Installation Error Calibration Simulation of Laser Inertial Navigation System for Large Shield Machine
In view of the problem of small dynamics for large shield machine which results in the poor observability of INS installation error estimation,the scheme of shield machine guidance system with uniaxial rotating laser inertial naviga-tion system as the core is proposed.Firstly,a state-space model of the system assisted by total station is derived,and four experiments are designed,the influences of IMU rotation,the slope distance of total station and the rod arm between INS and observation point on the observability and accuracy of installation error estimation are analyzed in detail,the installation error estimation optimal scheme of"uniaxial rotation excitation+decreasing slope distance+increasing rod arm"is pro-posed.Based on the actual construction situation of large shield machine,simulation verification of installation error accura-cy estimation is carried out.The results show that the estimation accuracy of installation error between IMU and encoder is better than 7″,the estimation accuracy of installation error horizontal component between INS and shield machine is better than 2″,and the azimuth component is better than 40″,which has a strong guiding value for practical engineering.
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