CN100575876C - Gyro compass multi-position autonomous orientation north-finding device - Google Patents
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Abstract
本发明涉及一种陀螺罗盘多位置自主定向寻北装置，其采用的技术方案是：转台处于定位位置时，控制器计算预先给定的转台定位位置与编码器输出角度值之间的误差，根据该误差值计算正确的控制量，输出调宽波以驱动电机，使转台转动到下一个定位位置；检测编码器零位与真北之间夹角的装置在一周范围内多个定位位置上接收陀螺的北向分量数据和编码器输出的角度值，拟合出北向分量与编码器角度值相应转位之间的曲线关系，精确地计算出编码器零位与真北之间的夹角。本发明寻北时间短，寻北精度高。
The invention relates to a gyrocompass multi-position self-directing north-seeking device. The technical scheme adopted is: when the turntable is in the positioning position, the controller calculates the error between the predetermined positioning position of the turntable and the output angle value of the encoder, according to The error value calculates the correct control value, and outputs the width-adjusting wave to drive the motor, so that the turntable rotates to the next positioning position; the device for detecting the angle between the zero position of the encoder and the true north is received at multiple positioning positions within a circle The north component data of the gyroscope and the angle value output by the encoder fit the curve relationship between the north component and the corresponding index of the encoder angle value, and accurately calculate the angle between the zero position of the encoder and the true north. The present invention has short north-seeking time and high north-seeking precision.
Description
Technical field
The present invention relates to a kind of gyrocompass north finding device, particularly a kind of gyroscopic compass multiple positions self-determination orienting north finding device.
Background technology
Inertia is sought the important component part that northern technology is the inertial technology field, along with the development of accurate measuring technique, seek north location and all multi-methods also occurred as multiple high precision north finding methods such as inertia method, the method for observation, geodesic method, satnav method, object of reference methods.But, in the tunnel, wait under complex-terrain and the specific conditions such as complicated weather and war environment under water, the method for observation, geodesic method, satnav method and object of reference method all can be subjected to conditionality in various degree, perhaps precision is low, perhaps can't implement at all.Have only the inertia method could not be subjected to the interference of natural conditions or environment, independently finish and seek northern task, and have characteristics such as stream time length, precision height.Therefore, the using value that the research of inertia north finding method is had its uniqueness.
In recent years, development along with airmanship, low-cost, quick, high accuracy gyroscope north finding device has obtained using widely with the advantage of its uniqueness in a lot of fields, except having the very important application, also more and more demonstrate wide application prospect in as civil engineering fields such as tunnel construction, mining, geodetic surveying, resource explorations at other at aspects such as Aeronautics and Astronautics, marine navigation and weapon guidances.Therefore, the research of carrying out the gyroscope north searching device all has important meaning at military, civil area.
Gyrocompass is a kind of navigation instrument that can seek and follow the tracks of local geographical meridian ellipse automatically.Gyrocompass is the comprehensive effect that utilizes rotational-angular velocity of the earth and gravity field, makes the axis of rotation of rate gyroscope seek the geographical north automatically, and in fact the geographical north here is exactly the determined direction of rotational-angular velocity of the earth north component.It is to be the equipment in sensor indication geographical north with the gyroscope, and its work does not rely on any external condition, does not need other heading instrument to proofread and correct yet, and independence is by force its maximum characteristics, therefore becomes the major equipment of marine navigation.
Summary of the invention
The technical problem to be solved in the present invention provides a kind ofly can carry out calibration positioning control fast, accurately to turntable, seeks the north gyroscopic compass multiple positions self-determination orienting north finding device that the time is short, north finding precision is high.
Gyroscopic compass multiple positions self-determination orienting north finding device of the present invention comprises scrambler, controller, driver, motor, the device of angle between detection scrambler zero-bit and the geographical north; When turntable was in the position location, the position data of controller capturing and coding device output was calculated the error between turntable position location given in advance and the scrambler output angle value, calculates correct controlled quentity controlled variable according to this error amount, and wide ripple is transferred in output; The wide ripple of accent of controller output makes turntable turn to next position location by the driver drives motor; The device that detects angle between scrambler zero-bit and the geographical north receives the north component data of gyro and the angle value of scrambler output on a plurality of position locations in all scopes, simulate the curved line relation between the corresponding transposition of north component, calculate the angle between scrambler zero-bit and the geographical north with the scrambler angle value.
Described controller adopts digital signal processor.
Digital signal processor as controller comprises:
The module of given turntable position location;
The module of capturing and coding device data;
Calculate the module of error between given turntable position location and the encoder data;
Module according to Error Calculation output controlled quentity controlled variable between given turntable position location and given turntable position location and the encoder data;
The module of wide ripple is transferred in output.
Because when turntable turns to each position location, controller all can calculate correct controlled quentity controlled variable according to turntable position location given in advance and the error amount between the scrambler output data, output transfers wide ripple with drive motor, make it drive turntable and turn to next position location, thereby turntable can be parked in each position location exactly, thereby make the device that detects angle between scrambler zero-bit and the geographical north can be according to the north component data of gyro output on a plurality of position locations of turntable in all scopes and the angle value of scrambler output, accurately calculate the angle between scrambler zero-bit and the geographical north, seek north time weak point, the north finding precision height.
The device of angle comprises A/D converter between described detection scrambler zero-bit and the geographical north, processor, asynchronous serial communication chip; When turntable was parked in the position location, the responsive local rotational-angular velocity of the earth of gyro was also exported north component, and this north component is converted to digital quantity by A/D converter; Processor receives and the north component data of record A/D converter output and the angle value of scrambler output, angle value according to gyro north component data that receive on a plurality of position locations of turntable in all scopes and scrambler output, simulate the curved line relation between the corresponding transposition of north component, calculate the angle between scrambler zero-bit and the geographical north with the scrambler angle value.
The device of angle can also comprise low-pass filter between described detection scrambler zero-bit and the geographical north; The north component of gyro output is transferred to A/D converter after removing noise filtering by low-pass filter earlier, has further improved the north finding precision of gyrocompass.
Described processor adopting digital signal processor.
Digital signal processor as processor comprises:
The module of capturing and coding device output data;
Gather the module of the north component data of gyro output;
Gyro data smothing filtering module;
Simulate the module of curved line relation between the corresponding transposition of north component and encoder data;
The module of Beijiao degree is sought in calculating;
The module that the Beijiao degree is sought in output.
The present invention can realize turntable discrete single-point interval measurement in one-period, gyro signal and scrambler angle value input processor with the two-way quadrature, rotate a circle and through algorithm all measurement data are carried out data processing after measurement finishes, the angle of output earth direct north and scrambler zero-bit, have autonomous heading, orientation time is short, precision is high, light, low cost and other advantages, can be widely used in industries such as mine, building, railway, forest and space flight.
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Description of drawings
Fig. 1 is a structural representation of the present invention.1 is scrambler among the figure, 2 controllers, and 3 drivers, 4 motors, 5 detect the device of angle between scrambler zero-bit and the geographical north, 6 low-pass filters, 7 is A/D converter, 8 processors, 9 asynchronous serial communication chips.
Fig. 2 is a controller internal processes process flow diagram.
Fig. 3 is a processor internal processes process flow diagram.
Embodiment
As shown in Figure 1, gyroscopic compass multiple positions self-determination orienting north finding device of the present invention comprises scrambler 1, controller 2, driver 3, motor 4, low-pass filter 6, A/D converter 7, processor 8, asynchronous serial communication chip 9; Scrambler 1 is installed on motor 4 output shafts.The moving gyro of transferring is vertically mounted on the turntable, and its sensitive axes is parallel with the turntable table top, and turntable is driven by motor 4 and rotates.The parallel port that controller 2 is directly received in scrambler 1 output, the PWM output of controller 2 is connected with the input of driver 3, and motor 4 power positive cathodes are received in the output of driver 3.At first, motor 4 forwards reference position to, each position location data of given turntable; During turntable revolution to position location, the position data of controller 2 capturing and coding devices 1 output, calculate the error between turntable position location given in advance and the scrambler 1 output angle value, calculate correct controlled quentity controlled variable, and transfer wide ripple by correct controlled quentity controlled variable output according to this error amount.The wide ripple of accent of controller 2 outputs makes turntable turn to next position location by driver 3 drive motor 4; The voltage output of gyro is connected with the input of A/D converter 7 by low-pass filter 6, and the parallel port of processor 8 is received in the output of A/D converter 7; The serial ports of scrambler 1 is received the parallel port of processor 8 simultaneously by asynchronous serial communication chip 9.When turntable was in each position location, the responsive local rotational-angular velocity of the earth of gyro was also exported north component, and this north component is transferred to A/D converter 7 after removing noise filterings by low-pass filter 6 earlier, by A/D converter 7 north component was converted to digital quantity then.Processor 8 receives and the north component data of record A/D converter 7 outputs and the angle value of scrambler 1 output, according to the north component data of 7 outputs of A/D converter on a plurality of position locations of turntable in all scopes and the angle value of scrambler 1 output, simulate the sinusoidal curve relation between north component and the corresponding transposition of scrambler 1 angle value, calculate angle between scrambler 1 zero-bit and the geographical north by the least square estimation method.Angle value between scrambler 1 zero-bit and the geographical north shows on the charactron display by display driver.
The position location of turntable in all scopes can be 120.
Described controller 2 adopts digital signal processor 8, and its internal processes comprises the following steps:
A, initialization;
B, when motor 4 forwards reference position to, given turntable position location;
C, capturing and coding device 1 angle-data;
D, calculate given turntable position location and the error between scrambler 1 angle-data;
E, according to given turntable position location and given turntable position location and the output of the Error Calculation between scrambler 1 angle-data controlled quentity controlled variable;
F, transfer wide ripple according to controlled quentity controlled variable output.
G, turn back to step c.
Described processor 8 adopts digital signal processor 8, and its internal processes comprises the following steps:
A, beginning;
B, initialization;
The angle-data of c, 1 output of capturing and coding device;
The north component data of d, the output of collection gyro;
E, to the north component data smoothing filtering of gyro output;
F, judge whether that all position location data have all been gathered in the week, if this changes step g; Otherwise return step c;
G, employing the least square estimation method simulate sinusoidal curve relation between north component and the corresponding transposition of scrambler 1 data;
The Beijiao degree is sought in h, calculating;
The Beijiao degree is sought in i, output;
J, end.
Described controller 2 adopts TMS320F2407, driver 3 adopts L6203, motor 4 adopts direct current torque motor J75LYX011, low-pass filter 6 adopts AD8628, A/D converter 7 adopts AD7667, processor 8 adopts TMS320VC33, and asynchronous serial communication chip 9 adopts ST16C554, and display driver adopts HD7221.
The present invention has realized the even multiposition calibration location of revolving-turret, servocontrol to motor 4 adopts segmentation PID to regulate, each point is proofreaied and correct in real time, to guarantee from starting to the fast and stable that stops, gyro is not produced and impact, and realize accurately locating, make the positioning error of each position be no more than 6 ', be positioned evenly to distribute discrete location measurement point exactly, having guaranteed each time of rotating a laggard line stabilization measurement in position of gyro effectively, is the basis of measuring stability and angle calculation accuracy.
In order to realize sinusoidal optimal fitting, improve north finding precision, must be to the effective treating method of image data, rationally utilize image data, make the overall fit sum of errors minimum of data, the present invention adopted least square method to the gyro sensitivity of being gathered to earth rotation north component data carry out process of fitting treatment, and with value after the match and the comparison of collection value, carry out secondary improvement least square fitting after removing outlier and noise spot, to improve sinusoidal match degree of accuracy, guaranteed final north finding precision.
Claims (9)
1, a kind of gyroscopic compass multiple positions self-determination orienting north finding device is characterized in that comprising scrambler (1), controller (2), driver (3), motor (4), the device (5) of angle between detection scrambler zero-bit and the geographical north; When turntable is in the position location, the position data of controller (2) capturing and coding device (1) output, calculate the error between turntable position location given in advance and scrambler (1) the output angle value, calculate correct controlled quentity controlled variable according to this error amount, wide ripple is transferred in output; The wide ripple of accent of controller (2) output makes turntable turn to next position location by driver (3) drive motor (4); The device (5) that detects angle between scrambler zero-bit and the geographical north receives the north component data of gyro and the angle value of scrambler (1) output on a plurality of position locations in all scopes, simulate the sinusoidal curve relation between the corresponding transposition of north component and scrambler (1) angle value, calculate the angle between scrambler (1) zero-bit and the geographical north.
2, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 1 is characterized in that described controller (2) adopts digital signal processor.
3, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 2 is characterized in that described digital signal processor comprises:
The module of given turntable position location;
The module of capturing and coding device (1) data;
Calculate the module of error between given turntable position location and scrambler (1) data;
Module according to Error Calculation output controlled quentity controlled variable between given turntable position location and given turntable position location and scrambler (1) data;
The module of wide ripple is transferred in output.
4, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 3 is characterized in that described controller (2) adopts TMS320F2407, and driver (3) adopts L6203, and motor (4) adopts direct current torque motor J75LYX011.
5, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 1 is characterized in that the device (5) of angle between described detection scrambler zero-bit and the geographical north comprises A/D converter (7), processor (8), asynchronous serial communication chip (9); When turntable was parked in the position location, the responsive local rotational-angular velocity of the earth of gyro was also exported north component, and this north component is converted to digital quantity by A/D converter (7); Processor (8) receives and the north component data of record A/D converter (7) output and the angle value of scrambler (1) output, angle value according to gyro north component data that receive on a plurality of position locations of turntable in all scopes and scrambler (1) output, simulate the curved line relation between the corresponding transposition of north component and scrambler (1) angle value, calculate the angle between scrambler (1) zero-bit and the geographical north.
6, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 5 is characterized in that the device (5) of angle between described detection scrambler zero-bit and the geographical north can also comprise low-pass filter (6); The north component of gyro output is transferred to A/D converter (7) after removing noise filtering by low-pass filter (6) earlier.
7,, it is characterized in that described processor (8) adopts digital signal processor according to claim 5 or 6 any described gyroscopic compass multiple positions self-determination orienting north finding devices of claim.
8, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 7 is characterized in that digital signal processor comprises:
The module of capturing and coding device (1) output data;
Gather the module of the north component data of gyro output;
Gyro data smothing filtering module;
Simulate the module of curved line relation between the corresponding transposition of north component and scrambler (1) data;
The module of Beijiao degree is sought in calculating;
The module that the Beijiao degree is sought in output.
9, gyroscopic compass multiple positions self-determination orienting north finding device according to claim 8, it is characterized in that described low-pass filter (6) adopts AD8628, A/D converter (7) adopts AD7667, and processor (8) adopts TMS320VC33, and asynchronous serial communication chip (9) adopts ST16C554.
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| CN200710056298A CN100575876C (en) | 2007-11-12 | 2007-11-12 | Gyro compass multi-position autonomous orientation north-finding device |
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| CN200710056298A CN100575876C (en) | 2007-11-12 | 2007-11-12 | Gyro compass multi-position autonomous orientation north-finding device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102506848A (en) * | 2011-12-07 | 2012-06-20 | 浙江大学 | Fiber gyroscope north seeker indexing mechanism based on four-position north seeking method |
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| CN103487053B (en) * | 2012-06-07 | 2016-11-09 | 中国人民解放军第二炮兵工程大学 | A kind of any two position strapdown north finding methods |
| CN103776434B (en) * | 2012-10-23 | 2017-10-20 | 于中权 | Gyros north finder and north finding method |
| CN103825527A (en) * | 2014-03-07 | 2014-05-28 | 东莞易步机器人有限公司 | Motor encoder positioning method and system |
| CN104501791A (en) * | 2014-12-18 | 2015-04-08 | 武真真 | Novel north seeker |
| CN109470275B (en) * | 2018-12-17 | 2022-06-28 | 中国科学院光电技术研究所 | A high-precision autonomous orientation method of photoelectric theodolite for mobile station deployment |
| CN111207784A (en) * | 2019-11-25 | 2020-05-29 | 中国航空工业集团公司洛阳电光设备研究所 | Zero-position rewritable encoder and matched electric writing zero system |
| CN111307134B (en) * | 2020-04-27 | 2022-03-11 | 武汉海达数云技术有限公司 | Electronic compass calibration method, device, system and computer readable storage medium |
| CN114237080A (en) * | 2021-10-27 | 2022-03-25 | 中船九江精达科技股份有限公司 | Torque motor rotation positioning control method used in swinging environment |
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| CN102506848B (en) * | 2011-12-07 | 2014-03-26 | 浙江大学 | Fiber gyroscope north seeker indexing mechanism based on four-position north seeking method |
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