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Research on Triangle Positioning Technique in Shield Machine Attitude Measurement

Author: ZuoXueTao
Tutor: ZhuGuoLi
School: Huazhong University of Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: shield automatic guidance system yaw measurement sub-pixel precision detection positioning of triangle spot
CLC: TP391.41
Type: Master's thesis
Year: 2009
Downloads: 37
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Abstract


Yaw measurement of shield attitude is one of the key technologies in shield automatic guidance system. To overcome this technical difficulty, a series of researches were carried out, funded by a grant from the Major State Basic Research Development Program of China (973 Program) (No.200 7CB714005).The main work and research are as follows:After analysising the advantages and disadvantages of the existing yaw measurement methods, the dissertation proposed a new yaw measurement method based on a total reflection prism with a notch and an array CCD, which was dedicated to the sub-pixel precision positioning technology of projective triangle laser spot on the array CCD.Considering the characteristics of the yaw measuring, a kind of new soothing filter based on the weighted-average filtering algorithm was brought up. By contrasting with other filters, the new smoothing filter showed that it was more effective to eliminate the noise.To get the sub-pixel precision positioning of the triangle spot, the dissertation contrasted some of the existing algorithms, including center of gravity method and other relevant sub-pixel precision positioning methods. And an edge detection algorithm based on Zernike orthogonal moments was demonstrated to be effective. On the basis of the previous detected sub-pixel precision disperse edge points of the triangle laser spot, the dissertation proposed an original edge points division algorithm, which is based on the connectivity of the preset gravity center and the edge point of the triangle. Finally, the sub-pixel precision information of the triangle spot was obtained by using improved least square method after deleting singular points.A series of simulations of the algorithm above was realized on matlab7.1, and the dissertation also analyzed relevant factors on the measurement precision and effect of the algorithm, which indicated that the algorithm proposed in this dissertation has high stability and reliability and can meet the requirement of precision of shield yaw measurement.

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