摘要
针对随钻测斜(Measurement-While-Drilling,MWD)技术中,微机电系统(Micro-Electro-Mechanical System,MEMS)三轴加速度计存在零点偏差、刻度因子误差、三轴非正交及与载体的未对准误差,造成姿态解算精度较低的问题,提出通过蜻蜓算法Dragonfly Algorithm(DA)及Levenberg-Marquardt(LM)联合校正误差参数的DA-LM算法。基于加速度计误差来源,建立加速度传感器线性误差模型并转化为椭球方程;由DA优化椭球参数实现全局寻优;再经推导得到新的校正目标函数并通过LM算法估计误差参数;最后利用本文所提对准策略实现加速度计与载体的对准。依据仿真实验,DA-LM算法可以精确估计加速度误差参数。通过双轴转台实验获取实验数据,校正前横滚角与俯仰角最大绝对误差分别为:0.86°和4.87°,校正过后分别降低为0.26°及0.49°。结果表明本文提出算法能正确补偿加速度计误差参数,姿态解算精度明显提高。
In measurement-while-drilling technology,the micro-electromechanical system(MEMS)three-axis accelerometer has zero-point deviation,scale factor error,and three-axis non-orthogonal misalignment error with the carrier,which affects the accuracy of attitude calculation.A DA-LM algorithm that uses the dragonfly algorithm(DA)and the Levenberg-Marquardt(LM)algorithm to jointly correct error parameters is proposed.On the basis of the accelerometer error source,a linear error model of the accelerometer is established and transformed into an ellipsoid equation.Then,DA is used to optimize the ellipsoid parameters and achieve global optimization.After deduction,a new corrected objective function is obtained,and the error parameters are estimated through the LM algorithm.The proposed alignment strategy is then used to align the accelerometer with the carrier.The simulation experiment shows that the DA-LM algorithm can accurately estimate the acceleration error parameters.Afterward,experimental data are obtained via a two-axis turntable experiment.Before correction,the maximum absolute errors of roll and pitch angles are 0.86°and 4.87°,respectively;they are reduced respectively to 0.26°and 0.49°after correction.The proposed algorithm can correctly compensate for the accelerometer error parameters,and the accuracy of attitude calculation is significantly improved.
作者
乔美英
许城宽
汤夏夏
高翼飞
史建柯
QIAO Meiying;XU Chengkuan;TANG Xiaxia;GAO Yifei;SHI Jianke(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo He'nan 454000,China)
出处
《传感技术学报》
CAS
CSCD
北大核心
2021年第2期223-231,共9页
Chinese Journal of Sensors and Actuators
基金
国家自然科学基金项目(U1404510)。
关键词
随钻测斜
联合校正
DA-LM算法
加速度计
measurement while drilling
joint correction
DA-LM algorithm
accelerometer
