WO1997045703A1 - Procede permettant de determiner la position d'un objet mobile et dispositif de mise en oeuvre de ce procede - Google Patents

Procede permettant de determiner la position d'un objet mobile et dispositif de mise en oeuvre de ce procede Download PDF

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Publication number
WO1997045703A1
WO1997045703A1 PCT/RU1997/000166 RU9700166W WO9745703A1 WO 1997045703 A1 WO1997045703 A1 WO 1997045703A1 RU 9700166 W RU9700166 W RU 9700166W WO 9745703 A1 WO9745703 A1 WO 9745703A1
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Prior art keywords
οbeκτa
προeκtsy
blοκa
values
magniτnοgο
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PCT/RU1997/000166
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English (en)
Russian (ru)
Inventor
Sergei Konstantinovich Turkov
Konstantin Mikhailovich Tsennykh
Arkady Mikhailovich Krishtal
German Borisovich Volobuev
Evgeny Stepanovich Paschenko
Alexandr Yakovlevich Garshin
Nikolai Ivanovich Korolev
Lev Petrovich Domnin
Original Assignee
Ruslanov, Alexandr Semenovich
Rapoport, Vladimir Samuilovich
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Application filed by Ruslanov, Alexandr Semenovich, Rapoport, Vladimir Samuilovich filed Critical Ruslanov, Alexandr Semenovich
Publication of WO1997045703A1 publication Critical patent/WO1997045703A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/125—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by capacitive pick-up
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/13—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by measuring the force required to restore a proofmass subjected to inertial forces to a null position
    • G01P15/131—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by measuring the force required to restore a proofmass subjected to inertial forces to a null position with electrostatic counterbalancing means

Definitions

  • the method is as follows: - in the calibrated cycle, there is a movement of the transport system
  • the device also contains five analog-to-digital adapters and a switch.
  • Bl ⁇ ⁇ asche ⁇ a ⁇ e ⁇ itsien ⁇ v ⁇ e ⁇ tsii vy ⁇ lnen as bl ⁇ a ⁇ asche ⁇ a ⁇ e ⁇ itsien ⁇ v ⁇ e ⁇ tsii elli ⁇ s ⁇ ida magni ⁇ n ⁇ g ⁇ g ⁇ d ⁇ g ⁇ a ⁇ a and s ⁇ de ⁇ - zhi ⁇ ⁇ sled ⁇ va ⁇ eln ⁇ v ⁇ lyuchennye za ⁇ minayuschee us ⁇ ys ⁇ v ⁇ ⁇ alib ⁇ v ⁇ chny ⁇ values ⁇ tsess ⁇ ⁇ asche ⁇ a ⁇ s ⁇ yanny ⁇ elli ⁇ s ⁇ ida, ⁇ tsess ⁇ ⁇ asche ⁇ a displacements of tsen ⁇ a elli ⁇ s ⁇ ida, ⁇ tsess ⁇ ⁇ asche ⁇ a ⁇ v ⁇ a ⁇ s _ T / elli ⁇
  • Bl ⁇ ⁇ e ⁇ tsii ⁇ e ⁇ tsy sum ma ⁇ n ⁇ g ⁇ ve ⁇ a na ⁇ yazhenn ⁇ s ⁇ i ⁇ PZ and magni ⁇ n ⁇ g ⁇ ⁇ lya ⁇ ans ⁇ n ⁇ g ⁇ s ⁇ ed- s ⁇ va s ⁇ de ⁇ zhi ⁇ ⁇ sled ⁇ va ⁇ eln ⁇ v ⁇ lyuchennye us ⁇ ys ⁇ v ⁇ ⁇ anslyatsii, bl ⁇ ⁇ v ⁇ a ⁇ sey elli ⁇ s ⁇ ida, bl ⁇ massh ⁇ abi ⁇ vaniya and bl ⁇ ⁇ b ⁇ a ⁇ n ⁇ g ⁇ ⁇ v ⁇ a ⁇ sey ellipsoid.
  • the tilt sensors are made in the form of pitch sensors and a rotational transducer.
  • the well-known method and devices are intended for use, in the first place, for flying devices - for self-reliance, and for the For these cases, to determine the exact value of the magnetic azimuth of the direction of motion, you need to know the parameters of the magnetic heater and the ignition is solid If there is a magnetic field that is connected to vehicles with magnetic magnets, it must be used in a three-dimensional system that has a high mobility rating. ⁇ In the ideal case, this reversal will be spherical, but as a result of the influence of the magnetic magnetic panels produced by the mobile view, it is ideal for the viewer.
  • Pa ⁇ azi ⁇ n ⁇ e magni ⁇ n ⁇ e ⁇ le v ⁇ lyuchae ⁇ ⁇ - s ⁇ yann ⁇ e magni ⁇ n ⁇ e ⁇ le and indutsi ⁇ vann ⁇ e magni ⁇ n ⁇ e ⁇ le ⁇ be ⁇ a is ⁇ l- lizing the values ⁇ e ⁇ itsien ⁇ v, ⁇ luchenny ⁇ in ⁇ e ⁇ i ⁇ d ⁇ alib ⁇ v ⁇ chn ⁇ g ⁇ tsi ⁇ la, m ⁇ zhn ⁇ ⁇ susches ⁇ vi ⁇ ⁇ m ⁇ ensatsiyu ⁇ s ⁇ yann ⁇ g ⁇ and indutsi ⁇ vann ⁇ g ⁇ magni ⁇ ny ⁇ ⁇ ley and ⁇ luchi ⁇ ⁇ chn ⁇ e value na ⁇ avleniya ⁇ be ⁇ a motion.
  • the well-known method of determining the location of a mobile home and the equipment for its implementation is outstripped by the greater complexity.
  • the implementation of the aforementioned method will require more hardware, higher speed of computational nodes, more power.
  • the use of a known method and equipment for land mobile vehicles is also limited by the following reasons.
  • the movement of a land-based transport system is characterized by the presence of a wide range of vibrations and vibrations, which are subject to vibration and vibration.
  • the process of Calibration is very difficult, and there is no use of the equipment.
  • a more challenging task is to use a known tool and equipment for people who are on hand. If a person wants to, they increase the speed and angular distortion of his body in the course of a two-step process. In these cases, the measured instantaneous values of the direction of movement do not coincide. with the movement of the movement, which reduces the accuracy of the measurements and practically excludes the use of the known method and device.
  • the output of the amplifier is connected to the first input, the output of the amplifier is connected to the output of the amplifier.
  • the input of the input is connected to the output of the converter to the electrical signal.
  • the output of the amplifier is the output of the device. Due to the effects of electric shock, these devices are not susceptible to damage to processors or heaters.
  • the sensing element of a capacitive accelerator in the form of a condenser is known, in the case of a portable movable plate, it is located above non-movable external devices, 64.
  • the sensitive element of the capacitive accelerator with the closed circuit and the internal part of the vehicle is in charge of the environment
  • the plate due to the acceleration of the transfer of the room is not connected to the electronic device (electronic service).
  • This connection with the electronic circuitry is in tension, which affects the condensation and increases the plate to the electronic area.
  • This device is characterized by increased inertia and a significant increase in severity, due to the operation of the natural owner. ⁇ ome Thus, the influence of induced electric fields and the development of electronic circuits in connection with the voltage are noted.
  • the components of the mobile unit are divided;
  • P ⁇ s ⁇ avlennaya task ⁇ eshae ⁇ sya ⁇ a ⁇ zhe ⁇ em, ch ⁇ in us ⁇ ys ⁇ ve for ⁇ edele- Nia mes ⁇ l ⁇ zheniya ⁇ dvizhn ⁇ g ⁇ ⁇ be ⁇ a, s ⁇ de ⁇ zhaschem da ⁇ chi ⁇ i magni ⁇ n ⁇ g ⁇ ⁇ lya, da ⁇ chi ⁇ i na ⁇ l ⁇ na ⁇ be ⁇ a, da ⁇ chi ⁇ ⁇ e ⁇ emescheniya, bl ⁇ ⁇ asche ⁇ a g ⁇ iz ⁇ n- ⁇ alny ⁇ ⁇ e ⁇ tsy ve ⁇ a na ⁇ yazhenn ⁇ s ⁇ i magni ⁇ n ⁇ g ⁇ ⁇ lya, bl ⁇ ⁇ asche ⁇ a ⁇ - e ⁇ itsien ⁇ v ⁇ e ⁇ tsii, bl ⁇ ⁇ e ⁇ tsii ⁇ e ⁇ tsy the total voltage of the magnetic field
  • P ⁇ s ⁇ avlennaya task ⁇ eshae ⁇ sya ⁇ a ⁇ zhe ⁇ em, ch ⁇ in ⁇ m ⁇ ensatsi ⁇ nn ⁇ m a ⁇ se- le ⁇ me ⁇ e, s ⁇ de ⁇ zhaschem chuvs ⁇ vi ⁇ elny elemen ⁇ , ⁇ i usili ⁇ elya and two ⁇ ezis ⁇ - ⁇ a, ⁇ i e ⁇ m vy ⁇ d ⁇ e ⁇ v ⁇ g ⁇ usili ⁇ elya ⁇ d ⁇ lyuchen ⁇ ⁇ e ⁇ v ⁇ mu ⁇ ezis ⁇ u and vy ⁇ d v ⁇ g ⁇ usili ⁇ elya s ⁇ edinen s ⁇ v ⁇ ym ⁇ ezis ⁇ m and yavlyae ⁇ sya vy ⁇ d ⁇ m us ⁇ - ⁇ ys ⁇ va, s ⁇ glasn ⁇ iz ⁇ b ⁇ e ⁇ eniyu in us ⁇ ys ⁇ v ⁇ introduced
  • P ⁇ s ⁇ avlennaya task ⁇ eshae ⁇ sya ⁇ a ⁇ zhe ⁇ em, ch ⁇ in chuvs ⁇ vi ⁇ eln ⁇ m elemen ⁇ e ⁇ m ⁇ ensatsi ⁇ nn ⁇ g ⁇ a ⁇ sele ⁇ me ⁇ a, vy ⁇ lnenn ⁇ m as ⁇ ndensa ⁇ a, y ⁇ - g ⁇ ⁇ dvizhnaya ⁇ v ⁇ dyaschaya ⁇ las ⁇ ina ⁇ as ⁇ l ⁇ zhena over ne ⁇ dvizhnymi ele ⁇ - rows with external vyv ⁇ dami, s ⁇ glasn ⁇ iz ⁇ b ⁇ e ⁇ eniyu ⁇ dvizhnaya ⁇ las ⁇ ina imee ⁇ in ⁇ lane ⁇ mu ⁇ aviln ⁇ g ⁇ mn ⁇ g ⁇ ug ⁇ lni ⁇ a or ⁇ uga and provided simme ⁇ ichn ⁇
  • Fig. 5 is a functional diagram of a compensated accelerator
  • Fig. 6 is a sensible element of a compensated accelerator; the view is in the plan;
  • ⁇ is the sum of the mains voltage and the hazardous magnetic field in case of a malfunctioning voltage
  • ⁇ is the sum of the mains voltage and the hazardous magnetic field in case of a malfunctioning voltage
  • ⁇ is the sum of the mains voltage and the hazardous magnetic field in case of a malfunctioning voltage
  • ⁇ is the sum of the mains voltage and the hazardous magnetic field in case of a malfunctioning voltage
  • ⁇ is the sum of the mains voltage and the hazardous magnetic field in case of ⁇ edelim ⁇ ib ⁇ nuyu sis ⁇ emu ⁇ dina ⁇ ⁇ u ⁇ ⁇ b ⁇ az ⁇ m follows: ⁇ s ⁇ na ⁇ avim vd ⁇ l ⁇ d ⁇ ln ⁇ y ⁇ si ⁇ dvizhn ⁇ g ⁇ ⁇ be ⁇ a in na ⁇ avlenii movement ⁇ s Z - vd ⁇ l ve ⁇ i ⁇ aln ⁇ y ⁇ si ⁇ be ⁇ a and ⁇ s X - vd ⁇ l ⁇ e ⁇
  • the processors measure the appearance of the apparent acceleration of the system on the system ⁇ ⁇ nch ⁇ ⁇ ⁇ ⁇ ⁇ . Let ⁇ - acceleration of gravity.
  • ⁇ ⁇ а ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇
  • carte ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ carte ⁇ ⁇ carte ⁇
  • ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ carte ⁇ ⁇ carte ⁇
  • Components of the device in the normal system are found in condition of the condition of the venting device, which is in contact with the environment.
  • ny magni ⁇ ny g ⁇ d ⁇ g ⁇ a ⁇ g ⁇ iz ⁇ n ⁇ aln ⁇ y s ⁇ s ⁇ avlyayuschey magni ⁇ n ⁇ g ⁇ ⁇ lya ( ⁇ ig.2) having ⁇ mu ⁇ uzhn ⁇ s ⁇ i is offset beginning ⁇ n ⁇ si ⁇ eln ⁇ ⁇ dina ⁇ due ⁇ s ⁇ yann ⁇ g ⁇ magni ⁇ n ⁇ g ⁇ ⁇ lya, s ⁇ zdavaem ⁇ g ⁇ ⁇ dvizhnym ⁇ be ⁇ m and za- ⁇ em ⁇ inimae ⁇ ⁇ mu elli ⁇ sa due indutsi ⁇ vann ⁇ g ⁇ magni ⁇ n ⁇ g ⁇ ⁇ lya, mobile phone (mobile phone).
  • the horizontal applications of the magnetic field can be divided from expressions (5).
  • the apparent acceleration is in the opposite direction.
  • ⁇ - ⁇ .
  • Movement of the transport medium is characterized by the presence of vibrations in a wide range and vibrations caused by disturbances in the environment.
  • a more sophisticated character has a human movement. When a person chooses to do so, they will experience quasi-accelerated acceleration and body vibration in the area, which may be caused by increased magnitude.
  • the amplitude value of the acceleration of the body of the person in the course of time is 0.5, but the .
  • the instantaneous values of the measured ⁇ , ⁇ réelle, ⁇ magnetic fields and the acceleration of ⁇ , ⁇ réelle, , ⁇ cannot be used in the expression of ERRORS MAY BE UNAVAILABLE. It is preferable to divide the averaging, first of all, the values of ⁇ , ⁇ réelle, mac ⁇ , the average value of the device is free of charge. It is experimentally established that for terrestrial transports, depending on the type, such averaging should be at least 0.1..0.5 sec., For people. One step forward, 2.0 seconds - double one step forward). Before averaging the values of ⁇ , ⁇ êt, ⁇ , one should choose the equal to the averaging process of the acceleration.
  • the distribution of the rectangular components is divided:
  • ⁇ is the angle between the magnetic meridian and the vertical line of the network of the primary corner.
  • the bearing azimuth of the direction of movement may be divided by the values of the horizontal ⁇ in ", in the ⁇ PZ as follows:
  • the directional azimuth of the direction of movement can be divided into each working cycle, or at any time, t. ⁇ . Its value is not immediately known. it is not used in equations (13), (14) for the division of a rectangular corner unit.
  • the device also contains unit 9 for converting and averaging, which includes the first and second unit 10, 1 1 for the low-frequency filter, for the Sensors 2 were equipped with sensors that were linearly accelerated in the form of sensors.
  • unit 9 for converting and averaging which includes the first and second unit 10, 1 1 for the low-frequency filter, for the Sensors 2 were equipped with sensors that were linearly accelerated in the form of sensors.
  • Bl ⁇ 4 vy ⁇ lnen as bl ⁇ a ⁇ asche ⁇ a g ⁇ iz ⁇ n- ⁇ alny ⁇ ⁇ e ⁇ tsy summa ⁇ n ⁇ g ⁇ ve ⁇ a na ⁇ yazhenn ⁇ s ⁇ i ⁇ PZ and magni ⁇ n ⁇ g ⁇ ⁇ lya ⁇ be ⁇ a
  • bl ⁇ 5 vy ⁇ lnen as bl ⁇ a ⁇ asche ⁇ a ⁇ e ⁇ itsien ⁇ v ⁇ e ⁇ tsii g ⁇ i- z ⁇ n ⁇ aln ⁇ g ⁇ elli
  • the first output of unit 8 is connected to the first input of the navigation unit 7.
  • the output of sensors 1 of the magnetic input is connected to the input 9 mi bl ⁇ a ⁇ e ⁇ b ⁇ az ⁇ vaniya and us ⁇ edneniya and vy ⁇ dy da ⁇ chi ⁇ v 2 na ⁇ l ⁇ na s ⁇ edi- Nena s ⁇ v ⁇ ymi v ⁇ dami bl ⁇ a 9.
  • the output of unit 6 is connected to the second input of the navigation unit 7, the input of the output unit is connected to the output of the output unit 3.
  • the third, third and fourth outputs of unit 8 of the control are connected, respectively, with the fourth, fourth inputs of unit 9 and the second input of the 5th processing unit.
  • Block 9 of processing and averaging may be carried out in accordance with other systemic solutions that use the signal to disconnect the signal.
  • You are a P ⁇ i ⁇ lnenii bl ⁇ a 9 ⁇ a ⁇ ⁇ isan ⁇ above, and vy ⁇ dy ⁇ e ⁇ v ⁇ g ⁇ v ⁇ g ⁇ bl ⁇ v 10, 1 January ⁇ il ⁇ v niz ⁇ y chas ⁇ y s ⁇ edineny, s ⁇ ve ⁇ s ⁇ venn ⁇ with ⁇ e ⁇ vymi and v ⁇ ymi v ⁇ dami ⁇ mmu ⁇ a ⁇ a 12 vy ⁇ d ⁇ g ⁇ che ⁇ ez anal ⁇ g ⁇ -tsi ⁇ v ⁇ y ⁇ e ⁇ b ⁇ az ⁇ - va ⁇ el 13 ⁇ d ⁇ lyuchen ⁇ ⁇ e ⁇ vym v ⁇ dam bl ⁇ a 14 summations, outputs that are output are outputs of unit 9 of conversion and averaging. Warnings of arrears and second units 10 and 1 1 of
  • ⁇ is ⁇ dn ⁇ y ⁇ ch ⁇ e ma ⁇ sh ⁇ u ⁇ a with ⁇ ul ⁇ a u ⁇ avleniya 16 che ⁇ ez bl ⁇ u ⁇ avleniya 8 vv ⁇ dya ⁇ in navigatsi ⁇ nny bl ⁇ 7 is ⁇ dnye data - ⁇ dina ⁇ y nachaln ⁇ y ⁇ ch ⁇ i value magni ⁇ n ⁇ g ⁇ s ⁇ l ⁇ neniya ( ⁇ av ⁇ i na ⁇ avleniya) for the ⁇ y mes ⁇ n ⁇ s ⁇ i and d ⁇ , ⁇ n ⁇ li ⁇ uya vv ⁇ dimye values ⁇ m ⁇ schyu bl ⁇ a indi ⁇ atsii. 15.
  • the alarm signals of the sensors 1 and 2 after the first and second blocks 10 and 1 1 the low-speed filter is switched on at the input of the 12-channel input. 0, 1 sec, which minimizes the influence of disturbances associated with vibrations of the mobile unit.
  • the number of filters in blocks 10, 1 1 corresponds to the number of sensors 1 and 2.
  • ⁇ se u ⁇ azannye ⁇ a ⁇ ame ⁇ y m ⁇ gu ⁇ be set from the control panel 16, or are hard to fix in block 8 when it is installed.
  • Navigation block 7 makes it possible to calculate the right angle for the area in accordance with (13) and (14). In this case, information from the sensor 3 is used when the path is changed after measurement.
  • the calculation of the magnetic azimuth of the direction of motion is carried out in accordance with the expression (17) for each measurement cycle, or for the operation of the process. Given the values of magnetic contraction and convergence of meridians, the true azimuth of the direction of motion or the angular angle can be determined.
  • a calibrated cycle is in progress, in which a movable part is at least 360 ° angled.
  • Bl ⁇ 4 ⁇ asche ⁇ a g ⁇ iz ⁇ n ⁇ alny ⁇ ⁇ e ⁇ tsy magni ⁇ n ⁇ g ⁇ ⁇ lya ⁇ e- delyae ⁇ tsi ⁇ liches ⁇ i, ⁇ a ⁇ ⁇ isan ⁇ higher values in ⁇ , in ⁇ u, ⁇ ye ⁇ signals bl ⁇ a 8 u ⁇ avleniya ⁇ s ⁇ u ⁇ ayu ⁇ and na ⁇ a ⁇ livayu ⁇ sya in bl ⁇ e 5 ⁇ asche ⁇ a ⁇ e ⁇ itsien- ⁇ v ⁇ e ⁇ tsii.
  • the instruction to operate the calibration cycle is executed from the four outputs of unit 8 to the second inputs of unit 5 of the calculation of the factors.
  • Calibration cycle is correct, as soon as the devices are turned off and then, during the course of a long period of time, the calculated values are measured.
  • Sensors of 1 magnetic field can be executed on the basis of components; as a result of sensors 2 linearly accelerate, they are accelerator-mounted.
  • terrestrial transport equipment may have used well-known electrical methods, but this is not necessary.
  • ⁇ us ⁇ ys ⁇ v ⁇ introduced is ⁇ chni ⁇ ⁇ n ⁇ g ⁇ na ⁇ yazheniya 27, 28 gene ⁇ a ⁇ ele ⁇ iches ⁇ i ⁇ signal ⁇ v, ⁇ anzis ⁇ naya ⁇ a ⁇ a 29 ⁇ dnim ⁇ i ⁇ m ⁇ v ⁇ dim ⁇ s ⁇ i, ⁇ anzis ⁇ naya ⁇ a ⁇ a 30 d ⁇ ugim ⁇ i ⁇ m ⁇ v ⁇ dim ⁇ s ⁇ i, ⁇ i ⁇ ezis ⁇ a 31, 32, 33 and two ⁇ ndensa ⁇ a 34, 35. 21 Chuvs ⁇ vi ⁇ elny elemen ⁇ vy ⁇ lnen as ⁇ dvizh - a new plate, located between two stationary electrodes.
  • ⁇ y ⁇ dy is ⁇ chni ⁇ a 27 ⁇ n ⁇ g ⁇ na ⁇ yazheniya and gene ⁇ a ⁇ a 28 ele ⁇ iches ⁇ i ⁇ signal ⁇ v ⁇ bedineny and ⁇ d ⁇ lyucheny ⁇ ⁇ dvizhn ⁇ y ⁇ las ⁇ ine chuvs ⁇ vi ⁇ eln ⁇ g ⁇ elemen ⁇ a 21.
  • Compensated accelerator works by the following way.
  • ⁇ is ⁇ dn ⁇ m s ⁇ s ⁇ yanii, ⁇ i ⁇ su ⁇ s ⁇ vii vneshneg ⁇ me ⁇ aniches ⁇ g ⁇ v ⁇ zdey- s ⁇ viya (us ⁇ eniya) ⁇ dvizhnaya ⁇ las ⁇ ina chuvs ⁇ vi ⁇ eln ⁇ g ⁇ elemen ⁇ a 21 na ⁇ di ⁇ sya in s ⁇ ednem ⁇ avn ⁇ vesn ⁇ m s ⁇ s ⁇ yanii, ⁇ i e ⁇ m it ⁇ dae ⁇ sya with is ⁇ chni ⁇ a 27 ⁇ - ⁇ itsa ⁇ elny ⁇ entsial, bliz ⁇ y ⁇ value ⁇ na ⁇ yazheniyu is ⁇ chni ⁇ a power The ⁇ , and with
  • ⁇ a ⁇ lle ⁇ e v ⁇ g ⁇ ⁇ anzis ⁇ a ⁇ anzis ⁇ n ⁇ y voltages 29 means that there is a zero potential (imbalance signal) due to the separation of the voltages of the voltages of the transducers 29, 30, i ⁇ eln ⁇ g ⁇ elemen ⁇ a 21 and che ⁇ ez inve ⁇ sny v ⁇ d usili ⁇ elya ⁇ ezis ⁇ 23 and 26 on the signal ⁇ azbalansa ⁇ s ⁇ u ⁇ ae ⁇ v ⁇ y ne ⁇ - IG Petritskaya ele ⁇ d chuvs ⁇ vi ⁇ eln ⁇ g ⁇ elemen ⁇ a 21.
  • the stationary electric sensing element 21 negative potential is developed, and on the second elec- tric, it is positive, i.e. Mutually compensated for air in the air gap of the sensing element 21 is converted to electric, which is subject to compensation for speed, which is independent of With this, the constituents of the electric field in charge of the sensitive element 21 add up.
  • the total value of the electric field is directed towards the constant acceleration, which is sensitive to the sensitive element 21.
  • the movable sensitivity is 21
  • the low-frequency signal of the disconnection through amplifiers 22, 23, which was received in the transformer circuits 29, 30, is supplied to the output of the device.
  • P ⁇ davlenie ⁇ me ⁇ ⁇ tse ⁇ i and power The ⁇ me ⁇ on account nav ⁇ dimy ⁇ ele ⁇ i- ches ⁇ i ⁇ ⁇ ley ⁇ susches ⁇ vlyae ⁇ sya in us ⁇ ys ⁇ ve with ⁇ m ⁇ schyu usili ⁇ eley 22, 23, 24 ⁇ u- ⁇ em ⁇ va ⁇ a i ⁇ ⁇ itsa ⁇ eln ⁇ y ⁇ b ⁇ a ⁇ n ⁇ y bond ⁇ ezis ⁇ ami 25, 26, 31 and Nia zazemle- ( ⁇ ivyaz ⁇ i ⁇ usa ⁇ zero) v ⁇ y ⁇ The inputs of these amplifiers are 22, 23, 24.
  • the power supply circuits are compensated by the amplifier 24, as this is for data the amplifier is synonymous, and the voltage supplied by the power supply is suppressed by the amplifiers 22, 23, 24 by the information and bypassing the power supply Sensitive element 21 compensatory accelerator can also be performed by a special way.
  • the implementation of the mobile plate 41 in the correct configuration of a large angle or circle ensures its simplicity and excludes the possibility of interruption
  • the satisfactory ends of the chassis are secured by 43 and are secured by the omnidirectional bearing frame 44, which ensures that they are unaffected by the failure of the drive.
  • the dual-level vertical elevations of 45 with the flat are formed.
  • Dielectric plates 46 can be made from glass, the coefficient of thermal expansion is inadequate to the condition of the patient, The most excluded Thermal stresses that worsen the performance of a sensitive element.
  • the movable plate oscillation range 41 is only a fraction of the world.
  • the values of the vibrations, and the fact that they are experiencing some kind of disturbance, are at least a little higher. Therefore, there is no mechanical hysteresis and a high linearity of amplitude characteristics is observed.
  • ⁇ se e ⁇ m ⁇ gl ⁇ would ⁇ ives ⁇ i narrowing dia ⁇ az ⁇ na izme ⁇ eny ⁇ and ⁇ ⁇ a ⁇ ame ⁇ iches ⁇ im ⁇ azam in ⁇ ab ⁇ e em ⁇ s ⁇ n ⁇ - g ⁇ a ⁇ sele ⁇ me ⁇ a.
  • Greens 49 allows you to avoid undesirable consequences.
  • ⁇ a ⁇ ve ⁇ n ⁇ s ⁇ e ⁇ an ⁇ v 49 ⁇ dae ⁇ sya ele ⁇ iches ⁇ y ⁇ - ⁇ entsial, ⁇ dina ⁇ vy with ⁇ entsial ⁇ m ⁇ dvizhn ⁇ y ⁇ las ⁇ iny 41 ⁇ s ⁇ l ⁇ u vyv ⁇ - rows e ⁇ an ⁇ v ele ⁇ iches ⁇ i s ⁇ edineny 49 with the carrier 44.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Nitrogen And Oxygen Or Sulfur-Condensed Heterocyclic Ring Systems (AREA)
  • Navigation (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

Le procédé décrit dans cette invention consiste à faire tourner un objet selon un angle d'au moins 360° lors d'un cycle d'étalonnage. Ce procédé consiste ensuite à déterminer les valeurs des projections horizontales d'un vecteur global de l'intensité du champ magnétique terrestre (CMT) et du champ magnétique de l'objet, ceci en quatre points de l'ellipse d'un hodographe magnétique. A partir des valeurs mesurées, on définit cinq coefficients de correction du champ magnétique puis, lors de chaque cycle de mesures de navigation, on calcule les valeurs moyennées des projections du vecteur du champ magnétique ainsi que celle de l'accélération de la force de gravité sur les axes d'un système instrumental de cordonnées. On définit encore les projections horizontales du vecteur du champ magnétique, puis l'on corrige les projections horizontales du champ magnétique, ceci avant de définir les incréments des coordonnées orthogonales ainsi que les coordonnées de l'objet. On détermine enfin l'azimut magnétique de la direction du déplacement. Le dispositif permettant de mettre en oeuvre ce procédé comprend trois détecteurs (1) de champ magnétique, des capteurs d'accélération linéaire (2), un détecteur de déplacement (3), une unité de calcul (4) des projections horizontales du vecteur global de l'intensité du champ magnétique terrestre et du champ magnétique de l'objet, une unité de calcul (5) des coefficients de correction de l'ellipse horizontale de l'hodographe magnétique, une unité de correction (6) des projections horizontales du vecteur global de l'intensité du champ magnétique terrestre et du champ magnétique de l'objet, une unité de navigation (7), une unité de commande (8) et, enfin, une unité de conversion et de moyennage (9). Ce procédé fait également appel à un accéléromètre de compensation, lequel comprend un élément sensible (21), trois amplificateurs (22, 23, 24) et deux résistances (25, 26). Ce dispositif comprend également une source de tension de référence (27), un générateur de signaux électriques (28), un transistor double possédant un premier type de conductivité (29), un transistor double possédant un autre type de conductivité (30), trois résistances (31, 32, 33) et, enfin, deux condensateurs (34, 35). L'élément sensible de l'accéléromètre comprend les éléments suivants: une platine mobile (41) se présentant sous forme d'un polygone régulier ou d'un cercle comportant des projections, des tendeurs élastiques de type film (43), un cadre de support (44), des plaques diélectriques (46), des électrodes de type film fin (47) et, enfin, des écrans se composant de bandes de film fin (49) qui protègent des électrodes de type film fin (51).
PCT/RU1997/000166 1996-05-29 1997-05-27 Procede permettant de determiner la position d'un objet mobile et dispositif de mise en oeuvre de ce procede WO1997045703A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU96110434A RU2098764C1 (ru) 1996-05-29 1996-05-29 Способ определения местоположения подвижных объектов и устройство для его реализации
RU96110434 1996-05-29

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WO1997045703A1 true WO1997045703A1 (fr) 1997-12-04

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GB2478561A (en) * 2010-03-09 2011-09-14 Servomex Group Ltd Apparatus and methods for three axis vector field sensor calibration

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EA011541B1 (ru) * 2006-12-21 2009-04-28 Еужен Морару Способ определения траектории движения (ориентации) человека (спортсмена) или отдельных его частей и устройство для его реализации
CN105352487B (zh) * 2015-10-13 2018-06-15 上海华测导航技术股份有限公司 一种姿态测量系统的精度校准方法
CN112834018B (zh) * 2020-12-18 2022-11-04 哈尔滨工大正元信息技术有限公司 一种助航灯工作状态的检测方法、存储介质和电子设备

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GB2130729A (en) * 1982-10-12 1984-06-06 Plessey Co Plc Electronic compasses
US4539760A (en) * 1982-10-12 1985-09-10 Plessey Overseas Ltd. Compass
GB2159278A (en) * 1984-05-23 1985-11-27 Stc Plc Heading sensor
DE3422491A1 (de) * 1984-06-16 1985-12-19 Robert Bosch Gmbh, 7000 Stuttgart Verfahren zur ermittlung der fahrtrichtung eines fahrzeuges mit elektronischem kompass
EP0226653A1 (fr) * 1985-12-20 1987-07-01 LITEF GmbH Procédé pour la détermination du cap magnétique par l'utilisation et le calibrage automatique d'un magnétomètre à trois axes installé dans un avion
DE3644682A1 (de) * 1986-12-30 1988-07-14 Bosch Gmbh Robert Navigationsverfahren fuer fahrzeuge mit elektronischem kompass
DE3834531A1 (de) * 1988-10-11 1990-04-12 Deutsche Forsch Luft Raumfahrt Beschleunigungsaufnehmer
FR2637984A1 (fr) * 1988-10-19 1990-04-20 Sagem Accelerometre pendulaire asservi a detection electrostatique
EP0386464A2 (fr) * 1989-02-28 1990-09-12 United Technologies Accéléromètre capacitif à compensationn d'inertie et force de rappel de ressort prédéterminée
SU1728807A1 (ru) * 1990-01-25 1992-04-23 Научно-исследовательский институт физических измерений Компенсационный акселерометр

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Publication number Priority date Publication date Assignee Title
SU395716A1 (ru) * 1971-08-23 1973-08-28 Индукционный компас
GB2130729A (en) * 1982-10-12 1984-06-06 Plessey Co Plc Electronic compasses
US4539760A (en) * 1982-10-12 1985-09-10 Plessey Overseas Ltd. Compass
GB2159278A (en) * 1984-05-23 1985-11-27 Stc Plc Heading sensor
DE3422491A1 (de) * 1984-06-16 1985-12-19 Robert Bosch Gmbh, 7000 Stuttgart Verfahren zur ermittlung der fahrtrichtung eines fahrzeuges mit elektronischem kompass
EP0226653A1 (fr) * 1985-12-20 1987-07-01 LITEF GmbH Procédé pour la détermination du cap magnétique par l'utilisation et le calibrage automatique d'un magnétomètre à trois axes installé dans un avion
DE3644682A1 (de) * 1986-12-30 1988-07-14 Bosch Gmbh Robert Navigationsverfahren fuer fahrzeuge mit elektronischem kompass
DE3834531A1 (de) * 1988-10-11 1990-04-12 Deutsche Forsch Luft Raumfahrt Beschleunigungsaufnehmer
FR2637984A1 (fr) * 1988-10-19 1990-04-20 Sagem Accelerometre pendulaire asservi a detection electrostatique
EP0386464A2 (fr) * 1989-02-28 1990-09-12 United Technologies Accéléromètre capacitif à compensationn d'inertie et force de rappel de ressort prédéterminée
SU1728807A1 (ru) * 1990-01-25 1992-04-23 Научно-исследовательский институт физических измерений Компенсационный акселерометр

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2478561A (en) * 2010-03-09 2011-09-14 Servomex Group Ltd Apparatus and methods for three axis vector field sensor calibration

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