Gyroscope difference measuring device

Abstract

The utility model discloses a gyro difference measuring device, which is characterized in that an optical azimuth instrument is placed on a gimbal mechanism, and a rotating shaft of the optical azimuth instrument is connected with a rotating shaft of a rotary encoder, so that when the optical azimuth instrument is rotated to enable a collimation line of the optical azimuth instrument to be aligned with the center of the sun, the rotary encoder can be used for detecting the ship side angle of the sun relative to a ship; and then the computer processing unit can quickly calculate the gyro difference according to the broadside angle obtained from the rotary encoder, the azimuth of the sun gyro obtained from the gyrocompass and the navigation data obtained from the satellite navigation equipment, so that the calculation precision of the gyro difference is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of ship navigation technology, and in particular to a gyroscope difference measuring device. Background Technology

[0002] The gyrocompass is an essential tool for determining course and bearing at sea, and its accuracy is crucial for navigational safety. Gyro error ΔG refers to the angle by which the north end of the gyroscope's main axis deviates from true north. This error causes the course output by the gyrocompass to deviate from the true course, and it varies with speed and latitude. During maritime navigation, special methods are frequently used to measure gyro error to ensure navigational safety.

[0003] Currently, observing the sun's azimuth at low altitudes to determine gyroscopic error is the most basic method for measuring gyroscopic error at sea using astronomical methods. However, this method places high demands on the operator. While aligning the aiming line of the azimuth reading instrument with the center of the sun, the operator must also read the scale reading on the azimuth compass and continuously control the level of the azimuth compass to ensure the level bubble on the azimuth reading instrument is in the center position. This multitasking by the operator easily leads to operational errors, especially when the ship is rolling violently, which further increases the difficulty of operation and easily produces large errors, resulting in significant errors in the calculated gyroscopic error. Summary of the Invention

[0004] In view of this, the present invention provides a gyroscope difference measuring device to solve the problem of large errors in the measurement of gyroscope difference by astronomical methods in the prior art.

[0005] A gyroscope difference measuring device includes a constant level frame mechanism, a rotary encoder, and a computer processing unit;

[0006] The constant level frame mechanism is used to place the optical orientation instrument. The rotation shaft of the optical orientation instrument passes through the constant level frame mechanism and is connected to the rotation shaft of the rotary encoder.

[0007] The rotary encoder is used to detect the angle of the sun relative to the ship's hull, and the rotary encoder is connected to the computer processing unit via signal lines;

[0008] The computer processing unit stores solar bearing table data, which is used to calculate the solar gyroscope bearing based on the hull angle signal received from the rotary encoder and the ship's heading signal received from the gyrocompass, obtain the true solar bearing by querying the solar bearing table based on the navigation data received from the satellite navigation equipment, and then calculate the gyroscope difference based on the solar gyroscope bearing and the true solar bearing.

[0009] Preferably, the constant level frame mechanism includes a constant level frame outer support and a support platform fixed on the constant level frame outer support. A through hole is longitudinally opened in the center of the support platform for the rotation shaft of the optical orientation instrument to pass through.

[0010] Preferably, the support platform is a frustum.

[0011] Preferably, the rotary encoder is a photoelectric encoder.

[0012] Preferably, the photoelectric encoder is an absolute photoelectric encoder.

[0013] Preferably, the navigation data includes the observation date, time, and ship position (latitude and longitude).

[0014] The beneficial effects of this utility model are:

[0015] 1. This application places an optical azimuth instrument on a horizontal frame mechanism and connects the rotation shaft of the optical azimuth instrument to the rotation shaft of a rotary encoder. When the optical azimuth instrument is rotated so that its aiming line is aligned with the center of the sun, the rotary encoder can detect the angle of the sun relative to the ship. Then, the computer processing unit can quickly calculate the gyro error based on the angle of the ship obtained from the rotary encoder, the solar gyro azimuth obtained from the gyrocompass, and the navigation data obtained from the satellite navigation equipment, which effectively improves the calculation accuracy of the gyro error.

[0016] 2. During the measurement process, the operator only needs to align the sighting line of the optical azimuth instrument with the center of the sun and control the level bulb of the level instrument on the optical azimuth instrument to be in the middle position. The photoelectric encoder can automatically output the angle of the sun relative to the ship. Based on the angle of the sun and the heading value, the calculation and processing unit can calculate the gyro azimuth GB of the sun, thereby simplifying the operation and avoiding the observation error caused by manual reading.

[0017] 3. The calculation and processing unit pre-stores a solar azimuth table. Based on the received date, time, ship position, latitude and longitude, and other information, it uses a lookup method to obtain the true solar azimuth TB. This improves the automation level of the measurement process, increases operational efficiency, and reduces the probability of errors.

[0018] 4. This application has a simple structure and is easy to operate, which greatly reduces the difficulty of operation and the measurement error of gyroscope difference. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a structural diagram of the constant level frame mechanism.

[0021] Figure 2 This is a schematic diagram of the principle of the present invention.

[0022] The meanings of the labels in the diagram are as follows:

[0023] 1 is the external support of the constant level frame, 2 is the support platform, 3 is the through hole, 4 is the computer processing unit, 5 is the optical orientation instrument, 6 is the gyrocompass, 7 is the satellite navigation equipment, and 8 is the rotary encoder. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the present utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0025] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] In the description of this utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0027] To better understand the technical solution of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings.

[0028] This utility model provides a gyroscope difference measuring device, including a constant level frame mechanism, a rotary encoder 8 and a computer processing unit 4.

[0029] The constant level frame mechanism is used to place the optical orientation instrument 5. The rotating shaft of the optical orientation instrument 5 passes through the constant level frame mechanism and is connected to the rotating shaft of the rotary encoder 8.

[0030] Specifically, the leveling frame mechanism includes an outer support frame 1 and a support platform 2 fixed to the outer support frame 1. A through hole 3 is longitudinally oriented through the center of the support platform 2. In this embodiment, the longitudinal section of the outer support frame 1 is U-shaped, and the support platform 2 is a frustum of a cone. The support platform 2 can be fixed to the outer support frame 1 using bolts or other fasteners, or it can be fixed to the outer support frame 1 using a transversely arranged connecting shaft. When installing the support platform 2, its upper surface should be kept horizontal.

[0031] The optical orientation instrument is placed on the support platform 2 and can rotate on the support platform 2. The rotation shaft of the optical orientation instrument passes through the through hole 3 and is connected to the rotary encoder 8.

[0032] The rotary encoder 8 is used to detect the angle of the sun relative to the ship's hull. The rotary encoder is connected to the computer processing unit 4 via a signal line. When the optical orientation instrument is rotated so that its alignment line is pointed at the center of the sun, the optical orientation instrument will rotate synchronously with the rotary encoder 3. Therefore, the rotary encoder 8 can transmit the detected angle Q of the sun relative to the ship's hull to the computer processing unit 4 via the signal line. In this embodiment, the rotary encoder 8 is a photoelectric encoder; preferably, the rotary encoder 3 can be an absolute photoelectric encoder.

[0033] The computer processing unit 4 stores solar bearing table data. The computer processing unit 4 can receive hull angle signals from the rotary encoder 8, ship heading signals from the gyrocompass 6, and navigation data from the satellite navigation device 7. It can calculate the solar gyro bearing based on the received hull angle signals and ship heading signals, obtain the true solar bearing by querying the solar bearing table based on the received navigation data, and then calculate the gyro difference based on the solar gyro bearing and the true solar bearing.

[0034] Specifically, assuming that the hull angle received by the computer processing unit 4 from the rotary encoder 8 is Q, and the ship's heading received from the gyrocompass 6 is GC, then the solar gyroscope bearing GB can be calculated based on the hull angle Q and the ship's heading GC, using the following formula:

[0035] GB = GC + Q

[0036] Note: If GB ≥ 360, then GB should be reduced by 360.

[0037] Meanwhile, the computer processing unit 4 obtains the true solar azimuth TB by using a lookup table method based on the navigation data (including observation date, time, and ship position latitude and longitude) received from the satellite navigation equipment 7 and the solar azimuth table data stored in its internal memory.

[0038] Then, the gyroscope difference ΔG is calculated based on the solar gyroscope azimuth GB and the true solar azimuth TB. The calculation formula is as follows:

[0039] ΔG=TB-GB

[0040] In actual use, the optical compass is placed on the support platform 2, and then the optical compass is rotated so that its aiming line is aligned with the center of the sun and the level bubble on the optical compass is controlled to be in the middle position. During the rotation of the optical compass, the rotary encoder 8 will rotate synchronously. After the optical compass is rotated into position, the rotary encoder 8 will transmit the detected hull angle Q to the computer processing unit 4 through the signal line. At the same time, the computer processing unit 4 receives the ship's heading GC from the gyrocompass 6 and the observation date, observation time and ship's latitude and longitude from the satellite navigation equipment 7 (such as GPS, Beidou, etc.). Then, based on all the received data, the gyro difference ΔG is calculated according to the above method and the gyro difference ΔG is output.

[0041] It should be understood that the described embodiments are merely some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

Claims

1. A gyroscope difference measuring device, characterized in that, It includes a constant leveling frame mechanism, a rotary encoder (8), and a computer processing unit (4); The constant level frame mechanism is used to place the optical orientation instrument (5). The rotating shaft of the optical orientation instrument (5) passes through the constant level frame mechanism and is connected to the rotating shaft of the rotary encoder (8). The rotary encoder (8) is used to detect the angle of the sun relative to the ship's hull. The rotary encoder (8) is connected to the computer processing unit via a signal line. The computer processing unit (4) stores solar azimuth table data, which is used to calculate the solar gyroscope azimuth based on the hull angle signal received from the rotary encoder (8) and the ship heading signal received from the gyrocompass (6), obtain the true solar azimuth by querying the solar azimuth table based on the navigation data received from the satellite navigation equipment (7), and then calculate the gyroscope difference based on the solar gyroscope azimuth and the true solar azimuth.

2. The gyroscope difference measuring device according to claim 1, characterized in that, The constant level frame mechanism includes a constant level frame outer support (1) and a support platform (2) fixed on the constant level frame outer support (1). A through hole (3) is longitudinally opened in the center of the support platform (2) for the rotation shaft of the optical orientation instrument to pass through.

3. The gyroscope difference measuring device according to claim 2, characterized in that, The support platform (2) is a frustum.

4. The gyroscope difference measuring device according to claim 1, characterized in that, The rotary encoder (8) is a photoelectric encoder.

5. The gyroscope difference measuring device according to claim 4, characterized in that, The photoelectric encoder is an absolute photoelectric encoder.

6. The gyroscope difference measuring device according to claim 1, characterized in that, The navigation data includes the observation date, time, and ship's position (latitude and longitude).

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