Research On The Attitude Measurement Of TBM Based On The Information Fusion Of Gyroscope And Inclinometer

Tunneling process is easy be subject to severe vibration because the working environments of TBM are mostly mountain rock structure, which leads to the attitude measurement system fail to work, especially the output of inclinometer will be unbelievable. As the MEMS gyro sensor has the ability of anti-vibration, it can be used as TBM attitude measuring sensors instead of the inclinometer when it can’t work. In order to improve the accuracy and stability of the TBM attitude measurement system, according to the multisensor fusion theory, this paper proposes a method based on the fusion of two-axis inclinometer and a three-axis MEMS gyroscope to measure the attitude of TBM.Found the resonance frequency band of the inclinometer after analysing the output response of inclinometer and MEMS gyroscope in vibration environments. The result shows that the gyroscope works well in the vibration environment while the inclinometer doesn’t. So we can use the gyroscope to measure TBM’s attitude angle in case of failure when the inclinometer is in the resonance frequency band. In order to ensure the accuracy of measurement by the three-axis MEMS gyroscope, it’s necessary to estimate its random drift error by using the multivariate autoregressive model to build the bias compensation model between the two-axis inclinometer and the three-axis MEMS gyroscope.Obtained the mainly random drift error of the three-axis MEMS gyroscope by the Allan variance analysis, and built the random drift error model according to the result. Proposed an attitude measurement for TBM based on the fusion of two-axis inclinometer and a threeaxis MEMS gyroscope after verified the accuracy of the model was right by computer simulation. Using the output of the inclinometer in stable environment to estimate the random drift error of the three-axis MEMS gyroscope by extended Kalman filter algorithm. This method can guarantee the accuracy of TBM attitude measurement through integrating the output of three-axis MEMS gyroscope which was been estimated and compensated when the inclinometer fail to work. The computer simulation verifies the validity and reliability of this attitude measurement algorithm, and the experiment further validates the proposed fusion system attitude measurement algorithm can be implemented to meet the TBM tunnel construction process attitude angle measurement accuracy requirements.