融合倾斜仪数据的盾构姿态严密解算模型

推导了倾斜仪与盾构的严密标定模型；将倾斜仪采集的双轴角度数据视为平面点云，推导了倾斜仪角度数据的稳健估计方法；在前述模型方法的基础上，利用最小二乘配置方法建立了倾斜仪与棱镜数据融合的严密联合解算模型.最后，通过试验对上述模型方法进行了分析验证.结果证明，提出的盾构姿态解算模型正确可行.
A rigorous calibration model of inclinometer in TBM (Tunnel Boring Machine) was derived. The two axis angle data collected by the inclinometer was considered as point clouds of a plane, and a method of robust estimation was derived. On the basis of the above model and method, a rigorous combined model was proposed to solve the Fusion data of prism and inclinometer by using the method of least square collocation. Finally, the above model and method were analyzed and verified by experiment, and the results showed that the proposed model of shield configuration is feasible