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Multi-position automatic north-seeking method for uniaxial laser north seeker

A north finder and multi-position technology, applied in the field of inertial navigation, can solve problems such as not meeting user requirements, system instability, and prolonged system lock time

Active Publication Date: 2016-07-06
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In addition, in the process of realizing the indexing control, it is necessary to increase the rotation rate of the motor and shorten the north-seeking time, which may lead to instability of the system; to improve the indexing accuracy and sampling accuracy, it may lead to longer locking time of the system. North-seeking time is extended, resulting in failure to meet user requirements

Method used

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  • Multi-position automatic north-seeking method for uniaxial laser north seeker
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  • Multi-position automatic north-seeking method for uniaxial laser north seeker

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Embodiment

[0106] Set the motor rotation rate VELO=14° / s, the target position threshold pulse value AngleLimit=6000, the limit stopper angle value AngleBlock=323°, the encoder pulse value CP=1048576 when the motor rotates 360°, and the control period T c =1ms, motor PWM pulse signal zero PWM 0 =576, the maximum PWM pulse signal PWM allowed by the motor ax =1000.

[0107] (1) After receiving the north-seeking command, the single-axis laser north-finder locks at the current position and reads the error compensation coefficient as shown in Table 1:

[0108] Table 1 Error Compensation Coefficient Table

[0109]

[0110] (2) Target position AngleE=0° is set, corresponding pulse value CodeAIM=0, record pointer iptr=0°, and the control state is set as the translocation state;

[0111] (3) Read the current pulse value CodeP of the encoder Now =600000, the effective rotation pulse value of the encoder CodeP 1 =600000; Motor position increment IncreP=40;

[0112] (4) Execute the PID small...

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Abstract

The invention discloses a multi-position automatic north-seeking method for a uniaxial laser north seeker. The multi-position automatic north-seeking method comprises the following steps: after receiving a north-seeking instruction, performing real-time error compensation on a gyroscope and an accelerometer; performing motor drive control according to a set target angle, sampling with an instrument after reaching the target angle; using a multi-position sampling result for resolving a attitude and an azimuth angle of the uniaxial laser north seeker; performing motor control and resolving repeatedly to realize the continuous multi-position automatic north-seeking of the north seeker. According to the invention, the automatic north-seeking method is high in reliability, low in hardware cost, reasonable and efficient in control process, can provide omnidirectional attitude and azimuth information for a carrier, and achieves an uninterrupted continuous north-seeking mode.

Description

technical field [0001] The invention provides a multi-position self-north-finding method based on a single-axis laser north-finder, which is suitable for continuous north-seeking occasions using a single gyroscope and a single accelerometer, and belongs to the technical field of inertial navigation. Background technique [0002] The main function of the north finder is to provide the attitude and orientation reference for the carrier. At present, most north finders use fiber optic gyroscopes and accelerometers as the main sensitive components to achieve north finding. Due to the limited accuracy of the fiber optic gyro itself, in order to meet high-precision north-seeking It must be realized by prolonging the north-seeking time and increasing the complexity of the algorithm, so there are disadvantages such as long north-seeking time, complex algorithm, and difficulty in improving the accuracy. At present, there are also north-finders that use a single-axis laser gyro as the ...

Claims

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Application Information

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IPC IPC(8): G01C19/64
CPCG01C19/64
Inventor 郭涛张浩曾宪超靳猛常新
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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