CN101937007A - Method for measuring rotational angular velocity of earth by using pendulous gyroscope - Google Patents

Method for measuring rotational angular velocity of earth by using pendulous gyroscope Download PDF

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CN101937007A
CN101937007A CN 201010215824 CN201010215824A CN101937007A CN 101937007 A CN101937007 A CN 101937007A CN 201010215824 CN201010215824 CN 201010215824 CN 201010215824 A CN201010215824 A CN 201010215824A CN 101937007 A CN101937007 A CN 101937007A
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photoelectric sensor
counter
catoptron
gyro
timer
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CN101937007B (en
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杨志强
石震
王腾军
姜刚
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Changan University
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Abstract

The invention discloses a method for measuring rotational angular velocity of the earth by using a pendulous gyroscope. The method particularly comprises the following steps of: 1, arranging the pendulous gyroscope at a station point; 2, measuring an oscillation period T of the pendulous gyroscope; 3, measuring the geographic latitude phi of the station point; and 4, calculating the rotational angular velocity of the earth omega e by an external computer according to the obtained oscillation period T of the pendulous gyroscope and the geographic latitude phi of the station point. The method of the invention has the advantages of simplicity and practicability, no need of wide-range combined ground and airborne measurement, capability of independently measuring the rotational angular velocity of the earth, high subsequent data processing speed and capability of monitoring the variation in the rotational angular velocity of the earth in real time.

Description

A kind of method of utilizing pendulous gyroscope to measure rotational-angular velocity of the earth
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 pendulous 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 the small variation of generation that its inner material distributions inhomogeneous causes the angular velocity of its rotation 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 pendulous gyroscope to measure rotational-angular velocity of the earth is provided, this method 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 achieve the above object, the present invention adopts following technical solution:
A kind of method of utilizing pendulous gyroscope to measure rotational-angular velocity of the earth specifically may further comprise the steps:
Step 1 is placed in certain survey station point with pendulous gyroscope;
Pendulous gyroscope comprises external shell, suspension strap, gyro motor room, gyro motor, teetotum rotating shaft; The upper end of described suspension strap links to each other with center directly over the external shell inside, the lower end of suspension strap links to each other with described gyro motor room, this gyro motor room hangs on the inside of external shell by suspension strap, the built-in described gyro motor in gyro motor room, this gyro motor links to each other with the gyro motor room by the gyro motor axle; Described external shell is provided with the north orientation sign, and the sign direction of described north orientation sign is the direction of described teetotum rotating shaft indication;
Described pendulous gyroscope also comprises first photoelectric sensor, first counter, first catoptron, second catoptron, timer, second counter, second photoelectric sensor of external shell inside; Described timer be positioned at the gyro motor room under, described first catoptron and second catoptron are installed in the symmetric position at two ends, the outside left and right sides, described gyro motor room, described first photoelectric sensor and the second photoelectric sensor symmetrical placement are on the inwall of external shell below, emission/the receiving surface of the reflecting surface of described first catoptron and described first photoelectric sensor over against, the emission/receiving surface of the reflecting surface of described second catoptron and described second photoelectric sensor over against; First photoelectric sensor and second photoelectric sensor are connected respectively to timer; Described first photoelectric sensor below is connected with first counter, and the output terminal of described first counter is connected to timer, and this first counter is used to write down the induction number of times of first photoelectric sensor and signal is passed to timer; Second photoelectric sensor below is connected with second counter, and the output terminal of described second counter is connected to timer, and this second counter is used to write down the induction number of times of second photoelectric sensing 2 and signal is passed to timer; External shell is provided with the data transmission mouth, and described timer is connected communication by described data transmission mouth with outer computer.
Step 2, the hunting period of measurement pendulous gyroscope
Figure DEST_PATH_654913DEST_PATH_IMAGE001
Step 3, the geographic latitude of measurement survey station point
Figure DEST_PATH_422143DEST_PATH_IMAGE002
Step 4, outer computer is according to the hunting period of the pendulous gyroscope that obtains Geographic latitude with survey station point
Figure DEST_PATH_550822DEST_PATH_IMAGE002
, utilize formula 1 to calculate rotational-angular velocity of the earth ω e :
(formula 1)
Wherein,
Figure DEST_PATH_335031DEST_PATH_IMAGE004
Be the angular momentum of gyro,
Figure DEST_PATH_812149DEST_PATH_IMAGE005
The gravity that is subjected to for the gyro rod meter,
Figure DEST_PATH_318479DEST_PATH_IMAGE006
Be the distance of gyro rod meter center of gravity to hitch point, ω e Be rotational-angular velocity of the earth,
Figure DEST_PATH_818730DEST_PATH_IMAGE007
Be survey station point geographic latitude.
Rationale of the present invention is as follows:
The gyro of high speed rotating can make the teetotum rotating shaft be created in the effect that meridian direction swings, the hunting period of teetotum rotating shaft owing to be subjected to the influence of earth rotation factor
Figure 719812DEST_PATH_IMAGE001
For:
Figure 274290DEST_PATH_IMAGE008
(formula 3)
Wherein,
Figure 578233DEST_PATH_IMAGE004
Be the angular momentum of gyro,
Figure 915673DEST_PATH_IMAGE005
The gravity that is subjected to for the gyro rod meter,
Figure 621461DEST_PATH_IMAGE009
Be the distance of gyro rod meter center of gravity to hitch point, ω e Be rotational-angular velocity of the earth,
Figure 18944DEST_PATH_IMAGE002
Be survey station point geographic latitude.Wherein, the angular momentum of gyro , the gravity that the gyro rod meter is subjected to
Figure 10701DEST_PATH_IMAGE005
And gyro rod meter center of gravity is to the distance of hitch point
Figure 570996DEST_PATH_IMAGE009
Value when gyroscope dispatches from the factory, determine as known parameter.
Above-mentioned hitch point is meant the point that suspension strap is connected with external shell, and the gyro rod meter comprises suspension strap, gyro motor room, gyro motor, first catoptron, second catoptron.
Can obtain rotational-angular velocity of the earth by formula 3 ω e :
Figure DEST_PATH_679720DEST_PATH_IMAGE003
(formula 1)
Wherein,
Figure DEST_PATH_923620DEST_PATH_IMAGE010
Value obtain gyro hunting period by GPS or astronomical sight
Figure DEST_PATH_441189DEST_PATH_IMAGE001
Equipment accurately obtains during by high-precision survey.
Description of drawings
Fig. 1 is the structural representation of pendulous gyroscope used in the present invention.
Below in conjunction with the present invention will be further explained the explanation of accompanying drawing and specific embodiment.
Embodiment
A kind of method of utilizing pendulous gyroscope to measure rotational-angular velocity of the earth specifically may further comprise the steps:
Step 1 is placed in certain survey station point with pendulous gyroscope;
As shown in Figure 1, pendulous gyroscope comprises external shell 2, suspension strap 3, gyro motor room 4, gyro motor 5, teetotum rotating shaft 14; The upper end of described suspension strap 3 links to each other with center directly over external shell 2 inside, the lower end of suspension strap 3 links to each other with described gyro motor room 4, this gyro motor room 4 hangs on the inside of external shell 2 by suspension strap 3, gyro motor room 4 built-in described gyro motors 5, this gyro motor 5 links to each other with gyro motor room 4 by gyro motor axle 14; Described external shell 2 is provided with north orientation sign 1, and the sign direction of described north orientation sign 1 is the direction of described teetotum rotating shaft 14 indications, i.e. the direction of angular momentum during the gyro motor high speed rotating;
Described pendulous gyroscope also comprises first photoelectric sensor 6, first counter 7, first catoptron 8, second catoptron 9, timer 10, second counter 11, second photoelectric sensor 12 of external shell 2 inside; Described timer 10 be positioned at gyro motor room 4 under, described first catoptron 8 and second catoptron 9 are installed in the symmetric position at two ends, the 4 outside left and right sides, described gyro motor room, described first photoelectric sensor 6 and second photoelectric sensor, 12 symmetrical placement are on the inwall of external shell 2 belows, emission/the receiving surface of the reflecting surface of described first catoptron 8 and described first photoelectric sensor 6 over against, the emission/receiving surface of the reflecting surface of described second catoptron 9 and described second photoelectric sensor 12 over against; First photoelectric sensor 6 and second photoelectric sensor 12 are connected respectively to timer 10; Described first photoelectric sensor 6 belows are connected with first counter 7, and the output terminal of described first counter 7 is connected to timer 10, and this first counter 7 is used to write down the induction number of times of first photoelectric sensor 6 and signal is passed to timer 10; Second photoelectric sensor, 12 belows are connected with second counter 11, and the output terminal of described second counter 11 is connected to timer 10, and this second counter 11 is used to write down the induction number of times of second photoelectric sensor 12 and signal is passed to timer 10; External shell 2 is provided with data transmission mouth 13, and described timer 10 is connected communication by described data transmission mouth 13 with outer computer.
Step 2, T hunting period of measurement pendulous gyroscope, concrete steps are as follows:
1) make the north orientation of pendulous gyroscope identify 1 energized north direction, deviation is no more than 5 degree;
2) start gyro motor 5, treat that gyro motor 5 reaches rated speed after, first photoelectric sensor 6 is to first catoptron, the 8 emission lighies velocity, second photoelectric sensor 12 is to second catoptron, the 9 emission lighies velocity;
3) when first photoelectric sensor 6 received the reflected light of first catoptron 8 for the first time, first counter 7 was write down numeral 1; When second photoelectric sensor 12 received the reflected light of second catoptron 9 for the first time, second counter 11 was write down numeral 1; Timer 10 writes down first counter 7 respectively, second counter 11 writes down for digital 1 the counting moment ,
4) along with teetotum rotating shaft 14 swings at meridian direction, when first photoelectric sensor 6 received the reflected light of first catoptron 8 for the second time, first counter 7 was write down numeral 2; When second photoelectric sensor 12 received the reflected light of second catoptron 9 for the second time, second counter 11 was write down numeral 2;
5) when first photoelectric sensor 6 receives the reflected light of first catoptron 8 for the third time, first counter 7 is write down numeral 3; When second photoelectric sensor 12 received the reflected light of second catoptron 9 for the third time, second counter 11 was write down numeral 3; Timer 10 writes down first counter 7 respectively, second counter 11 writes down for digital 3 the counting moment
Figure DEST_PATH_631627DEST_PATH_IMAGE013
,
Figure DEST_PATH_320097DEST_PATH_IMAGE014
6) moment that timer 10 is write down
Figure DEST_PATH_330385DEST_PATH_IMAGE011
,
Figure DEST_PATH_496924DEST_PATH_IMAGE015
, ,
Figure DEST_PATH_574787DEST_PATH_IMAGE016
, being transferred to outer computer by data transmission mouth 13, outer computer calculates gyro hunting period according to formula 2
Figure DEST_PATH_747405DEST_PATH_IMAGE001
:
(formula 2);
Step 3 is obtained the geographic latitude of survey station point by GPS or astronomical sight
Figure DEST_PATH_118529DEST_PATH_IMAGE007
Value;
Step 4, outer computer is according to the hunting period of the pendulous gyroscope that obtains
Figure DEST_PATH_647338DEST_PATH_IMAGE001
Geographic latitude with survey station point
Figure DEST_PATH_805786DEST_PATH_IMAGE002
, utilize formula 1 to calculate rotational-angular velocity of the earth ω e :
Figure DEST_PATH_314128DEST_PATH_IMAGE003
(formula 1)
Wherein,
Figure DEST_PATH_507212DEST_PATH_IMAGE004
Be the angular momentum of gyro,
Figure DEST_PATH_209851DEST_PATH_IMAGE005
The gravity that is subjected to for the gyro rod meter,
Figure DEST_PATH_917913DEST_PATH_IMAGE006
Be the distance of gyro rod meter center of gravity to hitch point, ω e Be rotational-angular velocity of the earth,
Figure DEST_PATH_229946DEST_PATH_IMAGE007
Be survey station point geographic latitude.The angular momentum of gyro
Figure DEST_PATH_776071DEST_PATH_IMAGE004
, the gravity that the gyro rod meter is subjected to And gyro rod meter center of gravity is to the distance of hitch point
Figure DEST_PATH_281188DEST_PATH_IMAGE009
Value when gyroscope dispatches from the factory, determine as known parameter.
Above-mentioned hitch point is meant the point that suspension strap is connected with external shell, and the gyro rod meter comprises suspension strap, gyro motor room, gyro motor, first catoptron, second catoptron.
  

Claims (2)

1. a method of utilizing pendulous gyroscope to measure rotational-angular velocity of the earth is characterized in that, specifically may further comprise the steps:
Step 1 is placed in certain survey station point with pendulous gyroscope;
Pendulous gyroscope comprises external shell (2), suspension strap (3), gyro motor room (4), gyro motor (5), teetotum rotating shaft (14); The upper end of described suspension strap (3) links to each other with center directly over external shell (2) inside, the lower end of suspension strap (3) links to each other with described gyro motor room (4), this gyro motor room (4) hangs on the inside of external shell (2) by suspension strap (3), the built-in described gyro motor in gyro motor room (4) (5), this gyro motor (5) links to each other with gyro motor room (4) by gyro motor axle (14); Described external shell (2) is provided with north orientation sign (1), and the sign direction of described north orientation sign (1) is the direction of described teetotum rotating shaft (14) indication, i.e. the direction of angular momentum during the gyro motor high speed rotating;
Described pendulous gyroscope also comprises first photoelectric sensor (6), first counter (7), first catoptron (8), second catoptron (9), timer (10), second counter (11), second photoelectric sensor (12) that external shell (2) is inner; Described timer (10) be positioned at gyro motor room (4) under, described first catoptron (8) and second catoptron (9) are installed in the symmetric position at two ends, the outside left and right sides, described gyro motor room (4), described first photoelectric sensor (6) and second photoelectric sensor (12) symmetrical placement are on the inwall of external shell (2) below, emission/the receiving surface of the reflecting surface of described first catoptron (8) and described first photoelectric sensor (6) over against, the emission/receiving surface of the reflecting surface of described second catoptron (9) and described second photoelectric sensor (12) over against; First photoelectric sensor (6) is connected respectively to timer (10) with second photoelectric sensor (12); Described first photoelectric sensor (6) below is connected with first counter (7), the output terminal of described first counter (7) is connected to timer (10), and this first counter (7) is used to write down the induction number of times of first photoelectric sensor (6) and signal is passed to timer (10); Second photoelectric sensor (12) below is connected with second counter (11), the output terminal of described second counter (11) is connected to timer (10), and this second counter (11) is used to write down the induction number of times of second photoelectric sensor (12) and signal is passed to timer (10); External shell (2) is provided with data transmission mouth (13), and described timer (10) is connected communication by described data transmission mouth (13) with outer computer.
Step 2, the hunting period of measurement pendulous gyroscope
Figure RE-739395DEST_PATH_IMAGE001
Step 3, the geographic latitude of measurement survey station point
Figure RE-328640DEST_PATH_IMAGE002
Step 4, outer computer is according to the hunting period of the pendulous gyroscope that obtains Geographic latitude with survey station point
Figure RE-143067DEST_PATH_IMAGE002
, utilize formula 1 to calculate rotational-angular velocity of the earth ω e:
Figure RE-629543DEST_PATH_IMAGE003
(formula 1)
Wherein,
Figure RE-655268DEST_PATH_IMAGE004
Be the angular momentum of gyro,
Figure RE-358519DEST_PATH_IMAGE005
The gravity that is subjected to for the gyro rod meter,
Figure RE-495102DEST_PATH_IMAGE006
Be the distance of gyro rod meter center of gravity to hitch point, ω eBe rotational-angular velocity of the earth,
Figure RE-773768DEST_PATH_IMAGE007
Be survey station point geographic latitude.
2. the pendulous gyroscope that utilizes as claimed in claim 1 is measured the rotational-angular velocity of the earth method, it is characterized in that the hunting period of described measurement pendulous gyroscope
Figure 330207DEST_PATH_IMAGE001
Specifically may further comprise the steps:
1) make the north orientation of pendulous gyroscope identify (1) energized north direction, deviation is no more than 5 degree;
2) start gyro motor (5), treat that gyro motor (5) reaches 24000 rev/mins of rated speeds after, first photoelectric sensor (6) is to first catoptron (8) the emission light velocity, second photoelectric sensor (12) is to second catoptron (9) the emission light velocity;
3) when first photoelectric sensor (6) receives the reflected light of first catoptron (8) for the first time, first counter (7) is write down numeral 1; When second photoelectric sensor (12) received the reflected light of second catoptron (9) for the first time, second counter (11) was write down numeral 1; Timer (10) writes down first counter (7) respectively, second counter (11) is write down digital 1 counting moment t A1, t B1
4) along with teetotum rotating shaft (14) swings at meridian direction, when first photoelectric sensor (6) received the reflected light of first catoptron (8) for the second time, first counter (7) was write down numeral 2; When second photoelectric sensor (12) received the reflected light of second catoptron (9) for the second time, second counter (11) was write down numeral 2;
5) when first photoelectric sensor (6) receives the reflected light of first catoptron (8) for the third time, first counter (7) is write down numeral 3; When second photoelectric sensor (12) received the reflected light of second catoptron (9) for the third time, second counter (11) was write down numeral 3; Timer (10) writes down first counter (7) respectively, second counter (11) writes down for digital 3 the counting moment
Figure 505317DEST_PATH_IMAGE008
,
Figure 407414DEST_PATH_IMAGE009
6) moment that timer (10) is write down ,
Figure 633045DEST_PATH_IMAGE011
,
Figure 286880DEST_PATH_IMAGE012
, , being transferred to outer computer by data transmission mouth (13), outer computer calculates gyro hunting period according to formula 2
Figure 88188DEST_PATH_IMAGE001
:
Figure 930242DEST_PATH_IMAGE014
(formula 2).
CN 201010215824 2010-07-02 2010-07-02 Method for measuring rotational angular velocity of earth by using pendulous gyroscope Active CN101937007B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102608357A (en) * 2011-01-24 2012-07-25 阿尔卑斯电气株式会社 Angular speed detection apparatus and method for detecting angular speed error
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
CN110865200A (en) * 2019-11-25 2020-03-06 北京无线电计量测试研究所 Earth rotation angular rate measuring method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1052371A (en) * 1990-05-23 1991-06-19 航空航天部第一设计研究院十五所 Gyroscope north searching instrument
JPH1082639A (en) * 1996-09-05 1998-03-31 Hitachi Cable Ltd Azimuth-detecting apparatus
CN101231178A (en) * 2008-02-28 2008-07-30 北京航空航天大学 Method for standardization of optimum 8 positions of flexure gyroscope

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1052371A (en) * 1990-05-23 1991-06-19 航空航天部第一设计研究院十五所 Gyroscope north searching instrument
JPH1082639A (en) * 1996-09-05 1998-03-31 Hitachi Cable Ltd Azimuth-detecting apparatus
CN101231178A (en) * 2008-02-28 2008-07-30 北京航空航天大学 Method for standardization of optimum 8 positions of flexure gyroscope

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102608357A (en) * 2011-01-24 2012-07-25 阿尔卑斯电气株式会社 Angular speed detection apparatus and method for detecting angular speed error
CN102608357B (en) * 2011-01-24 2014-07-02 阿尔卑斯电气株式会社 Angular speed detection apparatus and method for detecting angular speed error
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
CN110865200A (en) * 2019-11-25 2020-03-06 北京无线电计量测试研究所 Earth rotation angular rate measuring method

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