CN101833015A - Method for measuring rotational angular velocity of earth by using gyroscope - Google Patents
Method for measuring rotational angular velocity of earth by using gyroscope Download PDFInfo
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- CN101833015A CN101833015A CN201010174931A CN201010174931A CN101833015A CN 101833015 A CN101833015 A CN 101833015A CN 201010174931 A CN201010174931 A CN 201010174931A CN 201010174931 A CN201010174931 A CN 201010174931A CN 101833015 A CN101833015 A CN 101833015A
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Abstract
The invention belongs to the technical fields of physical geography, geodesy and inertial navigation, and discloses a method for measuring rotational angular velocity of the earth by using a gyroscope. The method comprises the following steps of: acquiring an included angle alpha between the rotation axis direction of the gyroscope and the meridian; measuring the latitude of the position of the gyroscope, and starting the gyroscope to measure the directive moment M of the gyroscope; and calculating the rotational angular velocity omega alpha of the earth by using the included angle alpha between the rotation axis of the gyroscope and the meridian obtained in the previous three steps and the directive moment M of the latitude of a station point. The method has the advantages of simple and feasible required equipment, good independence and high data processing speed.
Description
Technical field
The invention belongs to geophysics, geodesy, inertial navigation technology field, be specifically related to a kind of method of measuring rotational-angular velocity of the earth, particularly a kind of method of utilizing gyroscope to measure rotational-angular velocity of the earth.The present invention can be widely used in fields such as Aeronautics and Astronautics, global plate motion monitoring, survey of deep space research.
Background technology
The earth itself is because its inner material distributions inhomogeneous caused the small variation that taking place that the angular velocity of its rotation do not stop, and the variation of earth angle speed has also caused the long variation of day every day, therefore, the variation of measuring rotational-angular velocity of the earth exactly all has important and practical meanings and using value for Aeronautics and Astronautics, geophysical research.
Since the seventies in 20th century, people adopt multiple observation technology that rotational-angular velocity of the earth is measured, as VLBI technology, SLR technology and GPS technology etc., and these technology need empty on a large scale translocation mostly, required equipment manufacturing cost costliness, and the cycle of obtaining observation data is longer, Data Post process complexity.
Summary of the invention
Defective or deficiency at the measurement rotational-angular velocity of the earth technology of present employing, the objective of the invention is to, a kind of method of utilizing gyroscope to measure rotational-angular velocity of the earth is provided, method of the present invention is simple, do not need empty on a large scale translocation, can independently carry out rotational-angular velocity of the earth and measure, and the late time data processing speed is very fast, can monitor the variation of rotational-angular velocity of the earth in real time.
In order to realize above-mentioned task, the present invention adopts following technical solution:
A kind of method of utilizing gyroscope to measure rotational-angular velocity of the earth may further comprise the steps:
The first step is obtained teetotum rotating shaft and meridianal angle α;
Second step, the latitude of measurement gyro position
The 3rd step, the meridian seeking moment M of startup gyroscope survey gyro;
In the 4th step, utilize teetotum rotating shaft that front three step obtains and meridianal angle α, survey station point latitude
Meridian seeking moment M calculates rotational-angular velocity of the earth ω according to formula 2
e:
Wherein, M is a meridian seeking moment; H is the gyro angular momentum, is known quantity; ω
eBe rotational-angular velocity of the earth;
Be gyro settlement latitude; α is teetotum rotating shaft and meridianal angle.
Rationale of the present invention is as follows:
The gyro of high speed rotating can produce the meridian seeking moment to the meridian direction precession under the common influence of earth rotation and self gravitation square, the size of meridian seeking moment is
Wherein, M is a meridian seeking moment; H is the gyro angular momentum; ω
eBe rotational-angular velocity of the earth;
Latitude for the gyroscope position; α is teetotum rotating shaft and meridianal angle.
Under the effect of meridian seeking moment, teetotum rotating shaft meeting is around the meridian reciprocally swinging, and in the process of swing, along with the variation of teetotum rotating shaft and meridian angle α, the size of meridian seeking moment M is also constantly changing.If by applying and the meridian seeking moment equal and opposite in direction, the applied moment that direction is opposite remains static the teetotum rotating shaft, and the size of the size measurement meridian seeking moment by measuring applied moment.According to formula 1, the calculating rotational-angular velocity of the earth is again:
Wherein, the angular momentum H of gyro is a known quantity.
Description of drawings
Fig. 1 setting position is settled synoptic diagram.
Fig. 2 embodiments of the invention use gyrostatic structural representation.
Below in conjunction with the present invention will be further explained the explanation of accompanying drawing and specific embodiment.
Embodiment
The present invention utilizes gyroscope to measure the method for rotational-angular velocity of the earth, may further comprise the steps:
The first step is obtained teetotum rotating shaft and meridianal angle α;
Second step, the latitude of measurement gyro position
The 3rd step, the meridian seeking moment M of startup gyroscope survey gyro;
In the 4th step, utilize teetotum rotating shaft that front three step obtains and meridianal angle α, survey station point latitude
Meridian seeking moment M calculates rotational-angular velocity of the earth ω according to formula 2
e:
Wherein, M is a meridian seeking moment; H is the gyro angular momentum, is known quantity; ω
eBe rotational-angular velocity of the earth;
Be gyro settlement latitude; α is teetotum rotating shaft and meridianal angle.
Embodiment 1:
The used gyroscope arrangement of present embodiment is as shown in Figure 2: comprise flat mirror reflects system, angle measuring system, rotary system and magnetic suspension system, wherein, angle measuring system, rotary system and magnetic suspension system all are located in the external shell 6, external shell 6 bottom centre positions are provided with centering sign 23, and external shell 6 tops are provided with the data-interface 26 that is connected with external computer system.
The flat mirror reflects system is located at external shell 6 tops, and it comprises catoptron 1 and catoptron turning axle 2; The normal direction of catoptron 1 is a level, catoptron 1 is connected with catoptron turning axle 2, and catoptron turning axle 2 is positioned on the gyrostatic central axis VV axle, can adjust the level orientation of catoptron 1 by catoptron turning axle 2, and catoptron 1 is rotated freely in the horizontal direction around the VV axle;
Angle measuring system comprises a horizontal dial 25, reader 24 and register 3, register 3 be positioned at reader 24 directly over, reader 24 be positioned at horizontal dial 25 directly over, catoptron turning axle 2 passes register 3, reader 24 contacts with horizontal dial 25, angle measuring system reads the orientation values of normal direction on horizontal dial 25 of catoptron 1 by horizontal dial 25, reader 24 and catoptron turning axle 2, and by register 3 orientation values is noted.
Rotary system comprises rotary motor 4 and swing bearing 5.Rotary motor 4 is installed on the below of angle measuring system, and rotary motor 4 and swing bearing 5 all are located in the external shell 6.Rotary motor 4 and swing bearing 5 are connected by gear set, can make revolving shell 7 and light path autocollimation system in the revolving shell carry out arbitrary orientation with magnetic suspension system integral body around the VV axle and turn round; And can control the position, angle of revolution in conjunction with angle measuring system.
Magnetic suspension system comprises revolving shell 7, torquer housing 19, first telefault 8, second telefault 9, spring 10, compressing tablet 11, reflecting prism group 15, torquer stator 21 and gyro rod meter; This gyro rod meter comprises: gyro motor 18 and teetotum rotating shaft 28 in magnetic ball float 12, connecting link 14, photoelectric sensor 16, gyro motor room 17, torquer rotor 21 and the gyro motor room 17; Revolving shell 7 is a shape; Torquer housing 19 is one to fall a door shape, and revolving shell 7 is connected with torquer housing 19 and is positioned at torquer housing 19 tops; Revolving shell 7 inwall top center are provided with first telefault 8; Revolving shell 7 inwall tops evenly are provided with 8 second telefaults 9 around eight directions of first telefault 8; Each second telefault, 9 below spring 10 that is connected, the spring 10 belows compressing tablet 11 that is connected; Torquer housing 19 inwalls top is provided with the reflecting prism group 15 of two symmetries; Torquer housing 19 inwalls below is provided with torquer stator 21; Magnetic ball float 12 is positioned at first telefault, 8 belows, connecting link 14 is positioned at magnetic ball float 12 belows and magnetic ball float 12 is connected, connecting link 14 comprises main rod body 140 and perpendicular to the plane 141 of main rod body 140, plane 141 is provided with and 8 and the corresponding contact 142 in second telefault, 9 positions, 141 belows, plane are provided with two photoelectric sensors 16 and are connected with connecting link 14, connecting link 14 is positioned at rotor case 17 tops, be connected with rotor case 17, be provided with gyro motor 18 in the rotor case 17, teetotum rotating shaft 28 is passed gyro motor 18 centers and is connected with rotor case 17; Rotor case 17 belows are provided with torquer rotor 21.
Revolving shell 7 is positioned at rotary motor 4 belows, and contacts by gear with swing bearing 5, and 19 rotating shafts of torquer housing are held 5 and contacted by gear;
The above-mentioned gyrostatic course of work is as follows: start gyro motor, after treating that the gyro motor rotating speed reaches rated speed, rotary motor 4 makes revolving shell 7 and torquer housing 19 by swing bearing 5, and revolving shell 7 turns round around the VV axle with torquer housing 19, and determine rotating particular location according to the orientation values of register 3 record, 9 energisings of second telefault, compressing tablet 11 is adsorbed owing to magneticaction, spring 10 is in compressive state, first telefault, 8 energisings then, because magneticaction, magnetic ball float 12 is pulled upwardly, under the effect of connecting link 14, the gyro rod meter is in suspended state, form horizontal magnetic field between torquer stator 20 and the torquer rotor 21, the gyro rod meter keeps static under the effect of this magnetic field force, this moment emission/the receiving plane of photoelectric sensor 16 and reflecting prism group 15 over against, photoelectric sensor 16 is to reflecting prism group 15 emission light beams, light beam is reflected after arriving reflecting prism group 15, when emission light beam and folded light beam are stablized when overlapping, torquer stator 20 begins to gather measurement data with torquer rotor 21, and is transferred to outer computer by data-interface 26, the factored moment value.
(N represents meridian direction among Fig. 1) as shown in Figure 1, the step of utilizing gyroscope to measure rotational-angular velocity of the earth of the present invention is as follows:
1) (N34 ° 22 ' 07.7787 ", E108 ° of 53 ' 51.7719 "), R (N34 ° 22 ' 14.9648 ", and E108 ° of 53 ' 48.8607 ") calculate the geographic azimuth α of AR survey line according to A, R two point coordinate to choose two known point A
AR=341 ° 25 ' 55 ";
2) settle a gyroscope at the A point, settle a generating laser at the R point;
3) startup generating laser, to the catoptron 1 emission beam of laser of gyroscope top, gyroscope makes incident light overlap with reflected light by the orientation of catoptron turning axle 2 adjustment catoptrons 1, and the normal direction of catoptron 1 is the direction of survey line AR at this moment;
4) read the orientation values of normal direction on horizontal dial 25 of catoptron 1 by horizontal dial 25, reader 24 and catoptron turning axle 2, and this orientation values is noted by register 3;
5) gyroscope starts rotary motor 4 according to the orientation values of register 3 record, makes the direction of teetotum rotating shaft 28 return back to the normal direction of catoptron 1, and the direction and the meridianal angle of teetotum rotating shaft this moment 28 are exactly the geographic azimuth of survey line AR, so α=α
AR=152 ° 19 ' 35 ";
6) start gyro motor 18, measure meridian seeking moment value M=0.00018346;
7) utilize the latitude of teetotum rotating shaft 28 and meridianal angle α, gyro settlement A
Meridian seeking moment M calculates rotational-angular velocity of the earth ω according to formula 2
eBe 0.0000725 radian per second:
Wherein, M is a meridian seeking moment; H is the gyro angular momentum, is known quantity; ω
eBe rotational-angular velocity of the earth;
Be gyro settlement latitude; α is teetotum rotating shaft and meridianal angle.
Method of the present invention is simple, does not need empty on a large scale translocation, can independently carry out rotational-angular velocity of the earth and measure, and the late time data processing speed is very fast, can monitor the variation of rotational-angular velocity of the earth in real time.
Claims (1)
1. a method of utilizing gyroscope to measure rotational-angular velocity of the earth is characterized in that, may further comprise the steps:
The first step is obtained teetotum rotating shaft and meridianal angle α;
Second step, the latitude of measurement gyroscope position
The 3rd step, the meridian seeking moment M of startup gyroscope survey gyro;
In the 4th step, utilize teetotum rotating shaft that front three step obtains and meridianal angle α, survey station point latitude
Meridian seeking moment M calculates rotational-angular velocity of the earth ω according to formula 2
α:
Wherein, M is a meridian seeking moment; H is the gyro angular momentum, is known quantity; ω
αBe rotational-angular velocity of the earth;
Be gyro settlement latitude; α is teetotum rotating shaft and meridianal angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101749315A CN101833015B (en) | 2010-05-18 | 2010-05-18 | Method for measuring rotational angular velocity of earth by using gyroscope |
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| CN2010101749315A CN101833015B (en) | 2010-05-18 | 2010-05-18 | Method for measuring rotational angular velocity of earth by using gyroscope |
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| CN101833015A true CN101833015A (en) | 2010-09-15 |
| CN101833015B CN101833015B (en) | 2011-06-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976369A (en) * | 2019-04-19 | 2019-07-05 | 南昌航空大学 | A kind of heat transfer agent Tracing Control system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008233095A (en) * | 2007-03-20 | 2008-10-02 | Custom Sensors & Technologies Inc | Inertia measurement system capable of canceling sensor bias, and method therefor |
| CN101556290A (en) * | 2009-04-23 | 2009-10-14 | 上海交通大学 | Gas gyroscope for measuring the angular speed in any direction |
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2010
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008233095A (en) * | 2007-03-20 | 2008-10-02 | Custom Sensors & Technologies Inc | Inertia measurement system capable of canceling sensor bias, and method therefor |
| CN101556290A (en) * | 2009-04-23 | 2009-10-14 | 上海交通大学 | Gas gyroscope for measuring the angular speed in any direction |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976369A (en) * | 2019-04-19 | 2019-07-05 | 南昌航空大学 | A kind of heat transfer agent Tracing Control system |
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| CN101833015B (en) | 2011-06-22 |
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