RU2308681C1 - Gyroscopic navigation system for movable objects - Google Patents

Abstract

FIELD: measuring technique.

SUBSTANCE: gyroscopic navigation system comprises gyroscopic unit for measuring course based on movable gyroscope with three degrees of freedom the axle of the rotor of which is kept to be in the horizontal plane by means of the system for horizontal correction, angle pickup mounted on the axle of the outer frame of the gimbal suspension, unit for converting the DC voltage into three-phase AC voltage, unit for computing navigation parameters, information converter, control unit, pickup of way provided with pulse generator, aerial, and receiver of the satellite navigation system.

EFFECT: expanded functional capabilities.

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Description

The invention relates to the field of measuring equipment and can be used in navigation systems, topographic location and orientation of ground moving objects.

Known ground-based gyroscopic system [1] for moving objects based on a dynamically tuned gyroscope (DNG), in which in two versions a scheme of a triaxial cardan suspension is implemented. The specified system allows for high accuracy in determining the heading angle of a moving object both in the parking lot and during movement.

A disadvantage of the known ground-based gyroscopic system is the difficulty of implementing algorithms for solving navigation problems and the high cost.

Known satellite navigation (SNA) or the so-called radio navigation system (SRNS), used in the interests of orientation [2]. SNA orientation determination is mainly based on the use of the idea of receiving SNA signals on diversity antennas. Such equipment can solve the problem of determining the coordinates of a place, the vector of the ground speed of the movement and the spatial orientation of the antenna system and the object associated with it, as well as the output to external devices of the current coordinates, the spatial orientation of the object, the values of the angles of azimuth, pitch and roll.

The advantages of such systems are high accuracy in determining the navigation parameters of the object, independence of accuracy from time and distance, small dimensions and low cost. A big drawback of these systems is their dependence on natural and weather conditions due to the violation of the radio visibility of navigation spacecraft (NSC).

Known navigation equipment TNA-4 for ground moving objects [3], which is serially manufactured by the Saratov Aggregate Plant since the 1970s, which is adopted as a prototype.

Known navigation equipment TNA-4 is designed for:

- continuous automatic determination and indication of coordinates and directional angle of the object;

- continuous automatic determination and indication of the directional angle of the object to the destination;

- calculating the coordinates of targets based on the range entered into the equipment and the angle of sight on the target.

Functional diagram of the known navigation equipment TNA-4 is presented in Fig.1A. The composition of the known navigation equipment includes:

- a course system designed to continuously determine changes in the directional angle of an object and transmit information about their size and sign to the coordinator and consisting of a gyro pointer 1 based on a three-degree astatic gyroscope with a horizontal correction system and an angle sensor on the axis of the outer frame, control panel 2 and the machine converter DC voltage to AC three-phase voltage 3;

- electromechanical coordinator 4, designed to calculate and display the coordinates and the directional angle of a moving object, the directional angle at the destination and decomposition of the elementary segments of the range to the target when solving navigation problems;

- a mechanical path sensor 5 and a pulse shaper 6, providing the conversion of information about the path traveled by the object and its sign;

- indicator tablet 7, designed for continuous indication of the location of a moving object on a topographic map;

- course indicator 8, designed to indicate the directional angle of the object coming from the coordinator, and which is a single-channel electromechanical tracking system.

The principle of operation of the known TNA-4 equipment when determining the coordinates of a moving object is based on the decomposition of elementary segments of the path ΔSi into two components:

and the subsequent algebraic summation of these components with the original coordinates X _ref and Y _ref

where: n is the number of elementary segments of the path;

α _i is the directional angle of the object at the time of decomposition (the angle between the projection of the longitudinal axis of the object onto the horizontal plane and the X coordinate parallel to the north direction).

The principle of operation of the equipment in the mode of decomposition of the path into two components is illustrated in Fig.1b.

The decomposition of the segments of the path ΔS _i into components is carried out in a rectangular coordinate system whose axes are parallel to the grid lines of the topographic map.

The value of the directional angle of the object α _{i is} continuously determined by the equipment as the sum of the initial directional angle and increments of the directional angle Δα _i obtained during the movement of the object from the starting point to the current

The elementary segments of the path ΔS _i and the increment of the directional angle of the object Δα _{i are} continuously measured by the equipment, and the initial coordinates X _ref , Y _ref and the direction angle α _{ref are} determined by the operator using additional tools that are not part of the apparatus, and are introduced into it during initial orientation in starting point.

The task of determining the directional angle to the destination is solved in equipment using a sine-cosine rotating transformer (SCRT) using an electromechanical synchronous servo system. Based on the fact that if voltage is applied to the stator windings of an SCR, proportional to the differences in the coordinates of the destination and the object,

then the angular position of the rotor of the SKVT will simulate the directional angle to the destination.

At the starting point of the march, the initial differences of the coordinates of the destination and the object ΔX _pnysh , ΔY _pnysh are introduced into the equipment.

In the process of movement, the increments of coordinates calculated by the equipment as a result of solving the problem of determining the coordinates of the object are used as increments of the differences of the coordinates of the destination and the object. The result is a continuous calculation of the values of α _PNI .

The work of the known equipment in determining the coordinates, the directional angle of the object and the directional angle to the destination is illustrated by the functional diagram shown in Fig.1A.

Before the start of the movement, the initial coordinates and the direction angle of the object are determined and entered into the calculator’s calculator.

The crosshair of the tablet’s sighting threads is set at the location of the object on the topographic map. The differences between the coordinates of the destination and the object in the starting point are calculated and entered into the counters ΔX and ΔY of the coordinator.

According to the entered differences of the coordinates of the destination and the object in accordance with formulas (6) and (7), the value of the direction angle to the destination is automatically calculated and displayed in the coordinator.

The signals of the mechanical sensor, carrying information about the distance traveled, are converted in the shaper into rectangular pulses and fed to the coordinator. Each pulse is used as an elementary segment of the path ΔS _i during expansion in accordance with formulas (1) and (2).

Information about changing the directional angle of the longitudinal axis of the object is generated in the gyro course indicator of the course system.

Through a synchronous communication line, it enters the coordinator, where it is summed up with the initial directional angle of the object in accordance with formula (5), and the result is displayed on the coordinator's COURSE scales and on the direction indicator scale, the signal for which is constantly generated in the coordinator.

In the coordinator, elementary path segments are decomposed into components in accordance with formulas (1) and (2). The obtained increments of the coordinates ΔX _i and ΔY _i are sent to the counters X, Y, ΔX, ΔY of the coordinator, where they are summed with the values of the original coordinates in accordance with formulas (3), (4) and with the values of the original differences of the coordinates of the destination and the object in the starting point . At the same time, the increment of coordinates goes to the indicator tablet, where with the arrival of each pulse, the position of the crosshairs of the sighting threads changes, indicating the new position of the object on the map.

In accordance with the changed values of the differences in the coordinates of the destination and the object in the coordinator, the directional angle to the destination from the new location of the object is calculated.

Along with the advantages of the well-known navigation system TNA-4, such as autonomy of operation, ease of implementation of the algorithm for generating navigation parameters, low cost of equipment, it has many disadvantages, such as: low accuracy of determining the coordinates of the location of the object.

Low accuracy is caused, firstly, by the low maximum achievable accuracy of holding the current directional angle of the object by a gyroscopic heading meter, and secondly, by the dependence of the error in determining coordinates on the time of work and the distance traveled by the object, which is associated with the principle of constructing a well-known navigation system using the dead reckoning method . The maximum attainable accuracy of the retention of the current directional angle for the used gyroscopic meter based on a three-degree astatic gyroscope is (0.3-0.4) deg / h; in comparison, more advanced systems, for example, based on DNG, provide retention (0.1-0, 2) deg / h. The error in determining the coordinates of the known system is 0.7% of the distance traveled in 7 hours of movement, then at an object speed of 40 km / h the absolute error in determining the coordinates for 7 hours of the distance traveled is:

In comparison, the satellite navigation system (SNA) allows for the determination of the coordinates of the location of an object with an error of 20 meters, regardless of time and distance.

Another significant drawback of the known navigation system is the limited number of functional capabilities of the equipment, namely the impossibility of automatically translating the geodetic coordinate system into the Gauss-Krueger coordinate system and vice versa, displaying the angle and range to the target when shooting from closed positions, displaying video information from the video source, etc. d. All this is due to the use of analog electromechanical circuit elements.

The aim of the invention is to improve the accuracy of a gyroscopic navigation system based on a three-stage astatic gyroscope by introducing corrections from external sources of navigation information, such as a satellite navigation system, and expanding the system's capabilities through the widespread use of microprocessor technology and the use of a digital electronic map of the area.

This goal is achieved by the fact that in the well-known navigation system containing a gyroscopic heading meter (gyro-pointer or gyrometer) based on a three-degree astatic gyroscope, the rotor axis of which is held in the horizontal plane by a horizontal correction system, with an angle sensor on the axis of the outer frame of the gimbal, a DC voltage converter current to three-phase AC voltage, coordinator as a calculator of navigation parameters and information and control converter I, a path sensor with a pulse shaper, according to the invention, an antenna and a satellite navigation system (SNA) receiver are additionally introduced, reduktosin with an analog-to-digital converter (ATsPVT) is used as an angle sensor in the gyrocourse, and a microcomputer is used as a control device for the operating modes and calculator , the output of reductosine (ADCT) and the output of the pulse shaper of the path sensor are connected to the corresponding inputs of the microcomputer, the outputs of which are connected either to external devices for processing information and control Lenia, such as control information and a complex object, or to the input of electronic cartography, as the DC voltage converter in the three-phase AC voltage applied to an electronic voltage converter, also mounted in the housing girokursoizmeritelya.

Thus, in the proposed gyroscopic navigation system for moving objects on the basis of an astatic gyroscope using the dead reckoning method, combined navigation equipment is implemented with autonomous mode from the GKI, with a mode of operation using the SNA and an integrated mode of operation, that is, with correction of the current coordinates of the autonomous channel by more accurate information of the satellite channel, which improves the accuracy of the equipment, and the use of elements of microprocessor technology, the use of cards Fargo with digital electronic map of the area allows you to extend the functionality of the equipment due to the possibility to implement signal processing algorithms on additional solutions for additional navigational problems.

The claimed gyroscopic navigation system for moving objects differs from the prototype in that:

- additionally applied antenna and receiver of the satellite navigation system;

- as the angle sensor on the axis of the outer frame of the gimbal gimbal gimbal gauge used reductosin ATsPVT;

- as the information and control converter, a microcomputer installed in the body of the gyro course meter is used, with the ADCVT outputs and the path sensor pulse shaper connected to the corresponding microcomputer inputs;

- an electronic converter installed in the housing of the gyrometer is used as a converter of DC voltage to a three-phase AC voltage;

- additionally applied an electronic cartographer, comprising, a map processor, an electronic indicator (display), a control panel and a boot device.

The analysis of the prior art, including a search by patent and scientific and technical sources of information and identification of sources containing information about analogues of the claimed technical solution, allowed us to establish that no analogues were found that are characterized by signs that are identical to all the essential features of the claimed gyroscopic navigation system. This allows us to conclude that the proposed system meets the criterion of "novelty."

Comparison of the claimed gyroscopic navigation system with other technical solutions shows that some distinctive features in the technique are widely known. So it is known to use an astatic gyroscope, the axis of proper rotation of which is installed in a horizontal position as a directional gyroscope [4]. It is known to use correction from the SNA by the example of a strapdown inertial navigation system based on laser gyroscopes for measuring the angular parameters of a railway track [5]. It is known to use digital road maps to improve the quality of solving navigation problems [6]. However, the use of these features in this relationship with other features to achieve the above technical result was not found, therefore, the claimed gyroscopic navigation system for moving objects meets the criterion of "inventive step".

On figa and 1b depicts a navigation system is a prototype.

Figure 2 and 3 shows the inventive gyroscopic navigation system for moving objects.

The system contains a gyrocourse meter (GKI) 1 based on a three-degree astatic gyroscope, whose axis of rotation 2 is held in the horizontal plane by a horizontal correction system consisting of a liquid pendulum sensor 3 as a sensitive element of the horizontal plane and a torque motor 4 as an actuator, on the axis of the outer frame 5 installed as a reduktosin angle sensor 6, the reduktosin output is connected to the input of the analog-to-digital converter (ADCT) 7, the output of which is connected to the input an ode to microcontroller 8, which provides the functions of an information and control converter and is located in the GKI case. The antenna 9 and the receiver 10 of the satellite navigation system (SNA) provide navigation information through a satellite channel. The path sensor - odometer 11 and driver 12 provide information on the distance traveled, the output of the converter is connected to the corresponding input of the microcontroller 8. An electronic converter 13 is installed in the housing of the GKI, providing power to the GKI.

Navigation information from the output of the microcontroller 8 is fed to external information processing and control devices, as shown in FIG. 2, or to the input of an electronic cartographer 14, as shown in FIG. 3. The cartographer 14 consists of a cartographic processor 15, an electronic indicator (display) 16, a control panel 17 and a loading device 18.

The output of the receiver 10 (SNA) is connected to the corresponding input of the microcontroller 15.

The inventive system operates as follows.

Before using the equipment with additional tools that are not included in the equipment, the initial data are prepared, namely, the coordinates of the starting point of the route X _ref , Y _ref , the direction angle from the starting point α _op , the coordinates of the destination are determined.

After turning on the equipment from the control panel 17 of the cartographer 14, the operator enters the initial data and loads the electronic map into the cartographic processor 15 of the required area through the loading device 18. According to the variant of FIG. 2, input of input data is performed from an external device for processing information and controlling an object.

The equipment can operate in three modes: stand-alone, satellite and integrated.

In stand-alone mode, the signal from reductosin 6, corresponding to the magnitude of the change in the directional angle of the object, is fed to the input of the ADCWT 7, which in turn transmits the angle value in parallel code to the corresponding input of the microcomputer 8. The signals of the path sensor 11, carrying information about the path traveled by the object, are converted in the shaper 12 into rectangular pulses and fed to the corresponding input of the microcomputer 8 for subsequent use as elementary segments ΔS _i during decomposition in accordance with formulas (1) and (2). The signals from the ADCWT 7 and the shaper 12 are perceived by the microcomputer 8 as input information and are processed according to the algorithms necessary for these signals, while the signal from the ADCWT 7 determines the increments of the directional angle Δα _i , after which the current value of the directional angle of the object α _{i is} calculated as the sum of the original directional angle α _ref and increments of the directional angle Δα _i obtained during the movement of the object from the starting point to the current one, by the formula (5).

The elementary segments of the path ΔS are decomposed into components in accordance with formulas (1) and (2), are summed up with the values of the source coordinates in accordance with formulas (3) and (4) and with the values of the source differences of the coordinates of the destination and the object in the starting point. In accordance with the changed values of the differences in the coordinates of the destination and the object in the microcomputer 8, the directional angle from the new location of the object is calculated by the appropriate algorithms. Thus, at the output of the microcomputer 8 there is information about the current coordinates and the directional angle of the object, the coordinates of the target, the directional angle to the destination and the distance to it, which goes to external information processing and control devices or to the input of the cartographer 14.

In satellite navigation mode, the coordinates of the object are determined by the SNA receiver, which is structurally located in the cartographer. The antenna of the receiver 9 receives signals from navigation spacecraft (NSC) and transmits to the receiver the SNA 10 for calculating the coordinates. The coordinates of the object are calculated by pseudo-range to the NCA. Pseudo-ranges are calculated by the time delays T _{i of} the ith i-spacecraft-consumer and the known propagation velocity of radio waves with:

D _i = cT _i .

T _i are measured by comparing the received pseudo-random codes and the copies of these codes generated in the receiver, taking into account a priori known moments of the radiations of the signals of the spacecraft.

The rectangular geocentric coordinates X, Y, Z found during the navigation definitions are converted to Gauss-Krueger coordinates and transferred to the map processor to display the location of the object on the screen of the cartographer against the background of the electronic map.

In integrated mode, the corresponding inputs of the microcomputer 8 receive signals from the outputs of the ADCWT 7, the former 12. The navigation information obtained after processing in the microcomputer is transmitted to the cartographic processor of the cartographer, where, together with information from the receiver 10 about the coordinates of the object, when they are processed together, it allows:

- provide improved accuracy of the output of angular information;

- implement an almost continuous correction process through the use of two heterogeneous sources of information;

- evaluate and calibrate the drift of the GKI;

- to assess the errors of the path sensor and thereby improve the accuracy of determining the current coordinates.

The electronic cartographer 14 as part of the proposed equipment option performs the following functions:

- selection of the operating mode of the equipment (autonomous, satellite, integrated);

- input of initial and intermediate navigation parameters;

- determination of the coordinates of the location of the object according to the information of the global navigation satellite systems “GLONAS” and “NAVSTAR”;

- calculation of range and directional angle to the destination;

- calculation of coordinates of targets (landmarks) in range and angle;

- digital display of the current coordinates and the directional angle of the object, the coordinates of the target, as well as the directional angle to the destination and the distance to it;

- automatic determination of the path correction coefficient and the correction of the sighting device when adjusting on the measured section;

- display on the electronic map of the current location of the object with a direction to the destination and the target;

- display on the electronic map of the location of the goals and destination;

- drawing on the map the trajectory of the object;

- display of the angle and range to the target when firing at closed positions;

- translation of the geodetic coordinate system into the Gauss-Kruger system (into a rectangular coordinate system) and vice versa;

- display on screen video information from a video source and thermal imaging sight.

The use of a microprocessor base in the equipment makes it possible to realize the availability of information channel options. RS232 / 485, CAN, MANCHESTER-2.

Thus, the proposed technical solution allows to increase the accuracy of an inexpensive gyroscopic navigation system based on an astatic gyroscope by introducing elements of a more accurate SNA and realize the advantages of a combined navigation system by the dead reckoning method and SNA, namely the autonomy of the system, independence from natural and weather conditions, noise immunity and, due to the introduction of an electronic cartographer on a microprocessor base with a digital electronic map of the area, significantly increase the informat vnost display tactical situation in real time to increase the functionality of the equipment.

In a private implementation of the proposed system, the equipment can be supplemented by a direction indicator with an electronic indicator that allows you to perform the function of additional display of navigation information. In order to reduce the instrumentation, the SNA receiver can be placed in the cartographer's housing.

According to the proposed technical solution, design documentation was developed and prototypes of a topographic orientation system (STO) for moving objects were made, designed to determine the current location of the object on the earth's surface and display tactical and navigation information on an electronic map, as part of the GKI using BVTA 100 reductosin -С30, converter АЦПВТ-19П-Д1, microcomputer 6050 Octagon System, antenna SNA, electronic cartographer, structurally integrated with the receiver SN and electronic lightbar. The following technical characteristics were achieved:

1. The error in determining the coordinates (RMS)

- offline 0.7% of the distance traveled in 7 hours of movement;

- in the SNS mode - 10 m;

- in integrated mode - 0.4% of the distance traveled in 7 hours of movement.

2. The error in the retention of the current directional angle of the object is 0.3 deg / h.

3. Power consumption - no more than 300 watts.

4. The mass of STO devices is 25 kg.

Information sources:

1. RF patent 2213937, IPC G01C 19/38.

2. Yu.A. Soloviev “Satellite Navigation Systems”, ECO-TRENDZ, Moscow, 2000, Engineering Encyclopedia of Electronic Communications Technology, pp. 52-155.

3. Navigation equipment TNA-4. Technical description ПБ1.590.021 ТО, Federal State Unitary Enterprise "Saratov Aggregate Plant", Saratov.

4. S. S. Rivkin “Theory of gyroscopic devices”, part 1, Sudpromgiz, Leningrad, 1962, pp. 273-275.

5. State Scientific Center of the Russian Federation. Central Research Institute "Electrical Appliance". "XI St. Petersburg International Conference on Integrated Navigation Systems", May 26-28, 2004, St. Petersburg, Russia, pp. 90-96.

6. International public organization "Academy of Navigation and Motion Control". State Scientific Center of the Russian Federation. Central Research Institute "Electrical Appliance". St. Petersburg State Electrotechnical University "LETI". "Navigation and traffic control." Materials of the V conference of young scientists, St. Petersburg, 2004, pp.227-233.

Claims (1)

Gyroscopic navigation system for moving objects, containing a gyroscopic heading meter (gyro pointer or gyrometer) based on a three-degree astatic gyroscope, the rotor axis of which is held in the horizontal plane by a horizontal correction system, with an angle sensor on the axis of the outer frame of the gimbal, a DC-voltage to three-phase voltage converter AC, coordinator as a calculator of navigation parameters and a converter of information and control, sensors to the path with a pulse shaper, characterized in that the antenna and receiver of the satellite navigation system are additionally introduced into it, reduktosin with an analog-to-digital converter (ATsPVT) is used as an angle sensor in the gyrocourse meter, and a microcomputer is used as a control device for the operating modes and calculator, the reductosin output (ADCT) and the output of the path sensor pulse shaper are connected to the corresponding inputs of the microcomputer, the outputs of which are connected either to external information processing and control devices, for example, to the information and control complex of an object, or to the input of an electronic cartographer, an electronic voltage converter is also used in the gyro course meter housing as a DC-to-three-phase AC voltage converter.

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