Orienting method of gravity direction on moving platform
A technology for moving platforms and determining methods, which is applied to measuring devices, instruments, surveying and mapping, and navigation, and can solve problems such as inability to accurately measure platform inclination angles
Inactive Publication Date: 2009-09-09
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
Once the motion platform tilts in two directions, the gravity pendulum indicates the component of gravity instead of the real gravity direction when the pendulum balances, so the patent will not be able to accurately measure the tilt angle of the platform
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[0023] refer to Figure 1~4 . Two gravity pendulums 3 are respectively installed in the pitch plane xoy and roll plane yoz of the motion platform 1 . The gravity pendulum in the pitch plane measures the pitch angle β; the gravity pendulum in the roll plane measures the roll angle The pitch plane is xoy and the roll plane is yoz. The projection of gravity on the pitch plane is The projection on the roll plane is g yoz =g·cosβ.
[0024] The parameters of the two gravity pendulums 3 are the same, the pendulum length l=0.010m, the pendulum mass m=0.010kg, and the damping coefficient ε=0.1. The angle measurement accuracy of the potentiometer angle sensor of the gravity pendulum is 0.1° (3σ), and the measurement accuracy of the MEMS acceleration sensor is 0.1m / s 2 (3σ). When the motion platform 1 moves, the pitch angle is β=30°cos(4π 2 / 500) changes, the roll angle is change, and the motion platform 1 has an acceleration a=10 in the x-axis direction.
[0025] Three-axis...
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The invention discloses an orienting method of gravity direction on a moving platform. A pitching plane and a rolling plane of the moving platform are respectively provided with two gravity pendulums which respectively sense the projection gxoy of the gravity in the pitching plane of the moving platform and the projection gyoz of the gravity in the rolling plane of the moving platform, and the deflection angle of the gravity pendulums relative to the moving platform is measured. A pitching shaft, a rolling shaft and a deflection shaft of the moving platform are respectively provided with a three-axis accelerometer, the three-axis accelerometers measure the component acceleration ax, the component acceleration ay and the component acceleration az of the resultant acceleration of the moving platform on the three shafts, a pitching angle and a rolling angle of the platform are simultaneously measured or the gravity direction is determined on the moving platform with attitude change through a method of geometry and a filtering algorithm. The method can be suitable to a static moving platform and a translational moving platform, and can also be suitable to the gravity orientation or platform pitching angle and rolling angle measurement on the static moving platform and the translational moving platform with attitude change.
Description
technical field [0001] The invention relates to a method for determining the direction of gravity, in particular to a method for determining the direction of gravity on a moving platform. Background technique [0002] The gravity pendulum can be sensitive to the direction of gravity, but on a moving platform with acceleration and attitude changes, the gravity pendulum feels the combined acceleration of gravity acceleration and platform acceleration, so when the gravity pendulum is balanced, it will not be able to correctly indicate the true direction of gravity. The accelerometer can be used to measure the resultant acceleration vector experienced by the motion platform in space, but the accelerometer cannot distinguish between gravity and inertial force. Therefore, the gravitational pendulum or accelerometer alone cannot determine the direction of gravity in real time. [0003] The document "Japanese Invention Patent No. 2005300196A" discloses a device and method for measu...
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IPC IPC(8): G01C9/00G01C9/16G01P15/00
Inventor 卢晓东周军吕春红郭建国
Owner NORTHWESTERN POLYTECHNICAL UNIV