JPS6049217A - Inertial navigation system based upon earth axis reference and north indicating reference - Google Patents

Abstract

PURPOSE:To realize inertial navigation with simple constitution which does not require any gyro for stabilizing a platform by regarding a true level surface as a horizontal reference, and using an earth axis reference and a north indicating reference. CONSTITUTION:A gimbals ring 9 is supported rotatably by a servomotor 7 and a bearing 8 provided to two support stands 6 and 6' on a base 5, and the platform (PF) 12 is supported rotatably by a servomotor 10 and a bearing 12 provided to the gimbals ring 9. A PF shaft ZP is projected from the surface of PF12. The servomotors 7 and 10 are so controlled that the outputs of accelerometer 14 and 15 for control provided on the rotating shaft of PF12 are 0 all the time, holding the surface of PF12 in level. In this state, the output of an accelerometer 13 for measurement is a specific thrust vector. The earth axis reference 16 and north indicating reference 17 are provided onto the base 5 as an inertial reference ZE and a south north axis Yn respectively. Therefore, the inertial navigation is realized with simple constitution without using any gyro to stabilize PE12.

Description

[Detailed description of the invention]

This invention uses a fresh horizontal plane as a horizontal reference, and further uses two sky-opening bases (tt, an earth axis reference and a pointing north reference) to perform inertial navigation near the earth's surface. This is about the form of the law.[
The definition of the fresh horizontal plane 1 will be described later.・lj'i ・l is one of the navigation devices for ships and airfares.
The L-method device does not require any exchange of information with the outside world other than manually inputting the latitude and longitude of the location of the moving object on which the device is mounted and the speed of the moving object when it is first used. Moreover, the output of the device is not limited to the position (latitude and longitude), but depends on the historical degree and attitude angle (roll, pitch, force position) of the moving object. There are radio navigation devices based on radar, rola/, and mechanical equipment on these scales, navigation devices 6 on stars 8-r, j?i, and speedometers and magnetic or noyilov/paths. (I1
I have a measuring device that is not found in L-method devices. On the other hand, in order to maintain accuracy, the JJi navigation system
I l: '+1 accuracy] A smart Iroshub and an accelerometer are required, and the device configuration is multiple 2'IL, so there are 9 mountains that can be made into one piece with a quotient of 1. In addition, the gyro, which is the core component, is always equipped with one trifle, even if it is a high-quality one, so the appearance of Plano 1 Home changes over time.
1'1 degrees or below the bottom and 1j, 1'1-movement -' There are 111 points of ``use''.
The movement that moves near the Earth's surface is most commonly applied to the Earth's surface. lli dodo 1i
11, and its output is λ・] Earth's time conversion (' is extracted and integrated. Thus, the coupling of moving objects and the movement M1■ Chang 11 is expressed by the horn formula. Yes, this is B7
In other words, it is equivalent to writing the 1- set of force equations I'l, which expresses the interlocking with the appropriate initial condition f+. Regardless of whether it is linked or not, Plano 1 Home is always referred to as Piko'k'pL.
The geography of the point ``i'' is parallel to the horizontal plane and also on Plano 1.
H-No on the mu surface. (Se((It is necessary that the line points to geographical north.The physical content of the second operation is the white turn of the ball.
, -i=i n-ru complement and nouranayuninku and 1
11' There is a correct answer to the movement that is revealed, 1
The idea is to receive the correct signal from the gyro or self-sleeves from the multiple (3) characters on the platform. The latter is done by depicting the platform as a rotating oscillating system with a neural circumference of 1 x 84 minutes, and the gyro also consists of a plurality of gyros on the platform. The platform is rotated in response to the supplement No. 1.7 derived from the output of the acceleration 1i1 of 2:X'. These two types of correction signals are obtained by multiplying by 1 and 1 by 1 and 1 by 1 (torque kink of Blanc 1 and 11 by the gyro). Hereinafter, this will be referred to as the normal method of inertial navigation. This invention is based on the Geography 7 Water/T plane, which is a geometrical concept related to the shape of the earth, as described in 1. ``More power''
``True horizontal plane'' or 1 free surface''
(For these two, ii?j are synonymous. Definition 5.
IJ, ii. ) is the horizontal base i (1,
Furthermore, two Y and the direction of the earth 1' mouth j axis-
9 eruchi @II dry ((.(・jf'i・Ml1(H(
+-) and the north-south axis direction of the location.
By using (Jl/utility group; t+: )-, 1-iro is not required for the set of [1゛1-sexuality-L method] for the safety of the platform). Therefore, the structure is -IJ
(There is a possibility that it will happen)
It is intended to provide one pair of one set. First, I will explain the two concepts, 1 geographical water surface 1 and pure water surface 1, and clarify the closeness of both names. Earth's surface i + Ii l is the mountain l
I wonder if there are irregularities such as 16. This irregularity 1 (1j) is almost 1 (visible 4
It is 1° degree. . For example, there is a 10,000 I11 class ocean trench, and the area where the coalescence occurs is Earth 1/
+ diameter ('-T:] 27 (J (,) kllll) is not even 11% of 0.1%, so in the field of navigation around the sphere, the first near 1F no. Assuming that the earth has a symmetrical shape around its 1-1j axis, and that it is a standing tree with uniform mass distribution, we can derive the L-law near its surface. The virtual solid considered here is called the Earth 4fj Yenmoto, but in the following, when we simply refer to the earth as b), we will refer to this solid. Now, a geographical horizontal plane is defined as a plane that touches two ellipsoids at any point on the earth's surface. When an animal body exists at this point, it becomes the tangential plane just defined or the geographical water that follows this object. However, objects do not necessarily exist exactly on the surface of the Earth; they can be located close to the surface of the Earth, such as an aircraft rock or a submarine, depending on the altitude and depth. In this case, the vicinity of the surface is defined as follows. Let P be the point of existence of the object, and let 3S be the closest point on the earth's ellipse I + surface - 1°. point)] Jf at r2! Let the minimum value of the radius of curvature of a circle be ρ2. The difference between I″filゝ, P・, and the fact that it exists near the surface of 4.2 is 1).
The foot of the perpendicular line drawn from Naimaenmoto becomes PS. Point 1 range, from, 1. Let h be the distance measured towards ', % i-', and 111 opposite to the center of the earth with respect to 1' or I's.
For a place in 11, 11)() is interpreted as the altitude of the object, 1) or ground'', J (if it is on the same side as the center, 11<()
Let 15'1 be the depth of the object. PP5-lh
It is l. In the following, 11 will be referred to as 11 altitude.Of course, 11<(l) is also included.The first part of the present invention is 11-1 or earth radius t. This is applied to interlocking where i is sufficiently small. Now, if the interlocking object P exists near the earth's surface, the tangent drawn to the elliptic tree at ]゛, 1.1' The plane is defined in this book as a geographical "Y-shaped horizontal plane.The direction of 1-north in the geographical horizontal plane is defined as this 1'-plane and the motion The direction of the earth's axis is the line of intersection between the object P and the earth's axis (geographical horizontal plane), which includes the earth's axis (earth's broad axis). Please note that this is the definition of north in the Northern Hemisphere, and south is defined in a similar manner in the Southern Hemisphere. . Next, (゛fresh water゛1'-face-1 or l l'l I
l1 table t11i Describe the meaning of l' and bi1) In 1j, the square 1 consisting of the output of the accelerometer is changed to a, and it is simply 1.
Ji has the first theory. −) Interlocking ')': ; Open, [In other words, the space 447-1 that was turned around by the moving object,
σ,)°1, Q or 11"+-1'l empty opening and J,"I-no addition and depletion to 8. Now, at this point Q, l1. Mountain, 4-ru, convex 1 white 23 points] (X, Y, Z
), place the accelerometer at this point 0 ; and turn its sensitive axis in each axis direction i, the output will be aX = Cox Ay, , a = C; v - A)
, IIL: Gz Az. Here, G, +C
;Y+(・2 is the Earth's /i!: The acceleration of universal gravitation based on the question is decomposed in the coordinate system (X, 'l', Z), A
x, ＼1°Az are similar components of vector A). The set of these three scalars is written as the vector expression Φ, =
&-A... (1) to 1:). A<(,! is one meaning, so the side, is, l
, A and Mr. 1 form one vector field. At present, the vector α has the term 5 specific force in English, or there is no suitable translation in Japanese. Since it is too difficult to call this 1 acceleration J1° output vector -1, in the following we will temporarily call it 1 ratio H1 vector -1 and 117'52. This is due to the following reason. Transforming the formula (]), we get A)-&1-(-bi), which is 1 mamono 1 I on the left side.
The right side represents all the forces acting on the i1 ridge, and the right side represents it as the universal gravitation force G and the other IJ C-, ku) i Niga 1+
It's a group. By the way, it's purely horn ``Y-like reality''
There are only two types of power that relate to it\,--1] is b-4
It is well known that ``attraction'' is a force exerted by two objects such as pressure, tension, and repulsive force when they come into contact with each other.
Ii heaven. The latter force is said to be the contact force, the restraining force, and the "I1 force." J, a is called 1 Kabek 1 le (sun). From the above explanation, the acceleration, il, is the real σ
Door 11.117 It is also understood that this is a form that is a redundant version of Phase 3 of the restraining force acting on the mass. defined. There is a definition of ``Shishui・1'-Jirau-tsu'', which is ``a plane that is flat to the surface of the textbook in a container, t, l-+'', and for 2, it is called freshwater b-plane-j. is. These two definitions are internally constant f′;・1. This is because in the textbook, there is no component of the power on the surface of the surface of the book. Next, there are two horizontal planes, the geographical "r-curved horizontal plane and the fresh water "I'.
The relationship with +fii is discussed in Section III. , Figure 1 shows Earth 1. The figure shows a cross section taken along the calf plane that includes the earth's axis Z[: and the moving object P. If we draw a perpendicular line El from [] and draw a tangent surface 1 to E at its foot Ps, this is a geographical horizontal plane that follows 1) by 1=1. Extension of line segment PPS (perpendicular to plane), geographical plumb line II at point Ps) 2
The angle λ between the power bow and the equatorial plane 3 is the geographical latitude of point 1). If we assume that the radial vector drawn from the center (other center) OE to I to P is , then the gravitational force vector will generally go in the general direction of J. In other words, the leaf extension passes through oE. If the moving object T' is stationary with respect to the earth E, then
In January, cardiac acceleration A-fx (ΩXIR) toward the earth's axis ZE
It's working. 9 is the angular velocity vector of the earth's rotation. Putting this into equation (1), the acceleration in this case +
The specific impulse vector, which is the il output, is a=--wa x ((7xlflQ) No. 5 ・(2). The rightmost side 3 defines the gravitational acceleration vector o of the earthling in1 near a)2. That is, an acceleration meter that is stationary relative to the earth measures the component of a small force. In FIG. 1, the vector is drawn oddly, and as shown, its direction does not coincide with the direction of the vertical line 2 by l:1, strictly n'. This is due to the fact that the actual Earth is not a rotating 111 yen, and its mass distribution is not uniform.
The angle between the vertical line 2 and the flat line 9 is called the deviation of the vertical line. However, there is a small magnitude in lead (the directional discrepancy between Tt lines 2 and 9 is polar V), and its average value over the entire earth's surface is several Se C (S (' (in angular seconds) Therefore, in the following description, we will use the normal method of inertia 9'L method to ignore this bias, as there are 27 letters (i) and 10, and are always coincident.In that case, the geographical horizontal plane 1 and the gravitational vector are Perpendicular to the spirit 1 - 1, exchange, l is the object P to the earth) J
(2) The geographical horizontal plane and the true horizontal plane are the same. If the interlocking object P is heavy with respect to the earth +=, and the chair A≠Ωkari (7x suction), then ゛, Expressions (1 and (2)
) and 1-) are Gz tongues, and of course these inner waters ゛1'・
The mask disappears in the first year of junior high school. This situation can be seen in Figure 1.
The specific impulse vector of 5 is drawn as 6, the fresh horizontal plane that passes through P and is perpendicular to the other plane as 4, and the plane that passes through P and is parallel to the geographical horizontal plane 1 as 1'. In addition, the deviation of the vertical line mentioned above and the actual gravity vector%
The difference in the size g from the standard value (a value calculated assuming the earth is a spheroid with uniform density) is also called a gravity anomaly, but in most cases in the normal inertial navigation method, gravity is Anomalies are ignored and corrections are made only when extremely accurate navigation is required. However, in order to do so, it is necessary that the actual gravity distribution at the location where the inertial navigation device is located is 1"11. Even in this method of inertial navigation, correction for gravity anomalies is as follows as in the normal method. I will ignore this for the time being. The following description is related to the subject matter of the present invention. As mentioned above, in order to achieve the object of the present invention, it is first necessary to realize a true horizontal plane or a free surface. Although it is necessary,
There are basically two ways to do this, depending on the definition of this plane: using an accelerometer and using the free surface of the liquid. Below, two types of methods, one based on the first method and the second method, will be briefly explained. Figure i2 is a schematic drawing of an example of a structure using an accelerometer. First, the device is placed on a rigid plate-like structure called the base 5. Two support stands 6, 6' are fixed facing each other on the base 5, and one support stand 6'' has an outer servo motor 7 and an outer bearing 8 of the gravity support stand 6'-F.
The cymbal ring 9 is rotatably supported by. An inner servo motor is installed inside the non-pulsating ring 9 along a direction perpendicular to a line connecting the outer servo motor 7 and the outer bearing 8.]
0 and an inner bearing 11 are attached, both of which rotatably support the plant home 12 of the apparatus. The plant platform 12 is a disk-shaped object, and a plano home axis ZI] extends from the center of the plant platform directly onto the plant platform surface. An accelerometer 13 for measurement having a sensitive axis in a direction parallel to the axis Zp is provided. The direction of the sensitive axis of this accelerometer 13 is represented by a line segment with arrows at both ends. Furthermore, two control accelerometers 14, 15 are fixed on the platform 12 so that their sensing axes are parallel to the platform surface and perpendicular to each other. The sensitive axis of the control accelerometer 14 is perpendicular to the line connecting the inner servo motor 10 and the inner bearing 11, and the sensitive axis of the control accelerometer 14 is
The sensing axis 5 is perpendicular to the line connecting the outer servo motor 7 and the outer bearing 8. Since the supplement around the plant home is like this, the rotation of the inner servo motor 10 is controlled by the output of the accelerometer 14, so that the output of this accelerometer is always O, as shown by the dashed line with an arrow in the figure. and at the same time accelerometer 1
If the output of 5 is used to control the rotation of the outer servo motor so that the output of this accelerometer is always O, then
It is clear that the component of the specific impulse vector a does not exist within the plane of the plant home 12, and this plane is perpendicular to a and therefore becomes a true horizontal plane. That is, the above-described structure and operation thereof achieve the intended purpose. In this state, if the output of the measurement accelerometer 13 is written as a7, the following holds true: 1a1-18-1 (3). In Figure 2, the base 5 on which the Plant Bohm 12 and other equipment (16 and 17, which will be described later) is connected to the moving object by a non-hull and vibration isolation mechanism (not shown). This is done to prevent rotational motion and short-period linear motion (vibration) of objects from being transmitted to the Plano i/Home as much as possible, and to ensure that only translational motion, which the inertial navigation system should process, acts on the Plano i/Home. This is to ensure that. Moreover, such a structure also reduces the torque load applied to the two servo motors 7.1o. Next, an example of a structure that utilizes the free surface of a liquid is schematically depicted in FIG. However, only the area around Plantbohm is depicted. FIG. 3 (,) is a side view, in which the periphery of the cylindrical container 19 containing the liquid 18 partially is supported by the non-hull Jfi 20, the cymbal ring 2o is further supported by the non-hull 21, and the bottom ff1S22 of the non-pal 21 is attached to the base. (base) 5. FIG. 3 (1) is a longitudinal sectional view showing the inside of the container 19. Inside the container rlV, H is the part
The surface of the surface of the surface of the surface of the surface of the surface of the surface of the surface of the surface 18 is adjusted so that a free surface, i.e., a true horizontal surface 1, can be formed. The space 2r3 at the end of the liquid pressure 18 may be filled with saturated vapor of the liquid 18, or may be filled with a different type of active (body or liquid pressure) light. This shows a state in which acceleration from left to right is acting together with gravity, so the free surface 4
is tilted to the axis of container]9. At the top of the free surface 1 there is a platform 12, and on the plano 1 platform there is a platform 1f1. The measuring acceleration 1j11; The outer servo motor 7 and the outer bearing 8 protrude from the container wall to support the gimbal ring 9, and the gimbal ring 3 is connected to the inner servo motor 10 and the inner The point that the bearing 11 comes out and supports the plant platform 12 is similar to the corresponding structure in FIG. As shown in the figure, the four Vl! is the force - motor 10 and bearing 1
As shown in "The line connecting 1 and 1", it is pasted in the J-like manner. Are there more than one row of these sensors 18-21? ``It must be a non-contact type sensor like the edge of the skin.'' In Figure 3 (b), the action of these distance sensing forces is represented by broken lines and line segments.The number of distance sensors is 1. Now, drive the outer servo motor 7 so that the outputs of sensors 25 and 27 are always equal, and at the same time drive the inner servo motor 10 so that the outputs of sensors 24 and 26 are always equal. If it is driven, the surface of Plano 1 Home 12 is liquid 1) 8
It is clear that the free surface of 1 always becomes flat 11. In other words, the true horizontal plane is materialized as a plano 1 home by each operation described in L. 1. As an example of a modification of the structure shown in FIG. 3, a plant home as shown in FIG. 11 can be constructed. 11. One or two pieces of water'('jJ:;/'
28 connects the sensing axis (the direction in which the bubble 30 moves) or the inner servo motor 10 and the inner bearing 11.
The sensor 29 is fixedly installed on the surface of the plant homecoder 2 so that it is parallel to the line and its sensing axis is parallel to the line connecting the outer servo motor 7 and the outer bearing 8. Note that 9 is a gimbal ring and 19 is a container. In this case, the bubble 30 of the spirit level 28 is always the regular one.
If we drive the outer servo motor f so that it is at the center (center), and at the same time drive the inner servo motor 1 so that the bubble 31 of the spirit level 29 is always at the normal position (center), then the surface is true. It becomes flat on the horizontal plane. Alternatively, as an even simpler structure, instead of the two levels 28 and 29, only one circular water level (two-axis level) (2) shown in the figure can be used. 3: (Or control the rotation of the two → Norvo motors 7 and 10 so that the bubbles are always in the center of the circle is the plano 1 hole, which is fresh water. The water i (1, depending on the device) J method shown in Figure 4 has the advantage of having the simplest structure, but it also measures the displacement of the bubble with high precision (for example, optically) and uses a servo motor to measure the displacement of the bubble. It is thought that the process of converting 7.10- into the control belief-- requires some ingenuity. This concludes the description of the three types of means for realizing a true horizontal plane in the heather method. Since there are several older moldings and embellishments in the construction of the monolithic navigation system, we will explain them again by referring to Figure 2.However, the following description is based on Figure 3 and Figure 1. The same applies to the structure.In Figure 2, plant home 1
2 and >1:, base 5 Jul 16 placed here is the earth axis reference, ]7 is the pointing north reference. The earth's axis reference 16 is attached to the device and is always aligned with the earth's rotation axis ZE.
It gives the direction. The axis of rotation χε is the revolution of the earth around the sun jl ((If you look at it - and the time of use of the Intellectual Navigation S! device is not long enough to cause a problem of the revolution of the earth? Since it is 11+', it does not change direction with tJL in the ecstatic space, so Z5 is inertial cultivation 4 (
It is. Therefore, the earth's axis]+! /l', l (even if i does not always overlap the axis χ5, the initial interlocking = 0(t
It is sufficient that ZE is set at the time (time) and thereafter held in the device as shown in 16. Shikoku J, (i(1,]'7
Is it a device? 1 month and always north-south axis - “II) j direction
I can talk. Unlike the earth's axis Z1, the north-south axis) '11 is 1nn according to the rotation of the earth and the movement of a single object.
It is always between the sexes; this is the standard of ruthlessness that changes direction. The specific shape of the earth's axis shi'ii<(16 and the north, J, j; 7ij l 7 is the ``-mentioned (if ``asana'' can be achieved with high precision, any type of sword can be used. There is no current technology in this field

[1, 4 can be obtained by using a very low drift rate of 1'117's four-mouthed rotor spin, which sets the earth's axial gradient by a high-precision gyro fungus. 'l' This is a method of indicating Il. Noyai U Funbas's indicator Hokusen does not truffle 1 between 11 and 7, but it is affected by the movement of the mounted object due to the mass imbalance of the sensing part. There are deficiencies that cause various errors (velocity errors, acceleration errors, etc.).Therefore, among these errors, those that can be corrected should be corrected as much as possible.
It is preferable to use it as a reference point. Is it becoming a shadow of exercise these days? As the racer gyro humbus that does not receive fangs is approaching the practical level, we recommend this type of equipment), (
4' is obtained from the fact that F history J eyes as illi. 111) Jairus and the Plane [Kohu/Ba people are respectively based on the earth's axis and the north direction 7-, I ~ 1. −f+ as
! II This 4-Ki-Enjoyment.] It is a different type of thing that can achieve the goal with just one degree of improvement;
(Of course, there is no problem with the equipment based on the C-Aro1,
In addition, it is not shown in 1, or the angle measurement (substitution and 2E+ monitor (scale f + 'shi) is 112 minus 1, the angle measurement (11 of Ill is: "l;' .Angle γ between 1 platform Z1+ and the earth's axis ZE on the earth's axis reference 1, and the same axis Z1+ and the reference north 1), 'f':
l 7 )'L・Ueru north-south axis)'I】opening angle α
1, - the cosine of their angle εF 00s a and β
E CO3α, i-mouth, equipment σ room 1? -downside')
There are two. Angle α. To make a redundant measurement, the axis of
nσ) interlocking must be observed in the same space, but the common space for this purpose is, for example, fixed to the base 5 (one angle can be used for the system) garden α, χ
Measuring is just a geometry ``'''7 operation 1'1. However, the y11 of technology J-1 is struggling, ノ4 trace 'I'
1. ：':'＋゛enter ljlfunction). Symbol monitor (The substitute structure 11 includes both the Platobohm axis Zp and the north-south axis Yn.
, , l to set the code monitor axis X+n to move. This axis xI11 does not necessarily have to be configured as a physical sleeve, and may just exist. An example of the configuration method will be explained as follows. Since the axis Z11 and the axis Yn are given as real axes, within the system of the orthogonal seat 4f fixed to the base 5, by calculation, the units Betar/A7° and j along these axes are calculated. , it is possible to set up an equation for l. Similarly, by calculation, the vector product jnxthβ is calculated using X+n1. is set. In Figures 5 and 2, the Earth's axis reference 16 and the guide north JII quasi 1'i
are placed on the base h, as well as the bra/to home 12, or, if the defeat of the angle measurement and sign monitors described above can be followed, they are not necessarily located on the base h, but on the pond. But I don't support it. In addition, the equipment required to construct the inertia 1Mi method device using this method is a calculation unit 2 and an altitude a1, which perform various necessary calculations in real time at high speed. The altimeter is the acceleration i
Rather than wishing to increase the output of il by 411 minutes, non-inertial types such as those that utilize changes in atmospheric IC or water 14' or those that are based on the lz' sampler effect must be used at an altitude of 81. The output, ζ, is required not only for the high-speed vessel 11 but also for its time rate of change 11.4 This concludes the explanation of the structure of the 1-axis part of the inertial navigation system according to this method, and then the main type Before we move on to the description of the theory of law. Inertial navigation, which is applied to movements near the Earth's surface, uses the navigation constellation 4. ? As the 7 system, a geographical coordinate system is normally adopted, and the IS of the present invention also follows this example. Specifically, fi
In the f5 diagram, draw a perpendicular line from the point P, where a moving object exists, to the Earthling +Iii, and make its foot PS, and set the point Ps to I1. +X n-axis,
Taking the +Yn axis to the north, the lead 1f-1, and the -1-1n axis to the force, this right-handed orthostatic coordinate system (X n Yu In) is a geographical coordinate system that follows f:J to the moving object P. This is abbreviated as ■ system. It has already been mentioned that the distance 41F measured from Ps to l-' is the altitude or depth 11. However, if the thing at the 1' point is 1 hydraulic power 'tt, which exists outside the earth's surface (r), it is severe as h〉 (), and J () exists inside the earth's surface, such as hydration. In the case, 11〈0 is interpreted as a degree 1-
Ru,. The theory of this method is that there are 11 change ranges, so it is not very popular.
The magnitude 8 of the gravity vector along the lead at axis Zn and the change in its direction apply for small movements. Next platform tilt movement and platform
The definition of the coordinate system will be explained. As already mentioned, - or an object is at rest with λ J to the earth and A2ΩX
(If the acceleration of (1! Px((7xF
In the case of 2), the match between Sansui and Domen is broken. This discrepancy can be considered to be the result of the platform tilt interlock as described below. In other words, the platform plane that was parallel to the geographical horizontal plane at the time of A-Ωx((7xlR) is A\≠5IXBP
When xR), the fresh water is tilted by a certain angle around a certain axis in the geographical horizontal plane, and the fresh water becomes -+1 ('- line). It is a geometric concept to explain the ``plano home'', not a kinematic or force concept to explain the process of motion of the plano home. seaweed,
The interlocking in this case is the 1+7-E system (the control acceleration l in Figure 2).
It and → Kuho motor set, the distance in Fig. 3 → J and Surho motor All, 1st and 1 level and → Noho motor set) ・V111 Hi, A, Brat home - Ho system t depends on the change in the interlocking state.
1. Only B2fi that moves the surface of Plano 1 platform to specific impulse Beta 1 05 (L) without delay and 1111j is required. Is it possible to simultaneously change the true horizontal plane 1nj, which is the same as the geographical horizontal plane determined at HE location P, and give the +4 angular relationship between the phases of this mountain and water half? It is a slope linkage. The fiSG diagram is the first to explain this concept. Draw the geographic coordinate system 11 (Xl+, 'I fan, Zn) and bend the geography ''h/1i 1 (・1'-The Xll'l'11
) is represented by a circle on the wavy line, and fresh water 'l'++1i 4 is represented by an ellipse on the caustic line. Plane・1 111 Father Gras/1
Home axis/

The direction of the IF of [) is to, = rabbit x (to pxR
) when it is vertical, facing three directions, I negative - + - + deviation is 10/1
1, which is defined as the same direction as the 1st axis, is r
Therefore, in this Figure 1, the earth's axis Z9, angle α, a, sign monitor axis X fn, etc. are filled in. Plane 1 during tilting movement
Let Yp be the axis of rotation of , which is located at an angle φ measured from the north-south axis Yn. Also, let the angle of inclination be θ. Results of analysis - 1) 0≦θkuπ/2 (: also. a': is the component of the specific impulse vector a in the ■ system. 0 for angle θ
We have imposed a restriction of ≦θ π/2, which means that upon movement Bra/1:1, -mu12 (therefore fresh horizontal plane 4) is geographical water l'll+il or l')! I hope you don't fall in love with J O'I! : so that the axis of
Take brat vo j, brat vo to J-! , define the coordinate system +1 (Xl+, 'l'1llZ1.l). 1) Among the axes of the system, Zp is the axis with one ceiling fixed at the 1f1-angle on the surface of the platform, ]2, but the two axes of the pond )'1) and Xl) are expressed by the formula (・l), <5), the interlocking state -2 makes the platform] 1+7 moment by moment on the surface of 2:? It changes i. From II system, the matrix of the system/\'s and il:i-conversion is M7
+, this is the −shell Euler angle transformation (φ, θ, ψ
), the third time + ore ψ is (), so -(0). Among these, the 31-1 second column element -, 11
1φ・, 111θ or measurement) and 1β(""CO5α,
α is 2 axes Z 11 + )' n-open angle 1 ship), and β = S group φS group θ (7) 1] System is II system, \ transformation matrix j\'I11 is 1' matrix Expression (6) is 1kiFjL "CO3φCO-,>θ -5inφ..8φ3.1
．． θ]Mn = sinφCOSθ CO3φ βS:
llθ Ocosθ (8). The specific impulse vector 0 is Q, (0, (1,
The component is displayed as a': ), and the above matrix hi
When n is applied, the representation in system 11 is (lj (n')
+a'u'', ) is a:jl, and the result is a';
la, -cosθa, -·-(9) This second equation %() is an equation that naturally holds true considering the meaning of β. . When the relationships of equations (3), (4), and (5) are applied to the first and third equations of (9), the following is obtained. These are identities for a'':, a''2 and generally indicate that a'x < 0. Furthermore, the earth axis coordinate system IE (X,
H, Y,, Z,) are alternately layered 5, this 1'' 7th LWI
Please refer to jjjjj 1.
Turn the thread 11 times (π/2-λ) around the 11 axis and get 21:jI. According to this definition,
Therefore, there is only one river on the earth's axis, and there is only one river in the earth's axis.
This is the axis that has been standardized. Y, is flat 1 in the equatorial plane 3. 1 from jI system. 1 conversion matrinski of thread/\ is,
J for a simple 4 festival - fl 2) 1) Conversion from system to 11 system) IJ Kus is the formula (February 1
1) The transformation matrix of the system -\ is obtained by the operation of h - h4';: M...
1:() becomes. The element βcosλ0 in the third row and third column. . Sθsinλ is the brathome axis Z1
1, the earth's axis Z, and the cosine ε of the angle γ, which is known as a measured quantity in this device. ε=βcoSλ+cosθsinλ 30−14) From this, sinλ Substitute this into the third equation of (9) to obtain. The basic equations for inertial navigation using the normal north-pointing local horizontal system are the following two vector equations. One is the expression for ground speed 7: 'Vr Erle = 祇b++ (JJXR...
(+7). Here, the hook e is the time derivative of the radial vector R with respect to the earth position J'::',,v,C.
] This is the very definition of ground speed. E11+ is the time differentiation of k in the n system, and ω is the sum tJ for the 11 system (・system
It is a "horn" earth degree. Another basic formula is the one that expresses the time and rate of change in the 11th system of ■.
It is 吋(). When the above two equations are decomposed into components using the 11th system, we get the following. Equation (17) is expressed as the percent expression %(19) (19) (19) where R=llR1, and ° represents differentiation with respect to time l within the oral system. Also, σε5 Icosλ ・ (2(la)σ73 λ ・
−(2(11+) R,= (1+2 c sin′: λ)R:; −(
21a) R, Mi (+-2ccos2λ)R:; -(
21b), where ρ is the longitude. C is the number of runs related to the shape of the earth, and in the cross section taken by the r'l-plane of the J-spherized circular tree drawn in Figure 1, the equatorial radius is d, and the polar radius is 4-
When a''l〕2ab I C3□ g -1□ ... (22) There is a dimensionless danger of the magnitude.c The approximation to 庳(l) means that the Earth is considered to be a perfect sphere. This corresponds.Rs is the distance between the other center OE shown in Fig. 5 and the foot Ps of the perpendicular line drawn from the point 1) to the earth (Rs>0).Equation (18
) component display is Vx = -a6 + (2Ωsin^1σE Lu1l
λ)\“)-(2ΩeO3λ10(7E)\iz-(
23a) gu)'""a" -σ, I V7.-(2
ΩS mouth 1 person + σE tanλ)Vx −(23b)V
2 = a'n ±(2Ωcos λ 10E) ~“
\10σ14 v~ -bi...(n; (C) formula (23
Do a) to (23c) have different symbols and coordinate systems?
VIC:/ITILINSYSTEIzuS J, McG
rau+-IIi 11 companies 1536/1 ()9 published in 1 year
It is the same as the formula (6-30) described on the page, and the formulas (5a) to (5c) are also equivalent to the formula (6-32). In the normal method of intellectual navigation, the connected force equations (23a) and (23b) related to \゛\, \゛-1 are reduced to 41 in Tenjin and solved after appropriate initial conditions. edge,
Formula (1'Ja) - (] !lc) \: z q,;
- to +! l"='J" is used.The human power (measurement value) to the system in this normal method is the east-west direction accelerometer output, +>, and the north-south J direction acceleration output d". Even in this J-type 1r1 navigation on a fresh horizontal plane, formulas (23a) and (231+)
However, unlike in the case of the rig method, the output d of the accelerometer 13 of
C, the cosine ε of the angle between the axis Z1+ and the earth's axis 45, and the cosine β of the angle between the axis Z1+ and the north-south axis 711, so it is not possible to use the ``bipod 2 equation as is'', and it is not appropriate. must be transformed into a shape. 0) gives it the desired shape. a″; becomes as follows. From equation (3), II2 ± 1)” (a’;)” −・(24), which is determined by equations (10) and (16). In addition, in the second equation, λ → 0 (the moving object is at the equator f, 1
From equation (14), 11→±
,,1-(β" + cos" θ)a wa, and a
:=(It can be seen that it becomes 1 only when β" + cos" θ=1 holds. This last equation is expressed as equation (7), (
From the third equation (10) and (9), it is equivalent to (a')' + (a)2-(d-)2, and ;F and u';=0. Expression (25) is changed to expression (23a), expression (]0
) into equation (231J) to obtain the following system of simultaneous differential equations as the basic equations for inertial navigation according to this method. ±(2ΩS11]λ+σ3 tanλ) V h−(2
Ωcosλ0σ5)\'Z ・(2f'1a)(", Ni - βawa -σ9 \Z -(2Ω5jl1 person +σ
[:janλ)\X -...(261+)\'l is the formula (
19c), or one of them exists. As the li+- factor of the change between n and +r of R=ltf21,
- Power Hako 31! T! Is it something similar? The first is -111, Ji 1 line, and the movement along a certain earth surface [(
(Continued) This leads to a change in the smell of Bunko, and it is inevitable that the M''slunar navigation device ll will be used as a processing unit. This is a unidirectional vibration that is not suitable for a unidirectional navigation system.Figure 2 (and Figures 3 and 1) The main role of the anti-vibration member J that supports the base 5 mentioned in connection with the above is to prevent this type of vertical movement from reaching the bottom of the base 1. (Assume that the action of shallow drawing is almost complete and this type of motion is blocked by the ij effect.111, ν is due to the first cause (The change in ( is l' (= RS Since 1<・ of 2 is a function of latitude λ, the formula (2 (R−Rs
``Rsri, Rs = dRs/d input (27).The third reason why R changes is aviation type or j!'?
This depends on changes in altitude or depth 11, such as in water 4H. If 11 is small and ll+l<<Rs, the viscosity is sufficiently high and the following equation holds true. 1 Kuji 1' (s + h ... (28) 1 formula!, example engineering li' public publication l'1 NIERTIAL N71v
ICA'l'lO10N5YSTE ANN13Ysl
s l+ John W i Icy & S oo
s” 11971 issue ・46 True formula (4) ()
It has the same content as . In addition, in order for this near IL'' to hold, it is also a condition that the angle between the line Omo Ps and 9 is 7 times smaller (see Figure 5). Even if this angle is large, At the level of 1/297 Lanoan, IIy
, Sik is satisfied). Differentiating equation (28) with respect to time 1, we get R=Rs plus, or equation (2°j) with f history 1, <=Rsσu+l+-·(29) or 4iJ. This formula is 11-0, which is the formula (z7)
Since there is a curl rule f, there are three Ii that give a change to
: (This is an expression in the -i role of 1 (due to the first cause excluding the second cause and tIX3. The Doppler effect due to changes and electromagnetic (blind) pumping is based on the ruthless Ft-like principle, and it is possible to measure J1 by R-degree. The basic formulas (2Ga) and (26b) are actually h
In addition to \l, σ and σ must be λ, l<::
. It must be expressed as N Rs', h and V\, \゛\. These expressions are the crystal relation formulas that have appeared so far, and I (
An approximation to the rule Rs, (near ILJ, which omits h/R・7 and its higher orders for 1) is used, and as an auxiliary formula, 7, V72 (S in l ′+cRs 5in2^)σv +ll
(,'((la) σF=\锇/R,,,,(:((lb) Simultaneous differential equation (2(ia), (2(il+l is +1'1:/)
However, in (), the right-hand side must be known, which is solved as an initial value problem. 1'+';
H-type inertial navigation is the first article most commonly found in Azusa.
'1 is a state where latitude λ and longitude ρ are determined, that is, a stationary state (V>=Vy-~'z=o). Of course it is possible to do this with the wooden sword method, or more generally, if the right-hand sides of equations (26a) and (26b) are known in some way (for example, by specifying the state of motion). It is good. In this case, the sign factor of the first term on the right side of equation (26a) is naturally determined either way. In this way, the EJ2 solution starts, but the most important problem after t=0 is to know the temporal change of this sign factor. To be more specific, it is the following J,・) problem. After time 1-(), device i! j i,t ill
Constant value %
Therefore, while 11: is not (), or while 18t1-() is l;I'+1 from the beginning (at this time, decoding can be positive or negative), it is better to continue the calculation as 1. Is it true that aC changes its sign when it becomes (), or laτ1 at the beginning?
The problem is to determine by 1 whether d actually takes a positive or negative sign when it becomes -0.If you make a mistake in this choice, , the inertial navigation device will calculate an imaginary motion that is unrelated to the real motion, and the solution will be 1. ζ1
The code monitor tilt 4!t was conceptually explained in relation to the l1IXr structure of this device.
Its operation will be explained below with reference to FIG. Since it is a state of motion with d″′≧() or a me-J elephant of Kosai, it is set as yozuah-().At this time, from equation (25), 5
The absolute value calculated by 1 is also (), and 1a~1 = (). And, in this state, the platform] 2's tilt-to movement's 1 craftsman axis) '1)'s 1! Inserting that the equation V1 is the angle measured from the formula %formula % (J, sea urchin, φ? shown in Figure 6)'11 to 'I'l+, coincides with the +Xn axis or -Xn axis.
I understand that. In other words, d7 = 0, J, and when the eel is linked, the brathome 121i is inclined around the east-west axis becomes clear. On the other hand, the code monitor axis Xm has two coordinate axes Yn
and 21+, always the vector product j
>, is defined to face the direction of y-11rr,
In the case of life with 啼=0, the axis Z1i is the meridian plane "l' n Z
Since it exists within n, the axis Xm is orthogonal to this plane (axis Y
11 is also the same). However, the limit imposed on the inclination angle θ of the platform 12 is 0≦θ×π/2 (see equation (5)!
(t), the + direction of the vector product JxlA, is
It matches that of the axis Xn regardless of the sign of aa (on the contrary, the positive/negative direction of the axis Yp depends on the sign of a'' (see equation (31)). While the movement continues, the sign monitor axis X + n is the east-west axis X, including the direction.
11. J:), the above thoughts ji, mi and,
In equation (・1), J3 is φ=±π/2, that is, La mouth φ=
Shimi becomes axis Z11 or meridian plane)' n 7. (f exists in n because 1-Q of this formula is 0.a'V=(+,
Blattbohm Z1]
It can be seen that the Tato of ``J'-'1'' 1TII Y n Z n comes out only when yb≠0. Therefore,
Figure 8 shows dx ``'' 0 at time t. So, ratio (I 1 Ka to 2 Tor α = (0, a ma, June first Q-i #i Y n Z n
l'(ll Ant, 1, 1 measurement Ka J Sat J summer total 13 output is a-(1) state 7j is 12, ΔL time ff1i
? :! :m Δ@= (aa”, l (1, △:, +
”,, , aa2) is attached and 1=<Δa;,
, ma+Δdtoshi+Δd−). As mentioned below, since aa7 and he81 only move Blattbohm/1) in the meridian plane, we will leave them out of consideration and discuss only the influence of the △ mark. FIG. 23(a) shows the case where LlΔ→>0. The paper in this figure +/ii
is the axis X + n = X n and the axis Z p when C = ()
There is a plane that both contains (1,), and the vertical axis Zn is -.
Since the shell does not lie within this plane, it is marked with a broken line. Axis 'l' passing through the coordinate origin and passing through the paper plane with 1α father 1- +11 is f-hour 1r1
1, 1X1n(mountain'l'llll, 7.11(
+) + (This is called the 6-monitor 2-i system)
It is an axis that makes i[, 1 white-n the series. As shown in the figure, if the composite vector I·le of a-(1,) and Δd- is (L, 1), the plate/tobohm axis Zp(1,) is drawn by a broken line according to the function of platform→nopo yarn. The new position Z l)(t+Δt) becomes parallel to this αr. At the same time, the sign monitor axis X +n (L) is always 'l' II
Since the direction is controlled to be perpendicular to the Z1 plane,
As shown by the arc with an arrow, it is also rotated by the same angle as Z1+(L) and the position X+n(L+△
Come to 1). That is, the newly generated head causes the yuzu Xm and the axis Zp to rotate around the axis )'n1 by the same angle. However, in this discussion, we ignored the effects of 1.1△a and △j\, so there are three problems. Is the position of the true axis of rotation still within the meridian plane?
The positions of Jl+△1) and 7.1+(1+△t) are slightly off the paper (Xm(L+Δt) and Zp(L+△t) shown in 1)
L) is each true 1! ) 6 However, these differences are small;
In order to understand and understand the essence of the phenomenon, it is considered safe to ignore it. Fig. 8 (a) and (1)) show the case of Δa'', < (l) and are interpreted in the same way. , the direction of the horns is opposite to each other. From these two figures, to determine the +E negative of aa2 newly generated when a'y '' f, l is 1, the east face X+n ( 1,) It can be seen that it is sufficient to observe the interlock within Z1+(1). Specifically, for example, if the monitor coordinate system (X m
,YIll,Z
l:(,When the situation is 1, the plane X + mouth Zp is 1'
l' Looking towards the horn of +Y(1) from the direction of m, la';:=(If it turns X m or counterclockwise at the moment it becomes l, it will include a';>(', 1, and It is good to judge that Δa';< O if it rotates by j.
This means that the states t and l continue. J-Kuts 1- determined the connection method for the solution of equation (2(ia). (26b). In other words, equation (
I am constantly monitoring 1 and tsu1 calculated from 25).
Is this a situation where the value is near O? 'l''j (Continued to observe the movement of two axes x 111, and there was a red d-tsu()
1) Find out whether to change the sign by passing through 1) or not change the sign while staying near 0. At the time, formula (2fi
a) A. In the decoding of the side tfS1 term, we apply the other phase 5′ which is different from that up to that point, and in the later case, we keep the previous sign and 11
57: It is good to continue. exactly 1 la coin
In the case of d(), there is no problem in decoding whether it is 0 or -. These 1'11 calculations must therefore be accomplished in real time. Step 3: Solution 7 of the 1j1 property h'L method using this method
I drew a v-2 line diagram. However, the initial manpower value is omitted. In the figure, the double square frames with numbers written inside are wooden 1n configurations (indicating shallow vessels, that is) 2 is the platform, 16 is the earth axis reference, 17 is the reference north base [((, 3・1 is the number of angle measurements, and 35 is the ladle number monitor (IX'I). Also, the things surrounded by a single rectangular frame are various calculation elements, and the symbols in the frame are the 711 [ It represents arithmetic. For example, Σ means to take the sum of the inputs and output it, -
Σ means to change the sign of the sum of the inputs and output it, × means to take the product of the inputs and output it, 7.- means the square root operation, ()2 means the square, and ■ means the integral. 11 arithmetic, 11 is calculating the absolute value of human power, etc. ]/R, or -2cosλ means that the power is multiplied by these prisoners and output. Further, the symbols (aS, β2, etc.) on the line connecting each hawser represent the signal fj reached there. However, these are only the main ones. In this figure, fr and V are drawn with broken lines on the A1 side. In the normal method of inertial navigation, the minute is 1.11''
In the part that generates the rukinku belief υ゛, the non-J type has 1
・I was added by 1 for comparison. This figure is dIt
Remove the 70 to the left of Yorun and A, change the class and line parts to solid lines, and replace Ebisu and 81 with the redundant values directly measured by each acceleration meter. become. Tracing 1': The 2-way torque torque signal in the Xb formula is based on the requirement that the angular velocity of the plano 1 home that moves into the 11'i space must always be equal to that of the geographic coordinate system. J! l! ; Faithfully ωY2~σN, ωY−ΩGO・Uλ1σE. ω2−Ω5iftλ+σ61. anλ (32) or p l) 71 is necessary (
'l' Uno, the heavenly Tolkin Kui 1; each component of the method has a drift of each Noyairo 1 layer - 141x. (c, Llz plus Ij ωa □ = -σ, +Lb; ,... (,'(,'(a
)ωYT ””ΩCO5λ10σE+U, -(33b)
ωz7 ”'ΩSinλ+6εtanλ+Uz −(3
3c). The main output of a conventional In-type navigation device is
? t (latitude λ, longitude ρ), lunar velocity (east-west velocity ＼〆sa 1
, north-south velocity V~) and attitude angle of the onboard moving object (roll,
There is a pitch, ) 1st place). In this case, since the platform embodies the geographic coordinate system n (X n, )anchor, Zn), the attitude angle is the Lα tangent output. In this method, unlike the normal method, the 11 series (not structured or
This can be calculated as follows:
This means that he will be able to make an indirect appearance, such as Satsutomu Ikkaku. 11y? . is the unit betta 1 艷, lice along each 4'JIXu, )'n, Zn. Determining βn is supplementary. Earth's axis ZE and north-south axis)'+ wealth is the axis that has meteoric water in the device, and
As is clear from 4Qjj r, the east-west axis
・The camera is facing the direction of n X hε (1kE1
．． Along the tZE axis? 1 (Shun to 2 Toru) Garakore: Koyote Mu ga Hiki, Shi ni i IIXJ/lowkn i'+i
By calculating i, the vertical axis χ11 is reduced by 5L. 4-i.e. 11
A thread was obtained. Figure 10 shows the oldness of this method! IrL method equipment (pe equipment h
I drew up an outline of the construction. 36 in the figure is 11), series + I'
i') (ff, ; Ui is high) It's a good plan. This invention is U-like [Earth axis], (I (I and finger-IC)
71 formula 1 of L method
is feminized by N-1 Iro and acceleration 1.1: 7/T home CJ-) traces 1 person's ・If' (L of 1 move// compared to the sexual navigation system, 19i 43-4-roto 4-43-4-4-43-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-3-4-4-4-4-4-3-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4-4---
Would. (1) In this method, Plano l home is controlled by Ami 1) 1-
Because it does not use Iro, usually) 1 lekinku river no ° in 1 set
-Iro no 1-971 (d), (Zukumura 1) sentence fit,
l'f, i unit i1 (2) Platform l in this method
In the case of the normal method, the -me force control does not create 1 kink t1:'; Since it is a zero-level control, the error contained in 1. 1. is the error of the device) 1-2- is not 5, (3)
Usually, in formula 11, the formula (, '(3 (force)) is obvious L (
2. 1 out of 11 Torukinokui. , Inλ)!
(Because it is fr1, the torque that is safe for pointing the bullet home is excessive according to the commercial rate: Ko'I-j<, which is the cause of the low accuracy of -1.) However, the wooden sword In the formula, this problem does not occur because there is no need to point to the plano home.
It must be constructed as a rotating vibration system having a so-called Schuler period of fRhun'g-84.4 minutes. The Bluff 1-Bohm system of this system is also a rotating oscillation system (for zero level control), but its period is unrelated to the earth constant (21' diameter 1<5 and gravitational constant g). Exchange 〒4 is 2, 2 no'',
(Regarding, plans 1 to -7 in this method are traced M'+
゛The degree of freedom in the design of J1 is greater than that of the sword type. (5) The device of this method has 31 device configurations and a platform control method compared to the conventional device, but
Breakdowns are less likely to occur and reliability is high. Note that since the gravitational constant 8 is not included in any of the basic equations (26a), (26b) and auxiliary equations (30a) to (30c) of this method, no error due to h(h) occurs in the ε calculation. This has the same advantages as the normal method.

[Brief explanation of the drawing]

Figure 1 shows the relationship between the geographical horizontal plane 1 and fresh water, ir+i-1, and 1 boar-)k. %, i, m, L2. The relationship between λ + 1 + a Figure 3 (,) is a side view showing an example of a structure that realizes a fresh horizontal plane by the free surface of the liquid. Figure (1)) is a cross-sectional view of the same side, Figure (c) is a cross-sectional view of the same side, and Figure 1 shows an example of a 4-hour construction that achieves a fresh horizontal surface using a water tank (+: 1 plane). Figure 5 is an explanatory diagram for explaining the definition of the navigation coordinate system [geographical coordinate system (Xn, Yn, Zn)].
Explanation IAI to explain the definition of 1, 7th and 1 explains the definition of the earth axis coordinate system (XE, 't', lz, ) 19
Figures 0-1, 1, and 8 are code monitors (explanatory diagrams of the action of the shallow structure, and Figure '83 is the operation of inertial navigation using the book formula).
Figure 10 is a schematic diagram showing an outline of the equipment configuration and human output relationship of the L equipment. ]...Geographical horizontal plane, 2...Geographical vertical line, 3.
・Equatorial plane, 1. Fresh horizontal plane (free surface) 5... Base, 7 Outer servo motor, 9... 2-angle ring,
1()...Inner surf motor, 12...Plant home, 13.Accelerometer for measurement, 14.15...Accelerometer for control, 16...Earth axis4. (Quasi, 17...north reference, 18...liquid, 24-27...distance sensor, 28,2
9.32...Wed? ((ware, 34...d
5... Sign monitor mechanism, 36... Computer, 37...
Altimeter, Zll...plant hole, axis, ZE, earth's axis, Yn...north-south axis, ε...cos (Zp/ZE),
β-cos(Zll, 'l' l+), aS ,,
Acceleration +? l' l Output of 3. 1.? Patent applicant: Defense Agency Director of Technology Research Headquarters Hitomori:” I71st J.R.
Hetaku! J: 44 Jl, Descending Figure 1 Figure 4 Figure 5 Figure 6 Figure 7 Figure 7 1Z□ aP, (chi) (a) Aa″〉O Figure 8

Claims (1)

[Claims] [11] A cymbal ring (≦) is attached to a support base (6, 6') fixed on a base (5) of a closed structure connected to a moving object via a gimbal and a vibration isolation mechanism. ) through the outer servo motor (7) and the outer bearing (n;) and the inner → novo motor (10) and the inner bearing (11) +,: the brat home (12) supported by the brat 1, - Mu (1
2) So-1- is the sensitive axis or Brat Home 161 and House 9
Two control accelerometers (1, 1.15) arranged so that their sensitive axes are not parallel to each other, and a bluff (12) perpendicular to the plane of i1'+I Blattbohm (12) axis (Zll) and the platform axis (χ++) (
・The sensitive axis is struck in the same direction. ) 1 medicinal acceleration 11 gigantic 1; the north-south axis (Yo) for detecting the north-south axis (Yo);
an angle measuring mechanism (34,) for measuring the golden chord (ε) of the angle between the axis of rotation (ZE) and the axis of rotation (ZE) and the cosine (β) of the angle between the platform axis (Zll) and the north-south axis (Yn); , a number of code monitors (35) having the function of 1 to correctly select the decoding of the first term of the j-side of the following formula (Ia), and calculations to perform the necessary various ij1 with a height of 1 ± 1) t+剋36) and Wij
Record movement vIJ tree's Sho J body or pudding (b) and its time +
+j] Altimeter (3) that non-inertially measures the rate of change (1+)
7) and i) 422 servo motors<'i+]
o>, the two control accelerations; r+(+4.1
5) The outputs of both (control the rotation of the I!L+j platform (12) so that it is always plastic/) and the ham surface or the ratio 4 I 4 - 2 Torr (cA) at right angles. Keep that attitude at -2, and in this state, from +il'J ('I acceleration/i 111' (13) output flange a-), calculate the east-west J direction component (dIQ) of the specific impulse vector (a). ) and the north-south Jj direction component (-) are extracted using the dog's A relationship % formula % (where λ is latitude), +1:i description animal (4(s)・1 earth degree east-west component ( ~'x) and the north-south direction component (X~) as follows:
The intensity of the angular velocity of −1lJ, σ(,=ncosλ, p
- Inertial navigation in the vicinity of the earth's surface based on longitude, σ, \l (vertical same component of ground speed) is 1.4 characteristics. h-style. +2] Part of the liquid so as to form a free surface (4) inside supported via a non-hull to the base (5) -1= of a rigid structure that is coupled to a moving object via a non-hull and a vibration isolation mechanism. a container (1) filled with
) through the cymbal ring (9) to the outer servo motor (7) and the outer bearing (8) and the inner → novo motor (10).
) and the inner bearing (II)l, thereby supporting the Brandt-Bohm (12), and the free surface (・↓) of the bluff port 1, (12) in the plane facing t□=I direction 4- Yame Plan L-Hono, Cl2) 1[
[1 and the free surface (4) W
27) and 1111 Pura, 1. Plano 1 home axis < 1. ++), and an accelerometer (13) for a total of 11111, which is attached to the plant home axis (Zp) and has a sensitive axis in the same direction.
Detecting the earth's axis of rotation (4 days) 111 □ or 1 and the earth's axis reference (1G)
1l1
The cosine (ε) of the angle between the Bohm axis (Zp) and the axis of rotation (ZE)
) and the plant home axis (7,1+) and the north-south axis (Y
n) Measure the cosine (β) of the angle between A111 Angle 4Mot
11” + (34), correctly select the decoding of the 1st J page on the right side of the Yζ notation (1d); The plan to perform the North calculation at high speed (:tsuG), the altitude of the 111j moving object tree, 1: or modulus (1)), and its rate of change over time (11)
The two servo motors ("7.10
) so that the outputs of the plurality of distance sensors (211 to 27) are all very quiet.
2) By controlling the rotation of the platform, the posture is always maintained so that it is orthogonal to the specific impulse vector (U), and in this state, the specific impulse is calculated from the measurement accelerometer (1: - outside flange aτ). The absolute moon value of the east-west direction component (dl) of the vector (α) and the north-south direction component (dl) are extracted using the following relational expression - β · Yu (i1, where λ is the latitude), and the λ of the moving object is extracted.
・East-west component (V\) and north-south no direction component (V
)) The following simultaneous differential equations%) () () (where, ' = d/dt, L time, Ω two, the magnitude of the angular velocity of the Earth's rotation, σ = n cos λ, ρ - longitude, σ = λ ,
Inertial navigation near the earth's surface is carried out in accordance with the vertical component of the ground speed (Vz - vertical component of the ground speed). ,. [31 A rigid structure pace (5) connected to a moving object through a non-hull and a vibration isolation mechanism (5) A gimbal ring (!) on a support base (6, G') that rotates in 1-) The outer servo motor (7) and the outer bearing (ε() and the inner −+7
- The home motor () (++ and the inner bearing (11) have a platform (12) with a length of J, and the platform (12) -1- has a sensitive axis/1 bow/, and 1'1j and each other's sensitive axis or skewer 1j 5.,J,
Two pieces of water placed in! (2-axis level (j3) parallel to the vessel (28, 29) or the sensitive axis or Brandtbohm, and the +iii brano platform) blood J (father 4-'s plano 1 home axis ( II)) and 1jA pla, 1
An accelerometer for measuring lil (13) that is housed in the home axis (Z+1 and sets the sensitive axis in the rotation direction), and an earth axis base wall (13) that detects or sets the earth's rotation axis (Z). 6), and the north-south axis of J3 is located at the location of the Rijj movement book.
11), 1, itI′ (17), and +
11j bra/home axis (Z++) and rotation axis (ZE
) cosine of the angle between the opening (ε) and the cosine (β) of the angle between the Aij bra/tohome axis (Z++) and the north-south axis (Y n )
Angle measurement (Drawing (34)) and the following formula (Ia
) with a code monitor mechanism (35) that has the function of correctly selecting the decoding of the first side of the , 111j-related book severity or depth (b) & [/”c-) 11.'71
i11 (IZ rate (h) wo JHfi property rl', +l:i
It's redundant 1-7. ,+severe J] with) °7),
111" so that the bubbles of the two levels (28, 2 (J) are both in the correct position with the two → nohomokes (7, ] (+) or the two-axis level (32) Place the plate/tube (12
) by controlling the rotation of the plane so that the plane 1 home plane is always perpendicular to the specific impulse vector (ku), and in this state, the protrusion of the measurement accelerometer (13) a-) is the specific impulse vector Extract the absolute value of the east-west direction component (a'''x) and the north-south direction component (a':: ) of (0) using the following relational expression (however, the latitude of the eyebrows). Ingredients \) and North and South J direction ingredients))
The following simultaneous differential equation for
The magnitude of the angular velocity of the rotation, %-Effcosλ, ν, the vertical component of the ground speed, %−Effcosλ, Vz, and the vertical component of the ground speed.
11゛)・1♂l based on the earth's axis reference and pointing north reference with r sign
Equation 11 of l1l'L method.