DE3019743A1 - Gyroscopic platform for inertial guidance system - has gimbal mounted platform with motor-driven gyroscopic stabilisation system - Google Patents

Abstract

The gyroscopic stabilised platform is used for inertial navigational equipment in aircraft and missiles. The platform is mounted on gimbals on a vertical axis and is driven by an electric motor supported on the frame of the craft. A synchro is used to measure the relative angular position between platform and craft. For measurement of angular velocity and for platform stabilisation, a gyroscope is used. Mounted on the platform may be a range finder and weapons system. Additionally the platform can contain an accelerometer. Sensor signals are transmitted to an onboard computer to output position, speed, and acceleration parameters.

Description

System with a platform with gimbal suspension a1,

Equipment carrier in connection with a vehicle and an inertial system The invention relates to a system with a gimbal-mounted platform as a carrier for devices that can be rotated in a moving vehicle and / or to set and / or keep aligned to an outside target point are, the vehicle with an inertial system for navigation and / or course, Position calculation or course calculation is provided.

The devices mounted on the platform can be measuring devices trade, but also weapons. With the help of the platform and of tracking signals are these devices can be aimed at the target and retain their direction to this target point regardless of vehicle movement.

The object of the invention is to combine the platform and the To train inertial system for the vehicle that opposite the separate use of a gyro-stabilized "n'PTa" form with tracking system and an inertial system sensors can be saved and / or advantages with regard to the reliability and / or accuracy of the overall system.

This object is achieved according to the invention in that both the signals of the platform as well as the signals of the inertial system in a computer system can be processed together.

Appropriate refinements of the invention are set out in the subclaims exposed.

The inertial systems addressed here include both the inertial navigation system as well as the course, position reference system and simple course reference systems. Corresponding the "Navigation" operating mode should include the course and position calculation as well as the simple course calculation.

The invention is based on drawings in various embodiments illustrated.

Fig. 1 shows a vehicle with a combined inertial system, target measurement and finish line stabilization system, hereinafter referred to as KIZS for short, in one first embodiment in the "target measurement and navigation" mode. The sensors of the inertial system are mounted on the platform.

FIG. 2 shows the KIZS from FIG. 1 in the "target line stabilization" operating mode and navigation ".

Fig. 3 shows a vehicle with a KIZS in a second embodiment in the "finish line stabilization and navigation" mode. The difference to Fig. 2 is in the formation of the stabilization control loop.

4 shows a vehicle with a KIZS in a third embodiment in the "target measurement and navigation" mode. In contrast to Fig. 1 is only some of the sensors of the inertial system are mounted on the platform, the rest Part is mounted separately on the vehicle.

FIG. 5 shows the KIZS from FIG. 4 in the n target line stabilization mode and navigation ".

6 shows a vehicle with a KIZS in a fourth embodiment in the operating mode n finish line stabilization and navigation ". The difference to Fig. 5 is in the formation of the stabilization control loop.

7 shows a vehicle with a KIZS in a fifth embodiment in the operating mode "finish line stabilization and navigation". The difference to the embodiments in Fig. 1 to 6 is that the sensors of the inertial system are not mounted on the target surveying and target line stabilization platform and the stabilization control loop via the angle sensors of the platform (e.g. synchros) is closed.

In various embodiments, a vehicle 2 carries the Land, air or water vehicle can be, and only schematically in the drawing is illustrated, a platform 4, which is gimbaled in the vehicle in a known manner is suspended, and z. B. about a vertical axis 6 and a horizontal axis (not shown} can be driven by servomotors (e.g. 8 for axis 6>, an angle sensor (e.g. synchro) 10 between the vehicle and the platform is mounted, with which the angle between the platform and the vehicle can be determined is.

For measuring the rotational speed and / or stabilizing the platform are in the first four embodiments of Figures 1 to 6 on the platform Roundabout 12 arranged. The platform can still be a device to be stabilized wear, for example a telescope 14 and a range finder or a weapon 15.

As a rule, it is sufficient if the platform 4 is only around the vertical axis 6 and a horizontal axis freedom of rotation with respect to the vehicle owns.

The platform and the vehicle are one with other components Inertial system provided, such as with accelerometers 16 and a Computer 18. In the embodiments according to FIGS. 1 to 6, they are the platform stabilizing gyroscopes are also used as sensors for the inertial system. Inertial systems and the computational evaluation of the output signals of the sensors in a navigation computer are known technology, so that in the following only needs to be dealt with on the specifics established by the invention.

There now follows a description of the various embodiments as an inertial system exclusively and as a combined inertial system and target measurement system or as a combined inertial system and finish line stabilization system.

1. The combined inertial system, target measurement and target line stabilization system in the first embodiment (KIZS 1, see FIGS. 1 and 2) Here is a complete Strapdown system, d. H. an inertial system with permanently mounted sensors on the Platform mounted.

1.1 KIZS 1 as an inertial system only, with locked cardan frame (see Fig. 1) In this operating mode, the system works like a normal strapdown system, d. H. like an inertial system with sensors that are fixed to the vehicle, only with the discrepancy that the computer is the direction of the platform and not the direction of the vehicle with respect to the horizontal and the north direction determined. With the help of the fixed cardan angle, hereinafter referred to as vector #, the attitude and the azimuth of the vehicle can be determined from this in the following way position of the vehicle in relation to north and the perpendicular (roll, pitch and yaw angles or transformation matrix C =) results from the relative position of the vehicle compared to the platform (transformation matrix Cbp), which is determined by the cardan angle vector # is given, plus the direction of the platform in relation to north, east and perpendicular, for which the values are determined in the computer (transformation matrix C). The transformation matrix C is calculated = np = nb from: T Cnp = Cnp # Cbp.

Roll, pitch and yaw angles can be calculated from it in a known manner.

If the transformation matrix = Cnb is known, the in known way determined above ground speeds in north and east direction the ground speed in reference directions fixed to the vehicle can also be determined: Vb = = Cbn Vn (not shown).

The transformation matrix -bp for recording the platform position in the vehicle also allows the vehicle rotational speed measured in a fixed manner on the platform and to transform the acceleration into aircraft-based reference systems by the following Matrix-vector multiplication: fb = Cbp fp; #bnb = Cbp #pnb (see Fig. 1).

With the help of the cardan angle or the transformation matrix Çbp the measuring signals of the sensors on the platform also first in the vehicle-fixed reference axes are broken down, with which the transformation matrix in the inertial system Çnb to describe the course and the position of the vehicle can be calculated directly can.

1.2 KISZ 1 as an inertial system only, with a rotating platform (see Fig. 1) In this operating mode, the platform is in constant rotary motion held, whereby the accuracy of the inertial system can be increased, since average out sensor errors.

The rotary movement of the platform can be generated by direct action the servo motors of the platform or by inputting a signal into the stabilization control loop, how he z. B. is described in Sections 1.4 and 2.4. In the former case the rotational movement relative to the vehicle is given, and in the latter cases compared to the inertial space or the earth.

The signals from the strapdown system, which are used to guide the vehicle, For example, the guidance of an aircraft in aircraft-fixed directions, is important are (attitude, course, ground speed, turning speed and acceleration), are, as described above under 1.1, calculated with the modification that the vehicle rotational speed wnb with respect to the earth from the rotational speed unp of the vehicle around the platform axis is calculated, d. H. from the output of the gyroscope minus in the feedback signal w from the computer and the change in the cardan angle over time vnb -tip -tin -tbp with Ubp = 1.3 KIZS 1 as a combined inertial system and target measurement system (see Fig. 1) In this mode of operation, the platform 4 is z. B. freely rotatable and is with Aimed at the target by hand with the aid of a sight 14, without any intervention into the strapdown system, which maintains the vehicle position and relative direction of the platform in relation to north and the plumb line.

With the help of a distance measuring device 15, for example a laser distance meter, and taking advantage of the known Platform direction, can the Position of the target in relation to the vehicle, and with the aid of the known vehicle position the absolute position of the target can also be determined.

The signal processing in the computer corresponds to that in section 1. 2 described.

1.4 KIZS 1 as a combined inertial system and finish line stabilization system (see FIG. 2) In this mode of operation, which is illustrated in FIG. 2, the Platform switched to "platform stabilization" around corresponding axes of rotation (see C in Fig. 2). The gyroscopes involved do not measure the rotational speed more, but they hold the platform in a fixed direction around the two of them Axles. The fixed spatial direction of the platform can only be determined by a tracking signal the gyro torque sensors are changed. Gyroscope with input axes in the direction Platform axes that are not stabilized continue to measure the rotational speed in these directions of the vehicle.

In this operating mode, the platform is not facing north, east or towards Lot aligned, but z. B. on the target object. Maintaining alignment on the target object is brought about by a manual or computer-controlled signal, as shown in the figure. Required for computer-controlled tracking the computer only provides the target coordinates according to the one described in section 1.2 Method can be determined, and the ground speed from the inertial system (see Fig. 2) or external measurements. This tracking signal is simultaneously both the gyro torque transducers for platform tracking and the computer to calculate the direction (transformation matrix Cnp) between the platform and the North, East and Lot required for navigation. For the It is only necessary to continue navigation in this operating mode that the signal fed into the gyroscope and into the computer at high speed agree with it when integrating the change of direction no loss of accuracy with regard to north, east and the perpendicular between platform and computer occurs.

A fully automatic stabilization of the platform on a stationary one A destination is possible if, as already indicated, its position relative to the vehicle is known. This position can be selected according to the procedure described in section 1.2 measured and entered into the computer. Since in the computer the movement of the vehicle can be calculated from the inertial navigation data in relation to the target position also the tracking signal necessary for the target line stabilization can be determined in the computer. In the case of moving targets, additional manual tracking is required in turn used to determine the direction of movement of the target in the computer can be. If the direction of movement is known, the platform tracking can be carried out perform fully automatically even when the target is moving.

To calculate the roll, pitch and yaw rate of the vehicle the rotary movements around the stabilized platform axes are used, and the tracking signal #sollip of the gyroscope and the temporal change in the cardan angle ubp = 3, the rotary movement ib around the unstabilized platform axis continues or axes, which are measured directly by corresponding gyroscopes, as well as the feedback signal zin from the computer.

The vehicle rotates around the stabilized platform axes compared to the inertial space ib "ip # 1 = #soll - #bp.

ib1 Together with the measured rotary movement w and the feedback -> signal #in from the computer results in the vector of the roll, pitch and yaw rate to: -> -> -> -> -> -> #nb = #ib '= #ib "- #in = #ib - #in.

This leaves the necessary vector transformations between platform axes and vehicle axles unmentioned, you can use the gimbal angle of the platform be made.

2. The combined inertial system, target measurement and target line stabilization system in the second embodiment (KIZS 2, see Fig. 3) The arrangement of the sensors does not differ from the one described in section 1; only the signal processing is different in the "finish line stabilization" mode.

2.1 KIZS 2 as inertial system only, with locked cardan frame The system does not differ from the one described in section 1.1.

2.2 KIZS 2 as an inertial system only, with a rotating platform The system does not differ from the one described in section 1.2.

2.3 KIZS 2 as a combined inertial system and target measurement system The system does not differ from the one described in Section 1.3.

2.4 KIZS 2 as a combined inertial system and finish line stabilization system (see FIG. 3) In comparison to FIG. 2, FIG. 3 shows only the stabilization control loop differently trained. In Fig. 3, the gyros are not used as stabilization sensors used, but constantly as sensors for the platform rotation speed * ip compared to the inertial space (branch C1 in Fig. 3). After subtracting the feedback signal uin from the computer is the signal and for calculating the necessary for navigation Direction of the platform in relation to north and the plumb line available (transformation matrix Cnp).

The same rotational speed signal U P is compared in the computer with the calculated signal W "PL1 for tracking the target -> -> platform on the target (see C2 in Fig. 3). The filing #soll - #np is via a reinforcement given to the servomotors for platform tracking (see C3 and C4 in Fig. 3). Since the gyroscopes do not change their operating mode, this embodiment appears particularly suitable for many applications.

3. The combined inertial system, target measurement and target line stabilization system in the third embodiment (KIZS 3, see Figs. 4 and 5) In this embodiment the sensors of the Inertial system can be mounted fixed to the vehicle. In Figs. 4 and 5, for example the accelerometer 20 and the gyro or gyros 22 fixedly mounted on the vehicle, on the other hand the stabilized platform 4 in the manner described above is arranged.

The platform 4 is here z. B. only with an attitude gyro or two rate gyros 24 equipped, which depending on the operating mode, a stabilization enable two axes of rotation of the platform or a rotational speed measurement in these axes.

In the following it is assumed for the sake of simplicity that only one position gyro is used. The overall system also includes computers 18 of the inertial system for navigation and tracking.

In the four modes of operation described above with respect to the first two Embodiments described can be the gyro on the platform in all Cases can be used as a sensor of the strapdown system, as shown below is detailed.

for this it is only necessary that the measuring signals of the gyro, the gimbal angle and the tracking signals of the platform are fed to the computer. Is the strapdown system mounted directly on the vehicle already with a sufficient Number of sensors provided so the sensors on the platform can be considered redundant Sensors of the inertial system are used.

3.1 KIZS 3 as inertial system only, with locked cardan frame (see Fig. 4) In this mode of operation, the gyro arranged on the platform 24 operated as a rotational speed sensor. Because the two cardan angles relative position of the gyro to the sensors of the strapdown system is known, can the two measurement signals of the gyro into the coordinate axes of the sensors of the strapdown system be disassembled. They are then available in the computer as information for determining the vehicle's rotational speed and the course as well as the location.

3.2 KIZS 3 as an inertial system exclusively, with a rotating platform (see Fig. 4) In this operating mode, the platform is in constant rotary motion held, whereby the accuracy of the inertial system can be increased, since average out the errors of the sensor on the platform.

The strapdown system mounted directly on the vehicle is already included provided a sufficient number of sensors, so can in this mode of operation a gyro on the platform monitors all gyros of the strapdown system.

From the measurement vector zip the gyro on the platform and the cardan angle vector or the transformation matrix C -bp Cbp derived therefrom can do that for the Inertial system required measurement signal can be calculated.

As described in section 1.2, the rotation of the platform by directly acting on the servomotors of the platform or by entering a Signal generated in the stabilization control loops (see Sections 3.4 and 4.4) will.

3.3 KIZS 3 as a combined inertial system and target measurement system (see Fig. 4) In this operating mode, the platform, as described above under 1.3 described, aimed at the target and determined the position of the target. When searching is the signal processing of the inertial system as described in section 3.2 3.4 KIZS 3 as an inertial system and target line stabilization system (see Fig. 5) In this mode of operation, illustrated in Figure 5, the platform becomes as above described, targeted and stabilized, d. H. the roundabout on the Platform is in the "platform stabilization" operating mode as shown in FIG. switched. The manually or computer-controlled input iP signals iSpoll for Platform tracking are simultaneously the gyro and the navigation computer and processed together with the cardan angle vector t in the inertial system.

The embodiments shown in Figs. 1 to 6, in which the Platform each with a complete or with parts of an inertial measuring unit is equipped as it is commonly used for strapdown inertial navigation has a major advantage for calibrating the sensors: different from With the strapdown system with a measuring unit that is fixed to the vehicle, when the Vehicle in the embodiments according to FIGS. 1 to 6, the individual sensors the platform in the positions required for calibration with respect to bring and calibrate the rotation of the earth and the gravitational pull.

The north direction is also found with greater accuracy, if it can be moved more than once by 1800 (to "envelope").

4. The combined inertial system, target measurement and target line stabilization system in the fourth embodiment (KIZS 4, see Fig. 6) the signal arrangement is different does not differ from the one described in Section 3; only the signal processing is different in the target line stabilization mode.

4.1 KIZS 4 as an inertial system only, with locked cardan frame The system does not differ from that described in Section 3.1.

4.2 KIZS 4 as an inertial system only, with a rotating platform The system does not differ from the one described in Section 3.2.

4.3 KIZS 4 as a combined inertial system and target measurement system The system does not differ from the one described in Section 3.3.

4.4 KIZS 4 as a combined inertial system and finish line stabilization system (see FIG. 6) In comparison to FIG. 5, FIG. 6 only shows the stabilization control loop differently trained. Similar to FIG. 3, the person or persons on the platform mounted gyro is not used as stabilization sensors, but constantly as sensors for the platform rotation speed ip in relation to the inertial space. Its difference to the calculated platform rotation speed is used for Platform stabilization towards the goal.

The signal processing in the inertial system takes place as in section 3.2 described.

5. The combined inertial system, target measurement and target line stabilization system in the fifth embodiment (KIZS 5, see Fig. 7) In this embodiment becomes the stabilization control loop of the Target measurement and finish line stabilization platform Closed via the angle sensors on the cardan axles. The inertial system (platform or strapdown system) is mounted separately in the vehicle.

In this way there is also the possibility of using the above to switch to this type of stabilization mentioned fourth embodiment, if the gyro or gyroscopes were used as redundant sensors on the platform and have failed.

5.1 KIZS 5 as an inertial system exclusively that of the target measurement and finish line stabilization platform separately mounted inertial system works in the usual way.

5.2 KIZS 5 as a combined inertial system and target measurement system (see Fig. 7) For target measurement in geographical coordinates is next to the position of the vehicle (e.g. calculated in the inertial system) and the distance to the target from the vehicle (e.g. measured by the laser rangefinder) the direction of the target required with respect to the north direction and the perpendicular (transformation matrix Cnp).

This is calculated from the course and the position of the vehicle (transformation matrix Cnb) and the cardan angle vector t resp.

the transformation matrix C = bp according to the relation T C = np = Çnb Çpb 5.3 KIZS 5 as a combined inertial system and finish line stabilization system (see Fig. 7) In contrast to the four first-mentioned embodiments, the platform is stabilized without the aid of gyroscopes on the platform, but only via the Angle encoder on the cardan axles. The actual platform position versus the Target in relation to north and the Lot (transformation matrix Cnp) calculated from the position of the platform in relation to the vehicle (transformation matrix = Cnb from the inertial system) corresponding to T Cnp = Cnb Cpb.

The required platform position (transformation matrix = Cnp should) can be calculated from the target coordinates, the course and the position of the vehicle. The = np = np required signal ut for tracking can be obtained from the difference C - C soll calculated on the platform and fed to the servo motors of the platform.

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Claims (14)

P atent claims 1. System with a platform with cardanic suspension as a carrier for devices that can be rotated in a moving vehicle and / or to set and / or keep aligned to an outside target point are, the vehicle with an inertial system for navigation and / or course, Position calculation or course calculation is provided, characterized in that both the signal of the platform as well as the signals of the inertial system in a computer system can be processed together. 2. System according to claim 1, characterized in that both on A full set of sensors is provided on the platform as well as on the vehicle is. 3. System according to claim 1, characterized in that on the vehicle a full set of sensors and an incomplete set on the platform is provided by sensors. 4. System according to claim 1, characterized in that on the platform a full set of sensors and an incomplete set on the vehicle is provided by sensors. 5. System according to claim 1, characterized in that on the platform a full set of sensors and no sensors provided on the vehicle are. 6. System according to claim 1, characterized in that on the vehicle a full set of sensors and no sensors provided on the platform are. 7. System according to one of claims 1 to 5, characterized in that that at least one sensor on the platform can be operated as a sensor of the inertial system is. 8. System according to claim 7, characterized in that the platform is rotatable according to a predetermined program for determining sensor errors. 9. System according to claim 4 or 5, characterized in that from the signals of the sensors arranged on the platform and the cardan angles of the Platform course and position of the vehicle can be determined in the computer. 10. System according to one of claims 1 to 7, characterized in that that the platform for target measurement is freely adjustable. 11. System according to one of claims 1 to 5 and 7, characterized in that that the platform with at least one sensor mounted on it to an external one Target is stabilizable. 12. System according to claim 11, characterized in that the on the Platform arranged sensor is a rotational speed sensor. 13. System according to claim 6, characterized in that the stabilization control loop the platform is closed at a given target via the angle sensors on the cardan axles is. 14. System according to one of the preceding claims, characterized in that that redundant signals are brought together in the computer.