CN109029505A - A kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems and alignment methods - Google Patents
A kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems and alignment methods Download PDFInfo
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- CN109029505A CN109029505A CN201811109279.1A CN201811109279A CN109029505A CN 109029505 A CN109029505 A CN 109029505A CN 201811109279 A CN201811109279 A CN 201811109279A CN 109029505 A CN109029505 A CN 109029505A
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- orientation
- azimuth reference
- navigation attitude
- attitude instrument
- vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems, including navigation attitude instrument, it further include gyroscope total station, computer, portable azimuth reference mechanism with azimuth reference side, the signal output port of the navigation attitude instrument connects the signal input port of the computer, the signal output port of the gyroscope total station connects the signal input port of the computer, orientation of the gyroscope total station for the azimuth reference side of portable azimuth reference mechanism described in orientation survey, the navigation attitude instrument is for being initially directed at the azimuth reference side of the portable azimuth reference mechanism and obtaining north orientation orientation；The invention also discloses a kind of alignment methods of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems；Compared with prior art, the present invention improves the reliability of navigation attitude instrument north orientation orientation initial calibration, improves the efficiency being initially aligned, and solves the problems, such as that the initial alignment accuracy in vehicle-mounted navigation attitude instrument north orientation orientation not can guarantee.
Description
Technical field
The present invention relates to a kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems and alignment methods, belong to instrument and equipment school
Quasi- technical field.
Background technique
Navigation attitude instrument has many advantages, such as to be suitable for high dynamic environment, good reliability, strong shock resistance, have been widely used at present
In each military field, for navigation attitude instrument after using or placing a period of time, some error parameters of system can deviate essence when factory
True calibration value, influences the precision of system, navigation attitude instrument magnitude accurately whether be directly related to missile truck launch a guided missile it is accurate
Property.Therefore, the north orientation orientation outfield scaling method for designing a kind of navigation attitude instrument, marks the north orientation azimuth reference of navigation attitude instrument again
Surely there is very important realistic meaning.
Navigation attitude instrument north orientation orientation be initially aligned it is main at present carried out using fixed north orientation azimuth reference, by taking aim at when use
The fixed north orientation azimuth reference of standard carries out the alignment of navigation attitude instrument initial zero position, and this north orientation orientation Initial Alignment Method exists as follows
Problem: (1) north orientation azimuth reference limited amount, measuring data sample amount is few, can not be evaluated comprehensively；(2) fixed north
After using to azimuth reference and place a period of time, can also there be error, not can guarantee what navigation attitude instrument north orientation orientation was initially aligned
Accuracy.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems and alignment
Method, to solve the problems, such as that the initial alignment accuracy in current vehicle-mounted navigation attitude instrument north orientation orientation not can guarantee.
The technical scheme is that a kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems, including navigation attitude instrument, also wrap
Include gyroscope total station, computer, the portable azimuth reference mechanism with azimuth reference side, the signal output end of the navigation attitude instrument
Mouth connects the signal input port of the computer, and the signal output port of the gyroscope total station connects the letter of the computer
Number input port, side of the gyroscope total station for the azimuth reference side of portable azimuth reference mechanism described in orientation survey
Position, the navigation attitude instrument is for being initially directed at the azimuth reference side of the portable azimuth reference mechanism and obtaining north orientation side
Position.
The portable azimuth reference mechanism further includes azimuth reference fixing seat and foot prop, and the azimuth reference side setting exists
In the azimuth reference fixing seat, the azimuth reference fixing seat is arranged on the foot prop.
The present invention also provides a kind of alignment methods of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems, including it is following
Step:
Step 1, the installation portable azimuth reference mechanism；
Step 2, by the orientation on the azimuth reference side of portable azimuth reference mechanism described in the gyroscope total station orientation survey,
The bearing data is transferred to the computer, and the real north of computer azimuth true edge；
Step 3 is initially aligned with azimuth reference side of the vehicle-mounted navigation attitude instrument to the portable azimuth reference mechanism, and
The north orientation bearing data surveyed is transferred to the computer；
Step 4 is surveyed the real north data on the azimuth reference side that the gyroscope total station is surveyed and the vehicle-mounted navigation attitude instrument
North orientation bearing data be compared, obtain error amount；
Step 5 repeats step 1 to step 4, obtains the error amount of several different direction true edges；
Step 6, the average value for taking the error amount, and using the average value as the adjusted value of the vehicle-mounted navigation attitude instrument, complete institute
State the alignment adjustment in vehicle-mounted navigation attitude instrument north orientation orientation.
Compared with prior art, advantages of the present invention is as follows:
(1) present invention has the advantages that structure simply and realization is convenient, is able to achieve the Fast Installation and adjustment of north orientation azimuth reference.
(2) present invention can produce a large amount of measurement data using portable azimuth reference mechanism, and sample size is fully met
Testing requirement,
(3) present invention improves the reliability of navigation attitude instrument north orientation orientation initial calibration, improves the efficiency being initially aligned, solves
Not the problem of initial alignment accuracy in vehicle-mounted navigation attitude instrument north orientation orientation not can guarantee.
Detailed description of the invention
Fig. 1 is structural schematic diagram according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of portable azimuth reference mechanism according to an embodiment of the present invention；
In attached drawing: 1 azimuth reference side, 2 azimuth reference fixing seats, 3 foot props.
Specific embodiment
Invention is described further below with reference to specific embodiment:
Referring to Fig. 1, a kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems according to the present invention, including navigation attitude instrument, gyro are complete
It stands instrument, computer, and the portable azimuth reference mechanism with azimuth reference side 1, the signal output port of the navigation attitude instrument
The signal input port of the computer is connected, the signal output port of the gyroscope total station connects the signal of the computer
Input port, orientation of the gyroscope total station for the azimuth reference side 1 of portable azimuth reference mechanism described in orientation survey,
And the bearing data is transferred to computer；The navigation attitude instrument is used for the azimuth reference side to the portable azimuth reference mechanism
1 is initially directed at and is obtained north orientation orientation, and the north orientation bearing data is transferred to computer；Computer is according to two above
Data are adjusted the real north of navigation attitude instrument.
Referring to Fig. 2, preferably, the portable azimuth reference mechanism further includes azimuth reference fixing seat 2 and foot prop 3,
The azimuth reference side 1 is arranged in the azimuth reference fixing seat 2, and the azimuth reference fixing seat 2 is arranged in the foot prop 3
On.Compared with existing fixed north orientation azimuth reference, portable azimuth reference mechanism can place at random, match with gyroscope total station
Conjunction can produce a large amount of measurement data, can be improved the accuracy of navigation attitude instrument orientation adjustment.
The alignment methods of the vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems according to the present invention, comprising the following steps:
Step 1, the installation portable azimuth reference mechanism；
Step 2 passes through the side on the azimuth reference side 1 of portable azimuth reference mechanism described in the gyroscope total station orientation survey
Position, is transferred to the computer, and the real north of computer azimuth true edge for the bearing data；
Step 3 is initially aligned with azimuth reference side 1 of the vehicle-mounted navigation attitude instrument to the portable azimuth reference mechanism,
And the north orientation bearing data surveyed is transferred to the computer；
Step 4 is surveyed the real north data on the azimuth reference side 1 that the gyroscope total station is surveyed and the vehicle-mounted navigation attitude instrument
North orientation bearing data be compared, obtain error amount；
Step 5 repeats step 1 to step 4, obtains the error amount of several different direction true edges 1；
Step 6, the average value for taking several error amounts, and using the average value as the adjusted value of the vehicle-mounted navigation attitude instrument,
Adjust and complete the alignment in the vehicle-mounted navigation attitude instrument north orientation orientation.
It preferably, can be according to the layout being pre-designed when placing portable azimuth reference mechanism obtains the error amount
The calibration that north orientation azimuth reference is realized by above-mentioned steps is continued in position, completes navigation attitude instrument north orientation orientation and is initially aligned.For example, in advance
The arranged mode of the motor-driven outfield calibration position of car launcher is designed, and the angle for analyzing different location layout and north orientation orientation becomes
Change the influence to navigation attitude instrument north orientation orientation initial effect, provide preferably position arrangement mode, so as to be pacified according to these positions
Portable azimuth reference mechanism is put, and then realizes precisely aligning for navigation attitude instrument north orientation orientation.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (3)
1. a kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems, including navigation attitude instrument, which is characterized in that further include gyro whole station
Instrument, computer, the portable azimuth reference mechanism with azimuth reference side (1), the signal output port connection of the navigation attitude instrument
The signal input port of the computer, the signal output port of the gyroscope total station connect the signal input of the computer
Port, orientation of the gyroscope total station for the azimuth reference side (1) of portable azimuth reference mechanism described in orientation survey, institute
Navigation attitude instrument is stated for being initially aligned to the azimuth reference side (1) of the portable azimuth reference mechanism and obtaining north orientation side
Position.
2. vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems according to claim 1, it is characterised in that: described portable
Azimuth reference mechanism further includes azimuth reference fixing seat (2) and foot prop (3), and the azimuth reference side (1) is arranged in the orientation
In benchmark fixing seat (2), the azimuth reference fixing seat (2) is arranged on the foot prop (3).
3. the alignment methods of vehicle-mounted navigation attitude instrument north orientation orientation as claimed in claim 1 or 2 Initial Alignment Systems, which is characterized in that
The following steps are included:
Step 1, the installation portable azimuth reference mechanism；
Step 2, the side by the azimuth reference side (1) of portable azimuth reference mechanism described in the gyroscope total station orientation survey
Position, is transferred to the computer, and the real north of computer azimuth true edge (1) for the bearing data；
Step 3, carried out with azimuth reference side (1) of the vehicle-mounted navigation attitude instrument to the portable azimuth reference mechanism it is initial right
Standard, and the north orientation bearing data surveyed is transferred to the computer；
Step 4, the real north data on the azimuth reference side (1) that the gyroscope total station is surveyed and the vehicle-mounted navigation attitude instrument institute
The north orientation bearing data of survey is compared, and obtains error amount；
Step 5 repeats step 1 to step 4, obtains the error amount of several different direction true edges (1)；
Step 6, the average value for taking the error amount, and using the average value as the adjusted value of the vehicle-mounted navigation attitude instrument, complete institute
State the alignment adjustment in vehicle-mounted navigation attitude instrument north orientation orientation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811109279.1A CN109029505A (en) | 2018-09-21 | 2018-09-21 | A kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems and alignment methods |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811109279.1A CN109029505A (en) | 2018-09-21 | 2018-09-21 | A kind of vehicle-mounted navigation attitude instrument north orientation orientation Initial Alignment Systems and alignment methods |
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| CN101078627A (en) * | 2007-06-28 | 2007-11-28 | 北京航空航天大学 | On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target |
| CN101187568A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | Multi-position strapping north-seeking system direction effect calibration method |
| US20130192072A1 (en) * | 2011-10-06 | 2013-08-01 | Vectronix Ag | Geographically north-referenced azimuth determination |
| CN103438903A (en) * | 2013-08-27 | 2013-12-11 | 湖北航天技术研究院计量测试技术研究所 | Calibration method for orientation error of orientation device |
| CN104006827A (en) * | 2014-06-09 | 2014-08-27 | 湖北三江航天红阳机电有限公司 | Method for evaluating stability of north orientation benchmark for inertial measurement unit calibration |
| CN204188163U (en) * | 2014-10-15 | 2015-03-04 | 中交第四航务工程局有限公司 | A kind of tube coupling sinking positional information acquisition system |
| CN106949909A (en) * | 2017-04-20 | 2017-07-14 | 上海市计量测试技术研究院 | A kind of gyro calibiatio i system and method based on astronomical azimuth |
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2018
- 2018-09-21 CN CN201811109279.1A patent/CN109029505A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101078627A (en) * | 2007-06-28 | 2007-11-28 | 北京航空航天大学 | On-line calibration method for shield machine automatic guiding system based on optical fiber gyro and PSD laser target |
| CN101187568A (en) * | 2007-12-11 | 2008-05-28 | 中国科学院长春光学精密机械与物理研究所 | Multi-position strapping north-seeking system direction effect calibration method |
| US20130192072A1 (en) * | 2011-10-06 | 2013-08-01 | Vectronix Ag | Geographically north-referenced azimuth determination |
| CN103438903A (en) * | 2013-08-27 | 2013-12-11 | 湖北航天技术研究院计量测试技术研究所 | Calibration method for orientation error of orientation device |
| CN104006827A (en) * | 2014-06-09 | 2014-08-27 | 湖北三江航天红阳机电有限公司 | Method for evaluating stability of north orientation benchmark for inertial measurement unit calibration |
| CN204188163U (en) * | 2014-10-15 | 2015-03-04 | 中交第四航务工程局有限公司 | A kind of tube coupling sinking positional information acquisition system |
| CN106949909A (en) * | 2017-04-20 | 2017-07-14 | 上海市计量测试技术研究院 | A kind of gyro calibiatio i system and method based on astronomical azimuth |
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