面向地下管线测量的惯性陀螺仪漂移误差自适应修正方法  

Self-adaptive correction method for drift error of inertial gyroscope for underground pipeline measurement

作　　者：王益栋 WANG Yidong(Yangtze River Delta(Jiaxing)Urban and Rural Construction Design Group Co.,Ltd.,Jiaxing,Zhejiang 314000,China)

机构地区：[1]长三角(嘉兴)城乡建设设计集团有限公司,浙江嘉兴314000

出　　处：《测绘技术装备》2025年第1期105-110,共6页Geomatics Technology and Equipment

摘　　要：由于惯性陀螺仪的漂移采样数据高度离散,难以准确分析陀螺仪的三轴零偏误差稳定性,使得最终漂移误差修正的角度随机游走变化量较大,误差校正效果有限。为此,本文提出面向地下管线测量的惯性陀螺仪漂移误差自适应修正方法。首先,依据惯性陀螺仪随机漂移误差的产生机理与影响因素,确定陀螺仪在频域状态下的检测模态输出,构造陀螺仪漂移误差模型,并基于陀螺仪漂移采样数据的特点,利用傅里叶变换构造陀螺仪漂移向量与周期性误差函数,确定陀螺仪的三轴零偏误差稳定性;其次,结合量纲线性度对陀螺仪的漂移误差进行标定,以此为依据计算漂移误差的递归性因子,构造差值误差补偿方程,从而得到误差补偿值,完成对陀螺仪漂移误差的自适应修正;最后,以嘉兴市地下市政基础设施普查工程为研究背景,利用所提方法对管道三维测量陀螺仪进行漂移误差修正。实验结果表明,通过所提方法进行误差校正后,陀螺仪的角度随机游走变化量较小,提高了误差校正结果,具有较高的应用价值。Due to the highly discrete nature of drift sampling data in inertial gyroscopes,it is difficult to accurately analyze the three-axis bias error stability of the gyroscope,resulting in a large random walk variation in the final drift error correction angle and limited error correction effect.Therefore,a self-adaptive correction method for drift error of inertial gyroscopes for underground pipeline measurement is proposed in this paper.Firstly,the detection mode output of the gyroscope in the frequency domain is determined based on the mechanism and influencing factors of random drift error in inertial gyroscopes,a gyroscope drift error model is constructed,and the gyroscope drift vector and periodic error function are constructed using Fourier transform to determine the three-axis zero bias error stability of the gyro‐scope based on the characteristics of gyroscope drift sampling data.Secondly,the drift error of the gyro‐scope is calibrated in accordance with dimensional linearity,the recursive factor of the drift error is cal‐culated,and the difference error compensation equation is constructed to obtain the error compensation value and complete the adaptive correction of the gyroscope drift error.Finally,a project of under‐ground municipal infrastructure measuring in Jiaxing City was taken as the research background to cor‐rect the drift error of the pipeline 3D measurement gyroscope by using the mentioned method.The ex‐perimental results showed that the angle random walk change of the gyroscope was relatively smaller after error correction using the proposed method.

关 键 词：傅里叶变换 地下管线测量 漂移误差 惯性陀螺仪 误差修正 

分 类 号：TN98[电子电信—信息与通信工程]