Measuring apparatus, measuring method and recording medium
The attitude of an excavating part during excavation is accurately measured. A measuring apparatus of the present invention executes an attitude estimating processing and a phase correction amount calculating processing. The phase correction amount calculating processing calculates an offset between a gravity tool face and a magnetic force tool face, and sets the calculated offset as an estimated offset. The attitude estimating processing sets the gravity tool face based on the acceleration data as a measured gravity tool face, the magnetic force tool face based on the magnetic field data as a measured magnetic force tool face, a difference between an offset between the measured gravity tool face and the measured magnetic force tool face and the estimated offset as a phase correction amount, and data obtained by correcting the magnetic field data with the phase correction amount as corrected magnetic field data, and determines the attitude based on the acceleration data and the corrected magnetic field data.
1. A measuring apparatus for determining an attitude by using acceleration data output from an acceleration sensor having at least three axes and magnetic field data output from a magnetic sensor having at least three axes, the acceleration sensor and the magnetic sensor being arranged in an excavating part of an underground excavator, the measuring apparatus comprising:
a processing circuitry which executes
an attitude estimating processing for determining an attitude of the excavating part based on the acceleration data (A x , A y , A z ) and the magnetic field data (M x , M y , M z ); and
a phase correction amount calculating processing for calculating an offset between a gravity tool face and a magnetic force tool face, and setting the calculated offset as an estimated offset, wherein
in a state in which the excavating part is stationary,
the attitude estimating processing sets, as an initial value of an estimated offset (TFO), an offset determined from a gravity tool face (gTF) and a magnetic force tool face (mTF) which are determined based on acceleration data (A x , A y , A z ) and magnetic field data (M x , M y , M z ), and records the estimated offset (TFO) into a memory; and
during rotation of the excavating part, the measuring apparatus sequentially performs the following (1) to (6), and then repeats the sequence starting at (1):
(1) the measuring apparatus acquires the acceleration data (A x , A y , A z ) and the magnetic field data (M x , M y , M z ),
(2) the attitude estimating processing determines a measured gravity tool face (mgTF) from acceleration data (a x , a y , a z ) of a gravity component contained in the acceleration data (A x , A y , A z ) and a measured magnetic force tool face (mmTF) from magnetic field data (M x , M y , M z ),
(3) the attitude estimating processing obtains a phase correction amount (pdm) as pdm=mmTF−mgTF−TFO and corrected magnetic field data (m x , m y , m z ) by correcting the magnetic field data (M x , M y , M z ) with the phase correction amount (pdm),
(4) the attitude estimating processing determines the attitude based on the acceleration data (a x , a y , a z ) and the corrected magnetic field data (m x , m y , m z ),
(5) the phase correction amount calculating processing calculates an estimated offset (TFO) from the attitude determined by the attitude estimating processing, and
(6) the phase correction amount calculating processing updates the estimated offset (TFO) recorded in the memory.
2. The measuring apparatus according to claim 1 , wherein
the attitude determined by the attitude estimating processing includes an inclination angle, an azimuth angle, and a dip angle, and
the phase correction amount calculating processing updates the estimated offset with the offset between the gravity tool face and the magnetic force tool face calculated from the inclination angle, the azimuth angle and the dip angle determined by the attitude estimating processing during rotation of the excavating part.
3. The measuring apparatus according to claim 2 , wherein
an inclination angle Inc, an azimuth angle Azm and a dip angle Dip have a relation represented by:
Inc
=
cos
-
1
(
a
z
a
x
2
+
a
y
2
+
a
z
2
)
Azm
=
tan
-
1
(
(
m
x
·
a
y
-
m
y
·
a
x
)
·
a
x
2
+
a
y
2
+
a
z
2
-
m
x
·
a
x
·
a
z
-
m
y
·
a
y
·
a
z
+
m
z
·
(
a
x
2
+
a
y
2
)
)
Dip
=
cos
-
1
(
a
x
·
m
x
+
a
y
·
m
y
+
a
z
·
m
z
a
x
2
+
a
y
2
+
a
z
2
·
m
x
2
+
m
y
2
+
m
z
2
)
-
π
2
where (a x , a y , a z ) represent gravity-caused acceleration data contained in the acceleration data, and (m x , m y , m z ) represent the corrected magnetic field data.
4. The measuring apparatus according to claim 3 , wherein
the phase correction amount calculating processing calculates an estimated offset TFO according to:
TFO
=
tan
-
1
(
cos
(
Dip
)
·
sin
(
Azm
)
S
)
where Inc represents an inclination angle determined by the attitude estimating processing, Azm represents an azimuth angle determined by the attitude estimating processing, Dip represents a dip angle determined by the attitude estimating processing, and S=cos(Dip)·cos(Inc)·cos(Azm)−sin(Dip)·sin(Inc) is satisfied.
5. The measuring apparatus according to claim 3 , wherein
the magnetic field data and the corrected magnetic field data have the following relation:
m x =M x cos( pdm )− M y sin( pdm ),
m y =M x sin( pdm )+ M y cos( pdm ), and
m z =M z ,
where pdm represents the phase correction amount, (M x , M y , M z ) represent the magnetic field data, and (m x , m y , m z ) represent the corrected magnetic field data.
6. The measuring apparatus according to claim 3 , wherein
the attitude estimating processing sets, as an initial value of the attitude, an attitude determined when the excavating part is stationary.
7. The measuring apparatus according to claim 2 , wherein
the phase correction amount calculating processing calculates an estimated offset TFO according to:
TFO
=
tan
-
1
(
cos
(
Dip
)
·
sin
(
Azm
)
S
)
where Inc represents an inclination angle determined by the attitude estimating processing, Azm represents an azimuth angle determined by the attitude estimating processing, Dip represents a dip angle determined by the attitude estimating processing, and S=cos(Dip)·cos(Inc)·cos(Azm)−sin(Dip)·sin(Inc) is satisfied.
8. The measuring apparatus according to claim 2 , wherein
the magnetic field data and the corrected magnetic field data have the following relation:
m x =M x cos( pdm )− M y sin( pdm ),
m y =M x sin( pdm )+ M y cos( pdm ), and
m z −M z ,
where pdm represents the phase correction amount, (M x , M y , M z ) represent the magnetic field data, and (m x , m y , m z ) represent the corrected magnetic field data.
9. The measuring apparatus according to claim 2 , wherein the attitude estimating processing sets, as an initial value of the attitude, an attitude determined when the excavating part is stationary.
10. The measuring apparatus according to claim 1 , wherein the magnetic field data and the corrected magnetic field data have the following relation:
m x =M x cos( pdm )− M y sin( pdm ),
m y =M x sin( pdm )+ M y cos( pdm ), and
m z =M z ,
where pdm represents the phase correction amount, (M x , M y , M z ) represent the magnetic field data, and (m x , m y , m z ) represent the corrected magnetic field data.
11. The measuring apparatus according to claim 1 , wherein
the attitude estimating processing sets, as an initial value of the attitude, an attitude determined when the excavating part is stationary.
12. A measuring method using acceleration data output from an acceleration sensor having at least three axes and magnetic field data output from a magnetic sensor having at least three axes, the acceleration sensor and the magnetic sensor being arranged in an excavating part of an underground excavator, the measuring method executing:
attitude estimating for determining an attitude of the excavating part based on the acceleration data (A x , A y , A z ) and the magnetic field data (M x , M y , M z ); and
a phase correction for calculating an offset between a gravity tool face and a magnetic force tool face, and setting the calculated offset as an estimated offset, wherein
in a state in which the excavating part is stationary,
the attitude estimating sets, as an initial value of an estimated offset (TFO), an offset determined from a gravity tool face (gTF) and a magnetic force tool face (mTF) which are determined based on acceleration data (A x , A y , A z ) and magnetic field data (M x , M y , M z ), and records the estimated offset (TFO) into a memory; and
during rotation of the excavating part, the measuring method repeats sequentially performs the following (1) to (6), and then repeats the sequence starting at (1):
(1) the measuring method acquires the acceleration data (A x , A y , A z ) and the magnetic field data (M x , M y , M z ),
(2) the attitude estimating determines a measured gravity tool face (mgTF) from acceleration data (a x , a y , a z ) of a gravity component contained in the acceleration data (A x , A y , A z ) and a measured magnetic force tool face (mmTF) from magnetic field data (M x , M y , M z ),
(3) the attitude estimating obtains a phase correction amount (pdm) as pdm=mmTF−mgTF−TFO and corrected magnetic field data (m x , m y , m z ) by correcting the magnetic field data (M x , M y , M z ) with the phase correction amount (pdm),
(4) the attitude estimating determines the attitude based on the acceleration data (a x , a y , a z ) and the corrected magnetic field data (m x , m y , m z ),
(5) the phase correction calculates an estimated offset (TFO) from the attitude determined by the attitude estimating processing, and
(6) the phase correction updates the estimated offset (TFO) recorded in the memory.
13. The measuring method according to claim 12 , wherein
the attitude determined in the attitude estimating includes an inclination angle, an azimuth angle, and a dip angle, and
the phase correction updates the estimated offset with the offset between the gravity tool face and the magnetic force tool face calculated from the inclination angle, the azimuth angle and the dip angle determined in the attitude estimating during rotation of the excavating part.
14. The measuring method according to claim 13 , wherein
an inclination angle Inc, an azimuth angle Azm and a dip angle Dip have a relation represented by:
Inc
=
cos
-
1
(
a
z
a
x
2
+
a
y
2
+
a
z
2
)
Azm
=
tan
-
1
(
(
m
x
·
a
y
-
m
y
·
a
x
)
·
a
x
2
+
a
y
2
+
a
z
2
-
m
x
·
a
x
·
a
z
-
m
y
·
a
y
·
a
z
+
m
z
·
(
a
x
2
+
a
y
2
)
)
Dip
=
cos
-
1
(
a
x
·
m
x
+
a
y
·
m
y
+
a
z
·
m
z
a
x
2
+
a
y
2
+
a
z
2
·
m
x
2
+
m
y
2
+
m
z
2
)
-
π
2
where (a x , a y , a z ) represent gravity-caused acceleration data contained in the acceleration data, and (m x , m y , m z ) represent the corrected magnetic field data.
15. The measuring method according to claim 14 , wherein
the phase correction calculates an estimated offset TFO according to:
TFO
=
tan
-
1
(
cos
(
Dip
)
·
sin
(
Azm
)
S
)
where Inc represents an inclination angle determined in the attitude estimating, Azm represents an azimuth angle determined in the attitude estimating, Dip represents a dip angle determined in the attitude estimating, and S=cos(Dip)·cos(Inc)·cos(Azm)−sin(Dip)·sin(Inc) is satisfied.
16. The measuring method according to claim 13 , wherein
the phase correction calculates an estimated offset TFO according to:
TFO
=
tan
-
1
(
cos
(
Dip
)
·
sin
(
Azm
)
S
)
where Inc represents an inclination angle determined in the attitude estimating, Azm represents an azimuth angle determined in the attitude estimating, Dip represents a dip angle determined in the attitude estimating, and S=cos(Dip)·cos(Inc)·cos(Azm)−sin(Dip)·sin(Inc) is satisfied.
17. The measuring method according to claim 12 , wherein the magnetic field data and the corrected magnetic field data have the following relation:
m x =M x cos( pdm )− M y sin( pdm ),
m y =M x sin( pdm )+ M y cos( pdm ), and
m z =M z ,
where pdm represents the phase correction amount, (M x , M y , M z ) represent the magnetic field data, and (m x , m y , m z ) represent the corrected magnetic field data.
18. The measuring method according to claim 12 , wherein the attitude estimating sets, as an initial value of the attitude, an attitude determined in a state in which the excavating part is stationary.
19. A non-transitory computer-readable recording medium having a program stored therein, the program causing a computer to perform:
a measuring using acceleration data output from an acceleration sensor having at least three axes and magnetic field data output from a magnetic sensor having at least three axes, the acceleration sensor and the magnetic sensor being arranged in an excavating part of an underground excavator, the measuring including:
an attitude estimating for determining an attitude of the excavating part based on the acceleration data (A x , A y , A z ) and the magnetic field data (M x , M y , M z ); and
a phase correction for calculating an offset between a gravity tool face and a magnetic force tool face, and setting the calculated offset as an estimated offset, wherein
in a state in which the excavating part is stationary,
the attitude estimating sets, as an initial value of an estimated offset (TFO), an offset determined from a gravity tool face (gTF) and a magnetic force tool face (mTF) which are determined based on acceleration data (A x , A y , A z ) and magnetic field data (M x , M y , M z ), and records the estimated offset (TFO) into a memory; and
during rotation of the excavating part, the measuring repeats sequentially performs the following (1) to (6), and then repeats the sequence starting at (1):
(1) the measuring acquires the acceleration data (A x , A y , A z ) and the magnetic field data (M x , M y , M z ),
(2) the attitude estimating determines a measured gravity tool face (mgTF) from acceleration data (a x , a y , a z ) of a gravity component contained in the acceleration data (A x , A y , A z ) and a measured magnetic force tool face (mmTF) from magnetic field data (M x , M y , M z ),
(3) the attitude estimating obtains a phase correction amount (pdm) as pdm=mmTF−mgTF−TFO and corrected magnetic field data (m x , m y , m z ) by correcting the magnetic field data (M x , M y , M z ) with the phase correction amount (pdm),
(4) the attitude estimating determines the attitude based on the acceleration data (a x , a y , a z ) and the corrected magnetic field data (m x , m y , m z ),
(5) the phase correction calculates an estimated offset (TFO) from the attitude determined by the attitude estimating processing, and
(6) the phase correction updates the estimated offset (TFO) recorded in the memory.
20. The non-transitory computer-readable recording medium according to claim 19 , wherein
the attitude determined in the attitude estimating includes an inclination angle, an azimuth angle, and a dip angle, and
the phase correction updates the estimated offset with the offset between the gravity tool face and the magnetic force tool face calculated from the inclination angle, the azimuth angle and the dip angle determined in the attitude estimating during rotation of the excavating part.
21. The non-transitory computer-readable recording medium according to claim 20 , wherein
the phase correction calculates an estimated offset TFO according to:
TFO =tan −1 (cos(Dip)·sin( Azm )/ S )
where Inc represents an inclination angle determined in the attitude estimating, Azm represents an azimuth angle determined in the attitude estimating, Dip represents a dip angle determined in the attitude estimating, and S=cos(Dip)·cos(Inc)·cos(Azm)−sin(Dip)·sin(Inc) is satisfied.