RU2282199C1 - Platform-less orientation system - Google Patents

Abstract

FIELD: measuring technique.

SUBSTANCE: system comprises measuring unit composed of three single-axis pickups of angular velocity, computer, and two lagging devices. The output of the third pickup of angular velocity is connected with the input of the computer. The output of the first pickup of angular velocity is connected with the input of the first lagging device. The output of the second pickup of angular velocity is connected with the input of the second lagging device. The outputs of two lagging devices are connected with the input of the computer.

EFFECT: enhanced precision.

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Description

The invention relates to measuring equipment and can be used in strapdown inertial orientation and navigation systems.

Known strapdown orientation systems, incorporating a measuring unit consisting of three uniaxial angular velocity sensors and a computer [Gyroscopic systems. Gyroscopic devices and systems: Textbook. For universities for special. “Gyroscopic instruments and devices” / D.S. Pelpor, I.A. Mikhalev, V.A. Bauman and others; under the editorship of D.S. Pelpora. - 2nd ed., Revised. add. - M .: Higher. Shk., 1988. - S. 316-336].

Such strapdown orientation systems are designed to determine the orientation parameters of a moving object. In them, the angular velocity sensors measure the angular velocity of the object in the coordinate system associated with it and using the calculator, the analytical construction of the base coordinate system (for example, the normal earth coordinate system) is carried out, in relation to which the orientation parameters of the moving object are determined.

Known strapdown orientation systems containing three uniaxial angular velocity sensors and a computer that generates corrective signals associated with the presence of methodological errors from accelerated rotation relative to the suspension axis of the gyro and calculates the magnitude of each component of the angular velocity vector [Rakhteenko E.R. Gyroscopic orientation systems, 1989, p.144-157].

The disadvantage is that such devices do not take into account the influence of errors due to the non-identical angular velocity sensors, which is expressed in the difference in phase delays of their output signals.

The objective of the present invention is to reduce the errors of the strapdown orientation system due to the non-identity of the angular velocity sensors, which is expressed in the difference in phase delays of their output signals.

The task is achieved in that in the strapdown orientation system containing a measuring unit, consisting of three uniaxial angular velocity sensors and a calculator, two delayed devices are additionally introduced, while the output of the third angular velocity sensor is connected to the input of the calculator, the output of the first angular velocity sensor is connected to the input of the first delayed device, the output of the second angular velocity sensor is connected to the input of the second delayed device, and the outputs of two delayed devices connected to the input of the calculator.

The drawing shows a structural diagram of a strapdown orientation system.

The strapdown orientation system includes a first angular velocity sensor 1, the output of which is connected to the input of the first delayed device 2, a second angular velocity sensor 3, the output of which is connected to the input of the second delayed device 4, a third angular velocity sensor 5, calculator 6, with the input of which the outputs are connected delayed devices and the output of the third angular velocity sensor.

The device operates as follows.

, где ν, φ₁ - частота синхронных колебании подвижного объекта и фазовое запаздывание выходного сигнала первого датчика угловой скорости 1 соответственно, в вычислитель 6 вводится сигнал первого датчика угловой скорости 1. С временным запаздываниемThe first to enter the calculator 6 is the signal of the third angular velocity sensor 5, the phase delay of the output signal of which φ _{3 is} maximum. Time lag

, where ν, φ ₁ is the frequency of synchronous oscillations of the moving object and the phase delay of the output signal of the first angular velocity sensor 1, respectively, the signal of the first angular velocity sensor 1 is input into the calculator 6. With a temporary delay

,

,

where φ ₂ is the phase delay of the second angular velocity sensor 3, the signal of the second angular velocity sensor 3 is input into the calculator 6, then the process is repeated, starting with the input of the signal of the third angular velocity sensor 5 to the calculator 6. Thus, the signals of the angular velocity sensors are introduced into the calculator with equal phase delays.

The simulation showed that when using this design scheme of the strapdown orientation system, the errors in determining the orientation parameters due to the non-identical angular velocity sensors, which is expressed in the difference in phase delays of their output signals, are significantly reduced.

Thus, the use of the invention allows to determine the angular velocity in the base coordinate system and the orientation parameters of the object that do not contain errors due to the non-identical angular velocity sensors, which is expressed in the difference in the phase delays of their output signals.

Claims (1)

A strapdown orientation system comprising a measuring unit, consisting of three uniaxial angular velocity sensors, and a calculator, characterized in that two delayed devices are additionally introduced into it, while the output of the third angular velocity sensor is connected to the input of the calculator, the output of the first angular velocity sensor is connected to the input of the first delayed device, the output of the second angular velocity sensor is connected to the input of the second delayed device, and the outputs of two delayed devices are connected to the course of the calculator.