CN104655095B - A kind of method that utilization optical fibre gyro determines geographic latitude - Google Patents
A kind of method that utilization optical fibre gyro determines geographic latitude Download PDFInfo
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- CN104655095B CN104655095B CN201510030921.7A CN201510030921A CN104655095B CN 104655095 B CN104655095 B CN 104655095B CN 201510030921 A CN201510030921 A CN 201510030921A CN 104655095 B CN104655095 B CN 104655095B
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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
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Abstract
A kind of method that geographic latitude is determined there is provided utilization optical fibre gyro of the invention, the method determines geographic latitude by the fibre optic gyroscope with three axle orthogonal fibre gyros.The method is concretely comprised the following steps：Placement instrument, input initial conditions, three axle orthogonal fibre gyro angle measurement rate values, earth geography latitude are resolvedThus the latitude value component that survey station point optical fibre gyro X is measured can be calculatedOptical fibre gyro Y and optical fibre gyro Z can calculate corresponding latitude value component by with the latitude value component identical method that optical fibre gyro X is measuredWithThe vector of three will finally be solved：Can obtain final geographic latitude value
Description
Technical field
The invention belongs to Astrometry and Celestial Mechanics, geodynamics, inertial navigation technology, geodesy field,
Can 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, there is provided one
Plant the method that geographic latitude is determined using optical fibre gyro.
Background technology
Due to the influence of the different celestial bodies and THE EARTH INTERIOR PHYSICS mechanism of outside of the earth, the rotation process for causing the earth is not
Stabilization, the autorotation of the earth, including Ghandler motion and length-of-day change are generally described with earth rotation parameter (ERP), wherein Ghandler motion is ground
Motion of the revolutions axle relative to the earth's crust.After Earth Pole Shift, the longitude and latitude of ground survey station and azimuth can all become therewith
Change, we can derive the change of Ghandler motion by the change of LATITUDE OBSERVATIONS value on survey station.Therefore, the change of latitude is accurately measured
Change suffers from important practical significance and application value for Aeronautics and Astronautics, geophysical research.
Since the seventies in last century, people start accurately to monitor the change of earth rotation using space geodesy technique
Change, including 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 technologies have following common spy
Point：
First, observation system is huge, and system Construction is sufficiently complex, required apparatus expensive；
Second, it is necessary to air-ground translocation on a large scale, and observation cycle is more long, and the data volume of acquisition is limited；
3rd, it is necessary to data processing time more long in terms of achievement acquisition, and achievement calculates sufficiently complex.
There is a kind of utilization mechanical gyroscope to determine the technology of earth rotation parameter (ERP), this assay method at this stage, although
The time of observation is substantially reduced, but mechanical gyro is easily influenceed by factors such as wind-force, vibrations, temperature, so as to influence to survey
Determine the precision of earth rotation parameter (ERP).
The content of the invention
For the problem that prior art is present, it is an object of the present invention to provide a kind of more preferable side of measurement of certainty of measurement
Method determines geographic latitude.
In order to realize above-mentioned technical assignment, the present invention is adopted the following technical scheme that and is achieved：
A kind of method that utilization optical fibre gyro determines geographic latitude, the method is by the light with three axle orthogonal fibre gyros
Fiber gyroscope determines geographic latitude.
The method is concretely comprised the following steps：
Step one, disposes instrument：Fibre optic gyroscope, another survey station are disposed in an one of survey station point for known survey line
Point placement reflecting prism, opens fibre optic gyroscope, and system fine sight reflecting prism is sighted with fibre optic gyroscope.
Step 2, is input into initial conditions：It is input into average earth rotation angular velocity omegae, aim at the due north azimuth of survey line
α, the demarcation factor value k of optical fibre gyro；
Wherein, ωe=7.292115147 × 10-5Rad/s, α can be calculated by known point coordinates, and k values are dispatched from the factory in instrument
When by manufacturer determine generally acquiescence fixed value；
Step 3, three axle orthogonal fibre gyros determine angular speed value：Start optical fibre gyro, optical fibre gyro X is successively in four rotating disks
0 ° of position, 90 °, 180 °, 270 ° carry out angular speed value sampling, obtain corresponding angular speed value
Step 4, earth geography latitude is resolved：The angular speed value for collectingWith optical fiber top
The geographic latitude component that spiral shell X is determinedRelation be represented by equation below group：
Wherein：ω0It is gyroscope constant value drift, solves this equation group and obtain：
Thus the latitude value component that survey station point optical fibre gyro X is measured can be calculatedOptical fibre gyro Y and optical fibre gyro Z
Corresponding latitude value component can be calculated by with the latitude value component identical method that optical fibre gyro X is measuredWithMost
The vector of three will be solved afterwards：
Can obtain final geographic latitude value
The invention provides a kind of method that optical fibre gyro orthogonal using three axles determines earth rotation parameter (ERP), can be according to light
The principle of fine gyro sensitivity earth rotation movement obtains the earth rotation parameter (ERP) of certain point on ground.Obtained using the instrument of invention
Earth rotation parameter (ERP) can reach following working effect：
(I) cycle of observation is shorter, can obtain magnanimity observation data；
(II) calculation method is easy, and data processing time is short；
(III) slope compensation correction is carried out using orthogonal fibre gyro, is difficult, by external environmental interference, to improve the ground for resolving
Revolutions parameters precision；
(IV) need not air-ground translocation on a large scale, can independently be obtained from and seek Spin parameters, for realize to earth rotation join
Several Monitoring on Dynamic Change provides possibility.
Brief description of the drawings
Fig. 1 is optical fibre gyro Sagnac effect principle figures.
Fig. 2 is that optical fibre gyro determines geographic latitude schematic diagram.
Fig. 3 is optical fibre gyro earth rotation parameter (ERP) measuring instrument basic system structure schematic diagram of the invention.
Fig. 4 is optical fibre gyro earth rotation parameter (ERP) measuring instrument internal structure schematic diagram of the invention.
Fig. 5 is three axles orthogonal fibre gyroscope structure schematic diagram of the invention.
Fig. 6 is optical fibre gyro earth rotation parameter (ERP) measuring instrument working procedure flow chart of the invention.
Each label implication in Fig. 3：001 sights system；002 gyroscope shell；003 optical fibre gyro element；004 level turns
Disk；005 dynamo-electric machine system；006 gyroscope angle measuring system；007 levelling device；008 laser alignment system.
Each label implication in Fig. 4：1st, system is sighted；2nd, horizontal rotation portion；3rd, communication interface；4th, terminal pad；5th, gyroscope
Levelling tube；6th, shell；7th, three axle orthogonal fibre gyro；8th, temperature control and compensation device；9th, accelerometer；10th, level tray；
11st, electric rotating machine；12nd, electronics rotor；13rd, electric rotating machine turbine；14th, stepper motor；15th, stepping motor gear；16th, it is fixed to rotate
Position device；17th, motor rotary shaft；18th, rolling bearing；19th, feed cable interface；20th, electronics angle measurement device；21st, grating
Code-disc；22nd, foot screw；23rd, pedestal；24th, generating laser；25th, lower centering light hole.
Described optical fibre gyro earth rotation parameter (ERP) measuring instrument is fibre optic gyroscope.
Particular content of the invention is described in more detail below in conjunction with drawings and Examples.
Specific embodiment
The major advantage of optical fibre gyro is：
First, instrument firm stable, the ability of impact resistance and anti-accelerated motion is strong；
Second, simple structure, small volume is lightweight；
3rd, start the time extremely short；Signal stabilization reliability, can directly use numeral output, and couple with computer interface.
In view of situation about increasingly being improved to high accuracy, high-resolution geographic latitude value demand at present, for current use
The defect or deficiency of geographic latitude technology are measured, the present invention proposes a kind of earth rotation parameter (ERP) measurement based on fiber-optics gyroscope
Instrument, the instrument is attempted carrying out the assay method of earth rotation parameter (ERP) using optical fibre gyro principle first, and the method for the present invention is simple
It is easy, it is not necessary to large-scale air-ground translocation, the measurement of geographic latitude can be independently carried out, it is smaller by environmental disturbances, and the later stage
Data processing speed is very fast, can real-time monitoring geographic latitude change.
The difference of triaxial integration optical fibre gyro and three axles orthogonal fibre gyro used herein：
Functionally compare：
Triaxial integration optical fibre gyro actually function with three independently single axis fiber gyro subsystem it is suitable, be in order to
The rotation axis angular rate or position for realizing the space coordinates orthogonal to three are measured, its purpose is to obtain three mutually
The angular rate information of vertical direction.Triaxial integration optical fibre gyro is concerned with inertia system in space on three orthogonal directions
Angular rate information, when triaxial integration optical fibre gyro is vibrated, inclined influence when, it is sensitive to three orthogonal directions on
Angular speed can be influenceed by angle of inclination, cause on three directions the sensitive angular speed for arriving inaccurate.Existing patent and opinion
Text does not carry out the precedent of slope compensation using triaxial integration optical fibre gyro.
Three axles orthogonal fibre gyro used in the present invention, concern is three optical fibre gyros in rotational-angular velocity of the earth side
Upward rate information, we only obtain angular speed of three optical fibre gyros in earth's axis horizontal direction, although single light
The angular velocity information that fine gyro is obtained is respectively to come with angle of inclination, but mutually orthogonal according to the sensitive axes of three optical fibre gyros
Relation, its each sensitivity to the vector of angular velocity information be just no longer influenced by the influence at angle of inclination, so as to reach correction
The effect of heeling error, improves Spin parameters measurement accuracy.
Compare from structure：
Triaxial integration optical fibre gyro is mainly from the angle for saving component, reducing volume, reduces cost and power consumption
Consider, in order that reducing the size and weight of optical fibre gyro system, using same light source and process circuit.
Orthogonal fibre gyro used herein, using the optical fibre gyro that three coil sensitive axes are mutually orthogonal, in order that
Eliminate the error that instrument inclines the resolving earth rotation for causing.Whether we are indifferent to three optical fibre gyro structures integrated, body
Whether product is smaller, because relative to gyroscope housing, the weight very little of optical fibre gyro.
Compare from application field：
Triaxial integration optical fibre gyro be mainly used in the military domains such as Aeronautics and Astronautics, navigation, missile guidance and geology,
The civil areas such as oil exploration, inertia system three-dimensional measurement.
Orthogonal fibre gyro used herein, is mainly used in Astrometry and Celestial Mechanics, geodynamics, inertia
Airmanship, geodesy field, it is also possible to for Aeronautics and Astronautics, artificial satellite precise orbit determination, survey of deep space, global plate
The fields such as block motion monitoring research.
The originality that the present invention passes through the fibre optic gyroscope Observed Latitude with three axle orthogonal fibre gyros：
Optical fibre gyro determines earth rotation parameter (ERP) technology and is different from traditional earth rotation parameter (ERP) determination techniques, first will be non-
Mechanical gyro applies to determine earth rotation parameter (ERP).
Instrument heeling error is solved to resolving the influence of Spin parameters using orthogonal fibre gyro.Existing triaxial integration
Optical fibre gyro master be for determining inertia system three angular speeds in direction in spatial coordinate system, not yet have at present paper and
Patent of invention is used to solve the precedent of heeling error using three axis optical fibre gyro.
The slope correction compensation method of the orthogonal fibre gyro that the present invention is used is different from many sights of routine in fields of measurement
The method for improving certainty of measurement is measured, not common-sense error compensating method in fields of measurement.
Gyroaxis rotates at a high speed when being worked due to traditional mechanical gyro, the position reciprocally swinging of its gyro motor axle, nothing
Method is compensated using the method for orthogonal multiaxis to the heeling error of instrument.And optical fibre gyro belongs to static gyro, optical fibre gyro
Its sensitive direction of principal axis will not change during work, therefore can be regarded as whole optical fibre gyro system using orthogonal fibre gyro whole
Body, its sensitivity to the vector of component of rotational-angular velocity of the earth do not influenceed by instrument is inclined all the time.
Instrument also enters one using the technology such as temperature control and compensation technique, disk position lock-in techniques, bearing auxiliary shoring system
Step improves the precision and reliability of earth rotation parameter (ERP).
Theoretical foundation of the invention is as follows：
Optical fibre gyro is the Fibre Optical Sensor based on Sagnac effects, and it replaces the ring-like optical path of interferometer, structure with optical fiber
Into optical fiber Sagnac interferometers.As shown in figure 1, in same closure light path, the light beam that light source sends is divided into two beams by beam splitter
The equal light of feature, respectively from the two ends coupled into optical fibres sensor coil of fiber optic coils, is propagated, from light in a reverse direction
Fine coil two ends two-beam out, then generation interference is superimposed by beam splitter, finally converge to same detector.
When fiber optic coils remain static, from fiber optic coils two ends two-beam out, optical path difference is zero.And work as light
Fine coil around perpendicular to closure light path where plane with angular speed relative inertness Space Rotating when, it is suitable, inverse due to Sagnac effects
The light path that the two-beam that clockwise is propagated is passed by is different, produces optical path difference Δ L, optical path difference Δ L and angular speed to be directly proportional, can table
It is shown as formula 1：
The corresponding phase difference that Δ L causes is:
(formula 1)
In formula, r is fiber optic coils radius；L is fiber lengths；A is the area included by optic fibre light path；N is fiber optic coils
The number of turn；λ is the wavelength of light；C is light spread speed 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, be light wavelength X and light in media as well spread speed c be constant.Therefore, when optical fibre gyro is operated, by inspection
The information for surveying phase difference φ (i.e. interference light intensity) is obtained with the information of angular speed, as shown in Equation 2：
(formula 2)
As shown in Fig. 2 in optical fibre gyro real work, optical fibre gyro is fixed on turntable, optical fibre gyro closure light
Plane remains static perpendicular to turntable, turntable table top and plane-parallel, the now optical fibre gyro on turntable where road, light
Path difference is zero.But due to the influence of earth rotation, there is angular velocity component on optical fibre gyro direction, this causes optical fiber top
Spiral shell relative inertness space rotates, and the two-beam that fiber optic coils two ends send produces optical path difference, produces Sagnac effects.Pass through
Detection phase difference φ, can obtain rotational-angular velocity of the earth horizontal component ω according to formula 4.
Can be listed according to rotational-angular velocity of the earth horizontal component ω, the relation between rotational-angular velocity of the earth and latitude value
Formula 3.
Wherein, the angular speed component that ω is measured for optical fibre gyro；It is latitude；K is the demarcation factor of optical fibre gyro；α
It is optical fibre gyro encoder zero-bit (initial orientation) and the angle of geographical north orientation；ωeIt is average rotational-angular velocity of the earth；ω0It is top
Spiral shell 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, takes average rotational-angular velocity of the earth
ωe=7.292115147 × 10-5Rad/s, optical fibre gyro encoder zero-bit can be by externally measured with the angle of geographical north orientation
Method indirect gain, therefore survey station point latitude can be calculated according to (formula 4)
According to Multiple station method, optical fibre gyro sampling is carried out in different revolving table positions, Simultaneous Equations are calculated can disappear
Except fiber optic gyroscope constant drift ω0Influence.
As shown in Figure 3 and 4, optical fibre gyro earth rotation parameter (ERP) measuring instrument of the 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 is constituted.
Wherein sight system 001 and be placed in the top of gyroscope shell 002, connected by terminal pad 4.Optical fibre gyro element
003rd, horizontal rotating disc 004, dynamo-electric machine system 005, gyroscope angle measuring system 006, laser alignment system 008 constitute gyroscope system
System, its inner member is all positioned in inside gyroscope shell 002, and levelling device 007 is placed in gyroscope bottom.
As shown in figure 4, VV axles are the central axis of fiber gyro total station and its shell 6, HH axles are looked in the distance to sight system 1
The axis of mirror rotary shaft, V ' V ' axles are the collimation line of the telescope of system of sighting 1, and three axis are mutually perpendicular to intersect at the system of sighting
The inside center point of 1 telescope；
H ' H ' axles are the axis of the levelling tube of system of sighting 1, and H ' H ' axles are with HH axles parallel and perpendicular to VV axles；Using shell 6
When the angle spiral 22 of lower section is flattened to total powerstation, if the bubble sighted in the levelling tube of system 1 is placed in the middle, then it represents that optical fibre gyro
Earth rotation parameter (ERP) measuring instrument is in horizontality on the axial direction of H ' H '.
Sight system 001 mainly include on to medium-height trestle, telescope, sight system angle-measuring equipment, wherein, on to medium-height trestle
The top of the system of sighting 1, structure in shaped door are placed in, its center is provided with centering mark (being located on VV axles), can use and hang down
Ball carries out centering；Telescope can be rotated freely in vertical plane around HH axles, around the rotation of VV axles in horizontal plane, for accurate
Run-home；The system angle-measuring equipment of sighting is placed in the lower section of the system of sighting 1, using collimation telescope target, by sighting system
Angle-measuring equipment can be with the horizontal sextant angle between Accurate Determining target and scale zero graduation.
Sight system 001 and be connected with the gyroscope system of lower section by connecting sabot 4, formed with the integration knot of pedestal
Structure；The gyroscope shell 002 for having metal material to be made outside gyroscope system is wrapped up, for protecting gyroscope inner member, top
Plane Installation has gyroscope levelling tube 5 on spiral shell instrument shell 002；Gyroscope system is main by optical fibre gyro element 003, horizontal rotating disc
004th, dynamo-electric machine system 005, gyroscope angle measuring system 006, laser alignment system 008 are constituted；Wherein, dynamo-electric machine system
005 is fixed on gyroscope system center, and its motor rotary shaft 17 is located on VV axles；The top of dynamo-electric machine system 005 connects firmly
One horizontal rotating disc 004, the midpoint of horizontal rotating disc 004 is located on VV axles, and the plane of horizontal rotating disc 004 is strictly perpendicular to VV axles；Level
Optical fibre gyro element 003 is installed on rotating disk 004；The fixed gyroscope angle measuring system 006 in the axis of dynamo-electric machine system 005 lower section, top
VV axles are crossed at the center of grating encoder 21 of spiral shell instrument angle measuring system 006, and the plane of grating encoder 21 is strictly perpendicular to VV axles；Gyroscope system
System bottom placement laser alignment system 008, the ray and VV overlapping of axles of the transmitting of generating laser 24, through lower centering light hole 25
The lower centering of instrument can be realized；Levelling device 007 is arranged on gyroscope system bottom, for flattening instrument.Horizontal rotating disc
004th, dynamo-electric machine system 005 and gyroscope angle measuring system 006 constitute a close coupled type rotation system, when gyroscope works, rotation
Rotating motor system 005 is that horizontal rotating disc 004 provides power, drives optical fibre gyro element 003 and gyroscope angle measuring system 006 around VV
Axle rotates in the horizontal direction.
Dynamo-electric machine system 005 is by motor 11, rotor 12, electric rotating machine turbine 13, stepper motor 14, stepping
Motor gear 15, rotary positioning apparatus 16, motor rotary shaft 17, rolling bearing 18, feed cable interface 19 are constituted.It drives
Dynamic motor 11 is located at gyroscope system center, and its plane keeps level；Motor rotary shaft 17 and VV overlapping of axles, motor
Whole shafting ground precision and reliability are improved using deep-groove ball rolling bearing 18 is used as Auxiliary support in the lower end of rotary shaft 17；
The outside mounting rotary electric machine turbine 13 of rotor 12 of motor 11, stepper motor 14 is arranged on the side of motor 11,
It is connected with motor 11, stepping motor gear 15 is mutually engaged with electric rotating machine turbine 13；The lower end of electric rotating machine turbine 13 disposes
There are rotary positioning apparatus 16, for locking the indexing of electric rotating machine turbine 13；Shell 6 is provided with feed cable interface 19, is gyroscope
System provides power supply.
Optical fibre gyro and its control element 003 include three axle orthogonal fibre gyros 7, accelerometer 9 and temperature control and
Compensation device 8, these elements are all positioned on the level tray 10 that is connected firmly with dynamo-electric machine system 005；Wherein, three axle orthogonal optical
Fine gyro 7 is arranged on the center of level tray 10, and two of which optical fibre gyro sensor coil axis is parallel with the plane of level tray 10,
And it is orthogonal with VV axles, another optical fibre gyro sensor coil axis is perpendicular to the plane of level tray 10；Accelerometer 9 is arranged on water
On flat pallet 10, its sensitive axes is parallel with the plane of level tray 10, and orthogonal with optical fibre gyro input direction of principal axis, is transported for measuring
Carrier linear acceleration；Temperature control and compensation device 8 are mounted with level tray 10, on adjusting for being influenceed by temperature change
Phase processed is controlled and compensates correction, so as to improve the precision for 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 is connected firmly and driven
The lower end of electric machine rotational axis 17, can be driven by dynamo-electric machine system 004 and be rotated around VV axles；Electronics angle measurement device 20 is located at grating encoder
21 tops, the angular displacement signal for detecting main shaft gyration.
Levelling device 007 is placed in gyroscope lower section, is made up of three uniform foot screws 22, uses the apparatus measures earth
During Spin parameters, by adjusting three foot screws 22 bubble of gyroscope levelling tube 5 can be made placed in the middle, it is ensured that at whole coaxial system
In horizontal plane.
Optimization earth rotation parameters precision technology
In order to improve the precision of the earth rotation parameter (ERP) that apparatus measures go out, the present invention is using following several technologies
(A) rotating disk slope compensation technology
Ideally, plane of rotor disc and plane-parallel, optical fibre gyro can measure earth rate water in all directions
The amount of dividing equally.But leveling error and coaxial system axial system error due to instrument, make plane of rotor disc not severity, cause single
What optical fibre gyro measured is no longer the horizontal component of independent earth rate, but the angular velocity component with heeling error,
Eventually cause the deviation for resolving earth rate.
For this problem, the present invention proposes a kind of using three mutually orthogonal optical fibre gyro compensation rotating disk heeling errors
Method.The earth rotation parameter (ERP) vector resolved with three mutually orthogonal optical fibre gyros replaces single optical fibre gyro solution
The earth rotation parameter (ERP) with heeling error for calculating.
As shown in figure 5, disposing three parameter identical optical fibre gyro X, optical fibre gyro Y, optical fibre gyros at the center of rotating disk
Z, the sensor coil axis of three optical fibre gyros is mutually orthogonal, and three mutually orthogonal optical fibre gyros form one and independent are
System, no matter how this system rotates, three optical fibre gyro sensitivities to earth rotation parameter (ERP) vector be always and finally to solve
The earth rotation parameter (ERP) value for obtaining.
When system works, three optical fibre gyros are while gathered data, calculates the earth that each optical fibre gyro measures
Spin velocity component, three rotational-angular velocity of the earth components carry out vector summation, finally calculate rotational-angular velocity of the earth.Adopt
Can effectively be reduced by plane of rotor disc and the horizontal plane heeling error that perfect parallelism is not brought with this kind of method, improve
Optical fibre gyro measures the precision of rotational-angular velocity of the earth.
(B) temperature control and compensation technique
Due to employing a large amount of optics in optical fibre gyro, these core component is more sensitive to temperature, temperature
Change can cause optical fiber drift unstable, so as to reduce the precision that optical fibre gyro measures earth rotation parameter (ERP).The present invention is in optical fiber
Temperature control and compensation system are added on gyro rotating disk, makes it that thermal balance can be rapidly reached in real work, into stabilization
Working condition, while correction is compensated on the phase modulation influenceed by temperature change, so as to improve resolving earth rotation ginseng
Several precision.
(C) disk position lock-in techniques
Because the resolving of rotational-angular velocity of the earth and the corner of turntable are related, if the corner of turntable can not be rotated accurately
And corresponding optical fibre gyro sampling location is locked in, the corner value that participation is resolved will be made to there is deviation with actual rotational angle value,
The precision of earth rotation parameter (ERP) is resolved so as to reduce.
The rotational positioning precision of turntable can be effectively improved in instrument using disk position lock-in techniques, measure is put forward so as to reach
The purpose of earth rotation parameter (ERP).When gyroscope angle measuring system 006 detects the grating of main shaft gyration by electronics angle measurement device 20
Angular displacement signal on code-disc 21, system by the rotary positioning apparatus 16 of angular displacement signal transmission to dynamo-electric machine system 005,
The turntable Angle Position of sampling required for turntable corner is precisely locked on, so as to obtain accurate corner value, for resolving the earth
Spin parameters.
(D) bearing auxiliary shoring system
The close coupled type rotation system being made up of horizontal rotating disc 004, dynamo-electric machine system 005 and gyroscope angle measuring system 006
Rotary shaft should strict vertical, the stability of each part shafting of coaxial system has to the precision of earth rotation parameter calculation
Vital influence.In order to improve the rotary shaft stability of coaxial system, motor rotation of the present invention in coaxial system
The lower end of rotating shaft 17 uses deep-groove ball rolling bearing 18 as Auxiliary support, to improve whole shafting ground precision and reliability,
Reach the purpose for improving earth rotation parameter (ERP) measurement accuracy.
This instrument carries out data acquisition using Multiple station method, can according to the difference of each cycle collection optical fibre gyro number of positions
To be divided into two position methods, four position methods and 8 positions method.In order to realize solving earth rotation parameter (ERP) task, below with four position methods
As a example by the one action process and principle of optical fibre gyro earth rotation parameter (ERP) measuring instrument of the invention are illustrated.
Above-mentioned technical proposal, specific embodiment of the invention given below are deferred to, it is necessary to explanation is the present invention not office
It is limited to specific examples below, all equivalents done on the basis of technical scheme each fall within protection model of the invention
Enclose.
Embodiment 1：
The present embodiment provides a kind of optical fibre gyro earth rotation parameter (ERP) measuring instrument working procedure flow, as shown in fig. 6, including
Following basic step：
First, instrument is disposed：
Instrument, another survey station point is disposed to dispose a reflecting prism in an one of survey station point for known survey line；Connect
Gyroscope power supply, opens generating laser 24 and switchs, and mobile instrument is until the laser beam directive survey station point mark of generating laser 24
Know；Regulation foot screw 22 makes the bubble of gyroscope levelling tube 5 placed in the middle.It is iteratively repeated and is operated to neutralizing regulation foot screw 22, until instrument
Device precise alignment is flattened.By gyroscope cable insertion feed cable interface 19, external power supply switch is opened, for instrument provides electricity
Source；Start gyroscope, now whether the meeting automatic decision of gyroscope angle measuring system 006 rotation system is located at the zero-bit of grating encoder 21,
If not in zero-bit, starting dynamo-electric machine system 005 and driving whole close coupled type rotation system to be rotated around VV axles, until reaching grating
The zero-bit of code-disc 21, dynamo-electric machine system 005 is stopped operating, and whole rotation system is locked in position I (zero by rotary positioning apparatus 16
Position).
2nd, initial conditions are input into：
After rotation system is locked in position I (zero-bit), according to the earth rotation parameter (ERP) type that user's selection is determined, it is desirable to
The different initial data of user input, the geographic latitude to determine survey station, need to be input into average earth rotation angular velocity omegae=
7.292115147×10-5Rad/s, generally gives tacit consent to fixed value；Then instrument according to the command prompt user for assigning to survey line
Another known point is aimed at, and after the fine sight target of system of sighting 1, instrument prompting user input aims at the geographical north of survey line
Azimuth angle alpha；The demarcation factor k values of input optical fibre gyro, k values are determined when instrument dispatches from the factory by manufacturer, generally give tacit consent to solid
Definite value, without modification, after the good above-mentioned known date of input, instrument proceeds by data acquisition.
3rd, earth rotation parameter (ERP) is determined：
After initial conditions input is finished, the control instruction that instrument will be assigned is transmitted to optical fibre gyro 7, receives control letter
After number, three axle orthogonal fibre gyros 7 and accelerometer 9 carry out data acquisition in position I (zero-bit), when collecting enough numbers
According to when, stop sampling, sampling number i=1.
After the data sampling of position I (zero-bit) terminates, three axle orthogonal fibre gyro 7 can be by turntable speed control instruction
Motor 11 is sent to, rotary positioning apparatus 16 are unlocked, the Driving Stepping Motor gear 15 of stepper motor 14 starts rotation, stepping
Motor gear 15 is rotated motor turbine 13 and rotates, and whole close coupled type rotation system is rotated around VV axles；Connect firmly in rotation system
Grating encoder 21 below system also rotates together therewith, when electronics angle measurement device 20 is determined up to 90 ° of positions, motor 11
Positioning instruction is assigned to rotary positioning apparatus 16, motor 11 stops operating, rotary positioning apparatus 16 are by whole rotation system
Position II (90 °) is locked in, after three axle orthogonal fibre gyros 7 receive framing signal, data acquisition, sampling number i=i is carried out
+1.Then dynamo-electric machine system 005 can drive close coupled type rotation system to be weighed respectively in position III (180 °), position IV (270 °)
Multiple above-mentioned operation, final sampling number i=4 completes the sampling of total data, and last rotation system is eventually turned back to zero-bit
(now not re-sampling).Final instrument by four station acquisitions to data carry out data processing calculating, calculate earth rotation
Parameter, is then transferred to resolved data memory module and shows resolved data.
4th, earth geography latitude is resolved：
Below, by taking four location methods as an example, the basic calculating process of geographic latitude is determined using three axle orthogonal fibre gyros
It is as follows：
By taking optical fibre gyro X of the sensor coil axle parallel to horizontal rotating disc as an example, when rotation system is locked in position I (zero-bit)
When, 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 for detecting phase difference (i.e. interference light intensity)Value, angular speed
The geographic latitude component determined with this survey station optical fibre gyro XRelation determined by equation below：
Wherein, average earth rotation angular velocity omegaeIt is known known date with the north orientation angle α of known survey line, determines certainly
Microcomputer is manually entered into when turning before parameter, k is the demarcation factor of optical fibre gyro, is gyroscope constant value drift；Now rotating disk
Angle θ=0.Then have：
Similarly, when rotating disk is rotated successively, optical fibre gyro X is in position II (θ=90 °), position III (θ=180 °), position IV
The angular speed value that (θ=270 °) collectFour equations of simultaneous, angular speed ω and optical fibre gyro X is determined
The geographic latitude component for going outRelation be represented by equation below group：
In equation group,It is unknown quantity, (3) formula subtracts (1) formula, and (4) formula subtracts (2) formula, eliminates ω0, solve this equation group and obtain：
Average earth rotation angular velocity omegae, north orientation angle α and optical fibre gyro demarcation factor k substitute into above formula, you can calculate
Go out the latitude value component that survey station point optical fibre gyro X is measuredSimilarly optical fibre gyro Y, optical fibre gyro Z can be calculated accordingly
Latitude value componentThe vector of three will finally be solved：
Can obtain final geographic latitude valueLast result of calculation is transmitted to display screen, and final data is shown to user.
Specific operation example：
Two known coordinate point A (32 ° 44 ' 12.07 ", 118 ° 27 ' 48.91 ", 182.109), (32 ° 44 ' of B are chosen first
29.65 ", 118 ° 27 ' 50.31 ", 182.109), northern parallactic angle α=1 ° 25 ' 36 of AB surveys line is calculated according to two point coordinates "；
Optical fibre gyro earth rotation parameter (ERP) measuring instrument is disposed in A points, system is sighted and is aimed at B points, be input into known date north orientation
Angle α=1 ° 25 ' 36 "；
Three axle orthogonal fibre gyros are automatic in four different disk position gathered datas, calculate corresponding latitude value component, most
The vector for solving three afterwards show that final geographic latitude value is
Claims (1)
1. a kind of method that utilization optical fibre gyro determines geographic latitude, it is characterised in that：The method is by with three axle orthogonal opticals
The fibre optic gyroscope of fine gyro determines geographic latitude；
The described fibre optic gyroscope with three axle orthogonal fibre gyros is by sighting system (001), gyroscope shell (002), light
Fine gyro element (003), horizontal rotating disc (004), dynamo-electric machine system (005), gyroscope angle measuring system (006), levelling device
(007) constituted with laser alignment system (008)；
Described system (001) of sighting is placed in gyroscope shell (002) top, is connected by terminal pad (4), optical fibre gyro unit
Part (003), horizontal rotating disc (004), dynamo-electric machine system (005), gyroscope angle measuring system (006), laser alignment system (008)
Gyroscope system is constituted, the inner member of gyroscope system is all positioned in gyroscope shell (002) inside, levelling device (007)
It is placed in gyroscope bottom；
It is described sight system (001) including on to medium-height trestle, telescope, sight system angle-measuring equipment, wherein, on to medium-height trestle
The system of sighting (001) top, structure in shaped door are placed in, its center is provided with centering mark, and it is upper right to be carried out with plumb bob method
In；Telescope is rotated freely in vertical plane around axle HH, around axle VV rotations in horizontal plane, for fine sight target；Sight and be
Unified test angle apparatus are placed in the system of sighting (001) lower section, accurate by sighting system angle-measuring equipment using collimation telescope target
Determine the horizontal sextant angle between target and scale zero graduation；
Sight system (001) to be connected with the gyroscope system of lower section by terminal pad (4), formed with the integration knot of pedestal
Structure；The gyroscope shell (002) for having metal material to be made outside gyroscope system is wrapped up, for protecting gyroscope inner member,
Plane Installation has gyroscope levelling tube (5) on gyroscope shell (002)；In gyroscope system, dynamo-electric machine system (005) is fixed
In gyroscope system center, its motor rotary shaft (17) is on axle VV；Dynamo-electric machine system (005) top connects firmly a water
Rotating disc (004), horizontal rotating disc (004) midpoint is located on axle VV, and horizontal rotating disc (004) plane is strictly perpendicular to axle VV；Water
Optical fibre gyro element (003) is installed on rotating disc (004)；The fixed gyroscope angle measurement system in dynamo-electric machine system (005) axis lower section
System (006), axle VV is crossed at grating encoder (21) center of gyroscope angle measuring system (006), and grating encoder (21) plane is strictly hung down
Directly in axle VV；Gyroscope system bottom disposes laser alignment system (008), ray and the axle VV weights of generating laser (24) transmitting
Close, the lower centering of instrument is realized through lower centering light hole (25)；Levelling device (007) is used installed in gyroscope system bottom
In leveling instrument；Horizontal rotating disc (004), dynamo-electric machine system (005) and gyroscope angle measuring system (006) constitute a close coupled type
Rotation system, when gyroscope works, dynamo-electric machine system (005) provides power for horizontal rotating disc (004), drives optical fibre gyro unit
Part (003) and gyroscope angle measuring system (006) rotate in the horizontal direction around axle VV；
Described dynamo-electric machine system (005) is by motor (11), rotor (12), electric rotating machine turbine (13), stepping
Motor (14), stepping motor gear (15), rotary positioning apparatus (16), motor rotary shaft (17), deep-groove ball rolling bearing
(18) constituted with feed cable interface (19), positioned at gyroscope system center, its plane keeps level to motor (11)；Drive
Electric machine rotational axis (17) overlap with axle VV, and motor rotary shaft (17) lower end is using deep-groove ball rolling bearing (18) as auxiliary
Support, improves whole shafting ground precision and reliability；The outside mounting rotary electric machine whirlpool of the rotor (12) of motor (11)
Wheel (13), stepper motor (14) is connected installed in motor (11) side with motor (11), stepping motor gear (15)
Mutually it is engaged 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) indexing；Shell (6) is provided with feed cable interface (19), for gyroscope system provides power supply；
Described optical fibre gyro element (003) including three axle orthogonal fibres gyro (7), accelerometer (9) and temperature control and
Compensation device (8), these elements are all positioned on the level tray (10) that is connected firmly with dynamo-electric machine system (005)；Wherein, three axle
Orthogonal fibre gyro (7) is installed in level tray (10) center, two of which optical fibre gyro sensor coil axis and level tray
(10) plane is parallel, and orthogonal with axle VV, and another optical fibre gyro sensor coil axis is perpendicular to level tray (10) plane；Plus
Speedometer (9) is on level tray (10), and accelerometer (9) sensitive axes are parallel with level tray (10) plane, and with light
Fine input axis of gyro direction is orthogonal, for measuring carrier linear acceleration；Level tray is mounted with temperature control and benefit on (10)
Device (8) is repaid, for being controlled on the phase modulation influenceed by temperature change and compensating correction, so as to improve the resolving earth
The precision of Spin parameters；
Described gyroscope angle measuring system (006) is made up of grating encoder (21), electronics angle measurement device (20), grating encoder (21)
Connect firmly in motor rotary shaft (17) lower end, can be driven by dynamo-electric machine system (005) and be rotated around axle VV；Electronics angle measurement device
(20) positioned at grating encoder (21) top, the angular displacement signal for detecting main shaft gyration；
Described levelling device (007) is placed in gyroscope lower section, is made up of three uniform foot screws (22), is surveyed using instrument
During amount earth rotation parameter (ERP), make gyroscope levelling tube (5) bubble placed in the middle by adjusting three foot screws (22), it is ensured that whole coaxial
Formula rotation system is in horizontal plane；
The method is concretely comprised the following steps：
Step one, disposes instrument：Fibre optic gyroscope, another survey station point peace are disposed in an one of survey station point for known survey line
Reflecting prism is put, fibre optic gyroscope is opened, system fine sight reflecting prism is sighted with fibre optic gyroscope；
Step 2, is input into initial conditions：It is input into average earth rotation angular velocity omegae, aim at the due north azimuth angle alpha of survey line, optical fiber
The demarcation factor value k of gyro, wherein, ωe=7.292115147 × 10-5rad/s；
Step 3, three axle orthogonal fibre gyros determine angular speed value：Start optical fibre gyro, optical fibre gyro X is successively in four rotating disks
0 ° of position, 90 °, 180 °, 270 ° carry out angular speed value sampling, obtain the corresponding angular speed value of 0 ° of disk positionDisk position
90 ° of corresponding angular speed valuesThe corresponding angular speed value of 180 ° of disk position270 ° of corresponding angular speeds of disk position
Value
Step 4, earth geography latitude is resolved：The angular speed value for collectingSurveyed with optical fibre gyro X
The geographic latitude component madeRelation obtain：
Thus the latitude value component that survey station point optical fibre gyro X is measured is calculatedOptical fibre gyro Y and optical fibre gyro Z can
Corresponding latitude value component is calculated by with the latitude value component identical method that optical fibre gyro X is measuredWithFinally will
Solve the vector of three：
Obtain final geographic latitude value
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