JPH04122816A - Gyro device - Google Patents

Abstract

PURPOSE:To make influence of azimuth motion of a cruising body zero and obtain a highly accurate device by comparing a gyro orientation angle with an orientation angle calculated from a GPS position and then feeding it back to an integrator. CONSTITUTION:A GPS position calculation part 3 transmits a hold signal corresponding to a reception time from a satellite to a gyro orientation hold part 7. The hold part 7 holds output of an integrator 12 and then sends it to a comparator C. On the other hand, an orientation angle from an orientation calculation part 5 is compared with a gyro orientation angle at the hold part 7 by the comparator C and the remaining angle is fed back to an adder part E through a compensation calculation part 13. With this configuration, an orientation angle obtained by integrating an output angle speed of a vibration gyro 10 follows an orientation angle from the calculation part 5. Therefore, even if an output period of the calculation part 5 becomes longer, interpolation is performed with an orientation angle by the gyro 10, thus obtaining a constantly continuous and accurate orientation angle.

Description

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

[Conventional technology]

FIG. 2 is a plot diagram of a conventional example of measuring the azimuth angle of a navigation object using a GPS antenna and a GPS receiver.

In the same figure, (1) and (2) respectively represent C
The distance between antennas (1) and (2), which are GPS receivers attached to a navigation object (not shown) and whose baseline length is known, is known. The radio waves from the GPS satellite (6) are
These received radio waves are received by these antennas (1) and (2), and these received radio waves are sent to the first and second C, PS position ra calculation units (
3) and (4), which output the positions corresponding to the respective antennas, and these position outputs are sent to the azimuth calculation section (5).
, the azimuth angle φ of the vehicle is calculated by the calculation described below.

FIG. 3 is a diagram for explaining the principle of calculating the azimuth angle φ of a navigation object in the azimuth calculating section (5) of FIG.

The position outputs (λ+, L) and (λz, j!2) of the first and second GPS position calculation units (3) and (4) are transmitted to the first and second GPS receiving antennas (1), (2 ) respectively represent the latitude and longitude. As is clear from the figure, the azimuth angle φ of a navigation object, for example, a ship (M), is the intersection angle between the meridian m (A) and the tail line (B) of the ship (M) at that point, and this azimuth angle φ is obtained as shown in the following equation.

[Problem to be solved by the invention]

However, the azimuth measurement device using the conventional satellite (6) described above takes too much calculation time to measure the azimuth, so it is not possible to measure the azimuth continuously. When the robot makes a turning movement, there is a problem in that an error occurs in the measured azimuth due to the time delay.

Additionally, GPS radio waves (radio waves from GPS satellites (6)) have regions and times where measurement errors become large due to the placement of the satellites (6), and due to magnetic anomalies caused by solar activity. This method has drawbacks such as measurement being difficult in some cases.

On the other hand, in order to prevent errors due to the above-mentioned time delay, a method has been considered that uses a gyro, compares its output direction with the direction obtained from the above-mentioned satellite, and feeds the difference back to the above-mentioned gyro. Since it takes time to calculate the azimuth from the satellite radio waves, when comparing the two, there is a difference due to the calculation time, and there is a problem that the azimuth angle that the vehicle moved during this time becomes an error. Ta.

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

[Means to solve the problem]

As a means of solving the above problems according to the present invention, first and second satellite receiving antennas (1) and (2) installed at a predetermined distance on a navigation object and satellite radio waves received by both antennas are used. In a gyro device having first and second calculation means (3), (4) for calculating the position of the navigation object and a calculation means (5) for calculating the azimuth, the first GPS position calculation unit ( 3), an angular velocity sensor (10) fixed to the vehicle with the yaw axis of the vehicle as the input axis, and the output of the angular velocity sensor as input; Integrating the output (12
), a gyro azimuth hold section (7) that holds the output of the integrating means using a hold signal from the hold signal transmitting section, and a gyro azimuth held by the gyro azimuth hold section. and an azimuth obtained by receiving the satellite radio waves, a compensating means (13) for compensating the comparative output of the compensating means, and adding the output of the compensating means as described above. A gyro device is obtained, characterized in that it has means for feeding back to the negative input terminal of the gyro device.

[Effect]

For example, by separating a predetermined distance from a navigation object such as a ship,
Two GPS receiving antennas (]), <2) are installed, and in the GPS position calculation unit (3), (4) which receives radio waves from each as input, both GPS receiving antennas (1), (2) are installed. ), and based on these outputs, the azimuth of the vehicle is calculated in the azimuth calculation section (5), and a hold corresponding to the time when the satellite radio wave is received from one of the GPS position calculation sections. generate a signal. On the other hand, an angular velocity sensor (10
) is installed so that its input axis is parallel to the turning axis of the navigation object, and the angular velocity signal from it is sent to the integrating means (12) to calculate the gyro azimuth angle, and this azimuth angle is used as the gyro azimuth hold. The gyro azimuth at the time when the satellite radio wave was received is held using the hold signal.The gyro azimuth and the azimuth obtained from the satellite radio wave are compared by a comparator (C), and the comparison output is , the feed I is packed to the input side of the integrator (12) so that the difference between the two positions becomes zero.

〔Example〕

Hereinafter, one 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. 2 are given the same numbers, and detailed explanation thereof will be omitted.

In FIG. 1, reference numeral (10) denotes 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 (10
) is based on the mechanical principle that when an angular velocity acts on a vibrating object in a direction perpendicular to the vibration vector, a Coriolis force acts in a direction perpendicular to both the vibration vector and the angular velocity vector. 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 analog output angular velocity of the vibration gyro (10) is A/D
The signal is supplied to the converter (11), converted into a digital value, and then input to the integrator (12) via the 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, for example, on the tail line of a ship as an example of a navigational object,
For example, the G signal received by two GPS receiving antennas (1) and (2) installed at a distance of -m
The radio waves from the PS satellite (6) are transmitted to the first and second (
1, PS is supplied to the position calculation units (3) and (4), which calculates the positions corresponding to the positions of the respective antennas (1) and (2), and these output positions are used for azimuth calculation. The information is supplied to section (5), where the azimuth of the vehicle is calculated.

The first GPS position calculation unit (3) sends a hold signal corresponding to the reception time from the satellite (6) to the gyro azimuth hold unit (7). The gyro orientation hold part (7
) holds the output (azimuth) of the integrator (12) at the time when the hold signal is received, and sends the azimuth to the comparator (C). On the other hand, the azimuth from the azimuth calculation unit (5) is compared with the gyro azimuth of the gyro hold unit (7) by a comparator (C), and the comparison output, that is, the residual angle is calculated by compensation calculation. The information is input to section (13).

The compensation calculation unit (13) is composed of, for example, a proportional gain, and has the function of multiplying the residual angle by . The output from the compensation calculation unit (13) multiplied by 20 is output from the integrator (1
2) is fed back to the adder (E) on the input side with the opposite sign.

When the system is configured in this way, the azimuth obtained by integrating the output angular velocity of the vibrating gyro (10) is determined by the CPS azimuth calculation unit (5).
Follows the azimuth from. Therefore, the direction calculation section (5
) even if the output cycle becomes long, the azimuth angle is interpolated by the vibrating gyro (10) during that period, so it is possible to always output a continuous and accurate azimuth angle. In addition, the integrator (1
2) A display section (14) is an element that displays the azimuth angle and position output data from the GPS position calculation section (3).

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.

In addition, the two GPS receiving antennas (1) and (2) are
It does not necessarily have to be on the bow and stern line, but may be installed at any corner from the bow and stern line. However, in this case, the angle between the bow and stern line and the baseline length must be known.
It is necessary to correct the azimuth angle in the azimuth calculation section (5).

In addition, the first and second GPS position calculation units (3), (4)
position output (λ+, j!+), distance l1illf corresponding to the base line length from (λt, lt): and their difference ΔL=
Constantly calculate U-ri, and if ΔL is larger than a predetermined value,
By setting the output of the compensation calculation unit (13) to zero, it is also possible to prevent errors at the time of satellite switching from affecting the output azimuth.

Also, in FIG. 1, (8) is a clock.

Normally, the clock (8) has first and second GPS position calculation units (
3) and (4), and it is possible to fully achieve the purpose of the present invention with the same configuration, but as shown in Fig. 1, the time signal from one clock (8) By supplying these to the respective GPS position calculation units (3) and (4), it is possible to eliminate the influence on the output position and the influence on the calculated azimuth due to the time error of the two clocks, - High layer accuracy can be expected.

〔Effect of the invention〕

As explained 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) The gyro azimuth is held using a hold signal corresponding to the time when the satellite radio wave is received, and this held gyro azimuth is compared with the azimuth calculated from the GPS position, and the difference is set to zero. By feeding back to the integrator, the influence of the hull azimuth movement that occurs during the calculation time of the position and azimuth can be made zero, and a highly accurate gyro device can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a block diagram of a conventional example, and FIG. 3 is a route diagram for explaining the principle of measuring azimuth. In the figure, (2) is the CPS receiving antenna, (3)
. (4) is the GPS position calculation section, (5) is the direction calculation section, (7
) is the gyro orientation hold part, (8) is the clock, (1o)
is an angular velocity sensor, (11) is an A/D converter, (12) is an integrator, (13) is a compensation calculation section, (14) is a display section, (
E) shows an adder, and (C) shows a comparator. Agent Hidemori Matsukuma's long-awaited 70th trip Fig. 2 The azimuth angle φ of the conventional threat "j" of Fig. 20. Hara Ori Explanation Gate Fig. 3

Claims (1)

[Claims] 1. A first and a second device installed at a predetermined distance on the navigation object.
A gyro device having a satellite receiving antenna, first and second calculation means for calculating the position of the navigation object using the satellite radio waves received by both antennas, and calculation means for calculating the azimuth angle. a hold signal transmitter corresponding to the reception time provided in the position calculation section of the vehicle; an angular velocity sensor fixed to the vehicle so that the yaw axis of the vehicle is the input axis; an adder that serves as an input to the integrating means; a gyro azimuth holding section that holds the output of the integrating means using a hold signal from the hold signal transmitting section; and a gyro azimuth held by the gyro azimuth holding section and the satellite radio wave. Comparison means for comparing the azimuth angle obtained by receiving the information, compensation means for compensating the comparison output of the comparison means, and means for feeding back the output of the compensation means to the negative input terminal of the adder. A gyro device comprising: 2. The gyro device according to claim 1, wherein the angle sensor is a vibration gyro, a gas rate sensor, or an optical fiber gyro. 3. The gyro device according to claim 1, wherein the first and second position calculating means have a common clock means.