光纤陀螺捷联惯导系统在高面板坝变形监测中的应用研究

发布时间：2018-08-28 19:40

【摘要】：现在我国水电开发多集中在西南地区,这些地区河道天然落差大,适合修建高坝大库。由于这些地区属地震高发区,经济不发达,交通闭塞,缺乏防渗材料,因此,混凝土面板堆石坝是首选坝型。修建大坝必须对其进行安全监测,保证其安全运行,对于混凝土面板堆石坝坝体沉降和面板挠度能最直观的反应大坝的运行状态,所以坝体沉降和面板挠度监测是必不可少的项目。但是随着坝高的增大,水管式沉降和测斜仪已经很难满足监测的需求,而且这些常规仪器都是点式监测,使用寿命很有限。因此,必须开发一种更有效的监测方法来解决这一实际工程问题。本文针对常规仪器在监测中的不足和新型仪器光纤陀螺易受振动和漂移而影响测量精度的问题,提出一种光纤陀螺捷联惯导监测大坝变形的方法,即利用光纤陀螺和加速度计组合测量物体的倾角值,再根据倾角的变化计算出坝体的变形。首先,研究了光纤陀螺和加速度计的测量误差,精确的计算出本系统监测大坝变形的监测范围和精度,其精度能达到毫米级。提出一种改进的监测大坝变形的计算方法,将监测过程中监测小车的运行速度以分段函数的形式给出,在一定程度上能解决监测小车运行不匀速的问题。其次,研究光纤陀螺捷联惯导算法,简单介绍了航天的捷联解算算法。分析大坝变形监测需要的测量元素,提出基于卡曼滤波融合的捷联解算方法,主要通过卡曼滤波融合解算出测量的最优倾角值。光纤陀螺和加速度计测量过程都会有噪声,研究了小波分析的滤波降噪分析方法,针对本论文采用db3小波基进行滤波降噪效果最佳。第三,光纤陀螺捷联惯导系统监测大坝变形的平台实现,主要包括监测管道、监测小车、光纤陀螺、加速度计、数据采集板、数据记录仪、电源设备及软件开发。介绍监测管道的安装埋设,监测小车加工制造。主要研究低动态、高精度光纤陀螺,通过数据采集板实现光纤陀螺和加速度计的同步采样和数据融合,融合后的测量数据实时的存储到数据记录仪中。软件开发主要利用MATLAB这款数学软件进行编程完成复杂的解算,最终解算出大坝变形值并绘制变形曲线。最后,通过现场实验和数据分析,验证了光纤陀螺捷联惯导监测系统监测大坝变形是可行的,测量稳定性好,重复性高,测量精度高。低动态、高精度光纤陀螺比高动态、高精度光纤陀螺的监测效果更好,稳定性更高,更适合用于监测大坝变形。为大坝变形监测提供一种全新的测量方法。
[Abstract]:The hydropower development in our country is mainly concentrated in southwest China, which is suitable for the construction of high dams and large reservoirs because of the large natural drop of river channels in these areas. Because these areas are high earthquake prone areas, the economy is not developed, the traffic is blocked, and the anti-seepage materials are lacking, the concrete face rockfill dam is the preferred dam type. The dam must be safely monitored to ensure its safe operation. The settlement and deflection of concrete face rockfill dam can directly reflect the operation state of the dam. So the monitoring of dam settlement and face deflection is an essential project. However, with the increase of dam height, it is difficult to meet the needs of monitoring by water tube settlement and inclinometer, and these conventional instruments are point-type monitoring, and their service life is very limited. Therefore, it is necessary to develop a more effective monitoring method to solve this practical engineering problem. In this paper, aiming at the shortage of conventional instruments in monitoring and the problem that the measurement accuracy is affected by vibration and drift easily, a method of monitoring dam deformation by fog strapdown inertial navigation is proposed in this paper. That is to measure the inclination value of the object by the combination of fiber optic gyroscope and accelerometer and then calculate the deformation of the dam body according to the change of the inclination angle. First, the measurement error of fiber optic gyroscope and accelerometer is studied, and the monitoring range and precision of the system for monitoring dam deformation are calculated accurately. The precision of the system can reach millimeter level. An improved calculation method for monitoring dam deformation is presented, in which the speed of monitoring trolley is given in the form of piecewise function, which can solve the problem of uneven running speed of monitoring trolley to a certain extent. Secondly, the strapdown inertial navigation algorithm of fog is studied, and the strapdown algorithm of spaceflight is introduced. By analyzing the measurement elements needed for dam deformation monitoring, a strapdown solution method based on Kalman filter fusion is proposed, which is mainly used to calculate the optimal inclination value of the measurement. There is noise in the measurement process of fiber optic gyroscope and accelerometer. The filtering and noise reduction method based on wavelet analysis is studied. In this paper, db3 wavelet basis is used to filter noise. Thirdly, the platform of fog strapdown inertial navigation system for monitoring dam deformation is implemented, including monitoring pipeline, monitoring vehicle, fiber optic gyroscope, accelerometer, data acquisition board, data recorder, power supply equipment and software development. The installation and installation of monitoring pipeline and the manufacture of monitoring trolley are introduced. The low dynamic and high precision fiber optic gyroscope (fog) is studied in this paper. The synchronous sampling and data fusion of fog and accelerometer are realized by data acquisition board, and the fused measurement data are stored in the data recorder in real time. The software development mainly uses the MATLAB mathematical software to program to complete the complex solution, finally calculates the dam deformation value and draws the deformation curve. Finally, through field experiments and data analysis, it is proved that fog strapdown inertial navigation monitoring system is feasible for monitoring dam deformation, with good stability, high repeatability and high measurement accuracy. The low dynamic, high precision fiber optic gyroscope is more suitable for monitoring dam deformation because of its better monitoring effect and higher stability than high dynamic fiber optic gyroscope. It provides a new measuring method for dam deformation monitoring.
【学位授予单位】：三峡大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TV698.11

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