CN101082491A - Pendulum type gyroscope north searching instrument measurement method - Google Patents

Pendulum type gyroscope north searching instrument measurement method Download PDF

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CN101082491A
CN101082491A CN 200710122673 CN200710122673A CN101082491A CN 101082491 A CN101082491 A CN 101082491A CN 200710122673 CN200710122673 CN 200710122673 CN 200710122673 A CN200710122673 A CN 200710122673A CN 101082491 A CN101082491 A CN 101082491A
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zero
bit
north
gyro
sling
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王缜
余祖荫
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Beijing Institute of Space Launch Technology
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Beijing Institute of Space Launch Technology
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Abstract

This invention belongs to the measuring method of the seeking-north apparatus, it related to a sort of measuring method of the pendulum type peg-top seeking-north apparatus. It includes this approach in that: After he seeking-north apparatus is fixed in the observation point, it uses the secondary photoelectrical integral method to test the integral value of the deviation angle S0 between the torsion zero point before the motor operates and the tracking zero point. After the peg-top motor is in the estate of stabilization, it releases the peg-top sense organ, it obtains the first reversion point by the zero tracking method, and it stops track. After tracking T/2, it makes the suspensory zero point to aim at the peg-top principal axis, namely it uses the step-by-step summary directional method to make the zero point to astringe to the neighborhood of the real-north. It notes the swing integral value S by the double photoelectrical integral method. It determinates the advance aim and reads the circle reading alpha theta, finally it computes the real-north angle. The remarkable excellence of this invention is that the measuring rate is rapid, the measuring precision is high.

Description

A kind of pendulum type gyroscope north searching instrument measurement method
Technical field
The invention belongs to north searching instrument measurement method, be specifically related to a kind of pendulum type gyroscope north searching instrument measurement method.
Background technology
Gyroscope north searching instrument be a kind of can be on quiet pedestal the high precision inertia type instrument in round-the-clock automatic indication orientation, be widely used in fields such as mapping, mine, tunnel, military affairs, Aeronautics and Astronautics, its rely on inertance element sensitively the characteristic of revolutions angular speed horizontal component finish and seek northern function.In recent years, along with the development of modern science and technology, the kind of gyro is on the increase, as optical fiber type gyro, laser type gyro etc., but for various reasons, adopt the northern instrument of seeking of new-type gyro often too late traditional mechano optical type gyroscope north searching instrument aspect precision and accommodative ability of environment.
In the mechano optical type gyroscope north searching instrument, use at most, the higher northern instrument of seeking of precision is pendulum type gyroscope north searching instrument, but the north time of seeking of pendulum type gyroscope north searching instrument is relatively long, and influenced by external disturbance, on rapidity of measuring and precision, exist certain contradiction, seriously restricting its extensive application.At present, pendulum type gyroscope north searching instrument seek northern Measuring Time all more than 15min, and measuring accuracy is difficult to be controlled at 10 " in.In the engineering reality, its measuring accuracy also can decrease because of the variation of measurement environment, sometimes even can change to 1 ' more than.In sum, only adopting a kind of north finding method to be difficult to satisfy simultaneously these two performance index for current pendulum type gyroscope north searching instrument requires.
In order further to shorten the northern Measuring Time of seeking of pendulum type gyroscope north searching instrument, improve it and seek northern measuring accuracy, people have adopted the integral measurement method seeking the north stage, but traditional integral measurement method requires relatively accurate to timing cycle.In the practical application, measure the relative instrument constant of place latitude and demarcate the variation that the latitude variation in place, the variation of measures ambient temperature, the variation of gravity field etc. all can cause measuring period.Thereby, adopt which kind of period measurement method all to be difficult to obtain periodic quantity accurately in the reality.The variation of measuring period has directly influenced the accuracy of integrated value, has brought bigger error into to measurement result, has limited its application in pendulum type gyroscope north searching instrument.
Summary of the invention
The object of the present invention is to provide a kind of measuring speed fast, the pendulum type gyroscope north searching instrument measurement method that measuring accuracy is high.
The present invention is achieved in that a kind of pendulum type gyroscope north searching instrument measurement method, and it may further comprise the steps:
(1) with pendulum type gyroscope north searching instrument after setting up leveling on the observation station, survey misalignment angle integrated value S between torsion zero-bit and the tracking zero-bit before gyro motor starts with the secondary light electrical integration 0Integral time, section was t 0～t 0+ T m+ Δ T and t 0+ (T m+ Δ T)/2～t 0+ 3 (T m+ Δ T)/2, secondary light electrical integration formula is:
2 S 0 = ∫ t 0 t 0 + T m + ΔT ( α k + A sin 2 π T m t ) dt + ∫ t 0 + T m + ΔT 2 t 0 + T m + ΔT 2 + T m + ΔT ( α k + A sin 2 π T m t ) dt
T m: be theoretic gyro hunting period;
T m+ Δ T: be the gyro hunting period of actual measurement;
Δ T: be timing error;
t 0: measure arbitrarily constantly after this step gyration;
α k: the angle between sling torsion zero-bit and the gyroscopic equilibrium position;
A: the wobble amplitude of this step;
(2) after the gyro motor startup is stable, discharge the gyro sensitive element, and, obtain first inversion point, and stop to follow the tracks of by the zero-bit tracking mode; After stopping to follow the tracks of T/2,, promptly will follow the tracks of zero-bit and converge near the geographical north with the directed method of stepping summary with sling zero-bit and gyro spindle alignment;
(3) by two photoelectric integral method record swing integrated value S; Integral time, section was t 0～t 0+ T m+ Δ T and t 0+ (T m+ Δ T)/2～t 0+ 3 (T m+ Δ T)/2, secondary light electrical integration formula is:
2 S = ∫ t 0 t 0 + T m + ΔT ( α k + A sin 2 π T m t ) dt + ∫ t 0 + T m + ΔT 2 t 0 + T m + ΔT 2 + T m + ΔT ( α k + A sin 2 π T m t ) dt
T m: be theoretic gyro hunting period;
T m+ Δ T: be the gyro hunting period of actual measurement;
Δ T: be timing error;
t 0: any measurement of this step is constantly;
α k: the angle between sling torsion zero-bit and the gyroscopic equilibrium position;
A: the wobble amplitude of this step;
(4) measure predetermined target, read circle reading α θ
(5) calculate the geographical north angle, computing formula is:
In the formula: α θ: target and the angle of following the tracks of zero-bit;
S: the swing integrated value of gyropendulum;
T 1: at the assembling point  of place 1The gyropendulum hunting period at place;
x 1: the sling torsional moment coefficient at assembling point place and the ratio that gyro refers to northern moment coefficient;
1: the latitude value at instrument assembling point place;
X: the ratio that the sling torsional moment coefficient of measurement point and gyro refer to northern moment coefficient;
: the latitude value of measuring the place;
T 0: being rocked moving cycle when motor is static;
S 0: the misalignment angle integrated value between torsion zero-bit before gyro motor starts and the tracking zero-bit;
K: photoelectricity, analog-to-digital calibration factor, by selected device decision;
Δ α K θ: seek Beijiao degree drift correction constant, the deviate of determining during for installation.
Among the present invention, the directed method of stepping summary in the step (2) can be apace, roughly gyropendulum is converged near the geographical north, shortened Measuring Time; And two photoelectric integral methods of step (1) and step (3) can be eliminated the low-frequency disturbance of gyropendulum hunting frequency even-multiple preferably, have reduced to change hunting period the integral measurement error that causes effectively.Reach the angle classification with the directed method measuring accuracy of stepping summary, and through secondary light electrical integration method, measuring accuracy can reach the rad level.Therefore remarkable advantage of the present invention is that measuring speed is fast, the measuring accuracy height.
Embodiment
A kind of pendulum type gyroscope north searching instrument measurement method of the present invention may further comprise the steps:
(1) with pendulum type gyroscope north searching instrument after setting up leveling on the observation station, survey misalignment angle integrated value S between torsion zero-bit and the tracking zero-bit before gyro motor starts with the secondary light electrical integration 0
The secondary light electrical integration is meant the photovalve image data, is electric signal with the gyropendulum conversion of signals, carries out the method for integration through the quadratic integral formula.
With torsion zero-bit before the startup of secondary light electrical integration survey gyro motor and the misalignment angle integrated value S between the tracking zero-bit 0Integral time, section was t 0～t 0+ T m+ Δ T and t 0+ (T m+ Δ T)/2～t 0+ 3 (T m+ Δ T)/2, secondary light electrical integration formula is:
2 S 0 = ∫ t 0 t 0 + T m + ΔT ( α k + A sin 2 π T m t ) dt + ∫ t 0 + T m + ΔT 2 t 0 + T m + ΔT 2 + T m + ΔT ( α k + A sin 2 π T m t ) dt
T m: be theoretic gyro hunting period;
T m+ Δ T: be the gyro hunting period of actual measurement;
Δ T: be timing error;
t 0: measure arbitrarily constantly after this step gyration;
α k: the angle between sling torsion zero-bit and the gyroscopic equilibrium position;
A: the wobble amplitude of this step;
(2) after the gyro motor startup is stable, discharge the gyro sensitive element, and, obtain first inversion point, and stop to follow the tracks of by the zero-bit tracking mode; After stopping to follow the tracks of T/2,, promptly will follow the tracks of zero-bit and converge near the geographical north with the directed method of stepping summary with sling zero-bit and gyro spindle alignment; The directed method of step-by-step method summary is to utilize the external force effect to reduce the original mechanical energy of system, if a certain moment, sling torsion zero-bit overlaps with the inversion point of gyropendulum swing, at this moment, sling is not turned round, and the elasticity potential energy is zero, but this moment, the torsion zero-bit was by north, gyropendulum is referred to northern moment loading, and have the sensing potential energy, after gyropendulum continues the motion half period, arrive another inversion point, because the torsion zero-bit is also in previous inversion point position, sling is turned round, elasticity potential energy maximum, and go to this inversion point with the sling zero-bit this moment, then elasticity potential energy vanishing, at this moment the absolute value of the finger of reposition north potential energy is less than last position, and promptly the torsion zero-bit has been approached to the geographical north, after repeating this process several, the amplitude of oscillation of gyropendulum reduces, and the torsion zero-bit is approached the geographical north.The directed method of step-by-step method summary is to provide energy by the external world, and the sling zero-bit is gone to inversion point, realizes the method in quick rough approximation geographical north, has significantly reduced Measuring Time.
(3) by two photoelectric integral method record swing integrated value S; Integral time, section was t 0～t 0+ T m+ Δ T and t 0+ (T m+ Δ T)/2～t 0+ 3 (T m+ Δ T)/2, secondary light electrical integration formula is:
2 S = ∫ t 0 t 0 + T m + ΔT ( α k + A sin 2 π T m t ) dt + ∫ t 0 + T m + ΔT 2 t 0 + T m + ΔT 2 + T m + ΔT ( α k + A sin 2 π T m t ) dt
T m: be theoretic gyro hunting period;
T m+ Δ T: be the gyro hunting period of actual measurement;
Δ T: be timing error;
t 0: any measurement of this step is constantly;
α k: the angle between sling torsion zero-bit and the gyroscopic equilibrium position;
A: the wobble amplitude of this step;
(4) measure predetermined target, measure target direction, read gyroscope north searching instrument circle reading α by transit θ
(5) by calculating the geographical north angle, the computing formula in geographical north is:
Figure A20071012267300081
Calculate the geographical north angle, computing formula is:
Figure A20071012267300082
In the formula: α θ: target and the angle of following the tracks of zero-bit;
S: the swing integrated value of gyropendulum;
T 1: at the assembling point  of place 1The gyropendulum hunting period at place;
X1: the sling torsional moment coefficient at assembling point place and the ratio that gyro refers to northern moment coefficient;
1: the latitude value at instrument assembling point place;
X: the ratio that the sling torsional moment coefficient of measurement point and gyro refer to northern moment coefficient;
: the latitude value of measuring the place;
T 0: being rocked moving cycle when motor is static;
S 0: the misalignment angle integrated value between torsion zero-bit before gyro motor starts and the tracking zero-bit;
K: photoelectricity, analog-to-digital calibration factor, by selected device decision.
Δ α K θ: seek Beijiao degree drift correction constant, the deviate of determining during for installation.
The present invention is applicable to the measurement of geographical north angle.

Claims (2)

1. pendulum type gyroscope north searching instrument measurement method, it is characterized in that: it may further comprise the steps:
(1) with pendulum type gyroscope north searching instrument after setting up leveling on the observation station, survey misalignment angle integrated value S between torsion zero-bit and the tracking zero-bit before gyro motor starts with the secondary light electrical integration 0Integral time, section was t 0～t 0+ T m+ Δ T and t 0+ (T m+ Δ T)/2～t 0+ 3 (T m+ Δ T)/2, secondary light electrical integration formula is:
2 S 0 = ∫ t 0 t 0 + T m + ΔT ( α k + A sin 2 π T m t ) dt + ∫ t 0 + T m + ΔT 2 t 0 + T m + ΔT 2 + T m + ΔT ( α k + A sin 2 π T m t ) dt
T m: be theoretic gyro hunting period;
T m+ Δ T: be the gyro hunting period of actual measurement;
Δ T: be timing error;
t 0: measure arbitrarily constantly after this step gyration;
α k: the angle between sling torsion zero-bit and the gyroscopic equilibrium position;
A: the wobble amplitude of this step;
(2) after the gyro motor startup is stable, discharge the gyro sensitive element, and, obtain first inversion point, and stop to follow the tracks of by the zero-bit tracking mode; After stopping to follow the tracks of T/2,, promptly will follow the tracks of zero-bit and converge near the geographical north with the directed method of stepping summary with sling zero-bit and gyro spindle alignment;
(3) by two photoelectric integral method record swing integrated value S; Integral time, section was t 0～t 0+ T m+ Δ T and t 0+ (T m+ Δ T)/2～t 0+ 3 (T m+ Δ T)/2, secondary light electrical integration formula is:
2 S = ∫ t 0 t 0 + T m + ΔT ( α k + A sin 2 π T m t ) dt + ∫ t 0 + T m + ΔT 2 t 0 + T m + ΔT 2 + T m + ΔT ( α k + A sin 2 π T m t ) dt
T m: be theoretic gyro hunting period;
T m+ Δ T: be the gyro hunting period of actual measurement;
Δ T: be timing error;
t 0: any measurement of this step is constantly;
α k: the angle between sling torsion zero-bit and the gyroscopic equilibrium position;
A: the wobble amplitude of this step;
(4) measure predetermined target, read circle reading α θ
(5) calculate the geographical north angle, computing formula is:
Figure A2007101226730003C1
In the formula: α θ: target and the angle of following the tracks of zero-bit;
S: the swing integrated value of gyropendulum;
T 1: at the assembling point  of place 1The gyropendulum hunting period at place;
X1: the sling torsional moment coefficient at assembling point place and the ratio that gyro refers to northern moment coefficient;
1: the latitude value at instrument assembling point place;
X: the ratio that the sling torsional moment coefficient of measurement point and gyro refer to northern moment coefficient;
: the latitude value of measuring the place;
T 0: being rocked moving cycle when motor is static;
S 0: the misalignment angle integrated value between torsion zero-bit before gyro motor starts and the tracking zero-bit;
K: photoelectricity, analog-to-digital calibration factor, by selected device decision;
Δ α K θ: seek Beijiao degree drift correction constant, the deviate of determining during for installation.
2. a kind of pendulum type gyroscope north searching instrument measurement method as claimed in claim 1, it is characterized in that: the directed method of the stepping summary of described step (2) is to utilize the external force effect to reduce the original mechanical energy of system, if a certain moment, sling torsion zero-bit overlaps with the inversion point of gyropendulum swing, at this moment, sling is not turned round, the elasticity potential energy is zero, but this moment, the torsion zero-bit was by north, and gyropendulum is referred to northern moment loading, and has the sensing potential energy, after gyropendulum continues the motion half period, arrive another inversion point, because the torsion zero-bit is also in previous inversion point position, sling is turned round, elasticity potential energy maximum, go to this inversion point with the sling zero-bit this moment, then elasticity potential energy vanishing, and at this moment the absolute value of the finger of reposition north potential energy is less than last position, be that the torsion zero-bit has been approached to the geographical north, after repeating this process several, the amplitude of oscillation of gyropendulum reduces, and the torsion zero-bit is approached the geographical north.
CN 200710122673 2006-08-28 2007-07-12 Pendulum type gyroscope north searching instrument measurement method Pending CN101082491A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102466483A (en) * 2010-11-15 2012-05-23 北京航天发射技术研究所 Automatic digital polarization compensation system and method of pendulum gyroscope north finder
CN103376098A (en) * 2012-04-27 2013-10-30 中国人民解放军第二炮兵工程学院 Automatic latitude measuring and calculating and automatic precision compensating method of pendulum gyro north seeker
CN103983259A (en) * 2014-05-29 2014-08-13 中国人民解放军第二炮兵工程大学 Omnibearing north-seeking method based on maximum precession velocity coarse north-seeking principle of pendulous gyroscope
CN104833348A (en) * 2015-04-30 2015-08-12 长安大学 Static torque mode gyroscopic total station-based successive multi-position north seeking measurement method
CN103994759B (en) * 2014-05-29 2017-03-15 中国人民解放军第二炮兵工程大学 A kind of quick amplitude limit method of pendulum type gyroscope north searching instrument
CN108592899A (en) * 2018-03-27 2018-09-28 湖北三江航天万峰科技发展有限公司 Gyrostatic orientation survey method
CN111854800A (en) * 2020-07-27 2020-10-30 西安航光仪器厂 Gyro north seeker constant self-calibration and drift amount detection device and detection method thereof

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102466483A (en) * 2010-11-15 2012-05-23 北京航天发射技术研究所 Automatic digital polarization compensation system and method of pendulum gyroscope north finder
CN102466483B (en) * 2010-11-15 2015-11-25 北京航天发射技术研究所 The automatic digital bias compensation system and method for pendulum type gyroscope north searching instrument
CN103376098A (en) * 2012-04-27 2013-10-30 中国人民解放军第二炮兵工程学院 Automatic latitude measuring and calculating and automatic precision compensating method of pendulum gyro north seeker
CN103376098B (en) * 2012-04-27 2016-01-06 中国人民解放军第二炮兵工程学院 A kind of pendulum type gyroscope north searching instrument latitude is from measuring and calculating and precision automatic compensation method
CN103983259A (en) * 2014-05-29 2014-08-13 中国人民解放军第二炮兵工程大学 Omnibearing north-seeking method based on maximum precession velocity coarse north-seeking principle of pendulous gyroscope
CN103983259B (en) * 2014-05-29 2016-07-13 中国人民解放军第二炮兵工程大学 Comprehensive north finding method based on pendulum type gyroscope maximum precessional evlocity rough north-seeking principle
CN103994759B (en) * 2014-05-29 2017-03-15 中国人民解放军第二炮兵工程大学 A kind of quick amplitude limit method of pendulum type gyroscope north searching instrument
CN104833348A (en) * 2015-04-30 2015-08-12 长安大学 Static torque mode gyroscopic total station-based successive multi-position north seeking measurement method
CN104833348B (en) * 2015-04-30 2017-07-14 长安大学 A kind of gradually multiposition based on locked rotor torque pattern gyroscope total station seeks northern measuring method
CN108592899A (en) * 2018-03-27 2018-09-28 湖北三江航天万峰科技发展有限公司 Gyrostatic orientation survey method
CN111854800A (en) * 2020-07-27 2020-10-30 西安航光仪器厂 Gyro north seeker constant self-calibration and drift amount detection device and detection method thereof
CN111854800B (en) * 2020-07-27 2023-12-01 西安航光仪器厂 Device and method for detecting constant self-calibration and drift amount of gyro north seeker

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