RU2552608C1 - Method for independent determination azimuth of gyro-stabilised platform - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: azimuth determination is carried out when switching one of the gyro units of the stabilisation system to compass mode through disconnection thereof from a standard channel of the stabilisation system, when stabilising and levelling of the platform in the altered stabilisation channel using a corresponding accelerometer, disconnected from a gyro unit torque sensor and connected through an amplifier to the platform stabilisation motor of the altered channel, and also in a "memory" mode in the azimuth channel. At a calculated moment in time, control signals are transmitted to the gyro unit torque sensor, the control signals returning the gyroscope to the initial position. Determination of the azimuth of the initial position of the platform is carried out based on signals from the angle sensor of the gyro unit and the accelerometer. Use of control signals enables to cut the duration of the measurement process by combining the measurement process with the process of switching the compass gyroscope to the initial position while simultaneously providing a given accuracy of determining the azimuth of the platform and enabling further continuous operation of the TGS as intended.

EFFECT: broader functional capabilities.

Description

There are various ways of autonomous azimuthal orientation of the triaxial gyrostabilizer platform (TGS), based on the use of standard two-stage gyro blocks and accelerometers in various operating modes of the stabilization system and systems for bringing the platform and gyroscopes to the required (initial) position [1]. When determining the azimuth with the necessary accuracy using a gyroscope, its sensitivity axis should change its position relative to the Earth. In a number of ways, this is done by turning the platform with the gyroscope into various positions fixed relative to the Earth. In this case, the azimuth of the fixed position of the platform is determined, which does not allow measurements at azimuthal displacements of the TGS base. Platform reorientation operations increase the azimuth determination time and complicate the transition to the further functioning of the TGS as intended.

There are also methods of autonomous azimuthal orientation of the platform using a two-stage gyroscope without connecting the platform to the Earth [2, 3]. This is ensured by using the continuous operation mode of the platform stabilization system during the measurement process. The position of the axis of sensitivity of the gyroscope is changed due to visible deviations of the platform relative to the Earth or (and) rotations of the gyroscope relative to the platform, for which one of the standard gyro blocks is switched to compass mode. In this regard, it becomes necessary to take these deviations into account after measurements.

There is a method of azimuthal orientation of a gyrostabilized TGS platform according to the gyro rotation angle, based on the use of one of the standard two-stage gyro blocks of the platform stabilization system relative to horizontal axes in gyrocompass mode [2].

The gyro block is disconnected from the stabilization system, stabilization and leveling of the platform is carried out according to the signals of the corresponding accelerometer, disconnected from the gyro block moment sensor and connected to the stabilization engine. With respect to the vertical axis, the platform stabilizes in inertial space. The signals from the gyro block angle sensor are continuously measured and used to determine the azimuth of the initial (initial) position of the platform.

The main advantage of this method is the possibility of azimuthal orientation of the gyrostabilized platform without its connection with the Earth and under conditions of azimuthal displacements of the base of the TGS. The disadvantage of this method is the need to take into account with the further operation of the TGS the angular deviations of the platform and the compass gyroscope or bring them to their original position. The most significant are the rotation angles of the compass gyroscope. The implementation of the method is associated with the need to complicate the design of the gyroscope and the measuring system.

The closest in technical essence is the method for determining the azimuth of the gyrostabilized TGS platform, also based on the use of one of the standard gyro blocks of the stabilization system in compass mode, similar to the first method considered [3]. Relative to the vertical axis, the "memory" mode is implemented, which allows you to hold the platform in its original position during measurements. The method has the advantages noted previously for the compass gyro block mode. The disadvantage is the need to return the gyroscope to its original position with significant rotation angles.

The aim of the present invention is to eliminate the noted drawbacks of the above methods associated with the need to bring the platform and gyroscope to its original position for the implementation of the further functioning of the TGS for its intended purpose. To eliminate the disadvantage caused by significant rotation angles of the gyroscope, it is proposed to combine the operation of returning the gyroscope to its original position with the measuring process.

At the beginning of the measurements, one of the gyro blocks of the stabilization system with respect to the horizontal axis is disconnected from the stabilization system and is turned into compass mode. Stabilization and leveling of the platform relative to this axis is carried out according to the signals of the corresponding accelerometer by disconnecting it from the gyro block moment sensor and connecting it through the amplifier to the stabilization engine. Relative to the vertical axis, the platform is switched on in the “memory” mode and held in its original position. Under the influence of the gyroscopic moment caused by the rotation of the Earth, the gyroscope of the compass gyro block rotates towards the meridian. When it is rotated through a predetermined angle, the calculated control signals returning the compass gyroscope to its original position are fed to the gyro block moment sensor. The azimuth of the initial position of the platform is determined by processing information from the accelerometer and from the gyro rotation angle sensor both in the compass mode section and in the area of the gyroscope returning to its initial position. As a result, at the end of the measurements, the platform and the gyroscope remain in their original positions, providing further continuous operation of the TGS as intended.

Azimuth estimation is based on dynamic models of gyroscope movement to the meridian

and in the gyro return to the starting position

where β, β _in are the angles of deviation of the gyroscope from its original position when moving to the meridian and returning to its original position;

M _upr - control moment;

I is the moment of inertia of the gyroscope;

f is the damping coefficient;

H is the kinetic moment of the gyroscope;

And ₀ is the azimuth of the initial position of the platform;

ω _in , ω _g - vertical and horizontal projection of angular velocity

Earth rotation;

ω _GB - the angular velocity of the self-departure of the compass gyroscope;

Δω _dr - the angular velocity uncompensated mode "memory"

platform drift relative to the vertical axis;

δ *, γ * - static errors of the platform leveling system.

The control moment is calculated taking into account the possibility of reducing the time of the measuring process by combining it with the process of bringing the compass gyroscope to its original position and at the same time ensuring the given accuracy of determining the azimuth of the platform. Algorithms for processing the measurement information in the return section may differ from the algorithms defined for the initial section of the gyroscope motion.

A comparative analysis of the essential features of the method for determining the azimuth selected by the prototype and the proposed method shows that the proposed method of azimuth orientation differs in that at a certain point in time of the measurements, the calculated control signals are fed to the gyro block moment sensor, which return the gyroscope to its original position, and the platform azimuth is determined by signals from the accelerometer and the gyro block angle sensor, taken during the movement of the gyroscope to the meridian and its return to its original position. Thus, the proposed method has a novelty. The authors are not aware of the combination of essential features used to solve this technical problem, which meets the criterion of "inventive step".

Information sources

1. Khlebnikov G.A. The initial exhibition of inertial gyroscopic systems. M .: VAD, 1994, pp. 285-307.

2. RF patent No. 2324897, 2006.

3. RF patent No. 2428658, 2010.

Claims (1)

The method of autonomous determination of the azimuth of the gyrostabilized platform of the triaxial gyrostabilizer, which consists in the use of one of the gyroblocks of the platform stabilization system relative to the horizontal axis, disconnected from the stabilization system and included in the compass mode, stabilization and leveling of the platform relative to this axis are carried out using the corresponding accelerometer, relative to the vertical platform axis is in the "memory" mode, characterized in that at a certain point in time eny gyro unit on the calculated torque sensor is fed control signals which return to the starting position the gyroscope and the platform azimuth determined by signals from the accelerometer and gyro unit angle sensor, removable during movement to the meridian gyro and its return to its original position.