Structure and method for measuring precession attitude of sensitive part of gyro compass gyro

Abstract

The invention relates to a structure and a method for measuring procession attitude of a gyro sensitive part of a gyro compass, the structure comprises a metal hanging spring, the gyro sensitive part, a gyro motor, a photoelectric sensor lens group and an area array CMOS image sensor, a center rod of the gyro sensitive part is hung through the metal hanging spring, the gyro motor is mounted at the lower end of the center rod, and the photoelectric sensor lens group is mounted at the lower end of the center rod. Light rays refracted by the gyroscope sensitive part are transmitted to the photoelectric sensor lens group and are focused and imaged on the area array CMOS image sensor. According to the structure for measuring the precession attitude of the gyro sensitive part of the gyro compass, the R value (rolling value), the P value (pitching value) and the H value (course value) of the precession of the gyro sensitive part can be collected and output in real time when the gyro compass is used for north seeking, data support is provided for fitting of a north seeking algorithm, disturbance attitude errors caused by precession torque are reduced, and the precision of the north seeking algorithm is improved. And higher and more stable north-seeking precision can be obtained.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation equipment measurement, and in particular to a structure and a measurement method for measuring the precession attitude of a gyro-sensitive part of a gyrocompass. Background Art

[0002] The gyrocompass is an independent, self-established north reference directional measurement device, which can be widely used in mining surveying, ship navigation heading calibration, weapon aiming systems and other fields. The working principle of its north search is as follows: the gyrocompass is equipped with a gyro-sensitive part suspended by an elastic metal wire. The gyro-sensitive part senses the horizontal component of the earth's rotation angular velocity, and under the action of gravity, a northward precession torque is generated, causing the gyro main axis (i.e., H vector) to swing back and forth around the meridian plane. The scanning optical system is used to measure the precession state of the gyro-sensitive part in real time, and the optical imaging position is converted into an electrical signal for data output. The data is then collected and solved to obtain the true north direction, achieving the purpose of accurate orientation.

[0003] A traditional gyrocompass generally includes a scanning optical angle measurement component and a gyro sensitive component. The scanning optical angle measurement component emits a rectangular parallel light beam. After the light is irradiated by a plane reflector mounted on the center rod of the gyro sensitive component, it is reflected back to the scanning optical component and focused onto a linear array CCD. After the photoelectric signal is converted, the position of the imaging spot is judged, and then the angle offset of the precession of the gyro sensitive component is calculated. This structure and measurement method are usually one-dimensional angle measurement, which can only reflect the H vector of the gyro main axis and obtain the real-time H value (heading value) for true north value calculation. However, when the gyrocompass is seeking north, it is not a single one-dimensional angle swing along a two-dimensional plane, but a posture action with a precession torque. If only one-dimensional angle measurement is used, the posture action will cause the image plane to shift or rotate, or the superposition of the two, which will affect the accuracy of the use of the scanning optical angle measurement component, and then affect the north-seeking accuracy of the gyrocompass. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a structure and a measurement method for measuring the precession attitude of the gyro sensitive part of a gyro compass. The structure for measuring the precession attitude of the gyro sensitive part of the gyro compass is used to measure the true attitude of the gyro sensitive part when seeking north, and obtain R value (roll value), P value (pitch value), and H value (heading value). The acquisition of R value (roll value) and P value (pitch value) is of great significance to the fitting correction of H value, thereby obtaining higher and more stable north-seeking accuracy.

[0005] The present invention solves the technical problem by the following technical solutions:

[0006] A structure for measuring the precession attitude of a gyro-sensitive part of a gyro-compass comprises a metal hanging wire, a gyro-sensitive part, a photoelectric sensor lens group and an area array CMOS image sensor. The gyro-sensitive part comprises a central rod, a beam splitter prism, a collimating emission lens group, a cross slit, an illumination light source and a gyro motor are installed in the hollow part of the central rod from top to bottom, the central rod of the gyro-sensitive part is suspended by the metal hanging wire, and the gyro motor is installed at the lower end of the central rod. The light refracted by the gyro-sensitive part is transmitted to the photoelectric sensor lens group and focused to form an image on the area array CMOS image sensor.

[0007] A method for measuring the precession attitude of a gyro-sensitive part of a gyro-compass using the structure of claim 1, comprising the following steps:

[0008] Step 1: The gyro motor drives the illumination light source to provide light to the cross slits to form a light beam emitting from the object surface;

[0009] Step 2: In step 1, the light is collimated and emitted by the emitting mirror group to form parallel light, which is then irradiated by the beam splitter prism. The parallel light is then deflected by 90 degrees and emitted.

[0010] Step 3: The light emitted in step 2 is received by the photoelectric sensor lens group and focused on the area array CMOS image sensor. The angle offset of the attitude, as well as the R value (roll value), P value (pitch value), and H value (heading value) are obtained by analyzing and calculating the imaging spot position information and rotation information.

[0011] Complete the precession attitude measurement of the gyro-sensitive part of the gyrocompass.

[0012] The advantages and positive effects of the present invention are:

[0013] The present invention proposes a structure and a measurement method that can be used for measuring the precession attitude of a gyro-sensitive part of a gyro-compass. Through the structure for measuring the precession attitude of a gyro-sensitive part of a gyro-compass, when the gyro-compass is seeking north, the R value (roll value), P value (pitch value), and H value (heading value) of the precession of the gyro-sensitive part can be collected and output in real time, thereby providing data support for the fitting of a north-seeking algorithm, reducing the disturbance attitude error caused by the precession torque, and obtaining a higher and more stable north-seeking accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention for measuring the precession attitude of the gyro-sensitive part of the gyro-compass;

[0015] Figure 2 CMOS imaging schematic diagram of the structure measurement method for measuring the precession attitude of the gyro-sensitive part of the gyro-compass of the present invention Figure 1 ;

[0016] Figure 3CMOS imaging schematic diagram of the structure measurement method for measuring the precession attitude of the gyro-sensitive part of the gyro-compass of the present invention Figure 2 ;

[0017] In the figure:

[0018] 1-metal hanging wire, 2-beam splitter prism, 3-collimating emission mirror group, 4-center rod, 5-gyro motor, 6-illumination light source, 7-cross slit, 8-photoelectric sensor mirror group, 9-array CMOS image sensor. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below through specific examples. The following examples are only illustrative and not restrictive, and the protection scope of the present invention cannot be limited thereto.

[0020] A structure for measuring the precession attitude of a gyro-sensitive part of a gyro-compass comprises a metal hanging wire 1, a gyro-sensitive part, a photoelectric sensor lens group 8 and a planar array CMOS image sensor 9, which together complete the attitude measurement. The gyro-sensitive part comprises a central rod 4, a beam splitter prism 2, a collimating emission lens group 3, a cross slit 7, an illumination light source 6 and a gyro motor 5. The gyro-sensitive part comprises a central rod 4, a beam splitter prism 2, a collimating emission lens group 3, a cross slit 7, an illumination light source 6 and a gyro motor 5. The gyro-sensitive part comprises a central rod 4, a hollow part of the central rod 4 is provided with the beam splitter prism 2, the collimating emission lens group 3, the cross slit 7 and the illumination light source 6 from top to bottom, the central rod 4 of the gyro-sensitive part is suspended by the metal hanging wire 1, a gyro motor 5 is installed at the lower end of the central rod 4, and the light refracted by the gyro-sensitive part is transmitted to the photoelectric sensor lens group 8 and focused to form an image on the planar array CMOS image sensor 9.

[0021] Metal hanging wire 1: used to suspend the sensitive part of the gyroscope;

[0022] Beam splitter prism 2: used to deflect the cross parallel light beam collimated by the collimating emission mirror group 3 by 90°;

[0023] Collimating emission mirror group 3: used to collimate the cross object plane light to form parallel light;

[0024] Center rod 4: used to connect with metal hanging wire 1, gyro motor 5, install collimating emission mirror group 3 and beam splitter prism 2, and is the link bridge of various parts;

[0025] Gyro motor 5: installed at the lower part of the center rod 4, it is the sensitive element of the entire gyro sensitive part;

[0026] Illumination light source 6: used to illuminate the cross slit 7;

[0027] Cross slit 7: serves as the object plane source of the collimating transmitting mirror group 3;

[0028] Photoelectric sensor lens group 8: used for receiving the cross parallel light beam and focusing the image on the area array CMOS image sensor 9;

[0029] Area array CMOS image sensor 9: used for collecting images, performing photoelectric conversion and angle offset.

[0030] A method for measuring the precession attitude of a gyro-sensitive part of a gyro-compass using the structure of claim 1, comprising the following steps:

[0031] Step 1, the gyro motor 5 drives the illumination light source 6 to provide light source to the cross slit 7 to form a light beam emitting from the object surface;

[0032] Step 2: In step 1, the light is collimated and emitted by the emission lens group 3 to form parallel light, which is then irradiated by the beam splitter prism 2. The parallel light is then deflected by 90 degrees and emitted.

[0033] Step 3: The light emitted in step 2 is received by the photoelectric sensor lens group 8 and focused on the area array CMOS image sensor 9. The angle offset of the attitude, as well as the R value (roll value), P value (pitch value), and H value (heading value) are obtained by analyzing and calculating the imaging spot position information and rotation information.

[0034] Complete the precession attitude measurement of the gyro-sensitive part of the gyrocompass.

[0035] Combination Figure 1 , Figure 2 , Figure 3 Describe the posture measurement workflow.

[0036] like Figure 1 As shown, the parts are fixedly connected to each other, the center rod 4 is hollowed out, and the beam splitter 2, the collimating lens group 3, the illumination light source 6 and the cross slit 7 are installed inside the center rod 4. The cross slit 7 is illuminated by the illumination light source 6 to form a light ray emitted from the object surface. After the light passes through the collimating lens group 3, it forms a parallel light ray and irradiates the beam splitter 2. The parallel light ray is deflected 90 degrees and emitted.

[0037] The emitted light is received by the photoelectric sensor lens group 8 and focused onto the area array CMOS image sensor 9. By analyzing and calculating the position of the imaging spot, the angular offset of the attitude, as well as the R value (roll value), P value (pitch value), and H value (heading value) are obtained.

[0038] like Figure 2 The light spot shown can be analyzed and calculated to obtain the P value (pitch value), the H value (heading value), and the angle offset can be inferred from the position of the light spot deviating from the center line of the area array CMOS image sensor 9.

[0039] like Figure 3The light spot shown in the figure, when the gyro sensitive part precesses and there is an R value (roll value), it will cause the imaging light spot to rotate, and the angular offset of the roll value can be calculated through the included angle between the imaging light spot and the center line of the area array CMOS image sensor 9.

[0040] It should be noted that when the gyro's sensitive part precesses, the general imaging state will be as follows: Figure 3 As shown, there is posture information at the same time. Figure 2 It is only to illustrate how to obtain the P value and H value.

[0041] It should also be noted that the collimating emission lens group 3, the photoelectric sensor lens group 8 and the area array CMOS image sensor 9 are only used to describe the test method, and do not limit the optical lens composition or the image sensor model.

[0042] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A structure for measuring the precession attitude of the gyro-sensitive part of a gyrocompass, characterized in that: The invention comprises a metal hanging wire (1), a gyro sensitive part, a photoelectric sensor lens group (8) and a planar array CMOS image sensor (9), wherein the gyro sensitive part comprises a central rod (4), a beam splitter prism (2), a collimating emission lens group (3), a cross slit (7), an illumination light source (6) and a gyro motor (5) are installed in the hollow part of the central rod (4) from top to bottom, the central rod (4) of the gyro sensitive part is suspended by the metal hanging wire (1), the gyro motor (5) is installed at the lower end of the central rod (4), and the light refracted by the gyro sensitive part is transmitted to the photoelectric sensor lens group (8) and focused to form an image on the planar array CMOS image sensor (9).

2. A method for measuring the precession attitude of the gyro-sensitive part of a gyro-compass using the structure of claim 1, characterized in that: The following steps are involved: Step 1, the gyro motor (5) drives the illumination light source (6) to provide light source to the cross slit (7), thereby forming a light beam emitting from the object surface; Step 2: In step 1, the light is collimated and emitted by the emitting lens group (3) to form parallel light, which is then irradiated to the beam splitter prism (2). The parallel light is then deflected by 90 degrees and emitted; Step 3: The light emitted in step 2 is received by the photoelectric sensor lens group (8) and focused on the area array CMOS image sensor (9) to form an image. By analyzing and calculating the position information and rotation information of the imaging light spot, the angular offset of the attitude, and the R value (roll value), P value (pitch value), and H value (heading value) are obtained. Complete the precession attitude measurement of the gyro-sensitive part of the gyrocompass.

Images