Imitating Modeling of Algorithmic Compensation of Vibration Error of Gyrotheodolite

Pavel S. Mironenko, Sergiy A. Murakhovsky, Alexander M. Sapegin


Background. The paper is devoted to the algorithmic compensation of the vibration error of the gyrotheodolite with additional information about the sensitive element movement of the device.

Objective. The aim of the paper is determination of the vibration characteristics occurring at the installation sites of devices, as well as imitating simulation of the effect of the measured vibrations on the gyrotheodolite software model and algorithmic compensation of the vibration error, which arises from the vibration effect, to improve the device accuracy on a limited mobile basis.

Methods. Measuring the components of vibration using a set of accelerometers and determining vibration characteristics using the Fourier transform. Compilation of a gyrotheodolite software model based on a mathematical model taking into account the vibration of the base. Verification of the obtained model adequacy based on analysis of the device known frequency characteristics. Simulation modeling of vibration error and its compensation based on real signals of vibration accelerations.

Results. It is shown that when the base with installed gyrotheodolite vibarates, a vibration error will occur, the average value of which depends on the device structural parameters and the external vibration characteristics. The received spectra of vibration signals contain components that can cause the gyrotheodolite vibration error. The possibility of reducing the vibration error by means of algorithmic compensation methods is shown.

Conclusions. The vibrations arisen in the device installation places will cause a vibration error that can reach units of degrees. Simulation showed the possibility of compensating the constant component of the vibration error based on its accounting in the output signal of the gyrotheodolite, which makes it possible to increase the devise accuracy.


Gyrotheodolite; Vibration error; Imitating modeling


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