Dynamic digital measuring device for horizontal angle

Abstract

The invention discloses a horizontal angle dynamic digital measuring device which comprises a horizontal angle dynamic digital measuring system which comprises a tilt angle sensor combination (or a combination of a plurality of tilt angle sensors or a combination of a plurality of tilt angle sensors and a plurality of acceleration sensors) and a gyroscope. The gyroscope is used for measuring the rotation angular rate; and the tilt angle sensor combination and the gyroscope are coaxially mounted. The horizontal included angle between the carrier and the horizontal plane can be dynamically measured by using a single or multiple tilt angle sensor combination (or a combination of multiple tilt angle sensors or a combination of multiple tilt angle sensors and multiple acceleration sensors) and a gyroscope combination according to actual requirements. The long-term stability of the horizontal angle can be correspondingly improved by utilizing the tilt angle sensors with balanced output on the two sides. The measurement precision of dynamic digital measurement of the horizontal angle can be improved, and the long-term stability of a three-dimensional attitude measurement platform is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measurement, in particular to a horizontal angle dynamic digital measurement device. BACKGROUND

[0002] At present, there are various kinds of measurement instruments and three-dimensional attitude measurement platforms in the world, which involve horizontal angle dynamic digital measurement system, and all of them adopt horizontal angle dynamic digital measurement system combined with gyroscopes and acceleration sensors.

[0003] However, the long-term stability of the horizontal angle is greatly affected by the zero drift of the acceleration sensor, which has a great influence on the measurement stability of the horizontal angle, thereby affecting the measurement accuracy.

[0004] Therefore, how to provide a horizontal angle measurement device capable of improving the measurement accuracy of horizontal angle dynamic digital measurement has become a technical problem urgently to be solved by those skilled in the art. SUMMARY

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present application is to provide a horizontal angle dynamic digital measurement device capable of improving the measurement accuracy of horizontal angle dynamic digital measurement.

[0006] According to the horizontal angle dynamic digital measurement device of the present application, comprising: A horizontal angle dynamic digital measurement system, the horizontal angle dynamic digital measurement system comprising an inclination sensor and a gyroscope; the gyroscope is used for measuring the rotation angle rate; the inclination sensor is arranged on the gyroscope.

[0007] Further, the horizontal angle dynamic digital measurement system comprises an inclination sensor combination (or a combination of multiple inclination sensors; or a combination of multiple inclination sensors and multiple acceleration sensors) and a gyroscope; the gyroscope is used for measuring the rotation angle rate; the inclination sensor combination is arranged coaxially with the gyroscope.

[0008] Further, the number of inclination sensors is one or more; the inclination sensor is used for measuring the horizontal angle.

[0009] Further, when the number of inclination sensors is multiple, two or more inclination sensors are installed in parallel; each two inclination sensors are used for measuring the horizontal angle, and the measurement directions are opposite; the range of each inclination sensor is the same.

[0010] Further, when the number of inclination sensors is multiple, each two inclination sensors are installed in parallel; each inclination sensor is used for measuring the horizontal angle, and the ranges of the two inclination sensors are different; and the measurement directions of each two inclination sensors are opposite.

[0011] Further, when the number of the inclination sensors is multiple, each two inclination sensors are not parallel installed, and each inclination sensor has the same range; each inclination sensor is used for measuring the horizontal angle, and each two inclination sensors measure the opposite direction.

[0012] Further, the inclination sensors include the positive inclination sensor, the reverse inclination sensor and the horizontal inclination sensor; the positive inclination sensor and the reverse inclination sensor have the included angle with the horizontal inclination sensor; the horizontal inclination sensor is used for zero position detection; the positive inclination sensor and the reverse inclination sensor are used for detecting the horizontal angle, and the detection direction is opposite.

[0013] Further, the horizontal angle dynamic digital measurement system further includes a measurement system body displacement measurement system, a moving distance measurement system, a measurement data processing system, a man-machine interaction and display system.

[0014] Further, the horizontal angle dynamic digital measurement system further includes a carrier, and the carrier is arranged to be inclined to the horizontal plane; the horizontal angle dynamic digital measurement system is arranged on the carrier.

[0015] Further, the horizontal angle dynamic digital measurement device is used for measuring the height difference of two tracks. For example, the carrier further includes the horizontal angle dynamic digital measurement system which can be used for the instrument needing to measure the horizontal angle, such as the railway track inspection instrument, the contact conductor position measurement instrument of the railway power supply and the like needing to measure the height difference (i.e. the horizontal) of two tracks; or can be a functional carrier, such as the long-term stable three-dimensional attitude measurement platform of the fire control system installed on the armored vehicle, the tank and the warship.

[0016] Further, the horizontal angle dynamic digital measurement device is a three-dimensional attitude measurement instrument. For example, the horizontal angle dynamic digital measurement system can be used for the functional carrier needing to measure the horizontal angle of the long-term stable three-dimensional attitude measurement platform of the fire control system installed on the armored vehicle, the tank and the warship.

[0017] The beneficial effects of the present application are as follows: the single or multiple inclination sensors and the gyroscope can be combined to dynamically measure the horizontal angle between the carrier and the horizontal plane according to the actual needs. The long-term stability of the horizontal angle can be improved by using the inclination sensors with balanced outputs on both sides. The measurement accuracy of the horizontal angle dynamic digital measurement is improved, and the long-term stability of the three-dimensional attitude measurement platform is also increased.

[0018] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the references to the following drawings, wherein: Figure 1 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 1 of the present application; Figure 2 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 2 of the present application; Figure 3 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 3 of the present application; Figure 4 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 4 of the present application; Figure 5 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 5 of the present application; Figure 6 is a front view of the horizontal angle dynamic digital measurement device of the embodiment 6 of the present application; Figure 7 is a structural schematic diagram of the three-dimensional posture measurement platform of the embodiment of the present application; Figure 8 is a left view of the horizontal angle dynamic digital measurement device of the embodiment 6 of the present application; Figure 9 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 7 of the present application; Figure 10 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the embodiment 7 of the present application; Figure 11 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the other embodiments of the present application; Figure 12 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the other embodiments of the present application; Figure 13 is a structural schematic diagram of the horizontal angle dynamic digital measurement device of the other embodiments of the present application.

[0020] Reference signs: 1, gyroscope; 11, gyroscope for measuring the lateral roll axial angular velocity of the tank barrel; 12, gyroscope for measuring the horizontal pitch axial angular velocity of the tank barrel; 13, gyroscope for measuring the horizontal plane rotation axial angular velocity of the tank barrel; 2, tilt sensor; 21, forward tilt sensor; 22, reverse tilt sensor; 23, horizontal tilt sensor; 24, tilt sensor for measuring the lateral roll axial angle of the tank barrel; 25, tilt sensor for measuring the pitch axial angle of the tank barrel; 26, tilt sensor for measuring the horizontal plane rotation axial angle of the tank barrel; 31, notebook computer for railway track inspection instrument; 32, horizontal bar of railway track inspection instrument; 33, vertical bar of railway track inspection instrument; 34, push rod of railway track inspection instrument; 41, three-dimensional attitude measurement platform; 42, tank barrel; 43, tank turret; 51, left track; 52, right track; 53, track sleeper; 6, angle between the plane of the two tracks and the horizontal plane; 61, horizontal plane; 62, top surface of the two tracks; h, height difference between the plane of the two tracks and the horizontal plane; 7, angle between the barrel and the horizontal plane; 71, horizontal plane; 72, center line of the barrel. DETAILED DESCRIPTION

[0021] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended only to explain the present application, and cannot be understood as limiting the present application.

[0022] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0023] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] Reference will now be made to the following description Figures 1-13 The horizontal angle dynamic digital measurement device according to an embodiment of the present application is described.

[0025] As Figures 1-13 shown, the horizontal angle dynamic digital measurement device according to an embodiment of the present application comprises a horizontal angle dynamic digital measurement system, the horizontal angle dynamic digital measurement system comprising an inclination sensor 2 and a gyroscope 1; the gyroscope 1 is used for measuring the rotation angular velocity; the inclination sensor 2 is arranged on the gyroscope 1. A single or multiple inclination sensors 2 and a gyroscope 1 can be combined to dynamically measure the horizontal angle between the carrier and the horizontal plane according to actual needs. The long-term stability of the horizontal angle can be improved by using the inclination sensor 2 with balanced output on both sides. The measurement accuracy of the horizontal angle dynamic digital measurement can be improved. For example, if the horizontal angle dynamic digital measurement device is used for railway detection, 1-2 railway track inspection instruments, 1-2 railway contact network inspection instruments and 1-2 railway track laser long chord inspection instruments are equipped according to the principle of one station per 30-50 kilometers, and 1.5-3 million various detection instruments are equipped for the total of 140,000 kilometers of railways, which can effectively ensure the safe operation of the railways.

[0026] Further, the inclination sensor 2 is arranged on the coaxially rotating gyroscope 1.

[0027] As Figure 7 shown, the lateral rolling axial angle measurement inclination sensor 24 is arranged on the lateral rolling axial angular velocity measurement gyroscope 11; the pitching axial angle measurement inclination sensor 25 is arranged on the pitching axial angular velocity measurement gyroscope 12; and the horizontal plane rotation axial angle measurement inclination sensor 26 is arranged on the horizontal plane rotation axial angular velocity measurement gyroscope 13.

[0028] The horizontal angle dynamic digital measurement device, when used in the fire control system of a tank or an armored vehicle, has immeasurable national security, economic and social benefits, and further improves the long-term stability of the three-dimensional attitude measurement platform.

[0029] The application also discloses some embodiments of the horizontal angle dynamic digital measurement system, which comprises a tilt sensor combination (or a combination of multiple tilt sensors, or a combination of multiple tilt sensors and multiple acceleration sensors) and a gyroscope.

[0030] The application also discloses some embodiments, wherein the number of the tilt sensors 2 is more than one, and each of the tilt sensors 2 is used for measuring the horizontal angle, that is, the tilt angle relative to the horizontal direction. The tilt sensor 2 of the application can be a single tilt sensor 2, or multiple tilt sensors 2, which can effectively improve the measurement accuracy.

[0031] The application also discloses some embodiments, wherein when the number of the tilt sensors 2 is more than two, the more than two tilt sensors 2 are installed in parallel, each of the tilt sensors 2 is used for measuring the horizontal angle, and the measurement directions are opposite; and the ranges of the more than two tilt sensors 2 are the same. The high-precision tilt measurement system composed of multiple high-precision tilt sensors 2 comprises multiple tilt sensors 2 installed in parallel and having the same range and opposite differential outputs.

[0032] In some embodiments, when the number of the tilt sensors is more than one, each two tilt sensors form a group, each group comprises two tilt sensors, each of the tilt sensors is used for measuring the horizontal angle, the two tilt sensors in each group are installed in parallel, the ranges of the two tilt sensors in each group are the same, and the measurement directions are opposite; and the measurement results of the two tilt sensors in each group are used for differential calculation, which greatly improves the measurement accuracy. The tilt sensors in each group can be used in a stacked manner, for example, the two tilt sensors in the first group are installed in parallel, the two tilt sensors in the second group are installed below the two tilt sensors in the first group, and the corresponding tilt sensors are installed in opposite directions; that is, one of the two tilt sensors in the second group is installed between the two tilt sensors in the first group.

[0033] The application also discloses some embodiments, wherein when the number of the tilt sensors 2 is more than two, the more than two tilt sensors 2 are installed in parallel, each of the tilt sensors 2 is used for measuring the horizontal angle, and the measurement directions are opposite; and the ranges of the more than two tilt sensors 2 are different. The multiple high-precision tilt sensors 2 also comprise a multi-range high-precision tilt measurement system composed of multiple tilt measurement systems installed in parallel and having different ranges.

[0034] In some embodiments, when there are multiple tilt sensors, every two tilt sensors form a group; each group includes two tilt sensors; each tilt sensor is used to measure the horizontal angle; the two tilt sensors in each group are installed in parallel; and the two tilt sensors in each group have different ranges; the tilt sensor with a small range is used for normal horizontal tilt angle measurement; and the tilt sensor with a large range is used for horizontal tilt angle measurement when the carrier is impacted, preventing loss of horizontal tilt angle data.

[0035] In some embodiments, when there are more than two tilt sensors 2, the more than two tilt sensors 2 are not installed in parallel, and each tilt sensor 2 has the same range; each tilt sensor 2 is used to measure the horizontal tilt angle, and the measurement directions are opposite. The high-precision tilt measurement system composed of multiple high-precision tilt sensors 2 also includes a high-precision tilt measurement system with a large range, the same high precision, and enhanced zero positioning accuracy, which is composed of multiple tilt sensors 2 with the same range and not installed in parallel.

[0036] In some embodiments, when there are multiple tilt sensors, every two tilt sensors form a group; each group includes two tilt sensors; each tilt sensor is used to measure the horizontal angle; the two tilt sensors in each group are not installed in parallel, i.e., the two tilt sensors are installed at an angle; and the two tilt sensors in each group have the same range, and the measurement directions of the two tilt sensors in the same group are opposite; in this way, the range is increased without reducing the measurement accuracy of the tilt sensor 2, and the range can be maximally doubled.

[0037] In some embodiments, the tilt sensor 2 includes a forward tilt sensor 21, a reverse tilt sensor 22, and a horizontal tilt sensor 23; the forward tilt sensor 21 and the reverse tilt sensor 22 have an included angle with the horizontal tilt sensor 23; the horizontal tilt sensor 23 is used for zero position detection; the forward tilt sensor 21 and the reverse tilt sensor 22 are both used for horizontal angle detection, and the detection directions are opposite; in this way, the range is increased without reducing the measurement accuracy of the forward tilt sensor 21 and the reverse tilt sensor 22, and the range can be maximally doubled; and the horizontal tilt sensor 23 can more accurately perform zero position detection. The reverse tilt sensor 22 is an opposite-side installed tilt sensor.

[0038] The tilt sensors in each group can be used in a stacked manner, such as installing a reverse tilt sensor below each tilt sensor in each group.

[0039] In some embodiments, the high-precision tilt measurement system composed of multiple high-precision tilt sensors 2 also includes a high-precision tilt measurement system with a large range, the same high precision, and enhanced zero positioning accuracy, which is composed of multiple tilt sensors 2 with the same range and not installed in parallel.

[0040] The installation methods for multiple tilt sensors are not limited to the above-mentioned methods; other installation methods may also be used as needed.

[0041] The present invention also discloses some embodiments, and the horizontal angle dynamic digital measurement system further includes a body displacement measurement system, a movement distance measurement system, a measurement data processing system, and a human-computer interaction and display system.

[0042] The present invention also discloses some embodiments, wherein the dynamic digital measurement system for horizontal angles further includes a carrier, which is inclined to the horizontal plane; the dynamic digital measurement system for horizontal angles is mounted on the carrier.

[0043] The dynamic digital measurement system for horizontal angles is installed on a carrier that needs to measure the angle of inclination with the horizontal plane while in motion. The carrier can be an instrument for measuring horizontal angles, such as a railway track inspection instrument or a contact wire position measuring instrument for railway power supply, which requires measuring the height difference (i.e., horizontal) between two tracks; or it can be a functional carrier, such as a fire control system installed on armored vehicles, tanks, and warships.

[0044] The horizontal angle dynamic digital measurement system consists of a horizontal angle dynamic digital measurement system synthesized from a high-precision tilt measurement system and a high-precision gyroscope 1 rotation measurement system, and a body displacement measurement system. Its function is to replace the commonly used horizontal angle dynamic digital measurement system synthesized from a high-precision acceleration measurement system and a high-precision gyroscope 1 rotation measurement system.

[0045] A three-dimensional attitude measurement platform is installed on a carrier such as a railway track inspection instrument and a contact wire position measuring instrument for railway power supply; the lateral horizontal angle dynamic digital measurement system of the three-dimensional attitude measurement platform is used to measure the height difference between two railway tracks.

[0046] A three-dimensional attitude measurement platform is mounted on the carrier of the tank fire control system; the lateral roll direction horizontal angle dynamic digital measurement device of the three-dimensional attitude measurement platform is used to measure the dynamic angle 71 of the lateral roll of the tank body; the pitch direction horizontal angle dynamic digital measurement device of the three-dimensional attitude measurement platform is used to measure the dynamic angle 72 of the pitch of the tank gun barrel; the dynamic angle 71 of the lateral roll of the tank body and the dynamic angle 72 of the pitch of the tank gun barrel are combined to form the dynamic angle 7 between the tank gun barrel and the horizontal plane.

[0047] This invention also discloses some embodiments of a dynamic digital horizontal angle measuring device used to measure the height difference between two tracks. The dynamic digital horizontal angle measuring system is installed on a carrier that needs to measure the angle of inclination with the horizontal plane while moving; the carrier can be an instrument for measuring horizontal angles, such as a railway track inspection instrument, a contact wire position measuring instrument for railway power supply, or other instruments that need to measure the height difference between two tracks (i.e., in the horizontal direction). This invention also discloses some embodiments, wherein the dynamic digital measurement device for horizontal angles is a three-dimensional attitude measurement instrument. The dynamic digital measurement system for horizontal angles is installed on a carrier that needs to measure the angle of inclination with the horizontal plane while in motion; the carrier can also be a functional carrier, such as a long-term stable three-dimensional attitude measurement platform installed on the fire control system of tanks and warships.

[0048] A dynamic three-dimensional attitude measurement platform is formed by two orthogonally mounted components: a roll direction horizontal angle dynamic digital measurement device b, composed of a tilt sensor assembly and a gyroscope 11; a pitch direction horizontal angle dynamic digital measurement device b, composed of a tilt sensor assembly 24 and a gyroscope 12; and a horizontal plane rotation angle dynamic measurement device c, composed of a horizontal plane rotation angle dynamic measurement assembly 25 and a gyroscope 13.

[0049] The composition of the horizontal angle dynamic digital measurement device in this invention; The structural design of a dynamic digital measurement system for horizontal angle, consisting of a single high-precision tilt sensor 2 and a gyroscope 1; The structure of a dynamic digital measurement system for horizontal angles, consisting of two (or more) parallel-mounted high-precision tilt sensors 2 and gyroscopes 1; The structure of a dynamic digital measurement system for horizontal angles is composed of two (or more) composite high-precision tilt sensors 2 and gyroscopes 1 installed at a certain angle to each other; The structure of the horizontal angle dynamic digital measurement system is composed of a high-precision tilt sensor 2 reference measurement system, two (or more) composite high-precision tilt measurement systems installed at a certain angle to each other, and a gyroscope 1. Example

[0050] See Figure 1 A dynamic digital measurement device for horizontal angles is proposed, wherein a single tilt sensor 2 and a gyroscope 1 are combined for use in a dynamic digital measurement system for horizontal angles. Example

[0051] See Figure 2 It is a dynamic digital measurement device for horizontal angles. This scheme is a high-precision tilt measurement system composed of two (or an even number) tilt sensors 2 with the same range installed in opposite parallel and with differential output, combined with a gyroscope 1 for the dynamic digital measurement system of horizontal angles. Example

[0052] See Figure 3 A dynamic digital measurement device for horizontal angles is proposed. This scheme combines two (or an even number) tilt sensors 2 with gyroscopes 1, which are installed in parallel with different ranges, for use in a dynamic digital measurement system for horizontal angles. Example

[0053] See Figure 4 A dynamic digital measurement device for horizontal angles is proposed. This scheme is a high-precision tilt measurement system composed of multiple high-precision tilt sensors 2. It also includes a high-precision tilt measurement system with increased range and the same high precision composed of multiple tilt measurement systems with the same range but not installed in parallel, combined with a gyroscope 1 to measure the dynamic digital measurement system for horizontal angles. Example

[0054] See Figure 5 A dynamic digital measurement device for horizontal angles is proposed. This scheme is a high-precision tilt measurement system composed of multiple high-precision tilt sensors 2. It also includes a high-precision tilt measurement system with increased range, the same high precision, and enhanced zero-position positioning accuracy composed of multiple tilt measurement systems with the same range but not installed in parallel. It is combined with a gyroscope 1 to measure the dynamic digital measurement system for horizontal angles. Example

[0055] See Figures 6-7 A dynamic digital measurement device for horizontal angles is proposed. This solution involves mounting a dynamic digital measurement system for horizontal angles and a three-dimensional attitude measurement platform on a railway track inspection instrument carrier that needs to measure the tilt angle with the horizontal plane while in motion. It is used for measuring railway track parameters. The device includes a laptop computer 31 for the railway track inspection instrument, a horizontal bar 32 for the railway track inspection instrument, a vertical bar 33 for the railway track inspection instrument, a push rod 34 for the railway track inspection instrument, a left track 51, a right track 52, track sleepers 53, a three-dimensional attitude measurement platform 41, and the angle 6 between the two track planes and the horizontal plane. Example

[0056] See Figure 8 A dynamic digital measurement device for horizontal angles is proposed. This solution involves installing a dynamic digital measurement system for horizontal angles and a three-dimensional attitude measurement platform on a carrier such as a fire control system on an armored vehicle, tank, or warship that needs to measure the tilt angle with the horizontal plane while in motion. Figure 8 It is a tank fire control platform, including: a three-dimensional attitude measurement platform 41, a tank gun barrel 42, and a tank turret 43.

[0057] Figure 3 , Figure 4 , Figure 5 The tilt sensor described above can also be used with a differential sampling method, where another tilt sensor is installed in reverse below each tilt sensor, thus upgrading the sampling method of each original tilt sensor to the method described above. Figure 11 , Figure 12 , Figure 13 The differential sampling method is shown. Similarly, multiple tilt sensors can be installed in reverse under each tilt sensor.

[0058] In this inventionFigure 9 A three-dimensional attitude measurement platform for tank fire control includes a gyroscope 11 for measuring the horizontal pitch rate of the tank gun barrel, a gyroscope 12 for measuring the lateral roll rate of the tank gun barrel, a gyroscope 13 for measuring the horizontal rotation rate of the tank gun barrel, an inclination sensor 26 for measuring the horizontal angle of the tank gun barrel, an inclination sensor 24 for measuring the lateral roll angle of the tank gun barrel, a three-dimensional attitude measurement platform 41, and an inclination sensor 25 for measuring the horizontal rotation angle of the tank gun barrel.

[0059] The tilt sensor 262 for measuring the horizontal angle of the tank gun barrel is combined with the gyroscope 11 for measuring the horizontal elevation rate of the tank gun barrel to measure the elevation rate and angle of the tank gun barrel. The tilt sensor 24 and the three-dimensional attitude measurement platform 41 for measuring the lateral roll angle of the tank gun barrel are combined with the gyroscope 12 for measuring the lateral roll rate of the tank gun barrel to measure the lateral roll rate and angle of the tank gun barrel. An inclination sensor 25 is used to measure the horizontal rotation angle of the tank gun barrel. Here, it is combined with a gyroscope 13 to measure the horizontal rotation rate of the tank gun barrel to measure the angular rate and angle of the tank gun barrel in the horizontal plane.

[0060] Other configurations and operations of the dynamic digital measurement device for horizontal angles according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here. The vertical, horizontal, and front-back directions are defined as shown in the figures.

[0061] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A horizontal angle dynamic digitizing measuring device, characterized in that, The horizontal angle dynamic digital measurement system comprises a tilt sensor (2) and a gyroscope (1); the gyroscope (1) is used for measuring the rotation angle rate; the tilt sensor (2) is arranged on the gyroscope (1). The number of the tilt sensor (2) is one or more; the tilt sensor (2) is used for measuring the horizontal pitch angle.

2. The horizontal angle dynamic digitizing measuring device according to claim 1, characterized in that, When the number of the tilt sensor (2) is more than one, two of the tilt sensors (2) form a group; the two tilt sensors (2) in each group are installed in parallel; each of the tilt sensors (2) is used for measuring the horizontal pitch angle, and the measuring directions of the two tilt sensors (2) in each group are opposite; the measuring ranges of the two tilt sensors (2) in each group are the same.

3. The horizontal angle dynamic digitizing measuring device according to claim 1, characterized in that, When the number of the tilt sensor (2) is more than one, two of the tilt sensors (2) form a group; the two tilt sensors (2) in each group are installed in parallel; each of the tilt sensors (2) is used for measuring the horizontal pitch angle, and the measuring ranges of the two tilt sensors (3) in each group are different.

4. The horizontal angle dynamic digitizing measuring device according to claim 1, characterized in that, When the number of the tilt sensor (2) is more than one, two of the tilt sensors (2) form a group; the two tilt sensors (2) in each group are installed in parallel; each of the tilt sensors (2) is used for measuring the horizontal pitch angle, and the measuring directions of the two tilt sensors (3) in each group are opposite.

5. The horizontal angle dynamic digitizing measuring device according to claim 1, characterized in that, The tilt sensor (2) comprises a forward tilt sensor (21), a reverse tilt sensor (22) and a horizontal tilt sensor (23); the forward tilt sensor (21) and the reverse tilt sensor (22) are arranged at an angle with the horizontal tilt sensor (23); the horizontal tilt sensor (23) is used for zero position detection; the forward tilt sensor (21) and the reverse tilt sensor (22) are used for detecting the horizontal pitch angle, and the detection directions are opposite.

6. The horizontal angle dynamic digitizing measuring device according to claim 1, characterized in that, The horizontal angle dynamic digital measurement system further comprises a measurement system body displacement measurement system, a moving distance measurement system, a measurement data processing system, a man-machine interaction and display system.

7. The horizontal angle dynamic digitizing measuring device according to any one of claims 1-6, characterized in that, The horizontal angle dynamic digital measurement system further comprises a carrier, the carrier is arranged at an angle with the horizontal plane; the horizontal angle dynamic digital measurement system is arranged on the carrier.

8. The horizontal angle dynamic digitizing measuring device according to any one of claims 1-6, characterized in that, The horizontal angle dynamic digital measurement device is used for measuring the height difference of two tracks.

9. The horizontal angle dynamic digitizing measuring device according to any one of claims 1-6, characterized in that, The horizontal angle dynamic digital measurement device is a three-dimensional attitude measurement instrument.

10. The horizontal angle dynamic digitizing measuring device according to any one of claims 1-6, characterized in that, ​

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