RU2085850C1 - System of course and vertical and method determining magnetic course - Google Patents

Abstract

FIELD: precision instrumentation of navigation systems. SUBSTANCE: system includes three-coordinate magnetometer 1, gyroscopic vertical 2, computer. Intensity of magnetic field of the Earth is measured along three mutually perpendicular axes of flying vehicle as well as angles of pitch and roll of flying vehicle and magnetic course is calculated by formula given in description of invention. EFFECT: enhanced reliability and precision of system and method. 2 cl, 3 dwg

Description

 The invention relates to the field of precision instrumentation and can be used in navigation systems.

где
H_η,H_ξ напряженность магнитного поля Земли в плоскости горизонта по осям h,ξ
Конструктивно двухкоординатный магнитометр устанавливают в маятниковом подвесе, который обеспечивает поддержание магнитометра в плоскости горизонта при равномерном прямолинейном полете летательного аппарата. Информация о магнитном курсе с двухкоординатного магнитометра используется только при равномерном прямолинейном полете, в противном случае информация не достоверна.A known method of determining the magnetic course, which determines the intensity of the Earth's magnetic field using a two-coordinate magnetometer. A two-coordinate magnetometer installed in the horizon plane determines the Earth's magnetic field strength using two mutually perpendicular coordinates (axes), i.e. defines H _η , H _ξ [1]
The angle of the magnetic course j is determined by the formula:

Where
H _η , H _ξ the Earth's magnetic field in the horizontal plane along the h, ξ axes
Structurally, a two-coordinate magnetometer is installed in a pendulum suspension, which provides support for the magnetometer in the horizontal plane with a uniform rectilinear flight of the aircraft. Information about the magnetic course from a two-coordinate magnetometer is used only for uniform straight flight, otherwise the information is not reliable.

The closest analogue of the device is an inertial course-line containing a magnetometer in the form of an inductive course [2]
The closest analogue of the method is a method for determining the magnetic course, including measuring the magnetic field of the Earth, measuring the pitch and roll angle in the axes of the aircraft and calculating the magnetic course [2]
A disadvantage of the known device is the complexity of its design.

 The disadvantage of this method is the inability to determine the magnetic course in cases other than a straight uniform flight of the aircraft.

 The technical result from the use of the invention is to simplify the design and increase the accuracy of the measurement.

 In terms of the device, this is achieved by the fact that the magnetometer is made three-coordinate and is rigidly connected to the aircraft, and three magnetometer outputs and two hydroscopic vertical outputs at pitch and roll angles are connected, respectively, with five inputs of the magnetic course calculator.

 Instead of the hydroscopic vertical, a hydroscopic vertical line can be used, since the pitch and roll angles determined by the hydroscopic vertical and the hydroscopic vertical line are identically equal.

где
H_x, H_y, H_z значения напряженности магнитного поля Земли в осях X, Y, Z летательного аппарата;
ν,γ значения углов, соответственно, тангажа и крена в тех же осях X, Y, Z.In terms of the method, this is achieved by the fact that the magnetic field of the Earth is determined by three mutually perpendicular axes X, Y, Z of the aircraft, and the magnetic course j is determined by the formula:

Where
H _x , H _y , H _z values of the Earth's magnetic field in the axes X, Y, Z of the aircraft;
ν, γ values of the angles, respectively, of pitch and roll in the same axes X, Y, Z.

In FIG. 1 is a structural diagram of a course and vertical system; in FIG. 2 conversion chart with the axes X, Y, Z on the axis X ', Y', Z '; figure 3 is a conversion chart with the axes X ', Y', Z 'on the axis X'',Y'',Z''
The course and vertical system works as follows.

The three-coordinate magnetometer 1 is rigidly connected to the coordinate system X, Y, Z of the aircraft and the Earth's magnetic field is measured in three coordinates (axes) X, Y, Z, i.e. defines H _x , H _y , H _z
The hydroscopic vertical 2 (including the hydroscopic vertical line) is also rigidly attached to the coordinate system X, Y, Z and determines the pitch angles n and roll g of the aircraft.

 The pitch angle n is the angle between the X axis and the X projection on the horizon plane.

 The angle of heel g is the angle between the Y axis and the intersection line of the horizon plane with the YOZ plane. The pitch and roll angles in digital form are primarily used in the aircraft navigation system.

Three outputs of the magnetometer H _x , H _y , H _z and two outputs of the vertical n, γ are connected, respectively, with five inputs of the calculator 3.

 Thus, the pitch angles n and roll g of the aircraft are additionally used to determine the magnetic course.

Calculator 3 by five parameters H _x , H _y , H _z , n, γ determines the magnetic course, i.e. the output of the calculator forms a magnetic course.

 Thus, in the course and vertical system, the pendulum of the magnetometer suspension is excluded due to the transfer of the task to computer technology.

 The method of determining the magnetic course is as follows.

 It is known that the magnetic course angle j is the angle between the projection of the Earth's magnetic field vector on the horizon plane and the projection of the X axis on the horizon plane.

H_y'' H_y'
Подставив значения H_x', H_y', H_z' в выражение 2, получают

Т. о. выражение 3 представляет собой алгоритм определения магнитного курса, не имеющего зависимости от механических воздействий.Information is converted from the XYZ coordinate system to the X'Y'Z 'coordinate system, and then to the X''Y''Z''coordinate system through two turns. The first turn is carried out around the X axis until the Y axis coincides with the horizon plane. This coordinate system is denoted by X'Y'Z '. The second turn is carried out around the axis Y 'until the axis X' (X) coincides with the horizon plane. This coordinate system is denoted by X``Y''Z ''
Receive
H _{x '} H _x

H _{y ''} H _{y '}
Substituting the values of H _{x '} , H _y' , H _{z '} in expression 2, get

T. about. expression 3 is an algorithm for determining the magnetic course, which is not dependent on mechanical stresses.

Claims (2)

 1. A heading and vertical system comprising a magnetometer, a gyroscopic vertical, a magnetic head calculator, characterized in that the magnetometer is made three-coordinate and is rigidly connected to the aircraft, with three magnetometer outputs and two gyroscopic vertical outputs at pitch and roll angles connected to five inputs, respectively magnetic course calculator. 2. A method for determining the magnetic course, including measuring the Earth’s magnetic field strength, measuring the pitch angle V and roll angle γ in the X, Y, Z axes of the aircraft, calculating the magnetic course, characterized in that the Earth’s magnetic field strength is determined from three mutually perpendicular axes X, Y, Z of the aircraft, and the magnetic course ψ is determined by the formula

where N _X , N _Y , N _Z values of the Earth's magnetic field in the axes X, Y, Z of the aircraft;
V, γ are the values of the pitch and roll angles, respectively, in the same X, Y, Z axes.

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