CN202563089U - Novel high-performance magnetic-compass combined satellite compass - Google Patents
Novel high-performance magnetic-compass combined satellite compass Download PDFInfo
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- CN202563089U CN202563089U CN2012201933303U CN201220193330U CN202563089U CN 202563089 U CN202563089 U CN 202563089U CN 2012201933303 U CN2012201933303 U CN 2012201933303U CN 201220193330 U CN201220193330 U CN 201220193330U CN 202563089 U CN202563089 U CN 202563089U
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Abstract
The utility model relates to a novel high-performance magnetic-compass combined satellite compass, which is a satellite compass combining satellite navigation positioning with global magnetic field direction, and aims at solving possible interruptions in output of traditional satellite compasses, providing output the moment the compass is powered on, improving the core technology of the satellite compass, i.e., the ambiguity resolution speed, and identifying the antenna direction. The satellite compass of the utility model comprises a signal receiving device, a signal processing device, a magnetic deviation and parameter storing device, a main controller, and a course outputting device, wherein the signal processing device is used for processing signals received by the signal receiving device, the magnetic deviation and parameter storing device stores signal processing results, the main controller controls information receiving and sending in unification, the signal receiving device comprises a navigation satellite information inputting module and a magnetic compass information inputting module, the signal processing device receives information of the navigation satellite information inputting module and the magnetic compass information inputting module, the magnetic deviation and parameter storing device stores and uses combined resolution results, and the main controller simultaneously controls and connects the signal processing device and the course outputting device.
Description
Technical field
This practicality relates to a kind of navigation and uses the satellite compass, and the satellite compass of combination is pointed in particularly a kind of satellite navigation location and magnetic field of the earth.
Background technology
In boundless sea, compass be the boats and ships provider to, be one of most important admittance equipment of boats and ships, be that must installing of marine navigation is equipped with, compass performance and type that International Maritime Organization (IMO) (IMO) should install various tonnage boats and ships have concrete mandatory requirement.
The compass that generally uses on the ship at present has magnetic compass and gyro compass.Magnetic compass is according to the ultimate principle of compass, the sensing instrument of making by the magnetic field of the earth.Gyro compass is a gyrocompass, is to utilize gyrostatic gyroscopic inertia and precession, in conjunction with earth's spin vector and gravitational vector, processes so that the instrument of geographical north benchmark to be provided with opertaing device and damping device.
Magnetic compass is simple in structure, independently reliable, sturdy and durable, easy to maintenance; But magnetic compass receives earth magnetism, environmental impact, exists each to performance difference, with geographic location, Ship Structure difference, and show bigger error.
It is excellent more that gyro compass is compared performance, and precision is higher, has autonomous advantage reliably; But gyro compass costs an arm and a leg, complex structure, and maintenance cost is high, and it is long to start stabilization time, and installation and Calibration is complicated; Wherein the gyro sphere of high speed rotating is a wearing detail, and the maintain and replace price is very high.
Magnetic compass is the necessary installed device of all kinds of boats and ships, and gyro compass is because high-performance is also very universal.And, gyro compass is housed after, magnetic compass often is in subsequent use situation.
The satellite compass then is the navigation wireless signal that utilizes the GPS satellites transmits, calculates the novel compass of sensing through signal Processing, is the system of pure electronics basically.The satellite compass has the precision height, digitizing, and price is low, and is non-maintaining, starts soon, and simple the grade a bit is installed, and has a good application prospect.
Yet the satellite compass relies on and receives the about 20,000 kilometers radio satellite navigation signal of liftoff ball, therefore has integrity problem, in case the satellite-signal that receives generation is unusual, does not just have course output; Although present satellite compass is unusual with compensation reception of short duration, instantaneity in order to improve output frequency; Made up micro mechanical system (MEMs) gyro mostly; But cheap MEMs generally can only stablize time a few minutes, and there be the actual defects and the risk of long-time directionless output in the satellite compass.In addition,, there is the local optimum convergence point, in the direction of short time (in the dozens of minutes) meeting output error because the satellite compass has utilized the theory of optimal control.More than 2 to have had a strong impact on overall performance superior, the promoting the use of of cheap satellite compass.
Summary of the invention
The goal of the invention of the utility model is: a kind of novel satellite compass of high-performance that makes up magnetic compass is provided, solves the defective that the output of conventional satellite compass may be interrupted; Solve the problem of general satellite compass output error angle; Start promptly has output, shortens the output stabilization time of general satellite compass; Improve the core technology integer ambiguity of satellite compass and find the solution speed; The identification aerial direction reduces installation difficulty.
For accomplishing above-mentioned purpose; The utility model is achieved in that a kind of novel satellite compass of high-performance that makes up magnetic compass; It comprises signal receiving device, signal processing apparatus, magnetic variation and parameter storage, master controller, course output device, and described signal processing apparatus is used for the signal that the processing signals receiving trap receives; Magnetic variation and parameter storage storage signal result; Master controller is unified the reception and the transmission of control information; It is characterized in that: described signal receiving device comprises Navsat MIM message input module and magnetic compass MIM message input module; Signal processing apparatus receives the information of satellite information load module and magnetic compass MIM message input module; The result that magnetic variation and parameter storage are preserved and used combination to find the solution; Master controller is control linkage signal processing apparatus, course output device simultaneously.The utility model carries out the mode that magnetic compass combines with satellite navigation, solves the defective that the output of satellite compass possibly be interrupted, thereby has improved reliability; Start promptly has direction output, and satellite-signal reception situation is irrelevant in the time of need not waiting for satellite-signal and start.
Technique scheme is done further to improve, and described signal processing apparatus comprises magnetic Luo Yi magnetic variation storer, error finds the solution module and attitude is found the solution composite module; Described error is found the solution the information that module connects Navsat MIM message input module and magnetic compass MIM message input module, calculates the relevant magnetic variation in position through optimal theoretical, is sent to the magnetic variation storer; Described attitude is found the solution composite module and is received satellite navigation information and magnetic compass input information, dwindles hunting zone in the attitude solution procedure, the identification aerial installation direction, and deposit institute's acquisition parametric variable in magnetic variation and parameter storage; Described magnetic Luo Yi magnetic variation storer is controlled by primary controller.The satellite compass comprises the compass that all have utilized the satellite navigation and location system signal, and described satellite comprises: GPS, GLONASS, the Big Dipper-2 system of GALILEO and China.Described magnetic variation and parameter storage are made up of non-volatile storage medium.Described Navsat MIM message input module comprises two navigation antennas at least, and the corresponding satellite navigation receiver that the band carrier wave is exported mutually of each antenna can be module or receiver circuit.
The output of magnetic compass gets into error comparator after through digitizings such as inductor or Flame Image Process; Because magnetic variation is bigger; So under the situation of or other high precision stem equipment (gyro compass) existence normal at the satellite compass; Automatically according to the position magnetic compass all directions are made up the difference automatically, try to achieve the error of magnetic compass, deposit the magnetic variation storer in through information fusion algorithm; When accurate direction output module or equipment failure, from the magnetic variation storer, read error automatically, output compensates to magnetic compass, thereby improves the precision of magnetic compass greatly, makes this compass still can keep the output of high-precision course.
Technique scheme is done further to improve, and described Navsat MIM message input module comprises two navigation antennas at least, and the corresponding satellite navigation receiver that the band carrier wave is exported mutually of each antenna can be module or receiver circuit.Wherein two groups of antennas are necessary choosings, can select two groups of above antennas, through Navsat receiving antenna and receiver circuit (or module); Receive the wireless navigation satellite-signal, finding the solution signal processing algorithm through attitude then can be in the hope of direction, if two antennas; Can be in the hope of direction Heading and other one dimension direction; If three antennas, then can be in the hope of Heading (direction), Pitch (distance) and Roll (angle) three attitudes.
Technique scheme is done further to improve, and described magnetic compass MIM message input module is to be made up of magnetic compass and the magnetic compass number interface that receives magnetic compass information, and the magnetic compass number interface that receives magnetic compass information is by main controller controls; The magnetic compass input signal also comprises and utilizes the directly electronic compass of signal magnetic field.The output of magnetic compass is passed through to get into the integrated navigation functional module after the digitizings such as inductor or Flame Image Process; Under or the situation that other high precision stem equipment (gyro compass) exists normal, according to the position magnetic compass all directions are made up the difference automatically automatically, try to achieve the error of magnetic compass, deposit the magnetic variation storer in through information fusion algorithm at the satellite compass; When accurate direction output module or equipment failure, from the magnetic variation storer, read error automatically, output compensates to magnetic compass, thereby improves the precision of magnetic compass greatly.
When technique scheme was further changed, the novel satellite compass of the high-performance of this combination magnetic compass also comprised the MEMs inertial navigation module, and this inertial navigation module is connected with master controller, receives main controller controls.The adding of MEMs can improve the output frequency, smoothly resolves the result, and keeps direction output in the satellite-signal following time of of short duration failure condition.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Embodiment
Structure for further description the utility model is elaborated to the utility model below in conjunction with accompanying drawing.
A kind of novel satellite compass of high-performance that makes up magnetic compass; It comprises signal receiving device, signal processing apparatus 3, master controller 4, magnetic variation and parameter storage 6, course output device 7, and described signal processing apparatus 3 is used for the signal that the processing signals receiving trap receives; Described signal receiving device comprises Navsat MIM message input module 1 and magnetic compass MIM message input module 2; Described Navsat MIM message input module comprises two groups of navigation antennas 11,12 at least, every group of corresponding satellite navigation receiver 14 that the band carrier wave is exported mutually of antenna.Described magnetic compass MIM message input module 2 is to be made up of magnetic compass 22 and the magnetic compass number interface 21 that receives magnetic compass information, and the magnetic compass number interface that receives magnetic compass information is by main controller controls 4.Can select two groups of above antennas, through Navsat receiving antenna and receiver circuit (or module), receive the wireless navigation satellite-signal, finding the solution signal processing algorithm through attitude then can be in the hope of direction, if two antennas 11,12,13; Can be in the hope of direction Heading and other one dimension direction, if three antennas, then can be in the hope of Heading (direction), Pitch (distance) and Roll (angle) three attitudes.The output of magnetic compass is passed through to get into the integrated navigation functional module after the digitizings such as inductor or Flame Image Process; Because magnetic variation is bigger; So under the situation of or other high precision stem equipment (gyro compass) existence normal at the satellite compass, according to the position magnetic compass all directions are made up the difference automatically automatically, when accurate direction output module or equipment failure; Automatically from the magnetic variation storer, read error; Magnetic compass output is compensated, under the common cooperation of both sides, just can accomplish task of the present invention in that information place device is done certain requirement.
Described signal processing apparatus 3 comprises magnetic Luo Yi magnetic variation storer and error comparator; Described error comparator connects the information of Navsat MIM message input module and magnetic compass MIM message input module; Make comparisons; Be sent to magnetic Luo Yi magnetic variation storer, described magnetic Luo Yi magnetic variation storer is controlled by primary controller.Master controller is unified the reception and the transmission of control information; Signal processing apparatus receives the information of satellite information load module and magnetic compass MIM message input module; Master controller is control linkage signal processing apparatus, course output device simultaneously.The novel satellite compass of the high-performance of this combination magnetic compass also comprises MEMs inertial navigation module 5, and this inertial navigation module is connected with master controller, receives main controller controls.The adding of MEMs can improve the output frequency, smoothly resolves the result, and keeps direction output in the satellite-signal following time of of short duration failure condition.
Through Navsat receiving antenna and receiver circuit (or module); Receive the wireless navigation satellite-signal, finding the solution signal processing algorithm through attitude then can be in the hope of direction, if 2 antennas; Can be in the hope of direction Heading and other one dimension direction; If 3 antennas, then can be in the hope of Heading (direction), Pitch (distance) and Roll (angle) three attitudes.The adding of MEMs can improve the output frequency, smoothly resolves the result, and keeps direction output in the satellite-signal following time of of short duration failure condition; The output of magnetic compass is passed through to get into the integrated navigation functional module after the digitizings such as inductor or Flame Image Process; Because magnetic variation is bigger; So under the situation of or other high precision stem equipment (gyro compass) existence normal at the satellite compass; Automatically according to the position magnetic compass all directions are made up the difference automatically, try to achieve the error of magnetic compass, deposit the magnetic variation storer in through information fusion algorithm; When accurate direction output module or equipment failure, from the magnetic variation storer, read error automatically, output compensates to magnetic compass, thereby improves the precision of magnetic compass greatly, makes this compass still can keep the output of high-precision course; In addition, magnetic compass can provide the general orientation of present boats and ships, therefore can dwindle the integer ambiguity search volume in the attitude solution procedure, improves algorithm the convergence speed greatly; Simultaneously, local convergence point that can identification error is provided with condition to algorithm, makes algorithm convergence arrive correct optimum point; Moreover general satellite compass requires correct bow, aft antenna installation direction, is inverted otherwise have 180 ° of directions, utilizes magnetic compass can automatically identify bow tail aerial position, the convenient installation; Other stem output device 51 can be gyro compass etc. other equipment of stem can be provided, can participate in and carry out information fusion in the combinational algorithm module, perhaps, improve this compass reliability as keeping watch on input.
Claims (9)
1. novel satellite compass of high-performance that makes up magnetic compass; It comprises signal receiving device, signal processing apparatus, magnetic variation and parameter storage, master controller, course output device, and described signal processing apparatus is used for the signal that the processing signals receiving trap receives; Magnetic variation and parameter storage storage signal result; Master controller is unified the reception and the transmission of control information; It is characterized in that: described signal receiving device comprises Navsat MIM message input module and magnetic compass MIM message input module; Signal processing apparatus receives the information of satellite information load module and magnetic compass MIM message input module; The result that magnetic variation and parameter storage are preserved and used combination to find the solution; Master controller is control linkage signal processing apparatus, course output device simultaneously.
2. a kind of novel satellite compass of high-performance that makes up magnetic compass according to claim 1, it is characterized in that: described signal processing apparatus comprises magnetic Luo Yi magnetic variation storer, error finds the solution module and attitude is found the solution composite module; Described error is found the solution the information that module connects Navsat MIM message input module and magnetic compass MIM message input module, calculates the relevant magnetic variation in position through optimal theoretical, is sent to the magnetic variation storer; Described attitude is found the solution composite module and is received satellite navigation information and magnetic compass input information, dwindles hunting zone in the attitude solution procedure, the identification aerial installation direction, and deposit institute's acquisition parametric variable in magnetic variation and parameter storage; Described magnetic Luo Yi magnetic variation storer is controlled by primary controller.
3. a kind of novel satellite compass of high-performance that makes up magnetic compass according to claim 1; It is characterized in that: the satellite compass comprises the compass that all have utilized the satellite navigation and location system signal, and described satellite comprises: GPS, GLONASS; The Big Dipper-2 system of GALILEO and China.
4. a kind of novel satellite compass of high-performance that makes up magnetic compass according to claim 1, it is characterized in that: described magnetic variation and parameter storage are made up of non-volatile storage medium.
5. a kind of novel satellite compass of high-performance that makes up magnetic compass according to claim 1; It is characterized in that: described Navsat MIM message input module comprises two navigation antennas at least; The corresponding satellite navigation receiver that the band carrier wave is exported mutually of each antenna can be module or receiver circuit.
6. a kind of novel satellite compass of high-performance that makes up magnetic compass according to claim 1; It is characterized in that: described magnetic compass MIM message input module is to be made up of magnetic compass and the magnetic compass number interface that receives magnetic compass information, and the digitalization for magnetic compass interface that receives magnetic compass information is by main controller controls; The magnetic compass input signal also comprises the electronic compass that directly utilizes the magnetic field of the earth.
7. ask 1 described a kind of novel satellite compass of high-performance that makes up magnetic compass according to right; It is characterized in that: the novel satellite compass of the high-performance of this combination magnetic compass also comprises the MEMs inertial navigation module; This inertial navigation module is connected with master controller; Receive main controller controls, participate in the attitude of satellite compass and find the solution.
8. ask 2 described a kind of novel satellite compasses of high-performance that make up magnetic compass according to right; It is characterized in that: described Navsat MIM message input module comprises two navigation antennas at least; The corresponding satellite navigation receiver that the band carrier wave is exported mutually of each antenna; Described magnetic compass MIM message input module is to be made up of magnetic compass and the digitalization for magnetic compass interface that receives magnetic compass information; Or directly respond to any sensing equipment in magnetic field of the earth, the digitalization for magnetic compass interface that receives magnetic compass information is by main controller controls; The information output of the information output of described satellite navigation receiver and digitalization for magnetic compass interface is connected magnetic variation simultaneously and finds the solution module and parameter extraction module.
9. ask 2 or 3 or 4 or 5 or 6 or 7 or 8 described a kind of novel satellite compasses of high-performance that make up magnetic compass according to right; It is characterized in that: the novel satellite compass of the high-performance of this combination magnetic compass also comprises the MEMs inertial navigation module; This inertial navigation module is connected with master controller, receives main controller controls.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201933303U CN202563089U (en) | 2012-05-03 | 2012-05-03 | Novel high-performance magnetic-compass combined satellite compass |
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| CN2012201933303U CN202563089U (en) | 2012-05-03 | 2012-05-03 | Novel high-performance magnetic-compass combined satellite compass |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148845A (en) * | 2013-03-01 | 2013-06-12 | 中国电子科技集团公司第二十八研究所 | Satellite combined compass and method for measuring and computing azimuth angle and pitch angle |
| CN106249260A (en) * | 2016-09-28 | 2016-12-21 | 中国船舶重工集团公司第七0七研究所 | A kind of satellite optical fiber compass system and combinations thereof air navigation aid |
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2012
- 2012-05-03 CN CN2012201933303U patent/CN202563089U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148845A (en) * | 2013-03-01 | 2013-06-12 | 中国电子科技集团公司第二十八研究所 | Satellite combined compass and method for measuring and computing azimuth angle and pitch angle |
| CN106249260A (en) * | 2016-09-28 | 2016-12-21 | 中国船舶重工集团公司第七0七研究所 | A kind of satellite optical fiber compass system and combinations thereof air navigation aid |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121128 Termination date: 20210503 |