CN102435181B - Accelerator sensor-based gyroscope and positioning method thereof - Google Patents
Accelerator sensor-based gyroscope and positioning method thereof Download PDFInfo
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- CN102435181B CN102435181B CN201110338914.5A CN201110338914A CN102435181B CN 102435181 B CN102435181 B CN 102435181B CN 201110338914 A CN201110338914 A CN 201110338914A CN 102435181 B CN102435181 B CN 102435181B
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Abstract
The invention provides an accelerator sensor-based gyroscope and a positioning method thereof. The gyroscope comprises a rigid rotor and at least two acceleration sensors which are fixed inside the rigid rotor and are arranged along the vertical direction of a self-revolving shaft. The positioning method comprises the following steps of: placing at least two acceleration sensors along the vertical direction of the self-revolving shaft of the rigid rotor; and in the rotating process of the rigid rotor, acquiring the acceleration measured value of each accelerator sensor, and computing the self-revolving state of the rigid rotor according to the acceleration measured value. The gyroscope realized in the invention is independent of a high-speed rotating or high-speed swinging mechanical moving object, is easy to realize, and has the advantages of low cost, low power consumption, and the like.
Description
Technical field
The present invention relates to gyroscope technology field, particularly relate to a kind of gyroscope based on acceleration transducer and localization method.
Background technology
Gyroscope technology experienced by the development of quite a while, and traditional gyroscope has the rotor of rigid body of High Rotation Speed, relies on the performance of self can catch the attitude of self.Gyroscope is for marine navigation the earliest, is also widely used afterwards in aerospace cause.Various gyroscopes are in the market all orientation device out manufactured by ultimate principle that when utilizing moving object High Rotation Speed, powerful angular momentum makes turning axle stablize a sensing direction always, its core requirement rigid body is around axis of symmetry high-speed motion or swing, and the energy consumption thus utilizing the gyroscope of this principle manufacture all to exist to cause due to mechanical motion reason is comparatively large, make complicated and that cost is higher defect.
Summary of the invention
The object of the present invention is to provide a kind of gyroscope based on acceleration transducer and localization method, do not rely on the mechanical motion object of High Rotation Speed or high speed swinging, reduce energy consumption and cost of manufacture.
The object of the invention is to be achieved through the following technical solutions:
Based on a gyroscope for acceleration transducer, comprise rotor of rigid body and be fixed on rotor of rigid body inner and along at least two acceleration transducers that its axis of rotation vertical direction is placed.
Wherein, described acceleration transducer is two dimension acceleration sensor or three dimension acceleration sensor.
Wherein, be placed with two acceleration transducers along in the axis of rotation vertical direction of rotor of rigid body, and described two acceleration transducers are placed along the radial direction placement of rotor of rigid body direction of motion or the tangential direction along rotor of rigid body direction of motion.
Wherein, describedly be placed with three acceleration transducers along in the axis of rotation vertical direction of rotor of rigid body, wherein, acceleration transducer A and acceleration transducer B places along the radial direction of rotor of rigid body direction of motion, and acceleration transducer A and acceleration transducer C places along the tangential direction of rotor of rigid body direction of motion.
Based on a localization method for acceleration transducer, comprise step:
The vertical direction of the axis of rotation of rotor of rigid body is placed at least two acceleration transducers;
In rotor of rigid body rotation process, gather the acceleration measurement of described each acceleration transducer, calculate the autorotation of rotor of rigid body according to acceleration measurement.
Wherein, be placed with two acceleration transducers along in the axis of rotation vertical direction of rotor of rigid body, and these two acceleration transducers are placed along the radial direction placement of rotor of rigid body direction of motion or the tangential direction along rotor of rigid body direction of motion.
Wherein, three acceleration transducers are placed with along in the axis of rotation vertical direction of rotor of rigid body, wherein, acceleration transducer A and acceleration transducer B places along the radial direction of rotor of rigid body direction of motion, and acceleration transducer A and acceleration transducer C places along the tangential direction of rotor of rigid body direction of motion.
Wherein, when the acceleration transducer three-dimensional along placement three in the axis of rotation vertical direction of rotor of rigid body, the described process calculating the autorotation of rotor of rigid body according to acceleration measurement comprises further:
Read acceleration transducer A, acceleration transducer B and the reading of acceleration transducer C in X, Y, Z tri-directions respectively
,
,
;
According to formula
,
and the reading of described three acceleration transducers calculates the angular acceleration of rotor of rigid body along X, Y, Z axis rotation respectively
and angular velocity
; Wherein,
for along two particles in rotor of rigid body axis of rotation vertical direction in tangential acceleration difference,
for along the accekeration difference of two particles in rotor of rigid body axis of rotation vertical direction in radial direction.
Compared with prior art, the embodiment of the present invention has following beneficial effect.
The embodiment of the present invention based on rotor of rigid body in the stressed different principle of the particle of time rotational diverse location, utilize the acceleration difference of the acceleration transducer test being placed on diverse location on rotor of rigid body, calculate angular velocity and the angular acceleration of solid-body rotation, the gyroscope utilizing the method to realize and conventional gyro are significantly distinguished and are, the gyroscope that the method makes does not have High Rotation Speed or high speed swinging mechanical motion object, and test object spin velocity and angular acceleration have the advantages such as low cost low-power consumption.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the acceleration transducer of the embodiment of the present invention.
Fig. 2 is the gyrostatic concrete enforcement schematic diagram of the embodiment of the present invention based on acceleration transducer.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, there is following relation when rotor of rigid body moves in two particles of a rotor of rigid body inside:
Fundamental theorem one: rotor of rigid body is not having time rotational, stressed (acceleration) of rotor of rigid body each particle inner is equal, namely
(1)
And rotor of rigid body each particle inner is equal at the acceleration in X, Y and Z tri-directions, namely
（2）
Application: when rotor of rigid body is in inertial reference system, all directions reading value of each acceleration transducer of rotor of rigid body diverse location is 0; When rotor of rigid body is in gravity field inertial reference system, be placed on the inner diverse location acceleration transducer of rotor of rigid body, correspondence direction reading is equal and remain unchanged, and at this moment rotor of rigid body is in linear uniform motion state or stationary state.
Fundamental theorem two: rotor of rigid body time rotational, along two particles in rotor of rigid body axis of rotation vertical direction, in the stressed difference size of axis of rotation vertical direction (radial direction) is:
（3）
In formula, m is the weight of particle;
be two particles perpendicular to the acceleration difference size in rotor shaft direction (radial direction); D is the differences of two particles apart from axis of rotation distance; ω is the angular velocity that rigid body rotates around the axis of rotation;
Two particles in axis of rotation directional acceleration difference are:
（4）
Solid-body rotation angular velocity size is:
（5）
Application: read rotor of rigid body along the difference of the particle place acceleration transducer of two in axis of rotation vertical direction at the accekeration of radial direction, application of formula (5) can calculate the angular velocity of rotor of rigid body rotation.
Fundamental theorem three: rotor of rigid body time rotational, rotor of rigid body along the particle of two in axis of rotation vertical direction in particle movement direction (tangentially) stressed difference is:
（6）
Wherein,
for the angular acceleration of rotor of rigid body rotation;
The angular acceleration of rotor of rigid body rotation is:
（7）
Wherein,
for the linear acceleration difference along two particle rotation directions in rotor of rigid body axis of rotation vertical direction, it is vector;
Application: read rotor of rigid body along the difference of the particle place acceleration transducer of two in axis of rotation vertical direction at tangential accekeration, application of formula (7) can calculate the angular acceleration of rotor of rigid body rotation.
Namely the present embodiment is applied above-mentioned three ultimate principles and is realized.As shown in Figure 2, in the present embodiment, gyroscope comprises acceleration transducer A, B, C of three three axles, be positioned over two axis of rotation parallel positions of rotor of rigid body respectively, the direction of three acceleration transducers consistent with the orientation of rotor of rigid body (see Fig. 2 upper left corner), the distance be parallel between the acceleration transducer A of Y-axis placement and acceleration transducer C is
, the distance be parallel between the acceleration transducer A of X-axis placement and acceleration transducer B is
, the acceleration of three acceleration transducers on X, Y and Z tri-directions is respectively
,
,
.Judge that the method for the autorotation of rotor of rigid body is as follows:
1, under static state: according to fundamental theorem one, A, B, C tri-acceleration transducers at X, Y and Z tri-direction readings
2, under motion state:
In X-direction, calculate the spin velocity of rotor of rigid body along X-direction according to fundamental theorem two
; The angle of rotation acceleration of rotor of rigid body along X-direction is calculated according to fundamental theorem three
.
In like manner, rotor of rigid body can be obtained along the spin velocity of Y-axis and Z-direction and angle of rotation acceleration.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the gyroscope based on acceleration transducer, it is characterized in that, comprise rotor of rigid body and be fixed on rotor of rigid body inner and along at least two acceleration transducers that its axis of rotation vertical direction is placed, by gathering the acceleration measurement of described acceleration transducer, obtain the distance of described acceleration transducer apart from the axis of rotation, and then calculating the autorotation of described rotor of rigid body, described autobiography state comprises angular velocity and angular acceleration, and described angular velocity and angular acceleration are respectively according to formula
with
calculate, wherein, Δ a
radial: for described rotor of rigid body is along the difference of the particle place acceleration transducer of two in axis of rotation vertical direction at the accekeration of radial direction, Δ a
tangentiallyfor described rotor of rigid body is along the difference of the particle place acceleration transducer of two in axis of rotation vertical direction at tangential accekeration, d is the differences of described two acceleration transducers apart from axis of rotation distance.
2. gyroscope as claimed in claim 1, it is characterized in that, described acceleration transducer is two dimension acceleration sensor or three dimension acceleration sensor.
3. gyroscope as claimed in claim 2, it is characterized in that, be placed with two acceleration transducers along in the axis of rotation vertical direction of rotor of rigid body, and described two acceleration transducers are placed along the radial direction placement of rotor of rigid body direction of motion or the tangential direction along rotor of rigid body direction of motion.
4. gyroscope as claimed in claim 2, it is characterized in that, describedly be placed with three acceleration transducers along in the axis of rotation vertical direction of rotor of rigid body, wherein, acceleration transducer A and acceleration transducer B places along the radial direction of rotor of rigid body direction of motion, and acceleration transducer A and acceleration transducer C places along the tangential direction of rotor of rigid body direction of motion.
5. based on a localization method for acceleration transducer, it is characterized in that, the method comprising the steps of:
The vertical direction of the axis of rotation of rotor of rigid body is placed at least two acceleration transducers;
In rotor of rigid body rotation process, gather the acceleration measurement of described each acceleration transducer, obtain the distance of described acceleration transducer apart from the axis of rotation, calculate the autorotation of rotor of rigid body apart from the distance of the axis of rotation according to described acceleration measurement and described acceleration transducer, described autobiography state comprises angular velocity and angular acceleration, and described angular velocity and angular acceleration are respectively according to formula
with
calculate, wherein, Δ a
radial: for described rotor of rigid body is along the difference of the particle place acceleration transducer of two in axis of rotation vertical direction at the accekeration of radial direction, Δ a
tangentiallyfor described rotor of rigid body is along the difference of the particle place acceleration transducer of two in axis of rotation vertical direction at tangential accekeration, d is the differences of described two acceleration transducers apart from axis of rotation distance.
6. localization method as claimed in claim 5, it is characterized in that, in the method, be placed with two acceleration transducers along in the axis of rotation vertical direction of rotor of rigid body, and these two acceleration transducers are placed along the radial direction placement of rotor of rigid body direction of motion or the tangential direction along rotor of rigid body direction of motion.
7. localization method as claimed in claim 5, it is characterized in that, in the method, three acceleration transducers are placed with along in the axis of rotation vertical direction of rotor of rigid body, wherein, acceleration transducer A and acceleration transducer B places along the radial direction of rotor of rigid body direction of motion, and acceleration transducer A and acceleration transducer C places along the tangential direction of rotor of rigid body direction of motion.
8. localization method as claimed in claim 7, it is characterized in that, when the acceleration transducer three-dimensional along placement three in the axis of rotation vertical direction of rotor of rigid body, the described process calculating the autorotation of rotor of rigid body according to acceleration measurement comprises further:
Read acceleration transducer A, the reading (a of acceleration transducer B and acceleration transducer C in X, Y, Z tri-directions respectively
xa, a
ya, a
za), (a
xb, a
yb, a
zb), (a
xc, a
yc, a
zc);
According to formula
and the reading of described three acceleration transducers calculates rotor of rigid body respectively along the angular acceleration of X, Y, Z axis rotation and angular velocity omega; Wherein, Δ a
tangentiallyfor along two particles in rotor of rigid body axis of rotation vertical direction in tangential acceleration difference, Δ a
radial: for along the accekeration difference of two particles in rotor of rigid body axis of rotation vertical direction in radial direction.
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| US5007289A (en) * | 1988-09-30 | 1991-04-16 | Litton Systems, Inc. | Three axis inertial measurement unit with counterbalanced, low inertia mechanical oscillator |
| US6076401A (en) * | 1996-07-10 | 2000-06-20 | Wacoh Corporation | Angular velocity sensor |
| CN2570734Y (en) * | 2002-09-28 | 2003-09-03 | 大庆油田有限责任公司 | Frame gyroscope and flexible gyroscope combination measuring azimuth finder |
| CN1580701A (en) * | 2004-05-20 | 2005-02-16 | 上海交通大学 | Static suspension rotor micro inertia sensor and its manufacturing method |
| CN101021419A (en) * | 2007-03-22 | 2007-08-22 | 上海交通大学 | Diamagnetic suspension rotor electrostatic driving micro-gyroscope |
| CN101109764A (en) * | 2007-06-21 | 2008-01-23 | 上海交通大学 | Dual-mode inverse magnetic sensitive mass micro-accelerometer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851473A (en) * | 2006-05-23 | 2006-10-25 | 山西科泰微技术有限公司 | Angular speed measuring method and device |
| CN101187558A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | North seeking device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5007289A (en) * | 1988-09-30 | 1991-04-16 | Litton Systems, Inc. | Three axis inertial measurement unit with counterbalanced, low inertia mechanical oscillator |
| US6076401A (en) * | 1996-07-10 | 2000-06-20 | Wacoh Corporation | Angular velocity sensor |
| CN2570734Y (en) * | 2002-09-28 | 2003-09-03 | 大庆油田有限责任公司 | Frame gyroscope and flexible gyroscope combination measuring azimuth finder |
| CN1580701A (en) * | 2004-05-20 | 2005-02-16 | 上海交通大学 | Static suspension rotor micro inertia sensor and its manufacturing method |
| CN101021419A (en) * | 2007-03-22 | 2007-08-22 | 上海交通大学 | Diamagnetic suspension rotor electrostatic driving micro-gyroscope |
| CN101109764A (en) * | 2007-06-21 | 2008-01-23 | 上海交通大学 | Dual-mode inverse magnetic sensitive mass micro-accelerometer |
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Address after: 518057 Guangdong Province, Shenzhen high tech Zone of Nanshan District City, No. 9018 North Central Avenue's innovation building A, 6-8 layer, 10-11 layer, B layer, C District 6-10 District 6 floor Applicant after: Nubian Technologies Ltd. Address before: 518057, Guangdong, Nanshan District hi tech Industrial Park, south 6, No. 29, south 6, South, Shenzhen Applicant before: Shenzhen ZTE Mobile Tech Co., Ltd. |
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Effective date of registration: 20201102 Address after: Group 9, Chang'an East Village, Si'an Town, Tongzhou District, Nantong City, Jiangsu Province, 226300 Patentee after: Nantong Tangrun Machinery Co., Ltd Address before: 518057 Guangdong Province, Shenzhen high tech Zone of Nanshan District City, No. 9018 North Central Avenue's innovation building A, 6-8 layer, 10-11 layer, B layer, C District 6-10 District 6 floor Patentee before: NUBIA TECHNOLOGY Co.,Ltd. |
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