Dynamic digital measuring device for horizontal angle

Abstract

The utility model discloses a dynamic digital measuring device for a horizontal angle, which comprises a dynamic digital measuring system for the horizontal angle, the dynamic digital measuring system for the horizontal angle 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. According to the utility model, the long-term stability of the horizontal angle can be correspondingly improved by utilizing the tilt angle sensors with balanced output at 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 utility model relates to the technical field of measurement, in particular to a horizontal angle dynamic digital measurement device. Background Art

[0002] At present, there are many kinds of measuring instruments and three-dimensional attitude measurement platforms involving horizontal angle dynamic digital measurement systems in the world, all of which use horizontal angle dynamic digital measurement systems that combine 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 impact on the measurement stability of the horizontal angle, thereby affecting the measurement accuracy.

[0004] Therefore, how to provide a horizontal angle measurement device that can improve the measurement accuracy of dynamic digital measurement of horizontal angle has become a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a horizontal angle dynamic digital measurement device, which can improve the measurement accuracy of horizontal angle dynamic digital measurement.

[0006] A horizontal angle dynamic digital measurement device according to the utility model comprises:

[0007] A horizontal angle dynamic digital measurement system comprises a tilt sensor and a gyroscope; the gyroscope is used to measure the rotational angular rate; and the tilt sensor is arranged on the gyroscope.

[0008] Furthermore, the horizontal angle dynamic digital measurement system includes 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; the gyroscope is used to measure the angular rate of rotation; the tilt sensor combination is arranged on a coaxial installation with the gyroscope.

[0009] Furthermore, the number of the inclination sensors is one or more; the inclination sensors are used to measure the horizontal angle.

[0010] Furthermore, when there are multiple inclination sensors, more than two inclination sensors are installed in parallel; and every two inclination sensors are used to measure the horizontal angle, and the measuring directions are opposite; and the measuring range of each inclination sensor is the same.

[0011] Furthermore, when there are multiple inclination sensors, every two inclination sensors are installed in parallel; each inclination sensor is used to measure the horizontal angle, the two inclination sensors have different measuring ranges, and the measuring directions of every two inclination sensors are opposite.

[0012] Furthermore, when there are multiple inclination sensors, every two inclination sensors are not installed in parallel, and the measuring range of each inclination sensor is the same; each inclination sensor is used to measure the horizontal angle, and the measuring directions of every two inclination sensors are opposite.

[0013] Furthermore, the inclination sensor includes a forward inclination sensor, a reverse inclination sensor and a horizontal inclination sensor; the forward inclination sensor and the reverse inclination sensor both have an angle with the horizontal inclination sensor; the horizontal inclination sensor is used for zero position detection; the forward inclination sensor and the reverse inclination sensor are both used to detect the horizontal angle, and the detection directions are opposite.

[0014] Furthermore, the horizontal angle dynamic digital measurement system also includes a measurement system body displacement measurement system, a moving distance measurement system, a measurement data processing system, and a human-computer interaction and display system.

[0015] Furthermore, the horizontal angle dynamic digital measurement system also includes a carrier, which is arranged to be inclined with respect to the horizontal plane; and the horizontal angle dynamic digital measurement system is arranged on the carrier.

[0016] Furthermore, the horizontal angle dynamic digital measurement device is used to measure the height difference between two tracks. For example, the carrier also includes a horizontal angle dynamic digital measurement system that can be used for instruments that need to measure horizontal angles, such as railway track inspection instruments, railway power supply contact wire position measurement instruments, and other instruments that need to measure the height difference (i.e., horizontal) between two tracks; it can also be a functional carrier, such as a long-term stable three-dimensional attitude measurement platform installed in the fire control system of armored vehicles, tanks, and warships.

[0017] Furthermore, 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 a functional carrier that needs to measure the horizontal angle on a long-term stable three-dimensional attitude measurement platform installed in an armored vehicle, tank, or warship fire control system.

[0018] The beneficial effects of the utility model are as follows: a single or multiple inclination sensors and gyroscopes can be used to dynamically measure the horizontal angle between the carrier and the horizontal plane according to actual needs. The utility model can make corresponding improvements to the long-term stability of the horizontal angle by using an inclination sensor with balanced output on both sides. The measurement accuracy of the dynamic digital measurement of the horizontal angle can be improved, and the long-term stability of the three-dimensional attitude measurement platform can be increased.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 1 of the present utility model;

[0022] Figure 2 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 2 of the present utility model;

[0023] Figure 3 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 3 of the present utility model;

[0024] Figure 4 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 4 of the present utility model;

[0025] Figure 5 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 5 of the present utility model;

[0026] Figure 6 This is a front view of a horizontal angle dynamic digital measurement device according to Embodiment 6 of the present utility model;

[0027] Figure 7 It is a structural schematic diagram of a three-dimensional posture measurement platform according to an embodiment of the utility model.

[0028] Figure 8 It is a left side view of the horizontal angle dynamic digital measurement device of Example 6 of the utility model;

[0029] Fig. 9 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 7 of the present utility model;

[0030] Fig.10 This is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device according to Embodiment 7 of the present utility model;

[0031] Fig.11 It is a schematic diagram of the structure of the horizontal angle dynamic digital measurement device of other embodiments of the utility model;

[0032] Fig.12 It is a schematic diagram of the structure of the horizontal angle dynamic digital measurement device of other embodiments of the utility model;

[0033] Fig.13 It is a schematic diagram of the structure of a horizontal angle dynamic digital measurement device of other embodiments of the utility model.

[0034] Reference numerals:

[0035] 1. Gyroscope; 11. Gyroscope for measuring the axial angular rate of the lateral roll of the tank gun barrel; 12. Gyroscope for measuring the axial angular rate of the horizontal pitch of the tank gun barrel; 13. Gyroscope for measuring the axial angular rate of the horizontal rotation of the tank gun barrel; 2. Tilt sensor; 21. Forward tilt sensor; 22. Reverse tilt sensor; 23. Horizontal tilt sensor; 24. Tilt sensor for measuring the axial angle of the lateral roll of the tank gun barrel; 25. Tilt sensor for measuring the axial angle of the pitch of the tank gun barrel; 26. Tilt angle sensor for measuring the axial angle of the horizontal rotation of the tank gun barrel; 31. Laptop computer for railway track inspection instrument; 32. Railway track inspection instrument crossbar; 33. Railway track inspection instrument vertical bar; 34. Railway track inspection instrument push rod; 41. Three-dimensional attitude measurement platform; 42. Tank gun barrel; 43. Tank turret; 51. Left track; 52. Right track; 53. Track sleepers; 6. The angle between the two track planes and the horizontal plane. 61. Horizontal plane; 62. Top surface of two tracks; h. Height difference between two tracks and horizontal plane. 7. Angle between barrel and horizontal plane. 71. Horizontal plane; 72. Centerline of barrel. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Reference below Figure 1-Figure 13 A horizontal angle dynamic digital measurement device according to an embodiment of the utility model is described.

[0040] like Figure 1-Figure 13 As shown, according to an embodiment of the utility model, the horizontal angle dynamic digital measurement device includes: a horizontal angle dynamic digital measurement system, the horizontal angle dynamic digital measurement system includes a tilt sensor 2 and a gyroscope 1; the gyroscope 1 is used to measure the rotation angular rate; the tilt sensor 2 is arranged on the gyroscope 1. According to actual needs, a single or multiple tilt sensors 2 and a gyroscope 1 can be used to dynamically measure the horizontal angle between the carrier and the horizontal plane. The utility model can make corresponding improvements to the long-term stability of the horizontal angle by using the tilt sensor 2 with balanced output on both sides. The measurement accuracy of the dynamic digital measurement of the horizontal angle can be improved. For example, if the horizontal angle dynamic digital measurement device is used for railway detection, it is based on the base number of 1~2 railway track inspection instruments, 1~2 railway contact network inspection instruments, and 1~2 railway track laser long chord inspection instruments for each workshop 30~50 kilometers apart. The total railway of more than 140,000 kilometers is equipped with 15,000 to 30,000 various detection instruments, which can effectively ensure the safe operation of the railway.

[0041] Furthermore, the inclination sensor 2 is arranged on the gyroscope 1 which rotates coaxially.

[0042] like Figure 7 As shown, the lateral rolling axial angle measurement inclination sensor 24 is arranged on the lateral rolling axial angular rate measurement gyroscope 11; the pitching axial angle measurement inclination sensor 25 is arranged on the pitching axial angular rate measurement gyroscope 12; and the horizontal plane rotation axial angle measurement rotation angle sensor 26 is arranged on the horizontal plane rotation axial angular rate measurement gyroscope 13.

[0043] The horizontal angle dynamic digital measurement device is used in the fire control system of tanks and armored vehicles, and its quantity and the national security and economic and social benefits it generates are immeasurable. It also increases the long-term stability of the three-dimensional attitude measurement platform.

[0044] The utility model also discloses some embodiments, a horizontal angle dynamic digital measurement system, which includes 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; the gyroscope is used to measure the rotational angular rate; the tilt sensor combination is arranged on a coaxial installation with the gyroscope.

[0045] The utility model also discloses some embodiments, the number of the inclination sensor 2 is more than one; the inclination sensor 2 is used to measure the horizontal angle. The horizontal angle is the inclination angle relative to the horizontal direction. The inclination sensor 2 of the utility model can adopt a single inclination sensor 2. It can also be a plurality of inclination sensors 2. Both can effectively improve the measurement accuracy.

[0046] The utility model also discloses some embodiments, when the number of the inclination sensors 2 is more than two, the more than two inclination sensors 2 are installed in parallel; each inclination sensor 2 is used to measure the horizontal angle, and the measuring directions are opposite; the more than two inclination sensors 2 have the same range. A high-precision inclination measurement system synthesized by multiple high-precision inclination sensors 2 includes multiple inclination sensors 2 with the same range and reverse differential output installed in parallel.

[0047] In some embodiments, when there are multiple inclination sensors, every two inclination sensors form a group; each group includes two inclination sensors; each inclination sensor is used to measure the horizontal angle; the two inclination sensors in each group are installed in parallel; and the two inclination sensors in each group have the same range and opposite measurement directions; and the measurement results of the two inclination sensors in each group are used for differential calculation, which greatly improves the measurement accuracy. Each group of inclination sensors can be used in a superimposed manner. For example, if the two inclination sensors in the first group are installed in parallel, the two inclination sensors in the second group are respectively installed below the two inclination sensors in the first group, and are installed in the opposite direction to the corresponding inclination sensors; that is, one of the inclination sensors in the second group is installed between the two sensors in the first group.

[0048] The utility model also discloses some embodiments, when the number of the inclination sensors 2 is more than two, the more than two inclination sensors 2 are installed in parallel; each inclination sensor 2 is used to measure the horizontal angle, and the measuring directions are opposite; the more than two inclination sensors 2 have different ranges. The multiple high-precision inclination sensors 2 also include a multi-range high-precision inclination measurement system synthesized by multiple parallel-installed inclination measurement systems with different ranges.

[0049] In some embodiments, when there are multiple inclination sensors, every two inclination sensors form a group; each group includes two inclination sensors; each inclination sensor is used to measure the horizontal angle; the two inclination sensors in each group are installed in parallel; and the two inclination sensors in each group of sensors have different ranges; the inclination sensor with a small range is used to measure the horizontal inclination angle under normal circumstances; and the inclination sensor with a large range is used to measure the horizontal inclination angle when the carrier is impacted, to prevent the loss of horizontal inclination angle data.

[0050] The utility model also discloses some embodiments, when the number of the inclination sensors 2 is more than two, the more than two inclination sensors 2 are not installed in parallel, and the range of each inclination sensor 2 is the same; each inclination sensor 2 is used to measure the horizontal inclination angle, and the measurement directions are opposite. The high-precision inclination measurement system synthesized by multiple high-precision inclination sensors 2 also includes a high-precision inclination measurement system with increased range and the same high precision synthesized by multiple inclination sensors 2 with the same range installed in non-parallel.

[0051] In some embodiments, when there are multiple inclination sensors, every two inclination sensors form a group; each group includes two inclination sensors; each inclination sensor is used to measure the horizontal angle; the two inclination sensors in each group are not installed in parallel, that is, the two inclination sensors are installed at an angle; and the measuring ranges of the two inclination sensors in each group of sensors are the same, and the measuring directions of the two inclination sensors in the same group are opposite; in this way, the measuring range is improved without reducing the measuring accuracy of the inclination sensor 2, and the measuring range can be increased by up to twice.

[0052] The utility model also discloses some embodiments, the inclination sensor 2 comprises a forward inclination sensor 21, a reverse inclination sensor 22 and a horizontal inclination sensor 23; the forward inclination sensor 21 and the reverse inclination sensor 22 both have an angle with the horizontal inclination sensor 23; the horizontal inclination sensor 23 is used for zero position detection; the forward inclination sensor 21 and the reverse inclination sensor 22 are both used for detecting the horizontal angle, and the detection directions are opposite, so that the range is increased without reducing the measurement accuracy of the forward inclination sensor 21 and the reverse inclination sensor 22, and the range can be increased by one time at most, and the horizontal inclination sensor 23 can perform zero position detection more accurately. The reverse inclination sensor 22 is an inclination sensor installed on the opposite side.

[0053] Each group of inclination sensors can be used in a stacked manner, for example, an inclination sensor is installed in reverse direction below each inclination sensor in each group.

[0054] In some embodiments, the high-precision inclination measurement system synthesized by multiple high-precision inclination sensors 2 also includes a high-precision inclination measurement system with increased range, same high precision and enhanced zero-position positioning accuracy that is synthesized by multiple non-parallel installed inclination sensors 2 of the same range.

[0055] The installation methods of the multiple tilt sensors 2 are not limited to the above methods, and other installation methods as required may also be used.

[0056] The utility model also discloses some embodiments. The horizontal angle dynamic digital measurement system also includes a body displacement measurement system, a moving distance measurement system, a measurement data processing system, and a human-computer interaction and display system.

[0057] The utility model also discloses some embodiments. The horizontal angle dynamic digital measurement system also includes a carrier. The carrier is arranged obliquely with respect to the horizontal plane. The horizontal angle dynamic digital measurement system is arranged on the carrier.

[0058] The dynamic digital measurement system for horizontal angles is installed on a carrier that needs to measure the inclination angle 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, and other instruments that need to measure the height difference (i.e., level) between two tracks; it can also be a functional carrier, such as a fire control system installed on armored vehicles, tanks, and warships.

[0059] The horizontal angle dynamic digital measurement system is composed of a horizontal angle dynamic digital measurement system synthesized by a high-precision inclination measurement system and a high-precision gyroscope 1 rotation angle measurement system, and a body displacement measurement system. Its function is to replace the commonly used horizontal angle dynamic digital measurement system synthesized by a high-precision acceleration measurement system and a high-precision gyroscope 1 rotation angle measurement system.

[0060] 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 tracks of the railway.

[0061] A three-dimensional attitude measurement platform is installed on the carrier of the tank fire control system; the dynamic digital measurement device for the horizontal angle in the rolling direction of the three-dimensional attitude measurement platform is used to measure the dynamic angle 71 of the lateral rolling of the tank body; the dynamic digital measurement device for the horizontal angle in the pitch direction 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 rolling of the tank body and the dynamic angle 72 of the pitch of the tank gun barrel synthesize the dynamic angle 7 of the tank gun barrel and the horizontal plane.

[0062] The utility model also discloses some embodiments, wherein the horizontal angle dynamic digital measurement device is used to measure the height difference between two tracks. The horizontal angle dynamic digital measurement system is installed on a carrier that needs to measure the inclination angle with the horizontal plane while moving; the carrier can be an instrument for measuring the horizontal angle, such as a railway track inspection instrument, a contact wire position measurement instrument for railway power supply, and other instruments that need to measure the height difference (i.e., horizontal) between two tracks;

[0063] The utility model also discloses some embodiments, wherein the horizontal angle dynamic digital measurement device is a three-dimensional attitude measurement instrument. The horizontal angle dynamic digital measurement system is installed on a carrier that needs to measure the inclination angle with the horizontal plane while moving; the carrier can also be a functional carrier, such as a long-term stable three-dimensional attitude measurement platform installed in the fire control system of tanks and warships.

[0064] A dynamic digital measuring device b for the horizontal angle in the rolling direction composed of a tilt sensor combination and a gyroscope 11, a dynamic digital measuring device b for the horizontal angle in the pitch direction composed of a tilt sensor combination 24 and a gyroscope 12, and a dynamic measuring device c for the horizontal rotation angle in the horizontal plane composed of a horizontal plane rotation angle dynamic measuring combination 25 installed on a horizontal plane and a gyroscope 13 are orthogonally installed in pairs to form a dynamic spatial three-dimensional attitude measurement platform.

[0065] The composition of the horizontal angle dynamic digital measurement device in the utility model;

[0066] The structural mode of the horizontal angle dynamic digital measurement system composed of a single high-precision tilt sensor 2 and a gyroscope 1;

[0067] The structure of the horizontal angle dynamic digital measurement system composed of two (or more) parallel-mounted high-precision tilt sensors 2 and a gyroscope 1;

[0068] The structure of the horizontal angle dynamic digital measurement system is composed of two (or more) synthetic high-precision tilt sensors 2 and a gyroscope 1 installed at a certain angle to each other;

[0069] The structure of the horizontal angle dynamic digital measurement system is composed of a high-precision inclination sensor 2 reference measurement system and two (or more) synthetic high-precision inclination measurement systems and a gyroscope 1 installed at a certain angle to each other. Example

[0070] See also Figure 1 A horizontal angle dynamic digital measurement device is disclosed, in which a single inclination sensor 2 and a gyroscope 1 are combined to be used in a horizontal angle dynamic digital measurement system. Example

[0071] See also Figure 2 The invention relates to a horizontal angle dynamic digital measurement device. The scheme is a high-precision inclination measurement system synthesized by two (or an even number) inclination sensors 2 with the same range and reverse parallel installation and differential output, combined with a gyroscope 1 for a horizontal angle dynamic digital measurement system. Example

[0072] See also Figure 3A horizontal angle dynamic digital measurement device is provided, in which two (or an even number) inclination sensors 2 with different measuring ranges installed in parallel are combined with a gyroscope 1 to be used in a horizontal angle dynamic digital measurement system. Example

[0073] See also Figure 4 A horizontal angle dynamic digital measurement device, this scheme is a high-precision inclination measurement system synthesized by multiple high-precision inclination sensors 2, and also includes a high-precision inclination measurement system with an increased range and the same high-precision installed in a non-parallel manner, which is combined with a gyroscope 1 to measure the horizontal angle dynamic digital measurement system. Example

[0074] See also Figure 5 A horizontal angle dynamic digital measurement device, this scheme is a high-precision inclination measurement system synthesized by multiple high-precision inclination sensors 2, and also includes a high-precision inclination measurement system with an increased range, the same high precision and enhanced zero-position positioning accuracy, which is combined with a gyroscope 1 to measure the horizontal angle dynamic digital measurement system. Example

[0075] See also Figures 6-7 A horizontal angle dynamic digital measurement device is provided, wherein the horizontal angle dynamic digital measurement system and the three-dimensional attitude measurement platform are installed on a railway track inspection instrument carrier that needs to measure the inclination angle with the horizontal plane during movement, and is used to measure the parameters of the railway track. The device comprises a laptop computer 31 for the railway track inspection instrument, a railway track inspection instrument crossbar 32, a railway track inspection instrument vertical bar 33, a railway track inspection instrument push rod 34, a left track 51, a right track 52, a track sleeper 53, a three-dimensional attitude measurement platform 41, and an angle 6 between the two track planes and the horizontal plane. Example

[0076] See also Figure 8 A horizontal angle dynamic digital measurement device is provided. The solution is that the horizontal angle dynamic digital measurement system and the three-dimensional posture measurement platform are installed on carriers such as armored vehicles, tanks and fire control systems on warships that need to measure the inclination angle with the horizontal plane while moving. Figure 8 It is a tank fire control platform, including: a three-dimensional posture measurement platform 41, a tank gun barrel 42 and a tank turret 43.

[0077] Figure 3 , Figure 4 , Figure 5 The inclination sensor described in the above can also be used in accordance with the differential sampling method, whereby another inclination sensor is installed in the opposite direction below each inclination sensor, so that the sampling method of each original inclination sensor can be upgraded to the following method: Fig.11 , Fig.12 , Fig.13 Similarly, multiple inclination sensors can be installed in reverse under each inclination sensor.

[0078] In the utility model Fig. 9 It is a three-dimensional attitude measurement platform for tank fire control; it includes a gyroscope 11 for measuring the horizontal pitch angular rate of the tank gun barrel, a gyroscope 12 for measuring the lateral roll angular rate of the tank gun barrel, a gyroscope 13 for measuring the horizontal rotation angular rate of the tank gun barrel, a tilt sensor 26 for measuring the horizontal angle of the tank gun barrel, a tilt sensor 24 for measuring the lateral roll angle of the tank gun barrel, a three-dimensional attitude measurement platform 41 and a tilt sensor 25 for measuring the horizontal rotation angle of the tank gun barrel.

[0079] The tank gun barrel horizontal angle measurement inclination sensor 262 is combined with the tank gun barrel horizontal pitch angle rate measurement gyroscope 11 to measure the tank gun barrel pitch angle rate and angle;

[0080] The tank gun barrel transverse rolling angle measurement inclination sensor 24 and the three-dimensional posture measurement platform 41 are combined with the tank gun barrel transverse rolling angular rate measurement gyroscope 12 to measure the tank gun barrel transverse rolling angular rate and angle;

[0081] The tank gun barrel horizontal plane rotation angle measurement using inclination sensor 25 is combined with the tank gun barrel horizontal plane rotation angular velocity measurement using gyroscope 13 to measure the tank gun barrel horizontal plane rotation angular velocity and angle.

[0082] Other structures and operations of the horizontal angle dynamic digital measurement device according to the embodiment of the utility model are known to those skilled in the art and will not be described in detail here. The up-down direction, left-right direction and front-back direction are based on the up-down direction, left-right direction and front-back direction shown in the figure.

[0083] In the description of the present utility model, unless otherwise clearly specified and limited, a first feature "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature "above", "above" and "above" a second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0085] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A horizontal angle dynamic digital measurement device, characterized in that: include: 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 to measure the rotational angular velocity; the inclination sensor (2) is arranged on the gyroscope (1); The number of the inclination sensors (2) is one or more; the inclination sensors (2) are used to measure the horizontal pitch angle; When there are multiple inclination sensors (2), every two inclination sensors (2) form a group; the two inclination sensors (2) in each group are installed in parallel; each inclination sensor (2) is used to measure the horizontal pitch angle, and the measurement directions of the two inclination sensors (2) in each group are opposite; and the two inclination sensors (2) in each group have the same measuring range.

2. The horizontal angle dynamic digital measurement device according to claim 1, characterized in that: When there are multiple inclination sensors (2), every two inclination sensors (2) form a group; the two inclination sensors (2) in each group are installed in parallel; each inclination sensor (2) is used to measure the horizontal pitch angle, and the two inclination sensors (2) in each group have different measuring ranges.

3. The horizontal angle dynamic digital measurement device according to claim 1, characterized in that: When there are multiple inclination sensors (2), every two inclination sensors (2) form a group; the two inclination sensors (2) in each group are not installed in parallel, and the two inclination sensors (2) in each group have the same measuring range; each inclination sensor (2) is used to measure the horizontal pitch angle, and the measuring directions of the two inclination sensors (2) in each group are opposite.

4. The horizontal angle dynamic digital measurement 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) both 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 detecting horizontal pitch angles, and the detection directions are opposite.

5. The horizontal angle dynamic digital measurement device according to any one of claims 1 to 4, characterized in that: The horizontal angle dynamic digital measurement system also includes a measurement system body displacement measurement system, a moving distance measurement system, a measurement data processing system, and a human-computer interaction and display system.

6. The horizontal angle dynamic digital measurement device according to any one of claims 1 to 4, characterized in that: The horizontal angle dynamic digital measurement system also includes a carrier, which is arranged to be inclined with respect to a horizontal plane; and the horizontal angle dynamic digital measurement system is arranged on the carrier.

7. The horizontal angle dynamic digital measurement device according to any one of claims 1 to 4, characterized in that: The horizontal angle dynamic digital measurement device is used to measure the height difference between two tracks.

8. The horizontal angle dynamic digital measurement device according to any one of claims 1 to 4, characterized in that: The horizontal angle dynamic digital measurement device is a three-dimensional posture measurement instrument.

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