RU2664978C2 - Odometric system of navigation - Google Patents

Abstract

FIELD: navigation systems.

SUBSTANCE: invention relates to the field of devices for determining the position coordinates of a land vehicle, in particular to odometric navigation systems, and can be used to perform land navigation of multi-axis moving objects. Said odometric navigation system differs from its analogs by a linear displacement sensor, whose body is fixed to the body of the vehicle, the linear movement sensor slider is rigidly connected to the wheel shaft of the vehicle, and the output of the linear encoder is connected to the input of the computing device. Due to this, when a multi-axle vehicle is moving over a terrain having irregularities, whose height does not exceed the stroke of shock absorbers, and the distance between them is less than its wheelbase (microrelief), compensation for the error in measuring the horizontal component of the path travelled by the land vehicle due to the microrelief of the terrain will be provided.

EFFECT: technical result is to increase the accuracy of measuring the horizontal component of the path travelled by a land vehicle.

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Description

The invention relates to the field of devices for determining the coordinates of the location of a land vehicle, in particular, to odometric navigation systems, and can be used for land navigation of multi-axis moving objects.

Known odometric navigation systems contain a mechanical track sensor connected to the vehicle’s undercarriage, a heading system, a computing device, a direction indicator and a display tablet (see, for example, A. A. Psarev and other military topography. M., Military Publishing House, 1986, p. 267). However, the accuracy of obtaining in such systems information about the horizontal component of the distance traveled, used to calculate the increment of coordinates, depends significantly on a number of factors, which, in particular, include the macro- and microrelief of the terrain. If the influence of the macrorelief of the terrain (areas of uneven terrain comparable with the base of the vehicle) can be compensated in these systems by measuring the horizontal sensor of the course system of the tilt of the longitudinal axis of the vehicle with their subsequent consideration in calculating the horizontal component of the distance traveled, then the influence of the microrelief of the terrain is not compensated.

The purpose of the present invention is to improve the accuracy of measuring the horizontal component of the path traveled by a ground vehicle by eliminating the error due to the terrain microrelief.

This goal is achieved by the fact that in the proposed device, in contrast to the prototype, a linear displacement sensor is additionally introduced, the body of which is attached to the vehicle body, the linear displacement sensor slider is rigidly connected to the vehicle wheel shaft, the output of the linear displacement sensor is connected to the input of the computing device.

The invention is illustrated in the drawing (Fig. 1), which shows an odometric navigation system. The device includes a linear displacement sensor 5, the body of which is connected to the vehicle body 1, and the slider 6 is rigidly connected to the shaft 2 of the vehicle wheel 3, while the shaft 2 of the wheel 3 is connected to the vehicle body 1 by means of a suspension having a shock absorber 4 The output of the linear displacement sensor 5 is connected to the first input of the computing device 8. The output of the mechanical sensor of the path 7 is connected to the second input of the computing device, the output of the course system 9 is connected to the third input. itelnogo device 8 are connected to the inputs of the lightbar indicator 10 and the tablet 11.

The device operates as follows. When a multi-axis vehicle moves in a terrain with irregularities whose height does not exceed the stroke of the shock absorbers 4 of the suspension of its wheels 3 and the distance between them is less than its wheelbase (microrelief), the longitudinal axis of the vehicle will practically not change its position relative to the horizon plane, while how its wheels will run through every bump. Under the influence of irregularities on the i-th section of the path, the wheel 3, and consequently the slider 6 of the linear displacement sensor 5, rigidly connected to the shaft 2 of the wheel, will move in the vertical plane from position “a” to position “b” onto a segment of Δh _i value (Fig. 2):

Δh _i = h _i-1 - h _i ,

where h _i-1 and h _i are the distances between the center of the wheel 3 and the bottom of the vehicle in positions "a" and "b", respectively.

As a result, the signal U _i proportional to Δh _i appears at the output of the linear displacement sensor 5

U _i = k⋅Δh _i ,

where k is the gear coefficient of the linear displacement sensor 5.

The signal U _i is supplied to the first input of the computing device 8. At the second input of the computing device, a signal is output from the output of the mechanical sensor of the path 7, which contains information S _i about the length of the ith segment of the path.

In the computing device 8, the horizontal component S _{Гi of the} distance traveled is calculated. The calculations are carried out according to the following formulas:

where β _i is the angle of inclination of the i-th section of the path relative to the horizon plane.

From the output of the course system 9 to the input of the computing device 8 also receives information about the value of α _{i the} directional angle of the longitudinal axis of the vehicle. Based on the obtained values of S _Гi and α _i in the computing device, the flat rectangular coordinates X _i and Y _{i of the} current location of the vehicle are calculated:

where X _ref and Y _ref are the rectangular coordinates of the starting point of the route.

From the output of the computing device 8, the signals carrying information about the directional angle α _i of the vehicle and the rectangular coordinates X _i and Y _{i of} its current location are fed to the inputs of the direction indicator 10 and the indicator tablet 11, respectively.

Thus, in the proposed odometric navigation system, compensation is provided for the error in measuring the horizontal component of the distance traveled by a land vehicle due to the microrelief of the terrain. Therefore, in the proposed device, the accuracy of measuring the horizontal component of the distance traveled will not depend on such a factor as the microrelief of the terrain, which ultimately leads to an increase in the accuracy of determining the rectangular coordinates of the location of the vehicle.

Used sources

- Field V.A. "Work with a three-coordinate topographic loader." M .: "Nedra", 1978, p. 25;

- Psarev A.A. and others. "Military topography." M .: "Military Publishing", 1986, p. 267 (prototype).

Claims (1)

An odometric navigation system containing a mechanical path sensor, heading system, computing device, heading indicator and indicator tablet, different from analogues in that it includes an additional linear displacement sensor, the body of which is attached to the vehicle body, the sensor slider is rigidly connected to the wheel shaft vehicle, the output of the linear displacement sensor is connected to the input of the computing device, which, in turn, improves the accuracy of the horizontal ntalnoy component distance traveled by eliminating the uncertainty caused by the topographical terrain.

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