CN1052371A - Gyroscope north searching instrument - Google Patents
Gyroscope north searching instrument Download PDFInfo
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- CN1052371A CN1052371A CN 90103687 CN90103687A CN1052371A CN 1052371 A CN1052371 A CN 1052371A CN 90103687 CN90103687 CN 90103687 CN 90103687 A CN90103687 A CN 90103687A CN 1052371 A CN1052371 A CN 1052371A
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Abstract
The present invention relates to a kind of vehicle-mounted gyroscope north searching instrument, adopt the multiposition strapdown to survey northern method, with gyro and an accelerometer, be installed on the stepping whirligig that to realize the multiposition rotation, change in location by the single axle table on this device, gyro is measured at each locational rotational-angular velocity of the earth component, accelerometer is measured gravitational acceleration component synchronously, this two paths of signals is sent into signal processing apparatus, handle in real time by the microprocessor in this device, export angle by north, the latitude of locality and the inclination angle of car body.This seeks northern instrument can be at the car body wide-angle tilt, and need not the plane at leveling gyro sensitive axes place and know under the situation of local geographic latitude and measure accurately.
Description
The present invention relates to a kind of vehicle-mounted gyroscope north searching instrument.
A kind of " referring to northern orienting device " disclosed on the patent DE3541259 of Germany, adopt accurate strapdown mode, has binary gimbal, two of disturbing property gyro each other the angular speed sensitive axes of quadrature remain on the level of approximation state, to overcome the survey north error that different latitude causes, each sensitive axes direction of gyro is respectively installed an accelerometer, be used for compensating even the survey north error that level of approximation also will produce, two sensitive axes of gyro record the component of rotational-angular velocity of the earth along this respectively, two accelerometers record the component of acceleration of gravity two sensitive axes respectively, signal processing apparatus is converted into gravitational acceleration component the deviation angle of two relative surface levels of sensitive axes, and press conversion scale and its gyro signal is superimposed, to eliminate the vertical component of rotational-angular velocity of the earth, finally go out the component of horizontal component on two sensitive axes of rotational-angular velocity of the earth, thereby calculate angle by north.Obviously, make the gyro sensitive axes be in the purpose of level of approximation, be to be convenient to reduce the latitude influence, because under different latitude, the vertical component of rotational-angular velocity of the earth is different, and sensitive axes is in the level of approximation state, and the vertical component that the gyro sensitivity is arrived is very little, the correction that the signal of usefulness acceleration measuring is similar to analog form.Patent DE3541259 must have two degrees of freedom gimbal mechanism complicated, horizon adjustable, must use two accelerometers could realize to the measurement of acceleration of gravity at two axial components of sensitivity, correction to the rotational-angular velocity of the earth vertical component is similar to, signal processing apparatus adopts modeling scheme, can't realize seeking the complicated calculations of northern process.In a word, DE3541259 is the gyrostabilized platform function expansion.
The purpose of this invention is to provide a kind of gyroscope north searching instrument apparatus that utilizes the multiposition strapdown to survey north, so that at the car body wide-angle tilt and need not leveling and know under the situation of geographic latitude and measure accurately.
The objective of the invention is to realize by following measure:
A disturbing property gyro and an accelerometer, be installed on the stepping whirligig that to realize the multiposition rotation, change in location by the single axle table on this device, gyro is measured the rotational-angular velocity of the earth component, accelerometer is measured the gravitational acceleration component that everybody puts, and sends into signal processing apparatus and handle.Therefore, the present invention includes:
A. gyro can carry out the multiposition of symmetry and measure on single axle table, records the component of each position rotational-angular velocity of the earth along its sensitive axes, and eliminates the systematic error of gyro with this metering system.
B. accelerometer is installed along a sensitive axes of gyro, realizes and the synchro measure of gyro in each position, calculating the drift angle of the relative surface level in plane, sensitive axes place, and eliminates the systematic error of accelerometer with this metering system.
C. stepping whirligig, be used for realizing the position conversion of gyro and accelerometer, place single axle table on the planar axes architecture and control it and have enough torsional rigidities, disturb to avoid that gyro is produced additional speed, adopt the step motor drive single axle table to rotate to realize the position conversion, and be used with optical pulse generator and position memory device, to determine zero-bit and other turned positions of single axle table.
D. signal processing apparatus, with microprocessor as control assembly, the control single axle table makes zero and rotational angle after this, after receiving the positional number and each angle of rotating that gyro output valve, acceleration output valve, single axle table rotate, handle in real time, export angle by north, latitude and tilting of car body angle.
The invention solves following problem:
A. need not to limit the gyro sensitive axes under the level of approximation state, therefore cancelled the levelling gear of the complexity of similar gyrostabilized platform.
B. replace two accelerometers, the pitch angle that can measure the relative surface level of gyro sensitive axes equally with an accelerometer.
C. need not to add the latitude signal and can finish accurate survey north, the pitch angle that the present invention simultaneously can measure latitude and car body.
D. signal processing apparatus is made up of mimic channel, digital circuit and microprocessor, can realize the complicated calculations to signal.
E. under multiposition, measure, can eliminate the systematic error of gyro and accelerometer, survey northern precision thereby can improve.
F. computing machine filtering and computing machine smoothing technique can improve the antijamming capability of instrument.
Accompanying drawing 1 is the coordinate system that the present invention set up
Accompanying drawing 2 is a principle schematic of the present invention
Accompanying drawing 3 is the structure principle chart of stepping whirligig
Accompanying drawing 4 is a signal processing apparatus functional-block diagram of the present invention
Accompanying drawing 5 is the control flow chart of signal processing apparatus of the present invention
Be elaborated below in conjunction with embodiment:
Final purpose with disturbing property gyro to measure is two components of horizontal component on rectangular coordinate that obtain rotational-angular velocity of the earth, purpose with accelerometer measures, be the angle that obtains plane, gyro sensitive axes place and surface level, set up coordinate system as shown in Figure 1 thus:
ο ξ η ψ-geographic coordinate, ο ψ axle is a vertical
ο X
οY
οZ
ο-car body reference frame, ο Y
οAxle is parallel to the car body longitudinal axis
φ-car body position angle by north
ο X
1Y
1Z
1-seek northern instrument reference frame, ο X
1Axle is parallel to the sensitive axes α of gyro, the pitch angle of β-car body
Rotational-angular velocity of the earth and gravity acceleration g can be write as at the weight expression of ο η ξ ψ on each
Wherein, A
θ, A
β, A
α, A
ψThe matrix factor of-coordinate conversion
ψ-latitude
Finally can derive:
Wherein, the scale factor of K1 gyro
The scale factor of K2 accelerometer
The output valve that the U1i gyro deposits at everybody
The output valve that the U2i accelerometer deposits at everybody
The positional number that N stepping whirligig rotates
The angle of each position of θ i stepping whirligig
According to above-mentioned mathematical model, determine that structure of the present invention is formed to comprise: with reference to the accompanying drawings 2,
A. be installed in disturbing property of the speed type gyro (1) on the single axle table (3);
B. be installed on the single axle table (3), along the accelerometer (2) on the sensitive axes of gyro (1);
C. the stepping whirligig is realized the multiposition conversion of gyro (1), accelerometer (2), with reference to the accompanying drawings 3, and its structure is:
C1. single axle table (3) all is fixed on the inner frame (22) with planar axes system (23) and stepper motor (5), wherein, control plane axle system (23) has enough torsional rigidities, can be driven by stepper motor (5) again simultaneously, stepper motor (5) drives single axle table (3) through speed reduction unit (4) and rotates;
C2. optical pulse generator (10) is connected with the gear of speed reduction unit (4) by flexibly connecting axle (9), be used for monitoring the corner of single axle table (3), position memory device (19) is installed on the inner frame (22), when stepper motor (5) drives single axle table (3) rotation, sector gear (21) driven gear (20) that is connected with single axle table (3) rotates a position and opens corresponding microswitch (18), make the residing position of position memory device (19) memory single axle table (3), the position signalling of the zero signal of optical pulse generator (10) and position memory device (19) is used, and has guaranteed the consistance of measuring basis and the consistance of flyback action;
C3. cable (16) one ends are fixed on the inner pivot ring (15) that is connected with single axle table (3), the other end is fixed on the outer lead ring (17) that is connected with housing (11), be used for transmitting power supply and measuring-signal, inner frame (22) is connected on the housing (11) by four plate rubber absorbers (12), go up installation guide piston bar (13) and damping ring (14) at housing (11), and be connected with falope (24), when inner frame (22) is interfered, shock attenuation device can make it decay rapidly and prevent angular oscillation.
D. signal processing apparatus, accompanying drawing 5 is the control flow chart of this device, as can be seen, the single axle table (3) of microprocessor (6) control step whirligig makes zero and rotational angle after this, and the temperature drift signal from temperature sensor (36) carried out relevant treatment, do matrix operation to depositing the output valve U1i, the U2i that record at everybody from gyro (1), accelerometer (2), export the inclination angle of angle by north, latitude and car body at last, show by display (7), therefore, this device has, and with reference to the accompanying drawings 4
D1. the signal of optical pulse generator (10) and position memory device (19), through photoelectric isolating circuit (28) input microprocessor (6), when two paths of signals occurs simultaneously, single axle table (3) is in the benchmark zero-bit, otherwise microprocessor (6) makes zero single axle table (3) control step motor (5) running;
D2. microprocessor (6) is through photoelectric isolating circuit (28), send the corner pulse to driving circuit (41), control step motor (5) is done forward or backwards and is rotated, optical pulse generator (10) is sent the angular signal of single axle table (3) into microprocessor (6) simultaneously, thereby control single axle table (3) forwards predetermined measuring position θ i to;
D3. the current signal of gyroscopic couple device (33), (34), send into filtering circuit (42) by sampling resistor (31), (32), through impedance transformer (35), filtering circuit (43), selector switch (37), current potential translation circuit (38) and A/D transducer (8), send into microprocessor (6), make the signal of gyro (1) obtain filtering, level and smooth and mould/number conversion, in microprocessor (6), participate in computing as main signal u1i;
D4. accelerometer (2) signal is sent into microprocessor (6) by impedance transformer (35), filtering circuit (43), selector switch (37), current potential translation circuit (38) and A/D transducer (8), participates in computing as main signal U2i;
D5. the signal of temperature sensor (36), send into microprocessor (6) by impedance transformer (35), selector switch (37), current potential translation circuit (38) and A/D transducer (8), gyro (1) signal is carried out temperature correlation handle, to eliminate the measuring error that gyro temperature drift brings.
The course of work of this north-seaking gyro tool is such: behind the power connection, Gyroscope Motor Power (25) is powered to gyro motor (27), AC power (26) is to gyroscopic couple rebalancing circuit (30) and gyro angular transducer (39) power supply, DC/DC power supply (40) provides the direct current of each circuit and microprocessor (6) usefulness, microprocessor (6) picks up counting, starting stepper motor (5) on schedule makes single axle table (3) forward benchmark zero-bit (first position) to, send the adhesive instruction and make relay (29) adhesive, so gyroscopic couple rebalancing circuit (30) closure, gyro (1) is in normal operating conditions, after arriving Measuring Time, microprocessor (6) sends the selection signal, control selector switch (37) is respectively with the gyro signal of first position, accelerometer signal and temperature signal are sent into microprocessor (6), and then one push start stepper motor (5) and receive the angle signal that optical pulse generator (10) is sent back to, after arriving predetermined corner, stepper motor (5) stall, gyro (1) is gathered in microprocessor (6) beginning under second position, the signal of accelerometer (2) and temperature sensor (36), equally, the 3rd position, position to the last, the total data collection is finished, microprocessor (6) follow procedure carries out computing, the angle by north that will calculate at last, display is sent at the inclination angle of latitude and car body.
Claims (3)
1, the vehicle-mounted north-seaking gyro tool that connects of a kind of strapdown mode is characterized in that: comprise
A. gyro, be installed on the single axle table of the stepping whirligig that can realize that multiposition rotates, by the change in location of single axle table, measure at each locational rotational-angular velocity of the earth along its responsive axial component, and eliminate the systematic error of gyro with this metering system;
B. accelerometer, a sensitive axes direction along gyro is installed on the single axle table, with the gyro synchro measure, measures at each locational gravitational acceleration component, calculating the drift angle of the relative surface level in gyro plane, sensitive axes place, and eliminate the systematic error of accelerometer with this metering system;
C. the stepping whirligig wherein, rotates with the step motor drive single axle table, and is used with optical pulse generator and position memory device, to determine zero-bit and other each turned positions of single axle table;
D. signal processing apparatus, with microprocessor as control assembly, the control single axle table makes zero and rotational angle after this, after receiving the positional number and each angle of rotating that gyro output valve, acceleration output valve, single axle table rotate, handle angle by north, latitude and the tilting of car body angle of output car body in real time.
2, north-seaking gyro tool according to claim 1 is characterized in that: the stepping whirligig is realized the multiposition conversion of gyro (1), accelerometer (2), so this device has:
A. single axle table (3) all is fixed on the inner frame (22) with planar axes system (23) and stepper motor (5), stepper motor drives single axle table (3) through speed reduction unit (4) and rotates, wherein, control plane axle system (23) has enough torsional rigidities, can be driven by stepper motor (5) again simultaneously;
B. optical pulse generator (10) is connected with the gear of speed reduction unit (4) by flexibly connecting axle (9), be used for monitoring the corner of single axle table (3), position memory device (19) is installed on the inner frame (22), when stepper motor (5) drives single axle table (3) rotation, sector gear (21) driven gear (20) that is connected with single axle table (3) rotates a position and opens corresponding microswitch (18), makes the residing position of position memory device memory single axle table (3);
C. inner frame (22) is connected on the housing (11) by four plate rubber absorbers (12), go up installation guide piston bar (18) and damping ring (14) at housing (11), and be connected with falope (24), when inner frame (22) is interfered, shock attenuation device can make it decay rapidly and prevent angular oscillation.
3, north-seaking gyro tool according to claim 1 is characterized in that: signal processing apparatus, and control single axle table (3) makes zero and rotational angle after this, finishes Signal Processing,
A. the signal of optical pulse generator (10) and position memory device (19), through photoelectric isolating circuit (28) input microprocessor (6), when this two paths of signals occurs simultaneously, single axle table (3) is in the benchmark zero-bit, otherwise microprocessor (6) makes zero single axle table (3) control step motor (5) running;
B. microprocessor (6) is through photoelectric isolating circuit (28), send the corner pulse to driving circuit (41), control step motor (5) is done forward or backwards and is rotated, optical pulse generator (10) is sent the angular signal of single axle table (3) into microprocessor (6) simultaneously, thereby control single axle table (3) forwards predetermined measuring position to;
C. the current signal of gyroscopic couple device (33), (34), send into filtering circuit (42) by sampling resistor (31), (32), through impedance transformer (35), filtering circuit (43), selector switch (37), current potential translation circuit (38) and A/D transducer (8), send into microprocessor (6);
D. accelerometer (2) signal is sent into computing machine (6) by impedance transformer (35), selector switch (37), current potential translation circuit (38), A/D transducer (8) and is participated in computing;
E. temperature sensor (36) signal, send into microprocessor (6) by impedance transformer (35), selector switch (37), current potential translation circuit (38), A/D transducer (8), gyro (1) signal is carried out temperature correlation handle, to eliminate the measuring error that gyro temperature drift brings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90103687 CN1023620C (en) | 1990-05-23 | 1990-05-23 | North finding ayro |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90103687 CN1023620C (en) | 1990-05-23 | 1990-05-23 | North finding ayro |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1052371A true CN1052371A (en) | 1991-06-19 |
| CN1023620C CN1023620C (en) | 1994-01-26 |
Family
ID=4878204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 90103687 Expired - Fee Related CN1023620C (en) | 1990-05-23 | 1990-05-23 | North finding ayro |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1023620C (en) |
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1990
- 1990-05-23 CN CN 90103687 patent/CN1023620C/en not_active Expired - Fee Related
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| CN111457789A (en) * | 2020-03-26 | 2020-07-28 | 北京仿真中心 | Earth rotation correction method and system under laboratory coordinate system |
| CN111457789B (en) * | 2020-03-26 | 2022-08-19 | 北京仿真中心 | Earth rotation correction method and system in laboratory coordinate system |
| CN116045944A (en) * | 2023-03-30 | 2023-05-02 | 中国船舶集团有限公司第七〇七研究所 | Single-ring double-sensitive-axis optical fiber gyro |
| CN116045944B (en) * | 2023-03-30 | 2023-05-30 | 中国船舶集团有限公司第七〇七研究所 | Single-ring double-sensitive-axis optical fiber gyro |
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