The Zero-Velocity Correction Method for Pipe Jacking Automatic Guidance System Based on Fiber Optic Gyroscope
Abstract
:1. Introduction
2. Moving Characteristic Analysis for Pipe Jacking
3. The Zero-Velocity Correction Model
3.1. The Kalman Filter Model Based on Zero-Velocity Correction
3.2. Zero-Velocity Detection Algorithm Model
4. Experiment and Analysis
4.1. Simulation Experiment
4.1.1. Experimental Platform Setup
4.1.2. Experimental Results Analysis
4.2. Field Experiment
4.2.1. Experimental Platform
4.2.2. Experimental Processing Results
5. Conclusions and Prospects
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Gyroscope | Accelerometer | ||
---|---|---|---|
Parameters | Value | Parameters | Value |
Measurement Range (deg/s) | ±1000 | Measurement Range (g) | ±45 |
Bias Stability (°/h) | 0.5 | Bias Stability (mg) | 1 |
Bias Repeatability (°/h) | 0.5 | Bias Repeatability (mg) | 1 |
Random Walk () | ≤0.05 | Scale Factor Repeatability (ppm) | ≤100 |
Scale Factor Repeatability (ppm ) | ≤100 |
Zero-Velocity Detector | Distance Estimation/m | Position Relative Error/m | Relative Error Rate/% | Accuracy/% |
---|---|---|---|---|
MV | 33.08 | 3.47 | 9.49 | 90.51 |
ARE | 35.17 | 1.38 | 3.78 | 96.22 |
GLRT | 33.83 | 2.72 | 7.44 | 92.56 |
TCZVD | 35.84 | 0.71 | 1.94 | 98.06 |
Zero-Velocity Detector | Distance Estimation/m | Position Relative Error/m | Relative Error Rate/% | Accuracy/% |
---|---|---|---|---|
MV | 31.74 | 3.82 | 10.74 | 89.26 |
ARE | 34.00 | 1.56 | 4.39 | 95.61 |
GLRT | 33.32 | 2.24 | 6.30 | 93.70 |
TCZVD | 34.71 | 0.85 | 2.39 | 97.61 |
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Zhang, W.; Wang, L.; Zu, Y. The Zero-Velocity Correction Method for Pipe Jacking Automatic Guidance System Based on Fiber Optic Gyroscope. Sensors 2024, 24, 5911. https://doi.org/10.3390/s24185911
Zhang W, Wang L, Zu Y. The Zero-Velocity Correction Method for Pipe Jacking Automatic Guidance System Based on Fiber Optic Gyroscope. Sensors. 2024; 24(18):5911. https://doi.org/10.3390/s24185911
Chicago/Turabian StyleZhang, Wenbo, Lu Wang, and Yutong Zu. 2024. "The Zero-Velocity Correction Method for Pipe Jacking Automatic Guidance System Based on Fiber Optic Gyroscope" Sensors 24, no. 18: 5911. https://doi.org/10.3390/s24185911