CN109540158A - Air navigation aid, system, storage medium and equipment - Google Patents

Abstract

The present invention provides a kind of air navigation aid, system, storage medium and equipment, is applied to a vehicles, the air navigation aid includes: to judge the vehicle device driving direction based on the hung gear of vehicle device, and/or the corner of the steering wheel based on the vehicle device；Speed and time based on the vehicle device calculate the operating range of the vehicle device；The information of operating range based on the driving direction and the vehicle device that include the vehicle device is navigated.The present invention solves the problems, such as how to navigate in no GPS or without satellite-signals such as Beidou signals in the case where.And creativeness is that the vehicles navigate with informixes such as the gears, steering wheel angle and speed of vehicle device.

Description

Air navigation aid, system, storage medium and equipment

Technical field

In particular, the present invention relates to a kind of air navigation aid, system, storage medium and equipment.

Background technique

It in field of traffic, is travelled on the road surface of road conditions complexity, if not carrying out road surface direction by navigation system Navigation, the driving of the vehicles will have inconvenience victory, and traditionally the navigation of the vehicles generally passes through GPS or Beidou Satellite-signal carries out auxiliary operation navigation.

Currently, in the motor working frequency of part electric car, there are electromagnetic interference problem, portions with gyroscope working frequency Point vehicle is not available gyroscope and carries out inertial navigation, how accurately to navigate into the place of no GPS or Beidou signal For problem.

Summary of the invention

In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of air navigation aid, system, storages How medium and equipment carry out in no GPS or without satellite-signals such as Beidou signals in the case where in the prior art for solving The problem of navigation.

To achieve the goals above and other related purposes, the present invention provide a kind of air navigation aid, system, storage medium and Equipment is applied to a vehicles, and the air navigation aid includes: based on the hung gear of vehicle device, and/or the side based on the vehicle device The vehicle device driving direction is judged to the corner of disk；Speed and time based on the vehicle device calculate the traveling of the vehicle device away from From；The information of operating range based on the driving direction and the vehicle device that include the vehicle device is navigated.

In one embodiment of the invention, a kind of reality that the vehicle device driving direction is judged based on the hung gear of vehicle device Existing process includes: monitoring the hung gear of vehicle device；If reverse gear, then the vehicle device driving direction is direction of retreat；If D grades Or two grades or S grades, then the vehicle device driving direction is direction of advance.

In one embodiment of the invention, the speed and time based on the vehicle device calculate the traveling of the vehicle device away from From one kind the realization process includes: judging whether the vehicle device is to drive at a constant speed；If so, set the speed as s, and time t, institute The operating range for stating vehicle device is L；L=s × t；The traveling is calculated if it is not, dividing the speed s and the time t for n etc. points Distance L；L=t1 × s1+t2 × s2+t3 × s3 ...+tn × sn.

In one embodiment of the invention, the air navigation aid further include: judge whether the road of the vehicle device traveling has There is navigation routine；If so, the vehicle device Auto-matching is corrected within the safe distance of navigation routine described in road；If it is not, then not It corrects.

To achieve the goals above and other related purposes, the present invention provide a kind of navigation system, are applied to a traffic work Tool, the navigation system includes: driving direction judgment module, based on the hung gear of vehicle device, and/or the direction based on the vehicle device The corner of disk judges the vehicle device driving direction；Operating range computing module, speed and time based on the vehicle device calculate institute State the operating range of vehicle device；Navigation module, the letter of the operating range based on the driving direction and the vehicle device that include the vehicle device Breath navigates.

In one embodiment of the invention, a kind of realization that the vehicle device driving direction is judged based on the hung gear of vehicle device Process includes: monitoring the hung gear of vehicle device；If reverse gear, then the vehicle device driving direction is direction of retreat；If D grades or Two grades or S grades, then the vehicle device driving direction is direction of advance.

In one embodiment of the invention, the speed and time based on the vehicle device calculates the operating range of the vehicle device One kind the realization process includes: judging whether the vehicle device is to drive at a constant speed；If so, setting the speed as s, time t is described The operating range of vehicle device is L；L=s × t；If it is not, by the speed s and the time t divide for n etc. point calculate the traveling away from From L；L=t1 × s1+t2 × s2+t3 × s3 ...+tn × sn.

In one embodiment of the invention, the navigation system further include: judgment module judges the road of the vehicle device traveling Whether there is navigation routine；If so, the vehicle device Auto-matching is corrected within the safe distance of navigation routine described in road；If It is no, then it does not correct.

To achieve the goals above and other related purposes, the present invention also provides a kind of computer readable storage medium, On be stored with computer program, program air navigation aid of the present invention when being executed by processor.

To achieve the goals above and other related purposes, the present invention also provides a kind of equipment, the equipment includes: processing Device and memory, the memory is for storing computer program, and the processor is by executing based on the memory storage Calculation machine program, so that the equipment executes air navigation aid as described herein.

As described above, air navigation aid of the invention, system, storage medium and equipment, have the advantages that the present invention Solve the problems, such as how to navigate in no GPS or without satellite-signals such as Beidou signals in the case where.

Detailed description of the invention

Figure 1A is shown as a kind of a kind of implementation process schematic diagram of air navigation aid described in the embodiment of the present invention.

Figure 1B is shown as a kind of a kind of implementation process schematic diagram of air navigation aid described in the embodiment of the present invention.

Fig. 1 C is shown as a kind of a kind of realization structural schematic diagram of air navigation aid described in the embodiment of the present invention.

Fig. 2 is shown as a kind of a kind of structural schematic diagram of navigation system described in the embodiment of the present invention.

Fig. 3 is shown as a kind of a kind of structural schematic diagram of equipment described in the embodiment of the present invention.

Component label instructions

20 navigation system

21 driving direction judgment modules

22 operating range computing modules

23 navigation modules

30 equipment

31 processors

32 memories

S101~S203 step

Specific embodiment

Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation Feature in example can be combined with each other.

It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel It is likely more complexity.

Figure 1A and 1B are please referred to, the present invention provides a kind of air navigation aid, is applied to a vehicles, the air navigation aid packet It includes:

S101, the vehicle device traveling is judged based on the hung gear of vehicle device, and/or the corner of the steering wheel based on the vehicle device Direction；

S102, the speed based on the vehicle device and time calculate the operating range of the vehicle device；

S103, based on including that the driving direction of the vehicle device and the information of operating range of the vehicle device are navigated.

In one embodiment of the invention, a kind of reality that the vehicle device driving direction is judged based on the hung gear of vehicle device Now process includes:

Monitor the hung gear of the vehicle device；

If reverse gear, then the vehicle device driving direction is direction of retreat；

If D grades or two grades or S grades, then the vehicle device driving direction is direction of advance.

In one embodiment of the invention, the speed and time based on the vehicle device calculate the traveling of the vehicle device away from From one kind the realization process includes:

S201, judge whether the vehicle device is to drive at a constant speed；

S202, if so, setting the speed as s, time t, the operating range of the vehicle device is L；

L=s × t；

S203, the operating range L is calculated for n etc. points if it is not, dividing the speed s and the time t；

L=t1 × s1+t2 × s2+t3 × s3 ...+tn × sn.

In one embodiment of the invention, the air navigation aid further include:

Judge whether the road of the vehicle device traveling has navigation routine；

If so, the vehicle device Auto-matching is corrected within the safe distance of navigation routine described in road；

If it is not, not correcting then.

The present embodiment is the navigation operation carried out in the case where electric car gyro free instrument participates in inertial navigation, realizes top The correlation function of spiral shell instrument, in order to help adequately to understand related embodiment, it is therefore necessary to the phase of gyroscope and gyroscope Pass working principle is explained in detail as follows:

--- gyroscope is with the moment of momentum sensitivity shell relative inertness space of high-speed rotator around being orthogonal to the axis of rotation The angular movement detection device of one or two axis.Being also referred to as said function is played using angular movement detection device made of other principles Gyroscope.It is known as gyro (top) around the rigid body of a fulcrum high-speed rotation.Usually said gyro is to refer in particular to symmetric top, it Be a uniform quality be distributed, the rigid body with axisymmetric shape, geometirc symmetry axis is exactly its axis of rotation.It is moved back with fly Hind wing (haltere) principle of change is similar.Under certain primary condition and certain external moment loading, gyro can not stop While rotation, the shaft fixed around another ceaselessly rotates, and here it is precession of a top (precession), also known as For gyroscopic action (gyroscopic effect).Precession of gyroscope is phenomenon common in daily life, and many people are as a child The gyro played is exactly an example.

The gyroscopic apparatus of various functions made by mechanical property of the people using gyro is known as gyroscope (gyroscope), it has a wide range of applications in every field such as science, technology, military affairs.Such as: gyro compass, orientation instruction Instrument, the overturning of shell, nutating of gyro etc..There are many type of gyroscope, divide by purposes, it can be divided into sensing gyroscope instrument and Indicate gyroscope.In automatic control system of the sensing gyroscope instrument for flying body movement, as horizontal, vertical, pitching, course and Angular-rate sensor.It indicates that gyroscope is mainly used for the instruction of state of flight, is used as driving with navigation instrument.Gyroscope point For, piezoelectric gyroscope, micro-mechanical gyroscope, fibre optic gyroscope and lasergyro, they are all electronic types, and they can With and accelerometer, magnetoresistive chip, GPS, be made into inertial navigation control system.Structure, substantially gyroscope are a kind of mechanical dresses It sets, major part is the rotor rotated to rotary shaft with high angular speed, and rotor is in a bracket；Passing through rotor Add an interior ring stand on central axis XX1, then gyroscope can make free movement around two axis of plane；Then, add outside interior ring stand A upper outer ring stand；There are two balance rings for this gyroscope, can make free movement around [2] three axis of plane, be exactly one complete Space top instrument (space gyro).(rotor), since it has inertia, its rotary shaft is directed toward a fixation side forever To he is combined into mono- word of gyro scopei with Greece word gyro (rotation) and two word of skopein (seeing) to name this instrument.Top Spiral shell instrument is a kind of both ancient and very vital instrument, has been had since coming out from the real practical gyroscopic instrument of First big Half a century, but up to now, gyroscope is still studied it attract people, this is because the characteristic that itself has It is determined.The most important fundamental characteristics of gyroscope is its stability and precession.People are early from the ground gyro that children play Find that high-speed rotating gyro can not fall vertically and keep perpendicular to the ground, this just reflects the stability of gyro.Research The theory of Motions of Gyroscope characteristic is a branch around fixed-point motion dynamics of rigid bodies, it is ground based on the inertia of object Study carefully the kinetic characteristics of rotating object.When rotor is I to the rotary inertia of the axis of rotation, when spin velocity is ω, then rotor The rotation moment of momentum is L=I ω.It is assumed that bracket bearing is all absolutely smooth, pedestal, which cannot be transmitted to moment of face by these bearings, to be turned Son, and the quality of inside and outside two frames ring is negligible.Then, by conservation of angular momentum it is found that the armature spindle of balanced gyroscope will Direction is remained unchanged in inertial space by means of inertia.If obtaining moment of momentum L to rotor by some way with impact moment of face Lateral increment and then new momentum motor will deflect the impact of one small angle the direction of armature spindle is also made to generate changing for the same order of magnitude Become, but new angular speed direction is inconsistent with new moment of momentum direction.After impact, armature spindle will abut new moment of momentum L+ △ L Direction make the shake (nutating) of high frequency a little, amplitude is inversely proportional with ω, and frequency is then directly proportional to ω.Since ω is very big, This shake is actually not noticeable, so it is believed that impact and be not significantly changed the direction of armature spindle, i.e. high speed rotation The armature spindle of balanced gyroscope has shock proof ability, and this characteristic is known as gyroscopic inertia.But if rotor does not have rotation, So any weak impact will make armature spindle obtain angular speed, and hereafter unlimitedly will deviate by this direction.If Enduringly apply moment of face M along inner axle, since there are rotation moment of momentum L, rotor will not be rotated along the direction M around inner axle, and (precession) is rotated enduringly with a certain angular velocity vector Ω around right-angled intersection axis (i.e. outer annulate shaft), such as Fig. 2.It can be demonstrate,proved by the moment of momentum theorem Bright, the size of precession angular velocity vector Ω is inversely proportional to the size of spin velocity ω, i.e., θ is the angle of cut of ω and Ω in formula.Secondly, by making Action and reaction law is it is found that rotor has moment of reaction K=-M to the applying person of moment of face M.It is anti-that this torque is known as gyro Resisting moment or gyroscopic couple, size are as follows: K=Ω L sin θ=I ω Ω sin θ=M, direction are opposite with M.K is Coriolis The square of (inertia) power.There are also other moments of inertia for gyro wheel.When precession it is non-at the uniform velocity when, angular acceleration and rotor are to precession shaft Rotary inertia product titled with negative sign, the size of referred to as uniaxial rotator inertia torque, it and gyroscopic couple belongs to the same order of magnitude. The approximate differential equation group of the movement of inner and outer ring under outer moment loading, gyration indicates rotor together with inner and outer rings one with A1 The rotary inertia of external annulate shaft is played, A2 indicates rotor together with inner ring to the rotary inertia of inner axle.α, β are outer ring and inner ring respectively Corner, and β is counted by the perpendicular position of two rings (be labeled as N1), and the inner and outer rings precession angular speed caused by moment of face is all Be it is a small amount of, when quadratic term and all negligible product term, then the moment of face (including torque caused by rubbing in bearing) of each axis and The moment of inertia to play a decisive role can be summarized as follows: the second order or higher order event that other moments of inertia are all, thus all may be used To disregard.Axis of the gyroscope can be write out around the approximate differential equation group of outer ring and inner ring precession by D'Alembert's principle immediately, Spin velocity (ω+sin β) around armature spindle is remained unchanged by moment of face.Can regard as rotor-inner ring knob zoarium relative to The rotation equation of outer ring.If outer ring does not turn, i.e., if be exactly the rotation equation that is directly write out by Newton's law form.Now due to Ring rotates and increasing correction term this gyroscopic couple has apparent effect to the relative motion of rotor.As can be seen that opposite herein transport In dynamic, gyroscopic couple has the tendency that rotating the axis of rotation by most short distance radial direction precession shaft.Also occur in formula gyroscopic couple this Torque is the inertia resistance that rotor gives inner ring, therefore, for rotor-inner ring-outer ring combination, just as moment of face (inertia force disobeys action-reaction law, and rotor itself is not because of this gyroscopic couple and by reaction) is (see sound Method).Also it can be applied to rate gyroscope, if rate gyroscope is constituting after being fixed by outer ring, thus formula (2) As uniaxial rotation differential equation when just and rotor is without rotation-formula (1) may be used to determine moment of face M outer ring, it is equal to gyro Torque, above-mentioned approximation theory are enough to explain whole kinetic characteristics of high speed rotation gyroscope.The earth as a gyro, it Thus posture perturbation can also be illustrated (see the rotational motion of a rigid body with a fixed point solution).

--- the operation principles of gyroscope, the direction of the rotary shaft meaning of a rotating object when not influenced by external force, It will not change.People keep direction with it according to this reason, and the thing manufactured is just called gyroscope.Gyro Instrument will give its power at work, rotate it quickly, can generally reach hundreds of thousands per minute and turn, can work very long Time.Then direction indicated by axis is read with a variety of methods, and data-signal is transmitted to control system automatically.In actual life In, the feed motion that gyroscope occurs is occurred under the action of gravity torque.Gyroscope be widely used in Aeronautics and Astronautics and Navigational field.This is because its two fundamental characteristics: one is gyroscopic inertia (inertia or rigidity), and another is precession Property (precession), both characteristics are all built upon under the principle of the conservation of angular momentum.When gyrorotor rotate at high speed when, When no any moment of face acts on gyroscope, direction of the axis of rotation of gyroscope in inertial space keeps stablizing not Become, that is, is directed toward a fixed direction；Any strength for changing rotor axial is revolted simultaneously.This physical phenomenon is known as gyroscope Gyroscopic inertia or stability.Its stability changes with physical quantity below: the rotary inertia of 1. rotors is bigger, and stability is cured It is good；2. rotor velocity is bigger, stability is better.So-called " rotary inertia " is the inertia size for describing rigid body in rotation Physical quantity.When being respectively acting on two around the different rigid bodies of fixed-axis rotation with identical torque, their angle speed obtained Degree is usually different, and the big rigid body of rotary inertia angular speed obtained is small, that is, keeps the used of original rotary state Property is big；Conversely, rotary inertia it is small rigid body angular speed obtained it is big, that is, keep the inertia of original rotary state small.When When rotor high speed rotation, if moment of face acts on outer annulate shaft, gyroscope will be rotated around inner axle；If moment of face acts on inner ring Axis, gyroscope will be rotated around outer annulate shaft.Its rotational angular velocity direction and moment of face action direction are orthogonal.This characteristic, is named Do the precession of gyroscope.The direction of angular velocity of precession depends on the direction (side with rotor spin velocity vector of moment of momentum H To consistent) and moment of face M direction, and be spin velocity vector with shortest path pursuit moment of face.Precession direction, this It can be determined with the right-hand rule.The right hand is stretched, thumb is vertical with index finger, and finger is along the direction of the axis of rotation, and palm is towards external force The positive direction of square, then palm refers to that bending is clenched fist with 4, then the direction of thumb is exactly the direction of angular velocity of precession.Angle of precession speed For the size of degree depending on the size of rotor angular momentum H and the size of moment of face M, calculating formula is angular velocity of precession ω=M/H.Into Also there are three the factors influenced for the size of dynamic property: 1. external forces are bigger, and angular velocity of precession is also bigger；2. rotor turns Dynamic inertia is bigger, and angular velocity of precession is smaller；

3. the angular speed of rotor is bigger, angular velocity of precession is smaller.Various instrument made of kinetic characteristics using gyroscope Table or device, mainly include the following types: directional gyro can provide the gyroscopic apparatus of flyer angle of turn and bearing indication. It is Three Degree Of Freedom equilibrium gyroscope, and pedestal is connected aboard, and armature spindle provides the assigned direction of inertial space.If starting When armature spindle be horizontally arranged and be directed toward the null direction of instrument, then when aircraft around vertical axle turn when, instrument with regard to relative rotor axis turn It is dynamic, so as to provide the angle of turning and the instruction in course.Since friction and other interference, armature spindle can be gradually deviated from original-party To, therefore the accurate compass work of (such as 15 minutes) palpus control at regular intervals once manually adjusts.Gyrocompass, for navigating by water and flying Row object is used as the searching of directional reference and tracks the free gyroscope of geographical meridian plane.Its outer annulate shaft is vertical, armature spindle It is horizontally placed in meridian plane, anode refers to north；Its center of gravity deviates bearing center along vertical axis downward or upward.Armature spindle deviates meridian Deviate horizontal plane simultaneously when face and generating gravitational moment makes precession of gyroscope to meridian plane, this gyrocompass using gravitational moment claims to put Formula compass.The development of 21st century is createed and can be referred to simultaneously to be replaced the electrical control gyro compass of gravity bob using automatic control system Show the platform compass of horizontal plane and meridian plane.Gyro vertical instrument repairs free gyroscope application using pendulum-type sensing element Positive moment is to indicate the instrument of ground vertical line, also known as gyroscopic horizon.The shell of gyroscope tracks rotor axle position using servomechanism It sets, when armature spindle deviates ground vertical line, the pendulum-type sensing element output signal being fixed on shell makes torquer generate correcting force Square, armature spindle precession under moment loading return to ground vertical line position.Gyro vertical instrument be applied in addition to gyropendulum aviation and Another ground vertical line instruction of marine navigation system or measuring instrument.Gyroscopic stabilizer stablizes the gyroscopic apparatus of hull.20th century The Shi Like passive stabilizer just used is substantially the large-scale two degrees of freedom gravity gyroscope of a dress aboard ship, rotor The vertical placement of axis, gimbal axis are parallel to the horizontal axis of ship.When hull side is shaken, it is opposite together that gyroscopic couple forces frame to carry rotor In hull precession.This swing precession causes another gyroscopic couple, generates stabilization to hull.Sperry is active steady Determining device is one small-sized manipulation gyroscope of increase on the basis of above-mentioned apparatus, and rotor is placed along cross axis.Once hull side Incline, small gyro, so that the control motor on master gyroscope gimbal axis be made to start in time, applies along its vertical axle precession on the axis Active torque identical with former gyroscopic couple direction, the stabilization to hull that precession so as to reinforced frame and thus precession generate Effect.Rate gyroscope, directly to measure the two-degrees-of freedom gyro device of vehicle angular speed.The outer ring of balanced gyroscope It is fixed on vehicle and enables inner axle perpendicular to the axis of angular speed to be measured.When vehicle together with outer ring with angular speed around measurement When axis precession, gyroscopic couple will force inner ring together with rotor with respect to vehicle precession.There is spring to limit this in gyroscope Opposite precession, and the angle of precession of inner ring is proportional to the deflection of spring.Inner ring angle of precession when by balancing can acquire gyro power The angular speed of square and vehicle.Integrating gyroscope and not existing together for rate gyroscope are only to replace spring about with linear dampers Beam.When vehicle makees the rotation of any speed change, the output quantity of integrating gyroscope is corner (the i.e. product of angular speed around measurement axis Point).Both the above gyroscope is in remote measuring system or automatic control, Inertial Navigation Platform using more.Gyrocontrol Platform makes the given posture for being stablized object relative inertness space keep stable device using gyroscope as core element.Stablize Platform usually utilizes the torquer being made of on platform framework axis processed outer ring and inner ring to make to generate torque and disturbance torque balance The stabilized platform that gyroscope stops precession being known as power gyroscopic stabilizer.Gyro-stabilized platform is able to maintain stable turn according to object Number of axle mesh is divided into uniaxial, twin shaft and three gyroplatform.Gyro-stabilized platform, which can be used to stablize those, needs accurate pointing Instrument and equipment, such as measuring instrument, antenna, and be widely used in the navigation system and fire control, radar of aviation and navigation Gimbals bearing.Using various types gyroscope according to different principle scheme is element.Wherein generated using precession of gyroscope Gyroscopic couple resists disturbance torque, then output signal control, photographic system.Gyro sensor be one it is easy to use based on The mobile positioning and control system with gesture of free space.Mouse is brandished in the plane of illusion, the cursor on screen will be with It is mobile, and can draw a circle around link and click keys.When you are giving a lecture or are leaving desk, these operations can be very It conveniently realizes.Gyro sensor applies on helicopter model originally, has been widely used in this kind of shifting of mobile phone On dynamic portable equipment (the three-axis gyroscope technology of IPHONE).Fibre optic gyroscope, fibre optic gyroscope are to be with optical fiber coil The sensing element on basis, the light launched by laser diode are propagated towards both direction along optical fiber.Propagation path of light Variation, determines the angular displacement of sensing element.Fibre optic gyroscope compared with traditional mechanical gyroscope, advantage be it is all solid state, do not have There are rotary part and friction member, the service life is long, and dynamic range is big, and instantaneous starting, structure is simple, and size is small, light-weight.With laser Gyroscope is compared, and fibre optic gyroscope does not have latch-up problem, goes out optical path without in quartz wedge Precision Machining, at low cost.Laser top The principle of spiral shell instrument is that angular velocity of rotation (Sagnac effect) is measured using optical path difference.In closure optical path, sent out by same light source The two-beam transmitted along clockwise direction with counter-clockwise direction and the interference of light out, utilize the change of detection phase difference or interference fringe Change, so that it may measure closure optical path angular velocity of rotation.MEMS gyroscope, the gyroscope price based on MEMS compared to optical fiber or Laser gyro is cheaply very much, but service precision is very low, needs to compensate using reference sensor, to improve service precision, It based on the gyro of MEMS technology because its is at low cost, can manufacture, have been able to be widely used in vehicle traction control system, doctor With in the inexpensive demand application such as equipment, military equipment.Modern gyroscope is a kind of side that can be accurately determined moving object The instrument of position, it is modern Aviation, navigation, in space flight and national defense industry, a kind of widely used inertial navigation instrument, and its hair Exhibition has highly important strategic importance to a national industry, national defence and other high-tech development.Traditional inertia top Spiral shell instrument is primarily referred to as mechanical gyroscope, and requirement of the mechanical gyroscope to process structure is very high, and structure is complicated, its essence Degree receives very various restrictions.Since eighties of last century the seventies, the development of modern gyroscope has come into one A completely new stage.Fibre optic gyroscope has the advantages that compact-sized, high sensitivity, reliable operation etc., critical component and optical fiber Gyroscope develop simultaneously other than Ring Laser Gyro instrument, there are also the vibratory gyroscope of modern integrated form, the vibrations of integrated form Gyroscope has higher integrated level, and volume is smaller, and an important developing direction of modern gyroscope.Modern optical fiber top Spiral shell instrument includes interference formula gyroscope and two kinds of resonant mode gyroscope, they are got up according to the theoretical developments of Sai Genike. The main points of Sai Genike theory are such that when light beam advances in an annular channel, if circular passage itself has There is a velocity of rotation, then light advances the required time than rotating along this channel along the direction that channel rotates Time required for opposite direction is advanced is more.That is when optical loop rotates, in different directions of advance, light The light path for learning loop can all generate variation relative to light path of loop when static.Using the variation of this light path, if made not Interference is generated between the light that Tongfang advances up to measure the velocity of rotation of loop, so that it may produce interference type optical fiber gyroscope Instrument if realizing the interference between the light constantly recycled in the loop using the variation of this loop light path, that is, passes through It adjusts the resonance frequency of the light of optical fiber loop and then measures the velocity of rotation of loop, so that it may produce the optical fibre gyro of resonant mode Instrument.From this simple introduction as can be seen that optical path difference of the interference formula gyroscope when realizing interference is small, so required by it Light source can have biggish spectrum width, and the gyroscope of resonant mode is realizing that when interfering, its optical path difference is larger, so its institute It is required that light source must have good monochromaticjty.Gyroscopic instrument be earliest for marine navigation, but with the development of science and technology, It is also widely used in aerospace cause.Gyroscopic instrument acts not only as indicating meter, and prior It is that it can be used as a sensing element in automatic control system, can be used as signal transducer.As needed, gyroscopic instrument The signals such as accurate orientation, level, position, velocity and acceleration can be provided, controlled so as to driver or with preset device The sail bodies such as aircraft, naval vessel or space shuttle press certain airline operation, and in guided missile, satellite vehicle or space exploration rocket In the guidance of equal sail bodies, then the gesture stability and orbits controlling of sail body are directly completed using these signals.As stabilizer, Gyroscopic instrument can be such that train travels on single track, can reduce ship waving in stormy waves, can make to be mounted on aircraft or satellite Camera with respect to ground stablize etc..As fine measuring instrument, gyroscopic instrument can for ground installation, mining tunnel, The accurate azimuth reference of the offers such as lower railway, oil drilling and launching silo.It can be seen that the application range of gyroscopic instrument It is quite widely, it accounts for consequence in the national defense construction and the development of the national economy of modernization.It is widely used MEMS gyro (micromechanics) can be applied to the fields such as Aeronautics and Astronautics, navigation, weapons, automobile, biomedicine, environmental monitoring.And MEMS gyro has apparent advantage compared to traditional gyro: 1. is small in size, light-weight.It is suitable for installation space and weight demands Harsh occasion, such as missile-borne measurement etc..2. low cost.3. high reliability.Internal no-rotary part, all solid state device resist big Overload impact, long working life.4. low-power consumption.5. wide range.Occasion suitable for the big g value of high revolving speed.6. being easy to digitize, intelligence Change.Can numeral output, temperature-compensating, zero correction etc..It, can be it when approximately analyzing the movement of gyro from the viewpoint of mechanics It regards a rigid body as, there is a universal fulcrum on rigid body, and gyro can make the rotation of three degree of freedom around this fulcrum, So the movement of gyro is the rotational motion for belonging to rigid body and pinpointing around one.More precisely, one around symmetry axis high speed rotation Flywheel rotor gyro.By gyro installation on frame mounting, the freedom degree for making the axis of rotation of gyro there is angle to rotate, this dress The totality set is called gyroscope.The basic element of character of gyroscope has: (1) gyrorotor is (frequently with synchronous motor, hysteresis machine, three The dragging methods such as phase alternating current generator make gyrorotor around axis of rotation high speed rotation, and see that its revolving speed is approximately constant value), in (2), Outer framework (or inner and outer rings, it is the structure of angle rotational freedom needed for obtaining spin axis of gyro) (3) attachment (refers to power Square motor, signal transducer etc.).Fundamental type determines top according to the property of the form and attachment of the number of frame and bearing The type of spiral shell instrument has: free gyroscope (has inside and outside two frames, making rotor axis of rotation tool, there are two rotational freedoms. In no any moment device, it is exactly a free gyroscope).(only one frame, makes rotor to rate gyroscope The axis of rotation has a rotational freedom).The property of the moment of reaction according to used in rate gyroscope, can be This gyroscope is divided into three types: rate gyroscope (it use it is counter as torque be moment of elasticity), (it makes integrating gyroscope The moment of reaction is damping torque), no restrained gyroscope (it only has inertia reaction moment), in addition to mechanical, electrical frame-type top Other than spiral shell instrument, certain novel gyroscopes are had also appeared, such as electrostatic free rotor gyros, flexure gyroscope, lasergyro Deng.The rotor bearing of rate gyroscope is in a frame, and without outer framework, thus rotor rotation has a precession freedom Degree, that is, lacked the rotational freedom perpendicular to input axis and rotation axis direction.Therefore rate gyroscope and Three Degree Of Freedom The characteristic of gyroscope is also different.Precession be free gyroscope fundamental characteristics it-, acted on when around input axis When moment of face, the high-speed rotating rotor axis of rotation will be made to generate the precession around outer framework axis, and around outer framework axis external force action square When, armature spindle will be made to generate the precession around input axis.Gyroscopic inertia is another fundamental characteristics of free gyroscope.No matter base Seat is rotated around the gyroscope axis of rotation, or is rotated around input axis or outer framework axis direction, and gyrorotor all will not be directly driven It rotates together and (refers to the rotation except rotor rotation).The frame mounting as composed by inter and outer gimbal, by the rotation of pedestal and top Spiral shell rotor is kept apart.In this way, if the gyroscope axis of rotation is stablized in some orientation of inertial space, when pedestal rotation, It is still stable in original orientation.For rate gyroscope, when pedestal is around the gyroscope axis of rotation or input axis side To when rotation, it still not will drive rotor and rotate together, i.e., inner frame still plays isolation movement.But when pedestal around When gyroscope lacks the x-axis direction of freedom degree with angular velocity omega x rotation, since gyroscope does not have rotational freedom around the axis, institute When rotating with pedestal, just gyrorotor is driven to rotate together by a pair of of bearing on input axis.But the gyroscope axis of rotation is still The dimensional orientation for keeping its original as possible is constant.Therefore, when pedestal rotates, a pair of of bearing on input axis just has thrust F work Used in the both ends of input axis, and the moment of thrust mx acted on gyroscope is formed, direction is perpendicular to moment of momentum H, and along x uranium It is positive.Since gyroscope has around input axis the freedom degree of rotation, so this moment of thrust generates gyroscope around inner frame The precession of axis, angular velocity of precession β are directed toward the forward direction of input axis y, coincident with x axis armature spindle trend.Therefore, when pedestal is around top When spiral shell instrument lacks the direction rotation of freedom degree, pedestal is followed to rotate forced gyroscope, while axis of the gyroscope is around inner frame Axis precession.It is overlapped armature spindle trend with the direction of pedestal rotational angular velocity.I.e. rate gyroscope have it is sensitive around Its characteristic for lacking rotational freedom direction angular velocity of rotation.Rate gyroscope is by along the outside moment loading of input axis When, armature spindle is moved around inner axis.The movement of armature spindle when along input axis to opplied moment.If along the forward direction of inner frame uranium y There is moment of face My effect, then the armature spindle of rate gyroscope will try hard to negative sense precession with angular speed My/H around x-axis, such as scheme Shown in 3.Since gyrorotor axis is not able to rotate around x-axis direction, this precession is impossible.But its precession trend is still In the presence of, and pressure is applied to the bearing at input axis both ends, in this way, bearing, which just generates constraint reaction F, acts on input axis two End, and the constraint reaction square mx acted on gyroscope is formed, direction is perpendicular to moment of momentum H and along the forward direction of x-axis.Due to turning There are rotational freedoms around input axis for sub- axis, so under the action of this constraint reaction square mx, axis of the gyroscope just around Input axis is with the angular speed of β along y-axis forward direction precession.Briefly, if gyro is not able to rotate around x-axis direction, around Input axis to moment of face effect under, the armature spindle of gyroscope also around input axis rotate.Angular motion of the gyro around main axis Measuring is indicated with H, H=Js Ω, and Js is the rotary inertia of gyrorotor in formula.The rotary shaft of high-speed rotating object, for changing The external force in its direction has the tendency that being intended to vertical direction.Moreover, rotating object, in lateral inclination, gravity can Xiang Zengjia Inclined direction effect, and axis just produces the movement (precession of the equinoxes movement) shaken the head then to movement in vertical direction.Work as gyrotheodolite Gyro rotary shaft when being rotated with trunnion axis, due to the earth rotation and by vertical direction rotary force, the rotary body of gyro to Meridian direction in horizontal plane generates precession of the equinoxes movement.When axis be parallel to meridian and it is static when can be applied.Gyro longitude and latitude The gyroscopic apparatus of instrument is made of gyro part and power unit.This gyroscopic apparatus is combined into total station.Gyroscope body is filling Setting interior sling with silk thread makes rotary shaft be in level.When gyro rotation, due to the rotation of the earth, rotary shaft in the horizontal plane with Slow precession of the equinoxes movement is generated centered on geographical north.The direction of rotary shaft by device outside eyepiece can be observed, gyro pointer Centre of oscillation direction be directed toward geographical north.There are " measurement of knocking into the back " and " time measurement " using the geographical north measuring method of gyrotheodolite Deng.It knocks into the back measurement, the dial of precession of the equinoxes movement, which knocks into the back, to be shown to gyrotheodolite using the horizontal slow motion screw of total station. (movement stops at this time) the read level angle on the point of vibration direction reversion.So continue to measure it, acquires what it averagely shook Central angle.It can be in the hope of +/- 0 with the observation that the method carries out 20 minutes.5 points of real north.Time measurement, with measurement of knocking into the back After observing real north, gyrotheodolite has been directed toward real north, and pointer swings since the precession of the equinoxes moves.Use total station Horizontal slow motion screw knock into the back to the swing of pointer, the time can be improved in the recording level angle repeatedly when pointer passes through at 0 The precision of measurement, and real north is acquired with +/- 20 seconds precision.Application example, tunnel central line measurement are dug in tunnel etc. It digs in engineering, the central line measurement in hole is generally using the long range conducting wire for being difficult to ensure precision.Especially carry out Shield digging The case where (shield tunnel), must have very high angle measurement accuracy and station transfer precision from short reference center's line in vertical hole, The correspondence proving of ground and underground is carried out in measurement, often also to ensure the precision measured.Especially in intensive city Area, it is impossible to carry out excessive detection operation and meet difficulty.If available absolutely high-precision using gyrotheodolite Azimuth reference, and can reduce and expend very high detection operation (checkpoint is minimum), it is a kind of very high central line measurement of efficiency Method.Deflection when 3.2 visibility restriction obtains, and when there is visibility restriction, when cannot obtain deflection from known point, can use The method of astronomical surveing or gyrotheodolite measurement obtains deflection (saving specifications of surveys according to construction).Compared with astronomical surveing, The method of gyrotheodolite measurement has lot of superiority: to the dependence of weather less, cloud number it is unrelated, need not be complicated astronomical count Calculate, at the scene the deflection of available any survey line and be easy calculate mis-tie misclosure.Geographical north measurement needed for 3.3 shadows cast by the sun calculate exists City or environs area have the height limitation of sunshine or shadows cast by the sun condition to skyscraper.When building application, shadows cast by the sun figure is added. This shadows cast by the sun figure refers to, on the basis of 8 points of the true solar time in Winter Solstice to 16 point, carries out to calculate, required for drawing is drawn The measurement of high-precision real north.It can be obtained using gyrotheodolite measurement and not measured by the geographical north of weather, time effects.1, top Spiral shell instrument is since by invention, and just for navigating, German was applied on V1, V2 rocket before this, therefore, if cooperation GPS, The homing capability of mobile phone is up to unprecedented level.In fact, also having filled gyroscope on many profession hand-held GPSs, such as It is mounted with corresponding software on fruit mobile phone, homing capability is never second to many ships, the navigator on aircraft.It can also realize The inertial navigation of GPS: near running car to tunnel or city high-lager building, when without GPS signal, gyro can be passed through Instrument is displaced come the yaw for measuring automobile or linear motion, to continue to navigate.2, it can be used cooperatively with the camera on mobile phone, For example stabilization, the stabilization of the maintenance image when taking pictures prevent influence of the shake due to hand to quality of taking pictures.Pressing shutter When, the shake movement of hand is recorded, the shake of hand is fed back into image processor 31, mobile phone can be allowed to capture apparent stable Picture.3, the sensor of various types of games, such as flying games, sport game, or even shoot and swim including some first visual angles class Play, gyroscope completely monitors the displacement of player hand, to realize various game operation effects.4, it may be used as input equipment, Gyroscope is equivalent to a three-dimensional mouse, and the gaming sensors of this function and the third-largest use on the way are much like, it might even be possible to It is considered a seed type.By inclination by a small margin, mobile phone is deflected, realizes menu, the execution of selection and the operation of catalogue.(ratio Mobile phone is such as tilted forward and back, realizes scrolling up and down for address book entries；Tilt mobile phone, realize browsing pages move left and right or Person's page zooms in or out.) 5, be also most to have the purposes of prospect and application range in future.That can exactly help mobile phone to realize The function of many augmented realities.Augmented reality is the concept just emerged as virtual reality, is a kind of application of computer. People can be allowed to have a better understanding some objects in reality by the processing capacity of mobile phone or computer to the effect that. If everybody does not understand, for example, before the building You Yige, be directed at it with mobile phone camera, at once can be on the screen The relevant parameter in this building, such as the height in building, width, height above sea level are obtained, if being connected to database, it might even be possible to obtain this The seat owner of mansion, building time, present purposes, open ended number etc..Gyroscope principle refers to gyroscope work Principle, coiling property are a kind of devices for sensing and maintaining direction, what the Theoretical Design based on the conservation of angular momentum came out.Gyro Instrument is mainly located at axle center and rotatable rotor by one and constitutes.Gyroscope is once rotation, due to the angular momentum of rotor, Gyroscope, which has, resists the trend that direction changes.Gyroscope, which is chiefly used in such as cellphone GPS positioning of the systems typical examples such as navigation, positioning, leads Boat, the positioning of satellite three-axis gyroscope.Gyroscope is basically when rotating with objects at high speed, and angular momentum is very big, rotary shaft meeting The property for being directed toward a direction stable always, the manufactured orientation device come out.But it must turn to reach fast or inertia enough (it could also say that angular momentum is enough big) greatly.Not so, as long as the torque of a very little, its stability will be seriously affected. The rotary shaft of high-speed rotating object, the external force for changing its direction have the tendency that being intended to vertical direction.Moreover, rotation Turn object in lateral inclination, gravity can be acted on to inclined direction is increased, and axis is just produced and shaken then to movement in vertical direction The movement (precession of the equinoxes movement) of head.When the gyro rotary shaft of gyrotheodolite is rotated with trunnion axis, due to the earth rotation and by To vertical direction rotary force, meridian direction of the rotary body of gyro into horizontal plane generates the precession of the equinoxes and moves.When axis is parallel to son Noon line and it is static when can be applied.Gyroscope is basically when rotating with objects at high speed, and angular momentum is very big, rotary shaft meeting The property for being directed toward a direction stable always, the manufactured orientation device come out.But it must turn to reach fast or inertia enough (it could also say that angular momentum is enough big) greatly.Not so, as long as the torque of a very little, its stability will be seriously affected. Gyroscope is the combination of a circular axis.And in fact, it is static with movement gyroscope itself and indistinction, if If static gyroscope absolute equilibrium itself, throw except external factor gyroscope just can halt not against rotation.And If gyroscope size itself is uneven, the tumble of gyroscope model inclination will result under static, therefore unbalanced Gyroscope is necessarily by rotation to maintain to balance.Gyroscope itself is related with gravitation, because of the influence of gravitation, unbalanced gyro One end of instrument, weight will be run down, and light one end is upward.In gravitational field, the speed of weight decline needs the time, object When the speed that body falls is much more slowly than the speed that gyroscope itself rotates, it will lead to gyroscope and lay particular stress on point, it is continuous in rotation Change the balance of gyroscope itself, and forms a directional velocity rotated upwards.Certainly, if gyroscope weighting point is too big, The left and right interreaction force of gyroscope itself also will failure.And in rotation, if gyroscope encounters external force and causes, gyroscope runner Certain point stress.Gyroscope can tilt at once, and if the potential energy of gyroscope stress point lower than gyroscope rotates speed per hour, at this moment stress Point, can be because gyroscope tilts, under the promotion of rotation, and gyroscope stress point will slide to tiltedly upper angle from angle obliquely downward.And to oblique When upper angle is run, the potential energy of gyroscope stress point is also being run down.When this results in gyroscope to reach tiltedly upper angle, stress point Remaining potential energy will will be when being located at tiltedly upper angle, potential energy pushes down on.And the diameter other end opposite with stress point, it is likewise supplied with Corresponding potential energy, this potential energy is with stress spot moving direction on the contrary, stress point is downward, and it is upwards, and cries and " join to this point Dynamic stress point ".When linkage stress point rotates 180 degree, from oblique upper angle arrival angle obliquely downward, at this moment link stress point, by gyroscope to Upper pulling.Under stress point and linkage stress interreaction force, gyroscope returns balance.We do not have to a complete wheel frame, I Indicate the region on side with four particle ABCD, this side is critically important for the working principle for explaining gyroscope with figure 's.The bottom of axis held it is static but can all directions rotation.When a tilting force acts on the axis at top, Particle A is moved upwards, and particle C is then moved downward, because gyroscope is to rotate clockwise, after being rotated by 90 ° angle, and particle A The position of particle B will be reached.The case where two particles of CD is also the same.Particle A when in as figure 90 degree of positions when Time will continue to move upwards, and particle C also continues downwards.The combination of AC particle will lead to axis and move in plane of movement.One top The axis of spiral shell instrument rotates in a suitable angle, and in this case, if gyroscope rotates counterclockwise, axis will moved It is moved downward in plane.If tilting force is a thrust rather than if pulling force in the case where clockwise, movement will be to Left generation.When gyroscope has rotated another 90 degree, position of the particle C before particle A stress.C particle it is downward It moves the obstruction for receiving tilting force and axis cannot move in tilting force plane.The strength of tilting force push shaft is bigger, works as side When edge rotates about 180 degree, the edge impeller-hub of the other side is moved back.In fact, axis will tilt in that case It is rotated in the plane of power.It is because particle AC is used up in some energy moved up and down and led to axis why axis, which can rotate, It is moved in plane of movement.When particle AC is finally rotated on generally opposite position, tilting force is than up and down Motion-impeding power is big.The characteristic of Motions of Gyroscope is that it is able to maintain single track equipment straight up and down when turn.Than As said, it is necessary to if, as soon as fire-fighting cylinder pressure is able to maintain its stabilization on the axis of very heavy gyroscope.Gyroscope and ten thousand The universal joint gyroscope formed altogether to nodule is then most frequently applied in practice.From above it will be seen that gyro The key of instrument is the invariance of axis.Such characteristic, it appears that although simple, can use many different using upper.System Leading weapon is exactly one of most critical application of gyroscope.In inertial guidance, gyroscope is the important of control weapon flight attitude Component is used to guarantee stability and accuracy, then good control without well-designed gyroscope in the environment of acute variation Rule can not also be hit target.Other than guidance, gyroscope can also be applied in the science and technology at other tips.Such as Equipped with a gyroscope and a backup each of in 3 sensorings of famous Hubble's astronomical telescope.The top of 3 work Spiral shell instrument is to guarantee that telescope direction is essential.Exactly because the characteristic of its balance of gyroscope, has become flight Crucial component in equipment, from model plane, guided weapon, guided missile, satellite, astronomical telescope, nowhere not no its figure, gyroscope Quietly these flight equipments of the guarantee of work can go work according to specified mode.It is led using the long range for being difficult to ensure precision Line.The case where especially carrying out Shield digging (shield tunnel), must have very high from short reference center's line in vertical hole Angle measurement accuracy and station transfer precision, the correspondence proving of ground and underground is carried out in measurement, often also to ensure the precision measured. Especially in intensive urban area, it is impossible to carry out excessive detection operation and meet difficulty.If using gyrotheodolite Available absolutely high-precision azimuth reference, and can reduce and expend very high detection operation (checkpoint is minimum), it is a kind of The very high central line measurement method of efficiency.Deflection when visibility restriction obtains, and when there is visibility restriction, cannot obtain from known point When deflection, deflection can be obtained using the method that astronomical surveing or gyrotheodolite measure and (measuring gage be saved according to construction Model).Compared with astronomical surveing, gyrotheodolite measurement method have lot of superiority: to weather dependence less, how much nothings of cloud Close, need not be complicated it is astronomical calculate, at the scene the deflection of available any survey line and be easy to calculate mis-tie misclosure.Shadows cast by the sun calculate Required geographical north measurement.What does gyroscope play the role of in inertial navigation? rigid body around a fulcrum high speed scroll is known as top Spiral shell (top).General described gyro is to refer in particular to symmetric top, it is a uniform quality distribution, with axisymmetric shape Rigid body, how much symmetry axis is its axis of rotation.Must primary condition and must moment of face under effect, gyro meeting Continuous rotation together, also around another fix shaft constantly rotate, this is precession of a top (precession), also known as reversal effect (gyroscopic effect).Precession of gyroscope is scape common in the daily date As the gyro that many people as a child played is an example.Various functions made by everybody mechanical property using gyro Gyroscopic apparatus is known as gyroscope (gyroscope), it has a wide range of applications in each scope such as science, technology, military affairs.Than Such as: the rotation of reversion compass, orientation indicator, the overturning of shell, the nutating of gyro, the earth under the sun (moon) gravitation square effect Into (precession of the equinoxes) etc..What does gyroscope play the role of in inertial navigation? the principle of gyroscope is the rotation of a rotating object The direction of axis meaning will not be changed when not influenced by external force.Everybody adheres to direction with it according to this reason, system The thing created just is gyroscope.We ride a bicycle originally also with this principle.Wheel turns more fast more does not allow It easily falls, because axle has one to adhere to horizontal strength.Gyroscope will give its power in operation, rotate its agility Come, can generally reach hundreds of thousands per minute and turn, it being capable of the operation very long moment.Then side indicated by axis is read with a variety of methods To, and data-signal is actively transmitted to control system.Modern gyroscope is a kind of orientation that can accurately conclude moving object Instrument, it is modern Aviation, sail sea, a kind of inertial navigation instrument of extensive utilization, its development in space flight and national defense industry To a national industry, national defence and other high-tech carry out have very main strategic importance.Traditional inertia gyroscope Instrument is primarily referred to as mechanical gyroscope, and mechanical gyroscope is very high to the request of technical construction, and construction is mixed and disorderly, its precision Receive perhaps various restrictions.Because of fibre optic gyroscope, which has, constructs compact, high sensitivity, and operation is firm etc. strong point, institute Become modern navigator thoroughly instead of mechanical traditional gyroscope in many scopes with present fibre optic gyroscope Critical component in device.With fibre optic gyroscope carry out together other than Ring Laser Gyro instrument, there are also the vibrations of modern integrated form Gyroscope is swung, the vibrating gyroscopes of integrated form have higher integrated level, and volume is smaller, and one of modern gyroscope is main Development direction.What does gyroscope play the role of in inertial navigation? " gyroscope " is the equipment of sensitive angular displacement.Key property There are gyroscopic inertia and precession.The fabulous understanding of gyroscopic inertia gyroscopic inertia, gyroscope has moment of momentum H in high-speed rotation process, not When by moment of face effect, the constant characteristic in direction is adhered in relative inertness space by the axis of rotation.Precession precession is two degrees of freedom Concept inside gyroscope.Rate gyroscope model outline border can be rotated around outline border axis, and inside casing can be rotated around inner axis, Center is the gyro and the axis of rotation of rotation.The scene so that precession refers to；It is false under the situation of gyrorotor high speed scroll Such as by firmly effect can make external structure roll by direction as shown in the figure, then the moment of momentum be caused to exist in interior structure as shown in the figure Under the situation of gyrorotor high speed scroll, if by firmly effect can make external structure by such as figure institute in interior structure as shown in the figure Show that direction rolls, moment of momentum H (i.e. the direction of the axis of rotation) is then caused accordingly to roll.Perhaps other a kind of situation t；It forcibly drives Outline border, so that interior structure is rolled around inner axis.Outline border is forcibly driven, so that interior structure is rolled around inner axis.Similar to newton Three laws, when promoting the external structure perhaps direction of interior structural modification moment of momentum H, minus effect torque can occur for gyroscope, huge Carefully maintain an equal level with moment of face, it is contrary.This is also one of fundamental characteristics of gyroscope.Using gyroscope on date and military scope There is main effect.It is small to mobile, satellite is arrived greatly, can see its figure.The manipulation of flying posture is the master of property of gyroscope It uses, is the performance of gyroscopic inertia.Straight gyroscope builds immediately vertical line benchmark to flying, and reason is very simple, and flying is in sky In circle in the air during, no matter how how posture changes, and it is constant that straight gyroscope always points to straight direction, then supplies related posture The information at angle.Certainly, it because gyro drift itself and environment change, needs to correct equipment and calibrates at any time and correct.It is identical, horizontal top Spiral shell instrument indicates horizontal direction, corrects supply information to the course angle of flying.Gyrocompass is that a kind of support gyroscope instruction is true The equipment in north.It uses the conclusion effect of rotational-angular velocity of the earth and gravity torque, and the axis of rotation can be made actively to find geographical north, and It does not need to rely on earth's magnetic field.Nowadays there has also been considerable advance and developments.By measuring because of acceleration caused by gravity, your energy Enough calculate the crooked viewpoint that equipment is relevant to horizontal plane.By dissecting dynamic acceleration, you can subdivision to go out equipment mobile Method.Acceleration transducer can assist in robot and understand the environment that it is in.Does is it to climb the mountain? it is still to go down hill, falls down ? it perhaps is also main to closing about control posture for the robot about class of circling in the air.More to be guaranteed, you Robot does not go to the densely covered place of crowd from a with bomb.One good programmer can answer with acceleration transducer All above problems.Acceleration transducer or even the oscillation that can be used to dissect engine.Acceleration transducer can be measured and be led The acceleration that gravitation occurs.1. inertial navigation system INS (InerTIa NavigaTIon System, hereinafter referred to as inertial navigation) is used to Leading is a kind of specific force and angular velocity information using inertial sensor measurement carrier, and given primary condition is combined to calculate in real time Specifically inertial navigation system belongs to a kind of reckoning navigation side to the autonomic navigation system of the parameters such as speed, position, posture Formula.The position for going out its next point according to the carrier course angle and speed calculation that continuously measure from the position of a known point, because And it can continuously measure the current location of movable body.Regular Inertial Navigation system is measured using accelerometer and gyro sensor Bearer parameters, and accelerometer inertial navigation system is mainly made of accelerometer, the systems abandon gyroscope, uses accelerometer Instead of gyroscope as inertial measurement component, there is scholar's research scheme of multiple accelerometers substitution gyroscope in the world.It is used Gyroscope in leading, which is used to be formed a navigational coordinate system, stablizes the measurement axis of accelerometer in the coordinate system and to sailing To and attitude angle；Accelerometer is used to measure the acceleration of movable body by obtaining speed to the first summation of time, and speed is again Distance can be obtained by the primary integral to the time.Inertial navigation system has following major advantage: (1) since it is not depend on In any external information, also not to the self-contained system of external radiation energy, therefore good concealment is not by outside electromagnetic interference It influences；(2) can the whole day stream whole world, temporally work in aerial earth surface or even underwater entirely；(3) position, speed, boat can be provided To and attitude angle data, generated navigation information continuity is good and noise is low；(4) data updating rate is high, short-term accuracy and Stability is good.The disadvantage is that: (1) it due to leading dirty uncle breath by integral generates, position error increases at any time, long-term essence It is poor to spend；(2) the longer initial alignment time is needed before use every time；(3) price of equipment is costly；(4) when cannot provide Between information.2. accelerometer: there are two types of accelerometers: one is angular accelerometer, is changed by gyroscope (angular-rate sensor) Into.Another kind is exactly linear accelerometer.Acceleration transducer utilizes acceleration of gravity, can be used for the inclination angle of detection device Degree, but it will receive the influence of acceleration of motion, keep inclination angle measurement not accurate enough, so need to usually be passed using gyroscope and magnetic Sensor compensation.Simultaneously when Magnetic Sensor measurement azimuth, also with earth's magnetic field, when curent change in system or surrounding have magnetic conduction When material, and when device inclined, the azimuth measured is also inaccurate, at this moment needs with acceleration transducer (inclination angle biography Sensor) and gyroscope compensate.By measuring the acceleration due to caused by gravity, you can calculate equipment relative to level The tilt angle in face.By analyzing dynamic acceleration, you can analyze out the mobile mode of equipment.Acceleration transducer can be examined Survey the vibration of AC signal and object, people can generate the vibration of certain regularity when walking about, and acceleration transducer It can detecte the zero crossing of vibration, to calculate the step that people is walked or the step number that running is walked, moved to calculate people Displacement.And the consumption of calorie can be calculated using certain formula.With acceleration transducer detection handheld device Vibration/shaking amplitude locks shutter when vibration/shaking amplitude is excessive, and making captured image forever is clearly. 3. angular-rate sensor-gyroscope installs gyroscope on four axis, the inclined angular speed of four axis can be measured, angular speed is believed The inclination angle of four axis can be obtained by number carrying out integral.Due to gyroscope output be four axis angular speed, not will receive four axis vibration It is dynamic to influence.Therefore noise very little in the signal.The angle of four axis is obtained by angular velocity integral again, this can be further smoothed Signal, so that angle signal is more stable.Therefore gyroscope can be used in angle required for four axis control and angular speed Obtained signal.Due to obtaining angle information from the angular speed of gyroscope, need by integral operation.If angular velocity signal There are small deviations, and after integral operation, variation forms accumulated error.This error can gradually increase as time went on Add, eventually lead to circuit saturation, correct angle signal angle integrator drift correction can not be formed, obtained using accelerometer The angle information θ g obtained is compared with the angle, θ after gyroscope integral, and the error signal compared is amplified it by ratio Tg It is integrated again after being superimposed afterwards with the angular velocity signal of gyroscope output.It can be seen that from the block diagram in figure for acceleration The given angle, θ g of meter, the angle, θ generated after ratio, integral element are necessarily eventually equal to θ g.Since accelerometer obtains There is no accumulated errors for the angle information obtained, so finally eliminating the accumulated error in output angle θ.In order to avoid defeated Angle, θ follows θ g too long out, can take with measure: in the beginning that control circuit and program are run, keeping four axis in water as far as possible Level state makes output angle θ equal with θ g at the very start in this way.Hereafter, the inclined of integral is only eliminated in the output of accelerometer It moves, output angle is not in very big deviation.Generally speaking, measured value (measurement aircraft of the accelerometer in the long period Angle) be correctly, however to be had very big since the acceleration of signal noise and the direction of motion exists within a short period of time Error.It is very stable to be embodied in the stationary duration of acceleration, data fluctuations are very big but movement is got up.Gyroscope measures Be angular speed, it is then relatively accurate within a short period of time, and the long period, there will be integrator drifts to generate error.Therefore, just now It is described to need the two (mutually adjusting) fusion to ensure the correct of attitude angle.4. electronic compass, but even with acceleration Meter and gyroscope, also may be only used for the pitching and roll angle that measure aircraft.For yaw angle, due to yaw angle and gravity Direction is orthogonal, can not be obtained with accelerometer measures.(accelerometer is according to certain direction gravitational acceleration component of survey and gravity The relationship of acceleration acquires angle) this means that none reliable Long-term corrects gyroscope in this dimension Value, and only can there are problems that integrator drift with the angle that gyroscope is surveyed！Therefore it also needs using other equipment come calibration measurement The drift value of the gyroscope of yaw angle.Magnetic compass meter can be used in the equipment of calibration, and (Electronic Megnetic Compass to changes of magnetic field and is used to Property power it is sensitive) or GPS.GPS data updates relatively slow (1Hz to 10Hz), and there are errors in the short time.So only with GPS Can relatively stable in Deep space tracking for a long time and aircraft at a slow speed, if necessary to correct course, we just only use electronics Compass.(there certainly exist correction is not needed, just do not correct here, is gathered using the angle that gyroscope integrates Close), three dimensional reluctance sensor (electronic compass) is used to measure earth magnetic field, and obliquity sensor is in magnetometer non-standard state It compensates；MCU handles signal and the data output of magnetometer and obliquity sensor and soft iron, hard iron compensate.The magnetometer It is to use three mutually perpendicular magnetoresistive sensors, the geomagnetic field intensity of sensor detection in this direction in each axial direction. It can be simply understood as a compass, no matter where you can find south, then according to it is known that aircraft Head deviate the how many degree angles in south to lock course.Inertial navigation system (INS, hereinafter referred to as inertial navigation) be it is a kind of independent of External information, also not to the autonomic navigation system of external radiation energy.Its working environment not only includes aerial, ground, may be used also With under water.The basic functional principle of inertial navigation is based on Newton mechanics law, by measurement carrier in inertial reference system It integrates the time, and it is transformed in navigational coordinate system by acceleration, it will be able to obtain in navigational coordinate system The information such as speed, yaw angle and position.Inertial navigation system (English: INS) inertial navigation system is with gyro and accelerometer For the navigational parameter resolving system of Sensitive Apparatus, which establishes navigational coordinate system according to the output of gyro, according to accelerometer Output calculates speed and position of the carrier in navigational coordinate system.Inertial navigation system (INS, Inertial Navigation System) it is also referred to as inertial reference system, it is one kind independent of external information, also not to external radiation energy Measure the autonomic navigation system of (as radionavigation).Its working environment not only includes aerial, ground, can also be in water Under.The basic functional principle of inertial navigation is to pass through measurement carrier adding in inertial reference system based on Newton mechanics law It integrates the time, and it is transformed in navigational coordinate system by speed, it will be able to obtain the speed in navigational coordinate system The information such as degree, yaw angle and position.

--- inertial navigation system belongs to a kind of reckoning navigation mode i.e. from the position of a known point according to continuously measuring Carrier course angle and speed calculation go out the position of its next point thus can continuously measure the current location of movable body.Inertia is led Gyroscope in boat system be used to be formed a navigational coordinate system make the measurement axis of accelerometer stablize in the coordinate system and to Sail to and attitude angle；The acceleration that accelerometer is used to measure movable body, which passes through, obtains speed to the primary integral of time, speed Distance can be obtained using the primary integral to the time in degree.Inertial navigation system has following major advantage (1) since it is not It is also not to the self-contained system event good concealment of external radiation energy and dry not by external electromagnetic dependent on any external information The influence disturbed；(2) can the all-weather whole world, temporally work in aerial earth surface or even underwater (3) full position, speed can be provided Degree, course and attitude angle data, generated navigation information continuity is good and noise low (4) data updating rate is high, short-term essence Degree and the good of stability the disadvantage is that: (1) due to navigation information by integral and generate, position error increases at any time, for a long time Low precision；(2) the longer initial alignment time is needed before use every time；(3) price of equipment is costly；(4) it cannot provide Temporal information.Inertial navigation system is usually made of inertial measuring unit, computer, control display etc..Inertial measuring unit Including accelerometer and gyroscope, also known as inertial navigation combination.3 freedom degree gyroscopes are used to measure three rotations of aircraft Movement；3 accelerometers are used to measure the acceleration of 3 translational motions of aircraft.Computer is believed according to the acceleration measured Number calculate the speed and position data of aircraft.Control display shows various navigational parameters, realizes function.It is led according to inertia The mounting means of boat combination on board the aircraft, being divided into gimbaled inertial navigation system, (it is flat that inertial navigation combination is mounted on inertia On the stage body of platform) and strap-down inertial navigation system (inertial navigation combination is mounted directly on board the aircraft).It is platform-type, according to building Vertical coordinate system is different, and is divided into two kinds of working methods of spatial stability and local level.Space-stabilized platform formula inertial navigation system The stage body relative inertness spatial stability of system, to establish inertial coodinate system.Earth rotation, acceleration of gravity etc. are influenced by computer It is compensated.This system is chiefly used in the powered phase and some spacecrafts of carrier rocket.Local levelling bench formula inertial navigation The characteristics of system is that the datum plane that two input axis of accelerometer on stage body are constituted can track aircraft place always The horizontal plane (being guaranteed using accelerometer and gyroscope composition shura circuit) of point, therefore accelerometer is not by acceleration of gravity Influence.This system is chiefly used in making the aircraft (such as aircraft, cruise missile) to move at the uniform velocity along earth surface.Platform-type In inertial navigation system, the angular oscillation of aircraft can be isolated in frame, and instrumentation condition is preferable.Platform can directly establish navigation and sit Mark system, calculation amount is small, is easy to compensate for and corrects the output of instrument, but structure is complicated, size is big.Strapdown, according to gyro used The difference of instrument is divided into rate type strap-down inertial navigation system and position type strap-down inertial navigation system.The former uses rate top Spiral shell instrument exports instantaneous mean angular velocity vector signal；The latter's free gyroscope, angle displacement signal.Strapdown Inertial Units are led Boat system eliminates platform, so structure is simple, small in size, easy to maintain, but gyroscope and accelerometer are directly installed in flight On device, operating condition is bad, can reduce the precision of instrument.What the accelerometer of this system exported is the acceleration of body coordinate system Component is spent, needs to be converted into the component of acceleration of navigational coordinate system through computer, calculation amount is larger.The position of aircraft in order to obtain Data are set, the output of each Measurement channel of inertial navigation system must be integrated.The drift of gyroscope will make angle error at any time Proportionally increase, and the constant error of accelerometer will cause the location error directly proportional to the time square.This is a kind of The error (constantly increasing at any time) of diverging, can pass through composition shura circuit, gyrocompass circuit and the negative-feedback of 3, Foucault circuit The method in circuit corrects this error to obtain accurate position data.Shura circuit, gyrocompass circuit and Foucault circuit Characteristic all with oscillation undamped period.So inertial navigation system often with the navigation system such as radio, Doppler and astronomy Combination, constitutes high-precision integrated navigation system, makes the existing damping of system that can correct error again.The navigation essence of inertial navigation system It spends closely related with the precision of earth parameter.High-precision inertial navigation system must provide the figure of the earth and again with reference ellipsoid The parameter of power.Since factors, parameter actual value and the reference ellipsoids of earth each point such as CRUST DENSITY is uneven, topography variation acquire Calculated value between it is often variant, and this species diversity also has randomness, and this phenomenon is known as gravity anomaly.It is developing Gravity gradiometer can to gravitational field carry out real-time measurement, earth parameter be provided, solve the problems, such as gravity anomaly.Inertial navigation system The working principle of gyroscope in system: inertial navigation: by measuring the acceleration of aircraft, and integral operation is carried out automatically, taken Obtain the technical ability of aircraft instantaneous velocity and transient bearing data.Equipment all devices of inertial navigation system are constituted in carrier, External information is not depended on when operation, not outwardly radiation energy, be not subject to bother, be a kind of self-supporting navigation system yet.Benefit The acceleration that carrier itself is measured with accelerometer obtains speed and orientation by integral and operation, then arrives to fortune The purpose of carrier navigator fix.Equipment all devices of inertial navigation system are constituted in carrier, when operation does not depend on extraneous letter Breath, also not outwardly radiation energy, is not subject to bother, is a kind of self-supporting navigation system.Inertial navigation system is usually by being used to Property measure equipment, computer, manipulation display etc. and constitute.It includes accelerometer and gyroscope, also known as inertia that inertia, which measures equipment, Measure unit.It constitutes, inertial navigation system is generally made of inertia measurement equipment, computer, manipulation display etc., inertia measurement Equipment includes accelerometer and gyroscope, and also known as 3 freedom degree gyroscopes of inertial navigation combination are used to measure three of aircraft Rolling movement, 3 accelerometers are used to measure aircraft, and the acceleration calculation machine of 3 translational motions is according to the acceleration measured Degree signal calculates the speed of aircraft and bearing data manipulation display shows various navigational parameters, completes function inertial navigation The working principle of gyroscope in system --- wherein gyroscope plays critically important effect, the original of gyroscope in inertial navigation system Reason is that the direction of the rotary shaft meaning of a rotating object will not be changed when not influenced by external force.Everybody is according to this A reason adheres to direction with it, and the thing manufactured is just gyroscope.We ride a bicycle originally also with this Principle.Wheel turns to be less susceptible to down fastlyer, because axle has one to adhere to horizontal strength.Gyroscope will give it in operation One power, rotates its agility, generally reaches hundreds of thousands per minute and turns, can be with operation for a long time.Then with a variety of Method reads direction indicated by axis, and data-signal is actively transmitted to control system.Gyroscope in inertial navigation system Working principle modern times gyroscope is a kind of instrument in orientation that can accurately conclude moving object, it is modern Aviation, and sail is extra large, Widely used a kind of inertial navigation instrument in space flight and national defense industry, its development to a national industry, national defence and its Its high-tech carries out has very main strategic importance.Traditional inertial gyroscope is primarily referred to as mechanical gyroscope, Mechanical gyroscope is very high to the request of technical construction, and construction is mixed and disorderly, its precision receives perhaps various restrictions.

More specific situation is that there are electromagnetism for the motor working frequency Yu gyroscope working frequency of part electric car at present Interference problem, part vehicle are not available gyroscope and carry out inertial navigation, how accurate in the place of no GPS or Beidou signal Carrying out navigation becomes problem.Vehicle traveling direction can by vehicle hang gear judge, i.e., reverse gear be direction of retreat, D grades with And 2 grades or S grades are direction of advance；The distance that vehicle is advanced can be by current speed per hour multiplied by Distance Judgment；The angle of vehicle can lead to Cross the corner judgement of steering wheel；

It please refers to shown in Fig. 1 C, it is assumed that vehicle is at 0 point, and what user hung is D grades, speed s, time t.Then user's vehicle Direction be drive towards A point, after time t, then user traveling distance be t*s, if vehicle does not drive at a constant speed, can by when Between and speed be divided into n equal portions calculate distance i.e. operating range=t1*s1+t2*s2+t3*s3 ...+tn*sn；If user's vehicle Hang be to reverse gear, then vehicle towards B point travel；If steering wheel rotates, corner a, then vehicle advances along the direction of a, At a=90 ° of shelves, then travelled towards C point.Vehicle Auto-matching is corrected to certain distance if there is navigation road in current location On (such as 2 meters) interior road, if without road, without correcting.

The protection scope of air navigation aid of the present invention is not limited to the present embodiment the step of enumerating and executes sequence, and all The increase and decrease of the step of prior art done according to the principle of the present invention, step replace realized scheme and are included in guarantor of the invention It protects in range.

The present invention also provides a kind of navigation system 20, navigation side of the present invention is may be implemented in the navigation system 20 Method, but the realization device of air navigation aid of the present invention includes but is not limited to the knot for the navigation system 20 that the present embodiment is enumerated Structure, the malformation and replacement of the prior art that all principles according to the present invention are done are included in protection model of the invention In enclosing.

It please refers to shown in Fig. 2, to achieve the goals above and other related purposes, the present invention provide a kind of navigation system 20, it is applied to a vehicles, the navigation system 20 includes:

Driving direction judgment module 21 is sentenced based on the hung gear of vehicle device, and/or the corner of the steering wheel based on the vehicle device Break the vehicle device driving direction；

Operating range computing module 22, speed and time based on the vehicle device calculate the operating range of the vehicle device；

The information of navigation module 23, the operating range based on the driving direction and the vehicle device that include the vehicle device is led Boat.

In one embodiment of the invention, a kind of realization that the vehicle device driving direction is judged based on the hung gear of vehicle device Process includes:

Monitor the hung gear of the vehicle device；

If reverse gear, then the vehicle device driving direction is direction of retreat；

If D grades or two grades or S grades, then the vehicle device driving direction is direction of advance.

In one embodiment of the invention, the speed and time based on the vehicle device calculates the operating range of the vehicle device One kind the realization process includes:

Judge whether the vehicle device is to drive at a constant speed；

If so, setting the speed as s, time t, the operating range of the vehicle device is L；

L=s × t；

The operating range L is calculated if it is not, dividing the speed s and the time t for n etc. points；

L=t1 × s1+t2 × s2+t3 × s3 ...+tn × sn.

In one embodiment of the invention, the navigation system 20 further include:

Judgment module, judges whether the road of the vehicle device traveling has navigation routine；

If so, the vehicle device Auto-matching is corrected within the safe distance of navigation routine described in road；

If it is not, not correcting then.

It should be noted that it should be understood that the modules of apparatus above division be only a kind of logic function division, It can completely or partially be integrated on a physical entity in actual implementation, it can also be physically separate.And these modules can be with It is all realized, can also be all realized in the form of hardware by way of processing element calls with software, it can also part mould Block realizes that part of module passes through formal implementation of hardware by way of processing element calls software.Such as: x module can be The processing element individually set up also can integrate and realize in some chip of above-mentioned apparatus.In addition, x module can also be with The form of program code is stored in the memory of above-mentioned apparatus, called by some processing element of above-mentioned apparatus and executed with The function of upper x module.The realization of other modules is similar therewith.These modules completely or partially can integrate together, can also be with It is independent to realize.Processing element described here can be a kind of integrated circuit, the processing capacity with signal.In the process of realization In, each step of the above method or the above modules can by the integrated logic circuit of the hardware in processor elements or The instruction of software form is completed.The above module can be arranged to implement the integrated electricity of one or more of above method Road, such as: one or more specific integrated circuit (Application Specific Integrated Circuit, abbreviations ASIC), one or more microprocessors (Digital Singnal Processor, abbreviation DSP), one or more scene Programmable gate array (Field Programmable Gate Array, abbreviation FPGA) etc..When some above module passes through processing When the form of element scheduler program code is realized, which can be general processor, such as central processing unit (Central Processing Unit, abbreviation CPU) or it is other can be with the processor of caller code.These modules can integrate one It rises, is realized in the form of system on chip (System-on-a-chip, abbreviation SOC).

To achieve the goals above and other related purposes, the present invention also provides a kind of computer readable storage medium, On be stored with computer program, program air navigation aid of the present invention when being executed by processor.

Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to The relevant hardware of computer program is crossed to complete.Computer program above-mentioned can store in a computer readable storage medium In.When being executed, execution includes the steps that above-mentioned each method embodiment to the program；And storage medium above-mentioned include: ROM, The various media that can store program code such as RAM, magnetic or disk.

It please refers to shown in Fig. 3, to achieve the goals above and other related purposes, the present invention also provides a kind of equipment 30, The equipment 30 includes: processor 31 and memory 32, and the memory 32 is for storing computer program, the processor 31 The computer program stored for executing the memory 32, so that the equipment 30 executes air navigation aid as described herein.

--- more specifically, equipment provided in this embodiment, comprising: processor, memory, transceiver, communication interface or/ And system bus；Memory and communication interface are connect with processor and transceiver by system bus and complete mutual lead to Letter, memory is for storing computer program, and communication interface is used for and other equipment are communicated, and processor and transceiver are used for Run computer program.System bus mentioned above can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, abbreviation EISA) bus etc..The system bus can be divided into address bus, data/address bus, control bus etc.. Only to be indicated with a thick line in figure, it is not intended that an only bus or a type of bus convenient for indicating.Communication connects Mouth is for realizing the communication between database access device and other equipment (such as client, read-write library and read-only library).Memory May include random access memory (Random Access Memory, abbreviation RAM), it is also possible to further include non-volatile deposit Reservoir (non-volatile memory), for example, at least a magnetic disk storage.Above-mentioned processor can be general procedure Device, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, abbreviation ASIC), scene can compile It is journey gate array (Field Programmable Gate Array, abbreviation FPGA) or other programmable logic device, discrete Door or transistor logic, discrete hardware components.

As described above, navigation methods and systems of the invention have following technical effect that the creative shelves with vehicle device The informixes such as position, steering wheel angle and speed are that the vehicles navigate.

The present invention is solved to be asked what how no GPS or without satellite-signals such as Beidou signals in the case where navigated Topic, effectively overcomes various shortcoming in the prior art and has high industrial utilization value.

The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as At all equivalent modifications or change, should be covered by the claims of the present invention.

Claims (10)

1. a kind of air navigation aid, it is applied to a vehicles, which is characterized in that the air navigation aid includes:

Corner based on the hung gear of vehicle device, and/or the steering wheel based on the vehicle device judges the vehicle device driving direction；

Speed and time based on the vehicle device calculate the operating range of the vehicle device；

The information of operating range based on the driving direction and the vehicle device that include the vehicle device is navigated.

2. air navigation aid according to claim 1, which is characterized in that described to judge the vehicle device based on the hung gear of vehicle device One kind of driving direction the realization process includes:

Monitor the hung gear of the vehicle device；

If reverse gear, then the vehicle device driving direction is direction of retreat；

If D grades or two grades or S grades, then the vehicle device driving direction is direction of advance.

3. air navigation aid according to claim 1, which is characterized in that the speed and time based on the vehicle device calculates One kind of the operating range of the vehicle device the realization process includes:

Judge whether the vehicle device is to drive at a constant speed；

If so, setting the speed as s, time t, the operating range of the vehicle device is L；

L=s × t；

The operating range L is calculated if it is not, dividing the speed s and the time t for n etc. points；

L=t1 × s1+t2 × s2+t3 × s3 ...+tn × sn.

4. air navigation aid according to claim 1, which is characterized in that the air navigation aid further include:

Judge whether the road of the vehicle device traveling has navigation routine；

If so, the vehicle device Auto-matching is corrected within the safe distance of navigation routine described in road；

If it is not, not correcting then.

5. a kind of navigation system, it is applied to a vehicles, which is characterized in that the navigation system includes:

Driving direction judgment module, based on the hung gear of vehicle device, and/or described in the corner judgement of the steering wheel based on the vehicle device Vehicle device driving direction；

Operating range computing module, speed and time based on the vehicle device calculate the operating range of the vehicle device；

The information of navigation module, the operating range based on the driving direction and the vehicle device that include the vehicle device is navigated.

6. navigation system according to claim 5, which is characterized in that described to judge the vehicle device based on the hung gear of vehicle device One kind of driving direction the realization process includes:

Monitor the hung gear of the vehicle device；

If reverse gear, then the vehicle device driving direction is direction of retreat；

If D grades or two grades or S grades, then the vehicle device driving direction is direction of advance.

7. navigation system according to claim 5, which is characterized in that the speed and time based on the vehicle device calculates One kind of the operating range of the vehicle device the realization process includes:

Judge whether the vehicle device is to drive at a constant speed；

If so, setting the speed as s, time t, the operating range of the vehicle device is L；

L=s × t；

The operating range L is calculated if it is not, dividing the speed s and the time t for n etc. points；

L=t1 × s1+t2 × s2+t3 × s3 ...+tn × sn.

8. navigation system according to claim 5, which is characterized in that the navigation system further include:

Judgment module, judges whether the road of the vehicle device traveling has navigation routine；

If so, the vehicle device Auto-matching is corrected within the safe distance of navigation routine described in road；

If it is not, not correcting then.

9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor Any one of the Claims 1-4 air navigation aid is realized when row.

10. a kind of equipment, which is characterized in that the equipment includes: processor and memory, and the memory is calculated for storing Machine program, the processor is used to execute the computer program of the memory storage, so that the equipment is executed as right is wanted Air navigation aid described in asking any one of 1 to 4.