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An attitude sensing system and method for measuring inclination angle

A technology of attitude sensing and axis measurement, which is applied in the direction of measuring device, measuring inclination, surveying and navigation, etc., can solve the problem of large measurement error, and achieve the effect of accurate and high reliability of measurement results

Active Publication Date: 2021-04-06
PEKING UNIV SHENZHEN GRADUATE SCHOOL
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problem of relatively large measurement errors in the redundant mode of the dual-axis acceleration sensor in the prior art, the present invention provides the following technical solutions to solve it:

Method used

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  • An attitude sensing system and method for measuring inclination angle
  • An attitude sensing system and method for measuring inclination angle
  • An attitude sensing system and method for measuring inclination angle

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Embodiment 1

[0041] This embodiment provides an attitude sensing system, such as figure 1 , including: an inclination sensor module and a processing unit. Among them, such as figure 2 ,The inclination sensor module includes four inclination sensors, the four inclination sensors are arranged in the same plane along the measuring axis, two of which are arranged in the same direction as the measuring axis, and two are arranged in the opposite direction to the measuring axis, and the four inclination sensors Output the initial inclination signal respectively. In order to facilitate data recording, the four sensors are numbered, the two sensors that are the same as the measuring axis are numbered No. 1 and No. 2, and the sensors that are opposite to the measuring axis are numbered No. 3 and No. 4.

[0042] Wherein, the processing unit is used to process the initial inclination signal to obtain the value of the inclination to be measured; the signal input end of the processing unit is connect...

Embodiment 2

[0066] On the basis of Embodiment 1, this embodiment provides a method for measuring an inclination angle, including:

[0067] Obtain the output values ​​of the four dual-axis inclination sensors, as shown in Table 4;

[0068] Judging a faulty inclination sensor according to a preset fault detection threshold and the output value, eliminating the faulty inclination sensor to obtain an effective inclination sensor;

[0069] In this embodiment, the fault detection threshold value A=0.01 is set;

[0070] Read the outputs of the two inclination sensors (No. 1 and No. 2) in the same direction as the measuring axis as Y1 and Y2 respectively, and the outputs of the two inclination sensors (No. 3 and No. 4) opposite to the measuring axis are Y3 , Y4; the output of the dual-axis inclination sensor includes x-axis and y-axis output, and the x-axis and y-axis outputs are considered separately during fault detection, that is, the x-axis output values ​​of the four sensors are detected fi...

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Abstract

The invention discloses an attitude sensing system and an inclination angle measurement method, including an inclination sensor module for outputting an initial inclination signal of an object to be measured, including four inclination sensors arranged in the same plane along the measurement axis, two and The measuring axis is arranged in the same direction, and the two are arranged opposite to the measuring axis. The processing unit is used to process the initial inclination angle signal to obtain the value of the inclination angle to be measured. Each sensor also includes a temperature drift processing unit for temperature drift processing . The inclination measurement method includes obtaining the output values ​​of four dual-axis inclination sensors; judging the faulty inclination sensor according to the preset fault detection threshold and output value, eliminating the faulty inclination sensor to obtain an effective inclination sensor, according to the effective The output value of the inclination sensor is used to calculate the angle to be measured. The invention provides a redundant mode of the inclination sensor, and at the same time, through temperature drift processing and fault detection, the measurement result is more accurate and reliable.

Description

technical field [0001] The invention relates to the technical field of inclination angle measurement, in particular to an attitude sensing system and an inclination angle measurement method. Background technique [0002] At present, the inclination measurement system is widely used in construction, machinery, roads, bridges and geological exploration and other engineering fields that require inclination measurement. With the continuous expansion of the application range of this type of inclination measurement system, higher requirements are put forward for the measurement system. , that is, it is hoped that the measurement accuracy is high and the measurement range is large. The currently applied inclination measurement systems mainly include the following measurement methods: The traditional inclination measurement methods can be divided into three types: "solid pendulum", "liquid pendulum" and "gas pendulum" according to their working principles. Their measurement accurac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C9/00
CPCG01C9/00
Inventor 时广轶曹杰
Owner PEKING UNIV SHENZHEN GRADUATE SCHOOL
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