CN202126265U - Dynamic rotating and modulating gyro north seeker - Google Patents
Dynamic rotating and modulating gyro north seeker Download PDFInfo
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- CN202126265U CN202126265U CN2011202185771U CN201120218577U CN202126265U CN 202126265 U CN202126265 U CN 202126265U CN 2011202185771 U CN2011202185771 U CN 2011202185771U CN 201120218577 U CN201120218577 U CN 201120218577U CN 202126265 U CN202126265 U CN 202126265U
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Abstract
The utility model belongs to the field of the inertia measurement technology or the geophysical experiment and instruments, in particular to a dynamic rotating and modulating gyro north seeker. The utility model aims to provide a gyro north seeker utilizing a continuous rotating and modulating strapdown system to seek the north. The gyro north seeker comprises a base, a high-precision single-shaft turntable system, a gyroscope, an accelerometer, a conductive slip ring, a moment motor, a constant-speed control circuit, a power supply conversion/filtering circuit, a signal conditioning circuit, a high-speed signal acquisition/processing device and a display device controlled by a high-speed north-seeking decoding computer, wherein the moment motor drives the high-precision single-shaft turntable system to rotate oppositely to the base; and the gyroscope and the accelerometer are installed on the single-shaft turntable system and are electrically connected with the constant-speed control circuit, the power supply conversion/filtering circuit, the signal conditioning circuit, the high-speed signal acquisition/processing device and the high-speed north-seeking decoding computer. The dynamic rotating and modulating gyro north seeker has the advantage that under the conditions that a big attitude angle exists in a carrier, the leveling is not required, and the latitudes of measuring points are not required to be known, the quick and accurate north-seeking measurement is realized so as to improve the speed of surveying work.
Description
Technical field
Invention belongs to inertia measurement technology or Geophysical Experiment and instrument field, relates generally to the quick gyroscope north searching device of a kind of high precision.
Background technology
One Chinese patent application CN90103687.0 discloses the invention of China No. 15 Inst. No. 1 Design Inst., Ministry of Aeronautic and Astranantic Industry a kind ofly seeks northern appearance.This is sought northern appearance and adopts a flexible gyroscope being installed on the turntable and an accelerometer as detecting components and parts; Detect rotational-angular velocity of the earth at a plurality of locational components through flexible gyroscope; In conjunction with the accelerometer output quantity of same position, calculate the angle of initial position and north orientation.Adopt the step motor drive turntable to rotate, realize the sampling of many measuring positions.In the driving of stepper motor, adopt the drive control module of analog circuit board as stepper motor, adopt optical pulse generator and position memory device record to be used, with zero-bit and other turned positions of confirming single axle table.And when seeking north, this is sought northern appearance and all will carry out zero-bit and adjust the operation of promptly making zero automatically at every turn.In addition, this zero-bit index line of seeking northern appearance is positioned on the housing, therefore, mostly is used for the north of seeking of carrier self, seldom is used for target is sought north.And realize that indexing mechanism control Inertial Measurement Unit is parked in different positions in the short period of time respectively and carries out data acquisition, this is difficult on Project Realization, thus its to seek the north time longer.
A kind of single axis fiber gyro north seeker that adopts optical fibre gyro as sensitive element of the open No.205 Inst., China Weapon Industry Co. of Chinese patent ZL200610043115.4 invention; This is sought northern appearance and comprises that single axis fiber gyro, rotating shaft, direction index line, stepper motor, single-chip microcomputer, Xun Bei as sensitive element resolve computing machine; Optical fibre gyro, direction index line all are connected in the rotating shaft; Stepper motor can drive rotating shaft and rotate; Can obtain the output signal of optical fibre gyro with this at diverse location; Single-chip microcomputer is mainly accomplished the control that countershaft rotates, and seeks north and resolves computing machine and mainly accomplish fibre optic gyroscope four uniformly-spaced samplings of output data on the position, and utilize its built-in mathematical model that sampled signal is handled and calculated and seek northern result; It both can accomplish the simple northern function of seeking, and also can accomplish and the measurement of target link with respect to the angle of north orientation.Because this seeks only the sample data of four positions of northern appearance, before a kind of minimizing of seeking northern appearance the sampling location, therefore improved the northern speed of seeking to a certain extent.But the minimizing sampling location is difficult to the north finding precision that reaches higher.And the control gyro is parked in respectively on four equally spaced diverse locations, gathers gyro data again, needs cost to be no less than 5 minutes seeking the north time equally.And adopt the output of direction index line to seek northern result, precision can be too not high yet, can't with adopt electrooptical device special-purpose angular instrument---total powerstation is mentioned in the same breath.
In order further to improve north finding precision, shorten and seek the north time, rising in recent years a kind of Dynamic High-accuracy rotation modulation seek the north technology.Its ultimate principle is under the drive of computer control and motor; Inertial Measurement Unit (IMU) rotates with constant angular velocity continuously; Computing machine is gathered the data of gyroscope sensitive axes and the data of accelerometer simultaneously; The value that reads angle-measuring equipment is calculated position angle by north as current angle by seeking northern machine solution.The inverse that this method can be suppressed to rotating speed with gyrostatic drift doubly and has been eliminated the influence of gyroscope calibration factor to north finding precision, has improved the gyrostatic north finding precision and the speed of equal index greatly.
But domestic research to continuous rotation modulation north finding method also is in the exploratory stage, to its principle introduce more, and it is carried out the also less of systematic study, do not see the product that engineering practicability is arranged.
Summary of the invention
The purpose of this invention is to provide a kind of gyroscope north searching instrument apparatus that utilizes continuous rotation modulation strapdown to seek north; So that exist at carrier under the condition of great-attitude angle; And need not leveling, need not to know that realizing fast, accurately seeking north under the situation of measuring point latitude measures, improve the geodetic operating speed.
The present invention is achieved in that a kind of gyroscope north searching instrument of dynamic rotation modulation; Wherein, comprising: pedestal, high-precise uniaxial turret systems, gyroscope, accelerometer, conducting slip ring, torque motor, constant speed control circuit, power source conversion/filtering circuit, signal conditioning circuit, high-speed signal acquisition/treating apparatus, high speed are sought north and are resolved computer control and display unit;
Torque motor drives the relative pedestal rotation of high-precise uniaxial turret systems; Gyroscope, accelerometer are installed in the single axle table system; The gyroscope of installing in the single axle table system, accelerometer through conducting slip ring and constant speed control circuit, power source conversion/filtering circuit, signal conditioning circuit, high-speed signal acquisition/treating apparatus, seek north at a high speed and resolve that computing machine is electric to be connected.
The gyroscope north searching instrument of aforesaid a kind of dynamic rotation modulation, wherein, the high-precise uniaxial turret systems comprises: turntable, precision plane vertical pivot system, photoelectricity circle grating chi, sensor stand, it is in the rotating shaft that sensor stand and turntable all are connected in vertical pivot; Photoelectricity circle grating chi is used to measure the angle that turntable turns over; Said gyrohorizon is installed in the support mounting hole, its responsive axis and rotating shaft quadrature, and turntable is when crossing zero-bit, and gyro to measure coordinate system x direction of principal axis is identical with the zero line of photoelectricity circle grating ruler reading head; Said signal conditioning circuit plate, at a high speed seek north resolve computing machine, signal-processing board, power filter change-over panel, gyroscope control Driver Circuit plate be installed in respectively the single axle table support around; Said conducting slip ring rotating part and said vertical pivot are that rotating shaft is connected, and its fixed part and pedestal are connected;
The output signal of said gyroscope and accelerometer is sent into described signal conditioning circuit, carries out sending into A/D converter after filtering, the amplification; The frequency and the phase differential of crystal oscillator that described constant speed control circuit is more stable and the output of photoelectricity circle grating ruler reading head, and control, rotating speed of motor stablized; Said digital filtering and the process of frequency multiplication of accomplishing the code-disc signal based on the high speed signal treating apparatus of FPGA; Zero-bit, the intermittent angle position of record turntable; Accomplish collection, smothing filtering, unruly-value rejecting and the data storage of 3 road high-speed a/d data of gyro signal and accelerometer signal, the address and the order code of northern computing machine sought in decipher; Said high speed is sought north and is resolved computing machine after receiving the look-at-me that the high speed signal treating apparatus sends, and reads the data of gyroscope and two accelerometers immediately, calls that filtration module carries out filtering and Xun Bei resolves.
The gyroscope north searching instrument of aforesaid a kind of dynamic rotation modulation, wherein, the gyroscope north searching instrument top of described a kind of dynamic rotation modulation has syndeton, and total powerstation is installed.
Further; According to the present invention, said syndeton is positioned at seeks northern appearance top, in order to total powerstation with seek northern appearance and connect as one; Because after total powerstation fixedly assembles; The angle of the zero-bit of the round relatively grating reading head of its zero-bit is fixed, and is referred to as instrument constant, seeks and adds that the output data of this instrument constant and total powerstation is the angle by north of survey line after northern appearance is measured angle by north.
The gyroscope north searching instrument of aforesaid a kind of dynamic rotation modulation; Wherein, seeking at a high speed north, to resolve computing machine be that the flash of the 16*1M of M29F400, RAM, clock circuit, reset circuit and the feed circuit that model is the 16*512k of IS16LV512 are formed by DSP high speed microprocessor TMS320F6713, model.
Following brief introduction is sought the example that resolve in north as filtering core, and those skilled in the art can adopt other known technology to calculate.
Seeking northern algorithm in real time comprises the initial value estimation block and accurately resolves module; The initial value estimation block is revolved the output data of gyroscope and accelerometer when turning around according to turntable; Adopt quadrature demodulation; Calculate orientation by north, local latitude, gyroscopic drift, attitude angle, and as the initial value of accurately seeking northern algorithm.Accurately seek northern algorithm adopts real-time recursion on the basis of rough north-seeking least square method algorithm; Reduced the systematic error of gyroscope, accelerometer; Real-time resolving goes out position angle by north, the local latitude of measuring point, thereby has reached the purpose of seeking north fast, in real time.Described control display device adopts embedded computer (ARM9), 7# color LCD screen, touch-screen to form screen display rich color, clear, attractive in appearance; Adopt menu selection, touch screen operation mode, make that operation is directly perceived, easy.
The lock phase speed-stabilizing circuit that the present invention adopts has been realized the constant speed Spin Control of turntable, and circuit structure is simple, and cost is low, and the stabilization of speed precision of turntable is high; As Sensitive Apparatus, adopt the mode of rotation continuously to seek north with gyroscope and quartz accelerometer, reduced the influence of gyroscopic drift, improved north finding precision north finding precision; Adopted large scale integrated circuit, digital operation process chip FPGA (3C25) at a high speed, DSP (TMS320F6713) realization combining HSDA, storage and calculation process, the circuit computing processing speed is fast, powerful, simple in structure; On calculation method, adopt the initial value estimation to combine with accurately resolving; The initial value estimation block revolves according to turntable that the output data of gyroscope and accelerometer adopts quadrature demodulation when turning around; Accurately seek northern algorithm adopts real-time recursion on the basis of rough north-seeking least square method algorithm; Reduce the systematic error of gyroscope, accelerometer, realized that real-time resolving goes out position angle by north, the local latitude of measuring point, the system that makes has realized seeking fast, in real time the purpose in north.The coupling arrangement of invention can be an one with seeking northern appearance binding with total powerstation simultaneously, makes the present invention both can accomplish the simple north of seeking and promptly finds the north orientation function, can accomplish the angular measurement by north of the line of measuring point and target again.The present invention adopts the control display device of embedded computer, touch-screen, large screen color liquid crystal display design, makes easy and simple to handlely, seeks northern result and shows attractive in appearance, understandable.
The invention solves following problem:
A. measure the attitude of carrier angle with two accelerometers, and with this compensation data the attitude of carrier error cause seek northern error, therefore need not to limit the quick appearance sense of gyro axle seeks north under the level of approximation state, has cancelled the levelling gear of the complicacy of similar gyrostabilized platform;
B. need not to add the latitude signal and can accomplish and accurately seek north, the present invention simultaneously can measure the angle by north of the line of measuring point and target, the latitude of measuring point and the attitude angle of car body;
C. signal processing apparatus adopts ultra-large, the composition of digital operation process chip at a high speed, can realize live signal HSDA and complicated calculations;
D. seeking north under the rotation status continuously, can eliminate the systematic error of gyro and accelerometer, thereby can improve north finding precision;
E. at the least square method algorithm that adopts real-time recursion, reduce the systematic error of gyroscope, accelerometer, realized that real-time resolving goes out the position angle by north of measuring point, the purpose of local latitude;
F. the present invention got final product output data less than 30 seconds, and north finding precision is superior to 10 ' (1 δ); Refreshed once result in per 12 seconds, precision increases in time and improves, and seeks the 2 minutes time of north, and north finding precision is superior to 1 '; Seek the 5 minutes time of north, north finding precision 30 ", can select different north finding precisions and time as required in the use.The above time does not contain preheating time (3 minutes);
G. use conducting slip ring to supply power and communicate by letter, realized in the uninterrupted rotary course power supply with communicate by letter.
Description of drawings
Fig. 1 is that the gyroscope north searching instrument structure of a kind of dynamic rotation modulation of the present invention is formed synoptic diagram;
Fig. 2 is the sensor device vertical view of the gyroscope north searching instrument of a kind of dynamic rotation modulation of the present invention;
Fig. 3 is the control box face version layout of the gyroscope north searching instrument of a kind of dynamic rotation modulation of the present invention;
Fig. 4 is the control box inner member circuit board layout diagram of the gyroscope north searching instrument of a kind of dynamic rotation modulation of the present invention;
Fig. 5 is the principle of work synoptic diagram of the gyroscope north searching instrument of a kind of dynamic rotation modulation of the present invention;
The north orientation angle definition synoptic diagram of the gyroscope north searching instrument of a kind of dynamic rotation modulation of Fig. 6 the present invention.
Among Fig. 1: the 1-total powerstation; The 2-syndeton; The 3-accelerometer; The 4-magnetic shielding cover; The 5-pedestal; The 6-gyroscope; The 7-turntable; 8-photoelectricity circle grating chi; The 9-photoelectric reader; The accurate vertical pivot of 10-system; The 11-conducting slip ring; The 12-direct current torque motor; The 13-connector socket; Three angle spirals of 14-
Among Fig. 2: D1-gyroscope control Driver Circuit plate; The conversion of D2-power filter; D3 signal conditioning circuit plate; D4, Xun Bei resolve computing machine; Z1-turntable face fixed screw; The Z2-support; The fixed screw of Z3-circuit board; Z4-magnetic shielding shell fixed screw;
Among Fig. 4: X0-control display device X0; X1-control shows computing machine; D0, D1-switching power supply; The W1-speed-stabilizing circuit; K1-power input socket and switch.
Among Fig. 6: Φ
0The angle of-turntable zero-bit and real north; The angle of r-total powerstation zero-bit and turntable zero-bit; The reading of α-total powerstation.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further explanation:
Below in conjunction with accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 5 and model machine the present invention is made further detailed description.
Its principle is to adopt the strapdown of rotation modulation continuously to survey northern method; A gyro and two accelerometers are installed in realize on the single axle table that the lasting accuracy with higher angular speed rotates continuously; Continuous rotation through turntable; Gyro is measured each uniformly-spaced locational rotational-angular velocity of the earth horizontal component, and accelerometer is measured gravitational acceleration component synchronously, and signal is sent into signal processing apparatus; Seek northern computer real-time by the high speed in this device and handle, calculate the angle by north of measuring point, the latitude of locality and the attitude angle of carrier.Its measuring accuracy is: seek the 30 seconds time of north, and north finding precision 6 '; Seek the 2 minutes time of north, north finding precision 1 '; Seek the 5 minutes time of north, north finding precision 30 ", to seek north output result and refreshed once in per 12 seconds, precision increase in time improves, and can select different north finding precisions and time as required arbitrarily in the use.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, one embodiment comprises of the gyroscope north searching instrument of a kind of dynamic rotation modulation according to the invention: pedestal 5, gyroscope 6,2 accelerometers 3, torque motor 12, accurate vertical pivots are 10, the constant speed control circuit of conducting slip ring 11, high-precision photoelectricity circle grating chi 8 and read head 9, turntable 7, support Z2, three angle spirals 14, syndeton 2, signal conditioning circuit plate D3, total powerstation 1, direct current torque motor, seek north at a high speed and resolve computing machine, high-speed digital signal treatment circuit D4, power filter change-over circuit D2, gyroscope control Driver Circuit D1, control display device X0.
The stationary part of torque motor 12 is installed in the lower end of housing; Its rotor and accurate vertical pivot are that 10 lower ends are connected; Accurate vertical pivot is the rotating disk 7 that 10 upper ends are connected sensor stand Z2 is installed; Gyroscope 6 is installed in the mounting hole of support Z2, and 2 accelerometers 3 along the direction of two sensitive axes of twin shaft gyro, are vertically mounted in mutually perpendicular two mounting holes in single axle table support top respectively.
Gyroscope 6 adopts the double-shaft power tuned gyroscope appearance of one-shot drift less than 0.02 °/h, and 2 accelerometers 3 are superior to 1 * 10 for resolution
-5Quartz flexible accelerometer; Torque motor 12 adopts the separately-loaded permanent magnet D.C. torque motor; The constant speed control circuit adopts the digital phase-locked loop design; High-speed digital signal treatment circuit D4 adopts large-scale integrated circuit FPGA (cyclone 3C25), seeks north and resolves computing machine employing high speed microprocessor DSP (TMS320F6713).
Signal conditioning circuit plate D3, Xun Bei resolve computing machine D4, power filter change-over panel D2, gyroscope control Driver Circuit plate D1 and divide four, be installed in single axle table support Z2 around; Power supply D1 sends into power filter change-over panel D2 by conducting slip ring 11, resolves computing machine, signal-processing board D4 through filtering, conversion, voltage stabilizing treatment and supplied gyroscope control Driver Circuit plate D1, signal conditioning circuit plate D3, Xun Bei; The serial communication data are also showing control computer X1 and are seeking between the northern computing machine and transmitting through conducting slip ring;
Foregoing circuit can rotate when turntable rotates synchronously, real-time resolving; Cooperate conducting slip ring 11; Make and to seek that high-precise uniaxial turntable 7 can be unconfined with rotation arbitrarily angled, any duration in the northern process, like this, can guarantee to seek northern appearance data on a plurality of position of rotation of fast detecting at short notice; Prestissimo obtain seeking northern result; Can gather multi-group data through long-time continual rotation again, improve north finding precision.Having broken through prior art can only the fixed position, the limitation of permanent order rotation.
Three angle spirals 14 are uniformly distributed with and are fixed on the pedestal lower end, are used for regulating the level of table top;
Syndeton 2 is positioned at seeks northern appearance top, in order to total powerstation 1 and the above-mentioned northern appearance of seeking are connected as one; Comprise control display system, constant speed control circuit, gyro power shift knob, servo opening/guard's valve that Switching Power Supply, employing embedded computer ARM9,7# color LCD screen, touch-screen are formed among the control display device X0, it is realized through 13 connector sockets and seeks being electrically connected of northern appearance main frame.
The measured north orientation angle of model machine of the present invention is measured and added that instrument constant and total powerstation sight the angle by north that output data after the target is survey line behind the angle by north for seeking northern appearance, and is as shown in Figure 6.
The process of the signal Processing of the system that the present invention relates to is:
The frequency and the phase differential of crystal oscillator that described constant speed control circuit is more stable and the output of photoelectricity circle grating chi are regulated rotating speed of motor, make the angular speed rotation of turntable with higher relative accuracy, approximate constant speed; Gyro 6 is through the continuous rotation of single axle table, measures at each uniformly-spaced locational rotational-angular velocity of the earth at its responsive axial component, and eliminates the systematic error of gyro with this multiposition measuring mode; Two accelerometers 3 are along the sensitive axes direction of gyro; With the gyro synchro measure; Measure at each locational gravitational acceleration component, calculate the attitude angle of the relative surface level in gyro sensitive axes plane, place, and eliminate the systematic error of accelerometer with this multiposition measuring mode with this; The output signal of said gyroscope 6 and accelerometer 3 is sent into described signal conditioning circuit D3; Carry out sending into A/D converter after filtering, the amplification; Said digital filtering and the process of frequency multiplication of accomplishing the code-disc signal based on the high speed signal treating apparatus D4 of FPGA; Zero-bit, the intermittent angle position of record turntable; Accomplish collection, smothing filtering, unruly-value rejecting and the data storage of three road high-speed a/d data; The address and the order code of northern computing machine sought in decipher, saidly seeks northern computer system D4 and is made up of the flash (M29F400) of DSP high speed microprocessor TMS320F6713,16*1M, RAM (IS16LV512), clock circuit, reset circuit and the feed circuit of 16*512k, seeks northern computing machine after receiving the look-at-me that the high speed signal treating apparatus sends; Read the data of gyroscope and two accelerometers immediately, call that filtration module carries out filtering and Xun Bei resolves; Seeking northern algorithm in real time comprises the initial value estimation block and accurately resolves module; The initial value estimation block is revolved the output data of gyroscope and accelerometer when turning around according to turntable; Adopt quadrature demodulation; Calculate orientation by north, local latitude, gyroscopic drift, attitude angle, and as the initial value of accurately seeking northern algorithm.Accurately seek northern algorithm and on the basis of rough north-seeking, adopt the recursion Kalman filtering algorithm, reduced the systematic error of gyroscope, accelerometer, real-time resolving goes out position angle by north, the local latitude of measuring point, thereby has reached the purpose of seeking north fast, in real time.Seek and add that the output data of instrument constant and total powerstation is the angle by north of survey line after northern appearance is measured angle by north.
This resolves process as just an example of the present invention, does not limit method of application of the present invention.
The course of work that the preferred embodiment of the present invention is sought north is following:
1) three angle spirals 14 of adjustment rotate total powerstation 1 on two mutually perpendicular directions, make the bubble of total powerstation be in middle position.
2) behind the energized switch, control shows computing machine X1 metering-in control system, liquid crystal display displays actions menu option.
3) the gyro power switch on the connection control box X0, Gyroscope Motor Power D1 supplies power to gyro motor, and gyro starts; Power source conversion filtering circuit D2 provides signal conditioning circuit D2, digital signal processing circuit, seeks northern computing machine D4 power supply;
4) the servo opening/guard's valve on the connection control box, Switching Power Supply is given the constant speed circuit supply, and turntable drives the sensor unit constant speed and rotates;
5) click and to begin to seek northern button frame on the touch-screen; Control shows that computing machine X1 sends and begins to seek the north instruction to seeking northern computing machine D4; Seek and return confirmation signal after northern computing machine is received instruction; And to signal processing apparatus transmission sign on, signal processing apparatus begins to gather gyroscope and acceleration information and storage;
6) seek northern computing machine after receiving the look-at-me of signal processing apparatus, the beginning reading of data is resolved, and output is resolved the result to the demonstration of control display device when complete cycle, and each circle (12 seconds) upgrades and once resolves the result;
7) in seeking northern process, northern frame is sought in the end of pressing on the touch-screen, and control shows that computing machine X1 sends halt instruction and finishes to seek north to seeking northern computing machine D4; Control shows after nearly 2 minutes data smoothing is handled and shows.
8) turn-off servo opening/guard's valve, turntable stops operating, and turn-offs the gyro power switch, and gyro quits work, and turn-offs total power switch.
Claims (4)
1. one kind is dynamically rotated the gyroscope north searching instrument of modulating, and it is characterized in that: comprising: pedestal, high-precise uniaxial turret systems, gyroscope (6), accelerometer (3), conducting slip ring (11), torque motor (12), constant speed control circuit, power source conversion/filtering circuit (D2), signal conditioning circuit (D3), high-speed signal acquisition/treating apparatus, high speed are sought north and are resolved computing machine (D4), control display device (X0);
Torque motor (12) drives the relative pedestal rotation of high-precise uniaxial turret systems; Gyroscope (6), accelerometer (3) are installed in the single axle table system; The gyroscope of installing in the single axle table system (6), accelerometer (3) through conducting slip ring (11) and constant speed control circuit, power source conversion/filtering circuit (D2), signal conditioning circuit (D3), high-speed signal acquisition/treating apparatus, seek north at a high speed and resolve computing machine (D4) and be electrically connected.
2. the gyroscope north searching instrument of a kind of dynamic rotation modulation as claimed in claim 1; It is characterized in that: the high-precise uniaxial turret systems comprises: turntable (7), precision plane vertical pivot system (10), photoelectricity circle grating chi, sensor stand (Z2), and sensor stand (Z2) and turntable (7) all are connected in (10) rotating shaft of vertical pivot system; Photoelectricity circle grating chi is used to measure the angle that turntable (7) turns over; Said gyroscope (6) level is installed in support (Z2) mounting hole, its responsive axis all with the rotating shaft quadrature, and turntable is when crossing zero-bit, gyro to measure coordinate system x direction of principal axis is identical with the zero line of photoelectricity circle grating ruler reading head; Said signal conditioning circuit plate (D3), at a high speed seek north resolve computing machine (D4), signal-processing board (D4), power filter change-over panel (D2), gyroscope control Driver Circuit plate (D1) be installed in respectively single axle table support (Z2) around; Said conducting slip ring (11) rotating part and (10) rotating shaft of said vertical pivot system are connected, and its fixed part and pedestal are connected;
The output signal of said gyroscope (6) and accelerometer (3) is sent into described signal conditioning circuit, carries out sending into A/D converter after filtering, the amplification; The frequency and the phase differential of crystal oscillator that described constant speed control circuit is more stable and the output of photoelectricity circle grating ruler reading head, and control, rotating speed of motor stablized; Said digital filtering and the process of frequency multiplication of accomplishing the code-disc signal based on the high speed signal treating apparatus (D4) of FPGA; Zero-bit, the intermittent angle position of record turntable; Accomplish collection, smothing filtering, unruly-value rejecting and the data storage of 3 road high-speed a/d data of gyro signal and accelerometer signal, the address and the order code of northern computing machine sought in decipher; Said high speed is sought north and is resolved computing machine (D4) after receiving the look-at-me that the high speed signal treating apparatus sends, and reads the data of gyroscope and two accelerometers immediately, calls that filtration module carries out filtering and Xun Bei resolves.
3. the gyroscope north searching instrument of a kind of dynamic rotation modulation as claimed in claim 2 is characterized in that: the gyroscope north searching instrument top of described a kind of dynamic rotation modulation has syndeton (2), and total powerstation (1) is installed.
4. the gyroscope north searching instrument of a kind of dynamic rotation modulation as claimed in claim 3 is characterized in that: seeking north at a high speed, to resolve computing machine (D4) be that the flash of the 16*1M of M29F400, RAM, clock circuit, reset circuit and the feed circuit that model is the 16*512k of IS16LV512 are formed by DSP high speed microprocessor TMS320F6713, model.
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-
2011
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