JPH0772689B2 - Orientation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a magnetic azimuth in which an optical instrument for magnifying and viewing a distant object and a means for measuring an azimuth by detecting the earth's magnetism are combined. Regarding the device.

[Conventional technology]

Conventionally, optical devices such as a telescope and binoculars have been used to magnify and view a distant object. At this time, it often happens that one wants to know the azimuth of the object seen by the optical instrument from the observation point, in other words, the azimuth of the direction in which the optical instrument is facing.

[Problems to be Solved by the Invention] However, if the magnetic azimuth meter is simply attached to the optical instrument, the display of the magnetic azimuth indicator is taken away from the observing optical instrument each time the azimuth angle is known. You must look at the azimuth displayed on the section. Also, since the optical instrument is used not only in the horizontal direction but also in a tilted state,
The conventional magnetic compass cannot be used if the tilt of the optical instrument exceeds a certain limit.

[Means for solving problems]

The magnetic azimuth device according to the present invention includes an optical instrument for enlarging a distant object, and an azimuth in which the optical instrument is oriented by detecting geomagnetism when installed at a predetermined position of the optical instrument. A means for measuring an angle and a means for displaying the measured azimuth angle in the field of view of the optical instrument so that the azimuth angle of the object can be directly viewed while observing the object with the optical instrument. And

Further, as the measuring means, a fluxgate type triaxial sensor, means for obtaining three orthogonal geomagnetic components from the output of the fluxgate type triaxial sensor, and two components of the tilt angles of the optical instrument orthogonal to each other are provided. By using the means for obtaining and the means for calculating the azimuth angle from the three components of the geomagnetism and the two components of the tilt angle, the azimuth angle can be detected without being influenced by the tilt of the optical instrument.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an external perspective view showing an embodiment in which a magnetic orientation device according to the present invention is applied to an orientation device, and FIG. 2 is a block diagram showing a configuration of a signal system of the orientation device of FIG. .

This azimuth orientation device is composed of a magnetic azimuth device 10 and an azimuth calculation device 20.
Although it is composed of and, it requires a separate rangefinder 30 to perform orientation.

Magnetic azimuth device 10 according to the present invention, the binoculars 11 for magnifying and viewing a distant object, the magnetic azimuth meter 12 installed around the binoculars 11, the azimuth angle measured by the magnetic azimuth meter 12 It has a display mechanism (not shown) for displaying in the field of view of the binoculars 11. This magnetic orientation device 10 is attached to the upper part of a support column (not shown) so as to be swingable and horizontally rotatable, and can be moved vertically and horizontally while an observer holds the grip 13. . A hold button 14 is provided above the grip 13. This hold button
The action of 14 will be described later. Further, a knob 15 for focus adjustment is provided on the side wall of the housing of the magnetic azimuth meter 12. Further, the housing of the magnetic azimuth meter 12 has two contacts for supplying electric power to each component (described later) of the magnetic azimuth meter 12 and for taking out the azimuth angle measured by the magnetic azimuth meter 12 to the outside. A stopper 16 is provided.

On the other hand, the housing of the azimuth computing device 20 is provided with two plugs 21 which are connected to the above-mentioned plugs 16 through the electric cord 40. Further, a battery (not shown) connected to one of the plugs 21 and an azimuth calculation circuit 22 (FIG. 2) connected to the other are housed inside the housing of the azimuth calculation device 20. . or,
A keyboard 23 for inputting various signals (described later) to the azimuth calculation circuit 22 and a display 24 for displaying an output signal of the azimuth calculation circuit 22 are provided on the upper part of the housing of the azimuth calculation device 20.

Referring to FIG. 2, the magnetic azimuth meter 12 includes a fluxgate type three-axis sensor 12a for detecting geomagnetism, an alternating current applied to the primary winding of the fluxgate type three-axis sensor 12a, and a fluxgate type Processing the outputs detected by the x-component, y-component and z-component detection coils of the three-axis sensor 12a,
A sensor electronic circuit 12b for obtaining three mutually orthogonal components H _x , H _y and H _z of the earth's magnetism, an inclinometer 12c for measuring inclination angles β and γ of the x-axis and the y-axis of the binoculars 11 which are orthogonal to each other, Calculate the target azimuth angle α in the spatial coordinate system (with reference to north on the geomagnetic field) from the three components H _x , H _y and Hz and the two components β and γ of the tilt angle (described below). A circuit 12d is provided, and in this embodiment, a difference correction circuit 12e is further provided.

Next, the formula for calculating the azimuth angle α will be described.

The respective components of the body coordinate system (x, y, z) of the geomagnetism H _T are H _x , H _y , H _z as described above. Coordinate system (X _h , Y _h , Z _h ) that can be rotated by y around the y axis and then by β around the x axis
, The Z _h axis coincides with the Z axis, and the (X _h , Y _h , Z _h ) coordinate system is the coordinate system in which the spatial coordinate system (X, Y, Z) is rotated around the Z axis by the angle α. And the X _h and Y _h planes are horizontal planes. (X, y,
The conversion from the z) coordinate system to the (X _h , Y _h , Z _h ) coordinate system is _Therefore , the component (H _xh , H _yh , H _zh ) of the geomagnetism H _{T in} the (X _h , Y _h , Z _h ) coordinate system is In the spatial coordinate system X, Y, Z, if the Y axis is oriented in the magnetic north direction, the angle between the Y axis and the Y _h axis is equal to α. When β and γ are given as local angle and pitch angle,
The azimuth α is determined.

Next, the operation of this embodiment will be described with reference to FIGS.

First, the observer moves the binoculars 11 while gripping the grip 13 and turns the focus adjustment knob 15 to focus on the object. When the target is captured by the binoculars 11, the hold button 14 is pressed. Hold button
By pressing 14, the azimuth angle α measured by the magnetic azimuth meter 12 is digitally displayed in the field of view of the binoculars 11 by the display mechanism as shown in FIG. 3 when α = 186.5 °. At the same time, it is sent to the azimuth calculation circuit 22 in the azimuth calculation device 20 via the electric cord 40. Therefore, the observer can see the azimuth angle α of the target object while looking through the binoculars 11, that is, while looking at the target object. In addition,
The above-mentioned display mechanism is a well-known technique, and a description thereof will be omitted.

Further, in this direction locator, by obtaining the distance information 1 from the rangefinder 30, it is possible to perform, for example, (a) Intrusion Orientation Orientation and (b) Launch Orientation Orientation as described below. In addition,
The azimuth calculation circuit 22 is composed of a microcomputer or the like, and executes various calculations according to the mode setting of the keyboard 23 with a program of the set mode.
((A) Intrusion Orientation Orientation (See FIG. 4) In this case, the observer operates the keyboard 23 to set the azimuth calculation circuit 22 to the intrusion azimuth orientation mode.

In this state, the moving target is captured by the binoculars 11 and the hold button 14 is pressed to cause the azimuth calculation circuit 22 via the electric cord 40 as described above.
the azimuth angle α ₁ of the target of t ₁ is input. This azimuth α
₁ is stored in the memory in the azimuth calculation circuit 22. on the other hand,
When capturing a target captured with binoculars 11 (hold button 14
The horizontal distance l ₁ from the observation point of t ₁ to the target is measured by the rangefinder 30 and the measured horizontal distance l ₁ is input by operating the keyboard 23. This entered horizontal distance
l ₁ is stored in the memory in the azimuth calculation circuit 22.

Next, the observer is at time t when time T has elapsed from time t _{1.
When the} hold button 1 is pressed again at ₂ , the azimuth angle α ₂ of the target being captured at the time point t ₂ is input to the azimuth calculation circuit 22 in the same manner, and the azimuth calculation circuit 22 stores in the memory. Remembered. Similarly, the horizontal distance l ₂ from the observation point to the target at time t ₂ is measured by the rangefinder 30, and the keyboard 23 is operated to be stored in the memory in the azimuth calculation circuit 22.

The azimuth calculation circuit 22 includes α ₁ , α ₂ , l ₁ and
From l ₂ , the target moving distance l ₃ and the target moving azimuth δ are calculated according to the following equations. (However, in case of Fig. 4) The calculated l ₃ , δ is digitally displayed on the display 24.

The target moving speed v ₃ is Can be calculated by Further, by increasing the number of measurement points, it is possible to calculate the predicted moving distance and speed of the target object, the predicted moving azimuth angle, and the like. Further, the digital signal displayed on the display unit 24 can be input to, for example, an XY plotter to draw the trajectory of the target.

(B) Launch direction determination (see FIG. 5) In this case, the observer operates the keyboard 23 to set the direction calculation circuit 22 to the launch direction orientation mode.

The memory in the azimuth calculation circuit 22 stores in advance the azimuth angle α ₀ of the launch point as viewed from the observation point and the horizontal distance l ₀ to the launch point as viewed from the observation point.

In this state, the binoculars 11 capture the target object,
By pressing the hold button 14, the azimuth angle α ₄ of the target viewed from the observation point is input to the azimuth calculation circuit 22 via the electric cord 40 and stored in the memory in the azimuth calculation circuit 22. On the other hand, the horizontal distance l ₄ from the observation point to the target is measured by the rangefinder, and the keyboard 23 is operated to store the horizontal distance l ₄ in the memory in the azimuth calculation circuit 22.

The azimuth calculation circuit 22 includes α ₀ , α ₄ , l ₀ and
From l ₄ , calculate the azimuth angle θ of the target from the launch point according to the following formula. (However, in case of Fig. 5) The calculated θ is digitally displayed on the display 24.

Although the azimuth angle based on the geomagnetic north is used as the azimuth angle in the above embodiment, the azimuth angle based on the geographic north is calculated by providing the declination correction circuit. be able to.

〔The invention's effect〕

As is apparent from the above description, according to the present invention, there is an effect that the azimuth angle of an object viewed through an optical instrument can be directly viewed while the object is viewed. In addition, in the conventional magnetic azimuth meter, it is necessary to hold the magnetic sensor horizontally, and a horizontal holding mechanism such as a cymbal is used to hold the magnetic sensor horizontally. However, this horizontal holding mechanism can only be used within an angle range of about 10 °. In the present invention, since the fluxgate type three-axis sensor and the inclinometer are used, there is also an effect that the azimuth can be detected without being limited by the inclination of the optical instrument.

Furthermore, according to the present invention, by combining the azimuth calculation device, if the distance data representing the distance between the observation point and the object is given, the moving direction of the object can be located.

[Brief description of drawings]

FIG. 1 is an external perspective view showing an embodiment in which a magnetic azimuth measuring device according to the present invention is applied to an azimuth orientation device, and FIG. 2 is a block diagram showing a configuration of a signal system of the azimuth orientation device of FIG. FIG. 3 is a diagram showing a display example of a distant object and an azimuth by the magnetic azimuth device of FIG. 1, and FIG.
FIG. 5 is an explanatory view of launch orientation determination. 10 …… Magnetic compass, 11 …… Binoculars, 12 …… Magnetic compass, 1
2a …… Fluxgate type 3-axis sensor, 12b …… Sensor electronic circuit, 12c …… Inclinometer, 12d …… Coordinate conversion operation circuit, 12e…
… Self-correction circuit.

Front page continuation (72) Inventor Minoru Komatsu 21-1 Taido, Sendai City, Miyagi Prefecture Tohoku Metal Industry Co., Ltd. (56) Reference JP-A-56-120912 (JP, A) JP, U)

Claims (1)

[Claims] 1. An optical instrument for enlarging a distant object, and a geomagnetic detector for detecting the geomagnetism to determine the azimuth.
A tilt detecting unit for detecting the tilt of the optical instrument, and a direction for obtaining the azimuth angle of the direction in which the optical instrument is facing by correcting the azimuth detected by the geomagnetic detector based on the tilt detected by the tilt detecting unit. Measuring means installed in the optical instrument including a correction unit, holding means for holding the azimuth angle measured by the measuring means, and outputting azimuth angle data representing the held azimuth angle, and the holding means from the holding means. Azimuth display means for displaying the azimuth angle in the visual field of the optical instrument based on the azimuth data, input means for inputting distance data representing the distance between the object and the optical instrument, and the holding means. And an arithmetic operation for obtaining an azimuth angle indicating at least a direction in which the object has moved, based on two sets of the azimuth angle data and the distance data, connected to the input means. Azimuth orientation device including a calculating means and a calculation result display means for displaying the calculation result of the calculating means.