Research On Data Processing Of Magnetic Levitation Gyro Based On Particle Filter And Its Improved Algorithm

With the rapid development of the national economy,there are more and more underground projects related to the national economy and people's livelihood,such as the subway tunnel,the water tunnel,the mine roadway and so on.These tunnels are longer and longer and more accuration in connection.The gyroscope is used in many large projects because of the ability to independently find north orientation.GAT maglev gyro total station as a kind of numerous gyro orientation measuring instrument,because of its unique magnetic suspension system,the torque feedback closed loop measurement technology framework and the north process real-time data download and after filtering processing function,make the system advantages reveal and stand out from the crowd.This paper focuses on the rotor and stator current data which is obtained through GAT magnetic levitation gyro optimization process as a series of research work.Based on the analysis of the basic characteristics of rotor current data,the method of filtering and processing of rotor current data is studied by particle filtering and its improved algorithm.The main content and innovation points are as follows:1.Discuss the principle,the algorithm and the pros and cons of the particle filter.The particle filter algorithm is an algorithm based on the spatial model of the dynamic system.But it also has the disadvantage of its own sample particle degradation and the lack of sample particle diversity.In order to avoid the disadvantage,the improved algorithm has been proposed which considered the correlation of the rotor current data.2.Based on the analysis and study of gyroscope data error sources,the data error of stator current error system mainly comes from the instruments and data collection and the influence of the environment in the process of the accidental error,and puts forward a series of measures to influence the process in order to reduce all kinds of error is mixed in the acquisition of data,so as to guarantee the quality of data.3.Based on the characteristics of the rotor current data,gross error detection and analyzing the engineering example,put forward based on prior information on external azimuth gyro data preprocessing methods,the results show that this method can effectively improve the stability of the data and the reliability of the final computation results.4.By comparing the standard particle filter algorithm,adaptive kalman filter algorithm and the observation of the particle filter algorithm which based on the characteristics of the rotor current correlation path similarity,through the filter used in the rotor current data,show that the improved algorithm can better improve the optimization of data quality.The results of the paper are verified by example,which is of great significance to optimizing the quality of gyro data,improving the precision of gyroscope.