CN109765938A - A kind of control method of autonomous heading device and autonomous heading device - Google Patents
A kind of control method of autonomous heading device and autonomous heading device Download PDFInfo
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- CN109765938A CN109765938A CN201711096944.3A CN201711096944A CN109765938A CN 109765938 A CN109765938 A CN 109765938A CN 201711096944 A CN201711096944 A CN 201711096944A CN 109765938 A CN109765938 A CN 109765938A
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Abstract
The invention discloses a kind of autonomous heading devices.Autonomous heading device of the invention includes: north-seeking system, laser collimation system, automatic horizontal control system and translation system；The laser collimation system is fixed together with the north-seeking system, and the plummet overlapping of axles of the laser collimation system and the north-seeking system；The north-seeking system is arranged on the automatic horizontal control system, and the automatic horizontal control system can level the north-seeking system and the laser collimation system；The automatic horizontal control system is arranged on the translation system, and can move horizontally with the translation system；The translation system carries out translational motion when the laser collimation system sends translation order to translation system.The invention also discloses a kind of control methods of autonomous heading device.Autonomous heading device provided by the invention and control method can realize full-automatic autonomous heading.
Description
Technical field
The present invention relates to orientation field, the in particular to controlling parties of a kind of autonomous heading device and autonomous heading device
Method.
Background technique
In the emission process of rocket or guided missile, need to carry out alignment measurement, measurement to prism on bullet by sight device
Error angle in its orientation determines the initial orientation information of rocket or guided missile, establishes launch inertial coordinate system, guarantee rocket or
The launch accuracy of guided missile.
Currently, generalling use Laser Autocollimator before rocket or MISSILE LAUNCHING and carrying out azimuth determination.It, will before measurement
Laser Autocollimator and pole device are respectively erected in two support platforms by leveling, the two support platforms are erected at two
On a known geodetic coordinates point, horizontal knob and orientation knob aiming stake that manipulator passes through adjusting Laser Autocollimator
Instrument, determines the orientation of Laser Autocollimator, then is aimed on arrow by Laser Autocollimator or prism on bullet, so that it is determined that rocket or
The initial azimuth of guided missile.
This manual manipulation mode, human factor influence greatly, and the activity duration is long, especially needs to measure laser autocollimatic in advance
The geodetic coordinates of straight instrument and pole device decorating position, influences the Mobile launch ability of guided missile.
Summary of the invention
The present invention is directed to overcome defect of the existing technology, the invention adopts the following technical scheme:
On the one hand, the embodiment of the invention provides a kind of autonomous heading devices.The autonomous heading device includes: to seek northern system
System, laser collimation system, automatic horizontal control system and translation system；
The laser collimation system is fixed together with the north-seeking system, and the laser collimation system with it is described
The plummet overlapping of axles of north-seeking system；
The laser collimation system and the north-seeking system are arranged on the automatic horizontal control system, and described automatic
Leveling system can level the north-seeking system and the laser collimation system；
The automatic horizontal control system is arranged on the translation system, and can move horizontally with the translation system；
The translation system carries out translational motion when the laser collimation system sends translation order to translation system.
In some embodiments, the automatic horizontal control system include: inclinator, levelling shoe, leveling connection component and
Controller；
The inclinator is arranged in the lower section of the north-seeking system, and the inclinator and the laser collimation system with
And the plummet overlapping of axles of the north-seeking system three；
The inclinator and the laser collimation system and the north-seeking system are arranged by the levelling shoe
On the leveling connection component；
The leveling connection component is arranged on the translation system；
The controller obtains the inclination angle of the autonomous heading device after the measurement data for reading the inclinator,
And automatically control levelling shoe and carry out elevating movement, complete the leveling to laser collimation system and north-seeking system.
In some embodiments, the levelling shoe is hydraulic leveling stabilizer blade, controls levelling shoe by hydraulic
Lifting.
In some embodiments, the levelling shoe is three, and the levelling shoe is three with laser auto-collimation system
The center of system be the center of circle circle on be uniformly distributed.
In some embodiments, the autonomous heading device further includes support platform and support platform supporting leg；
The translation system is arranged in the support platform, and the support platform is supported by support platform supporting leg
And leveling.
In some embodiments, the support platform supporting leg is hydraulic leg, and it is flat that the support is controlled by hydraulic
The lifting of platform supporting leg.
In some embodiments, the support platform supporting leg is three, and the support platform supporting leg is flat in the support
It is uniformly arranged on platform.
On the other hand, the embodiment of the invention also provides the control method of foregoing autonomous heading device, it is described from
The control method of main orienting device comprising steps of
Start command is sent to start leveling system；
Leveling system obtains the inclination angle of autonomous orienting device, carries out leveling behaviour to north-seeking system and laser collimation system
Make；
Leveling system sends starting to north-seeking system and seeks northern order；
North-seeking system enters measurement pattern, and in the measurement for completing angle between autonomous heading device and earth rotation north orientation
Afterwards, starting collimation order is sent to laser collimation system；
Laser collimation system carries out target search in target area；
If target, in search range, laser collimation system calculates the misalignment of target, and terminates to measure；
If target, not in search range, laser collimation system sends translation order to translation system, to new region
It scans for until target is in search range.
In some embodiments, the automatic horizontal control system include: inclinator, levelling shoe, leveling connection component and
Controller；
The inclinator is arranged in the lower section of the north-seeking system, and the inclinator and the laser collimation system with
And the plummet overlapping of axles of the north-seeking system three；
It is described to state inclinator and be arranged with the laser collimation system and the north-seeking system by the levelling shoe
On the leveling connection component；
The leveling connection component is arranged on the translation system；
The step: leveling system obtains the inclination angle of autonomous orienting device, to north-seeking system and laser collimation system
It carries out leveling and carries out Levelling operation, specifically:
The controller obtains the inclination angle of the autonomous heading device after the measurement data for reading the inclinator,
And automatically control levelling shoe and carry out elevating movement, complete the leveling to laser collimation system and north-seeking system.
In some embodiments, the step: laser collimation system carries out target search in target area, specifically:
Laser collimation system is carried out by the azimuth axis motor and its optical lens of pitch axis motor driven of its own in target area
Search scans the prism being mounted on object.
Technical effect of the invention: autonomous heading device disclosed by the invention by north-seeking system, laser collimation system,
The full-automatic autonomous heading of automatic horizontal control system and translation system cooperated to realize autonomous heading device, compared to manual operation
Human factor influences big in mode, and the activity duration is long, especially needs to measure Laser Autocollimator in advance and pole device sets up position
The geodetic coordinates set, the shortcomings that influencing the Mobile launch ability of guided missile, autonomous heading device of the invention and control method can be real
Now full-automatic autonomous heading, can reduce human factor influences, shortens launch preparation time, enhancing missile maneuverability, to promotion
Whole fighting capacity is of great significance.
Detailed description of the invention
Fig. 1 schematically shows the overall structure diagram of autonomous heading device according to an embodiment of the invention；
Fig. 2 schematically shows the controlling party face flow diagram of autonomous heading device according to an embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
Refering to what is shown in Fig. 1, illustrating autonomous heading device 100 according to an embodiment of the invention.It is described autonomous fixed
Include: to device 100
North-seeking system 2, laser collimation system 1, automatic horizontal control system and translation system 6；
The laser collimation system 1 is fixed together with the north-seeking system 2, and the laser collimation system 1 with
The plummet overlapping of axles of the north-seeking system 2；
The north-seeking system 2 is arranged on the automatic horizontal control system, and the automatic horizontal control system can be sought to described
Northern system 2 and the laser collimation system 1 are leveled；
The automatic horizontal control system is arranged on the translation system 6, and can move horizontally with the translation system 6；
The translation system 6 carries out translation fortune when the laser collimation system 1 sends translation order to translation system 6
It is dynamic.
In some embodiments, for the north-seeking system mainly by gyroscope, precise rotating platform, the composition such as angle measurement encoder will
Dynamic tuning gyroscope is mounted on horizontal revolving stage, and sensitive axes are parallel with table top, incudes rotational-angular velocity of the earth.Turntable is controlled from starting
Position rotates counterclockwise, pauses, rotating, pausing ..., n angular position of turntable interval dwell in one week, in each corner position
Gyro signal is acquired when setting static；It is mounted on while acquiring gyro signal by reading in i-th of position that turntable pauses
Encoder values in turntable shafting obtain the angle information of the position；After turntable completes rotation in one week, pass through the top of acquisition
Spiral shell data and encoder data, which fit, seeks northern data and curves, and the peak point phase value for seeking northern data and curves is that north-seeking system is compiled
Angle between code device zero-bit and earth rotation north orientation.
In some embodiments, laser collimation system mainly (is encoded by alidade containing azimuth angular encoders and pitch angle
Device) and collimating optics camera lens composition.Collimating optics camera lens is mounted on alidade, collimating optics camera lens utilizes optical autocollimating
Angle measuring principle measures the relative angle between its optical axis and measured target.
In some embodiments, the translation system 6 includes translating rails, and control motor, and the control motor can
The object on translation system is set to carry out translational motion relative to translating rails.
In some embodiments, the automatic horizontal control system include: inclinator 3, levelling shoe 4, leveling connection component 5 with
And controller (not illustrating)；
The lower section of the north-seeking system 2, and the inclinator 3 and the laser auto-collimation system is arranged in the inclinator 3
The plummet overlapping of axles of system 1 and 2 three of the north-seeking system；
The inclinator 3 is set with the laser collimation system 1 and the north-seeking system 2 by the levelling shoe 4
It sets on the leveling connection component 5；
The leveling connection component 5 is arranged on the translation system 6；
The controller obtains the inclination angle of the autonomous heading device after the measurement data for reading the inclinator 3,
And automatically control levelling shoe 4 and carry out elevating movement, complete the leveling to laser collimation system 1 and north-seeking system 2.
In some embodiments, the levelling shoe 4 is hydraulic leveling stabilizer blade, and levelling shoe 4 is controlled by hydraulic
Lifting.It is understood that the control that the levelling shoe 4 can also be gone up and down in other way.
In some embodiments, the levelling shoe 4 is three, and the levelling shoe 4 is three with laser auto-collimation
The center of system 1 be the center of circle circle on be uniformly distributed.The levelling shoe 4 is set as three, more stable, is also convenient for described
Levelling shoe 4 carries out Levelling operation.It is understood that the levelling shoe 4 can be set to three or three or more.
In some embodiments, the autonomous heading device 100 further includes support platform 7 and support platform supporting leg 8；
The translation system 6 is arranged in the support platform 7, and the support platform 7 is carried out by support platform supporting leg 8
Support and leveling.The setting of the translation system 6 can increase the measurement range of collimator.
In some embodiments, the support platform supporting leg 8 is support platform supporting leg, and the branch is controlled by hydraulic
Support the lifting of platform legs 8.It is understood that the support platform supporting leg 8 can also be gone up and down in other way
Control.
In some embodiments, the support platform supporting leg 8 is support platform supporting leg three, and the support platform supporting leg
8 are uniformly arranged in the support platform.The support platform supporting leg 8 is set as three, more stable, is also convenient for the branch
It supports platform legs 8 and carries out Levelling operation.It is understood that the support platform supporting leg 8 can be set to three or three with
On.
Referring to fig. 1 and fig. 2, the embodiment of the invention also provides the controlling parties of foregoing autonomous heading device
Method, the control method of the autonomous heading device comprising steps of
S1 sends start command to start leveling system；
S2, leveling system obtain the inclination angle of autonomous orienting device, adjust to north-seeking system and laser collimation system
Flat operation；
S3, leveling system send starting to north-seeking system and seek northern order；
S4, north-seeking system enters measurement pattern, and completes angle between autonomous heading device and earth rotation north orientation
After measurement, starting collimation order is sent to laser collimation system；
S5, laser collimation system carry out target search in target area；
S6, if target, in search range, laser collimation system calculates the misalignment of target, and terminates to measure；
S7, if target, not in search range, laser collimation system sends translation order to translation system, to new area
Domain scans for until target is in search range.
In some embodiments, the automatic horizontal control system include: inclinator, levelling shoe, leveling connection component and
Controller；
The inclinator is arranged in the lower section of the north-seeking system, and the inclinator and the laser collimation system with
And the plummet overlapping of axles of the north-seeking system three；
The inclinator and the laser collimation system and the north-seeking system are arranged by the levelling shoe
On the leveling connection component；
The leveling connection component is arranged on the translation system；
The step S2: leveling system obtains the inclination angle of autonomous orienting device, to north-seeking system and laser auto-collimation system
System carries out Levelling operation, specifically:
The controller obtains the inclination angle of the autonomous heading device after the measurement data for reading the inclinator,
And automatically control levelling shoe and carry out elevating movement, complete the leveling to laser collimation system and north-seeking system.
In some embodiments, the step S5: laser collimation system carries out target search in target area, specifically
Are as follows: laser collimation system by its own azimuth axis motor and its optical lens of pitch axis motor driven target area into
Row search, scans the prism being mounted on object.
In some embodiments, before carrying out step S1, may further comprise the step of: the full-automatic fixed of the embodiment of the present invention
It is placed in support platform to device, it is flat to support platform progress coarse adjustment by adjusting support platform supporting leg；It completes flat to support
After the coarse adjustment of platform is flat, translation system is moved to left end, then to leveling by orienting device electrifying startup, translation system starting
System sends starting leveling order.In embodiments of the present invention, the flat leveling for referring to that leveling precision is not high of the coarse adjustment.Support is flat
The leveling precision of platform supporting leg is generally 5 ' Zuo You, and full-automatic orienting device job requirement accurately levels, leveling precision be better than
10 ", its own regulating power is up to 1 °, so it is flat to have carried out hydraulic coarse adjustment in order to adapt to ground environment.Implement in the present invention
In example, step: after completion is flat to the coarse adjustment of support platform, orienting device electrifying startup, translation system starting moves translation system
Moving to left end is reset operation to translation system, the left end of translation system is set in the embodiment of the present invention as reset terminal,
Right end can certainly be set as reset terminal.It, all can be to set endpoint after each electrifying startup of equipment after determining reset terminal
It resets.
Autonomous heading device 100 provided by the invention is described in detail below with reference to specific embodiment.
Embodiment 1:
It is the overall structure diagram of the autonomous heading device 100 of one embodiment of the invention shown in Fig. 1.It is described autonomous
Orienting device 100 includes: laser collimation system 1, north-seeking system 2, inclinator 3, is uniformly distributed three leveling circumferentially
Stabilizer blade 4 levels connection component 5, translation system 6.Wherein inclinator 3, levelling shoe 4 and leveling connection component 5 collectively form tune
Flat system.The electronics communication of each system and data processing circuit are placed in box house in apparatus of the present invention, in this schematic diagram
It is unmarked.
Laser collimation system 1 is mounted on the top of north-seeking system 2, and inclinator 3 is mounted on the lower section of north-seeking system 2, leads to
Dress school is crossed, the plummet overlapping of axles of three are made, and they are fixed together.Laser collimation system 1, the Xun Bei being fixed together
System 2 and inclinator 3 pass through three 4 framves of levelling shoe on leveling connection component 5.The levelling shoe 4 is hydraulic leveling branch
Foot.Leveling connection component 5 is fixed on the platform of translation system 6.The translation system 6 includes translating rails, and control electricity
Machine, the control motor can make the object on translation system carry out translational motion relative to translating rails.
The specific control flow of the control method of the autonomous heading device of the embodiment of the present invention are as follows:
(a) full-automatic orienting device of the invention is placed in support platform, by adjusting three support platform supporting legs
It is flat that coarse adjustment is carried out to support platform；
(b) after completion is flat to the coarse adjustment of support platform, full-automatic orienting device electrifying startup, the control motor of translation system
The platform of translation system, is moved to the left end of translation system by starting, then sends starting leveling order to leveling system；
(c) controller of leveling system reads the measurement data of inclinator, obtains the inclination of full-automatic autonomous heading device
Angle automatically controls three levelling shoes and carries out elevating movement, completes the leveling to laser collimation system and north-seeking system, leveling
The controller of system sends starting to north-seeking system and seeks northern order.In an embodiment of the present invention, the controller of leveling system can root
It is specifically designed according to the concrete model of inclinator, the data output form of inclinator is different, and corresponding controller also can be corresponding
Variation.
(d) north-seeking system enters measurement pattern, when north-seeking system is completed between autonomous heading device and earth rotation north orientation
After the measurement of angle, starting collimation order is sent to laser collimation system；
(e) laser collimation system is by the azimuth axis motor and pitch axis motor driven its optical lens of its own in mesh
Mark region scans for, and scans the prism being mounted in target, the target can be rocket or guided missile.If prism laser from
In effective search range of colimated light system, then the collimated light that laser collimation system issues can be radiated on prism and return laser light
Auto-collimation system, laser collimation system Automatic solution go out the misalignment of prism, and measurement terminates；If laser collimation system exists
Return light can not be searched in effective search range, then illustrate prism not in effective search range of laser collimation system,
It thens follow the steps (f).In an embodiment of the present invention, effective search range is preset according to specific application demand
, the search in 360 ° of gamuts of horizontal direction and pitch direction may be implemented in the autonomous heading device of the embodiment of the present invention, but
Search range can be preset for specific application environment in practical application, so without specifically being constrained in text.This hair
Effective search range that the autonomous heading device of bright embodiment can be set is -3 ° -3 ° of horizontal direction, 0 ° -5 ° of pitch orientation
(f) laser collimation system sends translation order to translation system, and translation system moves a certain distance horizontally to the right,
It drives laser collimation system into next region of search, and sends starting collimation order to laser collimation system, laser is certainly
Colimated light system executes step (e), scans for new region.
The present invention passes through automatic leveling, automatic seeking north, automatically search and alignment measurement, realizes without support, quickly, accurately
The initial azimuth of rocket or MISSILE LAUNCHING is measured, provides foundation for launch control system.
Technical effect of the invention: autonomous heading device disclosed by the invention by north-seeking system, laser collimation system,
The full-automatic autonomous heading of automatic horizontal control system and translation system cooperated to realize autonomous heading device, compared to manual operation
Human factor influences big in mode, and the activity duration is long, especially needs to measure Laser Autocollimator in advance and pole device sets up position
The geodetic coordinates set, the shortcomings that influencing the Mobile launch ability of guided missile, autonomous heading device of the invention and control method can be real
Now full-automatic autonomous heading, can reduce human factor influences, shortens launch preparation time, enhancing missile maneuverability, to promotion
Whole fighting capacity is of great significance.
Those skilled in the art should further appreciate that, describe in conjunction with the embodiments described herein
Each exemplary unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clear
Illustrate to Chu the interchangeability of hardware and software, generally describes each exemplary group according to function in the above description
At and step.These functions are implemented in hardware or software actually, the specific application and design depending on technical solution
Constraint condition.Professional technician can use different methods to achieve the described function each specific application, but
It is that such implementation should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of autonomous heading device characterized by comprising north-seeking system, laser collimation system, automatic horizontal control system and
Translation system；
The laser collimation system is fixed together with the north-seeking system, and the laser collimation system seeks north with described
The plummet overlapping of axles of system；
The north-seeking system is arranged on the automatic horizontal control system, and the automatic horizontal control system can be to the north-seeking system
It is leveled with the laser collimation system；
The automatic horizontal control system is arranged on the translation system, and can move horizontally with the translation system；The translation
System carries out translational motion when the laser collimation system sends translation order to translation system.
2. autonomous heading device according to claim 1, which is characterized in that the automatic horizontal control system include: inclinator,
Levelling shoe, leveling connection component and controller；
The lower section of the north-seeking system, and the inclinator and the laser collimation system and institute is arranged in the inclinator
State the plummet overlapping of axles of north-seeking system three；
The inclinator is arranged by the levelling shoe described with the laser collimation system and the north-seeking system
It levels on connection component；
The leveling connection component is arranged on the translation system；
The controller obtains the inclination angle of the autonomous heading device after the measurement data for reading the inclinator, and certainly
Dynamic control levelling shoe carries out elevating movement, completes the leveling to laser collimation system and north-seeking system.
3. autonomous heading device according to claim 2, which is characterized in that the levelling shoe is hydraulic leveling stabilizer blade,
Its lifting that levelling shoe is controlled by hydraulic.
4. autonomous heading device according to claim 2 or 3, which is characterized in that the levelling shoe is three, and described
Levelling shoe is three using the center of laser collimation system to be uniformly distributed on the circle in the center of circle.
5. autonomous heading device according to claim 1-4, which is characterized in that further include support platform and support
Platform legs；
The translation system is arranged in the support platform, and the support platform is supported and is adjusted by support platform supporting leg
It is flat.
6. autonomous heading device according to claim 5, which is characterized in that the support platform supporting leg is hydraulic leg,
Its lifting that the support platform supporting leg is controlled by hydraulic.
7. autonomous heading device according to claim 5, which is characterized in that the support platform supporting leg is three, and institute
Support platform supporting leg is stated to be uniformly arranged in the support platform.
8. a kind of control method of autonomous heading device as described in claim 1, which is characterized in that comprising steps of
Start command is sent to start leveling system；
Leveling system obtains the inclination angle of autonomous orienting device, adjust to north-seeking system and laser collimation system
Flat operation；
Leveling system sends starting to north-seeking system and seeks northern order；
North-seeking system enters measurement pattern, and completes between autonomous heading device and earth rotation north orientation after the measurement of angle,
Starting collimation order is sent to laser collimation system；
Laser collimation system carries out target search in target area；
If target, in search range, laser collimation system calculates the misalignment of target, and terminates to measure；If target does not exist
In search range, laser collimation system sends translation order to translation system, is scanned for new region until target exists
In search range.
9. the control method of autonomous heading device according to claim 8, which is characterized in that the automatic horizontal control system packet
It includes: inclinator, levelling shoe, leveling connection component and controller；
The lower section of the north-seeking system, and the inclinator and the laser collimation system and institute is arranged in the inclinator
State the plummet overlapping of axles of north-seeking system three；
Inclinator and the laser collimation system and the north-seeking system stated is arranged by the levelling shoe in institute
It states on leveling connection component；
The leveling connection component is arranged on the translation system；
The step: leveling system obtains the inclination angle of autonomous orienting device, carries out to north-seeking system and laser collimation system
Levelling operation, specifically:
The controller obtains the inclination angle of the autonomous heading device after the measurement data for reading the inclinator, and certainly
Dynamic control levelling shoe carries out elevating movement, completes the leveling to laser collimation system and north-seeking system.
10. the control method of autonomous heading device according to claim 8 or claim 9, which is characterized in that the step: laser
Auto-collimation system carries out target search in target area, specifically: the azimuth axis motor that laser collimation system passes through its own
It is scanned for pitch axis motor driven its optical lens in target area, scans the prism being mounted on object.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111024985A (en) * | 2019-12-17 | 2020-04-17 | 北京航天控制仪器研究所 | Misalignment angle adjusting device for tire-embracing type quartz accelerometer |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| RU2738342C1 (en) * | 2019-12-30 | 2020-12-11 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Саратовский государственный технический университет имени Гагарина Ю.А." | Method for independent orientation of mobile object using inertial measuring module |
| CN115096281A (en) * | 2022-06-30 | 2022-09-23 | 中国人民解放军陆军工程大学 | Automatic leveling and north-seeking device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111024985A (en) * | 2019-12-17 | 2020-04-17 | 北京航天控制仪器研究所 | Misalignment angle adjusting device for tire-embracing type quartz accelerometer |
| RU2738342C1 (en) * | 2019-12-30 | 2020-12-11 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Саратовский государственный технический университет имени Гагарина Ю.А." | Method for independent orientation of mobile object using inertial measuring module |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| CN115096281A (en) * | 2022-06-30 | 2022-09-23 | 中国人民解放军陆军工程大学 | Automatic leveling and north-seeking device |
| CN115096281B (en) * | 2022-06-30 | 2024-04-19 | 中国人民解放军陆军工程大学 | Automatic leveling and north-seeking device |
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Application publication date: 20190517 |