CN1023620C - North finding ayro - Google Patents
North finding ayro Download PDFInfo
- Publication number
- CN1023620C CN1023620C CN 90103687 CN90103687A CN1023620C CN 1023620 C CN1023620 C CN 1023620C CN 90103687 CN90103687 CN 90103687 CN 90103687 A CN90103687 A CN 90103687A CN 1023620 C CN1023620 C CN 1023620C
- Authority
- CN
- China
- Prior art keywords
- gyro
- single axle
- axle table
- microprocessor
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Gyroscopes (AREA)
Abstract
The present invention relates to a vehicular north finding gyro. A gyro and an accelerometer are installed on a step rotary device which can realize multiposition rotation by the multiposition shortcut combined measuring method; the angular speed components of earth rotation in all positions are measured by the gyro by the position change of a single-axle turntable on the device; a force acceleration component is detected synchronously by the accelerometer; two paths of signals are transmitted into a signal processing device, and are processed in real time by a microprocessor in the signal processing device; a deflective north angle, a local latitude and the inclination angle of a vehicle body are outputted. The north finding gyro can incline with a large angle on the vehicle body; moreover, the accurate measurement can be carried out without the need of levelling the plane of a sensitive axle of the gyro under the condition that the local geographic latitude is not known.
Description
The present invention relates to a kind of vehicle-mounted gyroscope north searching instrument.
A kind of " referring to northern orienting device " disclosed on the patent DE3541259 of Germany, adopt accurate strapdown mode, has binary gimbal, two of disturbing property gyro each other the angular speed sensitive axes of quadrature remain on the level of approximation state, to overcome the survey north error that different latitude causes, each sensitive axes direction of gyro is respectively installed an accelerometer, be used for compensating even the survey north error that level of approximation also will produce, two sensitive axes of gyro record the component of rotational-angular velocity of the earth along this respectively, two accelerometers record the component of acceleration of gravity two sensitive axes respectively, signal processing apparatus is converted into gravitational acceleration component the deviation angle of two relative surface levels of sensitive axes, and press conversion scale and its gyro signal is superimposed, to eliminate the vertical component of rotational-angular velocity of the earth, finally draw the component of horizontal component on two sensitive axes of rotational-angular velocity of the earth, thereby calculate angle by north.Obviously, make the gyro sensitive axes be in the purpose of level of approximation, be to be convenient to reduce the latitude influence, because under different latitude, the vertical component of rotational-angular velocity of the earth is different, and sensitive axes is in the level of approximation state, and the vertical component that the gyro sensitivity is arrived is very little, the correction that the signal of usefulness acceleration measuring is similar to analog form.Patent DE3541259 must have two degrees of freedom gimbal mechanism complicated, horizon adjustable, must use two accelerometers could realize to the measurement of acceleration of gravity at two axial components of sensitivity, correction to the rotational-angular velocity of the earth vertical component is similar to, signal processing apparatus adopts modeling scheme, can't realize seeking the complicated calculations of northern process.In a word, DE3541259 is the gyrostabilized platform function expansion.
The purpose of this invention is to provide a kind of gyroscope north searching instrument apparatus that utilizes the multiposition strapdown to survey north, so that at the car body wide-angle tilt and need not leveling and need not to know under the situation of geographic latitude to measure accurately.
The objective of the invention is to realize by following measure:
A disturbing property gyro and an accelerometer, be installed on the stepping whirligig that to realize the multiposition rotation, change in location by the single axle table on this device, gyro is measured the rotational-angular velocity of the earth component, accelerometer is measured the gravitational acceleration component that everybody puts, and sends into signal processing apparatus and handle.Therefore, the present invention includes:
A. gyro is installed in the multiposition measurement of carrying out symmetry on the single axle table, records the component of each position rotational-angular velocity of the earth along its sensitive axes, and eliminates the systematic error of gyro with this metering system.
B. accelerometer is installed along sensitive axes of gyro, realizes and the synchro measure of gyro in each position, calculating the drift angle of the relative surface level in plane, sensitive axes place, and eliminates the systematic error of accelerometer with this metering system.
C. the stepping whirligig is used for realizing the position conversion of gyro and accelerometer, place single axle table on the planar axes architecture and control it and have enough torsional rigidities, disturb to avoid that gyro is produced additional speed, adopt the step motor drive single axle table to rotate to realize the position conversion, and be used with optical pulse generator and position memory device, to determine zero-bit and other turned positions of single axle table.
D. signal processing apparatus with microprocessor as control assembly, the control single axle table makes zero and rotational angle after this, after receiving the positional number and each angle of rotating that gyro output valve, accelerometer output valve, single axle table rotate, handle in real time, export angle by north, latitude and tilting of car body angle.
The invention solves following problem:
A. need not to limit the gyro sensitive axes under the level of approximation state, therefore cancelled the levelling gear of the complexity of similar gyrostabilized platform.
B. replace two accelerometers, the pitch angle that can measure the relative surface level of gyro sensitive axes equally with an accelerometer.
C. need not to add the latitude signal and can finish accurate survey north, the pitch angle that the present invention simultaneously can measure latitude and car body.
D. signal processing apparatus is made up of mimic channel, digital circuit and microprocessor, can realize the complicated calculations to signal.
E. under multiposition, measure, can eliminate the systematic error of gyro and accelerometer, survey northern precision thereby can improve.
F. computing machine filtering and computing machine smoothing technique can improve the antijamming capability of instrument.
Accompanying drawing 1 is the coordinate system that the present invention set up
Accompanying drawing 2 is a principle schematic of the present invention
Accompanying drawing 3 is the structure principle chart of stepping whirligig
Accompanying drawing 4 is a signal processing apparatus functional-block diagram of the present invention
Accompanying drawing 5 is the control flow chart of signal processing apparatus of the present invention
Be elaborated below in conjunction with embodiment:
Final purpose with disturbing property gyro to measure is two components of horizontal component on rectangular coordinate that obtain rotational-angular velocity of the earth, purpose with accelerometer measures, be the angle that obtains plane, gyro sensitive axes place and surface level, set up coordinate system as shown in Figure 1 thus:
ο ξ η ψ-geographic coordinate, ο ψ axle is a vertical
OX
0Y
0Z
0-car body reference frame, OY
0Axle is parallel to the car body longitudinal axis
φ-car body position angle by north
OX
1Y
1Z
1-seek northern instrument reference frame, OX
1Axle is parallel to the sensitive axes of gyro
The pitch angle of α, β-car body
Rotational-angular velocity of the earth We and gravity acceleration g can be write as at the weight expression of ο η ξ ψ on each
Wherein, A
θA
βA
αA
ψThe matrix factor of-coordinate conversion
λ-latitude
Finally can derive:
Wherein, K
1The scale factor of gyro
K
2The scale factor of accelerometer
U
1iThe output valve that gyro deposits at everybody
U
2iThe output valve that accelerometer deposits at everybody
The positional number that N stepping whirligig rotates
θ
iThe angle of each position of stepping whirligig
According to above-mentioned mathematical model, determine that structure of the present invention is formed to comprise: with reference to the accompanying drawings 2,
A. be installed in disturbing property of the speed type gyro (1) on the single axle table (3);
B. be installed on the single axle table (3), along the accelerometer (2) on the sensitive axes of gyro (1);
C. the stepping whirligig is realized the multiposition conversion of gyro (1), accelerometer (2), with reference to the accompanying drawings 3, and its structure is:
c
1. single axle table (3) all is fixed on the inner frame (22) with planar axes system (23) and stepper motor (5), wherein, control plane axle system (23) has enough torsional rigidities, can be driven by stepper motor (5) again simultaneously, stepper motor (5) drives single axle table (3) through speed reduction unit (4) and rotates;
c
2. optical pulse generator (10) is connected with the gear of speed reduction unit (4) by flexibly connecting axle (9), be used for monitoring the corner of single axle table (3), position memory device (19) is installed on the inner frame (22), when stepper motor (5) drives single axle table (3) rotation, sector gear (21) driven gear (20) that is connected with single axle table (3) rotates a position and opens corresponding microswitch (18), make the residing position of position memory device (19) memory single axle table (3), the position signalling of the zero signal of optical pulse generator (10) and position memory device (19) is used, and has guaranteed the consistance of measuring basis and the consistance of flyback action;
c
3. cable (16) one ends are fixed on the inner pivot ring (15) that is connected with single axle table (3), the other end is fixed on the outer lead ring (17) that is connected with housing (11), be used for transmitting power supply and measuring-signal, inner frame (22) is connected on the housing (11) by four plate rubber absorbers (12), go up installation guide piston bar (13) and damping ring (14) at housing (11), and be connected with falope (24), when inner frame (22) is interfered, shock attenuation device can make its rapid error and prevent angular oscillation.
D. signal processing apparatus, accompanying drawing 5 is the control flow chart of this device, as can be seen, the single axle table (3) of microprocessor (6) control step whirligig makes zero and rotational angle after this, and the temperature drift signal from temperature sensor (36) carried out relevant treatment, to depositing the output valve U that records at everybody from gyro (1), accelerometer (2)
1i, U
2iDo matrix operation, export the inclination angle of angle by north, latitude and car body at last, show that by display (7) therefore, this device has, with reference to the accompanying drawings 4
d
1. the signal of optical pulse generator (10) and position memory device (19), through photoelectric isolating circuit (28) input microprocessor (6), when two paths of signals occurs simultaneously, single axle table (3) is in the benchmark zero-bit, otherwise microprocessor (6) makes zero single axle table (3) control step motor (5) running;
d
2. microprocessor (6) is through photoelectric isolating circuit (28), send the corner pulse to driving circuit (41), control step motor (5) is done forward or backwards and is rotated, optical pulse generator (10) is sent the angular signal of single axle table (3) into microprocessor (6) simultaneously, thereby control single axle table (3) forwards predetermined measuring position θ to
i;
d
3. the current signal of gyroscopic couple device (33), (34), send into filtering circuit (42) by sampling resistor (31), (32), through impedance transformer (35), filtering circuit (43), selector switch (37), current potential translation circuit (38) and A/D transducer (8), send into microprocessor (6), make the signal of gyro (1) obtain filtering, level and smooth and mould/number conversion, in microprocessor (6) as main signal U
1iParticipate in computing;
d
4. accelerometer (2) signal, send into microprocessor (6) by impedance transformer (35), filtering circuit (43), selector switch (37), current potential translation circuit (38) and A/D transducer (8), as main signal U
2iParticipate in computing;
d
5. the signal of temperature sensor (36), send into microprocessor (6) by impedance transformer (35), selector switch (37), current potential translation circuit (38) and A/D transducer (8), gyro (1) signal is carried out temperature correlation handle, to eliminate the measuring error that gyro temperature drift brings.
The course of work of this gyroscope north searching instrument is such: behind the power connection, Gyroscope Motor Power (25) is powered to gyro motor (27), AC power (26) is to gyroscopic couple rebalancing circuit (30) and gyro angular transducer (39) power supply, DC/DC power supply (40) provides the direct current of each circuit and microprocessor (6) usefulness, microprocessor (6) picks up counting, starting stepper motor (5) on schedule makes single axle table (3) forward benchmark zero-bit (first position) to, send the adhesive instruction and make relay (29) adhesive, so gyroscopic couple rebalancing circuit (30) closure, gyro (1) is in normal operating conditions, after arriving Measuring Time, microprocessor (6) sends the selection signal, control selector switch (37) is respectively with the gyro signal signal of first position, accelerometer signal and temperature signal are sent into microprocessor (6), and then one push start stepper motor (5) and receive the angle signal that optical pulse generator (10) is sent back to, after arriving predetermined corner, stepper motor (5) stall, gyro (1) is gathered in microprocessor (6) beginning under second position, the signal of accelerometer (2) and sensor (36), equally, the 3rd position, position to the last, the total data collection is finished, microprocessor (6) follow procedure carries out computing, the angle by north that will calculate at last, display is sent at the inclination angle of latitude and car body.
Claims (3)
1, the vehicle-mounted gyroscope north searching instrument that connects of a kind of victory mode of getting comprises gyro, accelerometer, signal processing apparatus, it is characterized in that: have the stepping whirligig.
A. gyro is installed on the single axle table of the stepping whirligig that can realize that multiposition rotates, change in location by single axle table, measure at each locational rotational-angular velocity of the earth along its responsive axial component, and eliminate the systematic error of gyro with this metering system;
B. accelerometer is installed on the single axle table along a sensitive axes direction of gyro, with the gyro synchro measure, measures at each locational gravitational acceleration component, to calculate plane, the gyro sensitive axes place error of uniting relatively;
C. the stepping whirligig rotates with the step motor drive single axle table, and is used with optical pulse generator and position memory device, to determine zero-bit and other each turned positions of single axle table;
D. signal processing apparatus with microprocessor as control assembly, the control single axle table makes zero and rotational angle after this, after receiving the positional number and each angle of rotating that gyro output valve, acceleration output valve, single axle table rotate, handle angle by north, latitude and the tilting of car body angle of output car body in real time.
2, the northern instrument of gyro according to claim 1 is characterized in that: the stepping whirligig is realized the multiposition conversion of gyro (1), accelerometer (2), so this device has:
A. single axle table (3) all is fixed on the inner frame (22) with planar axes system (23) and stepper motor (5), stepper motor drives single axle table (3) through speed reduction unit (4) and rotates, wherein, control plane axle system (23) has enough torsional rigidities, can be driven by stepper motor (5) again simultaneously;
B. optical pulse generator (10) is connected with the gear of speed reduction unit (4) by flexibly connecting axle (9), be used for monitoring the corner of single axle table (3), position memory device (19) is installed on the inner frame (22), when stepper motor (5) drives single axle table (3) rotation, sector gear (21) driven gear (20) that is connected with single axle table (3) rotates a position and opens corresponding microswitch (18), makes the residing position of position memory device memory single axle table (3);
C. inner frame (22) is connected on the housing (11) by four plate rubber absorbers (12), go up installation guide piston bar (18) and damping ring (14) at housing (11), and be connected with falope (24), when inner frame (22) is interfered, shock attenuation device can make it decay rapidly and prevent angular oscillation.
3, gyroscope north searching instrument according to claim 1 is characterized in that: signal processing apparatus, control single axle table (3) makes zero and rotational angle after this, finishes Signal Processing.
A. the signal of optical pulse generator (10) and position memory device (19), through photoelectric isolating circuit (28) input microprocessor (6), when this two paths of signals occurs simultaneously, single axle table (3) is in the benchmark zero-bit, otherwise microprocessor (6) makes zero single axle table (3) control step motor (5) running;
B. microprocessor (6) is through photoelectric isolating circuit (28), send the corner pulse to driving circuit (41), control step motor (5) is done forward or backwards and is rotated, optical pulse generator (10) is sent the angular signal of single axle table (3) into microprocessor (6) simultaneously, thereby control single axle table (3) forwards predetermined measuring position to;
C. the current signal of gyroscopic couple device (33), (34), send into filtering circuit (42) by sampling resistor (31), (32), through impedance transformer (35), filtering circuit (43), selector switch (37), current potential translation circuit (38) and A/D transducer (8), send into microprocessor (6);
D. accelerometer (2) signal is sent into computing machine (6) by impedance transformer (35), selector switch (37), current potential translation circuit (38), A/D transducer (8) and is participated in computing;
E. temperature sensor (36) signal, send into microprocessor (6) by impedance transformer (35), selector switch (37), current potential translation circuit (38), A/D transducer (8), gyro (1) signal is carried out temperature correlation handle, to eliminate the measuring error that gyro temperature drift brings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90103687 CN1023620C (en) | 1990-05-23 | 1990-05-23 | North finding ayro |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90103687 CN1023620C (en) | 1990-05-23 | 1990-05-23 | North finding ayro |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1052371A CN1052371A (en) | 1991-06-19 |
| CN1023620C true CN1023620C (en) | 1994-01-26 |
Family
ID=4878204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 90103687 Expired - Fee Related CN1023620C (en) | 1990-05-23 | 1990-05-23 | North finding ayro |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1023620C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435206A (en) * | 2011-09-01 | 2012-05-02 | 中国航空工业第六一八研究所 | Automatic calibrating and compensating method of onboard mounting deflection angle of strapdown inertial navigation system |
| CN102506848A (en) * | 2011-12-07 | 2012-06-20 | 浙江大学 | Fiber gyroscope north seeker indexing mechanism based on four-position north seeking method |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BRPI0708704A2 (en) * | 2006-03-15 | 2011-06-07 | Qualcomm Inc | sensor based guidance system |
| CN100575876C (en) * | 2007-11-12 | 2009-12-30 | 中国科学院长春光学精密机械与物理研究所 | Gyroscopic compass multiple positions self-determination orienting north finding device |
| CN100565115C (en) * | 2007-12-11 | 2009-12-02 | 中国科学院长春光学精密机械与物理研究所 | The scaling method of multi-position strapping north-seeking system direction effect |
| CN101819284B (en) * | 2010-05-18 | 2012-07-04 | 长安大学 | Method for measuring polar motion of globe by using gyroscope |
| CN101937007B (en) * | 2010-07-02 | 2012-07-04 | 长安大学 | Method for measuring rotational angular velocity of earth by using pendulous gyroscope |
| CN102426456B (en) * | 2011-09-01 | 2013-09-11 | 中国航空工业第六一八研究所 | Bracket calibrating and compensating method of inertial system |
| CN102494679B (en) * | 2011-11-18 | 2013-12-04 | 中国科学院电工研究所 | Superconducting magnetic levitation based north-seeking device |
| CN102541114B (en) * | 2012-02-14 | 2016-09-21 | 工业和信息化部电子第五研究所 | Local temperature control method of linear acceleration simulating turntable |
| 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 |
| CN103017688B (en) * | 2012-12-27 | 2014-12-10 | 陕西宝成航空仪表有限责任公司 | Method for using photoelectric device to determine complete rotation arrival and rotating angle of turntable in north seeker |
| CN103344226B (en) * | 2013-06-27 | 2015-11-18 | 南京航空航天大学 | A kind of north-seeking system based on MEMS rotation technique and method |
| CN104457747B (en) * | 2014-12-12 | 2017-04-19 | 中煤科工集团重庆研究院有限公司 | Mine gyroscope attitude measurement instrument |
| CN106057031B (en) * | 2016-05-23 | 2018-09-28 | 中国民航大学 | A kind of gyro approximation theory validating instrument |
| CN105910626B (en) * | 2016-06-15 | 2018-09-21 | 重庆华渝电气集团有限公司 | Flexible gyroscope inclinometer seeks northern complete warm calibration compensation method |
| CN107806875B (en) * | 2017-10-26 | 2021-07-20 | 深圳多哚新技术有限责任公司 | Horizontal defect detection device and system for head-mounted equipment |
| CN107643683A (en) * | 2017-10-27 | 2018-01-30 | 西安恒达微波技术开发有限公司 | Automatically levelling school north system on equipment vehicular platform based on PID closed-loop controls |
| CN108802701A (en) * | 2018-06-22 | 2018-11-13 | 安徽尼古拉电子科技有限公司 | A kind of trailer-mounted radar calibration facility based on Big Dipper technology |
| CN110849342B (en) * | 2019-11-20 | 2022-06-10 | 中国船舶重工集团公司第七0七研究所 | North-seeking error compensation method |
| CN110926447B (en) * | 2019-12-16 | 2022-02-22 | 重庆华渝电气集团有限公司 | Single-axis fiber-optic gyroscope north-seeking method with autonomous navigation function and attitude navigation method |
| CN111457789B (en) * | 2020-03-26 | 2022-08-19 | 北京仿真中心 | Earth rotation correction method and system in laboratory coordinate system |
| CN116045944B (en) * | 2023-03-30 | 2023-05-30 | 中国船舶集团有限公司第七〇七研究所 | Single-ring double-sensitive-axis optical fiber gyro |
-
1990
- 1990-05-23 CN CN 90103687 patent/CN1023620C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435206A (en) * | 2011-09-01 | 2012-05-02 | 中国航空工业第六一八研究所 | Automatic calibrating and compensating method of onboard mounting deflection angle of strapdown inertial navigation system |
| CN102506848A (en) * | 2011-12-07 | 2012-06-20 | 浙江大学 | Fiber gyroscope north seeker indexing mechanism based on four-position north seeking method |
| CN102506848B (en) * | 2011-12-07 | 2014-03-26 | 浙江大学 | Fiber gyroscope north seeker indexing mechanism based on four-position north seeking method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1052371A (en) | 1991-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1023620C (en) | North finding ayro | |
| US4166406A (en) | Self-aligning pitch and azimuth reference unit | |
| CN1031596C (en) | Method and apparatus for measuring coordinates of surveyed point | |
| CN109459054B (en) | Moving base attitude calibration method based on auto-collimation tracking | |
| CN101583844B (en) | Car navigation device | |
| CN1888386A (en) | Strapdown inertial combine measurement controller adapted to whole-optical fiber digital slope level | |
| CN105659809B (en) | Based on fiber gyro north seeker and the north finding method of slope compensation and thick smart block position method | |
| CN100342210C (en) | Laser self-collimation zero reference error angle measuring method | |
| CN109459063B (en) | Sixteen-position error modulation method of double-shaft rotary inertial navigation system | |
| CA2063601A1 (en) | Process and system for gathering and evaluating measured data | |
| EP0257263B1 (en) | Gyrocompassing apparatus for stationary equipment | |
| CN101063610A (en) | Automatic monitoring system for engineering project deformation | |
| CN110411444A (en) | A kind of subsurface digging mobile device inertia navigation positioning system and localization method | |
| CN101033967A (en) | Total station instrument combined location method based on optical fiber gyro | |
| CN110108255A (en) | Universal mobile data acquisition and processing tunnel detection system for multiple scanners | |
| CN110231027B (en) | Positioning system and positioning method based on multi-sensor data fusion | |
| CN108519103A (en) | Utilize the stabilized platform multi-pose accurate synchronization evaluation device and method of autocollimator | |
| CN1693846A (en) | Precision measuring system for space target | |
| CN1768246A (en) | Sensing steering axis inclination and camber with an accelerometer | |
| CN1687709A (en) | System for measuring motion state of automobile | |
| CN101038167A (en) | Teaching experiment north searching instrument based on optical fiber gyro | |
| CN1955644A (en) | Low frequency angle vibration table | |
| CN201181213Y (en) | Self-north seeking navigation device of uniaxial gyroscope | |
| CN1924736A (en) | Stable control method for vestibular oculomotor reflection based aviation detection platform | |
| CN87102335A (en) | Vehicle dynamic testing apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |