Magnetic Inertial Surveying System Control Technology

Inertial technology is the core of the inertial surveying system, which could fully autonomous, real-time, continuous measure the linear accelerations and the angular accelerations of the carrier relatives to the origin point, so that the carrier trajectory and attitude information can be monitored. With the development of material technology and high-precision machining, the implementation scheme of inertial surveying is constantly updated. How to achieve a miniaturization, high precision, widely used inertial surveying system is the key problem we meet currently.The inertial surveying system studied in this paper applies a new structure, which only uses one inertial surveying sensor to get the six inertial parameters:three linear accelerations and three angular accelerations in orthogonal directions. This system adopts magnetic levitation technology and digital closed-loop control technology to achieve center suspension state and remain dynamic steady state, so that the validity and real-time of inertial parameters can be guaranteed.This paper is based on the research project in laboratory including the principle analysis, system hardware build and debug, system test, part of algorithm optimization and some other research work. The specific work and innovation are as follows:1. Study the mechanical structure and working principle of the inertial surveying sensor, build the mathematical model of magnetic inertial surveying system, and analyze the factors which affect the system performance.2. Study the digital closed-loop control system, propose a "discrete control, unified treatment" system implement scheme to solve the multi-parameter co-processing surveying problem among subsystems, and unify the data interface with the host computer to handle the data.3. Study the PID closed-loop control algorithm which applied in system, and propose the BP neural network algorithm PID controllers to solve parameter error problems among subsystems, which can reduce the system control complexity and enhance the system robustness.4. Study the optical networks multi-protocol adaption technology, design the OSC channel network management information recording and processing solutions, and achieve the hardware test platform.