JPS60244878A - Gps gyro - Google Patents
Gps gyroInfo
- Publication number
- JPS60244878A JPS60244878A JP59102001A JP10200184A JPS60244878A JP S60244878 A JPS60244878 A JP S60244878A JP 59102001 A JP59102001 A JP 59102001A JP 10200184 A JP10200184 A JP 10200184A JP S60244878 A JPS60244878 A JP S60244878A
- Authority
- JP
- Japan
- Prior art keywords
- angle
- gps
- pitch angle
- azimuth
- azimuth angle
- 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.)
- Pending
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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
Abstract
Description
【発明の詳細な説明】
〈発明の属する技術分野〉
本発明はＧ Ｐ Ｓ （Ｇ １ｏｂａｌ ｐ ｏｓｉｔ
ｉｏｎｉｎｇ Ｓｙｓｔｅｍ 、常時、最低３箇所の衛
星からのレンジデータを受信し自艦の位置及び速度等を
決定する電波航法装置）を利用して船舶のピッチ角、方
位角等を演算してめるＧＰＳジャイロに係り、特に船舶
の輸送の信頼性向上と省エネを達成することが可能なＧ
ＰＳジャイロに関する。[Detailed description of the invention] <Technical field to which the invention pertains> The present invention is based on GPS (Global position)
ioning System, a radio navigation device that constantly receives range data from at least three satellites and determines the ship's position, speed, etc.) is a GPS gyro that calculates the ship's pitch angle, azimuth, etc. In particular, G
Regarding PS gyro.
〈従来技術〉
従来この種の公知の技術として、特公昭５９−２８７０
号ｒＧＰｓジャイロ」が知られている。以下、この従来
技術を図面を用いて説明する。<Prior art> As a conventionally known technology of this type, the Japanese Patent Publication No. 59-2870
"rGPs gyro" is known. This conventional technique will be explained below with reference to the drawings.
第４図は従来技術のＧＰＳジャイロのブロック図である
。FIG. 4 is a block diagram of a prior art GPS gyro.
第４図において、１は船舶Ｓの首尾軸上の船首の位置Ａ
に設置された第１のＧ Ｐ Ｓ 、、２は船尾−の位置
Ｂに設置された第２のＧＰＳである。In Figure 4, 1 is the position A of the bow on the tail axis of the vessel S.
The first GPS installed at position B, 2 is the second GPS installed at position B at the stern.
Ｐは位置測定装置であり、この位置測定装置Ｐは、第１
のＧＰＳｌで受信された受信信号から第１のＧＰＳＩの
地表上の位置（緯度、経度）と地球座標に対する各衛星
の位置をめる。P is a position measuring device, and this position measuring device P
The position of each satellite with respect to the position (latitude, longitude) on the earth's surface of the first GPSI and the earth coordinates is calculated from the received signal received by the first GPSI.
Ｒは位相差計測器であり、この位相差計′、側型Ｒは、
第１のＧＰＳｌと第２のＧＰＳ２で受信された受信信号
の内周−の人工衛星同志の信号間の位相差（位相差はそ
のとき受信可能な２個以上の衛星信号について行う）を
める。R is a phase difference measuring device, and this phase difference meter', side type R, is
Calculate the phase difference between the signals of the satellites on the inner circumference of the received signals received by the first GPS1 and the second GPS2 (the phase difference is calculated for two or more satellite signals that can be received at that time). .
Ｆは方位計算器であり、この方位目算器Ｆは、位置測定
装置Ｐでめた第１のＧ Ｐ ８１の位置及び地球座標に
対する各衛星の位置と、位相計算器Ｒでめた各衛星信号
の位相差とから船舶Ｓの方位角ψを算出・表示する。F is an azimuth calculator, and this azimuth calculator F calculates the position of the first G P 81 determined by the position measuring device P, the position of each satellite with respect to the earth coordinates, and each satellite signal determined by the phase calculator R. The azimuth angle ψ of the ship S is calculated and displayed from the phase difference.
〈解決すべき問題点〉
船舶の運航は、方位角の伯に必要に応じてピッチ角やロ
ール角の各信号をオートパイロットに入力して船舶の輸
送の信頼性と省エネ運転を行なっている。<Problems to be Solved> When operating a ship, each signal of pitch angle and roll angle is input to the autopilot as necessary in addition to the azimuth angle, thereby ensuring reliability and energy-saving operation of the ship.
従来のＧＰＳジャイロは方位角のみを得る構成なので、
上述した輸送の信頼性と省エネ運転を行なうために別途
専用のピッチ角計測器やロール角計測器を設置する必要
がある。しかしながら、別途専用の計測器を設置したの
では装置全体の価格が非常に高価なものとなる。Conventional GPS gyros are configured to obtain only the azimuth angle, so
In order to achieve the above-mentioned transportation reliability and energy-saving operation, it is necessary to separately install dedicated pitch angle measuring instruments and roll angle measuring instruments. However, if a separate dedicated measuring instrument is installed, the cost of the entire device becomes very expensive.
〈発明の目的〉
本発明は上述した従来技術の問題に鑑みて成されたもの
であって、船舶の輸送の信頼性と省エネ運転を行なうに
必要なピッチ角やロール角の測定値を０、別に専用の計
測器を用いることなく複数のＧＰＳから得ることができ
るＧＰＳジャイロを提供することを目的とする。<Object of the Invention> The present invention has been made in view of the above-mentioned problems of the prior art. It is an object of the present invention to provide a GPS gyro that can be obtained from a plurality of GPS without using a separate dedicated measuring device.
〈発明の構成〉
上述の目的を達成するための本発明のＧＰＳジャイロは
、船舶の首尾軸上に所定の距離を置いて設置した第１及
び第２のＧＰＳと、該第１及び第２のＧＰＳに接続され
前記船舶のピッチ角と前記方位角を演算し出力するピッ
チ角・方位角演算部とを具備したこと、から成る構成と
した。<Structure of the Invention> The GPS gyro of the present invention for achieving the above-mentioned object includes first and second GPS installed at a predetermined distance on the breech axis of a ship; The present invention is configured to include a pitch angle/azimuth angle calculating section connected to a GPS and calculating and outputting the pitch angle and the azimuth angle of the ship.
〈発明の実施例〉
以下、本発明の具体的な実施例を図面を用いて詳細に説
明する。<Embodiments of the Invention> Specific embodiments of the present invention will be described in detail below with reference to the drawings.
本発明の具体的実施例を第１図乃至第３図に示す。尚、
第１図乃至第３図において第４図と重複する部分は同一
番号を付し説明は省略する。Specific embodiments of the present invention are shown in FIGS. 1 to 3. still,
In FIGS. 1 to 3, parts that overlap with those in FIG. 4 are given the same numbers, and explanations thereof will be omitted.
第１図は本発明のＧＰＳジャイロのブロック図である。FIG. 1 is a block diagram of a GPS gyro according to the present invention.
第１図において、３は船舶Ｓの速度Ｖと位置Ｐを演算し
出力する速度・位置演算部であり、この速度・位置演算
部３は第１及び第２のＧＰＳｌ 。In FIG. 1, reference numeral 3 denotes a speed/position calculation unit that calculates and outputs the speed V and position P of the ship S, and this speed/position calculation unit 3 is connected to the first and second GPS l.
２からの速度データ（Ｖ＋ 、Ｖ２ ）と位置データ（
Ｐ＋、Ｐ２）（７）平均（Ｖ＝（Ｖ＋ Ｖ２）／２゜百
＝ （ＰＩ ＋Ｐ２ ）／２＞を演算処理して船舶の速
度■と位置Ｐをめる。４は第１及び第２のＧＰＳｌ 、
２に接続され船舶Ｓのピッチ角θと方位角ψを演算し出
力するピッチ角・方位角演算部である。2 velocity data (V+, V2) and position data (
P+, P2) (7) Calculate the average (V=(V+V2)/2゜100=(PI+P2)/2> and calculate the ship's speed■ and position P.4 is the first and second GPSl,
This is a pitch angle/azimuth angle calculating section connected to 2 and calculating and outputting the pitch angle θ and azimuth angle ψ of the ship S.
第２図は船舶Ｓ上のＧＰＳの設置図である。FIG. 2 is an installation diagram of the GPS on the ship S.
第２図において、横軸をＥ（束）、Ｎ＠をＮ（北）、交
点をＤ〈鉛直下）、船舶Ｓの首尾軸を×１首尾軸Ｘに直
交する軸をＹ、ＸとＹの交点における垂直軸を７とする
。ここで、第１のＧＰＳｌの位置出力Ｐ１を（ＸＮ、Ｙ
Ｅ 、Ｚｏ ＞、第１のＧＰＳＩと距離！をもって設置
された第２のＧＰＳ２０）位置出力Ｐ２ ヲ（Ｘ２Ｎ
、 Ｙ％ 、 Ｚ”ｏ ） トする。但し、ＸＮはＡ点
の北方向距離、ＹＥはＡ点の東方向距離、ＺｏはＡ点の
鉛直方向距離、ＸｔはＢ点の北方向距離、ＹＥはＢ点の
東方向距離、Ｚ”ｏはＢ点の鉛直方向距離とする。尚、
船体軸座標、（Ｘ、Ｙ、Ｚ）でΔ点、Ｂ点を表わすと、
（Ｘ＋ 、Ｙ＋ 、Ｚ＋ ）、（Ｘ２’、Ｙ２．Ｚ２
）となる。In Figure 2, the horizontal axis is E (bundle), N@ is N (north), the intersection is D (vertical down), the suffix axis of ship S is ×1, the axis perpendicular to the suffix X is Y, and The vertical axis at the intersection of is set to 7. Here, the position output P1 of the first GPSl is (XN, Y
E, Zo >, first GPSI and distance! The second GPS 20 installed with
, Y%, Z"o). However, XN is the northward distance of point A, YE is the eastward distance of point A, Zo is the vertical distance of point A, Xt is the northward distance of point B, and YE is the distance of point A in the vertical direction. is the eastward distance of point B, and Z''o is the vertical distance of point B. still,
If the hull axis coordinates (X, Y, Z) represent point Δ and point B, then
(X+, Y+, Z+), (X2', Y2.Z2
).
第３図は本発明のＧＰＳジャイロのフローシートである
。FIG. 3 is a flow sheet of the GPS gyro of the present invention.
第１図乃至第３図を塾にピッチ角・方位角演算部４の機
能を以下に説明する。The functions of the pitch angle/azimuth angle calculating section 4 will be explained below using FIGS. 1 to 3 as a guide.
第１．第２のＧＰＳＩ 、２の受信出力に基づいてピッ
チ角・方位角演算部４で演算される距離ベクトルＭは、
１１！＝ｌｘｌｅｘ＋１ｙｌｅｙ ＋ｉ’ｚ／ｅｚ＝（
Ｘ＋ Ｘｔ）／ｅｘ＝ｌ／ｅｘ−（１）となる。但し、
／ ｅｘ 、Ｉｅ ｙ ＋ ／ ｅ ｚは船体軸座標（
Ｘ、Ｙ、Ｚ）の単位ベクトルである。ここで距離ベクト
ル１１を極地水平座標（Ｎ、Ｅ、Ｄ＞で表すと、（１）
式は、
１１＝ｌＮｌｅｘＮ＋Ｉ！Ｅｌｅｙｔ＝ ＋ｌｏ／ｅｚ
。1st. The distance vector M calculated by the pitch angle/azimuth angle calculation unit 4 based on the received output of the second GPSI, 2 is 11! =lxlex+1yley +i'z/ez=(
X+Xt)/ex=l/ex-(1). however,
/ ex , Ie y + / e z are the hull axis coordinates (
X, Y, Z) unit vector. Here, if the distance vector 11 is expressed in polar horizontal coordinates (N, E, D>, then (1)
The formula is: 11=lNlexN+I! Eleyt= +lo/ez
.
＝ （１＃ｃｏｓ ｔｐ −ｃｏｓθＨｅ Ｘ Ｎ ＋
（ｉ！−ｓｉｎψ−ＣＯＳθ’）ｌｅｙＥ＋（−／−５
ｉｎθ）ｌｅｚＤ
＝ （７Ｃｎ ｂ ）１ｅｘ Ｎ ＋ ＜ｌｃ幇ｂ ）
Ｉｅｙｔ−十（ｌｃｎ ｂ ＞ｆｅｚ 。= (1#cos tp −cosθHe X N +
(i!-sinψ-COSθ')leyE+(-/-5
inθ) lezD = (7Cn b )1ex N + <lc 幇b )
Ieyt-ten(lcn b >fez.
＝ （Ｘ’Ｎ Ｘ’Ｎ ）ｔｅｘ Ｎ ＋ （Ｙ’ｒ−
−Ｙ”Ｅ ）ｌｅｙＥ十（Ｚ’ｏ−バ）ｌＣ’ｚ ｏ
・＝ （２＞となる。但し、ｃｏｓψ−ｃｏｓθ−Ｃ？
１’ ｂ 、 ｓｉｎψ・ｃｏｓθ−ｃ ２．′ｂ、−
３＋ ｎθ＝ＣＲ’ｂ 、 ｊ’Ｃｎ’ｂ ＝ｘＷ−Ｘ
ａ、 ｌｃ慴ｂ ＝ｙ４−貧、ｌＣ％’ｂ ＝ＺＬ−Ｚ
’Ｄとする。尚、！は既知である。（２）式を基にピッ
チ角θと方位角ψは、
θ＝ −５ｉｎθ−’ Ｃｎ’ｂ ・・・（３）ψ＝ｔ
ａｎ −＋ （Ｃｎ ｂ ／Ｃｎ ｂ ） −（４）と
してめられる。ところで、この時のピッチ角誤差Δθと
方位角誤差Δψは、以下の様になる。= (X'N X'N)tex N + (Y'r-
-Y"E)leyEten(Z'o-ba)lC'zo
・= (2>. However, cosψ−cosθ−C?
1' b, sin ψ cos θ-c 2. 'b, -
3+nθ=CR'b, j'Cn'b=xW-X
a, lc b = y4-poor, lc%'b = ZL-Z
'D. still,! is known. Based on equation (2), pitch angle θ and azimuth angle ψ are as follows: θ=-5inθ−'Cn'b...(3) ψ=t
an −+ (Cn b /Cn b ) −(4). Incidentally, the pitch angle error Δθ and the azimuth angle error Δψ at this time are as follows.
ピッチ角誤差Δθ＝
（−（ΔパーΔ２名）〜Δｌ ｓｉｎ ”１） ／Ｉ！
ｃｏｓθ ・・・（５）
方位角誤差Δψ＝
［（（ΔＹＥ −ΔＹＥ ） ／ （ＸＮ−ＸＮ ）
）−（（Ｙ’ε−Ｙ’Ｅ ） ／ （Ｘ’Ｎ −Ｘ％
） ）・（（ΔＸ ’Ｎ−ΔＸ２Ｎ） ／ （Ｘ’Ｎ−
Ｘ２Ｎ＞ ） ］・ｃｏｓ ２ ψ・・・ （６）
となる。但し、〈ΔＸ！１．ΔＹＬ、ΔＺみ）、（ΔＸ
Ｎ、ΔＹＥ、ΔＺｏ）は第１．第２のＧＰＳ１ 、２
、の位置誤差、θは真のピッチ角、ψは真の方位角、Δ
！は距離！の読み取り誤差或いは設置誤差である。尚、
船舶なので真のピッチ角θは９０°以下である。Pitch angle error Δθ = (-(Δpar Δ2 people) ~ Δl sin ”1) /I!
cosθ...(5) Azimuth error Δψ= [((ΔYE −ΔYE) / (XN−XN)
)-((Y'ε-Y'E) / (X'N-X%
) )・((ΔX 'N-ΔX2N) / (X'N-
X2N> ) ]・cos 2 ψ... (6) However, <ΔX! 1. ΔYL, ΔZmi), (ΔX
N, ΔYE, ΔZo) are the first. 2nd GPS1,2
, where θ is the true pitch angle, ψ is the true azimuth angle, and Δ
! is the distance! This is the reading error or installation error. still,
Since it is a ship, the true pitch angle θ is 90° or less.
ここで、船舶Ｓの進路を北に向っているものとし、この
時の各条件をψ＝Ｏ，ＸＮ−ＸＮ＝１＝５０ｍ 、ＹＥ
−ＹＥ ＝Ｏ，θの平均値１ｏ°、Δ１＝０．１ｍ、
ΔＺｏ ＝ｏ、ｉｍ 、ΔＺｏ＝０゜１ＦＲ１ΔＹＥ＝
０．１Ｎ、Δｙ％＝−ｏ、１１１１とすると、ピッチ角
・方位角演算部４で得られるピッチ角誤差Δθと方位角
誤差Δφは、（５）。Here, assume that the course of ship S is heading north, and the conditions at this time are ψ=O, XN-XN=1=50m, YE
-YE = O, average value of θ 1o°, Δ1 = 0.1m,
ΔZo = o, im , ΔZo=0゜1FR1ΔYE=
0.1N, Δy%=-o, and 1111, the pitch angle error Δθ and the azimuth error Δφ obtained by the pitch angle/azimuth angle calculating section 4 are (5).
〈６）式からそれぞれ、Δθ〜０，２５°、Δψ〜０．
２２８°となる。従って、簡単な構成でピッチ角、方位
角が高精度に測定可能できる。From equation (6), Δθ~0,25° and Δψ~0.
It becomes 228°. Therefore, the pitch angle and azimuth angle can be measured with high accuracy with a simple configuration.
ところで、上述の実施例は、ピッチ角θ、方位角を得る
場合の構成であるが、本発明はこれに゛限定されるもの
ではない。例えば、ロール角φを必要とする場合は、第
１図乃至第３図において、破線で示す様な各機能をイ」
加すればよい。以下にこの破線部分を説明する。By the way, although the above-mentioned embodiment is a configuration for obtaining the pitch angle θ and the azimuth angle, the present invention is not limited to this. For example, if the roll angle φ is required, each function as shown by the broken line in Figures 1 to 3 is required.
Just add it. This broken line portion will be explained below.
第１図乃至第３図破線部分において、５は第２のＧＰＳ
２に直角に距離ｒをもって位置Ｃに設置された第３のＧ
ＰＳ、６はピッチ角・方位角演算部４と第３のＧＰＳに
接続されロール角φを演算し出力するロール角演算部で
ある。ここで第３のＧＰＳ５ （７）位置出力Ｐ３ を
（ＸＮ、ＹＥ 、Ｚｏ ）とし、ＸＮは０点の北方向距
離、ＹＥは０点の東方向距離、Ｚｏは０点の鉛直方向距
離とする。又、船体軸座標（Ｘ、Ｙ、Ｚ）で０点を表わ
すと、（Ｘ３ 、 Ｙ３ 、 Ｚ３ ）となる。この様
な関係にあるロール角演算部６の機能を以下に説明する
。In the broken line parts of Figures 1 to 3, 5 is the second GPS
A third G installed at position C at a distance r perpendicular to 2
PS, 6 is a roll angle calculation unit that is connected to the pitch angle/azimuth angle calculation unit 4 and the third GPS and calculates and outputs the roll angle φ. Here, let the third GPS5 (7) position output P3 be (XN, YE, Zo), where XN is the northward distance of the 0 point, YE is the eastward distance of the 0 point, and Zo is the vertical distance of the 0 point. . Also, if the 0 point is represented by the hull axis coordinates (X, Y, Z), it becomes (X3, Y3, Z3). The functions of the roll angle calculating section 6 having such a relationship will be explained below.
ピッチ角・方位角演算部４からのピッチ角θと第３のＧ
ＰＳ５の受信出力に基づいて、ロール角演算部６で演算
される距離ベクトルｒは、ｒ ＝ｒ ｘｌｅｘ＋ｒ ｙ
ｌｅｙ ＋ｒ ｚｌｅｚ＝（Ｙ３ Ｙ２）／ｅｙ＝ｒ７
ｅｙ−（７）となる。ここで距離ベクトルｒを極地水平
座標（Ｎ、Ｅ、Ｄ）で表現すると、（７）式は、ｒ°＝
ｒ Ｎ／ｅｘＮ＋ｒｉ／ｅｙＥ＋ｒｏ／ｅｚ。The pitch angle θ from the pitch angle/azimuth angle calculating section 4 and the third G
The distance vector r calculated by the roll angle calculation unit 6 based on the received output of the PS5 is r = r xlex + r y
ley +r zlez=(Y3 Y2)/ey=r7
It becomes ey-(7). Here, when the distance vector r is expressed in polar horizontal coordinates (N, E, D), equation (7) becomes r°=
r N/exN+ri/eyE+ro/ez.
＝ｒ （−ｓｉｎφ−ｃｏｓφ＋ｃｏｓψ−ｓｉｎθ０
ｓｉｎφ）７ｅｘＨ＋ｒ （ｃｏｓψ−ｃｏｓφ＋ ｓ
ｉｎψ−ｓｉｎθ−ｓｉｎφ）ＩｅｙＥ＋ｒ（ｃｏｓθ
−ｓｉｎφ＞Ｉｅ ｚ 。= r (-sinφ-cosφ+cosψ-sinθ0
sinφ)7exH+r (cosφ−cosφ+ s
inψ−sinθ−sinφ)IeyE+r(cosθ
−sinφ>Ie z.
＝ｒ （Ｃｒｌ”ｂ ）ｔｅｘ Ｎ ＋ｒ （ＯｎＦ２
ｂ ’）１ｅｙｒＥ十ｒ （Ｃｎ ｂ Ｎｅｚ 。=r (Crl”b)tex N +r (OnF2
b')1eyrEten (Cn b Nez.
＝ （Ｘ３Ｎ−、Ｘ２Ｎ＞ｔｅｘ Ｎ ＋ （Ｙ”Ｅ
−Ｙ”Ｅ ）ＩｅｙＥ十（Ｚ３ｏ−Ｚ”ｏ ）ｔｅｘ
ｏ ＝ （８）となる。但し、−ｓｉｎψ−ＣＯ８φ＋
ＣＯ８ψ−ｓｉｎθ−ｓｉｎφ＝Ｃｎｂ、ｃｏｓψ−Ｃ
ＯＳφ十ｓｉｎφ・ｓｉｎθ−ｓｉｎφ＝ ＣＦｂ 、
ｃｏｓθ−ｓｉｎφ＝Ｃｒ１３２ｂ、ｒｃｎｂ＝ＸＮ
−ＸＮ、ｒＣｎｂ −ＹＥ −ＹＥＮ’Ｃ評ｂ＝Ｚ♂り
Ｚざ、ｒは既知とする。= (X3N-, X2N>tex N + (Y”E
-Y”E ) IeyEten (Z3o-Z”o ) tex
o = (8). However, −sinψ−CO8φ+
CO8ψ-sinθ-sinφ=Cnb, cosψ-C
OSφ1 sinφ・sinθ−sinφ= CFb,
cosθ−sinφ=Cr132b, rcnb=XN
-XN, rCnb -YE -YEN'C evaluation b=Z♂Zza, r is assumed to be known.
（３）と（８）式を基にロール角φは、φ＝ｓｉｎ −
＋ （Ｃｎ ｂ ／ｃｏｓθ） −（９）としてめられ
、ロール角演算部６から出力される。ところでこの時の
ロール角誤差Δφは、Δφｊ （１／ｃｏｓθ・ＣＯＳ
φ）
・ ［（（ΔＺ亀−ΔＺ％）／／ｒ）
（（Ｚ３Ｄ ２毛＞／１
・（△ｒ／ｒ ） 十（ｓｉｎθ俸Ｓｌｎφ）・ Δθ
］ ・・・ （１０）
となる。但し、（ΔＸ惰、ΔＹＮ、△Ｚ”ｏ）は第３の
ＧＰＳ５の位置誤差、φは真のロール角、Δｒはｒの読
み取り誤差或いは設置誤差である。尚、船舶なので真の
ロール角φは９０°以下である。Based on equations (3) and (8), the roll angle φ is calculated as φ=sin −
+ (Cn b /cos θ) − (9), and is output from the roll angle calculation unit 6. By the way, the roll angle error Δφ at this time is Δφj (1/cosθ・COS
φ) ・[((ΔZ turtle - ΔZ%)//r) ((Z3D 2 hairs＞/1 ・(△r/r) 10(sinθ salary Slnφ)・Δθ
] ... (10) becomes. However, (ΔX coast, ΔYN, ΔZ"o) is the position error of the third GPS 5, φ is the true roll angle, and Δr is the reading error or installation error of r. Furthermore, since it is a ship, the true roll angle φ is less than 90°.
ここで、先に示した各条件にｒ＝７ｍ１φの平均値１０
°、Δｒ＝０．１ｍ、△Ｚ”ｏ＝０．１ｍ、Ｚ見 Ｚｏ
＝１ｍを加えると、ロール角誤差Δφは、（１０）式か
ら、Δφ’に１．ｏｏとなる。即ち、簡単な構成でピッ
チ角、方位角に加えロール角が高精度に測定可能である
。ところで、この第３のＧＰＳ５の設置位置は船首尾軸
に直角であればどこでもよい。Here, for each condition shown above, the average value of r=7m1φ is 10
°, Δr=0.1m, △Z"o=0.1m, Z viewing Zo
= 1 m, the roll angle error Δφ is calculated from equation (10) by adding 1. It becomes oo. That is, the roll angle can be measured with high accuracy in addition to the pitch angle and the azimuth angle with a simple configuration. By the way, the third GPS 5 may be installed anywhere as long as it is perpendicular to the bow and stern axis.
尚、ピッチ角・方位角演算部４及びロール角演樟部６を
例えばマイクロコンピュータで構成してもよい。Incidentally, the pitch angle/azimuth angle calculating section 4 and the roll angle calculating section 6 may be configured by, for example, a microcomputer.
く本発明の効果〉
以上、本発明を具体的な実施例と共に詳細に説明した様
に、船舶の首尾軸上に電波航法装置である第１．第２の
ＧＰＳ及び（必要の場合は）第３のＧＰＳを用いてピッ
チ角と方位角（ロール角）を演綽し出力する様したこと
を特徴とする本発明のＧＰＳジャイロは、高精度で高信
頼性を有するピッチ角、方位角（ロール角）を短時間に
めることができる。又、個々にロール角（及びピッチ角
）を測定する測定器を設ける必要がないので装置全体で
みると極めて安価な製品が提供できる。Effects of the Present Invention> As described above in detail along with specific embodiments of the present invention, there is a first radio navigation device on the tail axis of the ship. The GPS gyro of the present invention is characterized in that it uses a second GPS and (if necessary) a third GPS to calculate and output a pitch angle and an azimuth (roll angle). Highly reliable pitch and azimuth angles (roll angles) can be determined in a short time. Furthermore, since there is no need to provide a measuring device for measuring roll angles (and pitch angles) individually, an extremely inexpensive product can be provided as a whole.
第１図は本発明のＧＰＳジャイロのブロック図、第２図
は船舶Ｓ上に設置されたＧＰＳの配置図、第３図は本発
明のＧＰＳジャイロのフローシート、第４図は従来技術
のＧＰＳジャイロのブロック図である。
１・・・第１のＧＰＳ、２・・・第２のＧＰＳ、３・・
・速度・位置演算部、４・・・ピッチ角・方位角演算部
、第３図
第４図
忍Fig. 1 is a block diagram of the GPS gyro of the present invention, Fig. 2 is a layout diagram of the GPS installed on the ship S, Fig. 3 is a flow sheet of the GPS gyro of the present invention, and Fig. 4 is a GPS gyro of the prior art. It is a block diagram of a gyro. 1...first GPS, 2...second GPS, 3...
・Speed/position calculation section, 4... Pitch angle/azimuth calculation section, Figure 3 Figure 4 Shinobu
Claims (1)
１及び第２のＧＰＳと、該第１及び第２のＧＰＳに接続
され前記船舶のピッチ角と前記方位角を演算し出力する
ピッチ角・方位角演算部とを具備したことを特徴とする
ＧＰＳジ゛ヤイ口。 〈２）前記船舶の首尾軸上に直角に所定の距離を置いて
設置した第３のＧＰＳと、前記ピッチ角・方位角演算部
に接続されロール角を演算し出力するロール角演算部を
具備したことを特徴とする特許請求の範囲第１項記載の
ＧＰＳジャイロ。(1) First and second GPS installed at a predetermined distance on the tail axis of the ship, connected to the first and second GPS to calculate and output the pitch angle and the azimuth of the ship A GPS dial comprising a pitch angle/azimuth angle calculating section. (2) A third GPS installed at a predetermined distance perpendicular to the breech axis of the vessel, and a roll angle calculation unit connected to the pitch angle/azimuth angle calculation unit to calculate and output a roll angle. A GPS gyro according to claim 1, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59102001A JPS60244878A (en) | 1984-05-21 | 1984-05-21 | Gps gyro |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59102001A JPS60244878A (en) | 1984-05-21 | 1984-05-21 | Gps gyro |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60244878A true JPS60244878A (en) | 1985-12-04 |
Family
ID=14315558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59102001A Pending JPS60244878A (en) | 1984-05-21 | 1984-05-21 | Gps gyro |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60244878A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62185183A (en) * | 1986-02-10 | 1987-08-13 | Japan Radio Co Ltd | Apparatus for measuring bearing and speed |
| JPS6329278A (en) * | 1986-07-23 | 1988-02-06 | Furuno Electric Co Ltd | Detecting device for ship body motion |
| JPS6329279A (en) * | 1986-07-23 | 1988-02-06 | Furuno Electric Co Ltd | Measuring instrument for bow azimuth |
| JPH01312484A (en) * | 1988-04-07 | 1989-12-18 | Trimble Navigation Ltd | Gps satellite receiver |
| JPH0990015A (en) * | 1992-04-18 | 1997-04-04 | Koden Electron Co Ltd | Gps navigation device |
| JPH09211100A (en) * | 1996-01-30 | 1997-08-15 | Japan Radio Co Ltd | Gps navigation equipment |
| US20190249906A1 (en) * | 2018-02-14 | 2019-08-15 | Chien-Hsing Wu | Solar tracking system and solar tracking method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS592870A (en) * | 1982-06-29 | 1984-01-09 | Shinko Electric Co Ltd | Printer |
-
1984
- 1984-05-21 JP JP59102001A patent/JPS60244878A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS592870A (en) * | 1982-06-29 | 1984-01-09 | Shinko Electric Co Ltd | Printer |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62185183A (en) * | 1986-02-10 | 1987-08-13 | Japan Radio Co Ltd | Apparatus for measuring bearing and speed |
| JPS6329278A (en) * | 1986-07-23 | 1988-02-06 | Furuno Electric Co Ltd | Detecting device for ship body motion |
| JPS6329279A (en) * | 1986-07-23 | 1988-02-06 | Furuno Electric Co Ltd | Measuring instrument for bow azimuth |
| JPH01312484A (en) * | 1988-04-07 | 1989-12-18 | Trimble Navigation Ltd | Gps satellite receiver |
| JPH07111457B2 (en) * | 1988-04-07 | 1995-11-29 | トリムブル ナビゲーション，リミテッド | Heading determination device |
| JPH0990015A (en) * | 1992-04-18 | 1997-04-04 | Koden Electron Co Ltd | Gps navigation device |
| JPH09211100A (en) * | 1996-01-30 | 1997-08-15 | Japan Radio Co Ltd | Gps navigation equipment |
| US20190249906A1 (en) * | 2018-02-14 | 2019-08-15 | Chien-Hsing Wu | Solar tracking system and solar tracking method |
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