全断面掘进机光纤陀螺捷联寻北系统

摘要

In order to get the horizontal angle of the head of full face tunnel boring machine, a fiber optic gyroscope strap-down north-seeker is proposed, effectively avoiding the problems of bad visibility and smoke interference when using laser guiding system. The horizontal component of the earth's angular velocity is measured by fiber optic gyroscope, and elevation angle and roll angle of the tunnel boring machine is measured by inclinometer. Tilt error of gyroscope sensitive axis is compensated by coordinate rotation transformation. Moreover, latitude is eliminated by structural formulas using the components of the earth's angular velocity in the carrier coordinate. The horizontal angle of the tunnel boring machine can be calculated by four-position algorithm. The strap-down north-seeker is installed in a full face tunnel boring machine and can achieve 0.07° seeking north precision in the experiment of working condition, which satisfies the requirement of tunnel construction.%提出一种采用光纤陀螺捷联寻北系统来获得全断面掘进机机头方位角的方法，有效避免激光导向系统因机内不通视和粉尘烟雾等因素影响测量精度的问题。获取陀螺仪输出的地球自转角速度水平分量以及机载倾角仪输出的俯仰角与滚动角，通过坐标旋转变换进行陀螺敏感轴倾斜误差补偿，并利用地球自转角速度在载体坐标系各轴的分量构造公式消除纬度值，采用四位置寻北法计算出掘进机机头方位角。将系统安装于全断面掘进机中进行实验，得到寻北精度为0.07°，满足隧道施工要求。