ,a yi ,a zi ] T Is the accelerometer output data at time i.
(6) And (4) carrying out combined detection on the motion state of the carrier formed by the data of the mems gyroscope and the data of the mems accelerometer according to the self-adaptive threshold, and judging whether the carrier is in a static state.
The gyroscope data and the accelerometer data form the combined detection of the motion state of the carrier:
in the formula, a D 、ω D The threshold value is preset and can be set according to an actual system.
(7) If so, establishing an error compensation state vector compensation matrix through an online real-time calibration algorithm according to the motion state of the carrier.
Establishing an error compensation state vector through an online real-time calibration algorithm according to the motion state of the carrier: selecting attitude angle error phi and speed error delta v of the mems gyroscope n Gyro constant zero bias
Accelerometer constant zero offset
Forming a state vector of the Kalman filtering system as the state vector
The system state space model is as follows:
in the formula (I), the compound is shown in the specification,
H G ＝[0 6×3 I 6×6 0 6×11 ]，
(8) Otherwise, the error compensation state vector is used for carrying out error compensation on the output data;
(9) and (5) updating the data, and then repeating the steps (4) - (8) until the error correction is completed.
The performance index of the present invention is shown in the following table.
| Serial number | Index item | Similar apparatus not embodying the invention | Monitoring device according to the invention |
| 1 | Static drift | 0.5°/h | 0.1°/24h |
| 2 | Calibration period | 24h | Only once calibration is needed in the operation period |
The invention can effectively inhibit inertial drift of the gyroscope, ensure the state judgment of the isolating switch to be accurate and realize the one-time calibration and the full-life cycle operation of the isolating switch monitoring equipment.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various changes and modifications without departing from the inventive concept, and these changes and modifications are all within the scope of the present invention.
Claims (4)
1. A method for correcting drift errors of an isolation switch monitoring device is characterized by comprising the following steps: comprises the following steps
(1) Electrifying the mems inertia device: respectively electrifying the mems gyroscope, the mems accelerometer, the main chip, the memory, the crystal oscillator and the temperature sensor;
(2) initial data binding: reading configuration data from a memory;
(3)5s static calibration: continuously acquiring 5s data of the mems gyroscope, the mems accelerometer and the temperature sensor, and evaluating and calibrating white noise of the data;
(4) carrying out sliding window sampling processing on the acquired mems gyroscope data;
(5) carrying out sliding window sampling processing on the acquired mems accelerometer data;
(6) carrying out combined detection on the motion state of a carrier formed by the mems gyroscope data and the mems accelerometer data according to an adaptive threshold, and judging whether the carrier is in a static state;
(7) if so, establishing an error compensation state vector compensation matrix through an online real-time calibration algorithm according to the motion state of the carrier;
(8) otherwise, carrying out error compensation on the output data by using the error compensation state vector;
(9) and (5) updating the data, and then repeating the steps (4) - (8) until the error correction is completed.
2. The method for correcting the drift error of the isolated switch monitoring equipment according to claim 1, wherein the step (4) adopts the following formula:
in the formula, ω i ＝[ω xi ,ω yi ,ω zi ] T Is the data output by the mems gyroscope at time i.
3. The isolated switch monitoring device drift error correction method of claim 1, wherein said step (5) employs the following equation:
in the formula, a i ＝[a xi ,a yi ,a zi ] T Is the data output by the accelerometer at time i, mems.
4. The isolated switch monitoring device drift error correction method of claim 1, wherein said step (6) uses the following formula:
in the formula, a D 、ω D Is a predetermined threshold value.
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| CN104121930B (en) * | 2014-07-29 | 2016-10-05 | 湖北三江航天红峰控制有限公司 | A kind of compensation method based on the MEMS gyro drift error adding table coupling |
| CN108061549A (en) * | 2016-11-07 | 2018-05-22 | 北京自动化控制设备研究所 | A kind of high speed angular speed output and calibration method |
| CN106996780B (en) * | 2017-04-24 | 2020-05-05 | 湖南格纳微信息科技有限公司 | Course error correction method and device and magnetic field detection method and device |
| WO2019133089A1 (en) * | 2017-12-31 | 2019-07-04 | Immersion Services, LLC dba Immersion Networks | Inertial measurement unit management with reduced rotational drift |
| CN108426574A (en) * | 2018-02-02 | 2018-08-21 | 哈尔滨工程大学 | A kind of MEMS pedestrian navigation methods of the course angle correction algorithm based on ZIHR |
| CN110018414A (en) * | 2019-03-07 | 2019-07-16 | 武汉华中天纬测控有限公司 | A kind of disconnecting switch opening and closing state monitoring device and its application |
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