Research And Development Of Geological Disaster Monitoring Equipment Based On Multiple-sensor Information Fusion

The Gyroscope Free Strap-down Inertial Navigation System is often used in the navigation field of aircraft,vehicles and other carriers to identify the attitude of carriers and other information.The Gyroscope Free Strap-down Inertial Navigation System has been applied in more and more fields with its advantages of low cost,low power consumption and stable operation for a long time.Nowadays,geological disasters have become a serious hazard to the safety of our citizens.If the advantages of GFSINS can be used in the research and development of geological disaster monitoring equipment,it can make people early forecast and avoid the geological disasters.So this can greatly reduce casualties and property losses.This paper refers to the advantages of GFSINS,the research and development of geological disaster monitoring equipment has been carried out.There are mainly four main aspects of the following research work:(1)According to the needs of geological disaster monitoring and early warning,the error of each MEMS sensor is analyzed and compared,and the random noise of two MEMS devices is analyzed by the common MEMS inertial device evaluation method,and a variety of random noise indicators are obtained.including the Quantization noise,Random velocity walk,Bias instability,Rate random walk,Rate ramp.By analyzing the random noise of accelerometer,the accelerometer with low random noise is selected as the component of geological disaster monitoring equipment.Finally,ADXL355 accelerometer is selected as the component to develop the monitoring equipment.(2)The hardware research and development of geological disaster monitoring equipment involves the design of signal acquisition unit,data storage unit,GPS timing unit,clock unit,main controller unit and other modules.Schematics were plotted using the Altium Designer software,Keil 5 software was used to simulate the functions of each module.After finally determining the installation configuration of the accelerometer and drawing the PCB diagram,the circuit board is finally made and the data can be collected by the nine accelerometers.(3)Data fusion is performed on the collected acceleration signal.Data fusion was performed by deriving the specific force equation formula at any point in the noncentroid of mass of the vector,according to the position of nine accelerometers and the direction of each accelerometer,the whole configuration is derived mathematically,the derivation formulas of three acceleration signals along axis and three angular acceleration signals around axis are obtained.But this solution involves integration and iteration which accumulates errors and leads to bigger and bigger errors,the idea of translating a single component accelerometer to the origin of coordinates can be achieved by introducing a quantifiable error.The six degrees of freedom of the device can be derived directly without using integral operation and iterative method and the error analysis and compensation reduce the impact of the introduced error on the result.(4)Design and develop the upper computer software of the geological disaster monitoring device,the waveform collected by the accelerometer and the waveform of six degrees of freedom obtained by information fusion can be displayed in real time.The deviation of six degrees of freedom is estimated,the relative displacement value is obtained by integrating the six degrees of freedom signal,the calculated displacement value is compared with the real displacement value of the actual movement,the deviation value of the device is estimated through a large number of experiments.