JP3044357B2 - Gyro device - Google Patents
Gyro deviceInfo
- Publication number
- JP3044357B2 JP3044357B2 JP3048431A JP4843191A JP3044357B2 JP 3044357 B2 JP3044357 B2 JP 3044357B2 JP 3048431 A JP3048431 A JP 3048431A JP 4843191 A JP4843191 A JP 4843191A JP 3044357 B2 JP3044357 B2 JP 3044357B2
- Authority
- JP
- Japan
- Prior art keywords
- angle
- output
- azimuth
- satellite
- angular velocity
- 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.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
- G01S19/55—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Description
【０００１】[0001]
【産業上の利用分野】本発明は、船舶、自動車等の航行
体の方位角、位置及び速度等を検出するジャイロ装置に
関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyro device for detecting an azimuth angle, a position, a speed, and the like of a navigating body such as a ship or an automobile.
【０００２】[0002]
【従来の技術】従来、船舶等には、周知の如く、方位を
計測する装置として、ジャイロコンパス及び磁気コンパ
スが有り、如何なる条件下においても、常に自船の方位
を計測し、安全な航行が可能となるようになされてい
た。しかしながら、ジャイロコンパスは、その起動時間
が約１時間以上と長くかかること、また、磁気コンパス
は、地磁気の北を示すことから、その示す方位は真北か
ら偏移しているという欠点を有していた。2. Description of the Related Art Conventionally, ships and the like have, as is well known, a gyro compass and a magnetic compass as devices for measuring heading. Under any conditions, the heading of the ship is always measured to ensure safe navigation. It was made possible. However, the gyro compass has the disadvantage that it takes a long time to start, about one hour or more, and the magnetic compass indicates the north of geomagnetism, so the indicated direction is shifted from true north. I was
【０００３】近年、これらの欠点を一掃し、常時、船舶
等の航行体の位置を検出するシステムとして、衛星によ
る電波を利用したＧＰＳ（Global Positioning System
）航法が提案されている。これは、常時、３個以上の
衛星からのデータにより、三次元的に航行体の位置を計
測するものであり、衛星の打ち上げが終了する１９９０
年代には、民間用のコードであるＣ／Ａコードを用いて
運用されるものと期待されている。しかしながら、上述
の通常の計測によるＧＰＳの信号処理においては、航行
体の位置が計測できるだけであり、その位置計測誤差が
大きいために方位角を計測することはできなかった。こ
れに対し、ディファレンシャルＧＰＳと称される測量で
用いられてきた衛星電波の位相差を計測する２位置差高
精度同時計測法により、航行体の方位角を算出する手法
が発表されている。以下、図３をもとに、その計測原理
を説明する。In recent years, a GPS (Global Positioning System) using radio waves from satellites has been used as a system for eliminating these drawbacks and constantly detecting the position of a navigating body such as a ship.
) Navigation has been proposed. This is to always measure the position of the navigator three-dimensionally based on data from three or more satellites, and the launch of the satellite is completed in 1990.
In the age, it is expected to be operated using C / A code which is a private code. However, above
In the GPS signal processing by the normal measurement of the above, it was only possible to measure the position of the navigating body, and it was not possible to measure the azimuth due to a large position measurement error. On the other hand, there has been disclosed a method of calculating the azimuth of a navigation body by a two-position difference high-accuracy simultaneous measurement method for measuring the phase difference of satellite radio waves, which has been used in surveying called differential GPS. Hereinafter, the measurement principle will be described with reference to FIG.
【０００４】図３に於いて、１及び２は例えば船舶、自
動車、飛行機等の航行体（図示せず）に取り付けた受信
アンテナであり、基線長である両アンテナ１及び２間の
距離Ｌは、既知であるとする。これらのアンテナ１、２
からの電波は、ＧＰＳ方位演算部３に供給されており、
以下に述べる演算により航行体の方位角成分φを算出す
る。いま、図３に示す如く、１つの衛星５からの電波
を、アンテナ１及び２で同時に受信した場合を考える。
この時、衛星５の位置とアンテナ１、２間の距離Ｌによ
り、アンテナ１で受信した電波とアンテナ２で受信した
電波との間には、図３に於いて、Ｄで示す距離差があ
る。この距離差Ｄは、搬送波の特定の電波に着目するこ
とにより、その位相差（時間差）として計測することが
できるから、これに、その電波の波長を乗ずることによ
り、距離差Ｄを求めることができる。Ｄが求まれば、Ｌ
が既知であるから、In FIG. 3, reference numerals 1 and 2 denote reception antennas mounted on a navigation body (not shown) such as a ship, an automobile, an airplane, or the like. , Is known. These antennas 1, 2
Is supplied to the GPS azimuth calculation unit 3,
The azimuth angle component φ of the navigation body is calculated by the calculation described below. Now, consider the case where radio waves from one satellite 5 are received simultaneously by antennas 1 and 2 as shown in FIG.
At this time, due to the position L of the satellite 5 and the distance L between the antennas 1 and 2, there is a distance difference between the radio wave received by the antenna 1 and the radio wave received by the antenna 2 as indicated by D in FIG. . This distance difference D can be measured as a phase difference (time difference) by focusing on a specific radio wave of a carrier wave. Therefore, by multiplying the phase difference by the wavelength of the radio wave, the distance difference D can be obtained. it can. If D is found, L
Is known,
【０００５】[0005]
【数１】ψ＝ＣＯＳ-1（Ｄ／Ｌ）Ψ = COS −1 (D / L)
【０００６】として、観測衛星５に対する基線長Ｌ、従
って航行体の方位角成分ψを求めることができる。な
お、本計測においては、必ずしも、受信コードを復調す
る必要はない。一方、衛星５と受信アンテナ１、２とを
結ぶ線と真北（Ｎ）とのなす方位角θは、以下のように
して求めることができる。即ち、アンテナ１で衛星５か
らの電波を受信した後、少なくとも他の２つ以上の衛星
（図示せず）の電波を受信する。そして、これらの受信
電波のＣ／Ａコードを復調し、衛星から発信された電波
の発信時刻と受信時刻とを知ることにより、衛星からの
電波の伝搬時間を求め、それに電波の波長を乗ずること
により、衛星からアンテナ１、従って航行体までの距離
を求める。一つの衛星から等距離にあたる位置は、その
距離を半径とする球面上であるから、上述、３個の衛星
からの３個の球面を求め、その交点を求めることによ
り、受信アンテナ１の位置を決定することができる。ア
ンテナ１の位置が求まれば、衛星５の位置は既知である
から、アンテナ１〜衛星５間位置ベクトルの方向余弦よ
り、方位角θを求めることができる。このアンテナ１の
位置を求めるための、電波受信から位置演算のプロセス
を実行する要素が、アンテナ１よりの電波を受けるＧＰ
Ｓ位置演算部４であり、これよりの位置データ及びアン
テナ１、２よりの受信データを基に、前述のψの演算及
び（ψ＋θ）の演算を行う要素が、ＧＰＳ方位演算部３
である。このようにして、ＧＰＳ方位演算部３で演算さ
れた基線長Ｌ、従って航行体の方位角は（θ＋ψ）とな
り、これがデジタル信号として出力される。As a result, the base line length L with respect to the observation satellite 5 and thus the azimuth component ψ of the navigation body can be obtained. In this measurement, it is not always necessary to demodulate the received code. On the other hand, the azimuth θ between the line connecting the satellite 5 and the receiving antennas 1 and 2 and true north (N) can be obtained as follows. That is, after receiving a radio wave from the satellite 5 with the antenna 1, at least two or more other satellites (not shown) are received. Then, by demodulating the C / A code of these received radio waves and knowing the transmission time and the reception time of the radio waves transmitted from the satellite, the propagation time of the radio waves from the satellite is obtained and multiplied by the wavelength of the radio waves. To determine the distance from the satellite to the antenna 1, and therefore to the navigation vehicle. Since the position equidistant from one satellite is on a sphere whose radius is the distance, the position of the receiving antenna 1 is determined by obtaining the three spheres from the three satellites and obtaining the intersection of the three spheres. Can be determined. If the position of the antenna 1 is determined, the position of the satellite 5 is known, and thus the azimuth θ can be determined from the direction cosine of the position vector between the antenna 1 and the satellite 5. An element that executes the process of calculating the position from the reception of the radio wave for determining the position of the antenna 1 is a GP that receives the radio wave from the antenna 1.
The S position calculating unit 4 is a GPS azimuth calculating unit 3 that performs the above-described calculation of ψ and (ψ + θ) based on the position data and the received data from the antennas 1 and 2.
It is. In this way, the base line length L calculated by the GPS azimuth calculation unit 3, and hence the azimuth of the navigation body, becomes (θ + ψ), which is output as a digital signal.
【０００７】[0007]
【発明が解決しようとする課題】しかしながら、上述し
た従来の衛星を利用した方位角計測装置では、方位角計
測のための演算時間がかかりすぎるため、連続的に方位
角を計測することができず、このため、例えば船舶が旋
回運動を行った場合等には、時間遅れのために、誤差を
生ずるという問題点があった。また、ＧＰＳ電波には、
その衛星の配置上、計測誤差が大きくなる領域及び時刻
が存在すること、また太陽活動に起因する磁気異常のた
め、計測が困難となる場合がある等の欠点を有してい
た。かかる欠点を補う方法として、角速度センサ（例え
ばレートジャイロ）と前述のＧＰＳを用いた方位角計測
装置を組み合わせた方位角計測法が提案されている。し
かしながら上述角速度センサとＧＰＳ方位角計測装置を
組み合わせた計測法では、角速度センサの角速度検出軸
（以下入力軸と称する）が、旋回中に傾斜した場合に
は、角速度センサの検出方位角に誤差を生ずるという欠
点があった。このため、本発明は、従来の装置の持つ問
題点を解決した新規な方位角計測用のジャイロ装置を提
供するものである。However, in the azimuth measuring device using the above-mentioned conventional satellite, it takes too much calculation time for azimuth measurement, so that the azimuth cannot be measured continuously. For this reason, for example, when the ship makes a turning motion, there is a problem that an error occurs due to a time delay. In addition, GPS radio waves include
Due to the arrangement of the satellite, there are disadvantages such as the presence of a region and time at which the measurement error increases, and the difficulty in measurement due to magnetic anomalies caused by solar activity. As a method for compensating for such a defect, an azimuth angle measuring method in which an angular velocity sensor (for example, a rate gyro) and the azimuth angle measuring device using the GPS described above are combined has been proposed. However, in the measurement method in which the angular velocity sensor and the GPS azimuth angle measuring device are combined, when the angular velocity detection axis (hereinafter, referred to as an input axis) of the angular velocity sensor is tilted during turning, an error is detected in the detected azimuth angle of the angular velocity sensor. There was a disadvantage that it occurred. Therefore, the present invention provides a novel gyro device for measuring an azimuth which solves the problems of the conventional device.
【０００８】[0008]
【課題を解決するための手段】本発明によるジャイロ装
置は、例えば図面に示す如く、航行体に設置されるべき
衛星５からの電波を受信するための３つ以上の受信アン
テナ１、２、１６と、アンテナからの受信電波を用いて
航行体の方位角、ロール角、ピッチ角及び位置を演算す
る手段４、６と、航行体のヨー軸を入力軸として航行体
に設置した角速度センサ１０と、この角速度センサの出
力を入力とする加算器Ｅと、出力を積分する積分器１３
と、この積分器１３の出力とこの衛星電波を受信するこ
とにより得られた方位角とを比較する比較手段Ｃと、こ
の比較手段Ｃの偏差を補償するための補償手段１４と、
この補償手段１４の出力を加算器Ｅの負入力端にフィー
ドバックする手段とを有するジャイロ装置において、こ
の角度センサ１０の出力側と加算器Ｅとの間にこの衛星
電波によるロール角及びピッチ角演算出力を用いた航行
体の傾斜補正手段１２を挿入したものである。A gyro apparatus according to the present invention comprises three or more receiving antennas 1, 2, 16 for receiving radio waves from a satellite 5 to be installed on a navigation body, for example, as shown in the drawing. Means 4 and 6 for calculating the azimuth, roll angle, pitch angle and position of the vehicle using the radio waves received from the antenna; and an angular velocity sensor 10 installed on the vehicle using the yaw axis of the vehicle as an input axis. An adder E to which the output of the angular velocity sensor is input, and an integrator 13 for integrating the output.
Comparing means C for comparing the output of the integrator 13 with the azimuth obtained by receiving the satellite radio wave; and compensating means 14 for compensating for the deviation of the comparing means C.
In the gyro apparatus having a means for feeding back the output of the compensating means 14 to the negative input terminal of the adder E, the roll angle and the pitch angle are calculated between the output side of the angle sensor 10 and the adder E by this satellite radio wave In this figure, the inclination correcting means 12 of the navigation body using the output is inserted.
【０００９】[0009]
【作用】上述した本発明のジャイロ装置によれば、方位
角の出力値は、ＧＰＳ衛星の方位角演算手段の出力周期
値に関係なく、また、航行体の姿勢角に関係なく連続し
て方位角を計測することができる。このため、船舶等の
航行体の運動による方位角計測値の時間遅れもなく、極
めて正確に方位角を計測することができる。According to the gyro apparatus of the present invention described above, the output value of the azimuth is continuously irrespective of the output cycle value of the azimuth calculation means of the GPS satellite and irrespective of the attitude angle of the navigation body. The angle can be measured. Therefore, the azimuth angle can be measured very accurately without a time delay of the azimuth angle measurement value due to the movement of the navigation body such as a ship.
【００１０】[0010]
【実施例】以下、図面を参照して、本発明によるジャイ
ロ装置の一実施例を説明する。図２は、ＧＰＳによる方
位角、ロール角及びピッチ角の計測の概略線図、図１は
図２のＧＰＳによる角度測定値を用いた実施例を示す構
成図である。なお、図１，図２において、図３に対応す
る部分には同一符号を付しその詳細な説明は省略する。
図２は、図３で説明したＧＰＳによる被測定角度を方位
角以外のロール角及びピッチ角を計測できるようにした
ものである。航行体（例えば船舶）にＧＰＳからの電波
を受信するように設置した受信アンテナ１を基準に、あ
る基線長Ｌ1 だけ離した点に、受信アンテナ２を、また
基線長Ｌ2 だけ離した点に受信アンテナ１６を同一平面
上にそれぞれの基線長間の既知の角、Θをもって設置す
る。これらの具体的数値は、例えばＬ1 ＝Ｌ2 ＝１ｍ、
Θ＝９０°でありＬ1 方向を船首尾線方向とする。この
ようにして設置された受信アンテナ１、２、１６の出力
は、ＧＰＳ角度演算部６に入力され、図３で説明した原
理によりＧＰＳ位置演算部４の出力を用いて方位角、ロ
ール角及びピッチ角を３次元的に計測、演算する。図２
で計測した方位角、ロール角及びピッチ角出力を用いて
図１に示すシステムを構成する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a gyro device according to the present invention will be described below with reference to the drawings. FIG. 2 is a schematic diagram of measurement of an azimuth angle, a roll angle, and a pitch angle by GPS, and FIG. 1 is a configuration diagram showing an embodiment using angle measurement values by GPS of FIG. In FIGS. 1 and 2 , parts corresponding to those in FIG. 3 are denoted by the same reference numerals, and detailed description thereof will be omitted.
FIG. 2 shows a configuration in which a roll angle and a pitch angle other than the azimuth angle can be measured from the measured angle by the GPS described in FIG. The installed reference receiving antenna 1 to receive radio waves from GPS to navigation body (e.g. a ship), in that apart there base length L 1, in that the receiving antenna 2, also apart baseline length L 2 The receiving antenna 16 is installed on the same plane with a known angle, 基, between the respective base line lengths. These specific numerical values are, for example, L 1 = L 2 = 1 m,
Theta = a 90 ° to the L 1 direction stern line direction. The outputs of the receiving antennas 1, 2, and 16 installed as described above are input to the GPS angle calculation unit 6, and the azimuth angle, the roll angle, and the rotation angle are calculated using the output of the GPS position calculation unit 4 according to the principle described with reference to FIG. The pitch angle is measured and calculated three-dimensionally. FIG.
The system shown in FIG. 1 is configured by using the azimuth angle, the roll angle, and the pitch angle output measured in the above.
【００１１】図１に於いて、１０は、航行体、例えば船
舶等の船体のヨー軸を入力軸とするよう船体に固定され
た振動ジャイロの如き角速度センサである。振動ジャイ
ロ１０は、振動している物体に振動ベクトルと垂直方向
に角速度が動くと、振動ベクトル及び角速度ベクトルの
両ベクトルに垂直な方向にコリオリの力が作用するとい
う力学原理に基づき、コリオリの力から角速度の大きさ
と方向とを検出し、アナログ電圧で角速度を出力する回
転体を用いないレートジャイロである。尚、角速度セン
サとして振動ジャイロ１０を用いると、これは回転体を
用いていないため、長寿命、起動時間が短い、低消費電
力である等の特徴がある。振動ジャイロ１０の出力角速
度は、Ａ／Ｄ変換器１１に供給されて、ディジタル変換
された後、後述の傾斜補正部１２により、ジャイロ入力
軸の傾斜補正され、加算器Ｅを介して積分器１３に入力
される。積分器１３は、角速度を積分する機能を有して
おり、その出力は角度を示す。積分器１３の出力角度
は、振動ジャイロ１０の入力軸が鉛直軸となるように設
置されているので、航行体の方位角ということができ
る。In FIG. 1, reference numeral 10 denotes an angular velocity sensor such as a vibrating gyroscope fixed to a hull such that a yaw axis of a hull such as a ship is used as an input shaft. The vibrating gyro 10 is based on the dynamic principle that when an angular velocity moves on a vibrating object in a direction perpendicular to a vibration vector, a Coriolis force acts in a direction perpendicular to both the vibration vector and the angular velocity vector. This is a rate gyro that does not use a rotating body that detects the magnitude and direction of an angular velocity from an analog signal and outputs the angular velocity with an analog voltage. When the vibrating gyroscope 10 is used as the angular velocity sensor, since it does not use a rotating body, it has features such as a long life, a short startup time, and low power consumption. The output angular velocity of the vibrating gyroscope 10 is supplied to an A / D converter 11, where it is converted into a digital signal. After that, the inclination of the gyro input shaft is corrected by a tilt correction unit 12 described later, and the integrator 13 is added via an adder E. Is input to The integrator 13 has a function of integrating the angular velocity, and the output indicates the angle. Since the output angle of the integrator 13 is set so that the input axis of the vibrating gyroscope 10 is a vertical axis, it can be said to be the azimuth angle of the navigation body.
【００１２】一方、図２で説明した、ＧＰＳ角度演算部
６で算出した方位角出力は振動ジャイロ１０の出力を積
分することによって得られた方位角と、比較器Ｃで比較
演算され、その残差角は、補償演算部１４に入力され
る。補償演算部１４は、例えば、比例ゲインＫ＋積分で
構成されており、残差角をＫ倍する作用を有している。
このＫ倍された補償演算部１４からの出力は、積分器１
３の入力側の加算器Ｅに、反対符号でフィードバックさ
れる。このように系を構成すると、振動ジャイロ１０の
出力角速度を積分した方位角が、ＧＰＳ角度演算部６か
らの方位角に追従する。したがって、ＧＰＳ角度演算部
６の出力周期が長くなっても、その間は、振動ジャイロ
１０による方位角で補間されるため、常に連続した正確
な方位角を出力することができる。On the other hand, the azimuth output calculated by the GPS angle calculator 6 described with reference to FIG. 2 is compared with the azimuth obtained by integrating the output of the vibrating gyroscope 10 by the comparator C. The difference angle is input to the compensation calculation unit 14. The compensation calculation unit 14 is configured by, for example, a proportional gain K + integral, and has an operation of multiplying the residual angle by K.
The output of the K multiplied compensation operation unit 14 is output to the integrator 1
3 is fed back to the adder E on the input side with the opposite sign. With this configuration, the azimuth obtained by integrating the output angular velocity of the vibrating gyroscope 10 follows the azimuth from the GPS angle calculation unit 6. Therefore, even if the output cycle of the GPS angle calculation unit 6 becomes long, the azimuth is interpolated by the vibrating gyroscope 10 during that period, so that a continuous and accurate azimuth can always be output.
【００１３】なお、ＧＰＳ角度演算部６の出力であるロ
ール角及びピッチ角出力は、傾斜補正部１２に接続され
航行体の姿勢角の変化による振動ジャイロ１０の出力角
速度誤差を補正し、水平面内の運動を正しく検出できる
ようにしている。この機能は、航行体が例えば、角αの
ローリングをしながら旋回した場合を考えると、ジャイ
ロが検出する旋回角速度ωは、角αだけ傾斜した面内で
あるから、水平面内の角速度はω／cos αとなる。角速
度を積分した方位角は水平面内の角度であるから船体に
固定したジャイロ出力ωを用いた場合には、真値との間
に１−１／cos αの誤差が生ずる。航行体が、ピッチン
グしながら旋回した場合も同様でありピッチング角によ
り誤差が生ずる。本、航行体の姿勢角による誤差を上述
のような原理でＧＰＳからの信号により補正する要素
が、傾斜補正部１２であり、これにより高精度な方位計
測が可能となる。図１において積分器１３よりの方位角
及びＧＰＳ位置演算部４よりの位置出力データを表示す
る要素が表示器１５である。尚本発明は上述実施例に限
ることなく本発明の要旨を逸脱することなく、その他種
々の構成が採り得ることは勿論である。The output of the roll angle and the pitch angle, which is the output of the GPS angle calculation unit 6, is connected to the inclination correction unit 12 to correct the output angular velocity error of the vibrating gyroscope 10 due to the change in the attitude angle of the cruising vehicle. Movements can be detected correctly. This function is based on the assumption that the gyro detects the turning angular velocity ω in a plane inclined by the angle α when the navigating body turns while rolling, for example, the angle α, so that the angular velocity in the horizontal plane is ω / cos α . Since the azimuth angle obtained by integrating the angular velocity is an angle in the horizontal plane, when the gyro output ω fixed to the hull is used, an error of 1-1 / cos α occurs with the true value. The same applies to a case where the navigation body turns while pitching, and an error occurs due to the pitching angle. An element that corrects an error due to the attitude angle of the navigation body based on the signal from the GPS based on the above-described principle is the inclination correction unit 12, which enables highly accurate azimuth measurement. In FIG. 1, an element for displaying the azimuth from the integrator 13 and the position output data from the GPS position calculation unit 4 is a display 15. It should be noted that the present invention is not limited to the above-described embodiment, and may adopt various other configurations without departing from the gist of the present invention.
【００１４】[0014]
【発明の効果】以上、説明したように、本発明によれ
ば、以下に列挙する効果が得られる。 (1) 船舶等の航行体の方位角を高精度で連続して得る
ことができる。 (2) 方位角を時間遅れなく計測することができる。 (3) ＧＰＳ衛星から得られる方位角の誤差が増大した
場合にも、連続して高精度な方位角を得ることができ
る。 (4) 振動ジャイロを用いれば、長寿命、低消費電力、
起動時間が短い。 (5) 方位角のみならず、位置、速度をも正確に計測す
ることができる。As described above, according to the present invention, the following effects can be obtained. (1) The azimuth of a navigating body such as a ship can be continuously obtained with high accuracy. (2) The azimuth can be measured without time delay. (3) Even when the error of the azimuth obtained from the GPS satellite increases, the azimuth with high accuracy can be continuously obtained. (4) Long life, low power consumption,
Startup time is short. (5) Not only azimuth, but also position and speed can be measured accurately.
【図１】本発明ジャイロ装置の一実施例を示す構成図で
ある。FIG. 1 is a configuration diagram showing one embodiment of a gyro device of the present invention.
【図２】図１の説明に供する線図である。FIG. 2 is a diagram for explaining FIG. 1;
【図３】方位角の計測原理の説明に供する線図である。FIG. 3 is a diagram for explaining the principle of measurement of an azimuth angle;
【符号の説明】 １、２、及び１６ 受信アンテナ ３ 方位演算部 ４ 位置演算部 ５ 衛星 ６ 角度演算部 １０ 振動ジャイロ １２ 傾斜補正部 １３ 積分器 １４ 補償演算部 １５ 表示部 Ｃ 比較器 Ｅ 加算器[Description of Signs] 1, 2, and 16 Receiving antennas 3 Azimuth calculation unit 4 Position calculation unit 5 Satellite 6 Angle calculation unit 10 Vibration gyroscope 12 Tilt correction unit 13 Integrator 14 Compensation calculation unit 15 Display unit C Comparator E Adder
───────────────────────────────────────────────────── フロントページの続き (72)発明者 赤羽 紀之 東京都大田区南蒲田２丁目16番46号 株 式会社トキメック内 (72)発明者 川上 温 東京都大田区南蒲田２丁目16番46号 株 式会社トキメック内 (56)参考文献 特開 平２−99817（ＪＰ，Ａ) 特開 平２−82111（ＪＰ，Ａ) 特開 昭62−161014（ＪＰ，Ａ) 特開 昭63−302317（ＪＰ，Ａ) 特開 昭60−127413（ＪＰ，Ａ) 特開 昭63−162400（ＪＰ，Ａ) 実開 平２−55114（ＪＰ，Ｕ) 特許2946050（ＪＰ，Ｂ２) 特許2946051（ＪＰ，Ｂ２) 特公 昭59−2870（ＪＰ，Ｂ２) (58)調査した分野(Int.Cl.7，ＤＢ名) G01C 19/00 - 19/72 G01C 21/00 - 21/36 G01S 5/14 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Noriyuki Akabane 2-16-46 Minami Kamata, Ota-ku, Tokyo Inside Tokimec Co., Ltd. (72) Inventor Atsushi Kawakami 2--16-46 Minami Kamata, Ota-ku, Tokyo (56) References JP-A-2-99817 (JP, A) JP-A-2-82111 (JP, A) JP-A-62-160114 (JP, A) JP-A-63-302317 (JP-A 63-302317) JP, A) JP-A-60-127413 (JP, A) JP-A-63-162400 (JP, A) JP-A-2-55114 (JP, U) Patent 2946050 (JP, B2) Patent 2946051 (JP, B2) (JP) B2) (58) Fields investigated (Int. Cl. 7 , DB name) G01C 19/00-19/72 G01C 21/00-21/36 G01S 5/14
Claims (1)
べき第１、第２及び第３の衛星受信アンテナと、該アン
テナで受信した衛星電波及びその位相差を用いて上記航
行体の方位角、ロール角、ピッチ角及び位置を演算する
演算手段と、航行体のヨー軸を入力軸となすよう航行体
に固定した角速度センサと、該角度速度センサの出力を
入力する加算器と、該加算器の出力を積分する積分手段
と、該積分手段の出力と上記衛星電波を受信することに
より得られる方位角とを比較する比較手段と、該比較手
段の偏差を補償するための補償手段と、該補償手段の出
力を上記加算器の負入力端にフィードバックする手段と
を有するジャイロ装置において、上記、角速度センサの
出力側と上記加算器との間に上記衛星電波によるロール
角及びピッチ角演算出力を用いた航行体の傾斜補正手段
を挿入したことを特徴とするジャイロ装置。1. A navigation system comprising: a first, a second, and a third satellite receiving antenna to be installed at a predetermined distance from a navigation body, and a satellite radio wave received by the antenna and a phase difference between the satellite reception antennas; Calculating means for calculating an azimuth angle, a roll angle, a pitch angle and a position; an angular velocity sensor fixed to the navigation body so that the yaw axis of the navigation body is an input axis; and an adder for inputting an output of the angular velocity sensor; Integrating means for integrating the output of the adder, comparing means for comparing the output of the integrating means with the azimuth obtained by receiving the satellite radio wave, and compensating means for compensating for a deviation of the comparing means And a means for feeding back the output of the compensating means to the negative input terminal of the adder, wherein the roll angle and the pitch angle by the satellite radio wave are provided between the output side of the angular velocity sensor and the adder. Calculation A gyro device comprising a means for correcting inclination of a navigation body using an output.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3048431A JP3044357B2 (en) | 1991-03-13 | 1991-03-13 | Gyro device |
| US07/848,388 US5349531A (en) | 1991-03-13 | 1992-03-09 | Navigation apparatus using a global positioning system |
| GB9205289A GB2254511B (en) | 1991-03-13 | 1992-03-11 | Gyro apparatus |
| NO920960A NO304046B1 (en) | 1991-03-13 | 1992-03-12 | Gyro apparatus |
| DE4208158A DE4208158C2 (en) | 1991-03-13 | 1992-03-13 | Gyro system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3048431A JP3044357B2 (en) | 1991-03-13 | 1991-03-13 | Gyro device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04283615A JPH04283615A (en) | 1992-10-08 |
| JP3044357B2 true JP3044357B2 (en) | 2000-05-22 |
Family
ID=12803164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3048431A Expired - Lifetime JP3044357B2 (en) | 1991-03-13 | 1991-03-13 | Gyro device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP3044357B2 (en) |
| DE (1) | DE4208158C2 (en) |
| GB (1) | GB2254511B (en) |
| NO (1) | NO304046B1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0660131A1 (en) * | 1993-12-23 | 1995-06-28 | Karl Osen | Camera guidance system |
| JP3662975B2 (en) * | 1994-07-22 | 2005-06-22 | 日本無線株式会社 | Tracking array antenna device |
| US5543804A (en) * | 1994-09-13 | 1996-08-06 | Litton Systems, Inc. | Navagation apparatus with improved attitude determination |
| DE19637355A1 (en) * | 1996-09-13 | 1998-03-19 | Teves Gmbh Alfred | Yaw rate sensor for motor vehicle travel stability regulation |
| US5877723A (en) * | 1997-03-05 | 1999-03-02 | Caterpillar Inc. | System and method for determining an operating point |
| DE19945120C2 (en) | 1999-09-21 | 2001-12-06 | Mannesmann Vdo Ag | Method of navigating a vehicle |
| DE19945121C2 (en) * | 1999-09-21 | 2001-12-13 | Mannesmann Vdo Ag | Method of navigating a vehicle |
| JP2001120151A (en) * | 1999-10-27 | 2001-05-08 | Nec Corp | Automatic agrochemical spraying device with radio controlled helicopter using gps |
| JP2001166030A (en) * | 1999-12-07 | 2001-06-22 | Japan Radio Co Ltd | Radar antenna azimuth measuring device |
| JP6732926B2 (en) * | 2016-10-07 | 2020-07-29 | 古野電気株式会社 | Azimuth calculation device, azimuth calculation method, and azimuth calculation program |
| CN108958064B (en) * | 2017-05-17 | 2021-10-01 | 上海微小卫星工程中心 | Attitude guidance law error judgment method and system and electronic equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4754280A (en) * | 1982-09-10 | 1988-06-28 | The Charles Stark Draper Laboratory, Inc. | Attitude sensing system |
| US4647935A (en) * | 1984-12-06 | 1987-03-03 | Starnav Corporation | Apparatus for determining the magnitude of phase discontinuities introduced into a received signal at known instants |
| FR2611399B1 (en) * | 1987-02-27 | 1994-06-17 | Lmt Radio Professionelle | LANDING ASSISTANCE SYSTEM USING NAVIGATION SATELLITES |
| JPH02196975A (en) * | 1989-01-26 | 1990-08-03 | Nissan Motor Co Ltd | Gps navigation device for vehicle |
-
1991
- 1991-03-13 JP JP3048431A patent/JP3044357B2/en not_active Expired - Lifetime
-
1992
- 1992-03-11 GB GB9205289A patent/GB2254511B/en not_active Expired - Fee Related
- 1992-03-12 NO NO920960A patent/NO304046B1/en unknown
- 1992-03-13 DE DE4208158A patent/DE4208158C2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| GB9205289D0 (en) | 1992-04-22 |
| DE4208158A1 (en) | 1992-09-17 |
| DE4208158C2 (en) | 1998-03-19 |
| NO920960D0 (en) | 1992-03-12 |
| NO920960L (en) | 1992-09-14 |
| GB2254511A (en) | 1992-10-07 |
| JPH04283615A (en) | 1992-10-08 |
| GB2254511B (en) | 1995-04-26 |
| NO304046B1 (en) | 1998-10-12 |
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