Research On Data Processing Algorithm Of Magnetic Levitation Gyro Total Station In Complex Vibration Environment

High-precision magnetic levitation gyroscope total use of magnetic levitation technology as a gyroscope sensitive part of the support,breaking the traditional hanging belt bearing technology bottlenecks,and can rely on,automatically and quickly determine the true north position,determine the direction of any direction of the line azimuth.Because of its high degree of automation,short observation time,high directional accuracy,environmental adaptability and other advantages,and is widely used in modern large-scale underground engineering survey and scientific research.Magnetic levitation gyro total station is a highly sensitive instrument,the impact of environmental instability on the gyro orientation can't be ignored,and how to overcome the environmental vibration and other complex factors is the focus of this paper.Here we are from the magnetic levitation gyro data processing up to improve the accuracy of the instrument,the main research topics include magnetic levitation gyro rotor current data filtering and time-frequency amplitude spectrum analysis.Firstly,the distribution characteristics of rotor current data are analyzed,and the rotor current data collected in different vibration environments are classified.Then,Hilbert-Huang transform(HHT),unlicensed Kalman filter(UKF)and particle filter(PF)Method to classify each class of data processing,these three methods are dealing with non-linear non-stationary signal more efficient algorithm.HHT is based on EMD decomposition of the limited order of the IMF function,and the establishment of each order of the IMF energy distribution map to determine the noise and signal dominant mode,the rotor current signal reconstruction;UKF is the rotor current data UT After the transformation,the Kalman filter is used to deal with it.The number of particles is different when the particle filter is processed,and the results are compared with each other.The results of three kinds of filtering are compared and analyzed,and the optimal algorithm of rotor current data with different waveform distributions is summarized.The Hilbert time-frequency amplitude spectrum and the marginal spectrum are used to analyze the rotor current data of different waveform distributions.The existence of the frequency components in the signal is analyzed by the frequency corresponding to the high amplitude in the marginal spectrum to determine whether there is a frequency Through the obvious edge band of the whole sampling process,the relationship between the waveform distribution of the rotor current data and the ambient vibration at the time of sampling is finally explored.