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Precession Elimination and Compensation Method of Plumb Gyro in Attitude Measurement System

A measurement system and motion elimination technology, applied in the field of measurement and control technology and flight mechanics, can solve problems such as attitude angle measurement errors

Active Publication Date: 2016-06-08
XIAN FEISIDA AUTOMATION ENG
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Problems solved by technology

[0004] Aiming at the problem that the precession phenomenon of the vertical gyroscope in the existing attitude visualization measurement system based on the vertical gyroscope and CCD line array will directly lead to the error of the attitude angle measurement, the present invention proposes a method for eliminating the precession motion and its influence. Compensation method, this method eliminates the phenomenon of vertical gyro precession caused by acceleration by rationally configuring the mechanical structure of the attitude visualization measurement system. Considering the possible processing errors in practice, the precession of the vertical gyro is further given The Influence of Motion on Attitude Measurement and Its Compensation Method

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  • Precession Elimination and Compensation Method of Plumb Gyro in Attitude Measurement System
  • Precession Elimination and Compensation Method of Plumb Gyro in Attitude Measurement System
  • Precession Elimination and Compensation Method of Plumb Gyro in Attitude Measurement System

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Embodiment Construction

[0020] 1) Define the origin o, x-axis, y-axis and z-axis of the body coordinate system as figure 1 As shown, the whole system structure is as follows figure 1 The shown contains two linear array CCD sensors, bracket, inner frame, base and core, where the core is as figure 2 As shown, it consists of an inner shell, an end cover, a motor, a rotor and two flat-shaped laser lights. The motor drives the rotor to rotate in the inner core. The two flat-shaped laser lights are fixed vertically at the bottom of the inner core. The inner core passes through the bearing and the inner ring. The shaft is connected to the inner frame, the inner frame is connected to the bracket through the bearing and the outer ring shaft, the inner ring shaft and the outer ring shaft intersect at the fulcrum O coincides with the origin o of the body coordinate system, the bracket is fixed on the base, so the inner core can go around the inner ring axis Rotate with the outer ring axis in two degrees of fr...

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Abstract

The invention provides a precession movement elimination and compensation method for a vertical gyro in an attitude measuring system, which aims at solving the problem of attitude angle measurement mistakes directly caused by the precession phenomenon of a vertical gyro in a visual attitude measuring system based on the vertical gyro and a CCD (charge coupled device) linear array. According to the method, the precession phenomenon, which is caused by acceleration, of the vertical gyro can be eliminated by reasonably configuring a mechanical structure of the visual attitude measuring system. In the consideration of possible processing errors in practice, the invention also provides a compensation method for the influence caused by the precession movement of the vertical gyro on attitude measurement. According to the precession movement elimination and compensation method, the technical problem of the attitude angle measurement mistakes directly caused by the precession phenomenon of the vertical gyro in the existing visual attitude measuring system based on the vertical gyro and the CCD linear array is effectively solved; the measuring method has important application prospects in the fields of instrumental landing of airplanes, unmanned plane landing and carrier landing.

Description

technical field [0001] The invention relates to a method for measuring Euler angle (attitude) based on a CCD line array, and belongs to the categories of measurement and control technology, flight mechanics and the like. Background technique [0002] Attitude measurement can determine the relative motion attitude of the carrier, which is the basis of all control methods, is of great significance to the normal operation of the aircraft, and is a key factor affecting flight safety. In the attitude calculation system of the aircraft, especially the strapdown inertial navigation system, the attitude calculation method needs to integrate the angular rate in principle, so the small deviation of the angular rate gyro will continue to accumulate in the results of the attitude calculation. As for the serious error of the attitude angle caused in a short time. [0003] In order to correct the error of the attitude angle, the traditional methods have the following categories. One is ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C21/165G01C25/005
Inventor 史忠科沈继睿
Owner XIAN FEISIDA AUTOMATION ENG
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