阅读说明：本技术 基于多传感器数据融合的振动补偿方法及系统 (Vibration compensation method and system based on multi-sensor data fusion ) 是由 伍康 文艺 郭梅影 于 2020-04-16 设计创作，主要内容包括：本发明提供了一种基于多传感器数据融合的振动补偿方法及系统。所述方法包括利用多个传感器同时获取地面振动信号；利用数据融合技术对多个所述地面振动信号进行处理,得到地面振动融合估计信号,以使根据所述地面振动融合估计信号对绝对重力加速度进行补偿。本发明中,通过利用多个传感器获取地面振动信号,并通过多传感器数据融合方法获得对地面振动信号的最优估计值,并将此最优估计值用于相关时延振动补偿技术中,在提高所获取的振动信号精度的同时也解决现有相关时延法补偿效果受单个地震计带宽限制的问题,最终将进一步提高现有振动补偿方法的补偿效果及其适用范围。(The invention provides a vibration compensation method and system based on multi-sensor data fusion. The method comprises the steps of simultaneously acquiring ground vibration signals by using a plurality of sensors; and processing the ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals so as to compensate the absolute gravity acceleration according to the ground vibration fusion estimation signals. According to the invention, the ground vibration signals are obtained by using a plurality of sensors, the optimal estimation value of the ground vibration signals is obtained by using a multi-sensor data fusion method, and the optimal estimation value is used in the related time delay vibration compensation technology, so that the accuracy of the obtained vibration signals is improved, the problem that the compensation effect of the existing related time delay method is limited by the bandwidth of a single seismometer is solved, and the compensation effect and the application range of the existing vibration compensation method are further improved finally.)

1. A vibration compensation method based on multi-sensor data fusion is characterized by comprising the following steps:

simultaneously acquiring ground vibration signals by using a plurality of sensors;

and processing the ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals so as to compensate the falling displacement signals of the measured falling body relative to the reference prism according to the ground vibration fusion estimation signals.

2. The multi-sensor data fusion based vibration compensation method of claim 1,

and in the gravity measurement process, the ground vibration signal corresponding to the falling process is intermittently acquired according to the initial trigger signal and the termination trigger signal.

3. The multi-sensor data fusion-based vibration compensation method of claim 1, wherein the ground vibration signal is continuously acquired over a long period of time using a plurality of the sensors.

4. The multi-sensor data fusion-based vibration compensation method of claim 1, further comprising:

placing a plurality of said sensors around said reference prism before simultaneously acquiring a ground vibration signal with said plurality of said sensors.

5. The multi-sensor data fusion-based vibration compensation method of claim 1, wherein the plurality of sensors includes one or more of an accelerometer, a seismometer, and a displacement sensor.

6. The multi-sensor data fusion-based vibration compensation method of claim 1, wherein some of the sensors are horizontally fixed to a base and the remaining sensors are vertically fixed to the base.

7. The multi-sensor data fusion-based vibration compensation method of claim 1, wherein a plurality of said ground vibration signals are processed using a weighted fusion technique, a complementary filtered data fusion technique, a kalman filtered data fusion technique, or an FIR/IIR filtered fusion.

8. The multi-sensor data fusion-based vibration compensation method of claim 1, wherein a plurality of said ground vibration signals are fused using said data fusion technique; or, first, performing optimization estimation on each ground vibration signal, and then fusing a plurality of ground vibration signals subjected to optimization estimation.

9. The multi-sensor data fusion-based vibration compensation method of claim 1, wherein the same data acquisition card is used to acquire data from a plurality of sensors with the same sampling period.

10. A vibration compensation system based on multi-sensor data fusion, comprising:

a base;

the reference prism is fixed at the bottom of the base;

the interferometer is used for detecting a falling displacement signal of the measured falling body relative to the reference prism;

the vibration measurement structure comprises a plurality of sensors fixed at the bottom of the base, and the vibration measurement structure acquires ground vibration signals simultaneously by using the plurality of sensors;

and the upper computer is used for processing the plurality of ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals, and compensating the falling displacement signals according to the ground vibration fusion estimation signals.

11. The vibration compensation system based on multi-sensor data fusion of claim 10, wherein the upper computer processes the plurality of ground vibration signals by using a weighted fusion technique, a complementary filtering data fusion technique, a kalman filtering data fusion technique or an FIR/IIR filtering fusion technique to obtain the ground vibration fusion estimation signals.

12. The multi-sensor data fusion-based vibration compensation system of claim 10, wherein the plurality of sensors includes one or more of an accelerometer, a seismometer, and a displacement sensor.

13. The multi-sensor data fusion-based vibration compensation system of claim 10, wherein some of the sensors are fixed horizontally to the base and the remaining sensors are fixed vertically to the base.

Technical Field

The invention relates to the technical field of absolute gravity measurement, in particular to a vibration compensation method and system based on multi-sensor data fusion.

Background

In the field of high-precision absolute gravity measurement, absolute gravity acceleration is obtained by precisely measuring the displacement and time of free-fall motion in a vacuum environment by adopting a frequency-stabilized laser interferometry technique and fitting the motion parameters of the free-fall. The precise measurement of the free falling body movement displacement requires that a reference prism in the interference measurement is a stable inertial reference point, and in fact, the reference prism inevitably causes ground micro-vibration to be introduced into a falling body displacement measurement value under the influence of vibration noise, so that the gravity acceleration obtained by final fitting is influenced. The effect of vibration noise on absolute gravity measurements is primarily considered from two points: noise intensity and noise frequency. The larger the noise intensity is, the larger the generated vibration amplitude is, and the larger the error introduced to the measurement value of the real falling body displacement is; in addition, under the same noise intensity, the vibration noise of 0.1-100 Hz has larger and non-negligible error to the measured value of the free-fall absolute gravimeter, so the noise of the frequency band needs to be processed.

The current methods of vibration treatment are mainly divided into two categories: vibration isolation techniques and vibration compensation. The vibration compensation technique is a simple and convenient technique suitable for processing vibration noise in a noisy environment. The method utilizes a sensor to measure the movement of a reference prism, corrects an interference measurement result and further corrects an absolute gravity measurement result. The method has simple requirements on hardware, only needs the existing sensor capable of measuring vibration, has smaller volume, better reliability and anti-interference capability compared with an ultralow-frequency vertical vibration isolation system, and is more suitable for being used in complex environments. If the vibration compensation method can achieve a good compensation effect, high-precision measurement in a complex environment is expected to be achieved, and therefore the vibration compensation method has important practical significance for research of the method. However, the motion derived from the sensor output signal is not equivalent to the true motion of the reference prism, and there is a transfer function between the two. The key to the vibration compensation technique is therefore how to obtain the exact movement of the reference prism caused by the ground vibration noise from the sensor output signal, i.e. to solve exactly the transfer function between the sensor output signal and the movement of the reference prism.

However, the existing vibration compensation method based on the seismometer transfer function model has the drift of the transfer function, has a good short-term compensation effect, needs to be periodically corrected for a long time, and is not suitable for field test. The vibration compensation method based on the time delay model does not need to regularly correct the transfer function but has poor compensation effect. Although the vibration compensation method based on the gain time delay model has better compensation effect compared with the other two methods and does not have the problem of periodic correction of a transfer function, the compensation effect of the vibration compensation method is limited by the bandwidth of the seismometer, and the influence of noise in a range from 50Hz to 100Hz on gravity measurement cannot be compensated. In addition, the current vibration compensation methods all adopt signals measured by a single sensor to carry out vibration compensation, are limited by the bandwidth and detection resolution of the sensor, the accuracy of the measured original vibration signals is limited, and the compensation effect is influenced by using the low-accuracy measured vibration signals for vibration compensation.

Disclosure of Invention

Therefore, it is necessary to provide a vibration compensation method and system based on multi-sensor data fusion to solve the problem of low accuracy of the currently acquired ground vibration signal.

The invention provides a vibration compensation method based on multi-sensor data fusion, which comprises the following steps:

simultaneously acquiring ground vibration signals by using a plurality of sensors;

and processing the ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals so as to compensate the falling displacement signals of the measured falling body relative to the reference prism according to the ground vibration fusion estimation signals.

In one embodiment, during the gravity measurement process, the ground vibration signal corresponding to the falling process is intermittently acquired according to the starting trigger signal and the ending trigger signal.

In one embodiment, the ground vibration signal is acquired continuously for a long time by using a plurality of the sensors.

In one embodiment, the vibration compensation method based on multi-sensor data fusion further includes:

placing a plurality of said sensors around a reference prism before simultaneously acquiring a ground vibration signal with said plurality of sensors.

In one embodiment, the plurality of sensors includes one or more of an accelerometer, a seismometer, and a displacement sensor.

In one embodiment, a part of the sensors are horizontally fixed on the base, and the rest of the sensors are vertically fixed on the base.

In one embodiment, a plurality of the ground vibration signals are processed by using a weighted fusion technique, a complementary filtering data fusion technique, a kalman filtering data fusion technique or an FIR/IIR filtering fusion technique.

In one embodiment, a plurality of ground vibration signals are fused by the data fusion technology; or, first, performing optimization estimation on each ground vibration signal, and then fusing a plurality of ground vibration signals subjected to optimization estimation.

In one embodiment, the same data acquisition card is used for data acquisition of a plurality of sensors with the same sampling period.

Based on the same inventive concept, the embodiment of the invention also provides a vibration compensation system based on multi-sensor data fusion, which comprises:

a base;

the reference prism is fixed at the bottom of the base;

the interferometer is used for detecting a falling displacement signal of the measured falling body relative to the reference prism;

the vibration measurement structure comprises a plurality of sensors fixed at the bottom of the base, and the vibration measurement structure acquires ground vibration signals simultaneously by using the plurality of sensors;

and the upper computer is used for processing the plurality of ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals, and compensating the falling displacement signals according to the ground vibration fusion estimation signals.

In one embodiment, the upper computer processes the plurality of ground vibration signals by using a weighted fusion technology, a complementary filtering data fusion technology, a kalman filtering data fusion technology or an FIR/IIR filtering fusion technology to obtain the ground vibration fusion estimation signals.

In one embodiment, the plurality of sensors includes one or more of an accelerometer, a seismometer, and a displacement sensor.

In one embodiment, a part of the sensors are horizontally fixed on the base, and the rest of the sensors are vertically fixed on the base.

In summary, the embodiment of the invention provides a vibration compensation method and system based on multi-sensor data fusion. The method comprises the steps of simultaneously acquiring ground vibration signals by using a plurality of sensors; and processing the ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals so as to compensate the absolute gravity acceleration according to the ground vibration fusion estimation signals. According to the invention, the ground vibration signals are obtained by using a plurality of sensors, the optimal estimation value of the ground vibration signals is obtained by using a multi-sensor data fusion method, and the optimal estimation value is used in the related time delay vibration compensation technology, so that the accuracy of the obtained vibration signals is improved, the problem that the compensation effect of the existing related time delay method is limited by the bandwidth of a single seismometer is solved, and the compensation effect and the application range of the existing vibration compensation method are further improved finally.

Drawings

FIG. 1 is a vibration compensation method based on multi-sensor data fusion according to an embodiment of the present invention;

FIG. 2 is a seismic and accelerometer based vibration compensation configuration provided by an embodiment of the invention;

FIG. 3 is a single-stage discrete Kalman filter fusion process based on a seismometer and an accelerometer according to an embodiment of the invention;

FIG. 4 is a diagram illustrating an optimal information fusion decentralized Kalman filter with a two-layer fusion structure according to an embodiment of the present invention;

FIG. 5 is a schematic block diagram of a complementary filter provided by an embodiment of the present invention;

FIG. 6 is a multi-sensor adaptive weighting fusion model provided by an embodiment of the present invention;

fig. 7 is a vibration compensation system based on multi-sensor data fusion according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Referring to fig. 1, the present invention provides a vibration compensation method based on multi-sensor data fusion, including:

step S110, simultaneously acquiring ground vibration signals by using a plurality of sensors;

and step S120, processing the plurality of ground vibration signals by using a data fusion technology to obtain ground vibration fusion estimation signals so as to compensate the absolute gravity acceleration according to the ground vibration fusion estimation signals.

According to the invention, the ground vibration signals are obtained by using a plurality of sensors, the optimal estimation value of the ground vibration signals is obtained by using a multi-sensor data fusion method, and the optimal estimation value is used in the related time delay vibration compensation technology, so that the accuracy of the obtained vibration signals is improved, the problem that the compensation effect of the existing related time delay method is limited by the bandwidth of a single seismometer is solved, and the compensation effect and the application range of the existing vibration compensation method are further improved finally.

In one embodiment, during the gravity measurement process, the ground vibration signal corresponding to the falling process is intermittently acquired according to the starting trigger signal and the ending trigger signal. In this embodiment, a plurality of sensors will continuously output ground vibration signal in the measurement process, and the output signal of sensor and the trigger signal of whereabouts every time will be gathered simultaneously in order to fix a position the sensor output signal interval that photoelectric detection signal that intercepting corresponds when whereabouts every time, guarantee the synchronism that multichannel signal acquireed. It can be understood that the principle of the free-fall absolute gravity measurement is that the interferometer measures the free-fall motion trajectory of a fall, but the acquisition card is not continuously operated all the time, so that a trigger point for starting and stopping the acquisition card is required to be set. Specifically, the change frequency of the interference fringes is detected after the falling body is released, and when the preset starting counting frequency value is reached, the acquisition card is triggered to acquire the interference fringe signals.

In one embodiment, the ground vibration signal is acquired continuously for a long time by using a plurality of the sensors. In this embodiment, the ground vibration signals are continuously acquired by using the plurality of sensors for a long time, and then the trigger signals (including the start trigger signal and the stop trigger signal) are matched with the acquisition region of the acquisition card, so as to acquire the ground vibration signal data during each free fall.

In one embodiment, the vibration compensation method based on multi-sensor data fusion further comprises:

placing a plurality of said sensors around said reference prism before simultaneously acquiring a ground vibration signal with said plurality of said sensors.

It can be understood that the closer the sensor is to the reference prism, the more truly the ground vibration at the reference prism can be reflected, so in the present embodiment, a plurality of sensors are disposed as close to the reference prism as possible within the allowable range.

In one embodiment, the plurality of sensors includes one or more of an accelerometer, a seismometer, and a displacement sensor.

In this embodiment, the number of the plurality of sensors is not limited, and two or more sensors may be used. The combination type of the plurality of sensors is not limited, and the plurality of sensors can be a plurality of sensors of the same type, such as a plurality of displacement sensors, a plurality of seismometers and a plurality of accelerometers; or a plurality of different types of sensor combinations such as seismometers and accelerometers, displacement sensors and accelerometers, seismometers and displacement sensors.

In one embodiment, a part of the sensors are horizontally fixed on the base, and the rest of the sensors are vertically fixed on the base.

In this embodiment, the sensor is a single axis inertial sensor. It can be understood that although the sensors such as the 3-axis accelerometer and the seismometer can simultaneously measure vibration signals in three directions of XYZ when the sensors are horizontally arranged, the sensors can measure signals in a vertical direction and signals in a horizontal direction, but the sensors are usually large in size, can only be horizontally arranged and are not suitable for being used in a complex vibration environment; the single-axis inertial sensor, such as a quartz flexible accelerometer, has the advantages of small volume, convenient loading and the like, so the single-axis inertial sensor is generally adopted to measure ground vibration signals. It can be understood that since a single-axis inertial sensor can only measure vibration in one direction, it measures vibration in the vertical direction when it is placed horizontally; however, in the absolute gravity measurement process of the movable platform in a more complicated measurement environment, vibration interference in the horizontal direction is often coupled into the vertical direction, so that the measured vertical vibration of the ground is not true vertical motion, and thus measurement errors are generated. Therefore, the arrangement mode of the sensor can be selected according to actual conditions, for example, the problem of interference coupling in other directions can be solved by adopting a mode of combining a horizontal arrangement mode and a vertical mode, and the application range of absolute gravity measurement based on the vibration compensation method is further widened. Specifically, the seismometer can be placed horizontally in a quieter environment, and the accelerometer is horizontally fixed on the base; in a complex movable platform environment, the problem that horizontal interference is coupled into vertical vibration can be solved by considering the combination of horizontal placement and vertical placement; in addition, the combination can be carried out in various angle arrangement modes.

In one embodiment, a plurality of the ground vibration signals are processed by using a weighted fusion technique, a complementary filtering data fusion technique, a kalman filtering data fusion technique or an FIR/IIR filtering fusion technique.