JPH03245075A - Gyroscopic apparatus - Google Patents

Abstract

PURPOSE:To continuousely and accurately measure an azimuth by mounting two or more antennae arranged to a navigation body for receiving a satellite radio wave, a position and azimuth operating apparatus, an angular velocity sensor having a yaw axis as an input axis and related devices. CONSTITUTION:The radio wave from a GPS satellite received by two antennae 1, 2 arranged to a ship body on the bow and stern line thereof at a predeter mined interval is 1 inputted to a GPS position operation part 4 and a GPS azimuth operation part 3 to calculate the position and azimuth of the ship body. The azimuth output from the operation part 3 is subjected to comparative operation along with the azimuth obtained by integrating the output of a vibra tion gyroscope 10 by a comparator C and the residual differential angle thereof is inputted to a compensating operation part 13 and multiplied by K to be fed back to the adding part E on the input side of an integrator 12 as an oppo site code. The output angular velocity of the gyroscope 10 is integrated and the azimuth follows the azimuth from the operation part 3. Therefore, even when the output cycle of the operation 3 becomes long, the azimuth angle is interpolated by the azimuth due to the gyroscope during this period.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gyro device that detects the azimuth, position, speed, etc. of a navigation object such as a ship or an automobile.

(Prior art) As is well known, ships and the like have conventionally had gyro compasses and magnetic compasses as devices for measuring direction, and they have been used to constantly measure the direction of the own ship under any conditions and ensure safe navigation. It was made possible.

However, the gyro compass takes a long time to start up, about 1 hour or more, and the magnetic compass
Since it indicates the geomagnetic north, it has the disadvantage that the direction it indicates deviates from true north.

In recent years, GPS (Global Positioning System), which uses radio waves from satellites, has been developed as a system to eliminate these shortcomings and constantly detect the position of navigational objects such as ships.
ngSystem) navigation has been proposed. this is,
It constantly measures the position of a navigation object three-dimensionally using data from three or more satellites, and in the 1990s, when the first and second satellites were completed, the civilian code C was used.
It is expected that it will be operated using the /A code.

However, in the above-mentioned GPS signal processing using normal measurement, it is only possible to measure the position of the navigation object.
Due to the large position measurement error, it was not possible to measure the azimuth. On the other hand, differential GP
A method has been announced for calculating the azimuth angle of a navigation object using a two-position difference high-precision simultaneous measurement method that measures the phase difference of satellite radio waves, which has been used in surveying called S. The measurement principle will be explained below based on FIG.

In Fig. 3, (1) and (2) are receiving antennas attached to a navigation object (not shown) such as a ship, and the distance between both antennas (1) and (2), which is the baseline length, is The distance L is
Assume that it is known. Radio waves from these antennas (IL 21) are supplied to a GPS azimuth calculation unit (3), which produces the azimuth angle component ψ of the vehicle through the calculations described below.

Radio waves emitted from the GPS satellite (5) are transmitted using a carrier having a frequency of approximately 1.5 GHz in the L1 band or approximately 1.2 GHz in the L2 band. Since the C/A code is the only code released for civilian use, the following will be based on the C/A code. When using the C/A code, the radio waves are in the L1 band, and the frequency is 1.023.
It is possible to receive data of Mbps, 1023 bits.

Now, consider the case where radio waves from one satellite (5) are simultaneously received by antennas (1) and (2) as shown in FIG. At this time, the position of satellite (5) and antenna (1) (
2), there is a distance difference between the radio waves received by antenna (1) and the radio waves received by antenna (2), as shown by D in FIG. This distance difference D is C/A
By focusing on the specific radio waves of the code, it is possible to measure the phase difference (time difference).
By multiplying by the wavelength of the radio wave, the distance difference D can be obtained. If D is found, L is known, so ψcos−' (D/L)...”(1
), the baseline length I with respect to the observation satellite (5), and therefore the azimuth angle ψ of the navigation object can be determined. Note that in this measurement, it is not necessarily necessary to demodulate the received code.

On the other hand, the azimuth angle θ between the line connecting the satellite (5) and the receiving antennas (1) and (2) and true north (N) can be determined as follows. That is, after receiving radio waves from the satellite (5) with the antenna (1), radio waves from at least two other satellites (not shown) are received. Then, by demodulating the C/A code of these received radio waves and knowing the transmission time and reception time of the radio waves transmitted from the satellite, the propagation time of the radio waves from the satellite is determined and multiplied by the wavelength of the radio waves. The distance from the satellite to the antenna (1) and therefore to the navigation object is determined by: A position that is equidistant from one satellite is on a spherical surface whose radius is that distance, so the above 3.
The position of the receiving antenna (1) can be determined by finding three spherical surfaces from the three satellites and finding their intersection. Once the position of the antenna (1) is determined, the satellite (5)
Since the positions of are known, antenna (1) to satellite (5)
The azimuth angle θ can be determined from the direction cosine of the open position hector.

The element that executes the process of position calculation from radio wave reception to find the position of this antenna (1) is
) is a GPS position calculation unit (4) that receives radio waves from
Location data and antenna (1) from this.

Based on the received data from (2), the above calculation of ψ and (
The element that calculates ψ + θ) is the GPS direction calculation unit (3)
It is.

In this way, the base line length L calculated by the GPS azimuth calculation unit (3), and therefore the azimuth angle of the vehicle, is (θ + ψ),
This is output as a digital signal.

[Problem to be solved by the invention]

However, with the above-mentioned conventional satellite-based azimuth angle measuring device, the calculation time required to measure the azimuth angle is too high, so the azimuth angle cannot be measured continuously. When this is done, there is a problem in that errors occur due to time delays.

Additionally, GPS radio waves have drawbacks, such as the fact that there are regions and times when measurement errors are large due to the placement of satellites, and magnetic anomalies caused by solar activity can make measurements difficult. Was.

Therefore, the present invention provides a novel gyro device for azimuth angle measurement that solves the problems of conventional devices.

[Means to solve the problem]

The gyro device according to the present invention has two or more receiving antennas (
1, 2), means (4, 3) for calculating the position and azimuth using the received signal from the antenna, and an angular velocity sensor (10) installed on the vehicle with the yaw axis of the vehicle as an input axis.
, an A/D converter (11) that A/D converts the output of the angular velocity sensor, an integrator (12) that integrates the output of the A/D converter, and an output from this and the azimuth angle. Compare the
It has a compensation calculation section (13) for compensating for the deviation, and a display section (14) for displaying the above-mentioned azimuth and position, and outputs the output of the compensation calculation section to the input end of the integrator.
It is designed so that it can be linked.

Further, the means (t5) for calculating the speed from the position signal and the means (16) for correcting the inclination of the moving object based on the output of the angular velocity sensor using the speed signal, correct the inclination of the moving object, and calculate the GPS. It has means (18, 17) for detecting an abnormality in the calculated azimuth of the azimuth and angular velocity sensor and for suppressing an increase in error.

[Effect]

According to the above-mentioned gyro device, the output value of the azimuth angle is GP
Regardless of the iJl value between the outputs of the azimuth calculation means of the S satellite,
Azimuth can be measured continuously. Therefore, the azimuth angle can be accurately measured without any time delay in the azimuth angle measurement value due to the movement of a navigation object such as a ship.

Furthermore, even if the azimuth calculation error of the GPS satellite increases, the azimuth can be accurately measured using the output value of the gyro.

(Embodiment) Hereinafter, an embodiment of a gyro device according to the present invention will be described with reference to FIG.

FIG. 1 is a block diagram of an example of a gyro device according to the present invention. In this figure, the same elements as in FIG. 3 are given the same numbers, and detailed explanation thereof will be omitted.

In FIG. 1, -(10) is an angular velocity sensor such as a vibrating gyro fixed to a vessel such as a vessel, such as a vessel, so that its input axis is the yaw axis of the vessel. Vibration gyro (1
0) is based on the mechanical principle that when an angular velocity acts on a vibrating object in a direction perpendicular to the vibration hector, a Coriolis force acts in a direction perpendicular to both the vibration hector and the angular velocity hector. This is a rate gyro that does not use a rotating body and detects the magnitude and direction of angular velocity and outputs the angular velocity as an analog voltage. Note that when the vibrating gyroscope (10) is used as the angular velocity sensor, since it does not use a rotating body, it has features such as long life, short startup time, and low power consumption.

The output angular velocity of the vibration gyro (10) is determined by the A/D converter (
11), is digitally converted, and then input to an integrator (12) via an adder (E).

The integrator (12) has the function of integrating angular velocity, and its output indicates the angle. The output angle of the integrator (12) can be said to be the azimuth angle of the navigation vehicle since the input axis of the vibrating gyro (10) is installed as the yaw axis.

On the other hand, two antennas (1) are installed, for example, at an interval of 1 m on the bow and stern line of a ship as an example of a navigational vehicle.
, (2) (See Figure 3) The radio waves from the GPS satellites received by Calculate the angle. GPS direction calculation unit (
The azimuth angle output from 3) is the azimuth angle obtained by integrating the output of the vibrating gyro (■0) and the comparator (C
), and the residual angle is calculated by the compensation calculation unit (13).
is input. The compensation calculation unit (13) is composed of, for example, a proportional gain, and has the function of multiplying the residual angle by . The multiplied output from the compensation calculation section (13) is phytohacked with the opposite sign to the addition section (E) on the input side of the integrator (12).

When the system is configured in this way, the azimuth angle obtained by integrating the output angular velocity of the vibrating gyro (10) is determined by the GPS azimuth calculation unit (3).
Follows the azimuth from. Therefore, even if the output cycle of the GPS azimuth calculation unit (3) becomes long, the azimuth angle is interpolated by the vibrating gyro (10) during that period, so that a continuous and accurate azimuth angle can be output. Note that the display section (14) is an element that displays the azimuth from the integrator (12) and the position output data from the GPS azimuth calculation section (4).

In the embodiment shown in FIG. 1, a vibrating gyro (10) is used as an angular velocity sensor around the yaw axis of the hull of a ship as an example of a navigational vehicle, but other angular velocity sensors,
For example, a normal rate gyro having a rotating body, a gas rate sensor, an optical fiber gyro, etc. may be used.

Further, the two antennas (1) and (2) do not necessarily need to be located on the bow and stern line, but may be installed at any corner from the bow and stern line. However, at this time, the angle between the bow and stern line and the baseline length needs to be known, and the azimuth needs to be corrected by the GPS azimuth calculation section (3).

FIG. 2 shows another embodiment of the invention. In this figure, the same elements as in FIG. 1 are given the same numbers and their explanations will be omitted.

The difference between the example shown in FIG. 2 and the example shown in FIG. 1 is that in the example shown in FIG. The ship body inclination angle is determined from the output angular velocity of (10) Output azimuth and GP
The feature is that a function has been added to detect and process anomalies in the S azimuth angle.

The example shown in FIG. 2 will be explained in detail below. In Figure 2, (
Reference numeral 15) is a GPS speed calculation unit that receives the position output from the GPS position calculation unit (4) as an input and calculates the ground speed of the navigation object. This speed calculation unit (15) performs a differential calculation using the position output interval of the GPS position calculation unit (4), the current time, and the position output before the -output interval, thereby calculating the Calculate the speed in the direction. Once this velocity vector is determined, the centrifugal acceleration acting on the hull can be calculated using the angular velocity that is the output value of the vibrating gyro (10). Note that the speed from the GPS speed calculation section (15) may be displayed on the display section (14).

For example, the motion of a ship can be described by its center of gravity, center of buoyancy, and external force.Although the mass of the ship, the position of the center of gravity, the buoyancy, and the position of the center of buoyancy vary depending on the ship and its cargo, these quantities are , are individually known as ship-specific quantities. Therefore, the angle of inclination of the ship due to the centrifugal acceleration that the ship receives when turning can be determined as the angle at which the composite hector of gravity hector and centrifugal hector balances the buoyancy hector. Once the hull inclination angle α is determined, the gyro input angular velocity in the vertical direction is co
It can be obtained by multiplying by sα.

As described above, the element that corrects the output signal of the gyro (10) due to the hull tilt using the hull speed is the hull tilt correction calculation provided between the A/D converter (11) and the adder (E). Part (16). By performing the above correction, even if the ship is tilted, its azimuth can be accurately measured.

In addition, in FIG. 2, (17) is an abnormality detection processing section provided between the comparator (C) and the compensation calculation section (13),
The integrator (12) is the output azimuth angle of the vibrating gyro (10).
) and the output azimuth of the GPS azimuth calculation unit (3) is abnormally large (for example, 5 degrees or more), the GPS azimuth calculation unit (3) is considered to be abnormal, and the feedback loop is This is an element that sets the output of the abnormality detection processing section (17), which is a part of it, to O, and performs processing that does not feedbank the deviation.

By performing the above processing, radio wave anomalies from GPS satellites and GDOP (Geometric Dilution)
It is possible to detect an abnormality in reception conditions due to an increase in n of Precision and prevent the occurrence of orientation errors.

Next, (18) is another abnormality detection processing section, which is an integrator (
12), and if the value is abnormally large compared to the hull motion capacity (for example, 50"A), the integrator (1
This element performs processing such that the output of 2) is cut off, the output azimuth of the GPS azimuth calculation unit (3) is directly interpolated, and the output is output to the display unit (14). By performing this processing, it is possible to prevent an azimuth error from occurring even when the vibration gyro loop is abnormal.

In the above embodiment, the satellite is a GPS satellite, but the satellite is not limited to this and may be another positioning satellite, such as GLO.
A NASS satellite may also be used.

[Effects of the Invention] As described above, according to the present invention, the following effects can be obtained.

(1) The azimuth angle of a navigation object such as a ship can be obtained continuously with high accuracy.

(2) Azimuth can be measured without time delay.

(3) Even if the error in the azimuth angle obtained from the GPS satellite increases, highly accurate azimuth angles can be continuously obtained.

(4) If a vibrating gyroscope is used, long life, low power consumption,
Boot time is short.

(5) Not only the azimuth angle but also the position and speed can be accurately measured.

[Brief Description of the Drawings] Figure 1 is a block diagram of one embodiment of the present invention, Figure 2 is a block diagram of another example of the present invention, and Figure 3 is a route diagram for explaining the principle of measuring azimuth angles. It is. In the figure, (1) and (2) are receiving antennas, (3) is a GPS direction calculation unit, (4) is a GPS position calculation unit, and (10) is a GPS direction calculation unit.
) is an angular velocity sensor, (11) is an A/D converter, (12)
is an integrator, (■3) is a compensation calculation section, (14) is a display section,
(15) is a GPS speed calculation section, (16) is a hull inclination correction calculation section, and (17). (18) indicates an abnormality detection processing section.

Claims (1)

[Claims] 1. A first and a second device installed at a predetermined distance on the navigation object.
In a gyro device having an azimuth and position measuring device that has a satellite receiving antenna and a calculation means for calculating the azimuth and position of the navigation object using the satellite radio waves received by the antenna, input the yaw axis of the navigation object. an angular velocity sensor fixed to the navigation vehicle so as to form an axis; an adder that receives the output of the angular velocity sensor as an input to an integrating means for integrating the output; and receiving the output of the integrating means and the satellite radio wave. Comparing means for comparing the azimuth angle obtained by the compensating means, compensating means for compensating for the deviation of the compensating means, and means for feeding back the output of the compensating means to the negative input terminal of the adder. A gyro device. 2. The gyro device according to claim 1, wherein the satellite is a GPS or GLONASS. 3. The gyro device according to claim 1, wherein the angle sensor is a vibration gyro, a gas rate sensor, or an optical fiber gyro. 4. Provide a speed calculation means for performing speed calculation using the output of the position calculation means, and use the output of the speed calculation means to adjust the tilt correction means of the navigation object between the angular velocity sensor and the adder. The gyro device according to claim 1, wherein the gyro device is inserted into a gyro device. 5. The device according to claim 1, characterized in that processing means is provided between the comparison means and the compensating means for making the output of the azimuth calculation means zero due to the deviation of the comparison means. gyro device. 6. Processing means is provided between the integrating means and the display means for switching and outputting the output value of the integrating means and the output value of the azimuth calculating means based on the time differential value of the output of the integrating means. A gyro device according to claim 1, characterized in that: 7. The gyro device according to claim 4, wherein the gyro device outputs the speed.