WO2022174831A1 - Appareil et procédé de recherche continue du nord, dispositif électronique et support d'enregistrement - Google Patents

Appareil et procédé de recherche continue du nord, dispositif électronique et support d'enregistrement Download PDF

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Publication number
WO2022174831A1
WO2022174831A1 PCT/CN2022/077109 CN2022077109W WO2022174831A1 WO 2022174831 A1 WO2022174831 A1 WO 2022174831A1 CN 2022077109 W CN2022077109 W CN 2022077109W WO 2022174831 A1 WO2022174831 A1 WO 2022174831A1
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WO
WIPO (PCT)
Prior art keywords
data
mems
north
angular velocity
horizontal displacement
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PCT/CN2022/077109
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English (en)
Chinese (zh)
Inventor
李荣熙
韩雷晋
司徒春辉
朱赞林
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广州导远电子科技有限公司
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Publication of WO2022174831A1 publication Critical patent/WO2022174831A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Definitions

  • the present application relates to the technical field of inertial navigation, and in particular, to a continuous north-seeking device, method, electronic device and storage medium.
  • the commonly used directional devices include magnetic compass, GNSS dual-antenna directional device, and gyro directional instrument.
  • Commonly used directional equipment such as magnetic compass is easily affected by the magnetic field interference formed by surrounding steel components and electrical equipment, so it is necessary to eliminate environmental interference such as magnetic field first. and other shortcomings.
  • the purpose of the embodiments of the present application is to provide a continuous north finding device, method, electronic device and storage medium, using a high-precision MEMS gyro array, which can continuously find north at multiple positions, and solve the problem that the existing directional equipment is easily affected by environmental interference, It is bulky, expensive, inconvenient to carry and increases the time to find north.
  • An embodiment of the present application provides a continuous north-seeking device, and the device includes:
  • a MEMS gyroscope array including a plurality of coaxially arranged MEMS gyroscopes, is used to continuously output the angular velocity data of multiple positions measured during the rotation;
  • a MEMS accelerometer used for acquiring acceleration data when the MEMS gyro array generates a horizontal displacement, so as to acquire the included angle of true north during movement according to the acceleration data;
  • a data processing module electrically connected to the MEMS gyro array and the MEMS accelerometer, respectively, for receiving and processing the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement .
  • the MEMS gyroscope array uses multiple coaxially arranged MEMS gyroscopes, which has lower cost, smaller volume and can accurately measure the rotation speed of the earth while ensuring accuracy, and can be used without horizontal displacement.
  • the yaw angle is measured by the multi-cycle rotation of the MEMS gyro array, and the accurate measurement in the horizontal movement state can be achieved by combining with the MEMS accelerometer, thus realizing the continuous north-seeking measurement in a short time.
  • the device also includes a rotating device, and the rotating device includes:
  • the MEMS gyro array is arranged on the rotating platform;
  • the motor is connected with the rotating platform and controlled by the data processing module to drive the rotating platform to rotate.
  • the motor is controlled by the data processing module, so that the rotating platform drives the MEMS gyro array to rotate continuously, and the north-seeking result is accurately obtained through continuous north-seeking.
  • the device also includes:
  • the zero-position photoelectric sensor is arranged on the rotating device, and is used for monitoring the initial position of the rotating device in each period of rotation.
  • the zero-position photoelectric sensor is used to monitor the initial position of each rotation of the platform, which is also the orientation of the device when it is used.
  • the MEMS gyroscope array includes 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform.
  • the MEMS gyroscope array is composed of 2-4 pieces of MEMS gyroscopes installed coaxially. The purpose is to optimize the measurement results of multiple pieces of gyroscopes, and obtain far more than one piece of gyroscope under suitable volume and cost conditions. accuracy of the instrument.
  • the embodiment of the present application also provides a continuous north-seeking method, which is applied to the data processing module, and the method includes:
  • the angular velocity data and the acceleration data are processed to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
  • the included angle of true north can be quickly found without interference from the magnetic field environment.
  • the directional instrument can be moved.
  • the included angle of true north can change with the movement of the equipment, and the device has the advantages of small size, It is light in weight and can be stored in pockets, which greatly reduces the restrictions on transportation and use environment, and has a wider range of applications and applications.
  • processing of the angular velocity data to obtain the true north angle without horizontal displacement includes:
  • the true north angle is obtained according to the real-time phase value.
  • the north-seeking result in the case of no horizontal displacement, the north-seeking result can be output synchronously during the continuous rotation of the MEMS gyro array.
  • processing of the angular velocity data and the acceleration data to obtain the true north angle under the horizontal displacement includes:
  • the MEMS gyro array has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
  • the true north angle is obtained based on the attitude angle.
  • the angular change during the moving process of the device can be continuously output by combining the acceleration data and the angular velocity data.
  • modifying the sampled data to obtain modified data includes:
  • the sampled data is corrected by calibration compensation and zero drift correction.
  • the sampled value is corrected through calibration compensation and zero drift correction.
  • An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to execute any one of the above The continuous north-seeking method described in item.
  • Embodiments of the present application further provide a readable storage medium, where computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, execute any of the above Continuous north finding method.
  • FIG. 1 is a structural block diagram of a continuous north-seeking device provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of acquiring the true north angle under no horizontal displacement state provided by an embodiment of the present application
  • FIG. 5 is a block diagram of a course outward push provided by an embodiment of the present application.
  • 100-MEMS gyro array 101-zero photoelectric sensor; 102-MEMS accelerometer; 103-data processing module; 104-wire slip ring; 105-motor driver; 106-motor; 107-rotating platform.
  • FIG. 1 is a structural block diagram of a continuous north finding apparatus provided by an embodiment of the present application.
  • the device includes:
  • the MEMS gyroscope array 100 includes a plurality of coaxially arranged MEMS gyroscopes, which are used to continuously output the angular velocity data of multiple positions measured during the rotation process;
  • the MEMS accelerometer 102 is configured to acquire acceleration data when the MEMS gyro array 100 generates a horizontal displacement, so as to acquire the true north angle during the movement process according to the acceleration data.
  • the data processing module 103 is electrically connected to the MEMS gyro array 100 and the MEMS accelerometer 102 respectively, and is used for receiving and processing the angular velocity data and the acceleration data, so as to obtain the true value of the horizontal displacement or no horizontal displacement state. North angle.
  • the MEMS gyro array 100 is arranged on a rotating device, and the rotating device includes:
  • a rotating platform 107 on which the MEMS gyro array 100 is disposed;
  • the motor 106 is in driving connection with the rotating platform 107 and controlled by the data processing module 103 to drive the rotating platform 107 to rotate.
  • the motor 106 is connected to the motor driver 105 , and the motor driver 105 is connected to the data processing module 103 through the wire slip ring 104 to realize the start-stop control of the motor 106 .
  • the MEMS gyroscope array is composed of a plurality of MEMS gyroscopes installed coaxially and installed on the rotating platform 107.
  • the motor 106 can be a stepping motor, and the rotating platform 107 is connected with the stepping motor and is driven by the stepping motor at a constant speed.
  • the data processing module 103 such as DSP sends an instruction to the motor driver 105 to control the motor 106 to drive the rotating platform 107 to rotate at a constant speed.
  • the MEMS gyroscope array 100 may include 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform 107 for continuous output measurement , the component of the angular velocity of the Earth's rotation on its sensitive axis.
  • the purpose of using 2-4 pieces of MEMS gyroscopes to be installed coaxially to form the MEMS gyroscope array 100 is to obtain the accuracy far higher than that of one piece of gyroscopes under suitable volume and cost conditions by optimizing the calculation of the measurement results of the multiple pieces of gyroscopes.
  • MEMS gyroscopes Compared with fiber optic gyroscopes and laser gyroscopes, MEMS gyroscopes have lower cost, smaller volume, but lower accuracy. At present, the zero drift of high-precision MEMS gyroscopes is 1°-10°/hour, while the earth's The rotation angular velocity is 15.0411°/hour, which is still relatively difficult to measure the earth's rotation angular velocity, but if multiple MEMS gyroscope arrays are used, for example, the outputs of N MEMS gyroscopes arranged coaxially and with the same characteristics are added together, Modeling and optimization calculations based on the statistical and time-series characteristics of each MEMS gyroscope can greatly improve its accuracy, thus achieving the effect of lower cost and smaller volume than fiber optic gyroscopes and laser gyroscopes and can accurately measure the angular velocity of the earth's rotation. .
  • the number of MEMS gyroscopes used may be comprehensively considered based on aspects such as calculation accuracy, cost, and volume, and there is no limitation on the number of MEMS gyroscopes.
  • the device further includes a zero-position photoelectric sensor 101, which is arranged on the rotating device and is used to monitor the initial position of the rotating device in each period of rotation.
  • the zero-position photoelectric sensor 101 such as a zero-position photoelectric switch, is used to monitor the initial position of the rotating platform 107 for each rotation, and this position is also the orientation of the orientation instrument when it is used.
  • the zero-position photoelectric sensor 101 can be zero-corrected by DSP.
  • the motor 106 starts to count from the zero position, then rotates 360°/N accurately, takes the gyro output value of N times, and takes the average value of the gyro output signal at each position to obtain an accurate
  • the included angle of true north, wherein the MEMS gyro array 100 rotates once, can obtain a sinusoidal gyro output signal.
  • the MEMS accelerometer 102 When the horizontal displacement of the device occurs, the MEMS accelerometer 102 is used to measure and obtain the acceleration data, and the data is corrected by processing the acceleration data and angular velocity data such as calibration compensation and zero drift correction, and then the extended Kalman filter is used to output the attitude angle, so as to achieve continuous direction angle measurement in a short time.
  • continuous north-seeking through MEMS gyroscope has the advantages of fast north-seeking, small size and low cost, which can reduce the limitations of the use scenarios of north-seekers.
  • the accuracy is better than that of a single-chip MEMS gyroscope; the true north angle can be output within 3 minutes after being placed horizontally, and if there is a horizontal movement after that, it can continue to output the changing true north angle, and the device is not affected by horizontal displacement. It can achieve continuous and fast north seeking.
  • This embodiment of the present application provides a continuous north finding method, which is applied to the data processing module 103 in Embodiment 1.
  • FIG. 2 it is a flowchart of the continuous north finding method, which can realize the state of no horizontal displacement and the state of horizontal movement.
  • the measurement of the true north angle of the method includes:
  • Step S100 Receive angular velocity data corresponding to each of the positions output when the MEMS gyro array 100 rotates at least once and rotates to a plurality of preset positions;
  • Step S200 Receive acceleration data output by the MEMS accelerometer 102 when the MEMS gyro array 100 generates a horizontal displacement
  • Step S300 Process the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
  • FIG. 3 it is a flow chart of acquiring the true north angle in the state of no horizontal displacement, and the step may specifically include:
  • Step S311 If the MEMS gyro array 100 has no horizontal displacement in the process of acquiring the angular velocity data, perform Fourier transform on the angular velocity data to obtain a real-time phase value;
  • Step S312 Obtain the true north angle according to the real-time phase value.
  • the motor 106 In the case of no horizontal displacement, let the motor 106 start to count from the zero position, then rotate 360°/N precisely, take the gyro output value of N times, and perform FFT transformation on the data of N times, that is, for a single cycle
  • the initial phase of the sine and cosine signals can be obtained, that is, the initial heading angle can be obtained, but the accuracy is not high, and the continuous north finding algorithm can be used.
  • the gyro output signal is averaged, and then the N position data is subjected to FFT transformation to obtain real-time phase values at different positions, and the final true north angle, that is, the yaw angle, can be obtained.
  • this step may specifically include:
  • Step S321 If the MEMS gyro array 100 has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
  • Step S322 modifying the sampling data to obtain modified data
  • Step S323 filter the corrected data using an extended Kalman filter to obtain and update the attitude angle
  • Step S324 Obtain the true north angle based on the attitude angle.
  • FIG. 5 it is a block diagram of course extrapolation, and the sampling data is corrected, which can be corrected by calibration compensation and zero drift correction, and the attitude angle can be obtained by filtering through the extended Kalman filter, and the attitude angle can be updated at the same time. , the true north angle can be obtained through the attitude angle, so no matter whether the device has horizontal displacement or not, it can continuously output the changing true north angle.
  • An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the embodiment 1 Any one of the continuous north finding methods.
  • Embodiments of the present application further provide a readable storage medium, where computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, execute any one of Embodiment 1.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
  • each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Gyroscopes (AREA)

Abstract

L'invention concerne un appareil et un procédé de recherche continue du nord, un dispositif électronique et un support d'enregistrement, se rapportant au domaine technique de la navigation inertielle. L'appareil comprend : un réseau de gyroscopes MEMS (100) comprenant une pluralité de gyroscopes MEMS disposés de manière coaxiale et servant à délivrer en continu des données de vitesse angulaire mesurées d'une pluralité de positions lors d'un processus de rotation ; un accéléromètre MEMS (102) servant à obtenir des données d'accélération lorsque le réseau de gyroscopes MEMS (100) produit un déplacement horizontal de façon à obtenir un angle inclus de nord vrai lors d'un processus de déplacement conformément aux données d'accélération ; et un module de traitement de données (103) électriquement connecté au réseau de gyroscopes MEMS (100) et à l'accéléromètre MEMS (102), séparément, et servant à recevoir et à traiter les données de vitesse angulaire et les données d'accélération de façon à obtenir un angle inclus de nord vrai dans un état de déplacement horizontal ou dans un état exempt de déplacement horizontal. L'appareil utilise le réseau de gyroscopes MEMS de haute précision (100) et peut chercher en continu le nord à de multiples positions, et résout le problème selon lequel des dispositifs d'orientation existants sont facilement perturbés par l'environnement, ont de grandes dimensions, affichent un coût élevé et sont peu pratiques à transporter et provoquent une augmentation du temps de recherche du nord.
PCT/CN2022/077109 2021-02-20 2022-02-21 Appareil et procédé de recherche continue du nord, dispositif électronique et support d'enregistrement WO2022174831A1 (fr)

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CN202110195271.7A CN112964240B (zh) 2021-02-20 2021-02-20 一种连续寻北装置、方法、电子设备及存储介质
CN202110195271.7 2021-02-20

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CN116858197A (zh) * 2023-07-10 2023-10-10 北京龙软科技股份有限公司 一种受限空间测量机器人装置和应用方法

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CN112964240B (zh) * 2021-02-20 2023-08-08 广州导远电子科技有限公司 一种连续寻北装置、方法、电子设备及存储介质
CN113624215A (zh) * 2021-08-03 2021-11-09 中国船舶重工集团公司第七0七研究所 一种矿山光纤全站仪及其寻北方法
CN115164942B (zh) * 2022-09-07 2022-11-25 中国船舶重工集团公司第七0七研究所 一种捷联式陀螺寻北仪水平寻北精度自动化测试方法

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