基于卡尔曼预测多棱镜坐标的掘进机位姿测量方法  

TBM Pose Measurement Method Based on Kalman′s Prediction of Multi-Prism Coordinates

作　　者：贺泊宁 HE Boning(China Railway Construction Heavy Industry Corporation Limited,Changsha Hunan 410100,China)

机构地区：[1]中国铁建重工集团股份有限公司,湖南长沙410100

出　　处：《铁道建筑技术》2023年第11期57-61,95,共6页Railway Construction Technology

基　　金：国家重点研发计划项目(2020YFB1713900)。

摘　　要：多棱镜法是通过测量多个安装在掘进机上的棱镜坐标进行掘进机位姿求解的方法。在使用过程中全站仪测量多个棱镜坐标时,因掘进机前进导致测量的棱镜坐标不同步,从而影响测量结果。本文提出了依据匹配隧道设计线路线型的卡尔曼预测模型,按照直线段、缓和曲线段和圆曲线段分别建模预测棱镜坐标,并构造了以偏离施工设计线路的大小为依据的模型噪声分段权函数,实现棱镜坐标的预测。实验表明,采用本文方法预测后的棱镜坐标,提高了掘进机位姿的测量精度。The multi-prism method is a method of solving TBM pose by measuring the coordinates of multiple prisms mounted on TBM.When the total station measures multiple prism coordinates during use,the measured prism coordinates are out of sync due to the advance of the TBM,which affects the measurement results.In this paper,a Kalman prediction model based on the matching tunnel design line route type is proposed,and the prism coordinates are modeled and predicted according to the straight line segment,the easing curve segment and the circular curve segment,and the model noise segmentation weight function based on the size of the deviation from the construction design line is constructed to realize the prediction of the prism coordinates.Experiments show that the prism coordinates predicted by this method improve the measurement accuracy of TBM pose.

关 键 词：掘进机 导向系统 卡尔曼 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置] U455.31[自动化与计算机技术—控制科学与工程]