CN113432605A - North finding method and system based on fiber-optic gyroscope - Google Patents
North finding method and system based on fiber-optic gyroscope Download PDFInfo
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- CN113432605A CN113432605A CN202110743080.XA CN202110743080A CN113432605A CN 113432605 A CN113432605 A CN 113432605A CN 202110743080 A CN202110743080 A CN 202110743080A CN 113432605 A CN113432605 A CN 113432605A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention relates to the technical field of inertial north finding, and provides a north finding method and system based on a fiber-optic gyroscope. The method comprises the following steps: acquiring horizontal inclination angle deviation between a sensitive axis plane of the fiber-optic gyroscope and a horizontal plane; the plane of the sensitive axis is the plane where the sensitive axis of the fiber-optic gyroscope is located; acquiring a first measurement value of the fiber-optic gyroscope when the sensitive shaft points to a first direction in the plane of the sensitive shaft and a second measurement value of the fiber-optic gyroscope when the sensitive shaft points to a second direction in the plane of the sensitive shaft; wherein the first direction and the second direction differ by 180 degrees; a true north direction is determined based on the first measurement, the second measurement, and the horizontal tilt deviation. The invention can eliminate the measurement precision error of the fiber-optic gyroscope and improve the accuracy of the north-seeking result.
Description
Technical Field
The invention relates to the technical field of inertial north finding, in particular to a north finding method and system based on a fiber-optic gyroscope.
Background
The fiber-optic gyroscope north-seeking system can measure the north azimuth angle, has the characteristics of long service life, simple structure and the like, and is widely applied to individual soldier field special combat to carry out target positioning and navigation.
However, the measurement accuracy of the fiber-optic gyroscope is greatly affected by temperature, and in actual measurement, because the fiber-optic gyroscope cannot be completely horizontally placed, the measurement accuracy is further reduced, so that the accuracy of the north-seeking result is greatly reduced.
Disclosure of Invention
The embodiment of the invention provides a north-seeking method and a north-seeking system based on a fiber-optic gyroscope, which are used for eliminating the measurement precision error of the fiber-optic gyroscope and improving the accuracy of a north-seeking result.
In a first aspect, an embodiment of the present invention provides a north-seeking method based on a fiber-optic gyroscope, including:
acquiring horizontal inclination angle deviation between a sensitive axis plane of the fiber-optic gyroscope and a horizontal plane; wherein, the sensitive axis plane is the rotation plane of the sensitive axis of the fiber-optic gyroscope;
acquiring a first measurement value of the fiber-optic gyroscope when the sensitive shaft points to a first direction in the plane of the sensitive shaft and a second measurement value of the fiber-optic gyroscope when the sensitive shaft points to a second direction in the plane of the sensitive shaft; wherein the first direction and the second direction differ by 180 degrees;
a true north direction is determined based on the first measurement, the second measurement, and the horizontal tilt deviation.
In one possible implementation, determining a true north direction from the first measurement, the second measurement, and the horizontal tilt deviation includes:
calculating an included angle between the first direction and the due north direction according to the first measured value, the second measured value and the horizontal inclination deviation, and determining the due north direction based on the included angle between the first direction and the due north direction;
the formula for calculating the included angle between the first direction and the due north direction is as follows:
in the formula, theta1Is the angle between the first direction and the north direction, omegafAIs a first measured value, ωfBIs a second measured value, KεAs a calibration factor, omega, of a fibre-optic gyroscopeeIs the angular velocity of the earth's rotation,
and theta is the latitude value of the current position of the optical fiber gyroscope, and theta is the horizontal inclination deviation.
In one possible implementation, determining a true north direction from the first measurement, the second measurement, and the horizontal tilt deviation includes:
calculating an included angle between the second direction and the due north direction according to the first measured value, the second measured value and the horizontal inclination deviation, and determining the due north direction based on the included angle between the second direction and the due north direction;
the formula for calculating the included angle between the second direction and the due north direction is as follows:
in the formula, theta2Is the angle between the second direction and the north direction, omegafAIs a first measured value, ωfBIs a second measured value, KεAs a calibration factor, omega, of a fibre-optic gyroscopeeIs the angular velocity of the earth's rotation,
and theta is the latitude value of the current position of the optical fiber gyroscope, and theta is the horizontal inclination deviation.
In one possible implementation, the first direction is a pre-estimated east-ward direction or west-ward direction;
the method further comprises the following steps:
acquiring a pre-estimated east-oriented direction, taking the pre-estimated east-oriented direction as a first direction, and determining a second direction according to the first direction;
or, a pre-estimated western direction is obtained, the pre-estimated western direction is taken as a first direction, and a second direction is determined according to the first direction.
In a possible implementation manner, after acquiring a horizontal inclination angle deviation between a sensitive axis plane of the fiber optic gyroscope and a horizontal plane, the method further includes:
judging whether the horizontal inclination deviation is smaller than a preset threshold value or not;
if the horizontal inclination deviation is not less than the preset threshold, adjusting an included angle between a rotating shaft of the fiber-optic gyroscope and the horizontal plane, and obtaining the horizontal inclination deviation between the sensitive shaft plane of the fiber-optic gyroscope and the horizontal plane again until the horizontal inclination deviation is less than the preset threshold.
In a second aspect, an embodiment of the present invention provides a fiber-optic gyroscope-based north-seeking system, which is configured to implement the fiber-optic gyroscope-based north-seeking method in the first aspect or any possible implementation manner of the first aspect, and the system includes:
the device comprises an acquisition module and an upper computer, wherein the acquisition module comprises a fiber-optic gyroscope and an electronic inclinometer;
the electronic inclinometer is used for measuring the horizontal inclination angle deviation between the sensitive axis plane of the fiber optic gyroscope and the horizontal plane and sending the horizontal inclination angle deviation to the upper computer; wherein, the sensitive axis plane is the rotation plane of the sensitive axis of the fiber-optic gyroscope;
the fiber optic gyroscope is used for sending a first measured value to the upper computer when the sensitive axis points to a first direction in the plane of the sensitive axis and sending a second measured value to the upper computer when the sensitive axis points to a second direction in the plane of the sensitive axis; wherein the first direction and the second direction differ by 180 degrees;
the upper computer is used for determining the true north direction according to the first measurement value, the second measurement value and the horizontal inclination deviation.
In one possible implementation manner, the acquisition module further includes:
a turntable;
the optical fiber gyroscope is fixed on the rotary table, and the upper computer is also used for controlling the rotary table to rotate so that the sensitive axis of the optical fiber gyroscope points to a first direction or a second direction in the plane of the sensitive axis.
In one possible implementation manner, the acquisition module further includes:
an electronic compass;
the electronic compass is used for estimating the east-righting direction and sending the azimuth angle of the east-righting direction to the upper computer, the upper computer determines a first direction and a second direction according to the azimuth angle of the east-righting direction and controls the rotary table to rotate so that the sensitive axis of the fiber-optic gyroscope points to the first direction or the second direction;
or the electronic compass is used for estimating the right-west direction and sending the azimuth angle of the right-west direction to the upper computer, the upper computer determines the first direction and the second direction according to the azimuth angle of the right-west direction, and controls the rotary table to rotate so that the sensitive axis of the fiber-optic gyroscope points to the first direction or the second direction.
In one possible implementation, the system further includes:
a communication module;
the acquisition module sends the first measurement value, the second measurement value and the horizontal inclination deviation to the upper computer through the communication module, and the acquisition module sends the azimuth angle in the east-right direction or the azimuth angle in the west-right direction to the upper computer through the communication module.
In one possible implementation, the system further includes:
a power converter;
the power supply converter is used for converting externally input current into direct current with a preset size and transmitting the direct current with the preset size to the acquisition module so as to supply power to the acquisition module.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention adopts a two-position north-seeking mode, namely, the north-seeking direction is determined by combining a first measurement value of the fiber-optic gyroscope when the sensitive shaft points to a first direction in the plane of the sensitive shaft and a second measurement value of the fiber-optic gyroscope when the sensitive shaft points to a second direction in the plane of the sensitive shaft, so that the measurement precision error caused by the influence of temperature on the fiber-optic gyroscope can be eliminated in the calculation process; furthermore, the horizontal inclination angle deviation between the sensitive axis plane of the fiber-optic gyroscope and the horizontal plane is introduced into the calculation process, and the error generated by the incomplete horizontal placement of the fiber-optic gyroscope is corrected. The invention can improve the accuracy of the north-seeking result.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart of an implementation of a north-seeking method based on a fiber-optic gyroscope according to an embodiment of the present invention;
FIG. 2 is a measurement schematic diagram of a north-seeking method based on a fiber-optic gyroscope according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a north-seeking system based on a fiber-optic gyroscope according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1, it shows a flowchart of an implementation of the north-seeking method based on the fiber-optic gyroscope according to the embodiment of the present invention, which is detailed as follows:
s101, acquiring horizontal inclination angle deviation between a sensitive axis plane of the fiber-optic gyroscope and a horizontal plane; the sensitive axis plane is a rotation plane of the sensitive axis of the fiber-optic gyroscope.
In the embodiment of the invention, the optical fiber gyroscope is placed on a rotating mechanism such as a turntable and the like, the rotating mechanism drives the optical fiber gyroscope to rotate, and the rotating plane of the sensitive shaft of the optical fiber gyroscope is vertical to the rotating shaft of the rotating mechanism. Under the ideal measurement condition, the fiber-optic gyroscope is ensured to be completely horizontally placed, namely the plane of the sensitive axis of the fiber-optic gyroscope is parallel to the horizontal plane. However, in the actual measurement process, the fiber-optic gyroscope cannot be strictly kept horizontal, and a certain horizontal inclination angle deviation exists between the plane of the sensitive axis of the fiber-optic gyroscope and the horizontal plane.
S102, acquiring a first measurement value of the fiber-optic gyroscope when the sensitive shaft points to a first direction in the plane of the sensitive shaft and a second measurement value of the fiber-optic gyroscope when the sensitive shaft points to a second direction in the plane of the sensitive shaft; wherein the first direction and the second direction differ by 180 degrees.
In the embodiment of the present invention, the first direction may be any direction in the plane of the sensitive axis, and the second direction is the first direction which is rotated by 180 degrees in the forward direction or the reverse direction. The sensing axis of the fiber-optic gyroscope is measured to obtain a first measured value when pointing to the first direction, and the sensing axis of the fiber-optic gyroscope is measured to obtain a second measured value when pointing to the second direction, so that the north-seeking mode of the two positions is realized.
And S103, determining the true north direction according to the first measurement value, the second measurement value and the horizontal inclination deviation.
Therefore, the embodiment of the invention adopts a two-position north-seeking mode, namely, the north-seeking direction is determined by combining a first measurement value of the fiber-optic gyroscope when the sensitive shaft points to the first direction in the sensitive shaft plane and a second measurement value of the fiber-optic gyroscope when the sensitive shaft points to the second direction in the sensitive shaft plane, so that the measurement precision error caused by the influence of the temperature on the fiber-optic gyroscope can be eliminated in the calculation process; furthermore, the horizontal inclination angle deviation between the sensitive axis plane of the fiber-optic gyroscope and the horizontal plane is introduced into the calculation process, and the error generated by the incomplete horizontal placement of the fiber-optic gyroscope is corrected. The invention can improve the accuracy of the north-seeking result.
Optionally, in a possible implementation, the north direction is determined according to the first measurement value, the second measurement value and the horizontal inclination deviation, which may be detailed as:
calculating an included angle between the first direction and the due north direction according to the first measured value, the second measured value and the horizontal inclination deviation, and determining the due north direction based on the included angle between the first direction and the due north direction;
the formula for calculating the included angle between the first direction and the due north direction is as follows:
in the formula, theta1Is the angle between the first direction and the north direction, omegafAIs a first measured value, ωfBIs a second measured value, KεAs a calibration factor, omega, of a fibre-optic gyroscopeeIs the angular velocity of the earth's rotation,
and theta is the latitude value of the current position of the optical fiber gyroscope, and theta is the horizontal inclination deviation.
Optionally, in a possible implementation, the north direction is determined according to the first measurement value, the second measurement value and the horizontal inclination deviation, which may be detailed as:
calculating an included angle between the second direction and the due north direction according to the first measured value, the second measured value and the horizontal inclination deviation, and determining the due north direction based on the included angle between the second direction and the due north direction;
the formula for calculating the included angle between the second direction and the due north direction is as follows:
in the formula, theta2Is the angle between the second direction and the north direction, omegafAIs a first measured value, ωfBIs a second measured value, KεAs a calibration factor, omega, of a fibre-optic gyroscopeeIs the angular velocity of the earth's rotation,
and theta is the latitude value of the current position of the optical fiber gyroscope, and theta is the horizontal inclination deviation.
In the embodiment of the present invention, the north-seeking principle is explained with reference to fig. 2.
The optical fiber gyroscope is positioned on a rotary table and can rotate along with the rotary table so as to adjust the direction of a sensitive shaft of the optical fiber gyroscope. Ideally, the rotating shaft of the fiber-optic gyroscope is perpendicular to the horizontal plane, and the plane of the sensitive axis of the fiber-optic gyroscope is parallel to the horizontal plane. When light is emittedThe fiber-optic gyroscope stays at any position of 0-360 degrees of the rotary table, and the horizontal component omega of the earth angular rate can be measured in all directionse1The measurement is a sinusoidal signal, where the zero values correspond to the true east and the true west, the peaks correspond to the true south and north, ωeThe rotation speed of the earth is used as the rotation speed of the earth,
the latitude of the earth.
Under the condition of not considering the error of the device, if the included angle between the sensitive axis of the fiber-optic gyroscope and the due north direction is theta, the output value of the fiber-optic gyroscope is as follows:
further, derived to
Because the fiber-optic gyroscope has zero offset, calibration factor offset and random error, the actual output value of the fiber-optic gyroscope is as follows:
wherein the random error epsilon0Suppression can be achieved by filtering and lengthening the sampling time, but ultimately depends on gyro accuracy, but is limited by a scaling factor KεThe error caused by the temperature is small and can be ensured by the precision of a control device, so that the zero offset omega of the fiber-optic gyroscope caused by the temperature0The greatest impact on accuracy. By calculating through the two-position method, the zero offset omega can be eliminated0The effect of (a) is as follows:
an included angle between a first direction pointed by a sensitive axis of the fiber-optic gyroscope and the due north direction is set to be theta1Then, then
As can be seen from the formula, the zero offset omega is directly eliminated by subtracting the measured values of the fiber-optic gyroscope in two directions0The influence of (c).
Further, considering that the fiber-optic gyroscope is not completely horizontally placed during measurement, assuming that the inclination angle between the plane of the sensitive axis of the fiber-optic gyroscope and the horizontal plane is α, the gyroscope output value can be described as follows:
to obtain
Optionally, in a possible implementation, the first direction is a pre-estimated east-ward direction or west-ward direction. The method further comprises the following steps:
acquiring a pre-estimated east-oriented direction, taking the pre-estimated east-oriented direction as a first direction, and determining a second direction according to the first direction;
or, a pre-estimated western direction is obtained, the pre-estimated western direction is taken as a first direction, and a second direction is determined according to the first direction.
In the embodiment of the invention, the horizontal component of the rotational angular velocity of the earth in the east-west direction is considered to be minimum, so that the north seeking calculation is carried out through the measurement value in the east-west direction, and the precision can be further improved. East-west directions can be roughly measured by a measuring device, including but not limited to an electronic compass or the like.
Optionally, in a possible implementation manner, after acquiring a horizontal inclination deviation between a sensitive axis plane of the fiber optic gyroscope and a horizontal plane, the method further includes:
judging whether the horizontal inclination deviation is smaller than a preset threshold value or not;
if the horizontal inclination deviation is not less than the preset threshold, adjusting an included angle between a rotating shaft of the fiber-optic gyroscope and the horizontal plane, and obtaining the horizontal inclination deviation between the sensitive shaft plane of the fiber-optic gyroscope and the horizontal plane again until the horizontal inclination deviation is less than the preset threshold.
In the embodiment of the invention, in order to ensure the north-seeking precision, the fiber-optic gyroscope should be placed horizontally as much as possible, that is, the deviation of the horizontal inclination angle is as close to zero as possible, and the typical value of the preset threshold is set to be 1.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
An embodiment of the present invention provides a north-seeking system based on a fiber-optic gyroscope, where the north-seeking system is configured to implement the method in any of the above embodiments, and as shown in fig. 3, the north-seeking system includes:
the device comprises an acquisition module and an upper computer, wherein the acquisition module comprises a fiber-optic gyroscope (a fiber-optic gyroscope inertia sensitive part and an information processing unit) and an electronic inclinometer. The electronic inclinometer is used for measuring the horizontal inclination angle deviation between the sensitive axis plane of the fiber optic gyroscope and the horizontal plane and sending the horizontal inclination angle deviation to the upper computer; the sensitive axis plane is a rotation plane of the sensitive axis of the fiber-optic gyroscope. The fiber optic gyroscope is used for sending a first measured value to the upper computer when the sensitive axis points to a first direction in the plane of the sensitive axis and sending a second measured value to the upper computer when the sensitive axis points to a second direction in the plane of the sensitive axis; wherein the first direction and the second direction differ by 180 degrees. The upper computer is used for determining the true north direction according to the first measurement value, the second measurement value and the horizontal inclination deviation.
In the embodiment of the invention, the fiber-optic gyroscope inertia sensitive component realizes the measurement of the earth rotation speed. The information processing unit completes data rich collection and signal processing of the fiber-optic gyroscope and outputs a measured value.
Optionally, in a possible implementation manner, the acquisition module further includes
A turntable.
The optical fiber gyroscope is fixed on the rotary table, and the upper computer is also used for controlling the rotary table to rotate so that the sensitive axis of the optical fiber gyroscope points to a first direction or a second direction in the plane of the sensitive axis.
Optionally, in a possible implementation manner, the acquisition module further includes:
an electronic compass.
The electronic compass is used for estimating the east-righting direction and sending the azimuth angle of the east-righting direction to the upper computer, the upper computer determines the first direction and the second direction according to the azimuth angle of the east-righting direction, and controls the rotary table to rotate so that the sensitive axis of the fiber-optic gyroscope points to the first direction or the second direction.
Or the electronic compass is used for estimating the right-west direction and sending the azimuth angle of the right-west direction to the upper computer, the upper computer determines the first direction and the second direction according to the azimuth angle of the right-west direction, and controls the rotary table to rotate so that the sensitive axis of the fiber-optic gyroscope points to the first direction or the second direction.
In the embodiment of the invention, the electronic compass carries out rough measurement of the direction, is an integrated three-axis fluxgate sensor, adopts a hard magnetic and soft magnetic calibration algorithm, and solves the course angle in real time through a CPU (Central processing Unit), so that the electronic compass can achieve higher precision in an environment with magnetic field interference.
Optionally, in a possible implementation manner, the system further includes:
and a communication module.
The acquisition module sends the first measurement value, the second measurement value and the horizontal inclination deviation to the upper computer through the communication module, and the acquisition module sends the azimuth angle in the east-right direction or the azimuth angle in the west-right direction to the upper computer through the communication module.
In the embodiment of the present invention, the communication module may be an RS422 communication interface.
Optionally, in a possible implementation manner, the system further includes:
a power converter.
The power supply converter is used for converting externally input current into direct current with a preset size and transmitting the direct current with the preset size to the acquisition module so as to supply power to the acquisition module.
In the embodiment of the invention, the power supply converter converts the 28V direct current provided by the outside into the direct current of +/-5V so as to meet the power consumption requirement of the acquisition module.
Illustratively, the specific measurement steps of the system may be as follows:
(1) the measuring personnel writes the local latitude value into an upper computer;
(2) adjusting the level of the fiber optic gyroscope, ensuring that the deviation of the horizontal inclination angle is less than 1 degree, and simultaneously sending a measurement result to an upper computer by the electronic inclinometer;
(3) roughly measuring by using an electronic compass for about 10S, estimating to obtain the east-righting direction, and sending the azimuth angle of the east-righting direction to an upper computer;
(4) the upper computer controls a sensitive axis of the fiber-optic gyroscope to point to the east-righting direction through the turntable, starts to statically collect data for 120s, and sends the data to the upper computer through the communication interface after the data collection is finished;
(5) the upper computer controls the sensitive shaft of the fiber-optic gyroscope to accurately rotate 180 degrees through the turntable, statically collects data for 120s, and sends the data to the upper computer through the communication interface after the data collection is finished;
(6) and the upper computer accurately determines the north direction according to the measurement data.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A north-seeking method based on a fiber-optic gyroscope is characterized by comprising the following steps:
acquiring horizontal inclination angle deviation between a sensitive axis plane of the fiber-optic gyroscope and a horizontal plane; wherein the sensitive axis plane is a rotation plane of the sensitive axis of the fiber-optic gyroscope;
acquiring a first measurement value of the fiber-optic gyroscope when the sensitive shaft points to a first direction in a sensitive shaft plane and a second measurement value of the fiber-optic gyroscope when the sensitive shaft points to a second direction in the sensitive shaft plane; wherein the first direction and the second direction differ by 180 degrees;
determining a true north direction from the first measurement, the second measurement, and the horizontal tilt deviation.
2. The fiber-optic gyroscope-based north-seeking method according to claim 1, wherein determining a true north direction from the first measurement, the second measurement, and the horizontal tilt deviation comprises:
calculating an included angle between the first direction and the due north direction according to the first measured value, the second measured value and the horizontal inclination deviation, and determining the due north direction based on the included angle between the first direction and the due north direction;
the formula for calculating the included angle between the first direction and the due north direction is as follows:
in the formula, theta1Is the angle between the first direction and the north direction, omegafAIs said first measured value, ωfBIs said second measured value, KεIs a calibration factor, omega, of the fiber-optic gyroscopeeIs the angular velocity of the earth's rotation,
and theta is the latitude value of the current position of the optical fiber gyroscope, and theta is the horizontal inclination deviation.
3. The fiber-optic gyroscope-based north-seeking method according to claim 1, wherein determining a true north direction from the first measurement, the second measurement, and the horizontal tilt deviation comprises:
calculating an included angle between a second direction and the due north direction according to the first measured value, the second measured value and the horizontal inclination deviation, and determining the due north direction based on the included angle between the second direction and the due north direction;
the formula for calculating the included angle between the second direction and the due north direction is as follows:
in the formula, theta2Is the angle between the second direction and the north direction, omegafAIs said first measured value, ωfBIs said second measured value, KεIs a calibration factor, omega, of the fiber-optic gyroscopeeIs the angular velocity of the earth's rotation,
and theta is the latitude value of the current position of the optical fiber gyroscope, and theta is the horizontal inclination deviation.
4. The fiber-optic gyroscope-based north-seeking method according to any one of claims 1-3, wherein the first direction is a pre-estimated true east direction or a true west direction;
the method further comprises the following steps:
acquiring a pre-estimated east-oriented direction, taking the pre-estimated east-oriented direction as a first direction, and determining a second direction according to the first direction;
or, obtaining a pre-estimated western direction, taking the pre-estimated western direction as a first direction, and determining a second direction according to the first direction.
5. The fiber-optic gyroscope-based north-seeking method according to any one of claims 1-3, wherein after acquiring the horizontal inclination deviation between the plane of the sensitive axis of the fiber-optic gyroscope and the horizontal plane, the method further comprises:
judging whether the horizontal inclination deviation is smaller than a preset threshold value or not;
if the horizontal inclination angle deviation is not smaller than the preset threshold value, adjusting an included angle between a rotating shaft of the optical fiber gyroscope and the horizontal plane, and obtaining the horizontal inclination angle deviation between the sensitive shaft plane of the optical fiber gyroscope and the horizontal plane again until the horizontal inclination angle deviation is smaller than the preset threshold value.
6. A north-seeking system based on a fiber-optic gyroscope, which is used for implementing the north-seeking method based on the fiber-optic gyroscope of any one of the above claims 1-5, and comprises:
the device comprises an acquisition module and an upper computer, wherein the acquisition module comprises a fiber-optic gyroscope and an electronic inclinometer;
the electronic inclinometer is used for measuring the horizontal inclination angle deviation between the sensitive axis plane of the fiber optic gyroscope and the horizontal plane and sending the horizontal inclination angle deviation to the upper computer; wherein the sensitive axis plane is a rotation plane of the sensitive axis of the fiber-optic gyroscope;
the optical fiber gyroscope is used for sending a first measured value to the upper computer when the sensitive axis points to a first direction in the sensitive axis plane and sending a second measured value to the upper computer when the sensitive axis points to a second direction in the sensitive axis plane; wherein the first direction and the second direction differ by 180 degrees;
the upper computer is used for determining the true north direction according to the first measurement value, the second measurement value and the horizontal inclination deviation.
7. The fiber optic gyroscope-based north-seeking system of claim 6, wherein the acquisition module further comprises:
a turntable;
the optical fiber gyroscope is fixed on the rotary table, and the upper computer is further used for controlling the rotary table to rotate so that the sensitive axis of the optical fiber gyroscope points to a first direction or a second direction in the plane of the sensitive axis.
8. The fiber optic gyroscope-based north-seeking system of claim 7, wherein the acquisition module further comprises:
an electronic compass;
the electronic compass is used for estimating an east-oriented direction, sending an azimuth angle of the east-oriented direction to the upper computer, determining a first direction and a second direction according to the azimuth angle of the east-oriented direction by the upper computer, and controlling the rotary table to rotate so that a sensitive axis of the fiber-optic gyroscope points to the first direction or the second direction;
or the electronic compass is used for estimating the western direction and sending the azimuth angle of the western direction to the upper computer, and the upper computer determines a first direction and a second direction according to the azimuth angle of the western direction and controls the turntable to rotate so that the sensitive axis of the fiber-optic gyroscope points to the first direction or the second direction.
9. The fiber optic gyroscope-based north-seeking system of claim 8, further comprising:
a communication module;
the acquisition module sends the first measurement value, the second measurement value and the horizontal inclination deviation to the upper computer through the communication module, and the acquisition module sends the azimuth angle in the east-oriented direction or the azimuth angle in the west-oriented direction to the upper computer through the communication module.
10. The fiber optic gyroscope-based north seeking system of any of claims 6-9, further comprising:
a power converter;
the power converter is used for converting externally input current into direct current with a preset size and transmitting the direct current with the preset size to the acquisition module so as to supply power to the acquisition module.
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