CA1269874A - Gyrocompassing apparatus for stationary equipment - Google Patents
Gyrocompassing apparatus for stationary equipmentInfo
- Publication number
- CA1269874A CA1269874A CA000542550A CA542550A CA1269874A CA 1269874 A CA1269874 A CA 1269874A CA 000542550 A CA000542550 A CA 000542550A CA 542550 A CA542550 A CA 542550A CA 1269874 A CA1269874 A CA 1269874A
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- Prior art keywords
- gimbal
- axis
- gyro
- rotation
- gimbals
- Prior art date
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- 230000001276 controlling effect Effects 0.000 claims 1
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- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 6
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 230000000295 complement effect Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 4
- 239000004020 conductor Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006854 communication Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- RMFAWIUWXUCNQL-UHFFFAOYSA-N 1-[2-[[2-hydroxy-3-(3-methoxyphenoxy)propyl]amino]ethylamino]-3-(3-methoxyphenoxy)propan-2-ol;dihydrochloride Chemical compound Cl.Cl.COC1=CC=CC(OCC(O)CNCCNCC(O)COC=2C=C(OC)C=CC=2)=C1 RMFAWIUWXUCNQL-UHFFFAOYSA-N 0.000 description 1
- RJKFOVLPORLFTN-LEKSSAKUSA-N Progesterone Chemical compound C1CC2=CC(=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H](C(=O)C)[C@@]1(C)CC2 RJKFOVLPORLFTN-LEKSSAKUSA-N 0.000 description 1
- 208000003251 Pruritus Diseases 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
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- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
GYROCOMPASSING APPARATUS
FOR STATIONARY EQUIPMENT
ABSTRACT OF THE DISCLOSURE
Gyrocompassing apparatus for stationary equip-ment is disclosed which provides heading and two-axis tilt information while utilizing a minimum complement of relatively low cost components. The apparatus features a single degree of freedom gyroscope mounted to a mechanical levelling and indexing arrangement for implementing a gyrocom-passing routine. Tilt information is provided with relatively high accuracy via a two-axis pendulum mechanization. A microprocessor with associated peripherals provides required control, compensation and computational functions.
FOR STATIONARY EQUIPMENT
ABSTRACT OF THE DISCLOSURE
Gyrocompassing apparatus for stationary equip-ment is disclosed which provides heading and two-axis tilt information while utilizing a minimum complement of relatively low cost components. The apparatus features a single degree of freedom gyroscope mounted to a mechanical levelling and indexing arrangement for implementing a gyrocom-passing routine. Tilt information is provided with relatively high accuracy via a two-axis pendulum mechanization. A microprocessor with associated peripherals provides required control, compensation and computational functions.
Description
FOR STATIONARY EQUIPMENT
BA~XGROUND OF THE_ INVENTION
A need exists for achieving low cost north seeking or gyrocompassing for stationary equipment such as howitzers, radar antenna pedestals and other like equipment without compromising accuracy.
The present invention achieves this objective by utilizing one single axis gyroscope (gyro) and by eliminating the need for costly inertial system components such as accelerometers, gimbal torquers, slip-rings, gimbal servos and heating elements with associated temperature control electronics.
The fact that the disclosed apparatus is to be used in conjunction with stationary rather than mobile equipment permits the aforenoted design simplifications for attaining both relatively low cost and high accuracy for the purposes intended.
In accordance with the invention a single package with one interface connector and including a gyro/pendulum assembly and an associated electronics assembly is provided. A relatively temperature in-sensitive gyro in conjunction with the mechanization ,,`l~, 17~
1 of the disclosed apparatus negates the need fortemperature compensation. Compensation for motion of the stationary equipment as can occur in a vibrational or settling environment can be imple-mented.
S_MMARY OF THE_INVENTION
This invention contemplates gyrocompassing apparatus for stationary equipment and which apparatusis included in a self-contained attitude reference system. The only input required is system power which initiates operation of the apparatus to pro-vide heading with respect to true north and til-t in the form of pitch and roll attitude with respect to local or geodetic level. These para~leters are provided with relatively high accuracy and within a relatively short time after power is applied.
Significantly~ the apparatus does not require pre-orientation or a latitude input to perform the gyrocompassing function. In fact, the apparatus can determine and transmit latitude to provide built in test (BIT~ indication of its proper operation.
Compensation for base motion, i.e. motion of the stationary equipment, can be implemented to insure ~Z6g~7~
1 a required gyrocompassing accuracy in the presence of settling, vibrational or other like disturbances.
The main elements of the apparatus are a gyro/
pendulum assembly and an electronics assembly. A
microprocessor with associated peripherals is in-cluded in the electronics assembly and provides required control, compensation, and computational functions. Unregulated DC power is the only input required. A serial data link is provided for communicating with an external terminal.
The gyrocompassing function requires approximate levelling of the sensitive axis of the gyro followed by accurate sequencing or indexing of this sensitive axis to preset headings. These functions are per-formed automatically by the disclosed apparatus.
The gyro is pendulously suspended from pitchand roll gimbals to achieve the aforenoted levelllrlg.
Pitch and roll gimbal brakes are released to unlock the pendulous suspension in preparation for the aforenoted gyrocompassing, and mechanical damping elements are used on each gimbal to aid in the levelling process.
Coarse levelling of the sensitive axis of the gyro so that the gyro output axis is suhstantially vertical minimizes drift errors due to gyro mass .~
6~t7~ ~
1 unbalance and thereby eliminates the need for temperature compensation to accommodate these errors.
After an allocated interval for levelling has elapsed the pendulous suspension is locked via the afore-noted brakes to strapdown the gyro in preparationfor gyrocompassing.
Residual tilt of the gyro due to frictlon on the gimbal axes is measured by either one or two level sensors mounted on the pendulous suspension.
The residual tilt of the pendulum is appropriately transformed and summed with information from pitch and roll axis resolvers to obtain relatively accurate pitch and roll attitude of the apparatus case or frame with respect to local or geodetic level.
In order to measure earth 1 9 rate, the gyro is configured as a rate sensor by utilizing rate capture electronics. Earth rate measurements at three predetermined headings, 120 degrees apart, are made. The initial heading is determined by a stop arrangement associated with the azimuth indexing axis of the apparatus. Indexing to the two other heading positions is accomplished via a stepper motor arrangement.
When the three earth's rate measurements have been made, true heading is computed and transmitted ~Z~374 1 along with pitch and roll attitude via a serial interface data link, after which the apparatus is returned to the first heading position and system power can be turned off.
BRIEF DESCRIPTION OF THE DRAWING
Figure 1 is a diagrammatic re~resentation illustrating the mechanical configuration of the invention.
Figure 2 is a block diagram illustrating the electrical configuration of the invention.
Figure 3 is a vector diagram illustrating a coordinate reference frame definition and trans~-formation sequence in accordance with the invention.
Figure 4 i9 a block diagram illustrating meansfor separating base motion from earth's rate in accordance with the invention.
DETAILED DESCRIPTION OF THE INVENTION
With reference first to Figure 1, a gyro is designated generally by the numeral 2. Gyro 2 which is a conventional single degree of freedom gyro, supports a gyro input axis ~IA) level sensor 4 ~L2~
l and a gyro spin axis (SA) level sensor 6. Level sensors 4 and 6 may be conventional electrolytic switches, or, if application requirements dictate, the level sensors can be accelerometers as will now be readily understood by those skilled in the art.
A single level sensor may be arranged for the intended purposes as will be hereinafter described.
For the purposes of the present invention it is not necessary to describe gyro 2 in detail.
Suffice it to say that the gyro has its single degree of freedom output axis (OA) aligned to a vertical axis and has a wheel or rotor having a horizontal spin axis transverse to the vertical axis. As is well understood in the gyro art, rotation of the gyro case about a horizontal input (sensitive) axis applies a torque and hence dis-placement about the vertical axis, i.e. the gyro output axis, at which an output signal is provided.
The input axis of gyro 2 is transverse to both the spin and output axes.
Gyrc 2 is mounted to an azimuth gimbal 8.
Azimuth gimbal 8 is rotatably mounted to a pitch gimbal 9 via pivot shafts 10 and 12 and bearings 14 and 16, respectively, for rotation or indexing about an azimuth axis A A.
1 The aforenoted indexing is accomplished via a stepper motor 17 suitably mounted to pitch gimbal 9.
Motor 17 is connected by a suitable gearing arrange-ment 20 to gimbal 8. Gearing arrangement 20 has a stop means 22 in association therewith. Stepper motor 17 receives electrical pluses for indexing azimuth gimbal 8 about axis A-A as will hereinafter be more fully described. Stop means 22 establishes a starting point for the aforenoted indexing as will also be hereinafter more fully described.
Pitch gimbal 9 is rotatably mounted to a roll gimbal 24 via pivot shafts 26 and 28 and bearings 30 and 32, respectively, for rotation about a pitch axis P-P. Pivot shaft 28 carries a pitch axis resolver 34 and pivot shaft 26 carries pitch axis brake means 36 and pitch axis damping means 38.
Roll gimbal 24 is rotatably mounted to a case or frame 40 via pivot shafts 42 and 44 and bearings 43 and 45, respectively, for rotation about a roll axis R-R. Pivot shaft 44 carries a roll axis re-solver 36 and pivot shaft 42 carries roll axis brake means 48 and roll axis damping means 50. Case 40 is mounted to the aforenoted stationary equipment, hereinafter also referred to as a base.
With continued reference to Figure 1, it will ~L2G~
1 be noted that the arrangement is such that the center of gravity of azimuth gimbal 8 which sup-ports gyro 2 is below the common plane of pitch axis P-P and roll axis R R. Azimuth gimbal 8 is thus pendulously supported by the described configuration of pitch gimbal 9 and roll gimbal 24, the same being a distinct feature of the invention.
In connection with brake means 36 and 48 it is noted that said means includes conventional electro-magnetic brakes which allow the respective pitch and roll gimbals g and 2~ to be locked in any position about their axes and thereafter unlocked.
In connection with damping means 38 and 50 it is noted that said means are likewise conventional devices using a silicon liquid for damping oscillations to aid the aforenoted levelling.
Alternatively, the damping means may be likewise conventional geared drag cups in a magnetic fieldO
With reference now to Figure 2, gyro 2 pro~
vides an output signal which is applied to a gyro buffer amplifier 52 and therefrom to rate capture network electronics 54. The signal from rate capture network electronics 54 is applied to a rate filter 56 and to a power amplifier 58. Power ~26~8~
1 amplifier 58 provides a signal for energizing a gyro torquer 60.
The signal from rate filter 56 which is a measure of earth's rate is applied to a multiplexer (MUX) 62 as is a signal fxom built-ln test (BIT) Plectronics 64. The output from multiplexer 62 is applied to an analog to digital converter 66.
Gyro spin axis level sensor 6 provides a sisnal which is applied to a demodulator/filter 68 and therefrom to a voltage to frequency converter 70. The output from voltage to frequency converter 70 is applied to an accumulator 72.
Gyro input axis level sensor 4 provides a ~signal which is applied to a demodulator/filter 74 and therefrom to a voltage to frequency converter 76. The output from voltage to frequency converter 76 is applied to an accumulator 78.
Roll axis resolver 46 provides signals corres-ponding to the sine and cosiné of the displacement of roll gimbal 24 about roll axis R-R. These signals are applied to a resolver to digital con-verter 80. Pitch axis resolver 34 provides signals corresponding to the sine and cosine of the angle of displacement of pitch gimbal 9 about pitch axis P-P. These signals are applied to a resolver to ~2~
l digital converter 82.
A microprocessor is designated by the numeral 84 and i5 driven by an oscillator 85. Microprocessor 84 which provides all required control, computational and compensation functions includes peripherals such as a random access memory (RAM) 86, a program memory 88 and an address decoder 90. Communication between microprocessor 84, RAM 86, program memory 88, address decoder 90, analog to digital converter 66, accumulators 72 and 78, resolver to digital converters 80 and 82, a stepper motor drive 92 and a brake drive 94 is accomplished via a data bus 96. Communi-cation between address decoder 90, program memory 88 and RAM 86 is accomplished via an address bus 98.
Stepper motor drive 92 applies drive pulses to stepper motor 17 for purposes to be hereinafter described. Brake drive 94 provides an output for actuating p.itch axis pivot brake 36 and roll axis pivot brake 48, also for purposes to be hereinafter described.
Data bus 96 communicates with a serial data interface 97 which provides a serial data output for application to a utilizing terminal as will now be understood. An unregulated DC input voltage is applied to a DC to DC converter lO0, the output of ll l which is a regulated DC voltage for the apparatus herein described. A gyro/pendulum power supply 102 is driven by a clock 104 and provides an excitation output at output conductor 106 for exciting level sensors 4 and 6 and the signal generator (not otherwise shown) of gyro 2, an excitation output at output conductor 108 for excit.ing resolvers 38 and 60, and an excitation output at output con-ductor llO for exciting the earlier mentioned wheel or rotor of gyro 2, as the case may be.
OPERATION OF THE INVENTION
In accordance with the aforegoing description lS of the invention it will be understood tha-t gy.ro 2 mounted to azimuth gimbal 8 is suspended i.n pendulous fashion :Erom pitch and roll gimbals 9 and 24, respec-tively. When it is desired to use the apparatus for its intended purposes, pitch and roll axis pivot brakes 36 and 48 are released via brake drive 94 to unlock the pendulous arrangement for levelling the input or sensitive axis of gyro 2 in preparation for performing the gyrocompassing routine. Damping means 38 and 50 aid the levelling process by damping pendulous dis-placements about the pitch and roll axes, respectively.
1 ~oarse levelling of the gyro sensitive axis so that the gyro output axis is approximately vertical i5 first accomplished and minimizes gyro mass unbalance drifts, and thereby eliminates the S need for temperature compensation as would other-wise be the case. After a predetermined levelling interval has elapsed, brakes 36 and 48 are locked via brake drive 94 to strap-down the gyro in preparation for the gyrocompassing routine.
In order to measure the earth's rate components required for gyrocompassing, gyro 2 is configured as a rate sensor via rate capture electronics 54, power amplifier 58 and rate filter 56 ~Figure 2).
Earth's rate measurements are taken at three pre-determined headings, which are 120 degrees apart.
The initial predetermined heading is determined by stop arrangement 22 (Figure 1), which restricts rotation of azimuth gimbal 8 about aximuth axis A-A.
Indexing about aziumth axis A-A to the other two gyrocompassing headings is accomplished by stepper - motor 17 driven by stepper motor drive 92 via gearing arrangement 20 (Figure 13. In this connection it is noted that accurate positioning to the aforenoted headings is obtained by transmitting a controlled number of pulses from stepper motor ~;~6~
1 drive 92, as determined by microprocessor 84, to the stepper motor which provides precise angular stepping.
At "power on", azimuth gimbal 9 is already set at the first gyrocompassing heading via stop arrange-ment 22. When initialization which includes the aforenoted levelling is complete earth's rate measurements are made at this first heading. Gimbal 9 is then sequentiall~ indexed to the second and third headings to obtain the other required earth's rate measurements. After earth's rate measurements have been taken at the three headings, true heading is computed via microprocessor 84 and transmitted via serial data interface 97. Gimbal 9 is then in-dexed to the first heading and power can be turned off. With the hereinafter described gyrocompassing analysis in mind, programming o microprocessor 8 for the intended computations is well within the scope of a programmer skilled in the art.
I.evel sensors 4 and 6 detect any residual off-level condition of the described pendulous arrangement for utilization in the aforenoted gyrocompassing to insure accurate computation of true heading by microprocessor 84. The off-level measurements are also used to compensate for gyro mass unbalance drifts 31 3~
1 as will now be understood.
Resolvers 34 and 46 measure the pitch and roll angles of the respective pitch and roll gimbals 9 and 24 with respect to case or frame 40 of the apparatus. Pitch and roll tilt of the case or frame with respect to local level is obtained by appropriate summing of information from the re-solvers and coordinate transformed information from level sensors 4 and 6. Coordinate transformation of the level sensor information is possible because the orientation of the level sensors with respect to the case or frame of the apparatus is known by design. As shown in Figure 2, rate and tilt in~or-mation is converted from analog to digital form for processing by microprocessor 84.
A single level sensor, i.e. gyro spin axis level sensor ~ can be used instead of the two level sensors ~ and 6. In this connection it is noted that level sensor measurements taken at the three predetermined headings completely define the plane in which gyro 2 rotates. Since the location of the gyro input and spin axes is always known in this plane, trignometric manipulation can be readily performed after readings at the three headings are taken to compensate for any residual off-level 1 tilts in the gyrocompassing equation to be herein-after developed, and also to compensate for the absolute gyro input axis and spin axis mass unbalance drifts which are caused by the off-level condition.
Since the orientation of the level sensor is always known by design with respect to the case or frame of the apparatus, a coordinate transformation o~ the three level sensor readings can be performed to determine the off-level tilts of the pitch and roll gimbals. This gimbal tilt information can then be appropriately summed with the pitch and roll resolver readings to determine the pitch and roll attitude of the apparatus case.
G~ROCOMPASSING _NALYSIS
In order to determine the angle of the described apparatus with respect to north, a three-step gyrocompass routine has been mechanized which yields an estimate of true heading. This routine was selected because it does not require a prior know-ledge of latitude, initial heading, gyro absolute bias, or gyro torquer scale factor.
Figure 3 defines the key coordinate reference frames involved in the aforenoted routine and shows ~2~ 7~
l the transEormation from L space (local vertical inertialj to B space (pendulum).
The transformation from L to B space is given as follows:
~ 0 -S~ l 0 0 -C~O S~O 0-B = 0 1 0 0 C~ S~ -S~O C~ 0 L, (1) 5~ 0 C~ O -S~ C~ O 0 Where C = Cosine S = Sine L Space = Local Vertical Inertial: North, East,Down, B Space = Pendulum, ~O, ~, ~ from L space, A Space = B-Space, Untilted, ~O = Azimuth of frame 40 (Figure 1), ~,~ = Roll, pitch pendulum ofE-level tilts, ~2'~3 = 120, 240 Erom -B2, W~l = Horizontal component of WE, WE Cos ~, WE = Earth's sidereal rate, ~ = Geocletic latitude.
The roll and pitch pendul~m offset angles shall be less than l degree. This simplifies equation ~l) to the followingo `~
~;26~7~
C~O Sl~o -~
B _ -S~O C~O L . (2) ()C~O + ~S~O (~Sy) - ~C~ l When the transformati.on of the indexing angle is added, ca~ SQ~ O~
C = -S~ C~ O ~B L] L, (3) û O
where BTL = transformation from L to B space. From Figure 3 it can be seen that the -C2 component of C space is along the input axis (IA) of gyro 2 for each index position. With earth's sideraal rate (WE) as an input vector in L space, WH
C = ~CTB] ~B L~ O ~ (4) -wv~ L
where WH, Wv = horizontal and vertical components f -E
V E in ~ = latltude, ~i9~
1 ~1 ~ - 12 ~2~ ~ 12 -~2~
C BO 1 -~2~ -12 +~2~ ~ 2 0 0 1 1, _ 0 0 1 2, 0 0 1 3, for the three index positions 1, 2 and 3, respectively.
An indication of the angular rate sensed by gyro 2 at the three index positions is obtalned by taking the -C2 component of C space:
Then, Rl = WE ~(S~0) CA - (~) SA] + B
R2 = 2 [(~ C~0- S~0~ C~ + (-~ ~ +~) SA] + B (5) R3 = E [(~~ C~0- S~0) CA + (~ ~+ ~) SA] + B, Where Rl, R2, R3 = angular rate readings from yyro 2 at index positions 1, 2, 3, with B = gyro bias.
When the three equations (5) are added, every-thing cancels except the bias term. Hence:
Rl + R2 ~ R3 = 3B
B = 1 2_+ R3 (6) From equation (5) modified hardware outputs l Pl, P2 and P3 are established a-s follows:
( l B) P
BA~XGROUND OF THE_ INVENTION
A need exists for achieving low cost north seeking or gyrocompassing for stationary equipment such as howitzers, radar antenna pedestals and other like equipment without compromising accuracy.
The present invention achieves this objective by utilizing one single axis gyroscope (gyro) and by eliminating the need for costly inertial system components such as accelerometers, gimbal torquers, slip-rings, gimbal servos and heating elements with associated temperature control electronics.
The fact that the disclosed apparatus is to be used in conjunction with stationary rather than mobile equipment permits the aforenoted design simplifications for attaining both relatively low cost and high accuracy for the purposes intended.
In accordance with the invention a single package with one interface connector and including a gyro/pendulum assembly and an associated electronics assembly is provided. A relatively temperature in-sensitive gyro in conjunction with the mechanization ,,`l~, 17~
1 of the disclosed apparatus negates the need fortemperature compensation. Compensation for motion of the stationary equipment as can occur in a vibrational or settling environment can be imple-mented.
S_MMARY OF THE_INVENTION
This invention contemplates gyrocompassing apparatus for stationary equipment and which apparatusis included in a self-contained attitude reference system. The only input required is system power which initiates operation of the apparatus to pro-vide heading with respect to true north and til-t in the form of pitch and roll attitude with respect to local or geodetic level. These para~leters are provided with relatively high accuracy and within a relatively short time after power is applied.
Significantly~ the apparatus does not require pre-orientation or a latitude input to perform the gyrocompassing function. In fact, the apparatus can determine and transmit latitude to provide built in test (BIT~ indication of its proper operation.
Compensation for base motion, i.e. motion of the stationary equipment, can be implemented to insure ~Z6g~7~
1 a required gyrocompassing accuracy in the presence of settling, vibrational or other like disturbances.
The main elements of the apparatus are a gyro/
pendulum assembly and an electronics assembly. A
microprocessor with associated peripherals is in-cluded in the electronics assembly and provides required control, compensation, and computational functions. Unregulated DC power is the only input required. A serial data link is provided for communicating with an external terminal.
The gyrocompassing function requires approximate levelling of the sensitive axis of the gyro followed by accurate sequencing or indexing of this sensitive axis to preset headings. These functions are per-formed automatically by the disclosed apparatus.
The gyro is pendulously suspended from pitchand roll gimbals to achieve the aforenoted levelllrlg.
Pitch and roll gimbal brakes are released to unlock the pendulous suspension in preparation for the aforenoted gyrocompassing, and mechanical damping elements are used on each gimbal to aid in the levelling process.
Coarse levelling of the sensitive axis of the gyro so that the gyro output axis is suhstantially vertical minimizes drift errors due to gyro mass .~
6~t7~ ~
1 unbalance and thereby eliminates the need for temperature compensation to accommodate these errors.
After an allocated interval for levelling has elapsed the pendulous suspension is locked via the afore-noted brakes to strapdown the gyro in preparationfor gyrocompassing.
Residual tilt of the gyro due to frictlon on the gimbal axes is measured by either one or two level sensors mounted on the pendulous suspension.
The residual tilt of the pendulum is appropriately transformed and summed with information from pitch and roll axis resolvers to obtain relatively accurate pitch and roll attitude of the apparatus case or frame with respect to local or geodetic level.
In order to measure earth 1 9 rate, the gyro is configured as a rate sensor by utilizing rate capture electronics. Earth rate measurements at three predetermined headings, 120 degrees apart, are made. The initial heading is determined by a stop arrangement associated with the azimuth indexing axis of the apparatus. Indexing to the two other heading positions is accomplished via a stepper motor arrangement.
When the three earth's rate measurements have been made, true heading is computed and transmitted ~Z~374 1 along with pitch and roll attitude via a serial interface data link, after which the apparatus is returned to the first heading position and system power can be turned off.
BRIEF DESCRIPTION OF THE DRAWING
Figure 1 is a diagrammatic re~resentation illustrating the mechanical configuration of the invention.
Figure 2 is a block diagram illustrating the electrical configuration of the invention.
Figure 3 is a vector diagram illustrating a coordinate reference frame definition and trans~-formation sequence in accordance with the invention.
Figure 4 i9 a block diagram illustrating meansfor separating base motion from earth's rate in accordance with the invention.
DETAILED DESCRIPTION OF THE INVENTION
With reference first to Figure 1, a gyro is designated generally by the numeral 2. Gyro 2 which is a conventional single degree of freedom gyro, supports a gyro input axis ~IA) level sensor 4 ~L2~
l and a gyro spin axis (SA) level sensor 6. Level sensors 4 and 6 may be conventional electrolytic switches, or, if application requirements dictate, the level sensors can be accelerometers as will now be readily understood by those skilled in the art.
A single level sensor may be arranged for the intended purposes as will be hereinafter described.
For the purposes of the present invention it is not necessary to describe gyro 2 in detail.
Suffice it to say that the gyro has its single degree of freedom output axis (OA) aligned to a vertical axis and has a wheel or rotor having a horizontal spin axis transverse to the vertical axis. As is well understood in the gyro art, rotation of the gyro case about a horizontal input (sensitive) axis applies a torque and hence dis-placement about the vertical axis, i.e. the gyro output axis, at which an output signal is provided.
The input axis of gyro 2 is transverse to both the spin and output axes.
Gyrc 2 is mounted to an azimuth gimbal 8.
Azimuth gimbal 8 is rotatably mounted to a pitch gimbal 9 via pivot shafts 10 and 12 and bearings 14 and 16, respectively, for rotation or indexing about an azimuth axis A A.
1 The aforenoted indexing is accomplished via a stepper motor 17 suitably mounted to pitch gimbal 9.
Motor 17 is connected by a suitable gearing arrange-ment 20 to gimbal 8. Gearing arrangement 20 has a stop means 22 in association therewith. Stepper motor 17 receives electrical pluses for indexing azimuth gimbal 8 about axis A-A as will hereinafter be more fully described. Stop means 22 establishes a starting point for the aforenoted indexing as will also be hereinafter more fully described.
Pitch gimbal 9 is rotatably mounted to a roll gimbal 24 via pivot shafts 26 and 28 and bearings 30 and 32, respectively, for rotation about a pitch axis P-P. Pivot shaft 28 carries a pitch axis resolver 34 and pivot shaft 26 carries pitch axis brake means 36 and pitch axis damping means 38.
Roll gimbal 24 is rotatably mounted to a case or frame 40 via pivot shafts 42 and 44 and bearings 43 and 45, respectively, for rotation about a roll axis R-R. Pivot shaft 44 carries a roll axis re-solver 36 and pivot shaft 42 carries roll axis brake means 48 and roll axis damping means 50. Case 40 is mounted to the aforenoted stationary equipment, hereinafter also referred to as a base.
With continued reference to Figure 1, it will ~L2G~
1 be noted that the arrangement is such that the center of gravity of azimuth gimbal 8 which sup-ports gyro 2 is below the common plane of pitch axis P-P and roll axis R R. Azimuth gimbal 8 is thus pendulously supported by the described configuration of pitch gimbal 9 and roll gimbal 24, the same being a distinct feature of the invention.
In connection with brake means 36 and 48 it is noted that said means includes conventional electro-magnetic brakes which allow the respective pitch and roll gimbals g and 2~ to be locked in any position about their axes and thereafter unlocked.
In connection with damping means 38 and 50 it is noted that said means are likewise conventional devices using a silicon liquid for damping oscillations to aid the aforenoted levelling.
Alternatively, the damping means may be likewise conventional geared drag cups in a magnetic fieldO
With reference now to Figure 2, gyro 2 pro~
vides an output signal which is applied to a gyro buffer amplifier 52 and therefrom to rate capture network electronics 54. The signal from rate capture network electronics 54 is applied to a rate filter 56 and to a power amplifier 58. Power ~26~8~
1 amplifier 58 provides a signal for energizing a gyro torquer 60.
The signal from rate filter 56 which is a measure of earth's rate is applied to a multiplexer (MUX) 62 as is a signal fxom built-ln test (BIT) Plectronics 64. The output from multiplexer 62 is applied to an analog to digital converter 66.
Gyro spin axis level sensor 6 provides a sisnal which is applied to a demodulator/filter 68 and therefrom to a voltage to frequency converter 70. The output from voltage to frequency converter 70 is applied to an accumulator 72.
Gyro input axis level sensor 4 provides a ~signal which is applied to a demodulator/filter 74 and therefrom to a voltage to frequency converter 76. The output from voltage to frequency converter 76 is applied to an accumulator 78.
Roll axis resolver 46 provides signals corres-ponding to the sine and cosiné of the displacement of roll gimbal 24 about roll axis R-R. These signals are applied to a resolver to digital con-verter 80. Pitch axis resolver 34 provides signals corresponding to the sine and cosine of the angle of displacement of pitch gimbal 9 about pitch axis P-P. These signals are applied to a resolver to ~2~
l digital converter 82.
A microprocessor is designated by the numeral 84 and i5 driven by an oscillator 85. Microprocessor 84 which provides all required control, computational and compensation functions includes peripherals such as a random access memory (RAM) 86, a program memory 88 and an address decoder 90. Communication between microprocessor 84, RAM 86, program memory 88, address decoder 90, analog to digital converter 66, accumulators 72 and 78, resolver to digital converters 80 and 82, a stepper motor drive 92 and a brake drive 94 is accomplished via a data bus 96. Communi-cation between address decoder 90, program memory 88 and RAM 86 is accomplished via an address bus 98.
Stepper motor drive 92 applies drive pulses to stepper motor 17 for purposes to be hereinafter described. Brake drive 94 provides an output for actuating p.itch axis pivot brake 36 and roll axis pivot brake 48, also for purposes to be hereinafter described.
Data bus 96 communicates with a serial data interface 97 which provides a serial data output for application to a utilizing terminal as will now be understood. An unregulated DC input voltage is applied to a DC to DC converter lO0, the output of ll l which is a regulated DC voltage for the apparatus herein described. A gyro/pendulum power supply 102 is driven by a clock 104 and provides an excitation output at output conductor 106 for exciting level sensors 4 and 6 and the signal generator (not otherwise shown) of gyro 2, an excitation output at output conductor 108 for excit.ing resolvers 38 and 60, and an excitation output at output con-ductor llO for exciting the earlier mentioned wheel or rotor of gyro 2, as the case may be.
OPERATION OF THE INVENTION
In accordance with the aforegoing description lS of the invention it will be understood tha-t gy.ro 2 mounted to azimuth gimbal 8 is suspended i.n pendulous fashion :Erom pitch and roll gimbals 9 and 24, respec-tively. When it is desired to use the apparatus for its intended purposes, pitch and roll axis pivot brakes 36 and 48 are released via brake drive 94 to unlock the pendulous arrangement for levelling the input or sensitive axis of gyro 2 in preparation for performing the gyrocompassing routine. Damping means 38 and 50 aid the levelling process by damping pendulous dis-placements about the pitch and roll axes, respectively.
1 ~oarse levelling of the gyro sensitive axis so that the gyro output axis is approximately vertical i5 first accomplished and minimizes gyro mass unbalance drifts, and thereby eliminates the S need for temperature compensation as would other-wise be the case. After a predetermined levelling interval has elapsed, brakes 36 and 48 are locked via brake drive 94 to strap-down the gyro in preparation for the gyrocompassing routine.
In order to measure the earth's rate components required for gyrocompassing, gyro 2 is configured as a rate sensor via rate capture electronics 54, power amplifier 58 and rate filter 56 ~Figure 2).
Earth's rate measurements are taken at three pre-determined headings, which are 120 degrees apart.
The initial predetermined heading is determined by stop arrangement 22 (Figure 1), which restricts rotation of azimuth gimbal 8 about aximuth axis A-A.
Indexing about aziumth axis A-A to the other two gyrocompassing headings is accomplished by stepper - motor 17 driven by stepper motor drive 92 via gearing arrangement 20 (Figure 13. In this connection it is noted that accurate positioning to the aforenoted headings is obtained by transmitting a controlled number of pulses from stepper motor ~;~6~
1 drive 92, as determined by microprocessor 84, to the stepper motor which provides precise angular stepping.
At "power on", azimuth gimbal 9 is already set at the first gyrocompassing heading via stop arrange-ment 22. When initialization which includes the aforenoted levelling is complete earth's rate measurements are made at this first heading. Gimbal 9 is then sequentiall~ indexed to the second and third headings to obtain the other required earth's rate measurements. After earth's rate measurements have been taken at the three headings, true heading is computed via microprocessor 84 and transmitted via serial data interface 97. Gimbal 9 is then in-dexed to the first heading and power can be turned off. With the hereinafter described gyrocompassing analysis in mind, programming o microprocessor 8 for the intended computations is well within the scope of a programmer skilled in the art.
I.evel sensors 4 and 6 detect any residual off-level condition of the described pendulous arrangement for utilization in the aforenoted gyrocompassing to insure accurate computation of true heading by microprocessor 84. The off-level measurements are also used to compensate for gyro mass unbalance drifts 31 3~
1 as will now be understood.
Resolvers 34 and 46 measure the pitch and roll angles of the respective pitch and roll gimbals 9 and 24 with respect to case or frame 40 of the apparatus. Pitch and roll tilt of the case or frame with respect to local level is obtained by appropriate summing of information from the re-solvers and coordinate transformed information from level sensors 4 and 6. Coordinate transformation of the level sensor information is possible because the orientation of the level sensors with respect to the case or frame of the apparatus is known by design. As shown in Figure 2, rate and tilt in~or-mation is converted from analog to digital form for processing by microprocessor 84.
A single level sensor, i.e. gyro spin axis level sensor ~ can be used instead of the two level sensors ~ and 6. In this connection it is noted that level sensor measurements taken at the three predetermined headings completely define the plane in which gyro 2 rotates. Since the location of the gyro input and spin axes is always known in this plane, trignometric manipulation can be readily performed after readings at the three headings are taken to compensate for any residual off-level 1 tilts in the gyrocompassing equation to be herein-after developed, and also to compensate for the absolute gyro input axis and spin axis mass unbalance drifts which are caused by the off-level condition.
Since the orientation of the level sensor is always known by design with respect to the case or frame of the apparatus, a coordinate transformation o~ the three level sensor readings can be performed to determine the off-level tilts of the pitch and roll gimbals. This gimbal tilt information can then be appropriately summed with the pitch and roll resolver readings to determine the pitch and roll attitude of the apparatus case.
G~ROCOMPASSING _NALYSIS
In order to determine the angle of the described apparatus with respect to north, a three-step gyrocompass routine has been mechanized which yields an estimate of true heading. This routine was selected because it does not require a prior know-ledge of latitude, initial heading, gyro absolute bias, or gyro torquer scale factor.
Figure 3 defines the key coordinate reference frames involved in the aforenoted routine and shows ~2~ 7~
l the transEormation from L space (local vertical inertialj to B space (pendulum).
The transformation from L to B space is given as follows:
~ 0 -S~ l 0 0 -C~O S~O 0-B = 0 1 0 0 C~ S~ -S~O C~ 0 L, (1) 5~ 0 C~ O -S~ C~ O 0 Where C = Cosine S = Sine L Space = Local Vertical Inertial: North, East,Down, B Space = Pendulum, ~O, ~, ~ from L space, A Space = B-Space, Untilted, ~O = Azimuth of frame 40 (Figure 1), ~,~ = Roll, pitch pendulum ofE-level tilts, ~2'~3 = 120, 240 Erom -B2, W~l = Horizontal component of WE, WE Cos ~, WE = Earth's sidereal rate, ~ = Geocletic latitude.
The roll and pitch pendul~m offset angles shall be less than l degree. This simplifies equation ~l) to the followingo `~
~;26~7~
C~O Sl~o -~
B _ -S~O C~O L . (2) ()C~O + ~S~O (~Sy) - ~C~ l When the transformati.on of the indexing angle is added, ca~ SQ~ O~
C = -S~ C~ O ~B L] L, (3) û O
where BTL = transformation from L to B space. From Figure 3 it can be seen that the -C2 component of C space is along the input axis (IA) of gyro 2 for each index position. With earth's sideraal rate (WE) as an input vector in L space, WH
C = ~CTB] ~B L~ O ~ (4) -wv~ L
where WH, Wv = horizontal and vertical components f -E
V E in ~ = latltude, ~i9~
1 ~1 ~ - 12 ~2~ ~ 12 -~2~
C BO 1 -~2~ -12 +~2~ ~ 2 0 0 1 1, _ 0 0 1 2, 0 0 1 3, for the three index positions 1, 2 and 3, respectively.
An indication of the angular rate sensed by gyro 2 at the three index positions is obtalned by taking the -C2 component of C space:
Then, Rl = WE ~(S~0) CA - (~) SA] + B
R2 = 2 [(~ C~0- S~0~ C~ + (-~ ~ +~) SA] + B (5) R3 = E [(~~ C~0- S~0) CA + (~ ~+ ~) SA] + B, Where Rl, R2, R3 = angular rate readings from yyro 2 at index positions 1, 2, 3, with B = gyro bias.
When the three equations (5) are added, every-thing cancels except the bias term. Hence:
Rl + R2 ~ R3 = 3B
B = 1 2_+ R3 (6) From equation (5) modified hardware outputs l Pl, P2 and P3 are established a-s follows:
( l B) P
2(R2 - B) E
~(R3 - B) P3 =
These modified hardware outputs are fixed in magnitude throughout an iterative procedure. The following equations can be solved for an initial estimate of ~0 and ~, assuming 3 and ~ are zero.
Pl = 2 (sin ~0) cos ~ -(2~) sin ~
P2 = (~ cos ~0 - sin ~0) cos ~ ) sin ~ (8) P3 = (-~ cos ~0 - sin ~0) cos ~ 3 ~ ~) sin ~
This leads to the following initial estimake of l~0 and ~:
Pl ARCTAN ( p _ p ) ~ = ARC~OS ~2 ~
These values of ~0 and ~ are inserted into the ~6~37~
1 first two equations of (8). The evaluated Pl and P2 expressions are redesignated Ql and Q2. The new Ql and Q2 expressions are then artificially perturbed by small changes ~0 and ~ to generate numerlcal values for the following Jacobian:
aQl a a~O a~ (lo ¦ a~ a~
~ Ql and ~Q2 are defined by comparison with the original Rl and P2:
~Ql Pl Ql Equation (11) is now solved for ~l~o and QA, which are used to generate new estimates of l~O and aQl aQl ~ a~O + ~ a~ = ~Ql (11) aQ2 aQ2 Q~ a~O + ~ a~ Q2 ~o = 1l~o + ~o ~ = ~ + ~ (12) ~26~3~7~
1Equations (9) thru (12) are repeated until the difference in successive estimates of both ~0 and are less than 0.01. An example of convergence to within 0.01 in less than 5 iterations is shown for 5the test case of ~0 - 135 and ~ = 30 in the following tabulation:
CORRECT VALUES
0.135000E+03 0.300000E+02 INITIAL ESTI~ATE
0.134508E+03 0.298495E~02 1 0.134938E+03 0.300092E~02 2 0.134963E+03 0.299979E+02
~(R3 - B) P3 =
These modified hardware outputs are fixed in magnitude throughout an iterative procedure. The following equations can be solved for an initial estimate of ~0 and ~, assuming 3 and ~ are zero.
Pl = 2 (sin ~0) cos ~ -(2~) sin ~
P2 = (~ cos ~0 - sin ~0) cos ~ ) sin ~ (8) P3 = (-~ cos ~0 - sin ~0) cos ~ 3 ~ ~) sin ~
This leads to the following initial estimake of l~0 and ~:
Pl ARCTAN ( p _ p ) ~ = ARC~OS ~2 ~
These values of ~0 and ~ are inserted into the ~6~37~
1 first two equations of (8). The evaluated Pl and P2 expressions are redesignated Ql and Q2. The new Ql and Q2 expressions are then artificially perturbed by small changes ~0 and ~ to generate numerlcal values for the following Jacobian:
aQl a a~O a~ (lo ¦ a~ a~
~ Ql and ~Q2 are defined by comparison with the original Rl and P2:
~Ql Pl Ql Equation (11) is now solved for ~l~o and QA, which are used to generate new estimates of l~O and aQl aQl ~ a~O + ~ a~ = ~Ql (11) aQ2 aQ2 Q~ a~O + ~ a~ Q2 ~o = 1l~o + ~o ~ = ~ + ~ (12) ~26~3~7~
1Equations (9) thru (12) are repeated until the difference in successive estimates of both ~0 and are less than 0.01. An example of convergence to within 0.01 in less than 5 iterations is shown for 5the test case of ~0 - 135 and ~ = 30 in the following tabulation:
CORRECT VALUES
0.135000E+03 0.300000E+02 INITIAL ESTI~ATE
0.134508E+03 0.298495E~02 1 0.134938E+03 0.300092E~02 2 0.134963E+03 0.299979E+02
3 0.134986E+03 0.299976E+02
4 0.134996E~03 0.299991E+02 0.134999E+03 0.300001E~02 6 0.135000E+03 0.300000E~02 7 0.135000E+03 0.300000E-~02 8 0.135000E+03 0.300000E+02 9 0.135000E+03 0.300000E+02 BASE MOTION COMPENSATION
As heretofore noted, compensation for base motion can be implemented to insure a required accuracy in the presence of settling, vibrational 1 or other like disturbances. An arrangement for accomplishing this purpose is shown in Figure 4.
Base motion rate (~) and earth's rate ~WIA) are sensed by gyro 2 and shown schematically ad~ed at 112. Base motion rate i5 physically integrated (l/s) and the resultant tilt angle is sensed by a level sensor means 114 which is level sensor 6 ~Figures 1 and 2) which senses motion about the input axis IA of gyro 2. The addition of base motion rate and earth's rate is sensed by a rate integrating gyro means 116 implemented via rate capture electronics 54, power amplifier 58 and rate filter 56 (Figure 2).
The output of level sensor means 114 is applied to a voltage to frequency converter means 118 and therefrom to an accumulator means 120. In the arrangement shown voltage to frequency converter means 118 is voltage to frequency converter 70, shown in Figure 2 and accumulator means 120 is accumulator 72 likewise shown in Figure 2.
The output of rate integrating gyro 116 is applied to an analog to digital converter means 122 which may be analog to digital converter 66 shown in Figure 2.
~L2~
1 Microprocessor 84 (Figure 2) includes a read only memory (ROM) 126 which is a compensation filter for filtering the output from accumulator means 120, and includes a ROM 128 which is a compensation fil-ter for filtering the output from analog to digital converter means 122.
Microprocessor 84 further includes a ROM 130 which is a differentiator for differentiating the output from ROM 126 and a ROM 132 for per~orming a trapezoidal integration on the output from ROM 128.
The outputs from ROM's 130 and 132 are alge-braically subtracted at 134 and the subtracted output is applied to a ROM 136 which contains a least squares algorithm for providing an estimation of Earth's rate (WIA), and which estimation is used in the gyrocompassin~ routine earlier discussed.
It will be understood that with the arrange-ment shown in Figure 4, level sensor outputs are passed through a voltage to frequency converter, 2~ accumula~ed and passed through an algorithm to find average tilt angles.
It is to be noted that earth's rate is not sensed by the level sensor. The rate integrating gyro configuration senses tilt rate plus a component of earth's rate. The rate integrating gyro output ~2 Eii~
1 is passed through an analog to digital converter to provide a digital value of base motion rate plus earth's rate. This value is integrated and subjected to the aforenoted least squares algorithm to recover an estima~ion of WI~ which is used in the gyrocompassing computation heretofore described.
With the aforenoted description in mind, reference is made to the claims appended hereto for a defin'tion of the scope of the invention.
As heretofore noted, compensation for base motion can be implemented to insure a required accuracy in the presence of settling, vibrational 1 or other like disturbances. An arrangement for accomplishing this purpose is shown in Figure 4.
Base motion rate (~) and earth's rate ~WIA) are sensed by gyro 2 and shown schematically ad~ed at 112. Base motion rate i5 physically integrated (l/s) and the resultant tilt angle is sensed by a level sensor means 114 which is level sensor 6 ~Figures 1 and 2) which senses motion about the input axis IA of gyro 2. The addition of base motion rate and earth's rate is sensed by a rate integrating gyro means 116 implemented via rate capture electronics 54, power amplifier 58 and rate filter 56 (Figure 2).
The output of level sensor means 114 is applied to a voltage to frequency converter means 118 and therefrom to an accumulator means 120. In the arrangement shown voltage to frequency converter means 118 is voltage to frequency converter 70, shown in Figure 2 and accumulator means 120 is accumulator 72 likewise shown in Figure 2.
The output of rate integrating gyro 116 is applied to an analog to digital converter means 122 which may be analog to digital converter 66 shown in Figure 2.
~L2~
1 Microprocessor 84 (Figure 2) includes a read only memory (ROM) 126 which is a compensation filter for filtering the output from accumulator means 120, and includes a ROM 128 which is a compensation fil-ter for filtering the output from analog to digital converter means 122.
Microprocessor 84 further includes a ROM 130 which is a differentiator for differentiating the output from ROM 126 and a ROM 132 for per~orming a trapezoidal integration on the output from ROM 128.
The outputs from ROM's 130 and 132 are alge-braically subtracted at 134 and the subtracted output is applied to a ROM 136 which contains a least squares algorithm for providing an estimation of Earth's rate (WIA), and which estimation is used in the gyrocompassin~ routine earlier discussed.
It will be understood that with the arrange-ment shown in Figure 4, level sensor outputs are passed through a voltage to frequency converter, 2~ accumula~ed and passed through an algorithm to find average tilt angles.
It is to be noted that earth's rate is not sensed by the level sensor. The rate integrating gyro configuration senses tilt rate plus a component of earth's rate. The rate integrating gyro output ~2 Eii~
1 is passed through an analog to digital converter to provide a digital value of base motion rate plus earth's rate. This value is integrated and subjected to the aforenoted least squares algorithm to recover an estima~ion of WI~ which is used in the gyrocompassing computation heretofore described.
With the aforenoted description in mind, reference is made to the claims appended hereto for a defin'tion of the scope of the invention.
Claims (16)
1. Gyrocompassing apparatus for stationary equipment, characterized by:
a case supported by the stationary equipment;
a first gimbal rotatably supported by the case for rotation about a first axis;
a second gimbal rotatably supported by the first gimbal for rotation about a second axis;
the first and second axes being transverse each to the other and being in a common plane;
a third gimbal rotatably supported by the second gimbal for rotation about a third axis;
gyro means mounted to the third gimbal;
the center of gravity of the third gimbal being displaced with respect to the common plane of the first and second axes, whereby said gimbal and the gyro means mounted thereto are in pendulous arrangement relative to the first and second gimbals;
means arranged with the first and second gimbals and operable for locking the gimbals to prevent rotation thereof about their respective axes and for unlocking said gimbals to permit said rotation;
said gimbals being initially locked and then unlocked for a predetermined interval during which the sensitive axis of the pendulous arrange-ment is levelled, and thereafter locked to strap-down the gyro means with respect to the first and second axes;
means for sequentially rotating the third gimbal about the third axis to a plurality of headings with respect to an initial heading, whereby the gyro means mounted to the third gimbal senses earth's rate at all of said headings and provides corresponding signals;
means arranged with the gyro means for sensing residual tilts of the first and second gimbals from geodetic level and for providing corres-ponding signals;
means arranged with the first and second gimbals for sensing the angles of retation of said gimbals about the respective first and second axes relative to the pendulous arrangement and for pro-viding corresponding signals; and means connected to the gyro means, the residual tilt signal means and the gimbal angle of rotation signal means and responsive to the signals therefrom for providing signals commensurate with the heading of the stationary equipment with respect to north, and with the attitude of the case with respect to geodetic level.
a case supported by the stationary equipment;
a first gimbal rotatably supported by the case for rotation about a first axis;
a second gimbal rotatably supported by the first gimbal for rotation about a second axis;
the first and second axes being transverse each to the other and being in a common plane;
a third gimbal rotatably supported by the second gimbal for rotation about a third axis;
gyro means mounted to the third gimbal;
the center of gravity of the third gimbal being displaced with respect to the common plane of the first and second axes, whereby said gimbal and the gyro means mounted thereto are in pendulous arrangement relative to the first and second gimbals;
means arranged with the first and second gimbals and operable for locking the gimbals to prevent rotation thereof about their respective axes and for unlocking said gimbals to permit said rotation;
said gimbals being initially locked and then unlocked for a predetermined interval during which the sensitive axis of the pendulous arrange-ment is levelled, and thereafter locked to strap-down the gyro means with respect to the first and second axes;
means for sequentially rotating the third gimbal about the third axis to a plurality of headings with respect to an initial heading, whereby the gyro means mounted to the third gimbal senses earth's rate at all of said headings and provides corresponding signals;
means arranged with the gyro means for sensing residual tilts of the first and second gimbals from geodetic level and for providing corres-ponding signals;
means arranged with the first and second gimbals for sensing the angles of retation of said gimbals about the respective first and second axes relative to the pendulous arrangement and for pro-viding corresponding signals; and means connected to the gyro means, the residual tilt signal means and the gimbal angle of rotation signal means and responsive to the signals therefrom for providing signals commensurate with the heading of the stationary equipment with respect to north, and with the attitude of the case with respect to geodetic level.
2. Apparatus as described by claim 1 including means for compensating for environmental motion of the stationary equipment, characterized by:
the gyro means sensing stationary equipment motion rate and earth's rate, with stationary equipment motion rate being physically integrated for providing a resultant stationary equipment tilt angle, and stationary equipment motion rate and earth's rate being physically combined to provide a combined rate;
means for sensing the tilt angle and for providing a corresponding signal;
means for sensing the combined rate and for providing a corresponding signal;
means for filtering the tilt angle signal;
means for filtering the combined rate signal;
means for differentiating the filtered tilt angle signal;
means for integrating the filtered combined rate signal;
means for combining the differentiated filtered tilt angle signal and the integrated fil-tered combined rate signal to provide a combined signal;
means for affecting the combined signal in accordance with the theory of least squares and for providing a signal commensurate with an estimation of earth's rate; and the means for providing signals commensurate with the heading of the stationary equipment with respect to north, and with the attitude of the case with respect to geodetic level being connected to the compensating means and responsive to the estimated earth's rate signal so that the heading signal is compensated for the environmental motion of the stationary equipment.
the gyro means sensing stationary equipment motion rate and earth's rate, with stationary equipment motion rate being physically integrated for providing a resultant stationary equipment tilt angle, and stationary equipment motion rate and earth's rate being physically combined to provide a combined rate;
means for sensing the tilt angle and for providing a corresponding signal;
means for sensing the combined rate and for providing a corresponding signal;
means for filtering the tilt angle signal;
means for filtering the combined rate signal;
means for differentiating the filtered tilt angle signal;
means for integrating the filtered combined rate signal;
means for combining the differentiated filtered tilt angle signal and the integrated fil-tered combined rate signal to provide a combined signal;
means for affecting the combined signal in accordance with the theory of least squares and for providing a signal commensurate with an estimation of earth's rate; and the means for providing signals commensurate with the heading of the stationary equipment with respect to north, and with the attitude of the case with respect to geodetic level being connected to the compensating means and responsive to the estimated earth's rate signal so that the heading signal is compensated for the environmental motion of the stationary equipment.
3. Apparatus as described by claim 2, further characterized by:
stationary equipment motion rate and earth's rate being physically added; and the differentiated filtered tilt angle signal and the integrated filtered combined rate signal being subtracted.
stationary equipment motion rate and earth's rate being physically added; and the differentiated filtered tilt angle signal and the integrated filtered combined rate signal being subtracted.
4. Apparatus as described by claim 1, further characterized by:
the first axis being a roll axis;
the second axis being a pitch axis; and the third axis being an azimuth axis.
the first axis being a roll axis;
the second axis being a pitch axis; and the third axis being an azimuth axis.
5. Apparatus as described by claim 1, wherein the means arranged with the first and second gimbals and operable for locking and unlocking said gimbals is characterized by:
first braking means arranged with the first gimbal;
second braking means arranged with the second gimbal;
means connected to the first and second braking means for actuating said first and second braking means; and means for controlling the actuating means to actuate said first and second braking means for unlocking the respective initially locked gumbals for the predetermined interval, and thereafter locking said respective gimbals.
first braking means arranged with the first gimbal;
second braking means arranged with the second gimbal;
means connected to the first and second braking means for actuating said first and second braking means; and means for controlling the actuating means to actuate said first and second braking means for unlocking the respective initially locked gumbals for the predetermined interval, and thereafter locking said respective gimbals.
6. Apparatus as described by claim 1, wherein the means for sequentially rotating the third gimbal about the third axis to a plurality of headings with respect to an initial heading is characterized by:
motor means supported by the second gimbal;
gearing means coupling the motor means to the third gimbal;
means for providing pulses for driving the motor means; and the motor means being responsive to said pulses for sequentially rotating the third gimbal.
motor means supported by the second gimbal;
gearing means coupling the motor means to the third gimbal;
means for providing pulses for driving the motor means; and the motor means being responsive to said pulses for sequentially rotating the third gimbal.
7. Apparatus as described by claim 6, further characterized by:
stop means associated with the gearing means for establishing the initial heading.
stop means associated with the gearing means for establishing the initial heading.
8. Apparatus as described by claim 1, further characterized by:
the means for sequentially rotating the third gimbal about the third axis to a plurality of headings with respect to an initial heading sequentially rotates the third gimbal to two headings, each 120 degrees apart.
the means for sequentially rotating the third gimbal about the third axis to a plurality of headings with respect to an initial heading sequentially rotates the third gimbal to two headings, each 120 degrees apart.
9. Apparatus as described by claim 1, further characterized by:
means for damping the rotation of the first and second gimbals about their respective axes when said gimbals are unlocked.
means for damping the rotation of the first and second gimbals about their respective axes when said gimbals are unlocked.
10. Apparatus as described by claim 9, wherein the damping means is characterized by:
first damping means associated with the first gimbal; and second damping means associated with the second gimbal.
first damping means associated with the first gimbal; and second damping means associated with the second gimbal.
11. Apparatus as described by claim 1, wherein the means arranged with the gyro means for sensing residual tilts of the first and second gimbals from geodetic level and for providing corresponding signals is characterized by:
a first level sensor supported by the gyro means along the spin axis thereof;
a second level sensor supported by the gyro means along the input axis thereof;
the first level sensor sensing the residual tilt of the first gimbal and providing a corresponding signal;
the second level sensor sensing the residual tilt of the second gimbal and providing a corres-ponding signal;
the first and second level sensors sensing the residual tilt of the pendulous arrangement and providing a corresponding signal; and means responsive to the first gimbal, the second gimbal and the pendulous arrangement tilt signals for affecting a coordinate transformation of said signals and for providing transformed signals corresponding to the residual tilts of the first and second gimbals from geodetic level.
a first level sensor supported by the gyro means along the spin axis thereof;
a second level sensor supported by the gyro means along the input axis thereof;
the first level sensor sensing the residual tilt of the first gimbal and providing a corresponding signal;
the second level sensor sensing the residual tilt of the second gimbal and providing a corres-ponding signal;
the first and second level sensors sensing the residual tilt of the pendulous arrangement and providing a corresponding signal; and means responsive to the first gimbal, the second gimbal and the pendulous arrangement tilt signals for affecting a coordinate transformation of said signals and for providing transformed signals corresponding to the residual tilts of the first and second gimbals from geodetic level.
12. Apparatus as described by claim 1, wherein the means arranged with the first and second gimbals for sensing the angle of rotation of said gimbals about the respective first and second axes is characterized by:
a first resolver for sensing the angle of rotation of the first gimbal about the first axis and for providing signals corresponding to the sine and cosine of said angle; and a second resolver for sensing the angle of rotation of the second gimbal about the second axis and for providing signals corresponding to the sine and cosine of said angle.
a first resolver for sensing the angle of rotation of the first gimbal about the first axis and for providing signals corresponding to the sine and cosine of said angle; and a second resolver for sensing the angle of rotation of the second gimbal about the second axis and for providing signals corresponding to the sine and cosine of said angle.
13. Apparatus as described by claim 11, further characterized by:
the means arranged with the first and second gimbals for sensing the angle of rotation of said gimbals about the respective first and second axes includes a first resolver for sensing the angle of rotation of the first gimbal about the first axis and for providing signals corresponding to the sine and cosine of said angle, and a second resolver for sensing the angle of rotation of the second gimbal about the second axis and for providing signals corresponding to the sine and cosine of said angle;
and means for combining the transformed signals and the signals from the first and second resolvers, and for providing a combined signal corresponding to the attitude of the case with respect to geodetic level.
the means arranged with the first and second gimbals for sensing the angle of rotation of said gimbals about the respective first and second axes includes a first resolver for sensing the angle of rotation of the first gimbal about the first axis and for providing signals corresponding to the sine and cosine of said angle, and a second resolver for sensing the angle of rotation of the second gimbal about the second axis and for providing signals corresponding to the sine and cosine of said angle;
and means for combining the transformed signals and the signals from the first and second resolvers, and for providing a combined signal corresponding to the attitude of the case with respect to geodetic level.
14. Gyrocompassing apparatus for stationary equipment, characterized by:
a first gimbal;
gyro means mounted to the first gimbal;
a case supported by the stationary equipment;
means rotatably supported by the case for rotation about roll and pitch axes, said roll and pitch axes being transverse each to the other and being in a common plane;
the first gimbal rotatably supported by the means rotatably supported by the case for rotation about an azimuth axis, the center of gravity of the first gimbal and the gyro means mounted thereto being displaced with respect to the common plane of the transverse pitch and roll axes, whereby said first gimbal and the gyro means are in pendulous arrange-ment relative to the means rotatably supported by the case;
means arranged with the means rotatably supported by the case and operable for locking said means to prevent rotation about the pitch and roll axes and for unlocking said means to permit said rotation;
said means being initially locked and then unlocked for a predetermined interval during which the sensitive axis of the pendulous arrangement is levelled, and thereafter locked to strap-down the gyro means with respect to the roll and pitch axes;
means for sequentially rotating the first gimbal about the azimuth axis to a plurality of headings with respect to an initial heading, whereby the gyro means mounted to the first gimbal senses earth's rate at all of said headings and provides corresponding signals;
means arranged with the gyro means for sensing residual tilts of the means rotatably supported by the case from geodetic level and for providing corresponding signals;
means arranged with the means rotatably supported by the case for sensing the angles of rotation of said means about the roll and pitch axes and for providing corresponding signals; and means connected to the gyro means, the residual tilt signal means and the angle of rotation signal means, and responsive to the signals there-from for providing signals commensurate with the heading of the stationary equipment with respect to north, and with the attitude of the case with respect to geodetic level.
a first gimbal;
gyro means mounted to the first gimbal;
a case supported by the stationary equipment;
means rotatably supported by the case for rotation about roll and pitch axes, said roll and pitch axes being transverse each to the other and being in a common plane;
the first gimbal rotatably supported by the means rotatably supported by the case for rotation about an azimuth axis, the center of gravity of the first gimbal and the gyro means mounted thereto being displaced with respect to the common plane of the transverse pitch and roll axes, whereby said first gimbal and the gyro means are in pendulous arrange-ment relative to the means rotatably supported by the case;
means arranged with the means rotatably supported by the case and operable for locking said means to prevent rotation about the pitch and roll axes and for unlocking said means to permit said rotation;
said means being initially locked and then unlocked for a predetermined interval during which the sensitive axis of the pendulous arrangement is levelled, and thereafter locked to strap-down the gyro means with respect to the roll and pitch axes;
means for sequentially rotating the first gimbal about the azimuth axis to a plurality of headings with respect to an initial heading, whereby the gyro means mounted to the first gimbal senses earth's rate at all of said headings and provides corresponding signals;
means arranged with the gyro means for sensing residual tilts of the means rotatably supported by the case from geodetic level and for providing corresponding signals;
means arranged with the means rotatably supported by the case for sensing the angles of rotation of said means about the roll and pitch axes and for providing corresponding signals; and means connected to the gyro means, the residual tilt signal means and the angle of rotation signal means, and responsive to the signals there-from for providing signals commensurate with the heading of the stationary equipment with respect to north, and with the attitude of the case with respect to geodetic level.
15. Apparatus as described by claim 14, wherein the means rotatably supported by the case for rotation about roll and pitch axes is charac-terized by:
a second gimbal rotatably supported by the case for rotation about the roll axis; and a third gimbal rotatably supported by the second gimbal for rotation about the pitch axis.
a second gimbal rotatably supported by the case for rotation about the roll axis; and a third gimbal rotatably supported by the second gimbal for rotation about the pitch axis.
16. Apparatus as described by claim 15, further characterized by:
the first gimbal rotatably supported by the third gimbal for rotation about the azimuth axis.
the first gimbal rotatably supported by the third gimbal for rotation about the azimuth axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US901,229 | 1986-08-28 | ||
| US06/901,229 US4686771A (en) | 1986-08-28 | 1986-08-28 | Gyrocompassing apparatus for stationary equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1269874A true CA1269874A (en) | 1990-06-05 |
Family
ID=25413788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000542550A Expired CA1269874A (en) | 1986-08-28 | 1987-07-20 | Gyrocompassing apparatus for stationary equipment |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US4686771A (en) |
| EP (1) | EP0257263B1 (en) |
| CA (1) | CA1269874A (en) |
| DE (1) | DE3775302D1 (en) |
| IL (1) | IL83169A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2578992A1 (en) | 2011-10-06 | 2013-04-10 | Vectronix AG | Geographical azimuth determination referenced to north |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4811233A (en) * | 1987-04-02 | 1989-03-07 | The United States Of America As Represented By The Secretary Of The Navy | Cost-optimal state feedback controller for all-attitude gimbal system |
| US4945647A (en) | 1989-03-23 | 1990-08-07 | Allied-Signal Inc. | North finding system |
| JPH02272315A (en) * | 1989-04-14 | 1990-11-07 | Furuno Electric Co Ltd | Gyrocompass |
| US5060392A (en) * | 1990-07-09 | 1991-10-29 | Allied-Signal Inc. | North finding system |
| US5280744A (en) * | 1992-01-27 | 1994-01-25 | Alliedsignal Inc. | Method for aiming towed field artillery pieces |
| US5481957A (en) * | 1992-07-06 | 1996-01-09 | Alliedsignal Inc. | Aiming and pointing system for ground based weapons equipment |
| US5430342A (en) * | 1993-04-27 | 1995-07-04 | Watson Industries, Inc. | Single bar type vibrating element angular rate sensor system |
| US5475652A (en) * | 1993-06-30 | 1995-12-12 | I/O Exploration Products | Dual gimbal geophone |
| US5437420A (en) * | 1993-07-16 | 1995-08-01 | Hughes Aircraft Company | High torque double gimbal control moment gyro |
| DE69428531T2 (en) * | 1994-07-29 | 2002-05-23 | Hughes Electronics Corp., El Segundo | Double gimbal torque control gyroscope with high torque |
| FR2838185B1 (en) * | 2002-04-05 | 2004-08-06 | Commissariat Energie Atomique | DEVICE FOR CAPTURING ROTATIONAL MOVEMENTS OF A SOLID |
| US7223063B2 (en) * | 2004-09-24 | 2007-05-29 | Raytheon Company | Method and system for adjusting a position of an object |
| US7896607B2 (en) * | 2004-09-24 | 2011-03-01 | Raytheon Company | Method and system for adjusting a position of an object |
| US7481109B2 (en) * | 2005-03-04 | 2009-01-27 | Custom Sensors & Technologies, Inc. | Inertial measurement system and method with bias cancellation |
| US7845085B2 (en) * | 2007-07-12 | 2010-12-07 | Textron Systems Corporation | Identifying a directional reference using rate gyros oriented along different axes |
| FR2953588B1 (en) * | 2009-12-07 | 2011-12-23 | Sagem Defense Securite | METHOD FOR DETERMINING A CAP BY ROTATING AN INERTIAL DEVICE |
| US9903194B2 (en) * | 2014-11-19 | 2018-02-27 | Scientific Drilling International, Inc. | Tumble gyro surveyor |
| US9857198B2 (en) * | 2015-02-04 | 2018-01-02 | Bae Systems Information And Electronic Systems Integration Inc. | Apparatus and method for inertial sensor calibration |
| FR3044756B1 (en) * | 2015-12-04 | 2021-03-19 | Innalabs Ltd | IMPROVED PRECISION INERTIAL NAVIGATION SYSTEM |
| CN106441366B (en) * | 2016-10-18 | 2019-06-21 | 中国航空工业集团公司洛阳电光设备研究所 | A realization method of automatic gyro drift compensation for two-axis four-frame photoelectric pod |
| CN108106615B (en) * | 2017-12-08 | 2023-07-28 | 中船重工西安东仪科工集团有限公司 | Underwater MEMS course gyro capable of setting initial course |
| RU2698567C1 (en) * | 2018-12-04 | 2019-08-28 | федеральное государственное автономное образовательное учреждение высшего образования "Российский университет дружбы народов" (РУДН) | Gyrocompassing method using angular velocity sensor |
| JP2023180506A (en) * | 2022-06-09 | 2023-12-21 | 東京計器株式会社 | gyro compass |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2693928A (en) * | 1948-10-16 | 1954-11-09 | Bosch Arma Corp | Tape suspension for instruments and the like |
| US2677194A (en) * | 1949-11-19 | 1954-05-04 | Arma Corp | Gyroscopic compass |
| US2700829A (en) * | 1951-08-21 | 1955-02-01 | Bosch Arma Corp | Circuit coupling device |
| US3292269A (en) * | 1963-06-27 | 1966-12-20 | Sperry Rand Corp | Gyroscopic compasses |
| DE1258123B (en) * | 1964-08-29 | 1968-01-04 | Teldix Luftfahrt Ausruestung | Direction-seeking and direction-keeping gyroscopic device |
| US3813788A (en) * | 1970-02-13 | 1974-06-04 | Us Army | Dynamic pendulum north-seeking gyro apparatus |
| DE2730616C2 (en) * | 1977-07-07 | 1986-01-02 | Teldix Gmbh, 6900 Heidelberg | North seeking and course keeping gyro device |
| IT1134515B (en) * | 1979-11-29 | 1986-08-13 | Teldix Gmbh | GYROSCOPE WITH NORTHERN RESEARCH |
| DE3045823A1 (en) * | 1980-12-05 | 1982-07-08 | Teldix Gmbh, 6900 Heidelberg | METHOD FOR DETERMINING THE NORTH DIRECTION |
| DE3143527C2 (en) * | 1981-11-03 | 1984-09-20 | Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen | Device for the automatic determination of the north direction |
| US4443952A (en) * | 1981-11-09 | 1984-04-24 | The Bendix Corporation | Gyroscopic apparatus |
| SU1180698A1 (en) * | 1982-02-18 | 1985-09-23 | Ленинградское Ордена Октябрьской Революции Высшее Инженерное Морское Училище Им.Адм.С.О.Макарова | Method of determining heading |
| US4458426A (en) * | 1982-03-25 | 1984-07-10 | The Bendix Corporation | Gyroscopic apparatus |
-
1986
- 1986-08-28 US US06/901,229 patent/US4686771A/en not_active Expired - Lifetime
-
1987
- 1987-07-11 DE DE8787110054T patent/DE3775302D1/en not_active Expired - Lifetime
- 1987-07-11 EP EP87110054A patent/EP0257263B1/en not_active Expired
- 1987-07-13 IL IL83169A patent/IL83169A/en not_active IP Right Cessation
- 1987-07-20 CA CA000542550A patent/CA1269874A/en not_active Expired
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2578992A1 (en) | 2011-10-06 | 2013-04-10 | Vectronix AG | Geographical azimuth determination referenced to north |
| US8826550B2 (en) | 2011-10-06 | 2014-09-09 | Vectronix Ag | Geographically north-referenced azimuth determination |
Also Published As
| Publication number | Publication date |
|---|---|
| DE3775302D1 (en) | 1992-01-30 |
| EP0257263A2 (en) | 1988-03-02 |
| US4686771A (en) | 1987-08-18 |
| EP0257263A3 (en) | 1989-07-05 |
| EP0257263B1 (en) | 1991-12-18 |
| IL83169A (en) | 1991-01-31 |
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| MKEX | Expiry |