阅读说明：本技术 基于单轴陀螺的行进轨迹线的三维测量方法及应用 (Three-dimensional measurement method of travelling trajectory line based on single-axis gyroscope and application ) 是由 甘维兵 柳苗 胡文彬 刘芳 李盛 杨燕 于 2021-09-13 设计创作，主要内容包括：一种基于单轴陀螺的行进轨迹线的三维测量方法,及应用,本设计先在“东-北-天”的地理坐标系中建立三维坐标系,再对每个测量点的三维坐标进行测量,然后将所有的测量点的数据依次连接以获得行进轨迹线,其中,在获得Z坐标时,对地球角速度在光纤陀螺仪敏感轴上的投影、光纤陀螺零偏、随机漂移误差都进行了排除,以提升测量的精度。本测量方法便于对桥梁、大坝或隧道的结构形变进行检测,以与建造数据或历史测量数据对比,从而获得建筑物的健康状态。本设计不仅能够消除地球角速度的影响,而且应用范围较广。(A three-dimensional measurement method of a travelling trajectory line based on a single-axis gyroscope and application thereof are disclosed, the design is that a three-dimensional coordinate system is established in a geographical coordinate system of east-north-sky, then the three-dimensional coordinate of each measurement point is measured, and then data of all the measurement points are sequentially connected to obtain the travelling trajectory line, wherein when a Z coordinate is obtained, projection of earth angular velocity on a sensitive axis of the optical fiber gyroscope, zero offset of the optical fiber gyroscope and random drift errors are eliminated, so that the measurement precision is improved. The measuring method is convenient for detecting the structural deformation of the bridge, the dam or the tunnel so as to compare with the construction data or the historical measurement data, thereby obtaining the health state of the building. The design can eliminate the influence of the earth angular velocity and has wide application range.)

1. A three-dimensional measurement method of a travel track line based on a uniaxial gyroscope, wherein the travel track line is formed by sequentially connecting three-dimensional coordinate values of a plurality of measurement points, and the three-dimensional coordinate values comprise X, Y, Z three coordinate values, and the method is characterized in that:

on the advancing track line, a plane formed by an X axis and a Y axis is a track plane, a Z axis is vertical to the track plane, and a sensitive axis of the single-axis gyroscope is positioned in the track plane; in the track plane, a straight line connecting the previous measuring point to the next measuring point is a motion direction line, and the motion direction line is vertical to the sensitive axis; the three-dimensional coordinate system formed by the X axis, the Y axis and the Z axis is positioned in a geographical coordinate system of east-north-sky, and the rotational angular speed of the earth in the geographical coordinate system is omega_eThe earth's rotation axis points to the north pole;

in the three-dimensional coordinate values of the single measuring point, the coordinate value of X, Y is obtained by the prior art, and the Z coordinate value is obtained by deducing the angular speed effective output value of the point by the prior art;

the angular speed effective output value is the instant output value-influence value of the optical fiber gyroscope;

the impact values are: d₀+ε+K·ω_e*cosΦ*cos(θ_t) Wherein: d₀Representing zero offset of the fiber-optic gyroscope, and epsilon representing a random drift error;

K·ω_e*cosΦ*cos(θ_t) The projection value of the angular velocity of the earth rotation on the sensitive axis along the north direction is represented by K, the scale factor is represented by phi, the latitude of the earth where the measuring point is located is represented by theta_tIs the north included angle between the sensitive axis and the geographic coordinate system.

2. The three-dimensional measurement method of the travel trajectory line based on the single-axis gyro as claimed in claim 1, characterized in that: the K.omega_e*cosΦ*cos(θ_t) The acquisition method comprises the following steps:

firstly recording the output value of the optical fiber gyroscope at the starting point as omega₁Rotating the optical fiber gyroscope by 180 degrees at the starting point, and recording the output value of the optical fiber gyroscope at the moment as omega₂The purpose is to achieve the following effects:

thus, the number of the first and second electrodes,

(ω₁-ω₂)/2＝K·ω_e*cosΦ*cos(θ_t)。

3. the three-dimensional measurement method of the travel trajectory line based on the single-axis gyro as claimed in claim 2, characterized in that: said D₀The acquisition method of + epsilon is as follows:

(ω₁+ω₂)/2＝D₀+ε。

4. the three-dimensional measurement method of the travel trajectory based on the single-axis gyro as claimed in claim 1, 2 or 3, characterized in that:

when the travel trajectory line appears as a straight line on the trajectory plane:

the included angle theta between the sensitive axis and the north direction of the geographic coordinate system_tIs kept unchanged and always is the included angle theta at the starting point₀Therefore, the influence value is: d₀+ε+K·ω_e*cosΦ*cos(θ₀)。

5. The three-dimensional measurement method of the travel trajectory based on the single-axis gyro as claimed in claim 1, 2 or 3, characterized in that:

when the travel trajectory line appears as a regular circular arc on the trajectory plane:

θ(t)＝ψ(t)+θ₀where ψ (t) is the angle between the line of the direction of motion and the X axis, θ₀Is the included angle between the sensitive axis at the starting point and the north direction of the geographic coordinate system.

6. The three-dimensional measurement method of the travel trajectory line based on the single-axis gyro as claimed in claim 5, wherein:

where Δ L is the radian traveled on the regular arc, and R is the radius of the regular arc.

7. The three-dimensional measurement method of the travel trajectory line based on the single-axis gyro as claimed in claim 6, characterized in that: the X, Y coordinate values for the individual measurement points are:

8. the three-dimensional measurement method of the travel trajectory line based on the single-axis gyro as claimed in claim 1, characterized in that:

when the travel trajectory line appears as an irregular circular arc on the trajectory plane:

θ(t)＝ψ(t)+θ₀，

ψ (t) ═ arctan (Y/X), where X, Y is the coordinate value of the X axis and the Y axis of the measurement point.

9. Use of the method for three-dimensional measurement of a travel trajectory based on a single-axis gyro according to claim 1, characterized in that: the application comprises the following steps:

firstly, connecting a single-axis gyroscope to the top of a detection trolley, then driving the detection trolley to move forwards along the top surface of an object to be detected, wherein the moving route comprises any one or any combination of a straight path and a curved path, selecting measurement points in the moving process for measurement and recording until the movement is finished, then sequentially connecting the obtained three-dimensional coordinate values of all the measurement points to obtain a moving track line, and then comparing the moving track line with the building data of the object to be detected to obtain the deformation value of the object to be detected, thereby detecting the health state of the object to be detected;

the object to be detected comprises a bridge, a dam or a tunnel.

10. Use of a method for the three-dimensional measurement of a travel trajectory based on a single-axis gyroscope according to claim 9, characterized in that:

the detection trolley is provided with an infrared photoelectric sensor and an odometer, wherein the infrared photoelectric sensor and the infrared light baffle plate cooperate to determine that the movement route of the detection trolley is a straight road or a curve, and the odometer is used for measuring the driving mileage of the detection trolley;

the infrared light barrier is provided with a plurality of infrared light barriers, and the set positions of the infrared light barriers comprise a starting point of a straight road, a termination point of the straight road, a starting point of a curve and a termination point of the curve.

Technical Field

The invention relates to a three-dimensional measurement technology based on a single-axis gyroscope, belongs to the field of civil structure health detection of bridges, dams and the like, in particular to a three-dimensional measurement method of a travelling trajectory line based on a single-axis gyroscope and application thereof, and is suitable for the field of deformation detection of a bending structure.

Background

The bridge, dam and other infrastructure play an important role in promoting national economy development. With the technological progress and the necessity of transportation, large-scale civil structures such as large-span bridges and dams with complex structures emerge in succession, and the following safety monitoring and deformation evaluation of the structures of the bridges and dams are also of great importance. Because large-scale infrastructure is imperfect in design or is damaged by a structure for a long time, and the loss of society, personnel and property caused by the accidents caused by collapse due to deformation is immeasurable, a perfect and effective structural deformation monitoring method and an early warning system need to be established, and the structure needs to be detected regularly to ensure the life and property safety of people.

The existing large-scale deformation detection method comprises methods such as a communicating pipe, a level gauge, a GPS, an automatic total station, laser imaging and the like. The measurement of the communication pipe, the level gauge, the total station and the like belongs to discrete measurement, the outdoor workload is large, the measurement is limited by the terrain, and the deformation information of the key position can be leaked; the GPS measurement method has the characteristic of quick detection, but is easy to be interfered by electromagnetic waves, and the measurement precision is not high; the laser imaging method and other methods are easily interfered by weather and other atmospheres, and the measurement light spot image is easily shaken to cause inaccurate measurement results. The fiber-optic gyroscope technology has the advantages of high measurement precision and continuous measurement points, can realize continuous measurement of large-span civil structures, but has the following defects:

the structure that awaits measuring has three-dimensional characteristic, therefore when adopting optical fiber gyroscope to detect, it probably can receive the influence of earth angular velocity, leads to optical fiber gyroscope output value inaccurate to reduce measurement accuracy.

The information disclosed in this background section is only for enhancement of understanding of the general background of the patent application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to overcome the defects and problems of high sensitivity to the influence of the earth angular velocity and low measurement precision in the prior art, and provides a single-axis gyroscope-based three-dimensional measurement method and application of a travelling track line, which can eliminate the influence of the earth angular velocity and have high measurement precision.

In order to achieve the above purpose, the technical solution of the invention is as follows: a three-dimensional measurement method of a travel track line based on a uniaxial gyroscope is characterized in that the travel track line is formed by sequentially connecting three-dimensional coordinate values of a plurality of measurement points, wherein the three-dimensional coordinate values comprise X, Y, Z coordinate values;

on the advancing track line, a plane formed by an X axis and a Y axis is a track plane, a Z axis is vertical to the track plane, and a sensitive axis of the single-axis gyroscope is positioned in the track plane; in the track plane, a straight line connecting the previous measuring point to the next measuring point is a motion direction line, and the motion direction line is vertical to the sensitive axis; the three-dimensional coordinate system formed by the X axis, the Y axis and the Z axis is positioned in a geographical coordinate system of east-north-sky, and the rotational angular speed of the earth in the geographical coordinate system is omega_eThe earth's rotation axis points to the north pole;

in the three-dimensional coordinate values of the single measuring point, the coordinate value of X, Y is obtained by the prior art, and the Z coordinate value is obtained by deducing the angular speed effective output value of the point by the prior art;

the angular speed effective output value is equal to an instant output value of the optical fiber gyroscope, namely an influence value;

the impact values are: d₀+ε+K·ω_e*cosΦ*cos(θ_t) Wherein: d₀Representing zero offset of the fiber-optic gyroscope, and epsilon representing a random drift error;

K·ω_e*cosΦ*cos(θ_t) The projection value of the angular velocity of the earth rotation on the sensitive axis along the north direction is represented by K, the scale factor is represented by phi, the latitude of the earth where the measuring point is located is represented by theta_tIs the north included angle between the sensitive axis and the geographic coordinate system.

The K.omega_e*cosΦ*cos(θ_t) The acquisition method comprises the following steps:

firstly recording the output value of the optical fiber gyroscope at the starting point as omega₁Rotating the optical fiber gyroscope by 180 degrees at the starting point, and recording the output value of the optical fiber gyroscope at the moment as omega₂And because:

thus, the number of the first and second electrodes,

(ω₁-ω₂)/2＝K*ω_e*cosΦ*cos(θ_t)。

said D₀The acquisition method of + epsilon is as follows:

(ω₁+ω₂)/2＝D₀+ε。

when the travel trajectory line appears as a straight line on the trajectory plane:

the included angle theta between the sensitive axis and the north direction of the geographic coordinate system_tIs kept unchanged and always is the included angle theta at the starting point₀Therefore, the influence value is:

D₀+ε+K·ω_e*cosΦ*cos(θ₀)。

when the travel trajectory line appears as a regular circular arc on the trajectory plane:

θ(t)＝ψ(t)+θ₀where ψ (t) is the angle between the line of the direction of motion and the X axis, θ₀Is the included angle between the sensitive axis at the starting point and the north direction of the geographic coordinate system.

Wherein Δ L is already on the regular arcThe radian of the travel, R is the radius of the regular circular arc.

The X, Y coordinate values for the individual measurement points are:

when the travel trajectory line appears as an irregular circular arc on the trajectory plane:

θ(t)＝ψ(t)+θ₀，

ψ (t) ═ arctan (Y/X), where X, Y is the coordinate value of the X axis and the Y axis of the measurement point.

An application of the three-dimensional measurement method of the travel track line based on the single-axis gyroscope comprises the following steps:

firstly, connecting a single-axis gyroscope to the top of a detection trolley, then driving the detection trolley to move forwards along the top surface of an object to be detected, wherein the moving route comprises any one or any combination of a straight path and a curved path, selecting measurement points in the moving process for measurement and recording until the movement is finished, then sequentially connecting the obtained three-dimensional coordinate values of all the measurement points to obtain a moving track line, and then comparing the moving track line with the building data of the object to be detected to obtain the deformation value of the object to be detected, thereby detecting the health state of the object to be detected;

the object to be detected comprises a bridge, a dam or a tunnel.

The detection trolley is provided with an infrared photoelectric sensor and an odometer, wherein the infrared photoelectric sensor and the infrared light baffle plate cooperate to determine that the movement route of the detection trolley is a straight road or a curve, and the odometer is used for measuring the driving mileage of the detection trolley;

the infrared light barrier is provided with a plurality of infrared light barriers, and the set positions of the infrared light barriers comprise a starting point of a straight road, a termination point of the straight road, a starting point of a curve and a termination point of the curve.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention provides a three-dimensional measurement method of a travel trajectory line based on a uniaxial gyroscope and application thereof, and provides a method for calculating an influence value aiming at the influence of an earth angular velocity on an output value of a fiber optic gyroscope and tightly fastening the influence factor of the projection of the earth angular velocity on a sensitive axis of the fiber optic gyroscope. Therefore, the invention not only can eliminate the influence of the earth angular velocity, but also has higher measurement precision.

2. In the three-dimensional measuring method and application of the single-axis gyroscope-based advancing track line, the three-dimensional advancing track line is limited in order to match with the acquisition of an effective angular velocity output value, namely, a plane formed by an X axis and a Y axis is set as a track plane, a Z axis is perpendicular to the track plane, a sensitive axis of a single-axis gyroscope is positioned in the track plane, and meanwhile, the movement direction of the sensitive axis and the position in movement are set, namely, in the track plane, a connecting straight line between a previous measuring point and a next measuring point is a movement direction line which is perpendicular to the sensitive axis. Therefore, the invention not only can eliminate the influence of the earth angular velocity, but also has wider application range.

3. In the three-dimensional measurement method of the advancing trajectory line based on the uniaxial gyroscope and the application thereof, different measurement methods are respectively designed according to different showing states of the advancing trajectory line on the trajectory plane, such as a straight line shape, a regular circular arc shape and an irregular circular arc shape, so that the measurement precision can be ensured, and the application range of the invention can be expanded. Therefore, the invention not only has higher measurement precision, but also has wider application range.

4. The invention relates to a three-dimensional measuring method of a traveling track line based on a single-axis gyroscope and application thereof, in specific application, the single-axis gyroscope and the detection trolley can be combined, the forward movement of the optical fiber gyroscope is realized by driving the detection trolley to move, at the moment, the optical fiber gyroscope only needs to move along the top surface of an object to be detected, the moving route comprises any one or any combination of a straight path and a curved path, and recording data of measuring points along the way, marking position information of inflection points at each joint until the movement is finished, then the obtained three-dimensional coordinate values of all the measuring points are sequentially connected to obtain a travelling track line, the travelling track line is compared with the building data of the object to be detected to obtain the deformation value of the object to be detected, therefore, the health state of the object to be detected is detected, the measured data is accurate, the operation is easy, and the cost is low. Therefore, the invention is suitable for detecting the structural deformation of the building and is convenient for analyzing the health state of the detected object.

5. In the three-dimensional measuring method of the travelling track line based on the single-axis gyroscope and the application, the infrared photoelectric sensor and the odometer can be arranged on the detection trolley, wherein the infrared photoelectric sensor and the infrared light barrier cooperate to determine that the current movement path of the detection trolley is a straight path or a curved path, the odometer is used for measuring the travelling distance of the detection trolley, and when the method is applied, the detection trolley can be judged to be the straight path or the curved path only by observing the cooperation condition between the infrared light barrier and the infrared photoelectric sensor, so that the method is very convenient and rapid, and different measuring methods can be switched in time, and the measuring precision is ensured on the whole. Therefore, the invention has wider application range and higher measurement precision.

Drawings

FIG. 1 is a schematic representation of the "east-north-sky" geographic coordinate system employed by the present invention.

Fig. 2 is a diagram showing components of rotational angular velocity of the earth in fig. 1.

FIG. 3 is a schematic view of the inspection trolley of the present invention traveling along a straight road.

Fig. 4 is a schematic view of the rail car according to the present invention when driving along a curve.

Detailed Description

The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.

Referring to fig. 1-4, a three-dimensional measurement method of a travel track line based on a uniaxial gyroscope, wherein the travel track line is formed by sequentially connecting three-dimensional coordinate values of a plurality of measurement points, and the three-dimensional coordinate values comprise X, Y, Z three coordinate values;

on the advancing track line, a plane formed by an X axis and a Y axis is a track plane, a Z axis is vertical to the track plane, and a sensitive axis of the single-axis gyroscope is positioned in the track plane; in the track plane, a straight line connecting the previous measuring point to the next measuring point is a motion direction line, and the motion direction line is vertical to the sensitive axis; the three-dimensional coordinate system formed by the X axis, the Y axis and the Z axis is positioned in a geographical coordinate system of east-north-sky, and the rotational angular speed of the earth in the geographical coordinate system is omega_eThe earth's rotation axis points to the north pole;

in the three-dimensional coordinate values of the single measuring point, the coordinate value of X, Y is obtained by the prior art, and the Z coordinate value is obtained by deducing the angular speed effective output value of the point by the prior art;

the angular speed effective output value is the instant output value-influence value of the optical fiber gyroscope;

the impact value is; d₀+ε+K·ω_e*cosΦ*cos(θ_t) Wherein: d₀Representing zero offset of the fiber-optic gyroscope, and epsilon representing a random drift error;

K·ω_e*cosΦ*cos(θ_t) The projection value of the angular velocity of the earth rotation on the sensitive axis along the north direction is represented by K, the scale factor is represented by phi, the latitude of the earth where the measuring point is located is represented by theta_tIs the north included angle between the sensitive axis and the geographic coordinate system.

The K.omega_e*cosΦ*cos(θ_t) The acquisition method comprises the following steps:

firstly recording the output value of the optical fiber gyroscope at the starting point as omega₁Rotating the optical fiber gyroscope by 180 degrees at the starting point, and recording the output value of the optical fiber gyroscope at the moment as omega₂And because:

thus, the number of the first and second electrodes,

(ω₁-ω₂)/2＝K·ω_e*cosΦ*cos(θ_t)。

said D₀The acquisition force method for + ε is as follows:

(ω₁+ω₂)/2＝D₀+ε。

when the travel trajectory line appears as a straight line on the trajectory plane:

the included angle theta between the sensitive axis and the north direction of the geographic coordinate system_tIs kept unchanged and always is the included angle theta at the starting point₀Therefore, the influence value is:

D₀+ε+K·ω_e*cosΦ*cos(θ₀)。

when the travel trajectory line appears as a regular circular arc on the trajectory plane:

θ(t)＝ψ(t)+θ₀where ψ (t) is the angle between the line of the direction of motion and the X axis, θ₀Is the included angle between the sensitive axis at the starting point and the north direction of the geographic coordinate system.

Where Δ L is the radian traveled on the regular arc, and R is the radius of the regular arc.

The X, Y coordinate values for the individual measurement points are:

when the travel trajectory line appears as an irregular circular arc on the trajectory plane:

θ(t)＝ψ(t)+θ₀，

ψ (t) ═ arctan (Y/X), where X, Y is the coordinate value of the X axis and the Y axis of the measurement point.

An application of the three-dimensional measurement method of the travel track line based on the single-axis gyroscope comprises the following steps:

firstly, connecting a single-axis gyroscope to the top of a detection trolley, then driving the detection trolley to move forwards along the top surface of an object to be detected, wherein the moving route comprises any one or any combination of a straight path and a curved path, selecting measurement points in the moving process for measurement and recording until the movement is finished, then sequentially connecting the obtained three-dimensional coordinate values of all the measurement points to obtain a moving track line, and then comparing the moving track line with the building data of the object to be detected to obtain the deformation value of the object to be detected, thereby detecting the health state of the object to be detected;

the object to be detected comprises a bridge, a dam or a tunnel.

The detection trolley is provided with an infrared photoelectric sensor and an odometer, wherein the infrared photoelectric sensor and the infrared light baffle plate cooperate to determine that the movement route of the detection trolley is a straight road or a curve, and the odometer is used for measuring the driving mileage of the detection trolley;

the infrared light barrier is provided with a plurality of infrared light barriers, and the set positions of the infrared light barriers comprise a starting point of a straight road, a termination point of the straight road, a starting point of a curve and a termination point of the curve.

The principle of the invention is illustrated as follows:

in the present invention, the "Z coordinate value is derived from the angular velocity effective output value of the point by the prior art" means: the output of the optical fiber gyroscope is angular velocity, and the angular velocity needs to be integrated into an angle, then integrated into velocity, and then integrated into displacement, so that a Z coordinate value is obtained through calculation.

The infrared photoelectric sensor and the infrared light barrier in the invention cooperate to determine that the movement path of the detection trolley is a straight path or a curve path means that: and judging the current test interval of the detection trolley according to the measured position signal of the infrared light barrier, judging that the detection trolley enters a bent area when effective data of the position signal jumps twice, and judging that the detection trolley is in a straight area if the effective data jumps twice.

The detection trolley is internally provided with a collection plate, the collection plate can integrate the measurement data of each measurement point and upload the integrated data to an upper computer through wireless transmission, the upper computer receives the data of the collection plate and carries out real-time calculation to obtain an object to be detected, such as the line shape of a bridge, and the object to be detected is compared with the construction data of the bridge or the conventional regular measurement result to judge the health state of the bridge.

Example 1:

referring to fig. 1 and 2, the three-dimensional coordinate system formed by the X-axis, the Y-axis and the Z-axis in the present invention is located in the geographic coordinate system of "north-east-sky", in which the rotational angular velocity of the earth is ω_eThe earth rotation axis points to the north pole, and at this time, assuming that the measurement gyroscope is located at a position with a latitude phi, at this latitude, the influence of the error caused by the earth rotation can be decomposed into a geographical north component and a geographical sky component, and the geographical north component can only influence the output data of the optical fiber gyroscope, and the error is omega_eCos Φ. When the angle between the sensitive axis of the gyroscope and the north direction of the geographic coordinate system is theta_tMeanwhile, the projection of the earth rotation on the sensitive axis in the angular velocity measured by the optical fiber gyroscope is as follows: omega_e*cosΦ*cos(θ₀) In addition, the self zero offset and random drift error of the optical fiber gyroscope also can affect the angular speed effective output value of the optical fiber gyroscope.

The influence values of the earth angular velocity, the self zero offset and the random drift error after being summarized are as follows:

D₀+ε+K·ω_e*cosΦ*cos(θ_t)。

to obtain the effective output value of the angular velocity of the optical fiber gyroscope, the influence value must be subtracted from the instantaneous output value, that is: the angular velocity effective output value is the instant output value-influence value of the optical fiber gyroscope.

Example 2:

the basic contents are the same as example 1, except that:

referring to fig. 3 and 4, assuming that the object to be detected is composed of a straight road and a curved road, a combination of a straight line shape and a circular arc shape on the travel trajectory is implemented, the starting point is from the straight road, and the length of the straight road is L1.

(1) When the detection trolley runs on a straight road, the included angle between the sensitive shaft and the north direction of the geographic coordinate systemθ_tIs kept unchanged and always is the included angle theta at the starting point₀. At this time, the influence value is:

D₀+ε+K·ω_e*cosΦ*cos(θ₀)。

wherein the content of the first and second substances,

(ω₁-ω₂)/2＝K·ω_e*cosΦ*cos(θ_t)，

(ω₁+ω₂)/2＝D₀+ε，

ω₁is the instant output value, omega, of the optical fiber gyroscope at the starting point₂The instant output value after rotating the optical fiber gyroscope by 180 degrees at the starting point is shown.

(2) When the detection trolley moves out of the straight road and runs on a curve, and the curve is a regular circular arc, an included angle theta (t) between the sensitive shaft and the north direction of the geographic coordinate system is psi (t) + theta₀Where ψ (t) is the angle between the line of the direction of motion and the X axis, θ₀Is the included angle between the sensitive axis at the starting point and the north direction of the geographic coordinate system. At this time, the influence value is:

D₀+ε+K·ω_e*cosΦ*cos(ψ(t)+θ₀)。

example 3:

the basic content is the same as that of the embodiment 2, except that:

where Δ L is the radian traveled on the regular arc, and R is the radius of the regular arc.

The coordinates of an X axis and a Y axis after the detection trolley enters the curve are as follows:

example 4:

the basic content is the same as that of the embodiment 2, except that:

when the detection trolley runs on a curve, and the curve is an irregular arc and is an arbitrary curve, according to the arc length formula:

the line shape of the re-joined travel trajectory line should be monotonic, so the mapping of the odometer value to the corresponding coordinate in the coordinate system is unique.

According to the formula of the arc length, setting a to 0 and b to L₁And + delta L, linear derivation of the advancing trajectory line, real-time determination of mileage count value output, and adoption of a binary search method, wherein according to uniqueness, when the absolute value of the difference between the searched X-axis numerical value and the mileage data, which is substituted into a chord length formula, satisfies that the error is 10^-3In the method, the sought number is the position of the detection trolley in the coordinate system, and b can be obtained, namely the X coordinate of the rail trolley at the moment can be obtained.

The ordinate Y can be obtained according to the linear function relation of the track, so that the included angle between the running direction of the rail trolley and the abscissa at the moment can be obtained as follows:

ψ(t)＝arctan(Y/(X-L₁))。

in this case, the included angle value between the sensitive axis of the fiber optic gyroscope and the true north direction is θ (t) ═ ψ (t) + θ₀，

And then, subtracting the influence value of the interference from the instant output angular speed value of the optical fiber gyroscope to obtain an effective angular speed output value, and obtaining the advancing trajectory line of the curve according to a linear calculation formula.

Example 5:

the basic content is the same as that of the embodiment 2, except that:

when the detection trolley runs, the infrared photoelectric sensor and the infrared light barrier cooperate with each other to determine that the current movement route of the detection trolley is the straight track or the curve.

Example 6:

the basic content is the same as that of the embodiment 2, except that:

before measurement, the detection trolley in the design lays a permanent track on the surfaces of a straight road and a curved road, wherein the laid permanent track is preferably made of a stainless steel structure, is embedded into the surfaces of the straight road and the curved road, and can deform along with the deformation of the straight road and the curved road. Subsequently, the detection trolley travels along the track to ensure no deviation and prevent additional effects brought by path deviation.

The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.