CN214951273U - Orientation indication system - Google Patents
Orientation indication system Download PDFInfo
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- CN214951273U CN214951273U CN202121489553.XU CN202121489553U CN214951273U CN 214951273 U CN214951273 U CN 214951273U CN 202121489553 U CN202121489553 U CN 202121489553U CN 214951273 U CN214951273 U CN 214951273U
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- 239000000835 fiber Substances 0.000 claims abstract description 39
- 230000010365 information processing Effects 0.000 claims description 10
- 239000013307 optical fiber Substances 0.000 claims description 9
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013480 data collection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
本实用新型属于惯性寻北技术领域，更具体地，提供了一种方位指示系统，该系统包括光纤陀螺、电子倾角仪和上位机，光纤陀螺、电子倾角仪均与上位机连接。本实用新型提供的方位指示系统能够消除光纤陀螺不完全水平放置产生的测量精度误差，提高方位指示的准确度。
The utility model belongs to the technical field of inertial north finding, and more particularly provides an orientation indication system, which comprises a fiber optic gyroscope, an electronic inclinometer and a host computer, and the fiber optic gyroscope and the electronic inclinometer are all connected with the host computer. The azimuth indication system provided by the utility model can eliminate the measurement accuracy error caused by the incomplete horizontal placement of the fiber optic gyroscope, and improve the azimuth indication accuracy.
Description
Technical Field
The utility model belongs to the technical field of north is sought to inertia, concretely relates to azimuth indicating system.
Background
The fiber-optic gyroscope north-seeking system can measure the north azimuth angle, has the characteristics of long service life, simple structure and the like, and is widely applied to individual soldier field special combat to carry out target positioning and navigation.
However, in actual measurement, the fiber optic gyroscope cannot be placed completely horizontally, so that the measurement precision of the fiber optic gyroscope is reduced, and the accuracy of the direction indication is greatly reduced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a position indicating system aims at eliminating the measurement accuracy error that the incomplete level of optic fibre top placed the production, improves the degree of accuracy that the position was instructed.
To achieve the above object, the present invention provides an azimuth indicating system, including:
the device comprises a fiber optic gyroscope, an electronic inclinometer and an upper computer;
the optical fiber gyroscope and the electronic inclinometer are connected with the upper computer.
Optionally, the fiber optic gyroscope includes:
the optical fiber gyroscope comprises an inertial sensitive component and an information processing circuit;
the fiber optic gyroscope inertia sensitive component is connected with the input end of the information processing circuit, and the output end of the information processing circuit is connected with the upper computer.
Optionally, the system further comprises:
an electronic compass;
the electronic compass is connected with the upper computer.
Optionally, the electronic compass is a three-axis strapdown magnetic resistance type digital magnetic compass.
Optionally, the system further comprises:
a turntable;
the turntable is connected with an upper computer, the fiber-optic gyroscope is fixed on the table surface of the turntable, and the sensitive shaft of the fiber-optic gyroscope is vertical to the rotating shaft of the turntable.
Optionally, the turntable is driven by a stepping motor, and an encoder of the stepping motor is connected with the upper computer.
Optionally, the system further comprises:
a power converter;
the input end of the power converter is used for connecting an external power supply, and the output end of the power converter is respectively connected with the fiber-optic gyroscope and the electronic inclinometer.
Optionally, the fiber optic gyroscope is a single sensitive axis fiber optic gyroscope.
Compared with the prior art, the utility model the beneficial effect who exists is:
the utility model discloses an add the electron inclinometer in position indicating system, measure the horizontal inclination deviation between optic fibre top's sensitive axle place plane and the horizontal plane to send optic fibre top's measured value and horizontal inclination deviation for the host computer, the host computer can be when calculating the true north direction according to optic fibre top's measured value, revise the calculated result through the horizontal inclination deviation, obtain the accurate position of true north direction. The utility model discloses can effectively improve the degree of accuracy of position indication.
Drawings
Fig. 1 is a schematic structural diagram of an azimuth indicating system according to an embodiment of the present invention;
fig. 2 is a schematic view of a north-seeking principle of an azimuth indicating system according to an embodiment of the present invention;
fig. 3 is a detailed schematic structural diagram of an orientation indicating system according to an embodiment of the present invention.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, it shows a schematic structural diagram of an orientation indicating system provided by an embodiment of the present invention, and the orientation indicating system includes: the device comprises an optical fiber gyroscope, an electronic inclinometer and an upper computer, wherein the optical fiber gyroscope and the electronic inclinometer are connected with the upper computer.
In the embodiment of the present invention, referring to fig. 2, the north-seeking principle of the azimuth indicating system is:
the fiber-optic gyroscope can be placed on a rotating mechanism such as a turntable and the like, the rotating mechanism drives the fiber-optic gyroscope to rotate, and a sensitive shaft (a sensitive shaft plane is formed when the sensitive shaft rotates) of the fiber-optic gyroscope is vertical to a rotating shaft of the rotating mechanism. In the ideal measuring situation, the rotating mechanismThe rotating shaft is vertical to the horizontal plane so as to ensure that the plane of the sensitive axis of the fiber-optic gyroscope is parallel to the horizontal plane. When the sensitive axis of the fiber-optic gyroscope points to a certain direction on the plane of the sensitive axis, the fiber-optic gyroscope can measure the horizontal component omega of the earth angular rate in the directione1The measurement is a sinusoidal signal, where the zero values correspond to the true east and the true west, the peaks correspond to the true south and north, ωeThe rotation speed of the earth is used as the rotation speed of the earth,
the latitude of the earth. Under the condition of not considering the error of the device, if the included angle between the sensitive axis of the fiber-optic gyroscope and the due north direction is theta, the output measured value of the fiber-optic gyroscope is as follows:
further, derived to
And determining the north orientation according to the included angle theta between the sensitive axis of the fiber-optic gyroscope and the north orientation.
However, since the fiber optic gyroscope generally has a null offset, a calibration factor offset, and a random error, the actual output value of the fiber optic gyroscope is:
wherein the random error epsilon0Suppression can be achieved by filtering and lengthening the sampling time, but ultimately depends on gyro accuracy, but is limited by a scaling factor KεThe error caused by the temperature is small and can be ensured by the precision of a control device, so that the zero offset omega of the fiber-optic gyroscope caused by the temperature0The greatest impact on accuracy. In order to eliminate the influence of temperature drift, the direction indicating system of the utility model can search north through a two-position methodThe following are:
(1) the sensitive axis of the fiber-optic gyroscope points to any direction in the plane of the sensitive axis, the included angle between the direction and the due north direction is set as theta, and the output measured value of the fiber-optic gyroscope at the moment is
(2) The sensitive shaft of the fiber-optic gyroscope is rotated by 180 degrees, and the output measured value of the fiber-optic gyroscope at the moment is as follows:
(3) subtracting the measurements in the two directions yields:
it can be seen that in the third step, the zero offset ω is directly eliminated by subtracting the measured values of the fiber-optic gyroscopes in the two directions0The influence of (c).
Further, considering that the fiber optic gyroscope is not completely horizontally placed in actual measurement, assuming that the horizontal tilt angle deviation between the plane of the sensitive axis of the fiber optic gyroscope and the horizontal plane is α, the measurement value output by the fiber optic gyroscope can be further described as:
similarly, in the north-seeking method of two positions, the following can be derived:
according to the formula, the upper computer can accurately calculate the true north direction only by obtaining the measured values of the fiber-optic gyroscope in two directions (the difference between the two directions is 180 degrees), the measured value of the electronic inclinometer and the local latitude. The local latitude can be input to the upper computer by external personnel.
It can be seen that, the utility model discloses an add the electron inclinometer in position indicating system, measure the horizontal inclination deviation between optic fibre gyroscope's sensitive axis plane and the horizontal plane, and then send optic fibre gyroscope's measuring value and horizontal inclination deviation for the host computer, the host computer can be when calculating the true north direction according to optic fibre gyroscope's measuring value, revises the calculated result through the horizontal inclination deviation, obtains the accurate position of true north direction. The utility model discloses can effectively improve the degree of accuracy of position indication.
Optionally, as a possible implementation manner, referring to fig. 3, the fiber optic gyroscope includes:
the device comprises a fiber optic gyroscope inertia sensitive component and an information processing circuit.
The fiber optic gyroscope inertia sensitive component is connected with the input end of the information processing circuit, and the output end of the information processing circuit is connected with the upper computer.
The embodiment of the utility model provides an in, the measurement of earth rotation speed is realized to optic fibre top inertia sensing part, and information processing unit accomplishes the rich collection of optic fibre top data and signal processing, output measured value.
Optionally, as a possible implementation manner, referring to fig. 3, the system further includes:
an electronic compass.
The electronic compass is connected with the upper computer.
Optionally, as a possible implementation manner, the electronic compass is a three-axis strapdown magnetic resistance type digital magnetic compass.
The embodiment of the utility model provides an in, consider that the angular velocity of rotation of earth is minimum at the horizontal component of east and west direction, so the optic fibre top should let its sensitive axle point to just east direction or just west direction as far as possible when measuring, can improve measurement accuracy. Therefore, the embodiment of the utility model provides an electronic compass has been added in the position indicating system to roughly measure the east-west direction. The electronic compass can be a three-axis strapdown magnetic resistance type digital magnetic compass, and a hard magnetic and soft magnetic calibration algorithm is adopted, and a course angle is calculated in real time through a CPU (central processing unit), so that the electronic compass can achieve higher precision in an environment with magnetic field interference.
Optionally, as a possible implementation manner, referring to fig. 2, the system further includes:
a turntable.
The turntable is connected with an upper computer, the fiber-optic gyroscope is fixed on the table surface of the turntable, and the sensitive shaft of the fiber-optic gyroscope is vertical to the rotating shaft of the turntable.
Optionally, as a possible implementation manner, the turntable is a turntable driven by a stepping motor, and an encoder of the stepping motor is connected with the upper computer.
The embodiment of the utility model provides an in, through step motor driven revolving stage, can realize the directional accurate control of optic fibre top sensitive axle. For example, the sensitive shaft of the fiber optic gyroscope is precisely indexed by 180 degrees.
Optionally, as a possible implementation manner, referring to fig. 3, the system further includes:
a power converter.
The input end of the power converter is used for connecting an external power supply, and the output end of the power converter is respectively connected with the fiber-optic gyroscope and the electronic inclinometer.
In the embodiment of the present invention, the power converter converts the externally provided 28V dc power into ± 5V dc power to satisfy the power consumption requirements of the fiber optic gyroscope and the electronic inclinometer. In addition, when the system further comprises an electronic compass or a turntable, the power converter can also supply power to the electronic compass or the turntable.
Optionally, as a possible implementation manner, the fiber optic gyroscope is a single sensitive axis fiber optic gyroscope.
The embodiment of the utility model provides an in, adopt single sensitive axle fiber-optic gyroscope can reduce system cost.
In addition, the fiber-optic gyroscope, the electronic inclinometer, the electronic compass and the like can realize data transmission with an upper computer through an RS422 serial communication interface shown in FIG. 3.
Based on the above, the embodiment of the present invention provides a north-seeking process of an azimuth indicating system:
(1) the measuring personnel writes the local latitude value into an upper computer;
(2) adjusting the level of the fiber optic gyroscope, ensuring that the deviation of the horizontal inclination angle is less than 1 degree, and simultaneously sending a measurement result to an upper computer by the electronic inclinometer;
(3) roughly measuring by using an electronic compass for about 10S, estimating to obtain the east-righting direction, and sending the azimuth angle of the east-righting direction to an upper computer;
(4) the upper computer controls a sensitive axis of the fiber-optic gyroscope to point to the east-righting direction through the turntable, starts to statically collect data for 120s, and sends the data to the upper computer through the communication interface after the data collection is finished;
(5) the upper computer controls the sensitive shaft of the fiber-optic gyroscope to accurately rotate 180 degrees through the turntable, statically collects data for 120s, and sends the data to the upper computer through the communication interface after the data collection is finished;
(6) and the upper computer accurately determines the north direction according to the measurement data.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. An orientation indicating system, comprising:
the device comprises a fiber optic gyroscope, an electronic inclinometer and an upper computer;
the optical fiber gyroscope and the electronic inclinometer are connected with the upper computer.
2. The position indicating system of claim 1, wherein the fiber optic gyroscope comprises:
the optical fiber gyroscope comprises an inertial sensitive component and an information processing circuit;
the fiber optic gyroscope inertia sensitive component is connected with the input end of the information processing circuit, and the output end of the information processing circuit is connected with the upper computer.
3. The position indicating system of claim 1, further comprising:
an electronic compass;
the electronic compass is connected with the upper computer.
4. The azimuth indication system of claim 3, wherein the electronic compass is a three-axis strapdown magnetoresistive digital magnetic compass.
5. The position indicating system of claim 1, further comprising:
a turntable;
the turntable is connected with the upper computer, the optical fiber gyroscope is fixed on the table surface of the turntable, and the sensitive shaft of the optical fiber gyroscope is perpendicular to the rotating shaft of the turntable.
6. The orientation indicating system of claim 5, wherein the turntable is a stepper motor driven turntable, and an encoder of the stepper motor is coupled to the upper computer.
7. The position indicating system of claim 1, further comprising:
a power converter;
the input end of the power converter is used for connecting an external power supply, and the output end of the power converter is respectively connected with the optical fiber gyroscope and the electronic inclinometer.
8. An orientation indication system according to any one of claims 1-7 wherein said fibre optic gyroscope is a single sensitive axis fibre optic gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121489553.XU CN214951273U (en) | 2021-06-30 | 2021-06-30 | Orientation indication system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121489553.XU CN214951273U (en) | 2021-06-30 | 2021-06-30 | Orientation indication system |
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| Publication Number | Publication Date |
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| CN214951273U true CN214951273U (en) | 2021-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121489553.XU Expired - Fee Related CN214951273U (en) | 2021-06-30 | 2021-06-30 | Orientation indication system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096281A (en) * | 2022-06-30 | 2022-09-23 | 中国人民解放军陆军工程大学 | An automatic leveling and north seeking device |
-
2021
- 2021-06-30 CN CN202121489553.XU patent/CN214951273U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096281A (en) * | 2022-06-30 | 2022-09-23 | 中国人民解放军陆军工程大学 | An automatic leveling and north seeking device |
| CN115096281B (en) * | 2022-06-30 | 2024-04-19 | 中国人民解放军陆军工程大学 | Automatic leveling and north-seeking device |
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Granted publication date: 20211130 |