JP2001215121A - Direction detection method and device - Google Patents
Direction detection method and deviceInfo
- Publication number
- JP2001215121A JP2001215121A JP2000026192A JP2000026192A JP2001215121A JP 2001215121 A JP2001215121 A JP 2001215121A JP 2000026192 A JP2000026192 A JP 2000026192A JP 2000026192 A JP2000026192 A JP 2000026192A JP 2001215121 A JP2001215121 A JP 2001215121A
- Authority
- JP
- Japan
- Prior art keywords
- rotating
- gyro
- east
- west
- sine wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
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- Gyroscopes (AREA)
Abstract
(57)【要約】
【課題】 本発明は、高精度に真北方向を求めることの
できる方位検出方法及び装置を提供することを目的とす
る。
【解決手段】 本発明による方位検出方法は、水平面と
平行な回転面(2A)上にジャイロ装置(3)の検出軸(3A)が
回転面(2A)の回転軸(2B)と一致するようにジャイロ装置
(3)を設置し、回転面(2A)を有する回転テーブル(2)を回
転させることにより正弦波状のジャイロ出力を求め、正
弦波状のジャイロ出力に基づき東及び西の方位を求め、
この東及び西の方位に基づき真北方向を求めることを特
徴とする。
An object of the present invention is to provide an azimuth detecting method and apparatus capable of determining a true north direction with high accuracy. A azimuth detecting method according to the present invention is arranged such that a detection axis (3A) of a gyro device (3) coincides with a rotation axis (2B) of a rotation surface (2A) on a rotation surface (2A) parallel to a horizontal plane. Gyro device
(3) is installed, a sine wave gyro output is obtained by rotating a turntable (2) having a rotating surface (2A), and the east and west directions are obtained based on the sine wave gyro output,
The true north direction is obtained based on the east and west bearings.
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ジャイロを用いた
方位計に関し、特に、高精度に真北方向を求めることが
できるようにするための新規な改良に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a compass using a gyro, and more particularly, to a novel improvement for enabling a true north direction to be obtained with high accuracy.
【０００２】[0002]
【従来の技術】従来、用いられていた方位検出方法は、
２軸検出ジャイロなどを用いて重力方向と同一方向のＺ
軸まわりにジャイロを９０°ずつ回転させ、ジャイロの
正弦波出力の零点変化に基づいて正弦波出力のピークを
求め、このピーク値に基づいて北と南の方位を求めると
共に、これらの平均値に基づいて東西方向を求めてい
た。2. Description of the Related Art An azimuth detecting method that has been conventionally used is as follows.
Z in the same direction as the direction of gravity using a two-axis detection gyro
The gyro is rotated by 90 ° around the axis, the peak of the sine wave output is obtained based on the zero point change of the sine wave output of the gyro, the north and south azimuths are obtained based on this peak value, and these average values are calculated. Based on the east-west direction.
【０００３】[0003]
【発明が解決しようとする課題】従来の方位検出方法は
以上のように構成されていたため、次のような課題が存
在していた。すなわち、北および南の方位検出を正弦波
のピークに基づいて行っているが、正弦波のピーク検出
には誤差が含まれやすく、方位検出における精度向上に
限界があった。Since the conventional azimuth detecting method is configured as described above, there are the following problems. That is, the azimuth detection in the north and the south is performed based on the peak of the sine wave. However, the sine wave peak detection easily includes an error, and there is a limit in improving the accuracy in the azimuth detection.
【０００４】本発明は、以上のような課題を解決するた
めになされたもので、特に、方位検出における精度向上
を図ることのできる方位検出方法を提供することを目的
とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide an azimuth detecting method capable of improving accuracy in azimuth detection.
【０００５】[0005]
【課題を解決するための手段】本発明の方位検出方法
は、水平面と平行な回転面上にジャイロ装置の検出軸が
前記回転面の回転軸と一致するように前記ジャイロ装置
を設置し、前記回転面を有する回転テーブルを回転させ
ることにより正弦波状のジャイロ出力を求め、前記正弦
波状のジャイロ出力に基づき東及び西の方位を求め、こ
の東及び西の方位に基づき真北方向を求める構成であ
り、また、前記回転テーブルを所定のテーブル角ずつ回
転させ、各テーブル角回転毎にジャイロ出力を測定し、
前記正弦波状のジャイロ出力の振幅中心に対応する回転
角に基づいて東及び西の方位を求める構成である。ま
た、本発明の方位検出装置は、水平面と平行な回転面を
有し、前記回転面の回転軸とジャイロ装置の検出軸とが
一致するように前記回転面上にジャイロ装置を設置する
ための回転テーブルと、前記回転テーブルを回転させる
ステップモータと、前記回転テーブルを回転させること
により得られる正弦波状のジャイロ出力に基づき東及び
西の方位を求め、この東及び西の方位に基づき真北方向
を求める演算装置とを備える構成である。According to the azimuth detecting method of the present invention, the gyro device is installed on a rotating surface parallel to a horizontal plane such that the detection axis of the gyro device coincides with the rotating axis of the rotating surface. A sine-wave gyro output is obtained by rotating a rotary table having a rotating surface, east and west directions are obtained based on the sine-wave gyro output, and a true north direction is obtained based on the east and west directions. Yes, the rotary table is rotated by a predetermined table angle, gyro output is measured for each table angle rotation,
The east and west azimuths are obtained based on a rotation angle corresponding to the amplitude center of the sinusoidal gyro output. Further, the azimuth detecting device of the present invention has a rotation surface parallel to a horizontal plane, and for installing the gyro device on the rotation surface such that the rotation axis of the rotation surface coincides with the detection axis of the gyro device. A rotary table, a step motor for rotating the rotary table, and a east and west direction obtained based on a sine wave gyro output obtained by rotating the rotary table, and a true north direction based on the east and west directions. And an arithmetic device for calculating
【０００６】[0006]
【発明の実施の形態】以下、図面と共に本発明による方
位検出方法の好適な実施の形態について詳細に説明す
る。図１に示すように、本発明による方位検出方法を実
現するための装置は、ステップモータ１により回動可能
に設けられた回転テーブル２上にジャイロ装置３を設置
した構成である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the azimuth detecting method according to the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, a device for realizing the azimuth detecting method according to the present invention has a configuration in which a gyro device 3 is installed on a turntable 2 provided rotatably by a step motor 1.
【０００７】前記回転テーブル２は回転面２Ａが地球の
水平面と平行になるように設置されており、ジャイロ装
置３はその検出軸３Ａが前記回転面２Ａの回転軸２Ｂと
一致するように設置されている。従って、回転テーブル
２を回転軸２Ｂ回りに回転させてジャイロ装置３を検出
軸３Ａまわりに東北西南方向に回転させれば、ジャイロ
装置３から図２に示すような正弦波信号が得られる。こ
のような正弦波信号のピークは北及び南の方位にそれぞ
れ対応するが、正弦波信号のピーク部分は変化率が大き
いため検出精度が悪い。そのため、本発明では正弦波信
号が最も線形的に変化する点、即ちジャイロ出力が零と
なる点に基づき東方と西方を求め、これらの平均を取る
ことにより真北方向を求める。なお、ここでは回転テー
ブル２を回転させるためにステップモータ１を用いてい
るが、回転テーブルを回転させることができる手段であ
ればステップモータに限らず他の形態であっても良い。[0007] The rotary table 2 is installed so that the rotating surface 2A is parallel to the horizontal plane of the earth, and the gyro device 3 is installed so that the detection axis 3A coincides with the rotating axis 2B of the rotating surface 2A. ing. Therefore, if the rotary table 2 is rotated about the rotation axis 2B and the gyro apparatus 3 is rotated about the detection axis 3A in the east-north-west direction, a sine wave signal as shown in FIG. 2 is obtained from the gyro apparatus 3. Such peaks of the sine wave signal correspond to the north and south directions, respectively, but the peak portion of the sine wave signal has a large rate of change, and thus has poor detection accuracy. Therefore, in the present invention, east and west are obtained based on the point where the sine wave signal changes most linearly, that is, the point where the gyro output becomes zero, and the true north direction is obtained by taking the average of these. Here, the step motor 1 is used to rotate the rotary table 2, but any other means that can rotate the rotary table is not limited to the step motor.
【０００８】次に本発明により真北方向を求める具体的
な方法について説明する。回転テーブル２を回転させる
角度（テーブル角θi）を例えば１０°に設定し、この
テーブル角θi回転毎にジャイロ出力Ｘiを測定すれば、
図２に示すような正弦波信号を得ることができる。そし
て、図２の結果をまとめると表１を得る。Next, a specific method for finding the true north direction according to the present invention will be described. If the angle for rotating the rotary table 2 (table angle θ i ) is set to, for example, 10 °, and the gyro output X i is measured every rotation of the table angle θ i ,
A sine wave signal as shown in FIG. 2 can be obtained. Then, Table 1 is obtained by summarizing the results of FIG.
【０００９】[0009]
【表１】 [Table 1]
【００１０】このような表１から東あるいは西の方位を
示すＸi＝０となる点が２点求まるので、Ｘi−Ｘi-1＞
０が成立する点が東となり、Ｘi−Ｘi-1＜０が成立すれ
ば西が求まる。そして、このようにして求めた東及び西
の方位を用いれば、高精度に真北方向を求めることがで
きる。このようにして真北方向を求めるために用いる東
及び西の方位は、ジャイロ出力の変化率が最も小さいと
ころにおいて求めたものであるから、ジャイロ出力の変
化率が最も大きいピークにおいて直接北の方位を求める
場合よりも非常に精度良く真北方向を求めることができ
る。[0010] From Table 1, two points at which X i = 0 indicating the east or west direction can be obtained, so that X i -X i-1 >
The point where 0 is established is the east, and if X i -X i-1 <0 is established, the west is obtained. Using the east and west azimuths obtained in this way, the true north direction can be obtained with high accuracy. In this way, the east and west directions used to determine the true north direction are obtained at the place where the rate of change of the gyro output is the smallest, so the north direction is directly determined at the peak where the rate of change of the gyro output is the largest. The true north direction can be obtained with much higher accuracy than when it is obtained.
【００１１】なお、ジャイロ出力にバイアスが含まれて
いる場合には、表１において(Ｘ18−Ｘ0)／(θ180−
θ0)＝０／１８０°が成立するかどうかを確認する。上
式が成立すれば東及び西の方位が正しく求まっているた
め、これらに基づいて真北方向を求めればよい。上式が
成立しないときは、東及び西の方位が正しくない場合で
ある。例えば、出力が零になるレベルが図２中矢印Ａで
示すレベルである場合には、振幅中心におけるジャイロ
出力が零になっていないため、(Ｘ17−Ｘ1)／(θ170−
θ10)＝０／１６０°となり、上式が成立しないので、
右辺分母が零になる２点を東及び西の方位として求め、
これらに基づき真北方向を求めればよい。When a bias is included in the gyro output, (X 18 -X 0 ) / (θ 180-
It is checked whether or not θ 0 ) = 0/180 ° is satisfied. If the above equation holds, the east and west bearings have been correctly determined, and the true north direction may be determined based on these. When the above equation does not hold, it means that the east and west directions are incorrect. For example, if the level at which the output becomes zero is the level indicated by the arrow A in FIG. 2, the gyro output at the center of the amplitude is not zero, and therefore (X 17 −X 1 ) / (θ 170 −
θ 10 ) = 0/160 °, and the above equation does not hold.
Find two points where the denominator on the right side is zero as the east and west bearings,
The true north direction may be obtained based on these.
【００１２】[0012]
【発明の効果】本発明の方位検出方法は、水平面と平行
な回転面上にジャイロ装置の検出軸が前記回転面の回転
軸と一致するように前記ジャイロ装置を設置し、前記回
転面を有する回転テーブルを回転させることにより正弦
波状のジャイロ出力を求め、前記正弦波状のジャイロ出
力に基づき東及び西の方位を求め、この東及び西の方位
に基づき真北方向を求めるので、正弦波出力から直接北
の方位を求める場合に比べて高精度に真北方向を得るこ
とができる。また、前記回転テーブルを所定のテーブル
角ずつ回転させ、各テーブル角回転毎にジャイロ出力を
測定し、前記正弦波状のジャイロ出力の振幅中心に対応
する回転角に基づいて東及び西の方位を求めるので、機
械的に高精度に真北方向を得ることができる。また、本
発明の方位検出装置は、水平面と平行な回転面を有し、
前記回転面の回転軸とジャイロ装置の検出軸とが一致す
るように前記回転面上にジャイロ装置を設置するための
回転テーブルと、前記回転テーブルを回転させるステッ
プモータと、前記回転テーブルを回転させることにより
得られる正弦波状のジャイロ出力に基づき東及び西の方
位を求め、この東及び西の方位に基づき真北方向を求め
る演算装置とを備えるので、高精度に真北方向を求める
ことのできる方位検出装置を提供することができる。According to the azimuth detecting method of the present invention, the gyro device is installed on a rotation surface parallel to a horizontal plane such that the detection axis of the gyro device coincides with the rotation axis of the rotation surface, and the gyro device has the rotation surface. The sine wave gyro output is obtained by rotating the turntable, the east and west directions are obtained based on the sine wave gyro output, and the true north direction is obtained based on the east and west directions. The true north direction can be obtained with higher accuracy than when the north direction is directly obtained. Further, the rotary table is rotated by a predetermined table angle, a gyro output is measured for each rotation of the table angle, and east and west directions are obtained based on a rotation angle corresponding to the amplitude center of the sine wave gyro output. Therefore, the true north direction can be mechanically obtained with high precision. Further, the azimuth detecting device of the present invention has a rotation plane parallel to a horizontal plane,
A rotating table for installing a gyro device on the rotating surface such that a rotation axis of the rotating surface coincides with a detection axis of the gyro device; a step motor for rotating the rotating table; and rotating the rotating table. The east and west directions are obtained based on the sinusoidal gyro output obtained as described above, and the arithmetic unit that obtains the true north direction based on the east and west directions is provided, so that the true north direction can be obtained with high accuracy. An azimuth detecting device can be provided.
【図１】本発明による方位検出装置を概略的に示す構成
図である。FIG. 1 is a configuration diagram schematically showing an azimuth detecting device according to the present invention.
【図２】本発明によりジャイロ出力から真北方向を求め
るための方法を概念的に示す特性図である。FIG. 2 is a characteristic diagram conceptually showing a method for obtaining a true north direction from a gyro output according to the present invention.
１ ステップモータ ２ 回転テーブル ２Ａ 回転面 ２Ｂ 回転軸 ３ ジャイロ装置 ３Ａ 検出軸 DESCRIPTION OF SYMBOLS 1 Step motor 2 Rotary table 2A Rotary surface 2B Rotary axis 3 Gyro device 3A Detection axis
Claims (3)
装置(3)の検出軸(3A)が前記回転面(2A)の回転軸(2B)と
一致するように前記ジャイロ装置(3)を設置し、前記回
転面(2A)を有する回転テーブル(2)を回転させることに
より正弦波状のジャイロ出力を求め、前記正弦波状のジ
ャイロ出力に基づき東及び西の方位を求め、この東及び
西の方位に基づき真北方向を求めることを特徴とする方
位検出方法。The gyro device (3) is arranged such that a detection axis (3A) of the gyro device (3) coincides with a rotation axis (2B) of the rotation surface (2A) on a rotation surface (2A) parallel to a horizontal plane. ) Is installed, a sine wave gyro output is obtained by rotating the turntable (2) having the rotating surface (2A), and the east and west directions are obtained based on the sine wave gyro output. An azimuth detection method characterized by finding a true north direction based on a west azimuth.
角(θi)ずつ回転させ、各テーブル角(θi)回転毎にジャ
イロ出力を測定し、前記正弦波状のジャイロ出力の振幅
中心に対応する回転角に基づいて東及び西の方位を求め
ることを特徴とする請求項１記載の方位検出方法。2. Rotating the rotary table (2) by a predetermined table angle (θ i ), measuring a gyro output at each rotation of the table angle (θ i ), and measuring a gyro output at the center of the amplitude of the sine wave gyro output. The azimuth detection method according to claim 1, wherein the east and west azimuths are obtained based on the corresponding rotation angles.
回転面(2A)の回転軸(2B)とジャイロ装置(3)の検出軸(3
A)とが一致するように前記回転面(2A)上にジャイロ装置
(3)を設置するための回転テーブル(2)と、前記回転テー
ブル(2)を回転させるステップモータ(1)と、前記回転テ
ーブル(2)を回転させることにより得られる正弦波状の
ジャイロ出力に基づき東及び西の方位を求め、この東及
び西の方位に基づき真北方向を求める演算装置とを備え
る方位検出装置。3. A rotating surface (2A) parallel to a horizontal plane, wherein a rotating shaft (2B) of the rotating surface (2A) and a detecting shaft (3) of a gyro device (3) are provided.
Gyro device on the rotating surface (2A) so that
(3) A rotary table (2) for installing, a step motor (1) for rotating the rotary table (2), and a sine wave gyro output obtained by rotating the rotary table (2). And an arithmetic unit for determining the true north direction based on the east and west bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000026192A JP2001215121A (en) | 2000-02-03 | 2000-02-03 | Direction detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000026192A JP2001215121A (en) | 2000-02-03 | 2000-02-03 | Direction detection method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001215121A true JP2001215121A (en) | 2001-08-10 |
Family
ID=18551954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000026192A Withdrawn JP2001215121A (en) | 2000-02-03 | 2000-02-03 | Direction detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001215121A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007263689A (en) * | 2006-03-28 | 2007-10-11 | Railway Technical Res Inst | Method of measuring the orientation of equipment in an environment where external information cannot be obtained |
| WO2010047078A1 (en) | 2008-10-20 | 2010-04-29 | 住友精密工業株式会社 | Six-direction orienting device |
| US9015952B2 (en) | 2010-11-19 | 2015-04-28 | Sumitomo Precision Products Co., Ltd. | Six-direction directing device |
-
2000
- 2000-02-03 JP JP2000026192A patent/JP2001215121A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007263689A (en) * | 2006-03-28 | 2007-10-11 | Railway Technical Res Inst | Method of measuring the orientation of equipment in an environment where external information cannot be obtained |
| WO2010047078A1 (en) | 2008-10-20 | 2010-04-29 | 住友精密工業株式会社 | Six-direction orienting device |
| US8528220B2 (en) | 2008-10-20 | 2013-09-10 | Sumitomo Precision Products Co., Ltd. | Six-direction indicator |
| US9015952B2 (en) | 2010-11-19 | 2015-04-28 | Sumitomo Precision Products Co., Ltd. | Six-direction directing device |
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