Research On Key Technologies Of The Pose Combination Measurement System Based On Laser Target And Strapdown Inertial Navigation

With continuous development and innovation of precious projects,higher performance indexes of the position and orientation measurement system are needed.As the main guidance system of tunnel project at present,laser target position and orientation measurement system has many advantages,and has been widely used in many tunneling sites.However,the current pose and position measurement methods of laser target still suffer from weak dynamic performance,mainly including weak robustness and low measurement efficiency.Weak robustness can cause the measurement to become invalid,leading to the failure of the whole project.Therefore,it is highly needed to improve the robustness of laser target position and orientation measurement system.Besides,the laser target position and orientation measurement system is a measurement scheme with single point cooperative target and has strong generality.If the measurement frequency of the system can be improved,the application fields will be increased obviously.Therefore,by taking the advantages of strapdown inertial navigation system such as high measurement frequency and good robustness and the advantages of laser target such as high accuracy,the performance indexes of the system can be improved.Moreover,the methods of system combination and filter design are also studied.The main research continents are as follows:1.The current research status of position and orientation measurement,shield position and orientation measurement and sensors combination are introduced.The principle of the weak robustness and bad dynamic properties of laser target are also analyzed.Based on the research status,the research direction and objective are presented.2.The combined position and orientation measurement system is introduced.Then,the position and orientation measurement methods are discussed and the time synchronization system is designed.After that,we do Allen variance analysis and stochastic error quantification process for the IMU.Based on this,the IMU output model is established.What's more,the integrated calibration method combined with IMU outside parameters calibration and system inside parameter calibration based on precision 3 axis turntable is researched.3.The error equation of the composite system is derived and the basic equation of Kalman filter based on laser target and strapdown inertial navigation system and is established.Besides,the fault-tolerant design is included in this system.Thanks to this design,once the measurement system is out of work,another system can work by itself.Therefore,the robustness of the system is guaranteed.4.The Kalman filtering model,the robustness and the sensitivity of the combined system have been verified by MATLAB.What's more,experiments have verified the performance of combined system by manipulator,platform vibrator and precious linear guide rail.