CN112729222A - Real-time measurement method for position of pile digging rotating rod - Google Patents
Real-time measurement method for position of pile digging rotating rod Download PDFInfo
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- G—PHYSICS
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Abstract
The invention belongs to the technical field of pile excavation heavy industry, and particularly relates to a real-time measuring method for the position of a pile excavation rotating rod, which comprises the following steps: after the pile excavator is powered on, sensing earth gravity acceleration by utilizing a three-axis accelerometer of an optical fiber inertial measurement unit, and establishing an initial attitude reference of a pile excavating rotating rod according to an included angle between a three-axis measurement vector and the gravity acceleration; when the pile excavator is in a working state, a three-axis gyroscope in the optical fiber inertial measurement unit senses the attitude change of the pile excavating rotating rod at any time, obtains the included angle between the pile excavating rotating rod and the zenith axis by utilizing a space coordinate conversion relation, and calculates the specific position of the pile excavating rotating rod by utilizing a trigonometric function under the condition that the rod length information is known; under a transient static state after the drilling of the pile digging rotating rod is finished, establishing an attitude reference through the three-axis addition of the optical fiber inertial measurement unit, acquiring current attitude information of the pile digging rotating rod and calculating a current attitude error of the pile digging rotating rod; and in the process of ascending the pile digging rotating rod, the optical fiber gyroscope is utilized to carry out real-time attitude tracking and position measurement on the pile digging rotating rod.
Description
Technical Field
The invention belongs to the technical field of pile excavation and heavy industry, and particularly relates to a real-time measurement method for the position of a pile excavation rotating rod.
Background
With the progress of science and technology and the rapid development of economy, the demand of high-rise buildings is increasing, and along with the increase, higher requirements and higher standards are put forward for basic buildings. Therefore, in the process of pile-excavation drilling, a position measurement technology capable of providing high precision in real time is urgently needed to provide reliable drilling information for industrial departments and provide real-time data feedback. A pile excavator is a piling machine used for the drilling construction of cast-in-place piles in pile foundation engineering. When the pile excavator works, the rotating rod is driven to rotate through the rotation of the power head, and the power head can slide up and down on the mast as required, so that the excavation of a pile excavating hole is realized. Although the automation technology is greatly improved in recent years, no equipment capable of providing motion data information of the rotating rod is arranged in the rotating rod of the pile excavator, and therefore high-precision measurement and positioning of the position of the rotating rod of the pile excavator cannot be achieved.
Because no intelligent high-precision position measuring equipment for the rotating rod of the pile excavator can be provided at the present stage, and real-time rotating rod position information feedback cannot be realized, the position of the rotating rod of the pile excavator is often judged by means of years of technical experience of a pile excavator technical worker in the pile excavator drilling process, the technical experience of the pile excavator technical worker is tested, and the pile excavator exploration well is not reliably supported. In addition, the traditional pure inertial navigation technology cannot meet the requirement of high-precision position measurement of the pile digging rotating rod because the positioning precision is accumulated and dispersed along with the time, and the precision constraint of the receiving device and the precision constraint of the initial misalignment angle are large.
The foundation construction decides the last building, if the pile is dug, the hole is turned and the deviation is made, the foundation is unstable directly, so that the building safety on the upper layer is not guaranteed indirectly, and the life and property of people are threatened. Therefore, the current technical problem is urgently solved.
Disclosure of Invention
Aiming at the problems, the invention provides a high-precision real-time measuring method for the position of a pile digging rotating rod under the condition of comprehensively considering cost performance. The method utilizes the physical characteristics of the medium-precision optical fiber inertial measurement unit to obtain the included angle between the pile digging rotating rod and the plumb line, thereby indirectly solving the position deviation of the pile digging rotating rod; and then the specific position of the pile-digging rotating rod is calculated by combining the course information provided by the medium-precision optical fiber inertial measurement unit and the rod length information of the pile-digging rotating rod, so that the real-time high-precision position measurement of the pile-digging rotating rod is realized.
The invention provides a real-time measurement method for the position of a pile digging rotating rod, wherein the pile digging rotating rod is fixedly connected with an optical fiber inertial measurement unit, and a coordinate system of the optical fiber inertial measurement unit is defined as a northeast coordinate system, and the method comprises the following steps:
step 1: after a pile excavator is powered on, establishing an initial attitude reference of a pile excavating rotating rod by utilizing a triaxial accelerometer of the optical fiber inertial measurement unit, and then acquiring initial position information of the optical fiber inertial measurement unit according to the relation between the measurement value of the triaxial accelerometer and the zenith coordinate of the optical fiber inertial measurement unit so as to calculate an initial position error of the pile excavating rotating rod;
step 2: when the pile excavator is in a drilling state, utilizing a three-axis gyroscope of the optical fiber inertial measurement unit to perform real-time attitude tracking and position error measurement on the pile excavating rotating rod;
and step 3: when the drilling of the pile digging rotating rod is finished and the pile digging rotating rod is in a static state without rising, the method in the step 1 is utilized to obtain the current position information of the optical fiber inertial measurement unit, and then the current position error of the pile digging rotating rod is calculated;
and 4, step 4: and in the process of ascending the pile digging rotating rod, the three-axis gyroscope is utilized to carry out real-time attitude tracking and position error measurement on the pile digging rotating rod.
Further, the specific process of step 1 is as follows:
after the pile excavator is powered on, the pile excavating rotating rod is in a static state, and the external force borne by the optical fiber inertial measurement unit is the gravity of the earth; defining the optical fiber inertial measurement unit coordinate system to be O-X1Y1Z1，X1The axis is the east-pointing axis, Y1The axis is north-pointing axis, Z1The shaft is a zenith shaft;
the relation of the three-axis measuring value is as follows:
wherein,
g represents the local earth gravitational acceleration, which is the three-axis accelerometer measurement;
according to the property of the right triangle, obtaining an included angle theta between the gyroscope and the plumb line in the direction of the zenith axis in the optical fiber inertial measurement unit at the initial moment as follows:
the inclination azimuth angle alpha of the pile digging rotating rod at the initial moment is as follows:
wherein θ is a deviation angle of the pile-digging rotation rod from a plumb line at an inclination azimuth angle α;
and then correcting the initial pose of the pile digging rotary rod by utilizing the inclined azimuth angle alpha, and ensuring that the pile digging rotary rod keeps plumb when the pile digging rotary rod starts to work.
Further, the specific process of the step 2 is as follows:
defining a pile-digging rotating rod coordinate system as a load system, marking as a system b, and enabling the pile-digging rotating rod coordinate system to be overlapped with the optical fiber inertial measurement unit coordinate system; defining a geographic coordinate system as a navigation system, and recording as an n system which is a northeast coordinate system; calculating a coordinate transformation matrix of the navigation system and the carrier system according to a coordinate transformation principle
Comprises the following steps:
wherein psi is the course angle of the pile-digging rotation rod, theta is the pitch angle of the pile-digging rotation rod, and gamma is the roll angle of the pile-digging rotation rod;
solving the coordinate transformation matrix of the carrier system and the navigation system according to the four elements
Comprises the following steps:
wherein q is0、q1、q2、q3Is a coefficient of four elements, and is,
order to
T12＝2(q1q2-q0q3)，T13＝2(q1q3+q0q2)，T21＝2(q1q2+q0q3)，
T23＝2(q2q3-q0q1)，T31＝2(q1q3-q0q2)，T32＝2(q2q3+q0q1)，
Then remember
Since the rotation process from the n system to the b system always maintains the rectangular coordinate system, the
Is an orthogonal matrix:
according to the formulas (4), (6) and (7), calculating the attitude information of the pile digging rotating rod:
when the pile-digging rotating rod is deflected, the included angle between the zenith axis of the optical fiber inertial measurement unit and the zenith axis of the geographic coordinate system is the deviation angle theta between the inclined azimuth angle alpha of the pile-digging rotating rod and the plumb line, and is expressed as:
θ＝arccos(cosβcosγ) (9)
the position error of the pile digging rotating rod is as follows:
Δs＝Lsin(θ) (10)
Δl＝L(1-cosθ) (11)
wherein L is the length of the pile digging rotating rod penetrating into the ground; Δ s represents the horizontal measurement error of the pile-digging turning rod; Δ l represents the vertical error of the pile driving rod.
Further, the specific process of step 3 is as follows:
defining a confidence interval of [ g- Δ g, g + Δ g ] for the tri-axial adducted measurement with a confidence of 99%; setting the confidence interval of the measured value of the triaxial gyroscope as [ 15.04-delta theta, 15.04+ delta theta ], and setting the confidence coefficient as 99%;
the earth equatorial acceleration is:
g0＝9.7803 (12)
the earth gravity acceleration has a functional relation with the change of latitude, and if the local latitude is lat, the local earth gravity acceleration g is expressed as:
g＝g0*(1+0.00530240*sin(lat)2-0.00000582*sin(2*lat)2) (13)
and when the measured value vector sum of the three-axis addition is G and the measured value vector sum of the three-axis gyroscope is sigma, when the measured value of the optical fiber inertial measurement unit meets the condition of the formula (14):
G∈[g-Δg,g+Δg]andσ∈[15.04-Δθ,15.04+Δθ] (14)
considering the pile-digging rotating rod to be in a static state;
and then, calculating the current attitude information of the pile digging rotating rod according to the method in the step 1.
The invention has the beneficial effects that: the invention mainly realizes the high-dynamic and high-precision pose measurement of the pile digging rotating rod in the whole pile digging process by acquiring the pose information of the pile digging rotating rod in three stages of before, during and after the pile digging machine works.
Drawings
FIG. 1 is a flow chart of a method for high accuracy real time measurement of the position of a pile-excavating turning bar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an addition initial reference setup of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fiber-optic gyroscope for measuring the real-time position of a pile-digging rotation rod according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of coordinate transformation of a navigation system and a carrier system according to an embodiment of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples, it being understood that the examples described below are intended to facilitate the understanding of the invention, and are not intended to limit it in any way.
As shown in fig. 1, the method for measuring the position of the pile-digging rotation rod in real time with high precision in the present embodiment, wherein the pile-digging rotation rod is fixedly connected to the optical fiber inertial measurement unit, and a coordinate system of the optical fiber inertial measurement unit is defined as a northeast coordinate system, and the method includes the following steps:
step 1: after the pile excavator is powered on, the initial attitude reference of the pile excavating rotating rod is established by utilizing the triaxial adding meter of the optical fiber inertial measurement unit, then the initial position information of the optical fiber inertial measurement unit is obtained according to the relation between the measured value of the triaxial adding meter and the zenith coordinate of the optical fiber inertial measurement unit, and further the initial position error of the pile excavating rotating rod is calculated. The specific process is as follows:
after the pile excavator is powered on, the pile excavating rotating rod is in a static state, the action of internal force is not considered at the moment, and the external force borne by the optical fiber inertial measurement unit only has the gravity of the earth, namely the vector sum of the static measurement values of the three shafts of the optical fiber inertial measurement unit and the meter is the local gravity acceleration. And because the pile digging rotating rod is fixedly connected with the optical fiber inertial measurement unit, a vector right-angled triangle is formed by a gravity measurement value of a horizontal shaft (two northeast shafts) of the three-shaft accelerometer, a gravity measurement value of a heaven shaft and local gravity acceleration.
Setting the optical fiber inertial measurement unit coordinate system as O-X1Y1Z1As shown in FIG. 2, X is ideally1、Y1、Z1The three axes point to east, north and sky respectively. According to FIG. 2, the relationship of the three-axis add-measurement values of the fiber inertial measurement unit can be listed as follows:
wherein,
and g represents the local earth gravity acceleration, which is the measured value of the three-axis accelerometer of the optical fiber inerter.
According to the property of the right triangle, the included angle theta between the gyroscope and the plumb line in the direction of the zenith axis in the optical fiber inertial measurement unit at the initial moment is obtained as follows:
the initial azimuth misalignment angle of the optical fiber inertial measurement unit is mainly caused by zero offset of the equivalent east gyroscope, so that when the initial attitude of the optical fiber inertial measurement unit is obtained by utilizing the triaxial accelerometer, the initial azimuth misalignment angle does not need to be considered, and the X of the triaxial accelerometer at the initial moment can be considered1Axis and Y1Axes, i.e. X of fibre inertias1Axis and Y1The axes are ideally pointing east and north, respectively.
According to fig. 2, the inclination orientation α of the pile-digging rotating rod at the initial moment can be calculated as:
the above formula indicates that the attitude of the pile-excavating turning bar at the initial moment is deviated from the plumb line by an angle theta at the inclination azimuth angle alpha.
And then the inclination direction alpha is calculated by the formula (3), so that the initial pose of the pile digging rotating rod can be corrected, and the pile digging rotating rod can be kept vertical as much as possible when the pile digging rotating rod starts to work.
Step 2: when the pile excavator is in a working (drilling) state, the three-axis gyroscope is used for carrying out real-time attitude tracking and position error measurement on the pile excavating rotating rod.
After the pile digging rotary rod starts to work, the real-time attitude tracking of the pile digging rotary rod is carried out by utilizing the characteristic that the optical fiber inertial measurement unit can obtain attitude information with high precision. Because the pile digging rotation rod is fixedly connected with the optical fiber inertial measurement unit, a coordinate system of the pile digging rotation rod is superposed with a coordinate system of the optical fiber inertial measurement unit, and if the rotation rod is not deviated, the three-axis gyroscope of the optical fiber inertial measurement unit points to east, north and sky; if the rotating rod exploration well is deviated, the three-axis gyroscope rotates relative to the northeast coordinate system. By using the mathematical characteristics of the space coordinate system, when any axis generates a certain angular displacement, the angular displacement can be obtained by rotating other two axes. The deviation of the position of the pile digging rotating rod is mainly caused by the heaven axis (namely the heaven axis Z of the optical fiber inertial measurement unit)1Axis) is generated, so that in the dynamic measurement process, the angular displacement of the heaven axis is calculated, and then the position error of the pile digging rotating rod can be calculated by utilizing the trigonometric function and the triangular property.
Defining the geographic coordinate system as O-XYZ and northeast coordinate system, rotating the geographic coordinate system by an angle alpha around Z axis, an angle beta around X axis and an angle gamma around Y axis, as shown in FIG. 4, and in FIG. 4, assuming O-X0y0z0For right-hand rectangular reference coordinate system, the following three rotations are performed: first o-x0y0z0Is tied around oz0The shaft rotates forwards by an angle alpha to obtain o-x1y1z1It is clear that the two coordinate systems have a common oz-axis; followed by o-x1y1z1Tie winding ox1The shaft rotates positively by an angle beta to obtain o-x2y2z2Two coordinate systems have a common ox axis; last o-x2y2z2Is tied around oz2The shaft rotates positively at an angle of gamma to obtain o-x3y3z3The two coordinate systems have a common oz-axis.
The following three-axis gyroscope is used for tracking the real-time attitude of the pile digging rotating rod, and the specific process is as follows:
defining the coordinate system of pile digging rotary rod as load system, recording as system b, taking geographic coordinate system as navigation system, recording as system n, calculating coordinate conversion matrix of navigation system and load system according to coordinate system conversion principle
Comprises the following steps:
wherein psi is the course angle of the pile-digging rotation rod, theta is the pitch angle of the pile-digging rotation rod, and gamma is the roll angle of the pile-digging rotation rod;
coordinate transformation matrix of carrier system and navigation system can be solved according to four elements
Comprises the following steps:
wherein q is0、q1、q2、q3Is a coefficient of four elements, and is,
order to
T12＝2(q1q2-q0q3)，T13＝2(q1q3+q0q2)，T21＝2(q1q2+q0q3)，
T23＝2(q2q3-q0q1)，T31＝2(q1q3-q0q2)，T32＝2(q2q3+q0q1)，
Then remember
Since the rotation process from the n system to the b system always maintains the rectangular coordinate system, the
Is an orthogonal matrix:
according to the formulas (4), (6) and (7), the attitude information of the pile digging rotation rod can be calculated:
the attitude information of the pile digging rotating rod can be tracked through the calculation.
The triaxial top carries out position error high accuracy measurement to the pole that digs, and concrete process is:
the vertical axis (Z) of the optical fiber inertial measurement unit when the pile digging rotary rod is deflected1Axis) and the zenith axis (Z-axis) of the geographical coordinate system is the deviation angle theta of the pile-excavating turning bar from the plumb line at the dip azimuth angle alpha, which can be expressed as:
θ＝arccos(cosβcosγ) (9)
according to the properties of the triangle, when the deflection angle of the pile digging rotating rod is theta, the position error of the pile digging rotating rod can be calculated as follows:
Δs＝Lsin(θ) (10)
Δl＝L(1-cosθ) (11)
wherein L is the length of the pile digging rotating rod penetrating into the ground; Δ s represents the horizontal measurement error of the pile-digging turning rod; Δ l represents the vertical error of the pile driving rod.
And step 3: when the drilling of the pile-excavating rotating rod is finished and the pile-excavating rotating rod is in a static state without rising, establishing a posture reference of the pile-excavating rotating rod by utilizing the three-axis meter, then obtaining the current position information of the optical fiber inertial measurement unit according to the relation between the measurement value of the three-axis meter and the zenith coordinate of the optical fiber inertial measurement unit, and further calculating the current position error of the pile-excavating rotating rod.
When the pile digging rotating rod drilling is finished, the rotating rod has a transient static state, under the static state, the vector sum of the measured values of the three-axis accelerometer is the local earth gravity acceleration g under an ideal condition because the pile digging rotating rod drilling is not influenced by external force, and the vector sum of the measured values of the three-axis gyroscope is the earth rotation angular velocity 15.04 degrees/h. However, the measured value of the device has an error due to the error of the device, so that a 99% confidence interval of the inertial device, that is, a reliable interval for judging that the rotating rod is in a static state, needs to be calculated.
Setting the confidence interval of the three-axis measuring value as [ g-delta g, g + delta g ] and the confidence degree as 99%; the confidence interval of the measured value of the fiber optic gyroscope is set as [ 15.04-delta theta, 15.04+ delta theta ], and the confidence is 99%. The size of the confidence interval of the three-axis measuring value and the confidence interval of the measuring value of the fiber-optic gyroscope is related to the precision of the fiber-optic inertial set, the range of the high-precision confidence interval of the fiber-optic inertial set is small, and otherwise, the range is large.
The earth equatorial acceleration is:
g0＝9.7803 (12)
the earth gravitational acceleration has a certain functional relationship with the change of latitude, and 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)
and (3) when the vector sum of the measured values of the three-axis addition is G and the vector sum of the measured values of the three-axis gyro is sigma, the measured values of the optical fiber inertial measurement unit satisfy the following conditions:
G∈[g-Δg,g+Δg]andσ∈[15.04-Δθ,15.04+Δθ] (14)
the pile driving rod is considered to be in a static state.
And then, repeating the method in the step 1, and roughly estimating the current attitude information of the pile digging rotating rod.
And 4, step 4: and in the process of ascending the pile digging rotating rod, the three-axis gyroscope is utilized to carry out real-time attitude tracking and position error measurement on the pile digging rotating rod.
When the pile digging rotating rod is pulled out, the real-time tracking and position error measurement of the posture of the pile digging rotating rod are realized by utilizing the high-precision posture measurement characteristic of the optical fiber inertial measurement unit.
It will be apparent to those skilled in the art that various modifications and improvements can be made to the embodiments of the present invention without departing from the inventive concept thereof, and these modifications and improvements are intended to be within the scope of the invention.
Claims (4)
1. A real-time measurement method for the position of a pile digging rotating rod is characterized in that the pile digging rotating rod is fixedly connected with an optical fiber inertial measurement unit, and a coordinate system of the optical fiber inertial measurement unit is defined as a northeast coordinate system, and the method comprises the following steps:
step 1: after a pile excavator is powered on, establishing an initial attitude reference of a pile excavating rotating rod by utilizing a triaxial accelerometer of the optical fiber inertial measurement unit, and then acquiring initial position information of the optical fiber inertial measurement unit according to the relation between the measurement value of the triaxial accelerometer and the zenith coordinate of the optical fiber inertial measurement unit so as to calculate an initial position error of the pile excavating rotating rod;
step 2: when the pile excavator is in a drilling state, utilizing a three-axis gyroscope of the optical fiber inertial measurement unit to perform real-time attitude tracking and position error measurement on the pile excavating rotating rod;
and step 3: when the drilling of the pile digging rotating rod is finished and the pile digging rotating rod is in a static state without rising, the method in the step 1 is utilized to obtain the current position information of the optical fiber inertial measurement unit, and then the current position error of the pile digging rotating rod is calculated;
and 4, step 4: and in the process of ascending the pile digging rotating rod, the three-axis gyroscope is utilized to carry out real-time attitude tracking and position error measurement on the pile digging rotating rod.
2. The method according to claim 1, wherein the specific process of step 1 is as follows:
after the pile excavator is powered on, the pile excavating rotating rod is in a static state, and the external force borne by the optical fiber inertial measurement unit is the gravity of the earth; defining the optical fiber inertial measurement unit coordinate system to be O-X1Y1Z1，X1The axis is the east-pointing axis, Y1The axis is north-pointing axis, Z1The shaft is a zenith shaft;
the relation of the three-axis measuring value is as follows:
wherein,
g represents the local earth gravitational acceleration, which is the three-axis accelerometer measurement;
according to the property of the right triangle, obtaining an included angle theta between the gyroscope and the plumb line in the direction of the zenith axis in the optical fiber inertial measurement unit at the initial moment as follows:
the inclination azimuth angle alpha of the pile digging rotating rod at the initial moment is as follows:
wherein θ is a deviation angle of the pile-digging rotation rod from a plumb line at an inclination azimuth angle α;
and then correcting the initial pose of the pile digging rotary rod by utilizing the inclined azimuth angle alpha, and ensuring that the pile digging rotary rod keeps plumb when the pile digging rotary rod starts to work.
3. The method according to claim 1, wherein the step 2 comprises the following specific processes:
defining a pile-digging rotating rod coordinate system as a load system, marking as a system b, and enabling the pile-digging rotating rod coordinate system to be overlapped with the optical fiber inertial measurement unit coordinate system; defining a geographic coordinate system as a navigation system, and recording as an n system which is a northeast coordinate system; calculating a coordinate transformation matrix of the navigation system and the carrier system according to a coordinate transformation principle
Comprises the following steps:
wherein psi is the course angle of the pile-digging rotation rod, theta is the pitch angle of the pile-digging rotation rod, and gamma is the roll angle of the pile-digging rotation rod;
solving the coordinate transformation matrix of the carrier system and the navigation system according to the four elements
Comprises the following steps:
wherein q is0、q1、q2、q3Is a coefficient of four elements, and is,
order to
T12＝2(q1q2-q0q3)，T13＝2(q1q3+q0q2)，T21＝2(q1q2+q0q3)，
T23＝2(q2q3-q0q1)，T31＝2(q1q3-q0q2)，T32＝2(q2q3+q0q1)，
Then remember
Since the rotation process from the n system to the b system always maintains the rectangular coordinate system, the
Is an orthogonal matrix:
according to the formulas (4), (6) and (7), calculating the attitude information of the pile digging rotating rod:
when the pile-digging rotating rod is deflected, the included angle between the zenith axis of the optical fiber inertial measurement unit and the zenith axis of the geographic coordinate system is the deflection angle theta between the pile-digging rotating rod and the plumb line at the inclined azimuth angle alpha, and is expressed as:
θ＝arccos(cosβcosγ) (9)
the position error of the pile digging rotating rod is as follows:
Δs＝Lsin(θ) (10)
Δl＝L(1-cosθ) (11)
wherein L is the length of the pile digging rotating rod penetrating into the ground; Δ s represents the horizontal measurement error of the pile-digging turning rod; Δ l represents the vertical error of the pile driving rod.
4. The method according to claim 1, wherein the step 3 comprises the following specific processes:
defining a confidence interval of [ g- Δ g, g + Δ g ] for the tri-axial adducted measurement with a confidence of 99%; setting the confidence interval of the measured value of the triaxial gyroscope as [ 15.04-delta theta, 15.04+ delta theta ], and setting the confidence coefficient as 99%;
the earth equatorial acceleration is:
g0＝9.7803 (12)
the earth gravity acceleration has a functional relation with the change of latitude, and if the local latitude is lat, the local earth gravity acceleration g is expressed as:
g＝g0*(1+0.00530240*sin(lat)2-0.00000582*sin(2*lat)2) (13)
and when the measured value vector sum of the three-axis addition is G and the measured value vector sum of the three-axis gyroscope is sigma, when the measured value of the optical fiber inertial measurement unit meets the condition of the formula (14):
G∈[g-Δg,g+Δg] and σ∈[15.04-Δθ,15.04+Δθ] (14)
considering the pile-digging rotating rod to be in a static state;
and then, calculating the current attitude information of the pile digging rotating rod according to the method in the step 1.
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| CN202011474291.XA CN112729222A (en) | 2020-12-14 | 2020-12-14 | Real-time measurement method for position of pile digging rotating rod |
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