JPH05164558A - Full-range stationary type sight apparatus - Google Patents

Abstract

PURPOSE:To enable a full-range type measurement without limit to inclination of a target by arranging gravity detection sensors and earth magnetism detection sensors on three axes X, Y and Z respectively to calculate azimuth and by sending the output from a measuring section to a computer. CONSTITUTION:Gravity detection sensors IX, IY and IZ and earth magnetism detection sensors MX, MY and MZ are mounted on three orthogonal axes X, Y and Z of a measuring device body are mounted in such a manner that the center line of each thereof aligns with the three axes separately. In the sensors IX, IY and IZ, when the weight (m) of a diaphragm S receives a force P in the center line Z to displace, a difference is generated between inductances of coils L1 and L2 to generate an output current. The sensors MX, MY and MZ are Hall element type sensors and when a constant current I flows along a pair of electrodes 6-1 and 6-2 to apply a magnetic flux B, a voltage VH is generated. Then, the visual axis of this measuring section is directed to a space target and the output is sent to a computer attached to calculate the azimuth from the angle of inclination with respect to the horizontal plane of the visual axis and a magnetic meridian plane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for measuring the azimuth and inclination of a spatial target line.

[0002]

2. Description of the Related Art Conventionally, a magnetic compass and an inclinometer are used to measure an azimuth angle and an inclination angle of a spatial target line. Both of these instruments have moving parts and have a drawback that they lack durability. Targets with a large depression angle also had the drawback of making measurement difficult.

[0003]

SUMMARY OF THE INVENTION In view of the above points, the present invention is a solid-state solid-state azimuth / inclination measuring device having no moving parts and having a combined azimuth / inclination function. Is what you are trying to get.

[0004]

The present invention provides one of three axes.
In the sighting device of the observation instrument, in which the observation unit housing XYZ having three axes as the line-of-sight axis is equipped with the measurement units each including the solid-state magnetic flux sensor and the gravity sensor meter 6, the line-of-sight axis is directed to the spatial target, and the measurement unit This is a full-range solid-state aiming device in which the output of the above is introduced into the attached computer, the tilt angle of the line-of-sight axis with respect to the horizontal plane and the azimuth angle from the magnetic meridian plane are calculated, and this is displayed on the display unit.

[0005]

1 is a partial sectional view showing an example of a gravity detecting sensor used in a measuring section according to an embodiment of the present invention. In the figure, OSC is a high frequency power source, C ₁ and C ₂ are capacitors, D ₁ and D ₂ are diodes, L ₁ and L ₂ are coils having dust cores as cores, S is a circular diaphragm, and m is a brass weight, for example. 1 is a case, 2 and 3 are output terminals. The weight m is provided at the center of the diaphragm S, and the peripheral edge of the diaphragm S is supported and fixed to the circular wall of the case 1. Coils L ₁ and L ₂ form a pair of adjacent inductance arms of a bridge circuit having a high frequency power supply OSC. Two rectifiers D ₁ and D _{2, which} are unidirectional when viewed from the power supply OSC, are connected to the bridge arm facing these two inductances.

In such a structure, the diaphragm S
When the weight m of is displaced by receiving the force P in the direction of the center line Z,
A gap is generated between each coil L ₁ and L ₂ and the brass metal surface of the weight m, a difference is generated in the inductance of the coils L ₁ and L ₂ , and an output current is generated between the output terminals 2 and 3. ..
That is, this example is a displacement meter type sensor. in this case,
As shown in FIG. 2, when the center line Z of the sensor forms an angle φ with the direction of gravity G, cosφ is added to the weight m as the load P, so that the output current corresponds to the gap change due to the load Gcosφ.

FIG. 3 is a perspective view showing an example of a geomagnetic sensor used in the measuring section of this example. This example is a known Hall element type sensor. In the figure, 5 is a semiconductor Hall element, 6-1, 6-2 and 7 are electrodes. A pair of electrodes 6-
When a constant current I is made to flow along 1 and 6-2 and a magnetic flux B is applied in a direction perpendicular to the main surface, a voltage V _H is generated in an axial direction perpendicular to both the current I and the magnetic flux B. This voltage V _H is taken out from the electrode 7. In this case, the following relationship holds.

[0008]

## EQU1 ## V _H = K _H IB where K _H is the Hall constant.

Therefore, as shown in FIG. 4, when the angle formed by the perpendicular axis Z of the Hall element 5 and the direction of the magnetic flux F of the local earth magnetic field is φ, it is proportional to the magnetic flux of Fcosφ (corresponding to the magnetic flux B). The voltage is obtained.

In the above description, the diaphragm type gravimeter having a weight in the center of the high frequency displacement detection system as the gravity detection sensor and the hall element type as the geomagnetism detection sensor have been described. Other types of gravimeters and magnetometers can be used as long as the output can be obtained.

FIG. 5 is a perspective view of the measuring section of this example. In the present example, the gravity detection sensor and the magnetic flux detection sensor as described above are respectively attached to the three orthogonal axes X, Y and Z of the measuring instrument body.
Mount each one so that their center lines coincide with the three axes. In the figure, I _X , I _Y , and I _Z are gravity detection sensors, M _X ,
M _Y and M _Z are geomagnetic detection sensors. The gravitational force component and the magnetic flux component force corresponding to the cosine values of the angles formed by the gravimeters and the directions of the geomagnetic flux attached in this way and the X, Y, and Z axes of the moving body are output, respectively.

FIG. 6B shows a state in which the Z axis of the XYZ observing body is directed to an arbitrary spatial target P. In this case, the XOY surface coincides with the arbitrary inclined surface S.

An O-ξηζ coordinate display in FIG. 6B is extracted and the Oζ axis shown in FIG. 6A is represented by a vertical line ξOη plane by a horizontal plane H. Also, the north line N is shown on the H-plane. In the present embodiment, the visual axis OZ vector is the target P.
At the same time as pointing to, the calculation unit calculates the tilt angle of the OZ vector with respect to the horizontal plane and the azimuth angle with respect to the magnetic meridian plane by the output of the six sensors of the measurement unit.

FIG. 9 is an explanatory diagram used for this calculation in order to explain the procedure of this calculation as a rule.
YZ is the observer coordinate, OZ is O-ξηζ that points the target P
Is the spatial coordinate, the XOY plane is the S plane, and the ξOη plane is the H plane. The north line ON is shown on the H-plane. Codes other than the above will be explained as the calculation procedure in this text is explained.

To summarize the procedure, first, the azimuth θ of the observer for the OX on the XOY plane is calculated. Then S surface and H
The maximum inclination angle M between the surface and the maximum inclination angle direction on the S surface and O
The angle σ ₁ formed by the X-rays is calculated. The tilt angle LD of the OZ vector with respect to the horizontal plane is calculated from the above M, and σ is the angle on the S plane, but this is corrected to the angle on the H plane. This correction angle and the previously calculated H plane The azimuth angle LA from the magnetic meridian plane of the OZ vector is calculated by the algebraic sum with the azimuth angle θ.

In the earth coordinate system with the observation point at the center O, the outer circle of the horizontal plane as the equator, and the zenith and the ground point opposite to it as the NS pole, the magnetic meridian plane is used as the longitude reference, and the horizontal plane is The coordinates of the target point P can be represented by the latitude display which is the reference of the latitude. In this case, the latitude and longitude of point P coincide with the calculated tilt angle Lo and azimuth angle La. That is, in this embodiment, the history of the OZ vector in the earth coordinate system is calculated.

As mentioned above, first, X, Y, Z3
First, the magnetic azimuth on the horizontal plane with respect to the OX axis of the observer is calculated from the outputs of the gravity sensor and the magnetic flux sensor provided on each axis. In FIGS. 6A and 6B, O-XYZ are the three axes of the measuring instrument main body, as already described. O-ξηζ is the three orthogonal axes of space, the ξOη plane is the horizontal plane, and the Oζ line is the vertical line. In the figure, ON indicates a magnetic azimuth line. First, the measuring instrument displays the three axes OXYZ in (X) (Y) in FIG.
As shown in (Z), the bottom surface XOY of the measuring instrument is kept horizontal by matching the three spatial axes O-ξηζ. From this state, in the O-XYZ coordinate system, the coordinate system generated by rotating the XYZ coordinates by α in the clockwise direction about the OX axis is set as the O-X'Y'Z 'system, and then the OY' axis is centered in the clockwise direction. It is rotated by β angle, and the resulting sign becomes O-XYZ.

In this O-XYZ, as shown in FIG. 6B, the XOY surface is in contact with the inclined surface S surface. A relationship diagram between the two in this case is shown in FIG. The coordinate conversion formula in this case is expressed by the following formula (2).

[0019]

[Equation 2]

By rearranging this, the following equation (3) is obtained.

[0021]

[Equation 3]

Therefore, Table 1 shows the direction cosine table between the axes of the XYZ system and the ξηζ system.

[0023]

[Table 1]

In FIG. 7, an azimuth line F _H having an azimuth angle θ is shown on the horizontal plane ξOη plane, and a gravity line OW and a vertical magnetic flux F _V are shown on the vertical line Oζ.

The relationship between the XYZ system and ξηζ system gravity sensors and magnetic flux sensors is that the outputs of the XYZ system gravity sensors are W ₁ , W ₂ and W ₃ .

[0026]

[Equation 4] W ₁ = W cos α · sin β

[0027]

[Equation 5] W ₂ = -Wsin α

[0028]

[Equation 6] W ₃ = W cos α · cos β

If the output values of the magnetic flux sensors for the XYZ axes are N ₁ , N ₂ and N ₃ ,

[0030]

[Equation 7] N ₁ = F _H cos θ · cos β + (F _H sin θ · sin α + F _V cos α) sin β

[0031]

[Equation 8] N ₂ = F _H sin θ · cos α-F _V sin α

[0032]

[Formula 9] N₃= -F_Hcos θ / sin β + (F_H・ Sinθ ・ sinα ＋ F_H・ Cosα) ・ cosβ Where, gravity system triaxial output W₁, W₂, W₃And magnetic flux system 3
Axis output N₁, N₂, N ₃[Number 4], [Number]
5], [Equation 6] and [Equation 7], [Equation 8], [Equation 9]
Since the relation of coordinate conversion of is included,
By performing a specific calculation between the three outputs of the magnetic flux system
And the value F of three axes of α magnetic flux of ξηζ system_Hcos θ, F_Hsi
nθ, F_VAnd then the horizontal 2-axis F_Hcos θ, F
_Hθ can be output from cos θ.

First, the F _V value is calculated. At this time, each cosine in the axial direction is obtained from the force component values of each axis of gravity and magnetic flux.

In the gravity three-component force W ₁ , W ₂ , W ₃ ,

[0035]

[Equation 10]

Since W is a constant, if W = 1 here, W ₁ , W ₂ and W ₃ respectively become the triaxial cosine values of the gravity vector.

For each axis magnetic flux sensor,

[0038]

[Equation 11]

In T is not constant, but T vector
The axial cosine value of n₁, N₂, N ₃given that,

[0040]

[Equation 12]

Is satisfied.

If the angle between the space vector W (vector) and T (vector) is δ,

[0043]

[Formula 13] W ₁ n ₁ + W ₂ n ₂ + W ₃ n ₃ = cos δ

Substituting [Equation 12] into the [Equation 13] Expression

[0045]

[Equation 14] N ₁ W + N ₂ W ₂ + N ₃ N ₃ = T cos α

[0046]

(15) Tcos α = F _V

Therefore, the following arithmetic expression

[0048]

[Formula 16] F _V ← N ₁ W ₁ + N ₂ W ₂ + N ₃ N ₃

Is satisfied. In this case, the above [Equation 1
1], [Equation 12], [Equation 13], [Equation 14], [Equation 1]
Since the relation of each equation of [5] is built inside each output of gravity and magnetic flux, the output of each axis magnetic flux sensor and gravity sensor can be calculated without calculating these relational equations in order to obtain F _V. It can be immediately obtained by performing the calculation according to [Equation 16].

This F _V value is multiplied by the output of W2 to obtain N ₂
H ₂ is obtained by subtracting from the output of, that is, the following arithmetic expression is established.

[0051]

[Equation 17] H ₂ ← N ₂ − F _V · W ₂

H ₂ has the following content.

[0053]

[Equation 18] H ₂ = F _H sin θ · cos α

Next, the N ₃ output is multiplied by the W ₁ output, and the product of the N ₁ output and the W ₃ output is subtracted from this to obtain H
₂ is required. That is, the following arithmetic expression is established.

[0055]

[Formula 19] H ₁ ← N ₃ * W ₁ −N ₁ * N ₃

The content of H ₁ is given by the equation (20).

[0057]

[Equation 20] H ₁ = F _H cos θ · cos α

What if

[0059]

[Equation 21]

Since H ₁ and H ₂ are obtained in this manner, θ can be obtained by the following arithmetic expression.

[0061]

[Equation 22] θ ← tan ^-1 (H ₂ / H ₁ )

If anything,

[0063]

[Equation 23]

[0064]

(24) tan ⁻¹ (tan θ) = θ

As described above, in this example, N ₁ , N ₂ , N ₃ , W
The output values of ₁ , W ₂ and W ₃ themselves are calculated by the equation [Equation 16],
Θ can be obtained by calculation using [Equation 17], [Equation 19], and [Equation 22]. θ is an angle formed by the vertical meridional plane including the OX axis and the magnetic meridian plane.

Since the above calculation is carried out regardless of α and β and the calculation can be performed at high speed, the azimuth measurement of the present embodiment is of the full range type without limitation on the inclination angle.

FIG. 1 shows a program flow chart for measuring the azimuth angle θ using the triaxial magnetic flux sensor and the power sensor.
It shows in 0.

Next, the calculation of the maximum tilt angle between the S-plane and the H-plane and its direction described in FIG. 4 will be described. These relationships are also shown in the gravitational force component explanatory diagram of the observing body in FIG.

In the O-XYZ coordinates of FIG. 8, OP '(vector) is a gravity vector, and the component force W _{1 on} these three axes is
An X'O'Y 'plane including W ₂ and W ₃ P points and parallel to the XOY plane is provided, and the upper surface XOY, the lower surface X'O'Y', W ₁ , W ₂ ,
Considering a rectangular parallelepiped having W ₃ on each side of X, Y and Z, O
P ′ (vector) is indicated by a diagonal line OP ′ having a point P on the bottom surface with the point O on the top surface of the cube as the origin.

The diagonal line OP 'is the hypotenuse and the vertical side is O'.
O, the diagonal M of the base O'P of a right-angled triangle OO'P 'with the base O'P is the maximum inclination angle, and the bottom X'OY'
The angle σ between O′P ′ and O′X ′ on the surface is the maximum inclination direction σ.

Therefore, M is obtained by the following arithmetic expression [Equation 25], and this is converted into the step K and the gradient G by the arithmetic expression [Equation 26].

[0072]

[Equation 25]

Then, the maximum inclination direction σ
Is required.

[0074]

[Equation 26]

Σ is the maximum tilt direction measured on the S-plane, and let E be the direction orthogonal to this,

[0076]

[Equation 27] E = σ + 90 °

E is also calculated by the following equation.

[0078]

[Equation 28]

This E is the direction of the intersection line measured on the S plane, but to relate this to the orientation on the horizontal plane (H plane), S
It is necessary to convert the E value measured on the surface into E ₀ on the horizontal surface. These relationships are shown in FIG.

As already described in FIG. 9, the ξOη plane of the ξηζ coordinate system may be considered to be the horizontal plane (H plane) as the map display plane, while the XOY plane (S plane) of the XYZ coordinate system is the measurement plane, and The OX ray is the reference line. The line of intersection between the H-plane and the S-plane is the A-O-B line, on which the direction lines of the H-plane and the S-plane coincide. C-O orthogonal to each of the H and S planes
The angle between the -D line and the C'-O-D 'line is the maximum tilt angle M
Becomes The OZ line is included in the plane including the C-O-D line and the C'-O-D 'line, and the OZ line is D-O- in the plane.
It is orthogonal to the C line. Therefore, if the inclination angle of the OZ vector with respect to the horizontal plane is Lo, then the inclination angle or the arithmetic expression for obtaining the latitude display of the earth coordinate system is given as

[0081]

[Equation 29] Lo ← M-90 °

Is required. On the measurement plane (S plane), the angle between the cross section line A-O-B line and the OX line is E, but this is because the vertical plane including the OX line on the H plane is the line of intersection OT with the H plane. The angle between the line and the intersection line A-O-B is E ₀ .

E ₀ is expressed by the following equation.

[0084]

TanE ₀ = -tanEcosM

Substituting the expression [Equation 28] into the expression [Equation 30], E
An equation [Formula 31] for calculating ₀ is obtained.

[0086]

[Equation 31]

The maximum slope line O on the H plane orthogonal to this E ₀
If the angle formed by the D line and the OT line is D ₀ , the calculation formula [Formula 32] for calculating D ₀ can be obtained.

[0088]

[Equation 32]

On the other hand, since the azimuth angle θ on the map is the angle formed by the OT line and the north ON line on the H plane, if the azimuth of the maximum inclination line, that is, the longitude display of the earth coordinate system is La, [Equation 3]
In 2], an arithmetic expression for La calculation is obtained.

[0090]

[Expression 33] La ← D ₀ −θ

Since M, Lo, Do, and La are obtained as the history data of the line of sight from these, these are displayed.

The processing program for the calculation display of M, Lo, Do, La by the gravity sensor is the calculation formula [Equation 2] shown in the flow chart of FIG.
5], [Equation 29], [Equation 32], and [Equation 33].

The line-of-sight data measurement according to this example uses the equations [16], [17], [19], [22], [22] and [6] of 2 × 3 6 data of the magnetic flux sensor and the gravity sensor. Number 2
5], [Equation 29], [Equation 32], and [Equation 33]. The input is a static type, and the processing is simple and unidirectional, so a small microcomputer can perform sufficiently high-speed calculations. For example, the input sensor unit, the computer unit, and the entire display unit can be integrally housed as a portable compact measuring instrument, the measuring instrument surface can be displayed, and the visual axis optical axis can be opened to the outside. Then, the optical axis of the visual axis is directed to the target to be measured, and the history data of the target can be measured with one touch.

[0094]

According to the present invention, by simply directing the line of sight to the target target regardless of the naked eye sight, monocular, and binocular optical axes of the observer, the history data of this line of sight is immediately displayed. In this case, the attitude of the observer bearing is not affected at all, and since the magnetic flux sensor and gravity sensor are both 3-axis type, there is no limitation on the inclination of the target object, regardless of the direction of the sky, sea, land, horizon, horizon, and underground excavation. Full range measurement is possible.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional view of a gravity sensor applied to an embodiment of the present invention.

FIG. 2 is an operation explanatory diagram of the gravity sensor of the example of FIG.

FIG. 3 is a perspective view showing a geomagnetic sensor applied to one embodiment of the present invention.

FIG. 4 is an operation explanatory view of the geomagnetic sensor of the example of FIG.

FIG. 5 is a perspective view showing a measuring unit according to an embodiment.

FIG. 6 is an explanatory diagram showing a relationship between measuring instrument coordinates O-XYZ and a spatial coordinate system O-ξηζ according to one embodiment, and (a) shows a case where the spatial coordinate system and the measuring instrument coordinate system are coincident with each other. ) Is the case where the measuring instrument coordinates are set on the inclined surface.

FIG. 7 is a vector solution diagram when the relationship between (a) and (b) in FIG. 6 overlaps.

FIG. 8 is an explanatory diagram of the direction of the maximum coordinate shown in the measuring instrument coordinate system as the direction of the spatial coordinate system.

FIG. 9 is an explanatory diagram for converting the display of the direction of the maximum tilt angle in the measuring instrument coordinate system into the direction in the spatial coordinate system.

FIG. 10 is a flowchart of a contour map data calculation program according to an embodiment of the present invention.

[Explanation of symbols]

X, Y, orthogonal three axes I _X and Z meter, I _Y, I _Z gravity sensor M _X, M _Y, M _Z magnetic flux sensor alpha X-axis rotational angle beta Y-axis rotation angle θ azimuth W gravity vector ξ , Η, ζ orthogonal three-axis F _H horizontal magnetic field F _V vertical magnetic field W ₁ , W ₂ , W ₃ gravity three-axis component force M maximum inclination angle σ maximum inclination direction

Claims (1)

[Claims] 1. The entire range of the observation instrument housing, in which one of the three XYZ axes is used as a line-of-sight axis, and a measurement unit consisting of a solid-state magnetic flux sensor and a gravity sensor total of six sensors is attached to each of the three axes. In the fixed aiming device, the oblique line axis is directed to the spatial target, the output from the measuring unit is introduced to the attached computer, and the inclination angle of the line of sight axis with respect to the horizontal plane and the azimuth angle from the magnetic meridian plane are calculated, and this is calculated. Full range fixed aiming device displayed on the display.