CN112729222A - Real-time measurement method for position of pile digging rotating rod - Google Patents
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Abstract
本发明属于桩挖重工技术领域，特别涉及一种桩挖转杆位置的实时测量方法，包括步骤：在桩挖机刚上电后，利用光纤惯组三轴加计敏感地球重力加速度，根据三轴测量矢量与重力加速度的夹角建立桩挖转杆的初始姿态基准；在桩挖机处于工作状态时，光纤惯组中的三轴陀螺时刻敏感桩挖转杆姿态变化，利用空间坐标转换关系获取桩挖转杆与天轴的夹角，在杆长信息已知条件下再利用三角函数解算出桩挖转杆具体位置；在桩挖转杆钻井结束后的短暂静止状态下，再次通过光纤惯组三轴加计建立姿态基准，获取桩挖转杆当前姿态信息并计算桩挖转杆的当前位姿误差；在桩挖转杆上升过程，利用光纤陀螺对桩挖转杆进行实时姿态跟踪及位置测量。
The invention belongs to the technical field of pile excavation heavy industry, and in particular relates to a real-time measurement method for the position of a pile excavation rotating rod, comprising the steps of: after the pile excavator is just powered on, use an optical fiber inertial group three-axis adder to sense the earth's gravitational acceleration, and according to three The angle between the axis measurement vector and the acceleration of gravity establishes the initial attitude reference of the pile excavator; when the pile excavator is in the working state, the three-axis gyroscope in the fiber inertial group is always sensitive to the change of the pile excavator attitude, and the spatial coordinate conversion relationship is used. Obtain the angle between the pile excavation rod and the vertical axis, and then use the trigonometric function to calculate the specific position of the pile excavation rod under the condition of known rod length information; in the short static state after the pile excavation rod drilling is completed, pass the optical fiber again. The three-axis summation of the inertial group establishes the attitude reference, obtains the current attitude information of the pile excavation rod and calculates the current posture error of the pile excavation rod; during the rising process of the pile excavation rod, the fiber optic gyroscope is used to track the real-time attitude of the pile excavation rod and position measurement.
Description
技术领域technical field
本发明属于桩挖重工技术领域，特别涉及一种桩挖转杆位置的实时测量方法。The invention belongs to the technical field of pile excavation heavy industry, and particularly relates to a real-time measurement method for the position of a pile excavation rotating rod.
背景技术Background technique
随着科学技术的进步以及经济的快速发展，高层建筑的需求与日俱增，随之而来的是对基层建筑提出了更高要求、更高标准。因此，在桩挖钻井的过程中，迫切需要能够实时提供高精度的位置测量技术来为工业部门提供可靠的钻井信息，并提供实时的数据反馈。桩挖机是一种用于桩基础工程现场灌注桩钻孔施工的桩工机械。桩挖机工作时是通过动力头的旋转来带动转杆转动，其动力头可以根据需要在桅杆上下滑动，以此实现桩挖孔的挖掘。虽然近些年来自动化技术有了很大提高，但桩挖机转杆内仍没有可以提供转杆运动数据信息的设备，进而无法实现桩挖机转杆位置的高精准测量与定位。With the advancement of science and technology and the rapid development of the economy, the demand for high-rise buildings is increasing day by day, followed by higher requirements and higher standards for grass-roots buildings. Therefore, in the process of pile excavation and drilling, it is urgent to provide high-precision position measurement technology in real time to provide the industrial sector with reliable drilling information and real-time data feedback. Pile excavator is a pile machine used for drilling construction of cast-in-place piles on site of pile foundation engineering. When the pile excavator works, the rotating rod is driven by the rotation of the power head, and the power head can slide up and down the mast according to the needs, so as to realize the excavation of the pile hole. Although the automation technology has been greatly improved in recent years, there is still no equipment that can provide the movement data information of the rotary rod in the rotary rod of the pile excavator, so that the high-precision measurement and positioning of the position of the rotary rod of the pile excavator cannot be realized.
由于现阶段仍没有可以提供智能化的桩挖机转杆高精度位置测量设备，无法实现实时的转杆位置信息反馈，因此在桩挖钻井过程中，往往需要凭借着桩挖技术工多年的技术经验来判断桩挖转杆的位置，这不仅对桩挖技术工技术经验是一种考验，而且桩挖探井还没有可靠的技术支持。此外，传统的纯惯导技术由于定位精度随时间累积发散，且受器件精度和初始失准角精度约束较大，也无法满足桩挖转杆的高精度位置测量。Since there is still no intelligent high-precision position measurement equipment for the rotary rod of the pile excavator at this stage, and real-time rotary rod position information feedback cannot be realized, in the process of pile excavation and drilling, it is often necessary to rely on the technology of pile excavation technicians for many years. It is not only a test for the technical experience of the pile excavation technicians, but also there is no reliable technical support for the pile excavation and exploration wells. In addition, the traditional pure inertial navigation technology cannot meet the high-precision position measurement of the pile excavation rod due to the accumulation and divergence of the positioning accuracy over time, and is greatly constrained by the device accuracy and the initial misalignment angle accuracy.
基础建设决定上次建筑，若桩挖转孔打偏，将会直接导致根基不稳，从而间接导致上层的建筑安全没有保障，将给人民生命财产带来威胁。因此，目前这一技术问题的解决迫在眉睫。The foundation construction determines the last construction. If the piles are dug and turned and the holes are misaligned, it will directly cause the foundation to be unstable, which will indirectly lead to the insecurity of the upper buildings, which will threaten people's lives and property. Therefore, the solution of this technical problem is imminent at present.
发明内容SUMMARY OF THE INVENTION
针对上述问题，本发明在综合考虑性价比的情况下，提出一种桩挖转杆位置的高精度实时测量方法。本方法利用中精度光纤惯组的物理特性，获取桩挖转杆与铅垂线的夹角，从而间接解算出桩挖转杆的位置偏差；然后结合中精度光纤惯组提供的航向信息以及桩挖转杆的杆长信息解算出桩挖转杆的具体位置，从而实现桩挖转杆的实时高精度位置测量。In view of the above problems, the present invention proposes a high-precision real-time measurement method for the position of the pile excavation rotating rod under the condition of comprehensive consideration of the cost-effectiveness. This method uses the physical characteristics of the medium-precision fiber optic inertial group to obtain the angle between the pile excavation rod and the vertical line, so as to indirectly calculate the position deviation of the pile excavation rod; The rod length information of the excavating rod is used to calculate the specific position of the pile excavating rod, so as to realize the real-time high-precision position measurement of the pile excavating rod.
本发明提供了一种桩挖转杆位置的实时测量方法，所述桩挖转杆与光纤惯组固连，定义所述光纤惯组坐标系为东北天坐标系，所述方法包括如下步骤：The invention provides a real-time measurement method for the position of a pile excavation rod. The pile excavation rod is fixedly connected to an optical fiber inertial group, and the coordinate system of the optical fiber inertial group is defined as the northeast sky coordinate system, and the method includes the following steps:
步骤1：在桩挖机刚上电后，利用所述光纤惯组的三轴加计建立所述桩挖转杆的初始姿态基准，之后根据所述三轴加计的测量值与所述光纤惯组的天轴坐标的关系获取所述光纤惯组的初始位置信息，进而计算所述桩挖转杆的初始位置误差；Step 1: After the pile excavator is just powered on, use the three-axis totalizer of the optical fiber inertial group to establish the initial attitude reference of the pile-excavating rotary rod, and then according to the measured value of the three-axis totalizer and the fiber Obtain the initial position information of the optical fiber inertial group according to the relationship between the sky axis coordinates of the inertial group, and then calculate the initial position error of the pile excavation rod;
步骤2：在所述桩挖机处于钻井状态时，利用所述光纤惯组的三轴陀螺对所述桩挖转杆进行实时姿态跟踪及位置误差测量；Step 2: when the pile excavator is in the drilling state, use the three-axis gyroscope of the optical fiber inertial group to perform real-time attitude tracking and position error measurement on the pile excavation rod;
步骤3：在所述桩挖转杆钻井结束且处于未上升的静止状态时，利用步骤1所述方法获取所述光纤惯组的当前位置信息，进而计算所述桩挖转杆的当前位置误差；Step 3: When the drilling of the pile excavation rod is completed and in a static state that does not rise, use the method described in
步骤4：在桩挖转杆上升过程，利用所述三轴陀螺对所述桩挖转杆进行实时姿态跟踪及位置误差测量。Step 4: During the rising process of the pile excavating rod, the three-axis gyro is used to perform real-time attitude tracking and position error measurement on the pile excavating rod.
进一步，步骤1具体过程如下：Further, the specific process of
在所述桩挖机上电后，所述桩挖转杆处于静止状态，所述光纤惯组所受外力为地球引力；定义所述光纤惯组坐标系为O-X1Y1Z1，X1轴为指东轴，Y1轴为指北轴，Z1轴为天轴；After the pile excavator is powered on, the pile excavator is in a static state, and the external force on the optical fiber inertial group is the earth's gravity; the coordinate system of the optical fiber inertial group is defined as OX 1 Y 1 Z 1 , X 1 axis refers to the east axis, the Y 1 axis refers to the north axis, and the Z 1 axis refers to the sky axis;
所述三轴加计测量值的关系式为：The relational expression of the three-axis summation measurement value is:
其中，
根据直角三角形性质，得到初始时刻所述光纤惯组中天轴方向陀螺与铅垂线的夹角Θ为：According to the properties of right-angled triangles, the angle Θ between the gyroscope and the vertical line in the optical fiber inertial group at the initial moment is obtained as:
初始时刻所述桩挖转杆的倾斜方位角α为：The inclination azimuth angle α of the pile excavation rod at the initial moment is:
其中，θ为所述桩挖转杆在倾斜方位角α处与铅垂线的偏差角度；Wherein, θ is the deviation angle of the pile excavation lever from the vertical line at the inclined azimuth angle α;
之后利用倾斜方位角α对所述桩挖转杆的初始位姿进行矫正，保证开始工作时所述桩挖转杆保持铅垂。Afterwards, the initial posture of the pile excavation rod is corrected by using the inclination azimuth angle α to ensure that the pile excavation rod remains vertical when starting to work.
进一步，步骤2具体过程为：Further, the specific process of step 2 is:
定义桩挖转杆坐标系为载体系，记为b系，所述桩挖转杆坐标系与所述光纤惯组坐标系重合；定义地理坐标系为导航系，记为n系，其为东北天坐标系；根据坐标系转换原理计算出导航系与载体系的坐标转换矩阵
其中，ψ为桩挖转杆的航向角，θ为桩挖转杆的俯仰角，γ为桩挖转杆的横滚角；Among them, ψ is the heading angle of the pile excavation rod, θ is the pitch angle of the pile excavation rod, and γ is the roll angle of the pile excavation rod;
根据四元素解算出载体系与导航系的坐标转换矩阵
其中，q0、q1、q2、q3为四元素的系数，Among them, q 0 , q 1 , q 2 , and q 3 are four-element coefficients,
令
由于n系到b系的旋转过程始终保持直角坐标系，则
根据式(4)、(6)和(7)，计算出桩挖转杆的姿态信息：According to equations (4), (6) and (7), the attitude information of the pile excavation lever is calculated:
桩挖转杆打偏时，光纤惯组的天轴与地理坐标系的天轴的夹角为桩挖转杆在倾斜方位角α处与铅垂线的偏差角度θ，表示为：When the pile excavation rod is deviated, the angle between the sky axis of the fiber inertial group and the sky axis of the geographic coordinate system is the deviation angle θ between the pile excavation rod and the vertical line at the inclined azimuth angle α, which is expressed as:
θ＝arccos(cosβcosγ) (9)θ=arccos(cosβcosγ) (9)
则桩挖转杆的位置误差为：Then the position error of the pile excavation rod is:
Δs＝Lsin(θ) (10)Δs=Lsin(θ) (10)
Δl＝L(1-cosθ) (11)Δl=L(1-cosθ) (11)
其中，L为桩挖转杆深入地下的长度；Δs表示桩挖转杆的水平测量误差；Δl表示桩挖转杆的垂向误差。Among them, L is the depth of the pile excavation rod into the ground; Δs represents the horizontal measurement error of the pile excavation rod; Δl represents the vertical error of the pile excavation rod.
进一步，步骤3具体过程为：Further, the specific process of step 3 is:
定义所述三轴加计的测量值的置信区间为[g-Δg,g+Δg]，且置信度为99％；设所述三轴陀螺的测量值的置信区间为[15.04-Δθ,15.04+Δθ]，置信度为99％；Define the confidence interval of the measured value of the three-axis gyro as [g-Δg, g+Δg], and the confidence level is 99%; set the confidence interval of the measured value of the three-axis gyro to be [15.04-Δθ, 15.04 +Δθ], the confidence level is 99%;
地球赤道重力加速度为：The acceleration due to gravity at the Earth's equator is:
g0＝9.7803 (12)g 0 = 9.7803 (12)
地球重力加速度随纬度变化存在函数关系，设当地纬度为lat，则当地地球重力加速度g表示为：There is a functional relationship between the earth's gravitational acceleration and latitude. If the local latitude is lat, the local earth's gravitational acceleration g is expressed as:
g＝g0*(1+0.00530240*sin(lat)2-0.00000582*sin(2*lat)2) (13)g=g 0 *(1+0.00530240*sin(lat) 2 -0.00000582*sin(2*lat) 2 ) (13)
设三轴加计的测量值矢量和为G，三轴陀螺的测量值矢量和为σ，当光纤惯组的测量值满足式(14)条件时：Let the measured value vector sum of the three-axis totalizer be G, and the measured value vector sum of the three-axis gyro be σ, when the measured value of the fiber inertial group satisfies the condition of formula (14):
G∈[g-Δg,g+Δg]andσ∈[15.04-Δθ,15.04+Δθ] (14)G∈[g-Δg,g+Δg]andσ∈[15.04-Δθ,15.04+Δθ] (14)
则认为所述桩挖转杆处于静止状态；Then it is considered that the pile digging rod is in a static state;
之后按照步骤1所述方法，计算桩挖转杆当前姿态信息。Then, according to the method described in
本发明的有益效果：本发明主要通过获取桩挖转杆在桩挖机工作前、工作中及工作结束后三个阶段的姿态信息，来实现整个桩挖过程中桩挖转杆的高动态、高精度的位姿测量。Beneficial effects of the present invention: the present invention mainly realizes the high dynamic and high dynamic performance of the pile digging rotator in the whole pile digging process by acquiring the posture information of the piling digging rotator in three stages before, during and after the work of the pile digging machine. High-precision pose measurement.
附图说明Description of drawings
图1是本发明实施例的桩挖转杆位置的高精度实时测量方法流程图；Fig. 1 is the high-precision real-time measuring method flow chart of the position of the pile excavation rotating rod according to the embodiment of the present invention;
图2是本发明实施例的加计初始基准建立的原理图；FIG. 2 is a schematic diagram of the establishment of an initial datum of an add-on according to an embodiment of the present invention;
图3是本发明实施例光纤陀螺对桩挖转杆实时位置测量原理图；3 is a schematic diagram of the real-time position measurement principle of the fiber optic gyro to the pile excavation lever according to the embodiment of the present invention;
图4是发明实施例的导航系和载体系坐标转换示意图。FIG. 4 is a schematic diagram of coordinate conversion between a navigation system and a carrier system according to an embodiment of the invention.
具体实施方式Detailed ways
下面结合附图和实施例进一步描述本发明，应该理解，以下所述实施例旨在便于对本发明的理解，而对其不起任何限定作用。The present invention will be further described below with reference to the accompanying drawings and embodiments, and it should be understood that the following embodiments are intended to facilitate the understanding of the present invention, but do not have any limiting effect on it.
如图1所示，本实施例的桩挖转杆位置的高精度实时测量方法，其中桩挖转杆与光纤惯组固连，定义所述光纤惯组坐标系为东北天坐标系，该方法包括如下步骤：As shown in Figure 1, the high-precision real-time measurement method of the position of the pile excavation rod of the present embodiment, wherein the pile excavation rod and the optical fiber inertial group are fixedly connected, and the optical fiber inertial group coordinate system is defined as the northeast sky coordinate system, and this method It includes the following steps:
步骤1：在桩挖机刚上电后，利用光纤惯组的三轴加计建立桩挖转杆的初始姿态基准，之后根据三轴加计的测量值与光纤惯组的天轴坐标的关系获取光纤惯组的初始位置信息，进而计算桩挖转杆的初始位置误差。具体过程如下：Step 1: After the pile excavator is powered on, use the three-axis adder of the fiber optic inertial group to establish the initial attitude reference of the pile excavator, and then according to the relationship between the measured value of the three-axis adder and the sky-axis coordinate of the fiber optic inertial group Obtain the initial position information of the fiber inertial group, and then calculate the initial position error of the pile excavation rod. The specific process is as follows:
在桩挖机上电后，桩挖转杆处于静止状态，此时不考虑内力作用，光纤惯组所受外力只有地球引力，即光纤惯组三轴加计静态测量值的矢量和为当地重力加速度。而由于桩挖转杆与光纤惯组固连，则三轴加计水平轴(东北两轴)的重力测量值、天轴的重力测量值和当地重力加速度构成矢量直角三角形。After the pile excavator is powered on, the pile excavator is in a static state. At this time, the internal force is not considered, and the external force on the fiber optic inertial group is only the gravitational force of the earth, that is, the vector sum of the static measurement values of the three-axis adder of the fiber optic inertial group is the local gravitational acceleration . Since the pile excavation rod is fixedly connected with the fiber inertial group, the three-axis plus the gravity measurement value of the horizontal axis (two northeast axes), the gravity measurement value of the celestial axis and the local gravity acceleration form a vector right triangle.
设所述光纤惯组坐标系为O-X1Y1Z1，如图2所示，理想状态下X1、Y1、Z1三轴分别指向东、北、天。根据图2可列出光纤惯组三轴加计测量值的关系式为：Let the coordinate system of the optical fiber inertial group be OX 1 Y 1 Z 1 , as shown in FIG. 2 , under ideal conditions, the three axes of X 1 , Y 1 , and Z 1 point to the east, north, and sky, respectively. According to Fig. 2, the relational formula of the measured value of the triaxial summation meter of the fiber optic inertial group can be listed as:
其中，
根据直角三角形性质，得到初始时刻光纤惯组中天轴方向陀螺与铅垂线的夹角Θ为：According to the properties of right-angled triangles, the angle Θ between the gyroscope and the vertical line in the optical fiber inertial group at the initial moment is obtained as:
光纤惯组初始方位失准角主要由等效东向陀螺零偏引起，故利用三轴加计进行光纤惯组初始姿态获取时，不需要考虑其初始方位失准角，即可认为初始时刻三轴加计的X1轴和Y1轴，即光纤惯组的X1轴和Y1轴处在理想状态，即分别指东、指北。The initial azimuth misalignment angle of the fiber optic inertial group is mainly caused by the zero offset of the equivalent east gyro, so when using the three-axis adder to obtain the initial attitude of the fiber optic inertial group, it is not necessary to consider the initial azimuth misalignment angle, and it can be considered that the initial moment three The X 1 axis and Y 1 axis of the axis totalizer, that is, the X 1 axis and the Y 1 axis of the optical fiber inertial group, are in an ideal state, that is, they point to the east and the north respectively.
根据图2可以计算出初始时刻桩挖转杆的倾斜方位α为：According to Fig. 2, the inclination α of the pile excavation rod at the initial moment can be calculated as:
上式表示桩挖转杆初始时刻姿态为在倾斜方位角α处与铅垂线偏差角度为θ。The above formula indicates that the initial moment attitude of the pile excavation lever is at the inclined azimuth angle α and the deviation angle from the vertical line is θ.
之后利用式(3)解算出倾斜方位α可以对桩挖转杆的初始位姿进行矫正，保证开始工作时桩挖转杆尽量保持铅垂。Afterwards, using equation (3) to calculate the inclination α can correct the initial posture of the pile excavation rod to ensure that the pile excavation rod is kept as vertical as possible when starting to work.
步骤2：在桩挖机处于工作(钻井)状态时，利用三轴陀螺对桩挖转杆进行实时姿态跟踪以及位置误差测量。Step 2: When the pile excavator is in the working (drilling) state, the three-axis gyroscope is used to perform real-time attitude tracking and position error measurement on the pile excavating rod.
在桩挖转杆开始工作后，利用光纤惯组可以高精度获得姿态信息的特点，对桩挖转杆进行实时的姿态跟踪。由于桩挖转杆与光纤惯组固连，桩挖转杆坐标系与光纤惯组坐标系重合，若转杆没有发生偏移时，光纤惯组三轴陀螺指向为东、北、天；若转杆探井打偏时，三轴陀螺会相对东北天坐标系发生旋转。利用空间坐标系的数学特性可知，任意轴发生一定角位移时，可由其他两轴旋转得到。由于桩挖转杆位置打偏主要是由于其天轴(即光纤惯组的天轴Z1轴)出现角位移造成的，故在动态测量过程，只需解算出其天轴的角位移，然后利用三角函数和三角形性质便可计算出桩挖转杆的位置误差。After the pile excavation rod starts to work, the fiber inertial group can be used to obtain the attitude information with high precision, and the real-time attitude tracking of the pile excavation rod is carried out. Since the pile excavation rod is fixedly connected with the fiber inertial group, the coordinate system of the pile excavation rod and the optical fiber inertial group are coincident. If the rod does not shift, the three-axis gyro of the optical fiber inertial group points to east, north, and sky; When the rotary rod exploratory well is deviated, the three-axis gyro will rotate relative to the northeast sky coordinate system. Using the mathematical characteristics of the space coordinate system, it can be known that when any axis has a certain angular displacement, it can be obtained by rotating the other two axes. Since the deviation of the position of the pile excavation rod is mainly caused by the angular displacement of its antenna axis (that is, the antenna axis Z 1 axis of the optical fiber inertial group), in the dynamic measurement process, it is only necessary to calculate the angular displacement of its antenna axis, and then The position error of the pile excavation rod can be calculated by using the trigonometric function and the properties of the triangle.
定义地理坐标系为O-XYZ，为东北天坐标系，使地理坐标系绕Z轴旋转的角度α，绕X轴旋转角度β，绕Y轴旋转角度γ，如图4所示，图4中，假设o-x0y0z0为右手直角参考坐标系，对其实施如下三次转动：首先o-x0y0z0系绕oz0轴正向转动α角度得o-x1y1z1系，显然两坐标系具有共同的oz轴；接着o-x1y1z1系绕ox1轴正向转动β角度得o-x2y2z2系，两坐标系具有共同的ox轴；最后o-x2y2z2系绕oz2轴正向转动γ角度得o-x3y3z3系，两坐标系具有共同的oz轴。Define the geographic coordinate system as O-XYZ, which is the northeast celestial coordinate system, so that the geographic coordinate system rotates the angle α around the Z axis, rotates the angle β around the X axis, and rotates the angle γ around the Y axis, as shown in Figure 4, in Figure 4 , assuming that ox 0 y 0 z 0 is a right-handed rectangular reference coordinate system, the following three rotations are implemented: First, the ox 0 y 0 z 0 system is rotated around the oz 0 axis by an angle of α to obtain the ox 1 y 1 z 1 system. Obviously, the two The coordinate system has a common oz axis; then the ox 1 y 1 z 1 system is rotated around the ox 1 axis by a positive angle of β to obtain the ox 2 y 2 z 2 system, and the two coordinate systems have a common ox axis; finally ox 2 y 2 z 2 The ox 3 y 3 z 3 system is obtained by rotating the system around the oz 2 axis by a positive angle of γ, and the two coordinate systems have a common oz axis.
下面利用三轴陀螺对桩挖转杆进行实时姿态跟踪，具体过程如下：Next, the three-axis gyro is used to track the real-time attitude of the pile excavation rod. The specific process is as follows:
定义桩挖转杆坐标系为载体系，记为b系，取地理坐标系为导航系，记为n系，根据坐标系转换原理可计算出导航系与载体系的坐标转换矩阵
其中，ψ为桩挖转杆的航向角，θ为桩挖转杆的俯仰角，γ为桩挖转杆的横滚角；Among them, ψ is the heading angle of the pile excavation rod, θ is the pitch angle of the pile excavation rod, and γ is the roll angle of the pile excavation rod;
根据四元素可以解算出载体系与导航系的坐标转换矩阵
其中，q0、q1、q2、q3为四元素的系数，Among them, q 0 , q 1 , q 2 , and q 3 are four-element coefficients,
令
由于n系到b系的旋转过程始终保持直角坐标系，则
根据式(4)、(6)和(7)，可以计算出桩挖转杆的姿态信息：According to equations (4), (6) and (7), the attitude information of the pile excavation lever can be calculated:
通过上述的解算从而可以实现对桩挖转杆姿态信息的跟踪。Through the above calculation, the tracking of the attitude information of the pile excavation lever can be realized.
三轴陀螺对桩挖转杆进行位置误差高精度测量，具体过程为：The three-axis gyroscope measures the position error of the pile excavation rod with high precision. The specific process is as follows:
桩挖转杆打偏时，光纤惯组的天轴(Z1轴)与地理坐标系的天轴(Z轴)的夹角为桩挖转杆在倾斜方位角α处与铅垂线的偏差角度θ，可以表示为：When the pile excavation rod is deflected, the angle between the antenna axis (Z 1 axis) of the optical fiber inertial group and the antenna axis (Z axis) of the geographic coordinate system is the deviation of the pile excavation rod from the vertical line at the inclined azimuth angle α. The angle θ can be expressed as:
θ＝arccos(cosβcosγ) (9)θ=arccos(cosβcosγ) (9)
根据三角形性质，可计算出当桩挖转杆偏角为θ时，桩挖转杆的位置误差为：According to the properties of the triangle, when the declination angle of the pile excavation rod is θ, the position error of the pile excavation rod can be calculated as:
Δs＝Lsin(θ) (10)Δs=Lsin(θ) (10)
Δl＝L(1-cosθ) (11)Δl=L(1-cosθ) (11)
其中，L为桩挖转杆深入地下的长度；Δs表示桩挖转杆的水平测量误差；Δl表示桩挖转杆的垂向误差。Among them, L is the depth of the pile excavation rod into the ground; Δs represents the horizontal measurement error of the pile excavation rod; Δl represents the vertical error of the pile excavation rod.
步骤3：在桩挖转杆钻井结束且处于未上升的静止状态时，利用三轴加计建立桩挖转杆的姿态基准，之后根据三轴加计的测量值与所述光纤惯组的天轴坐标的关系获取光纤惯组的当前位置信息，进而计算桩挖转杆的当前位置误差。Step 3: When the drilling of the pile excavation rod is completed and it is in a static state that has not been raised, the attitude reference of the pile excavation rod is established by using the triaxial summation, and then the measured value of the The relationship between the axis coordinates obtains the current position information of the fiber inertial group, and then calculates the current position error of the pile excavation rod.
当桩挖转杆钻井结束时，转杆会有短暂静止状态，在静止状态下，由于不受外力作用，理想条件下，三轴加计的测量值的矢量和应为当地地球重力加速度g，且三轴陀螺测量量的矢量和为地球自转角速度15.04°/h。然而由于器件误差的原因造成器件测量值存在误差，因此，需要解算出惯性器件的99％的置信区间，即判断转杆处于静止状态的可靠区间。When the drilling of the pile excavation rotary rod is completed, the rotary rod will be in a static state for a short time. In the static state, since it is not affected by external force, under ideal conditions, the vector sum of the measured values of the triaxial adder should be the local acceleration of gravity g of the earth, And the vector sum of the three-axis gyro measurement is the angular velocity of the earth's rotation of 15.04°/h. However, due to the device error, there is an error in the measured value of the device. Therefore, it is necessary to calculate the 99% confidence interval of the inertial device, that is, the reliable interval for judging that the rotating rod is in a static state.
设三轴加计测量值的置信区间为[g-Δg,g+Δg]，且置信度为99％；设光纤陀螺测量值的置信区间为[15.04-Δθ,15.04+Δθ]，置信度为99％。三轴加计测量值的置信区间和光纤陀螺测量值的置信区间的大小与光纤惯组的精度有关，光纤惯组的精度高置信区间范围小，反之，范围大。Set the confidence interval of the measured value of the triaxial adder to [g-Δg, g+Δg], and the confidence level is 99%; set the confidence interval of the FOG measurement value to be [15.04-Δθ, 15.04+Δθ], and the confidence level is 99%. The size of the confidence interval of the measured value of the triaxial adder and the confidence interval of the measurement value of the fiber optic gyro is related to the accuracy of the fiber inertial group.
地球赤道重力加速度为：The acceleration due to gravity at the Earth's equator is:
g0＝9.7803 (12)g 0 = 9.7803 (12)
而地球重力加速度随纬度变化存在一定的函数关系，设当地纬度为lat，则当地重力加速度g可表示为：However, there is a certain functional relationship between the earth's gravitational acceleration and latitude. If the local latitude is lat, the local gravitational acceleration g can be expressed as:
g＝g0*(1+0.00530240*sin(lat)2-0.00000582*sin(2*lat)2) (13)g=g 0 *(1+0.00530240*sin(lat) 2 -0.00000582*sin(2*lat) 2 ) (13)
设三轴加计的测量值矢量和为G，三轴陀螺测量值矢量和为σ，当光纤惯组测量值满足下列条件时：Let the measured value vector sum of the three-axis totalizer be G, and the three-axis gyro measurement value vector sum to be σ, when the measured value of the fiber inertial group meets the following conditions:
G∈[g-Δg,g+Δg]andσ∈[15.04-Δθ,15.04+Δθ] (14)G∈[g-Δg,g+Δg]andσ∈[15.04-Δθ,15.04+Δθ] (14)
则认为桩挖转杆处于静止状态。Then it is considered that the pile excavation rod is in a static state.
之后重复步骤1所述方法，对桩挖转杆当前姿态信息进行粗估计。After that, the method described in
步骤4：在桩挖转杆上升过程中，利用三轴陀螺对桩挖转杆进行实时姿态跟踪及位置误差测量。Step 4: During the rising process of the pile excavation rod, the three-axis gyro is used to perform real-time attitude tracking and position error measurement on the pile excavation rod.
在将桩挖转杆拔出来时，利用光纤惯组的高精度姿态测量特征实现对桩挖转杆姿态的实时跟踪与位置误差测量。When the pile excavation rod is pulled out, the high-precision attitude measurement feature of the fiber optic inertial group is used to realize the real-time tracking and position error measurement of the pile excavation rod's attitude.
对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以对本发明的实施例做出若干变型和改进，这些都属于本发明的保护范围。For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several modifications and improvements can also be made to the embodiments of the present invention, which all belong to the protection scope of the present invention.
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Application publication date: 20210430 |