CN208012610U - A kind of bearing repeater horizontal device - Google Patents
A kind of bearing repeater horizontal device Download PDFInfo
- Publication number
- CN208012610U CN208012610U CN201820345615.1U CN201820345615U CN208012610U CN 208012610 U CN208012610 U CN 208012610U CN 201820345615 U CN201820345615 U CN 201820345615U CN 208012610 U CN208012610 U CN 208012610U
- Authority
- CN
- China
- Prior art keywords
- inner ring
- sensor
- cross
- motor
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The utility model discloses a kind of bearing repeater horizontal devices, including outer ring, installation pedestal, longitudinal motor, cross motor, inner ring, vertical inclination angle sensor, cross dip sensor and control module, outer ring is fixed on by longitudinal shaft in installation pedestal, longitudinal motor is fixed in installation pedestal and its machine shaft is fixedly connected with outer ring, cross motor is fixed on outer ring and its machine shaft is fixedly connected with inner ring, inner ring is fixed on by lateral shaft in outer ring, bearing repeater is fixed on by fastener in inner ring, vertical inclination angle sensor and cross dip sensor, which are each attached on inner ring and respectively with control module, to be electrically connected.Bearing repeater is installed on the horizontal device of the utility model, without manual intervention, you can is in horizontality automatically always.In observation process, operating personnel manually control bearing repeater level at any time without diverting one's attention, and reduce operation difficulty；Especially when Ship Swaying is violent, the generation of large error is avoided.
Description
Technical field
The utility model is related to marine navigation technical fields, more particularly to a kind of bearing repeater horizontal device.
Background technology
Compass is the instrument that course and orientation are measured in navigation.The compass being equipped on ship at present has gyrocompass and magnetic sieve
Through.Gyrocompass is its rotary shaft to be forced to be maintained at after by damping action appropriate using high-speed rotating gyroscope
Principle in meridian circle plane and it is manufactured.Gyrocompass can drive several repeater compasses (also referred to as compass repeater).Orientation point
Compass is typically mounted at driver's cabin both sides, it is synchronous with master compass, and operating personnel are made using bearing repeater and azimuth circle cooperation
With can easily observe the orientation of object mark (including celestial body).
It in navigation, is used cooperatively using bearing repeater and azimuth circle, observation low clearance solar azimuth seeks compass error
It is the most basic method that sea astronomical technique measures compass error.It is analyzed it is found that altitude of the heavenly body angle h, side by celestial body apparent motion
Position repeater compass level inclination θ and azimuthal error Δ A triadic relations are：ΔA≈θ×tanh.The formula shows bearing repeater level
Inclination angle theta is smaller, and the azimuthal error Δ A caused by the h of altitude of the heavenly body angle is smaller.Therefore, bearing repeater and orientation are actually being utilized
When circle observation low clearance solar azimuth, bearing repeater need to be kept horizontal as possible.Mostly has water on azimuth circle used at present
Level.In observation process, operating personnel need that the sight line of azimuth circle is directed at solar core on one side, read orientation degree on one side
Number, while also wanting the continuous control azimuth repeater compass of both hands horizontal, the spirit bubble of observation adjustment level meter is located therein position.It should
Method operation is not easy, and especially when Ship Swaying is violent, is further increased operation difficulty, is easy tod produce large error.
Invention content
The purpose of the utility model is to overcome the deficiencies in the prior art, design a kind of bearing repeater horizontal device.
In order to achieve the above objectives, technical solution used by the utility model is：
A kind of bearing repeater horizontal device, including it is outer ring, installation pedestal, longitudinal motor, cross motor, inner ring, vertical
To obliquity sensor, cross dip sensor and control module, the outer ring is fixed on by longitudinal shaft in installation pedestal,
Longitudinal motor is fixed in installation pedestal and its machine shaft is fixedly connected with outer ring, the cross motor be fixed on outer ring and
Its machine shaft is fixedly connected with inner ring, and the inner ring is fixed on by lateral shaft in outer ring, and bearing repeater passes through fastening
Part is fixed in inner ring, the vertical inclination angle sensor and cross dip sensor be each attached on inner ring and respectively with control mould
Block is electrically connected；The control module include two it is completely identical in structure be respectively used to control cross motor and longitudinal motor action
Control unit, described control unit includes to by the ac voltage signal of vertical inclination angle sensor or cross dip sensor
It is converted to the demodulator circuit of d. c. voltage signal, carries out the pid correction electricity of deviation correction for the d. c. voltage signal to reception
Road, the direct current signal for crossing pid correction are converted to the adjustable pulse width modulation circuit for determining frequency pulse signal of duty ratio, are used for
It will determine the power driving circuit that frequency pulse signal carries out power amplification and then control corresponding motor rotates.
Preferably, the center of the inner ring and the center of outer ring coincide, and cross dip sensor is arranged in inner ring
Cross central line on, vertical inclination angle sensor is arranged on the longitudinal centre line of inner ring.
Preferably, the cross dip sensor is identical with the structure of vertical inclination angle sensor, includes shell
Iron core, magnetizing coil, pendulum and the sensor coil of body and setting inside housings, the iron core are vertically fixed on shell,
Magnetizing coil is fastened on iron core, and the pendulum is hung vertically on shell, when cross dip sensor is in horizontal
When state, the swing arm of pendulum and the center line of iron core coincide；The sensor coil is fixed on pendulum, and the signal of sensor coil is defeated
Outlet is connected with the signal input part of demodulator circuit.
Preferably, the shell is a sealing rectangular parallelepiped structure, and the iron core is mountain font iron core, and magnetizing coil twines
In the middle part vertical bar for being fixed on mountain font iron core.
Preferably, the sensor coil is docked by two windings.
Preferably, the central shaft of the cross motor and the cross central line of inner ring coincide, in longitudinal motor
The longitudinal centre line of mandrel and inner ring coincides.
Preferably, pid correction circuit is active for the proportional-integral-differential being made of operational amplifier and RC network
Correcting circuit.
Preferably, pulse width modulation circuit is made of triangular-wave generator and open loop anti-phase input adder.
The positive beneficial effect of the utility model：
1, the horizontal device of the utility model can detect the angle of inclination of bearing repeater in real time, control module according to
The dip angle signal received automatically controls cross motor/longitudinal motor action, so that bearing repeater is in horizontality automatically.
In observation process, without manual intervention, operating personnel are not required to pay attention to the equilibrium state for watching bearing repeater in real time, not only drop
The low operation difficulty of staff, can also improve working efficiency and the accuracy of staff, avoid the occurrence of larger operation
Error.
2, by the way that inner ring and bearing repeater are fixed as one, and by vertical inclination angle sensor and cross dip sensor
It is separately fixed at the longitudinal centre line of inner ring and the position of cross central line, vertical inclination angle sensor and cross dip can be made
Sensor accurately detects the inclination angle of bearing repeater, ensure that measurement accuracy, while improving the adjusting essence of the utility model
Degree.
3, the obliquity sensor of the utility model is passed inclination angle by the way that iron core, excitation coil, pendulum and sensor coil is arranged
The shell of sensor is directly anchored on inner ring, by iron core vertically it is fixed on the shell, by pendulum swing arm and core center line it
Between offset, you can a corresponding ac voltage signal of the offset is obtained, in this way, bearing repeater angle of inclination
It obtains more intuitively, accurately, avoids the occurrence of larger measurement error.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the schematic block circuit diagram of the utility model.
When Fig. 3 is horizontality, the structural schematic diagram of transverse direction/vertical inclination angle sensor.
When Fig. 4 is heeling condition, the structural schematic diagram of transverse direction/vertical inclination angle sensor.
When Fig. 5 is horizontality, the time plot of d. c. voltage signal and triangular signal.
When Fig. 6 is horizontality, the time plot for the superposed signal that d. c. voltage signal is generated with triangular signal.
When Fig. 7 is horizontality, the time plot of the pulse signal of open loop anti-phase input adder output.
When Fig. 8 is tilted to the left for hull, the time plot of d. c. voltage signal and triangular signal.
When Fig. 9 is tilted to the left for hull, the time graph for the superposed signal that d. c. voltage signal is generated with triangular signal
Figure.
When Figure 10 is tilted to the left for hull, the time plot of the pulse signal of open loop anti-phase input adder output.
When Figure 11 is tilted to the right for hull, the time plot of d. c. voltage signal and triangular signal.
When Figure 12 is tilted to the right for hull, the time graph for the superposed signal that d. c. voltage signal is generated with triangular signal
Figure.
When Figure 13 is tilted to the right for hull, the time plot of the pulse signal of open loop anti-phase input adder output.
The concrete meaning of figure label is：1 is outer ring, and 2 be installation pedestal, and 3 be longitudinal motor, and 4 be cross motor, and 5 are
Inner ring, 6 be vertical inclination angle sensor, and 7 be cross dip sensor, and 8 be bearing repeater, and 9 be longitudinal shaft, and 10 be laterally to turn
Axis, 11 be fastener, and 12 be shell, and 13 be iron core, and 14 be magnetizing coil, and 15 be pendulum, and 16 be sensor coil, and 17 be triangular wave
Signal, 18 be d. c. voltage signal, and 19 be superposed signal, and 20 be pulse signal.
Specific implementation mode
To make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings
Specific embodiment describes the utility model.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit this reality
With novel range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessarily mixing
Confuse the concept of the utility model.
Embodiment is described with reference to Fig. 1, the horizontal device for bearing repeater of the utility model, the side of being used to support
Position repeater compass includes mainly outer ring 1, inner ring 5, installation pedestal 2, longitudinal motor 3, cross motor 4, vertical inclination angle sensor 6, cross
To obliquity sensor 7 and control module.When bearing repeater is installed on the horizontal device of the utility model, without artificial
Intervene, bearing repeater can be in horizontality automatically always, adjusted manually without operating personnel, reduce operation difficulty.
The outer ring 1 is mainly used for that inner ring 5 and repeater compass 8 is driven to be rotated around longitudinal shaft 9.Outer ring 1 passes through vertical
It is fixed in installation pedestal 2 to shaft 9, longitudinal motor 3, shaft and the outer ring 1 of longitudinal motor 3 is fixed in installation pedestal 2
External stability connects.Longitudinal motor 3 can drive outer ring 1 to rotate, and outer ring 1 drives the inner ring 5 in the portion that is fixed therein and orientation to divide sieve
It is rotated synchronously through 8, to be adjusted to the longitudinal inclination (gradient in i.e. left and right direction) of bearing repeater 8.
The inner ring 5 is fixed on by lateral shaft 10 in outer ring 1, and the inside of inner ring 5 passes through fastener 11 and orientation point
Compass 8 is fixedly connected.Inner ring 5 is mainly used for that bearing repeater 8 is driven to be rotated around lateral shaft 10.Drive inner ring rotation
Cross motor 4 is fixed on the outside of outer ring 1, and machine shaft is fixedly connected with inner ring 5, and cross motor 4 can drive 5 turns of inner ring
Dynamic, inner ring 5 drives the bearing repeater 8 in the portion that is fixed therein to rotate synchronously, to the lateral inclination angle to bearing repeater 8
(i.e. the gradient of front and rear direction) is adjusted.
The center of the inner ring 5 and the center of outer ring 1 coincide, and cross is fixed at the position of the cross central line of inner ring 5
To obliquity sensor 7, vertical inclination angle sensor 6 is fixed at the position of longitudinal centre line.Cross dip sensor 7 is mainly used for
It detects the lateral inclination angle of bearing repeater 8 and the ac voltage signal detected is transferred to corresponding control in control module
Unit processed, longitudinal inclination and the alternating current that will detects of the vertical inclination angle sensor 6 mainly for detection of bearing repeater 8
Press signal transmission to corresponding control unit in control module.
The control module, which includes that two circuit structures are identical, is respectively used to control cross motor and longitudinal motor
The control unit of action.Each control unit includes demodulator circuit, pid correction circuit, pulse width modulation circuit and power drive
Circuit.
The demodulator circuit, for converting the ac voltage signal of vertical inclination angle sensor 6 or cross dip sensor 7
For d. c. voltage signal, a phase-sensitive detector is selected, is integrated with the multinomial work(such as preposition amplification, demodulation, output active power filtering
Energy.
The pid correction circuit carries out deviation correction, for by operational amplifier for the d. c. voltage signal to reception
Ratio-the integral collectively constituted with RC network-differential active correction circuit.The circuit has ratio-integral concurrently and ratio-is micro-
The advantages of being divided to two kinds of correcting circuits, stability and response speed for improving system reduce the dynamic error of system.
The pulse width modulation circuit, the direct current signal for crossing pid correction are converted to that duty ratio is adjustable to determine frequency pulse
Signal is made of triangular-wave generator and open loop anti-phase input adder, by the direct current signal of pid correction and from triangular wave
It is sent into open loop anti-phase input adder after the triangular signal superposition of generator, in this way from the defeated of open loop anti-phase input adder
What outlet obtained is that a duty ratio is adjustable determines frequency pulse signal.
The power driving circuit carries out power amplification and then control corresponding motor rotation for that will determine frequency pulse signal,
Motor is set to drive inner ring or outer ring rotating, to make bearing repeater be rotated synchronously to the same direction.
After cross dip sensor 7 detects the lateral inclination angle of bearing repeater 8, one and angle of inclination will produce
Corresponding ac voltage signal, the signal is demodulated, pid correction, after pulse width modulated, power amplification, applies to cross motor 4
Voltage is controlled, to be adjusted to the cross dip of bearing repeater 8.Similarly, vertical inclination angle sensor 6 detects orientation
The longitudinal inclination signal of repeater compass 8 is demodulated, pid correction, after pulse width modulated, power amplification, applies to longitudinal motor 3 and controls
Voltage processed, to be adjusted to the vertical inclination angle of bearing repeater 8.
The cross dip sensor 7 is identical with the structure of vertical inclination angle sensor 6, includes shell 12 and setting
Set iron core 13, magnetizing coil 14, pendulum 15 and the sensor coil 16 inside shell 12.The shell 12 is that a sealing is rectangular
Body structure, shell 12 are fixed on vertically on inner ring 5.The iron core 13 is vertically fixed on the inner wall of 12 upper end of shell, excitation line
14 uniform windings are enclosed on iron core 13, which according to actual needs, may be set to various shapes structure, in the present embodiment,
Iron core 13 is mountain font iron core, and magnetizing coil 14 is fastened in the middle part vertical bar of iron core 13.The end of the pendulum 15
On housing 12, sensor coil 16 is fixed on pendulum 15 vertical hanging.The sensor coil 16 is docked by two windings,
The signal output end of sensor coil is connected with the signal input part of demodulator circuit in corresponding control unit.
When repeater compass is in horizontality, the cross dip sensor (or vertical inclination angle sensor) on inner ring is also at
Horizontality, at this point, the swing arm of pendulum 15 and the center line of iron core 13 coincide, the output voltage of sensor coil 16 is 0；When point
When compass lateral inclination (or fore-and-aft tilt), repeater compass 8 can drive inner ring 5 to rotate synchronously, and inner ring 5 can drive cross dip to sense
Inclination of the shell and mountain word iron core 13 of device 7 (or vertical inclination angle sensor) to same direction generation equal angular, and pendulum
15 since still on housing 12, the center line of such mountain font iron core 13 produces vertical hanging gravity relative to the swing arm of pendulum 15
Certain deviation is given birth to, sensor coil 16 can export that a size is proportional to displacement, phase friendship corresponding with moving direction
Voltage signal is flowed, and transmits the signal to corresponding control unit, control unit demodulates the signal, pid correction, arteries and veins
After reconstituting wide and power amplification, a control signal, control motor rotation are sent out to cross motor 4 (or longitudinal motor).
In the present embodiment, it is crosswise joint unit to enable the control unit of control cross motor action, enables the longitudinal electricity of control
The control unit of motor-driven work is longitudinally controlled unit.It is illustrated below using this reality by taking the control of crosswise joint unit as an example
With the self-balancing process of the bearing repeater of Novel horizontal device.
When bearing repeater is in horizontality, the iron core in cross dip sensor 7 is located at vertical direction, center
The swing arm of line and pendulum coincides, and does not generate offset between the two, the alternating voltage that sensor coil 16 exports is zero.Laterally incline
Angle transducer 7 outputs it signal transmission to demodulator circuit, which is converted to DC voltage by demodulator circuit believes
Number, what it is due to the output of cross dip sensor is 0V voltages, the d. c. voltage signal of demodulator circuit output is also zero, such as
Shown in Fig. 5, which send through pid correction circuit to pulse width modulation circuit, the triangular wave hair in pulse width modulation circuit
The triangular signal that raw device generates, the d. c. voltage signal are overlapped with triangular signal, generate a superposed signal,
As shown in fig. 6, the superposed signal is transferred to open loop anti-phase input adder, open loop anti-phase input adder exports a duty ratio
For 50% pulse signal, i.e., positive and negative wide rectangular wave, as shown in Figure 7.Pulse width modulation circuit is by the positive and negative wide pulse
Signal transmission carries out power amplification to power driving circuit.If it is not right to ignore transistor parameter difference, positive-negative power in circuit
It is influenced caused by the factors such as title property, the output of power driving circuit also should be positive and negative wide rectangular wave, only driving capability
It is greatly improved, i.e., what power driving circuit applied to cross motor is the pulse voltage that a duty ratio is 50%.Cause
This, it is all equal to flow through the intensity of the positive and negative bidirectional current of cross motor and action time, in the two difference flow directions
Under the collective effect of electric current, torque motor is static not to be rotated.
When Ship Swaying, bearing repeater 8 can be swung with hull.When hull turns forward, cross dip sensor
Iron core can also swing forward, cross dip sensor can export a size proportional to inclination angle, phase and inclined direction phase
Corresponding ac voltage signal, it is assumed that the signal is demodulated, and the d. c. voltage signal of demodulator circuit output is positive value, such as Fig. 8
Shown, then the d. c. voltage signal is transferred to pulse width modulation circuit, the triangle generated inside pulse width modulation circuit after pid correction
After wave signal is superimposed with the positive voltage signal, signal as shown in Figure 9 is obtained, this signal transmission gives open loop anti-phase input addition
Device, open loop anti-phase input adder export one just narrow negative wide pulse signal, and as shown in Figure 10, which drives through power
After dynamic circuit amplification, power driving circuit output is also one just narrow negative wide rectangular wave, the i.e. output of power driving circuit
The positive and negative width of signal is no longer identical, at this point, although the intensity for flowing through the positive and negative bidirectional current of cross motor is the same, but
It is that action time on actuating motor is unequal, the time of forward current effect is shorter than the time that reverse current acts on,
A DC quantity will be formed in this way, and under the action of this DC quantity, cross motor drives inner ring to rotate backward, and makes laterally to incline
The exchange value that angle transducer detects generation in real time reduces.The current declination signal that cross dip sensor can be detected again passes
It is defeated by crosswise joint unit, is so formed a closed circuit, gradually adjusts the levelness of repeater compass, until cross dip
Until the signal of sensor output is 0.
Similarly, when hull rolls oblique backward, the iron core of cross dip sensor also can swing backward, cross dip sensor
It can export that a size is proportional to inclination angle, phase ac voltage signal corresponding with inclined direction, it is assumed that the signal is through solution
After tune, the d. c. voltage signal of demodulator circuit output is negative value, and as shown in figure 11, then the d. c. voltage signal is after pid correction
Pulse width modulation circuit is transferred to obtain after the triangular signal generated inside pulse width modulation circuit is superimposed with the negative voltage signal
Signal as shown in figure 12, this signal transmission give open loop anti-phase input adder, open loop anti-phase input adder to export one
Positive wide negative narrow pulse signal, as shown in figure 13, the pulse signal is after power driving circuit amplifies, power driving circuit output
Be also a positive wide negative narrow rectangular wave, at this point, flowing through the action time of the forward current of cross motor than reverse current
Action time will be grown, and cross motor can drive inner ring to rotate forward, and cross dip sensor is made to detect the exchange value of generation in real time
Reduce.The current declination signal that cross dip sensor can be detected again is transferred to crosswise joint unit, gradually adjustment point
The levelness of compass, until the signal of cross dip sensor output is 0.
The control process of longitudinally controlled unit is similar to crosswise joint unit, no longer specifically repeats herein.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model rather than limits it
System；Although the utility model is described in detail with reference to preferred embodiment, those of ordinary skill in the art should
Understand；It can still modify to specific embodiment of the present utility model or some technical characteristics are equally replaced
It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model
In range.
Claims (8)
1. a kind of bearing repeater horizontal device, which is characterized in that including outer ring (1), installation pedestal (2), longitudinal motor
(3), cross motor (4), inner ring (5), vertical inclination angle sensor (6), cross dip sensor (7) and control module, it is described
Outer ring (1) is fixed on by longitudinal shaft in installation pedestal (2), and longitudinal motor (3) is fixed in installation pedestal (2) and its motor
Shaft is fixedly connected with outer ring (1), and the cross motor (4) is fixed on outer ring (1) and its machine shaft and inner ring (5) are fixed
Connection, the inner ring (5) are fixed on by lateral shaft in outer ring (1), and bearing repeater (8) is fixed on by fastener (11)
In inner ring (5), the vertical inclination angle sensor (6) and cross dip sensor (7) be each attached on inner ring (5) and respectively with control
Molding block is electrically connected；
The control module includes two completely identical in structure controls for being respectively used to control cross motor and longitudinal motor action
Unit processed, described control unit include to convert the ac voltage signal of vertical inclination angle sensor or cross dip sensor
The pid correction circuit of deviation correction is carried out for the demodulator circuit of d. c. voltage signal, for the d. c. voltage signal to reception, is used
The adjustable pulse width modulation circuit for determining frequency pulse signal of duty ratio is converted in the direct current signal for crossing pid correction, for that will determine
Frequency pulse signal carries out power amplification and then controls the power driving circuit of corresponding motor rotation.
2. bearing repeater horizontal device according to claim 1, which is characterized in that the center of the inner ring (5) with
The center of outer ring (1) coincides, and cross dip sensor (7) is arranged on the cross central line of inner ring (5), vertical inclination angle sensing
Device (6) is arranged on the longitudinal centre line of inner ring (5).
3. bearing repeater horizontal device according to claim 1 or 2, which is characterized in that the cross dip sensing
Device (7) is identical with the structure of vertical inclination angle sensor (6), includes the iron core of shell (12) and setting inside housings
(13), magnetizing coil (14), pendulum (15) and sensor coil (16), the iron core (13) are vertically fixed on shell (12), swash
Magnetic coil (14) is fastened on iron core (13), and the pendulum (15) is hung vertically on shell (12), when cross dip passes
When sensor is in horizontality, the swing arm of pendulum (15) and the center line of iron core (13) coincide；The sensor coil (16) is solid
It is scheduled on pendulum (15), the signal output end of sensor coil (16) is connected with the signal input part of demodulator circuit.
4. bearing repeater horizontal device according to claim 3, which is characterized in that the shell (12) is a sealing
Rectangular parallelepiped structure, the iron core (13) are mountain font iron core, and magnetizing coil (14) is fastened in mountain font iron core (13)
In portion's vertical bar.
5. bearing repeater horizontal device according to claim 3, which is characterized in that the sensor coil (16) is by two
A winding docks.
6. bearing repeater horizontal device according to claim 1, which is characterized in that in the cross motor (4)
Mandrel and the cross central line of inner ring (5) coincide, and the central shaft of longitudinal motor (3) is mutually be overlapped with the longitudinal centre line of inner ring (5)
It closes.
7. bearing repeater horizontal device according to claim 1, which is characterized in that pid correction circuit is by operation
The proportional-integral-differential active correction circuit of amplifier and RC network composition.
8. bearing repeater horizontal device according to claim 1, which is characterized in that pulse width modulation circuit is by triangular wave
Generator and open loop anti-phase input adder composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820345615.1U CN208012610U (en) | 2018-03-14 | 2018-03-14 | A kind of bearing repeater horizontal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820345615.1U CN208012610U (en) | 2018-03-14 | 2018-03-14 | A kind of bearing repeater horizontal device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208012610U true CN208012610U (en) | 2018-10-26 |
Family
ID=63888586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820345615.1U Active CN208012610U (en) | 2018-03-14 | 2018-03-14 | A kind of bearing repeater horizontal device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208012610U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759808A (en) * | 2018-03-14 | 2018-11-06 | 中船航海科技有限责任公司 | A kind of horizontal device for bearing repeater |
| CN111273242A (en) * | 2020-03-05 | 2020-06-12 | 北京环境特性研究所 | Unmanned helicopter-mounted electromagnetic active calibration equipment, system and method |
-
2018
- 2018-03-14 CN CN201820345615.1U patent/CN208012610U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759808A (en) * | 2018-03-14 | 2018-11-06 | 中船航海科技有限责任公司 | A kind of horizontal device for bearing repeater |
| CN108759808B (en) * | 2018-03-14 | 2023-06-27 | 中船航海科技有限责任公司 | Horizontal device for azimuth compass |
| CN111273242A (en) * | 2020-03-05 | 2020-06-12 | 北京环境特性研究所 | Unmanned helicopter-mounted electromagnetic active calibration equipment, system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203005731U (en) | Automatic steering control system used for ships | |
| CN103138050A (en) | Three-axis stable follow-up tracking device of shipborne satellite antenna | |
| CN208012610U (en) | A kind of bearing repeater horizontal device | |
| CN105259374B (en) | Wind vane zero correction device | |
| CN104590496B (en) | Long-distance autonomous wave glider without power consumption | |
| CN102295062A (en) | System for measuring ship draft and river water level based on special micro wave amplitude and water gauge | |
| CN103192957B (en) | Control method of device for displaying ship attitude | |
| CN103792957A (en) | Light two-freedom-degree camera stabilized platform device | |
| CN206850023U (en) | A kind of simple satellite antenna pitching regulating device | |
| CN204124327U (en) | A kind of unmanned investigation vessel | |
| CN105486889B (en) | The bearing calibration of wind vane zero correction system | |
| CN106123917A (en) | Consider the SINS compass alignment methods of outer lever arm effect | |
| CN108759808A (en) | A kind of horizontal device for bearing repeater | |
| CN104614746B (en) | Device and method for calibrating attitude and heading reference system based on satellite receiver | |
| CN111846181B (en) | Unmanned ship using gyro inertia wave power generation device | |
| CN205239854U (en) | Unrestrained unmanned ship of developments anti -wind | |
| CN209290651U (en) | A kind of propulsion device and underwater robot for underwater robot | |
| CN106773740B (en) | A kind of near space aerostatics wind field self-adapting adjusting apparatus and method | |
| CN101762260A (en) | Large-scale turning axle verticality detection device and method | |
| CN105806326B (en) | Digital servo control system and processing method based on gyrocompass | |
| CN103791896B (en) | The comprehensive north finding device of a kind of pendulum type gyroscope north searching instrument and method | |
| CN113310471A (en) | High-stability high-precision geographic information mapping device | |
| CN105510633B (en) | Wind vane zero correction system | |
| CN102420975A (en) | Anti-swaying device and method of sea-wrecking searching system | |
| CN106926990B (en) | Yacht longitudinal direction dynamic stabilization method based on wave suppression plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |