RU2047837C1 - Device for determination of angular orientation - Google Patents

Abstract

FIELD: measurement technology. SUBSTANCE: digital device of azimuthal orientation has two nonreversible blade propellers with vertical rotation axis passing through point of suspension of device which directions of rotation are mutually antithetic, signal processing unit including pulse formers, unit of referencing of pulse signals, reversible counters, code inverters, switches, clock pulse generator, pulse signal dividers, adder, indication register, decoder, two similar measurement channels which sensitive elements are installed in horizontal plane so that axes of rotation of these two pairs of nonreversible blade propellers in it were mutually perpendicular. Axes of one of these pairs are parallel to axial section of object. Device has microprocessor computing corrections of azimuth caused by roll and trim of device, accomplishment register manufactured in the form of indicator, for instance. EFFECT: improved authenticity of orientation of mobile objects. 10 dwg

Description

 The invention relates to measuring technique and can be used to determine the angular orientation of moving objects (ships, airplanes, direction and flow velocity meters installed at a point and towed, probing devices, etc.).

Known gyroscopic devices of angular orientation [1]
Their disadvantage is a noticeable increase in measurement errors carried out under disturbance conditions, both from their influence on the sensitive element and due to an increase in the cardan error due to the impossibility of taking a reference in the horizon plane.

 These disadvantages can be partially reduced by using gyro-stabilized platforms instead of the gimbal of the device. However, under conditions of strong perturbations, the errors in many cases become unacceptably large and their magnitude cannot be detected.

A device of azimuthal orientation is known, comprising a base, an object azimuthal orientation unit made in the form of two coaxially opposed, non-reversible blade screws mounted in the housing with light modulators attached to them and a vertical axis of rotation combined with an axis passing through the suspension point of the base, and a unit fixing the moments of combining light modulators with the diametrical plane of the body, a two-channel processing unit with a switch, a clock generator, a clock divider Toty, the adder and the register and the decoder serially connected and the [2]
Its disadvantage is an increase in errors in the presence of roll angles and trim of the base of the device, which limits the scope of its application to conditions when such disturbances are negligible, or in order to reduce them, use gyro-stabilized platforms, which complicates the design of the device, increases its weight and cost, as due to of these additional devices, and due to the energy carriers used for this and energy consumption.

 The aim of the invention is to increase the accuracy of measurements by reducing the influence of errors due to slopes and vibration of the base.

 The purpose of the invention is achieved in that it is equipped with two blocks of angular orientation, two additional two-channel processing units and two actuators for angular movement of the base in two mutually perpendicular planes, each of which is connected to the register output of the corresponding block of angular orientation, while the blocks of angular orientation are identical azimuthal orientation unit, the axis of rotation of their blade screws are orthogonal to each other and the axis of rotation of the blade screws of the azimuthal block orientation, and the registers of each two-channel processing unit are connected to the input unit for calculating and introducing corrections for the slope, the output of which is connected to the decoder.

 In FIG. 1 is a structural diagram of an azimuth measuring channel; in FIG. 2 block of sensitive elements of the azimuth channel of non-reversible blade propellers; in FIG. 3 block diagram of the pulse shaper; in FIG. 4 timing diagrams of the pulse shaper; in FIG. 5 block diagram of the binding unit; in FIG. 6 timing diagrams of the binding block; in FIG. 7 block diagram of the code inverter; in FIG. 8 is a structural diagram of channels for measuring the angles of deviation of the azimuth, roll and trim of the base from the original; in FIG. 9 is a functional diagram of a computing device; in FIG. 10 is a block diagram of an information processing algorithm in a computing device.

 The device for determining the angular orientation contains six identical measuring channels, so the numbers with indices in brackets indicate the elements and nodes of five additional channels. Since there are elements functioning in the singular in the composition of two channels, the number of indices is reduced in such cases to three, and in cases where the element is contained in the device in the singular, there are no indices.

The device for determining the angular orientation contains the sensing elements 1, (1 ₂ ) with a vertical axis of rotation, I ₃ (I ₄ ) with a horizontal axis of rotation coinciding with the perpendicular to the axial section of the object, and 1 ₅ (I ₆ ) also with a horizontal axis of rotation , but coinciding with the axial section of the object, formers 2 ₁ , (2 ₂ , 2 ₃ , 2 ₄ , 2 ₅ , 2 ₆ ) pulses, blocks 3 ₁ (3 ₂ -3 ₆ ), bindings, reversible counters 4 ₁ (4 ₂ -4 ₆ ), inverters 5 ₁ (5 ₂ -5 ₆ ) codes and registers 6 ₁ (6 ₂ -6 ₆ ), as well as switches 7 ₁ (7 ₂ and 7 ₃ ) common to the two channels, 8 clock pulses generator, divider 9 ₁ (9 ₂ and 9 ₃ ) frequencies, adders 10 ₁ (10 ₂ and 10 ₃ ), registers 11 ₁ (11 ₂ and 11 ₃ ), decoder 12, indicator 13 and computing device 43.

Each driver 2 ₁ (2 ₂ -2 _{6 6} ) pulses (Fig. 3) consists of Schmitt triggers 14 ₁ (14 ₂ -14 ₆ ), frequency dividers 15 ₁ (15 ₂ -15 ₆ ), inverters 16 ₁ (16 ₂ - 16 ₆ ), two-input I-NOT elements 17 ₁ (17 ₂ -17 ₆ ), four-input I-NOT elements 18 ₁ (18 ₂ -18 ₆ ), triggers 19 ₁ (19 ₂ -19 ₆ ), two-input logic elements I- NOT 20 ₁ (20 ₂ -20 ₆ ), inverters 21 ₁ (21 ₂ -21 ₆ ), triggers 22 ₁ -23 ₁ (22 ₂ -23 ₂ , 22 ₃ -23 ₃ , 22 ₄ -23 ₄ , 22 ₅ - 23 ₅ , 22 ₅ -23 ₅ , 22 ₆ -23 ₆ ), elements
AND-NOT 24 ₁ (24 ₂ -24 ₆ ), inverters 25 ₁ (25 ₂ -25 ₆ ), triggers 26 ₁ -27 ₁ (26 ₂ -27 ₂ ,
26 ₃ -27 ₃ , 26 ₄ -27 ₄ , 26 ₅ -27 ₅ , 26 ₆ -27 ₆ ) and I-NOT 28 ₁ elements (28 ₂ -28 ₆ ). The binding unit (Fig. 5) consists of inverters 29 ₁ (29 ₂ -29 ₆ ) D-flip-flops 30 ₁ (30 ₂ -30 ₆ ), triggers 31 ₁ (31 ₂ -31 ₆ ) and I-NOT 32 ₁ elements ( 32 ₂ -32 ₆ ), 33 ₁
(33 ₂ -33 ₆ ), 34 ₁ (34 ₂ -34 ₆ ).

Each inverter 5 ₁ (5 ₂ -5 ₆ ) code (Fig. 7) consists of triggers 35 ₁ (35 ₂ -35 ₆ ), inverters 36 ₁ (36 ₂ -36 ₆ ), and NAND elements 37 ₁ (37 ₂ -37 ₆ ),
38 ₁ (38 ₂ -38 ₆ ), 39 ₁ (39 ₂ -39 ₆ ).

On the device’s body are installed (Fig. 2) photodetectors 40 ₁ (40 ₂ -40 ₆ ) of six measuring channels, a illuminator 41, and reflectors 42 ₁ (42 ₂ -42 ₆ ), respectively, on the non-reversible blade screws 1.

 Computing device 43 (Fig. 9) contains a central processor 44, read-only memory 45, random access memory 46, clock generator 47, system controller 48 and device selection decoders 49-53, buffer device 54, parallel interfaces 55-57, and also three buses 58-60 (respectively, data bus, command bus and address bus).

 A device for determining the angular orientation works as follows.

Sensitive elements 1 ₁ (1 ₂ -1 ₆ ) under the influence of the incident flow rotate in opposite directions, fixing at the moment of matching each pair the value of the angle of deviation of the object in the corresponding plane in three orthogonally located planes. To capture the moment of alignment of the sensitive elements with the diametrical plane of the device (and two other axes of the object), photodetectors 40 ₁ (40 ₂ , 40 ₃ , 40 ₄ , 40 ₅ , 40 ₆ ) and reflectors 42 ₁ (42 ₂ -42 ₆ ) are used, attached to the sensitive elements 1 ₁ (1 ₂ -1 ₆ ) The signals of the photodetectors are sent to the drivers 2 ₁ (2 ₂ -2 _{6 6} ), to the triggers 14 ₁ (14 ₂ -14 ₆ ), Schmitt, which convert them to pulses with steep fronts, which necessary for reliable operation of the digital elements of the entire device, then the signals are fed to frequency dividers 15 ₁ (15 ₂ -15 ₆ ) and logical elements AND-NOT 17 ₁ ( 17 ₂ -17 ₆ ). The outputs of the dividers 15 ₁ (15 ₂ -15 ₆ ) are also fed to the logical elements AND-NOT 17 ₁ (17 ₂ -17 ₆ ). Using the switches 7 ₁ (7 ₂ , 7 ₃ ), select one of the four gates that make up the AND-NOT 17 ₁ (17 ₂ -17 ₆ ) logic elements, applying 16 ₁ (16 ₂ -16 ₆ ) to the input of the inverters potential corresponding to the level of logical zero. With the "1" position of the switches 7 ₁ (7 ₂ and 7 ₃ ) at the output of the AND-NOT 18 ₁ (18 ₂ -18 ₅ , 18 ₆ ) logic elements, Schmitt trigger pulses 14 ₁ (14 ₂ -14 ₆ ) appear. From the outputs of the AND-NOT 18 ₁ (18 ₂ -18 ₆ ) elements, the strobe signals are sent to the 3 ₁ (3 ₂ -3 ₆ ) signal blocks and, for the subsequent formation of the signals, to the inputs of the triggers 19 ₁ (19 ₂ -19 ₆ )

Using the logical elements AND-NOT 20 ₁ (20 ₂ -20 ₆ ), 24 ₁ (24 ₂ -24 ₆ ), triggers 22 ₁ -23 ₁ (22 ₂ -23 ₂ , 22 ₃ -23 ₃ , 22 ₄ -23 ₄ , 22 ₅ -23 ₅ , 22 ₆ -23 ₆ ) and inverters 21 ₁ (21 ₂ -21 ₆ ) a “record” signal is generated corresponding to the edge of the “strobe” signal, and using inverters 25 ₁ (25 ₂ -25 ₆ ), triggers 26 ₁ -27 ₁ (26 ₂ -27 ₂ , 26 ₃ -27 ₃ , 26 ₄ -27 ₄ , 26 ₅ -27 ₅ , 26 ₆ -27 ₆ ) and I-NOT 28 ₁ elements (28 ₂ , 28 ₃ , 28 ₄ , 28 ₅ , 28 ₆ ), the “Reset” signal is generated, corresponding to the “Strobe” signal slice. The signal "Record" is received in the registers 6 ₁ (6 ₂ -6 ₆ ) and leads to the recording of the code received at the information inputs of the registers 6 ₁ (6 ₂ -6 ₆ ). The “Reset” signal is fed to reversible counters 4 ₁ (4 ₂ -4 ₆ ) and inverters 5 ₁ (5 ₂ , 5 ₃ , 5 ₄ , 5 ₅ , 5 ₆ ) codes and is used to install reversible counters 4 ₁ (4 ₂ , 4 ₃ , 4 ₄ , 4 ₅ , 4 ₆ ) and inverters 5 ₁ (5 ₂ -5 ₆ ) of the code to the initial state. The signal "Strobe" is supplied to blocks 3 ₁ (3 ₂ -3 ₆ ) bindings, the second input of which is supplied by the pulses of the generator 8 clock pulses.

At the output of the blocks 3 ₁ (3 ₂ -3 ₆ ) bindings, pulse packets of the generator of 8 clock pulses are formed, the duration of these packets is equal to the time intervals between pulses at the output of the AND-NOT 18 ₁ elements (18 ₂ -18 ₆ ). From the outputs of the binding units, these pulse packets are fed alternately to the outputs of addition and subtraction of the reverse counters 4 ₁ (4 ₂ -4 ₆ ), which are then set to zero by the “Reset” signal of the pulse shapers 2 ₁ (2 ₂ -2 _{6 6} ) from every second pulse from the output of AND-NOT elements 18 ₁ (18 ₂ -18 ₆ ).

After zeroing the reversing counters 4 ₁ (4 ₂ -4 ₆ ), they again count the first burst of pulses, which came after the “Reset” signal in the addition mode, and the second burst in the subtraction mode. As a result, by the arrival of the next “Reset” signal, the reversible counters 4 ₁ (4 ₂ -4 ₆ ) contain the code of the difference of the bursts of pulses. The work of even measuring channels (2, 4 and 6) is identical to the work of odd (1, 3 and 5) with the only exception, their sensitive elements (1 ₂ , 4 ₄ and 1 ₆ ) rotate in the direction opposite to the direction of rotation of the sensitive elements (1 ₁ , 1 ₃ and 1 ₅ ).

When the suspension of the sensing elements is stationary, both pulse packets are equal in duration, therefore, in the reverse counters 4 ₁ (4 ₂ -4 ₆ ), after the cycle “Addition-subtraction” of two pulse packets, a zero code is recorded. When turning suspensions of sensitive elements 1 ₁ (1 ₂ -1 ₆ ), the pulse packets differ depending on the direction of the turn, either one more or the other. After the measurement cycle in the reversing counters 4 ₁ (4 ₂ -4 ₆ ), a code is generated corresponding to the angle of the suspension of the sensing element 1 ₁ (1 ₂ -1 ₆ ) in the corresponding measurement plane. The received codes are sent to the inverters 5 ₁ (5 ₂ -5 ₆ ) of the code, they also receive the signals “Transfer” of the counters 4 ₁ (4 ₂ -4 ₆ ) and “Reset” of the formers 2 ₁ (2 ₂ -2 _{6 6} ). Depending on the presence or absence of “Transfer” signals of the 4 ₁ (4 ₂ -4 _{6 6} ) counters, the 5 ₁ (5 ₂ -5 ₆ ) code inverters either invert or do not invert the 4 ₁ (4 ₂ -4 ₆ ) counter codes. After that, the codes are sent to the registers 6 ₁ (6 ₂ -6 ₆ ) and using the “Record” signals coming from the formers 2 ₁ (2 ₂ -2 _{6 6} ), they are written to it. Thus, in registers 6 ₁ (6 ₂ -6 ₆ ), for each pair, codes are written that are identical in magnitude but opposite in sign. In adders 10 ₁ (10 ₂ and 10 ₃ ), the codes of the even measuring channels are subtracted from the codes of the odd measuring channels. Therefore, in the registers 11 ₁ (11 ₂ and 11 ₃ ) of the indication from the adders 10 ₁ (10 ₂ and 10 ₃ ), doubled values of the angles of rotation of the suspension (body) are received. Frequency dividers 9 ₁ (9 ₂ and 9 ₃ ) provide the necessary frequency of information change on indicator 13. Codes of measured values from three channels of the device (Fig. 10) are sent to parallel interfaces 55 and 56. The program of work of computing device 43 contains commands for interrogating interfaces 55 and 56, during which each channel transmits the codes of the measured values to the data bus 58 and through it to the random access memory 46. The measuring channels are interrogated alternately, the codes are stored in the random access memory 46 for the duration of the processing measurement results of three paired channels of the device. After entering the codes, the computing device proceeds to the analysis of the entered values, according to the results of which the processing of the received information is carried out according to a simplified or complete formula.

 Corrected values converted to binary decimal codes are displayed via an interface 57 for display, for example, indicator 13, although in some cases (for example, in stand-alone measuring instruments) a printed display may be more convenient.

With low requirements for the accuracy of the Cardan orientation, the error in the azimuthal plane is calculated by the formula
γ Ψ _k θ _k, where γ is the cardan error;
Ψ _to θ _{to the} angles of heel and trim in the system associated with the object (for a ship in the ship system).

 This significantly reduces the amount of computation in block 43.

With higher requirements for accuracy, the calculations are carried out according to the formula
sin γ sin Ψ _k sin θ _k, Calculation of corrections for other planes of the measured angles is carried out according to similar formulas.

Claims (1)

 A DEVICE FOR DETERMINING ANGULAR ORIENTATION of an object, containing a base, an azimuthal orientation unit, made in the form of two coaxially opposed non-reversing blade screws mounted in the housing with light modulators attached to them and a vertical axis of rotation combined with an axis passing through the suspension point of the base and the block fixing the moments of combining light modulators with the diametrical plane of the body, a two-channel processing unit with a switch, a clock generator, a divider frequency, adder and register, and decryptor and indicator connected in series, characterized in that, in order to improve accuracy by reducing the influence of errors caused by tilting and vibration, it is equipped with two angular orientation units, two additional two-channel processing units and two angular actuators displacements of the base in two mutually perpendicular planes, each of which is connected to the register input of the corresponding block of angular orientation, while the blocks of angular orientation tation unit formed identically to the azimuthal orientation of the axis of rotation of the rotary screws are orthogonal to each other and with the axis of rotation of the rotary screws azimuthal orientation of the block, and registers of each two-channel processing unit connected to the computing unit entered and introducing corrections for tilt, the output of which is connected to the decoder.

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