Strapdown north seeking method for two arbitrary positions

A two-position, north-finding instrument technology, applied in the direction of measuring devices, instruments, rotating gyroscopes, etc., can solve the problems of increasing the orientation time of the strapdown north-seeking system, cumbersome operation process, and many measurement positions

Active Publication Date: 2014-01-01
PLA SECOND ARTILLERY ENGINEERING UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Too many measurement positions, large difference and precise position positioning are not only cumbersome to operate, but also take a long time, which greatly increases the orientation time of the strapdown north-seeking system

Method used

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  • Strapdown north seeking method for two arbitrary positions
  • Strapdown north seeking method for two arbitrary positions
  • Strapdown north seeking method for two arbitrary positions

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] like Figure 4 As shown, set the rotation angle μ=30° (that is, the north-seeking solution is performed at two positions with a difference of 30°), see figure 1 , 2 , 3, 4, the concrete steps of any two-position strapdown north-seeking solution method of the present invention are:

[0079] Step 1: Power on the North Finder and roughly level the system;

[0080] According to the instructions in step 1 above and figure 1 As shown, energize the north finder, according to the accelerometer A x and A y The output signal of the whole system is roughly leveled.

[0081] Step 2: Collect the output signals of the gyroscope and the accelerometer at position 1 (initial position);

[0082] Through the previous analysis, combined with figure 2 and image 3 , the output signals of the gyroscope and accelerometer at position 1 (initial position) can be obtained from equations (3) to (6):

[0083] ω x ( ...

Embodiment 2

[0106] like Figure 4 As shown, set the rotation angle μ=60° (that is, the north-seeking solution is performed at two positions with a difference of 60°), see figure 1 , 2 , 3, 4, the concrete steps of any two-position strapdown north-seeking solution method of the present invention are:

[0107] Step 1: Power on the North Finder and roughly level the system;

[0108] According to the instructions in step 1 above and figure 1 As shown, energize the north finder, according to the accelerometer A x and A y The output signal of the whole system is roughly leveled.

[0109] Step 2: Collect the output signals of the gyroscope and the accelerometer at position 1 (initial position);

[0110] Through the previous analysis, combined with figure 2 and image 3 , the output signals of the gyroscope and accelerometer at position 1 (initial position) can be obtained from equations (3) to (6):

[0111] ω x ( ...

Embodiment 3

[0134] like figure 2 , 4 As shown, set the pitch angle θ=0, the roll angle γ=0, and the rotation angle μ=90° (that is, in the horizontal state, the north-seeking measurement is performed at two positions with a difference of 90°), see figure 1 , 2 , 3, 4, the concrete steps of any two-position strapdown north-seeking solution method of the present invention are:

[0135] Step 1: Power on the North Finder and roughly level the system;

[0136] According to the instructions in step 1 above and figure 1 As shown in the figure, the north finder is energized, and since the conditions of the pitch angle θ=0 and the roll angle γ=0 are assumed, there is no need to level it again.

[0137] Step 2: Collect the output signal of the gyro at position 1 (initial position);

[0138] Since the attitude angle is already included in the assumptions, there is no need to collect signals from the accelerometer, but only the output signal of the gyroscope. Through the previous analysis, combi...

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Abstract

The invention belongs to the technical field of directional north seeking of a gyroscope, and relates to a fast strapdown north seeking method for two arbitrary positions. The fast strapdown north seeking method includes the following five steps: "energizing of a north finder and coarse leveling of a system"; " acquisition of output signals of a gyroscope and an accelerometer at position 2"; compensation of constant drift of the gyroscope and zero offset of the accelerometer"; and "calculation of true north azimuth". Compared with traditional strapdown north seeking methods in the prior art, in the fast strapdown north seeking method for two arbitrary positions, data acquisition positions of the gyroscope only comprises two positions, data acquisition amount is greatly decreased, data measurement may not be required to perform at positions with fixed phase differences (such as data acquisition of two positions with the phase difference of 180 degrees and four positions with the phase difference of 90 degrees) by the gyroscope, and tedious operation processes due to too many measuring positions, too large phase differences and accurate positioning can be reduced and the orientation time of the strapdown north seeking system is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of directional north-seeking by gyro, and relates to a strap-down fast north-seeking method for any two positions. Background technique [0002] Strapdown gyro north finder is a kind of high-precision inertial instrument that can automatically indicate azimuth in all weather conditions under static conditions. And civil precision geodetic survey, mine engineering and penetration survey all need very accurate azimuth datum. [0003] At present, the strapdown north finder developed and produced at home and abroad mostly adopts the two-position, four-position and multi-position north-seeking solutions, such as the two-position (180° difference) digital strapdown north finder developed by the China Northern Institute of Automatic Control Technology. ; Multi-position strapdown north finder based on moving gyro developed by Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences; TX...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C19/34G01C21/18G01C25/005
Inventor 周召发郭晓松黄先祥薛海建王振业
Owner PLA SECOND ARTILLERY ENGINEERING UNIVERSITY
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