RU35005U1 - The device of the initial exhibition of inertial navigation system - Google Patents

Description

DEVICE OF INITIAL EXHIBITION OF INERTIAL NAVIGATION SYSTEM

The invention relates to measuring equipment, in particular, to the field of instrumentation and can find application for measuring azimuth (i.e., determining the direction to the true North Pole of the Earth), as well as solving problems of topographic and geodetic reference positions, orientation on the ground, target designation, navigation solutions tasks.

A feature of the devices of the initial exhibition is the use of inertial sensitive elements, in particular, gyroscopic devices.

Known technical solution Torochkov V.Yu. Gyrotheodolites. M., Nedra, 1970, p. 33-43, in which the device for determining the direction to the true North Pole of the Earth contains an outer casing, a gyro block suspended in the form of a pendulum inside the outer casing using a torsion bar and including a gyromotor with a horizontal axis of rotation and a supporting casing, a sensor for the rotation angle of the gyroblock relative to the outer casing , contactless communication device and arresting mechanism.

The disadvantage of this solution is its low speed.

The objective of the present invention is to increase performance.

The technical result is obtained due to the fact that in the initial exhibition device containing the outer casing, the gyro block is suspended in the form of a pendulum inside the outer casing with the help of a torsion bar and includes a gyromotor with a horizontal axis of rotation and a supporting casing, a gyro unit rotation angle sensor relative to the outer casing, the first and the second electronic blocks, a non-contact communication device, a locking mechanism, a micromechanical angular velocity sensor installed on the gyro block support housing is introduced. The measuring axis of the micromechanical angular velocity sensor is located vertically. Torsion suspension is made in the form of two spaced apart torsions. In addition, a computing unit was introduced, the first input through the first electronic unit connected to the output of the gyro unit angle sensor relative to the outer casing, the second input through the second electronic unit and the contactless communication device connected to the output of the micromechanical angular velocity sensor, and the output is the output of the entire device .

20031 Z93Z9

MPK7 GO 1C 23/00

When using the device of the initial exhibition of an inertial navigation system with a micromechanical angular velocity sensor installed on the gyro block support body so that its measuring axis is vertical and the torsion suspension is made in the form of two spaced apart torsions, and, in addition, a computational a unit, the first input of which is connected through the first electronic unit to the output of the gyro unit angle sensor relative to the outer casing, the second input through the second electronic and noncontact communication device is connected to the output of a micromachined angular velocity sensor, and the output is the output of the entire device, increasing performance.

The list of drawings:

FIG. 1 is a diagram of a device for an initial exhibition of an inertial navigation system;

FIG. 2 is a diagram of the orientation of the coordinate axes to determine the equilibrium position of the precession vibrations of the gyroblock.

In FIG. 1 is a diagram of an initial exhibition of an inertial navigation system. In FIG. 2 shows the orientation axis of the coordinate axes to determine the equilibrium position of the precession gyroblock oscillations.

The initial exhibition device (Fig. 1) contains an outer casing 1, inside of which a gyro block 2 is placed, suspended in the form of a pendulum with the help of a torsion suspension 3, made in the form of two spaced apart torsions. The gyro unit 2 includes a gyro motor with a horizontal axis of rotation and a support housing 4. The angle sensor 5 of the rotation of the gyro unit 2 relative to the outer housing 1 comprises a movable element fixed to the supporting housing 4 and a fixed element fixed to the outer housing 1. The contactless communication device 6 consists of a radiator mounted on the support housing 4, and a receiver located on the housing 1. The micromechanical angular velocity sensor is mounted on the support housing 4 so that its sensitivity axis is located vertically. Computing unit 9 has first and second inputs and one output. The output of the angle sensor 5 through the first electronic unit 7 is connected to the first input of the computing unit 9. The output of the micromechanical angular velocity sensor through a contactless communication device 6 and the second electronic unit 8 is connected to the second input of the computing unit 9. The output of the computing unit 9 is the output of the entire device.

The proposed device operates as follows. When the power is turned on, the gyromotor located inside the gyro unit 2 will come into rotation. A kinetic moment H occurs. The vector of kinetic moment H will coincide with the axis of rotation of the gyromotor. The interaction of the vector of the kinetic moment H with the vector of the horizontal component of the angular velocity of the Earth's daily rotation forms a gyroscopic moment, which forces the vector H to precess in the direction of the geographic meridian. The precession movement is harmonic and can be characterized by the following relationships:

and at sin (+ y /) + a ,,;

 2lIH

t - - 2n; (1)

  уР-е- & 3-со5 р (Д + 1)

q s

H -Q.J -cosq

where a is the angle of rotation of the gyro block 2 relative to the housing 1;

at, d) n, y /, and a ,, are the amplitude, natural frequency, initial phase, and equilibrium position of the precession oscillations;

Tp is the period of precessional oscillations;

H is the kinetic moment;

P t is the specific pendulum moment of the gyro block;

D is the coefficient;

C is the specific elastic moment of the torsion suspension;

QJ is the angular velocity of the Earth's daily rotation;

(p is the latitude of the place.

In the equilibrium position, the vector of kinetic momentum H is located between the base direction Ox0 and the midday line Oxk (Fig. 2). Wherein

the gyroscopic moment is balanced by the elastic moment created by the torsion suspension 3. The equilibrium equation will take the form:

where A is the azimuth, i.e. angle between the base direction Ox0 and the midday line Ox. From relationship (2), you can determine the azimuth A of the basic direction of the housing 1:

sin A aP (D + cos A). (3)

The most important technical characteristic of the device of the initial exhibition of the inertial navigation system is speed, i.e. time required to determine the azimuth. The speed of the device depends on the magnitude of the period of precessional oscillations Tp.

A significant increase in the speed of the initial exhibition device can be achieved by increasing the coefficient D, which depends on the amount of elasticity from the torsion suspension 3 and the gyroscopic moment I O, 3 cos p. At

with Н-Ј13 -cosy, the influence of the coefficient D on the period Tn can be significant. IN

the proposed device, the increase in the coefficient D is due to the special design of the torsion bar suspension, consisting of two parallel extensions, spaced apart by a certain amount. With this solution, it is possible to achieve a value while maintaining high stability of the equilibrium position of torsional vibrations of gyro block 2, i.e. stability of the basic direction of the housing 1. Example. At P I / N 30 s, and ... 99, the magnitude of Tp 60 ... 19 s.

The algorithm of the initial exhibition (3) involves determining the equilibrium position a ,, of the precession vibrations of the gyro block 2. The harmonic precession vibrations of the gyro block 2 can be represented in the form of the following relationships:

a-a ,, amsin (u) nt + i //); a

 a „, cos (o) nt + h /). (4) After conversion from expression (4), we can see: get the algorithm for calculating ar in

Claims (5)

1. The device is the initial exhibition of an inertial navigation system comprising an outer casing, a gyro block suspended in the form of a pendulum inside the outer casing using a torsion bar and including a gyromotor with a horizontal axis of rotation and a support casing, a rotation angle sensor of the gyro block relative to the outer casing, the first and second electronic units , non-contact communication device, arresting mechanism, characterized in that an angular velocity sensor installed on the gyro block support housing is introduced. 2. The device of the initial exhibition of the inertial navigation system according to claim 1, characterized in that the angular velocity sensor is made in the form of a micromechanical angular velocity sensor. 3. The device of the initial exhibition of the inertial navigation system according to claims 1 and 2, characterized in that the measuring axis of the micromechanical angular velocity sensor is located vertically. 4. The device of the initial exhibition of the inertial navigation system according to claim 1, characterized in that the torsion bar is made in the form of two spaced apart torsions. 5. The device of the initial exhibition of the inertial navigation system according to claims 1 and 2, characterized in that a computing unit is introduced, the first input of which is connected through the first electronic unit to the output of the gyro unit angle sensor relative to the outer casing, the second input through the second electronic unit and contactless device communication is connected to the output of the micromechanical angular velocity sensor, and the output is the output of the entire device.