CN104655095A - Method for measuring geographic latitude by fiber-optic gyroscope - Google Patents
Method for measuring geographic latitude by fiber-optic gyroscope Download PDFInfo
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- CN104655095A CN104655095A CN201510030921.7A CN201510030921A CN104655095A CN 104655095 A CN104655095 A CN 104655095A CN 201510030921 A CN201510030921 A CN 201510030921A CN 104655095 A CN104655095 A CN 104655095A
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- fibre gyro
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/728—Assemblies for measuring along different axes, e.g. triads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Abstract
The invention provides a method for measuring geographic latitude by a fiber-optic gyroscope. The method is used for measuring the geographic latitude by the fiber-optic gyroscope provided with three-axis orthogonal fiber-optic gyroscopes. The method specifically comprises the steps of placing the instrument, inputting initial conditions, measuring angular rates by using the three-axis orthogonal fiber-optic gyroscopes, and calculating the earth geographic latitude; according to the formula described in the specification, calculating the latitude value component phi<X> measured by the fiber-optic gyroscope X at a measurement station, and calculating corresponding latitude value components phi<Y> and phi<Z> measured by the fiber-optic gyroscope Y and the fiber-optic gyroscope Z by a method which is the same as the method for measuring the latitude value component measured by the fiber-optic gyroscope X; and finally, solving the vector sum of the three latitude value components according to the formula described in the specification to obtain the final geographic latitude value phi.
Description
Technical field
The invention belongs to Astrometry and Celestial Mechanics, geodynamics, inertial navigation technology, geodesy field, may be used for the fields such as Aeronautics and Astronautics, artificial satellite precise orbit determination, survey of deep space, global plate motion study on monitoring, a kind of method utilizing optical fibre gyro to measure geographic latitude is provided.
Background technology
Due to the different celestial body of outside of the earth and the impact of THE EARTH INTERIOR PHYSICS mechanism, the rotation process causing the earth is unstable, usually describe the autorotation of the earth with earth rotation parameter (ERP), comprise Ghandler motion and length-of-day change, wherein Ghandler motion is the motion of earth's axis relative to the earth's crust.After About The Earth Pole Shift, the longitude and latitude of ground survey station and position angle all can change thereupon, and we can be derived by the change of LATITUDE OBSERVATIONS value on survey station the change of Ghandler motion.Therefore, the change of measuring latitude exactly has important practical significance and using value for Aeronautics and Astronautics, geophysical research.
Since the seventies in last century, people start the change adopting space geodesy technique precise monitoring earth rotation, comprise very long baseline interferometry(VLBI technology VLBI, satellite laser ranging technology SLR, Lunar LASER Ranging technology LLR, satellite-based Doppler wireless location technology DORIS, global satellite positioning GNSS etc.And these technology have following common feature:
The first, recording geometry is huge, and system Construction is very complicated, and equipment needed thereby is expensive;
The second, need large-scale air-ground translocation, and observation cycle is longer, the data volume of acquisition is limited;
3rd, in achievement acquisition, need longer data processing time, and achievement calculates very complicated.
Present stage also has a kind of technology utilizing mechanical gyroscope to measure earth rotation parameter (ERP), this assay method, although substantially reduce the time of observation, mechanical gyro is easily subject to the impact of the factors such as wind-force, vibrations, temperature, thus impact measures the precision of earth rotation parameter (ERP).
Summary of the invention
For prior art Problems existing, the object of the invention is to, provide the better measuring method of a kind of measuring accuracy to measure geographic latitude.
In order to realize above-mentioned technical assignment, the present invention adopts following technical scheme to be achieved:
Utilize optical fibre gyro to measure a method for geographic latitude, the method is by measuring geographic latitude with the fibre optic gyroscope of three axle orthogonal fibre gyros.
The concrete steps of the method are:
Step one, settles instrument: settle fibre optic gyroscope at one of them survey station point of a known survey line, another survey station point settles reflecting prism, opens fibre optic gyroscope, with system of the sighting fine sight reflecting prism of fibre optic gyroscope.
Step 2, input initial conditions: input revolutions angular velocity omega fifty-fifty
e, aim at the positive northern azimuth angle alpha of survey line, the demarcation factor value k of optical fibre gyro;
Wherein, ω
e=7.292115147 × 10
-5rad/s, α can be calculated by known point coordinate, and k value is measured by manufacturer when instrument dispatches from the factory and is generally acquiescence fixed value;
Step 3, three axle orthogonal fibre gyros measure angular speed values: start optical fibre gyro, optical fibre gyro X successively four disk positions 0 °, 90 °, 180 °, 270 ° carry out the sampling of angular speed value, obtain corresponding angular speed value
Step 4, earth geography latitude resolves: the angular speed value collected
the geographic latitude component determined with optical fibre gyro X
relation can be expressed as system of equations:
Wherein: ω
0for gyroscope constant value drift, separate this system of equations and obtain:
The latitude value component that this survey station point optical fibre gyro X measures can be calculated thus
optical fibre gyro Y and optical fibre gyro Z all calculate corresponding latitude value component by the method identical with the latitude value component that optical fibre gyro X measures
with
finally will solve the vector of three:
Final geographic latitude value can be obtained
The invention provides a kind of optical fibre gyro utilizing three axles orthogonal and measure the method for earth rotation parameter (ERP), certain any earth rotation parameter (ERP) can be obtained on ground according to the principle of the responsive earth rotation movement of optical fibre gyro.Adopt the instrument of invention to obtain earth rotation parameter (ERP) and can reach following working effect:
(I) cycle observed is shorter, can obtain magnanimity observation data;
(II) calculation method is easy, and data processing time is short;
(III) adopt orthogonal fibre gyro to carry out slope compensation correction, be not subject to external environmental interference, improve the earth rotation parameter (ERP) precision resolved;
(IV) do not need air-ground translocation on a large scale, independently can be obtained from and ask Spin parameters, for realizing providing possibility to the Monitoring on Dynamic Change of earth rotation parameter (ERP).
Accompanying drawing explanation
Fig. 1 is optical fibre gyro Sagnac effect principle figure.
Fig. 2 is that optical fibre gyro measures geographic latitude schematic diagram.
Fig. 3 is optical fibre gyro earth rotation parameter (ERP) measuring instrument basic system structure schematic diagram of the present invention.
Fig. 4 is optical fibre gyro earth rotation parameter (ERP) measuring instrument inner structure schematic diagram of the present invention.
Fig. 5 is three axle orthogonal fibre gyroscope structure schematic diagram of the present invention.
Fig. 6 is optical fibre gyro earth rotation parameter (ERP) measuring instrument working routine process flow diagram of the present invention.
Each label implication in Fig. 3: 001 sights system; 002 gyroscope shell; 003 optical fibre gyro element; 004 horizontal rotating disc; 005 dynamo-electric machine system; 006 gyroscope angle measuring system; 007 levelling device; 008 laser alignment system.
Each label implication in Fig. 4: 1, sight system; 2, horizontal rotary transfer part; 3, communication interface; 4, terminal pad; 5, gyroscope level tube; 6, shell; 7, three axle orthogonal fibre gyros; 8, temperature controls and compensation system; 9, accelerometer; 10, level tray; 11, electric rotating machine; 12, electronics rotor; 13, electric rotating machine turbine; 14, stepper motor; 15, stepping motor gear; 16, rotary positioning apparatus; 17, drive motor turning axle; 18, rolling bearing; 19, feed cable interface; 20, electronics angle measurement device; 21, grating encoder; 22, foot screw; 23, pedestal; 24, generating laser; 25, lower centering light hole.
Described optical fibre gyro earth rotation parameter (ERP) measuring instrument is fibre optic gyroscope.
Below in conjunction with drawings and Examples, particular content of the present invention is described in more detail.
Embodiment
The major advantage of optical fibre gyro is:
The first, instrument firm stable, the ability of shock-resistant and anti-accelerated motion is strong;
The second, structure is simple, and volume is little, lightweight;
3rd, start-up time is extremely short; Signal stabilization is reliable, directly can export by numeral, and connect with computer interface.
In view of at present to high precision, the situation that high resolving power geographic latitude value demand improves day by day, for defect or the deficiency of the measurement geographic latitude technology adopted at present, the present invention proposes a kind of earth rotation parameter (ERP) measuring instrument based on fiber-optics gyroscope, this instrument is attempted utilizing optical fibre gyro principle to carry out the assay method of earth rotation parameter (ERP) first, method of the present invention is simple, do not need large-scale air-ground translocation, independently can carry out the measurement of geographic latitude, less by environmental interference, and late time data processing speed is very fast, can the change of Real-Time Monitoring geographic latitude.
The difference of triaxial integration optical fibre gyro and three axle orthogonal fibre gyros used herein:
Functionally compare:
Triaxial integration optical fibre gyro in fact function and three single axis fiber gyro subsystem is suitable independently, be in order to realize, the turning axle angular velocity of three orthogonal space coordinates or position are measured, its objective is the angular rate information that will obtain three mutually perpendicular directions.What triaxial integration optical fibre gyro was paid close attention to is the angular rate information of inertia system in space on three orthogonal directionss, when triaxial integration optical fibre gyro be subject to vibrate, tilt affect time, responsive to three orthogonal directionss on angular velocity can be subject to the impact at angle of inclination, cause the responsive angular speed arrived on three directions inaccurate.Existing patent and paper do not adopt triaxial integration optical fibre gyro to carry out the precedent of slope compensation.
Three axle orthogonal fibre gyros used in the present invention, pay close attention to the just rate information of three optical fibre gyros on rotational-angular velocity of the earth direction, we only obtain the angular velocity of three optical fibre gyros in earth's axis horizontal direction, although the angular velocity information that single optical fibre gyro obtains respectively carries angle of inclination, but according to the relation that the sensitive axes of three optical fibre gyros is mutually orthogonal, its separately sensitivity to the vector of angular velocity information be just no longer subject to the impact at angle of inclination, thus reach the effect correcting droop error, improve Spin parameters estimating precision.
Compare from structure:
Triaxial integration optical fibre gyro mainly from saving components and parts, reducing volume, reducing costs and consider with the angle of power consumption, in order that reduce size and the weight of optical fibre gyro system, adopts same light source and treatment circuit.
Orthogonal fibre gyro used herein, adopts the optical fibre gyro that three coil sensitive axes are mutually orthogonal, in order that the error resolving earth rotation that elimination instrument tilts to cause.We are indifferent to, and whether three optical fibre gyro structures are integrated, and whether volume is smaller, because relative to gyroscope housing, the weight of optical fibre gyro is very little.
Compare from application:
Triaxial integration optical fibre gyro is mainly used in the civil area such as the military domain such as Aeronautics and Astronautics, navigation, missile guidance and geology, petroleum prospecting, inertia system three-dimensional measurement.
Orthogonal fibre gyro used herein, be mainly used in Astrometry and Celestial Mechanics, geodynamics, inertial navigation technology, geodesy field, also may be used for the fields such as Aeronautics and Astronautics, artificial satellite precise orbit determination, survey of deep space, global plate motion study on monitoring.
The present invention is by the originality with the fibre optic gyroscope Observed Latitude of three axle orthogonal fibre gyros:
Optical fibre gyro measures earth rotation parameter (ERP) technology and is different from traditional earth rotation parameter (ERP) determination techniques, is applied to by non-mechanical gyro first measure earth rotation parameter (ERP).
Orthogonal fibre gyro is adopted to solve instrument droop error to the impact of resolving Spin parameters.Existing triaxial integration optical fibre gyro master is the angular speed for measuring inertia system three directions in spatial coordinate system, not yet has paper and patent of invention to adopt three axis optical fibre gyro for solving the precedent of droop error at present.
The inclination correction compensation method of the orthogonal fibre gyro that the present invention adopts is different from the method that many observed quantities conventional in fields of measurement improve measuring accuracy, not common-sense error compensating method in fields of measurement.
Due to gyroaxis High Rotation Speed when traditional mechanical gyro works, the position reciprocally swinging of its gyro motor axle, cannot adopt the droop error of the way of orthogonal multiaxis to instrument to compensate.And optical fibre gyro belongs to static gyro, during optical fibre gyro work, its sensitive axes direction can not change, therefore adopt orthogonal fibre gyro whole optical fibre gyro system can be regarded as entirety, the vector of the component of the rotational-angular velocity of the earth that its sensitivity arrives is not all the time by the impact that instrument tilts.
Instrument also adopts the technology such as temperature control and compensation technique, dish position lock-in techniques, bearing auxiliary shoring system to improve precision and the reliability of earth rotation parameter (ERP) further.
Theoretical foundation of the present invention is as follows:
Optical fibre gyro is the Fibre Optical Sensor based on Sagnac effect, and it replaces the ring-like optical path of interferometer with optical fiber, forms optical fiber Sagnac interferometer.As shown in Figure 1, in same closed light path, the light beam that light source sends is divided into the equal light of two bundle features by beam splitter, respectively from the two ends coupled into optical fibres sensor coil of fiber optic coils, propagate with contrary direction, the two-beam out from fiber optic coils two ends, then superpose through beam splitter to produce and interfere, finally converge to same detector.
When fiber optic coils remains static, the two-beam out from fiber optic coils two ends, optical path difference is zero.And when fiber optic coils around perpendicular to closed light path place plane with angular speed relative inertness Space Rotating time, due to Sagnac effect, the light path that two-beam that is suitable, that counterclockwise propagate is passed by is different, produces optical path difference Δ L, optical path difference Δ L and angular velocity are directly proportional, and can be expressed as formula 1:
The corresponding phase differential that Δ L causes is:
In formula, r is fiber optic coils radius; L is fiber lengths; The area of A included by optic fibre light path; N is the fiber optic coils number of turn; λ is the wavelength of light; C is light velocity of propagation in media as well.
Formula 1 is the fundamental formular of optical fibre gyro, and when optical fibre gyro is dispatched from the factory, its fiber optic coils radius r, fiber lengths L are definite value, for the wavelength X of light and light in media as well velocity of propagation c be constant.Therefore, when optical fibre gyro carries out work, the information of angular speed just can be obtained by the information of detected phase difference Δ φ (i.e. interference light intensity), as shown in Equation 2:
As shown in Figure 2, in optical fibre gyro real work, be fixed on by optical fibre gyro on turntable, optical fibre gyro closes light path place plane orthogonal in turntable, turntable table top and plane-parallel, and the optical fibre gyro now on turntable remains static, and optical path difference is zero.But due to the impact of earth rotation, having angular velocity component perpendicular on optical fibre gyro direction, this makes optical fibre gyro relative inertness space rotate, the two-beam that fiber optic coils two ends send produces optical path difference, produces Sagnac effect.By detected phase difference Δ φ, rotational-angular velocity of the earth horizontal component ω can be obtained according to formula 4.
According to rotational-angular velocity of the earth horizontal component ω, relation between rotational-angular velocity of the earth and latitude value can formulation 3.
Wherein, ω is the angular speed component that optical fibre gyro is measured;
for latitude; K is the demarcation factor of optical fibre gyro; α be optical fibre gyro scrambler zero-bit (initial orientation) with geographic north to angle; ω
efor average rotational-angular velocity of the earth; ω
0for gyroscope constant value drift; θ is the corner of rotating disk.
The demarcation factor k of optical fibre gyro is known quantity, and ω is optical fibre gyro measured value, is averaged rotational-angular velocity of the earth ω
e=7.292115147 × 10
-5rad/s, optical fibre gyro scrambler zero-bit and geographic north to angle indirectly can be obtained by externally measured method, therefore can calculate survey station point latitude according to (formula 4)
According to Multiple station method, carry out optical fibre gyro sampling at different revolving table positions, Simultaneous Equations calculates can eliminate fiber optic gyroscope constant drift ω
0impact.
As shown in Figure 3 and 4, optical fibre gyro earth rotation parameter (ERP) measuring instrument of the present invention sights system by 001; 002 gyroscope shell; 003 optical fibre gyro element; 004 horizontal rotating disc; 005 dynamo-electric machine system; 006 gyroscope angle measuring system; 007 levelling device; 008 laser alignment System's composition.
Wherein sighting system 001 is placed in above gyroscope shell 002, is connected by terminal pad 4.Optical fibre gyro element 003, horizontal rotating disc 004, dynamo-electric machine system 005, gyroscope angle measuring system 006, laser alignment system 008 form gyroscope system, it is inner that its inner member is all placed in gyroscope shell 002, and levelling device 007 is placed in bottom gyroscope.
As shown in Figure 4, VV axle is the central axis of fiber gyro total station and its shell 6, HH axle is the axis sighting system 1 telescope turning axle, and V ' V ' axle is for sighting the telescopical collimation line of system 1, and three axis are vertically intersected on the telescopical inside center point of the system of sighting 1 mutually;
H ' H ' axle is the axis sighting system 1 level tube, and H ' H ' axle is parallel with HH axle and perpendicular to VV axle; When utilizing the angle spiral 22 pairs of total powerstations below shell 6 to flatten, if the bubble sighted in system 1 level tube is placed in the middle, then represent that optical fibre gyro earth rotation parameter (ERP) measuring instrument is in horizontality on the axial direction of H ' H '.
Sight system 001 mainly to comprise medium-height trestle, telescope, sight system angle-measuring equipment, wherein, upper centering Stent Implantation is sighting system 1 top, structure in shaped door, its center is provided with centering mark (being positioned on VV axle), can carry out upper centering by plumb bob method; Telescope can rotate freely around HH axle in vertical plane, rotates, for fine sight target in surface level around VV axle; The system angle-measuring equipment of sighting is placed in below the system of sighting 1, utilizes collimation telescope target, can horizontal sextant angle between Accurate Determining target and scale zero graduation by sighting system angle-measuring equipment.
Sighting system 001 to be connected with the gyroscope system of below by connecting sabot 4, forming the integral structure of same pedestal; The gyroscope shell 002 that gyroscope system outside has metal material to make wraps up, and for the protection of gyroscope inner member, on gyroscope shell 002, Plane Installation has gyroscope level tube 5; Gyroscope system is formed primarily of optical fibre gyro element 003, horizontal rotating disc 004, dynamo-electric machine system 005, gyroscope angle measuring system 006, laser alignment system 008; Wherein, dynamo-electric machine system 005 is fixed on gyroscope system central authorities, and its drive motor turning axle 17 is positioned on VV axle; Connect firmly a horizontal rotating disc 004 above dynamo-electric machine system 005, horizontal rotating disc 004 mid point is positioned on VV axle, and horizontal rotating disc 004 plane is strictly perpendicular to VV axle; Installing optical fibres gyro element 003 on horizontal rotating disc 004; Fix gyroscope angle measuring system 006 below dynamo-electric machine system 005 axis, VV axle is crossed at grating encoder 21 center of gyroscope angle measuring system 006, and grating encoder 21 plane is strictly perpendicular to VV axle; Settle laser alignment system 008 bottom gyroscope system, the ray that generating laser 24 is launched overlaps with VV axle, can realize the lower centering of instrument through lower centering light hole 25; Levelling device 007 is arranged on bottom gyroscope system, for flattening instrument.Horizontal rotating disc 004, dynamo-electric machine system 005 and gyroscope angle measuring system 006 form a close coupled type rotation system, during gyroscope work, dynamo-electric machine system 005 provides power for horizontal rotating disc 004, drives optical fibre gyro element 003 and gyroscope angle measuring system 006 to rotate in the horizontal direction around VV axle.
Dynamo-electric machine system 005 is made up of drive motor 11, rotor 12, electric rotating machine turbine 13, stepper motor 14, stepping motor gear 15, rotary positioning apparatus 16, drive motor turning axle 17, rolling bearing 18, feed cable interface 19.Its drive motor 11 is positioned at gyroscope system center, and its plane keeps level; Drive motor turning axle 17 overlaps with VV axle, and drive motor turning axle 17 lower end adopts deep-groove ball rolling bearing 18 as supplemental support, improves whole axle system ground precision and reliability; The outside mounting rotary electric machine turbine 13 of rotor 12 of drive motor 11, stepper motor 14 is arranged on drive motor 11 side, is connected with drive motor 11, and stepping motor gear 15 is engaged mutually with electric rotating machine turbine 13; Electric rotating machine turbine 13 lower end is mounted with rotary positioning apparatus 16, for locking electric rotating machine turbine 13 transposition; Shell 6 is provided with feed cable interface 19, for gyroscope system provides power supply.
Optical fibre gyro and control element 003 thereof comprise three axle orthogonal fibre gyros 7, accelerometer 9 and temperature and control and compensation system 8, and these elements are all placed on the level tray 10 that connects firmly with dynamo-electric machine system 005; Wherein, three axle orthogonal fibre gyros 7 are arranged on level tray 10 center, and wherein two optical fibre gyro sensor coil axis are parallel with level tray 10 plane, and orthogonal with VV axle, and another optical fibre gyro sensor coil axes normal is in level tray 10 plane; Accelerometer 9 is arranged on level tray 10, and its sensitive axes is parallel with level tray 10 plane, and orthogonal with optical fibre gyro input shaft direction, for measuring carrier linear acceleration; Level tray 10 is mounted with temperature to control and compensation system 8, for controlling the phase modulation being subject to influence of temperature change and compensating correction, thus improves the precision resolving earth rotation parameter (ERP).
Gyroscope angle measuring system 006 is made up of grating encoder 21, electronics angle measurement device 20, and grating encoder 21 connects firmly in drive motor turning axle 17 lower end, can be driven rotate around VV axle by dynamo-electric machine system 004; Electronics angle measurement device 20 is positioned at above grating encoder 21, for detecting the angular displacement signal of main shaft gyration.
Levelling device 007 is placed in below gyroscope, is made up of three uniform foot screws 22, when using apparatus measures earth rotation parameter (ERP), by regulating three foot screws 22 that gyroscope level tube 5 bubble can be made placed in the middle, guarantees that whole coaxial system is in surface level.
Optimally revolutions parameters precision technology
In order to improve the precision of the earth rotation parameter (ERP) that apparatus measures goes out, the present invention adopts following several technology
(A) rotating disk slope compensation technology
Ideally, plane of rotor disc and plane-parallel, optical fibre gyro can measure earth rate horizontal component in all directions.But due to leveling error and the coaxial system axial system error of instrument, make plane of rotor disc not severity, what cause single optical fibre gyro to measure is no longer the horizontal component of independent earth rate, but with the angular velocity component of droop error, finally can cause the deviation resolving earth rate.
For this problem, the present invention proposes the method that the mutually orthogonal optical fibre gyro of a kind of employing three compensates rotating disk droop error.By the earth rotation parameter (ERP) with droop error that the earth rotation parameter (ERP) vector that three mutually orthogonal optical fibre gyros resolve out replaces single optical fibre gyro to resolve out.
As shown in Figure 5, optical fibre gyro X, optical fibre gyro Y, optical fibre gyro Z that three parameters are identical is settled at the center of rotating disk, the sensor coil axis of three optical fibre gyros is mutually orthogonal, three mutually orthogonal optical fibre gyros form an independently system, no matter how this system rotates, three optical fibre gyros responsive to earth rotation parameter (ERP) vector be always the earth rotation parameter (ERP) value finally will resolved and obtain.
During system works, three optical fibre gyros image data simultaneously, calculate the rotational-angular velocity of the earth component that each optical fibre gyro measures, three rotational-angular velocity of the earth components carry out vector summing, and last solution calculates rotational-angular velocity of the earth.This kind of way is adopted can effectively to reduce, due to plane of rotor disc and the surface level not droop error brought of perfect parallelism, to improve the precision that optical fibre gyro measures rotational-angular velocity of the earth.
(B) temperature controls and compensation technique
Owing to have employed a large amount of optical device in optical fibre gyro, these core component is more responsive to temperature, and the change of temperature can cause optical fiber drift unstable, thus reduces the precision that optical fibre gyro measures earth rotation parameter (ERP).The present invention adds temperature and controls and bucking-out system on optical fibre gyro rotating disk, make it can reach thermal equilibrium rapidly in real work, enter steady-working state, correction is compensated to the phase modulation being subject to influence of temperature change simultaneously, thus improve the precision resolving earth rotation parameter (ERP).
(C) position lock-in techniques is coiled
Because resolving of rotational-angular velocity of the earth is relevant to the corner of turntable, if the corner of turntable can not rotate accurately and be locked in corresponding optical fibre gyro sampling location, there is deviation in the corner value that participation will be made to resolve and actual rotational angle value, thus reduces the precision resolving earth rotation parameter (ERP).
In instrument, employing dish position lock-in techniques effectively can improve the rotation positioning precision of turntable, thus reaches the object of the earth rotation parameter (ERP) putting forward mensuration.When angular displacement signal on gyroscope angle measuring system 006 to detect main shaft gyration grating encoder 21 by electronics angle measurement device 20, system is by the rotary positioning apparatus 16 of angular displacement Signal transmissions to dynamo-electric machine system 005, turntable corner is precisely locked on the turntable Angle Position of required sampling, thus obtain accurate corner value, for resolving earth rotation parameter (ERP).
(D) bearing auxiliary shoring system
The turning axle of the close coupled type rotation system be made up of horizontal rotating disc 004, dynamo-electric machine system 005 and gyroscope angle measuring system 006 should strict vertical, and the precision of stability on earth rotation parameter calculation of each parts axle system of coaxial system has vital impact.In order to improve the turning axle stability of coaxial system, drive motor turning axle 17 lower end of the present invention in coaxial system adopts deep-groove ball rolling bearing 18 as supplemental support, to improve whole axle system ground precision and reliability, reach the object improving earth rotation parameter (ERP) estimating precision.
This instrument adopts Multiple station method to carry out data acquisition, and the difference gathering optical fibre gyro number of positions according to each cycle can be divided into two position methods, four position methods and 8 positions method.In order to realize solving earth rotation parameter (ERP) task, for four position methods, the one action process of optical fibre gyro earth rotation parameter (ERP) measuring instrument of the present invention and principle are described below.
Defer to technique scheme, below provide specific embodiments of the invention, it should be noted that the present invention is not limited to following specific embodiment, all equivalents done on technical scheme basis all fall into protection scope of the present invention.
Embodiment 1:
The present embodiment provides a kind of optical fibre gyro earth rotation parameter (ERP) measuring instrument working routine flow process, as shown in Figure 6, comprises following basic step:
One, instrument is settled:
Settle instrument at one of them survey station point of a known survey line, another survey station point settles a reflecting prism; Connect gyroscope power supply, open generating laser 24 switch, mobile instrument is until the laser beam directive survey station point identification of generating laser 24; Foot screw 22 is regulated to make gyroscope level tube 5 bubble placed in the middle.Repeatedly repeat to regulate foot screw 22 to operate to neutralization, until the leveling of instrument precise alignment.Gyroscope cable is inserted feed cable interface 19, opens external power supply switch, for instrument provides power supply; Start gyroscope, now whether gyroscope angle measuring system 006 can be positioned at grating encoder 21 zero-bit by automatic decision rotation system, if not in zero-bit, then starting dynamo-electric machine system 005 drives whole close coupled type rotation system to rotate around VV axle, until arrive grating encoder 21 zero-bit, dynamo-electric machine system 005 stops operating, and whole rotation system is locked in position I (zero-bit) by rotary positioning apparatus 16.
Two, initial conditions are inputted:
After rotation system is locked in position I (zero-bit), selects the earth rotation parameter (ERP) type measured according to user, require that user inputs different initial datas, to measure the geographic latitude of survey station, revolutions angular velocity omega fifty-fifty need be inputted
e=7.292115147 × 10
-5rad/s, is generally acquiescence fixed value; Then instrument aims at another known point of survey line according to the command prompt user assigned, and after sighting system 1 fine sight target, instrument prompting user inputs the true north azimuth α of aimed at survey line; The demarcation factor k value of input optical fibre gyro, k value is measured by manufacturer when instrument dispatches from the factory, and is generally acquiescence fixed value, and without the need to amendment, after the good above-mentioned known date of input, instrument starts to carry out data acquisition.
Three, earth rotation parameter (ERP) is measured:
After initial conditions input, assigned steering order is transferred to optical fibre gyro 7 by instrument, after receiving control signal, three axle orthogonal fibre gyros 7 and accelerometer 9 carry out data acquisition at position I (zero-bit), when collecting abundant data, stop sampling, sampling number i=1.
After the data sampling of position I (zero-bit) terminates, turntable gyro frequency steering order can be sent to drive motor 11 by three axle orthogonal fibre gyros 7, rotary positioning apparatus 16 unlocks, stepper motor 14 Driving Stepping Motor gear 15 starts to rotate, stepping motor gear 15 driven rotary motor turbine 13 rotates, and whole close coupled type rotation system is rotated around VV axle; The grating encoder 21 connected firmly below rotation system also rotates thereupon together, when electronics angle measurement device 20 judges arrival 90 ° of positions, drive motor 11 assigns positioning instruction to rotary positioning apparatus 16, drive motor 11 stops operating, whole rotation system is locked in position II (90 °) by rotary positioning apparatus 16, after three axle orthogonal fibre gyros 7 receive positioning signal, carry out data acquisition, sampling number i=i+1.Then dynamo-electric machine system 005 can drive close coupled type rotation system to repeat above-mentioned operation respectively at position III (180 °), position IV (270 °), final sampling number i=4, complete the sampling of total data, last rotation system finally can be turned back to zero-bit (now no longer sampling).Final instrument by four station acquisition to data carry out data processing calculating, calculate earth rotation parameter (ERP), then resolved data be transferred to memory module and demonstrate resolved data.
Four, earth geography latitude resolves:
Below, for four location methods, utilize the basic calculating process of three axle orthogonal fibre gyros mensuration geographic latitudes as follows:
Be parallel to the optical fibre gyro X of horizontal rotating disc for sensor coil axle, when rotation system is locked in position I (zero-bit), optical fibre gyro carries out data sampling, by optical fibre gyro fundamental formular
The angular speed of position I can be obtained by the information of detected phase difference (i.e. interference light intensity)
value, angular speed
the geographic latitude component that determines of survey station optical fibre gyro X therewith
relation determined by following formula:
Wherein, revolutions angular velocity omega fifty-fifty
ebe known known date with the north orientation angle α of known survey line, manually input to microcomputer when measuring before Spin parameters, k is the demarcation factor of optical fibre gyro, is gyroscope constant value drift; Now disc angle θ=0.Then have:
In like manner, when rotating disk rotates successively, the angular speed value that optical fibre gyro X collects at position II (θ=90 °), position III (θ=180 °), position IV (θ=270 °)
simultaneous four equations, the geographic latitude component that angular speed ω and optical fibre gyro X determines
relation can be expressed as system of equations:
In system of equations,
for unknown quantity, (3) formula deducts (1) formula, and (4) formula deducts (2) formula, cancellation ω
0, separate this system of equations and obtain:
Revolutions angular velocity omega fifty-fifty
e, north orientation angle α and optical fibre gyro demarcation factor k substitute into above formula, the latitude value component that this survey station point optical fibre gyro X measures can be calculated
in like manner optical fibre gyro Y, optical fibre gyro Z all can calculate corresponding latitude value component
finally will solve the vector of three:
Final geographic latitude value can be obtained
last result of calculation transfers to display screen, shows final data to user.
Concrete operation example:
First two known coordinate point A (32 ° 44 ' 12.07 "; 118 ° 27 ' 48.91 ", 182.109), B (32 ° 44 ' 29.65 ", 118 ° 27 ' 50.31 " is chosen, 182.109) northern azimuth angle alpha=1 ° 25 ' 36 of AB survey line, is calculated according to two point coordinate ";
Settle optical fibre gyro earth rotation parameter (ERP) measuring instrument at A point, system of sighting aims at B point, input known date north orientation angle α=1 ° 25 ' 36 ";
Three axle orthogonal fibre gyros are automatically four different dish position image data, and calculate corresponding latitude value component, the vector finally solving three show that final geographic latitude value is
Claims (2)
1. utilizing optical fibre gyro to measure a method for geographic latitude, it is characterized in that: the method is by measuring geographic latitude with the fibre optic gyroscope of three axle orthogonal fibre gyros.
2. the method for claim 1, is characterized in that: the concrete steps of the method are:
Step one, settles instrument: settle fibre optic gyroscope at one of them survey station point of a known survey line, another survey station point settles reflecting prism, opens fibre optic gyroscope, with system of the sighting fine sight reflecting prism of fibre optic gyroscope;
Step 2, input initial conditions: input revolutions angular velocity omega fifty-fifty
e, aim at the positive northern azimuth angle alpha of survey line, the demarcation factor value k of optical fibre gyro, wherein, ω
e=7.292115147 × 10
-5rad/s;
Step 3, three axle orthogonal fibre gyros measure angular speed values: start optical fibre gyro, optical fibre gyro X successively four disk positions 0 °, 90 °, 180 °, 270 ° carry out the sampling of angular speed value, obtain the angular speed value that disk position 0 ° is corresponding
the angular speed value that disk position 90 ° is corresponding
the angular speed value that disk position 180 ° is corresponding
the angular speed value that disk position 270 ° is corresponding
Step 4, earth geography latitude resolves: the angular speed value collected
the geographic latitude component determined with optical fibre gyro X
relation obtain:
Calculate the latitude value component that this survey station point optical fibre gyro X measures thus
optical fibre gyro Y and optical fibre gyro Z all can calculate corresponding latitude value component by the method identical with the latitude value component that optical fibre gyro X measures
with
finally will solve the vector of three:
Namely final geographic latitude value is obtained
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| CN110108265A (en) * | 2019-04-25 | 2019-08-09 | 长安大学 | A kind of gyro to measure instrument in autonomous acquisition geographic latitude and automatic seeking north |
| CN110108276A (en) * | 2019-04-25 | 2019-08-09 | 长安大学 | A method of utilizing magnetic suspension wipping top micrometric measurement geographic latitude |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108265A (en) * | 2019-04-25 | 2019-08-09 | 长安大学 | A kind of gyro to measure instrument in autonomous acquisition geographic latitude and automatic seeking north |
| CN110108276A (en) * | 2019-04-25 | 2019-08-09 | 长安大学 | A method of utilizing magnetic suspension wipping top micrometric measurement geographic latitude |
| CN110108276B (en) * | 2019-04-25 | 2022-09-13 | 长安大学 | Method for precisely measuring geographic latitude by using magnetic suspension gyroscope |
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