89 results about "Gyrocompass" patented technology

A method and system for Self-calibrated Azimuth and Attitude Accuracy Enhancing are disclosed, wherein SAAAEMS approach is based on fully auto-calibration self-contained INS principles, not depending on magnetometers for azimuth / heading determination, and thus the system outputs and performance are not affected by the environmental magnetic fields. In order to reduce the system size and cost, this new innovative methods and algorithms are used for SAAAEMS system configuration and integration. Compared to a conventional INS for gyrocompassing, AGNC's approach uses a smaller number of high accuracy sensors: SAAAEMS uses only one 2-axis high accuracy gyro (for example, one DTG) instead of 3-axis; the third axis gyro is a MEMS gyro. It uses only 2 high accuracy accelerometers instead of 3, since the two accelerometers are used only for gyrocompassing not for navigation. These two changes to the conventional INS system configuration remarkably reduce the whole system size and cost. SAAAEMS, uses dynamic gyrocompassing processing for isolation of Base motion disturbance / interference and vibration. SAAAEMS provides a method and system for using automatic methods for system calibration.

A navigation system and method for gyrocompass alignment in a mobile object. The system includes an inertial measurement device configured to provide a first set of sensor data and a positioning unit configured to provide a second set of data. In an example embodiment, the navigation system includes a processing device configured to receive the data sets provided by the inertial measurement device and the positioning device, and the processing device is configured to dynamically calibrate the received first data set the processing device includes a Kalman filter, and the processing device is further configured to generate a gyrocompass alignment using the first dynamically calibrated first data set, the second data set, and the Kalman filter. The method includes receiving sensor data from a plurality of sensors, dynamically calibrating at least a portion of the sensor data, and generating gyrocompass alignment information based on the dynamically calibrated sensor data.

A Modeling, Design, Analysis, Simulation, and Evaluation (MDASE) aspects of gyrocompassing in relation to Far-Target Location (FTL) systems include a Gyrocompass Modeling and Simulation System (GMSS). The GMSS is a modularized software system which has four major components: the 6DOF Motion Simulator, the IMU Sensor Simulator, the Gyrocompass System and Calibration Process Simulator, the Gyrocompass System Evaluation and Analysis Module. Each module has one or two graphic user interfaces (GUIs) as user interfaces for simulation components selection and parameter setting. The modular architecture of GMSS makes it very flexible for programming and testing. And, the component-based software development technology greatly eases system extension and maintenance. The simulators can be used as either an off-line tool or as a real-time simulation tool. The realization of the GMSS can be based on any computer platforms, for it is written in high level language and tools and is portable. The stochastic signal analysis and sensor testing and modeling tools comprise a suite of generic statistical analysis software, including Allan Variance and PSD analysis tools, which are available to every GMSS module and greatly enhanced the system functionality.

The invention discloses an UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and a control method. The system comprises a first differentiator, a second differentiator, an adaptive anti-interference sliding mode controller, a filter and data fusion unit, a Doppler sensor, an electric gyrocompass, a thrust allocation unit, an UUV, an accelerometer and a gyroscope , wherein the adaptive anti-interference sliding mode controller comprises a sliding mode controller, an adaptive disturbance compensation controller and a data processing unit; the sliding mode controller is used for realizing UUV four degree-of-freedom dynamic positioning variable structure control and eliminating pose errors; and the adaptive disturbance compensation controller is used for estimating uncertainty errors of an actually controlled object model and wave disturbance effects in an online mode. A dynamic process during which the system state approaches to the sliding mode surface is improved, steady-state anti-interference performance is improved, and compared with a common sliding mode control method, dynamic performance is better, and buffet of the system under disturbance effects can be reduced.

The invention discloses an unmanned ship navigation collision avoidance radar detecting method. The method comprises the following steps that omnibearing target searching is carried out on an observed sea area through a radar antenna and a transceiver, reflection echoes of a target are received, and target original video signals with clutter are obtained after amplification frequency conversion detection; the original video signals are sent to a signal collecting module through a signal interface module for A / D conversion, and target original digital video signals with clutter are obtained; software-oriented trace point extraction, signal processing, clutter rejection and target detecting tracking data processing are automatically carried out on the target original digital video signals through a ruggedized computer, meanwhile, signals of a gyrocompass, a log, a GPS, an AIS and an optoelectronic device of the ship are received, moving platform motion compensation and target fusion are carried out, various on-sea targets are captured and tracked, a target track is set up, and then tracking detection is carried out. Comprehensive detection, tracking and recognition of the unmanned ship in the complex sea condition on multiple batches of targets on the sea are achieved.

The invention provides a docking positioning guiding method for an offshore oil drilling platform. The method is characterized by integrating inertial navigation, satellite navigation and optical measurement technologies, and utilizing measurement information of an optical-fiber gyro attitude heading reference system, a differential GPS (global positioning system), a gyrocompass and multiple sensors of a total station to establish a time and space uniform benchmark of multiple sensors by synchronously processing data time and space, and thus the three-dimensional high-precision measurement of docking positioning guidance is realized; a non-reset federated kalman filter is utilized to integrate the information, and then the docking guiding information is outputted; through the data after-treatment of the information of the differential GPS, faults of the system can be monitored, and the system reliability and fault tolerance can be improved; by virtue of a virtual reality technology, the whole-process three-dimensional display of the entire docking process can be realized. The method can be used for effectively guiding the docking of a drilling platform and an oil production platform.

A navigation system and method for gyrocompass alignment in a mobile object. The system includes an inertial measurement device configured to provide a first set of sensor data and a positioning unit configured to provide a second set of data. In an example embodiment, the navigation system includes a processing device configured to receive the data sets provided by the inertial measurement device and the positioning device, and the processing device is configured to dynamically calibrate the received first data set the processing device includes a Kalman filter, and the processing device is further configured to generate a gyrocompass alignment using the first dynamically calibrated first data set, the second data set, and the Kalman filter. The method includes receiving sensor data from a plurality of sensors, dynamically calibrating at least a portion of the sensor data, and generating gyrocompass alignment information based on the dynamically calibrated sensor data.

The invention provides a mounting device and a mounting method of an umbrella type seabed suction anchor foundation. The mounting device comprises an umbrella type seabed suction anchor foundation and is characterized by comprising an injection pipe mounted at the interior of a main cylinder; the injection pipe is connected with submersible pumps at the upper part through drainage holes of the main cylinder; a reversing valve and valves are arranged in the injection pipe; the submersible pumps are adjacent to a pressure-resistant container; the pressure-resistant container comprises an inclinometer and an electric gyrocompass; the inclinometer is arranged on a cylinder skirt and anchor branches of the umbrella type seabed suction anchor foundation; a frame is arranged at the peripherys of the pressure-resistant container and the submersible pumps; the upper end of the framework are connected with a signal optical cable. The mounting method comprises the following steps: lading at a wharf, sailing and positioning, butting injection devices, putting the foundation in water, injecting the umbrella type seabed suction anchor and recycling the injection devices. Through the adoption of the mounting device of the umbrella type seabed suction anchor foundation, the mounting method of the umbrella type seabed suction anchor foundation is simple; the problems of soil plugging and inclination of the umbrella type seabed suction anchor foundation in the mounting process can be solved; and the reutilization rate is high.

The invention relates to a strapdown compass system based on a triaxial integrated high-precision optic fiber gyroscope. The system consists of three components, namely a box, optic fiber gyroscope IMU (Inertial Measurement Unit) components and system circuit components, wherein the box is composed of a bottom plate and an outer housing; the bottom plate includes an inertial area and a circuit area, in which the optic fiber gyroscope IMU components and the system circuit components are contained respectively; the optic fiber gyroscope IMU components and the system circuit components are electrically connected by electric connectors. The invention adopts a modular integrated design, focuses on increasing the adaptivity and engineering property of the system, and successfully overcomes the problem that the service performance of the system is poor due to the large size, large weight, poor temperature performance, low consistency, complicated structure and the like of a platform gyrocompass, and the precision of the system is increased by optimizing a strapdown compass algorithm. The strapdown compass system has good practical value and broad application prospects in the technical field of inertia.

The invention provides a processing method of towrope exploration navigational positioning data. The method includes the steps of reading original positioning data from a P2 / 94 format data file collected by an onboard positioning system, wherein the original positioning data comprise differential global positioning system (DGPS) data, RGPS data, acoustic data, cable compass data and onboard gyrocompass data, carrying out preprocessing which comprises gross error detecting, filtering and data standardization processing on the read original positioning data, using a node calculating method to confirm coordinates of positioning nodes in the preprocessed original positioning data, converting accurate positions of the positioning nodes into navigation data of a P1 / 90 format, and storing the navigation data. The method can process the original navigation data of the P2 / 94 format into the navigation data of the P1 / 90 format fast and efficiently.

The invention discloses an optimized ship track analytical method, belonging to the field of common ship sailing measurement and analysis. According to the actual sailing track of a ship, which is detected by a stem DGPS receiver, a stern DGPS receiver and an electric gyrocompass as well as wind-current and wind-force disturbing variable parameters measured by an anemoscope, a series of vector composition and dynamic regulation are carried out on the actual track data so as to modify the sailing track of the ship by optimized calculation, thus obtaining the corresponding sailing track when the ship sails on calm sea and determining more accurate parameters of movement performance during the trial voyage of the ship. With accurate measurement, the method is suitable for real-time detection.

The invention relates to a double tracking satellite antenna system and a using method thereof. The double tracking satellite antenna system comprises two satellite antennae, two low noise amplifiers, a switching unit, medium frequency processing equipment, a local area network and two power amplifiers, wherein the two satellite antennae transmit signals to respectively corresponding low noise amplifiers which are connected with the medium frequency processing equipment through the switching unit so as to convert analog signals to digital signals which are then transmitted to the local area network; command control signals in the local area network are converted into analog signals through the medium frequency processing equipment; and the analog signals are respectively transmitted to the two power amplifiers through the switching unit, and are amplified and then transmitted to the respectively corresponding satellite antennae. Ship heading data is acquired from a gyrocompass of a drilling ship through the switching unit, and is subjected to logic operation; the switching work of the two satellite antennae is realized through a relay switch; therefore, the performance of automatic switching is realized. The double tracking satellite antenna system can be widely applied in the field of exploration and exploitation of multiple kinds of oil.

A device for estimating an aircraft's speed relative to the ground and heading, while making no use of the rotation of the Earth or of the Earth's magnetic field. The device comprises in particular a first linear estimator that hybridizes a measurement of the speed of the aircraft relative to the ground as provided by a GNSS receiver with measurements of the acceleration and the attitudes of the aircraft coming from an AHRS device without a gyrocompass and without a magnetometer. The first estimator is made linear by replacing the single “heading error estimate Δψ” state of prior art embodiments with two states, namely estimates of the sine and of the cosine of the heading error.

The invention relates to a laser gyroscopic compass shock mitigation system which comprises a box. An IMU support is arranged in the box and provided with a laser gyroscope, the left circumference and the right circumference of the outer side of the IMU support are connected with an inner frame through dish-shaped rubber shock absorbers, the upper end and the lower end of the inner frame are connected with an outer frame through bowl-shaped rubber shock absorbers, and the outer frame is fixed to the box. By means of the laser gyroscopic compass shock mitigation system, an inertia device, namely a laser gyroscope can be protected to normally vibrate in severe environment, and the angular speed of a carrier can be accurately measured; and on the other hand, influences of external stimulation such as vibration impact on a compass can be isolated or reduced, the good damping and anti-impact effects are achieved, the accurate course and posture can be provided, work is stable and reliable, and overall disassembling and maintaining are convenient.

A Modeling, Design, Analysis, Simulation, and Evaluation (MDASE) aspects of gyrocompassing in relation to Far-Target Location (FTL) systems include a Gyrocompass Modeling and Simulation System (GMSS). The GMSS has four major components: the 6 degree-of-freedom (6DOF) Motion Simulator, the IMU Sensor Simulator, the Gyrocompass System and Calibration Process Simulator, and the Gyrocompass System Evaluation and Analysis Module. The modular architecture of GMSS makes it very flexible for programming, testing, and system maintenance. The realization of the GMSS can be based on any computer platforms for the GMSS software is written in high level language and is portable. The stochastic signal analysis and sensor testing and modeling tools comprise a suite of generic statistical analysis software, including Allan Variance and power spectral density (PSD) analysis tools, which are available to every GMSS module and greatly enhanced the system functionality.

A method used for a biomedical system is disclosed. The biomedical system includes an RFID apparatus and a reader apparatus communicating with the RFID apparatus. The RFID apparatus includes an electrode disposed adjacent to an acupuncture point and a motion monitor device including an accelerometer, a gyrocompass, or a pressure sensor. The method includes sending command information to the RFID apparatus from the reader apparatus; obtaining acupuncture impedance or bio-potential data through an electrode; providing nerve stimulation therapy by the RFID apparatus according to the command information, or using, by the RFID apparatus, the accelerometer, the gyrocompass, or the pressure sensor to obtain measurement data according to the command information; and submitting the acupuncture impedance / bio-potential data or the measurement data to the reader apparatus by the RFID apparatus.

The invention discloses an electromagnetism log auxiliary marine gyrocompass action alignment method which comprises the following steps: feeding north orientation acceleration input and a north orientation alignment loop feedback quantity into a first comparator, feeding into a second comparator after an integration procedure, adding an initial speed into the second comparator, reducing a reference speed, after a modification procedure, dividing into a north orientation alignment loop and a direction alignment loop, outputting a south orientation misalignment angle at the north orientation alignment loop, and outputting a direction misalignment angle at the direction alignment loop. As the mechanical speed of a ship is tracked by using an electromagnetism log, and errors of earth rotational angular speeds converted into a navigation coordinate system can be eliminated through acceleration measurement compensation, the purpose of action alignment of a marine strapdown inertial navigation system can be achieved, the mechanical properties of carriers can be greatly improved, and the method is a feasible and effective action initial alignment method.

The invention discloses a fiber-optic gyroscopic compass. The fiber-optic gyroscopic compass comprises a shell, an inertia set, a rotary position control mechanism and a base, wherein the inertia set, the rotary position control mechanism and the base are contained in the shell; the rotary position control mechanism is arranged on the base; the inertia set is arranged on a rotary tray of the rotary position control mechanism and comprises at least one fiber-optic gyroscope for sensing an outer angle accelerated speed and at least two accelerometers for sensing an accelerated speed; no more than one fiber-optic gyroscope is arranged in each coordinate axis direction of three coordinate axis directions of a space coordinate system and no more than one accelerometer is arranged in each coordinate axis direction; the inertia set is controlled by the rotary position control mechanism to rotate between each two measurement directions and is locked for data acquisition after rotating in place; then, a measured result is obtained after resolving. According to the compass disclosed by the invention, the precision requirements on the fiber-optic gyroscopes and the quartz accelerometers are reduced, the problems that north-seeking time of a current north-seeking instrument is long and that obtained space gravitational acceleration and space angle speeds are not comprehensive and cannot be taken into account are solved, and the north-seeking precision is greatly improved.

The invention discloses a recovery method of a gyrocompass automatic navigation (GaN)-based epitaxial wafer substrate and belongs to the technical field of semiconductors. The recovery method of the GaN-based epitaxial wafer substrate comprises the following steps: putting the GaN-based epitaxial wafer substrate into a vacuum reaction chamber; and injecting reducing gas and catalytic gas to the reaction chamber so that a reduction reaction of the GaN of the GaN-based epitaxial wafer substrate can occur in vacuo. Due to the facts that the GaN-based epitaxial wafer substrate is put into the vacuum reaction chamber and the reducing gas and the catalytic gas are injected to the reaction chamber so that the reduction reaction of the GaN of the GaN-based epitaxial wafer substrate can occur, the GaN of the GaN-based epitaxial wafer substrate can be reduced to simple substance gallium and ammonia and separated from the substrate. The recovery method of the GaN-based epitaxial wafer substrate has the advantages that no physical damage and chemical damage exist under a high-temperature environment and the integrity of the substrate is maintained. Moreover, the recovery method of the GaN-based epitaxial wafer substrate further has the advantages of being simple in principle, controllable in process, and capable of enabling the decomposition speed rate of the GaN to be higher, and therefore the speed of the recovery of the substrate is improved.

The control device includes control box, and antenna platform. The control box includes CPU, signal interface board, sensor of signal intensity, unit of measuring antenna position, and unit for controlling antenna pointing, which are connected to each other through RS 485 bus. The antenna platform includes following parts: electric gyrocompass connected to RS485 bus and unit of measuring antenna position, optic fiber gyroscope, elevation sensor, receiver of satellite antenna, which through coaxial line is connected to sensor of signal intensity in control box, and step motor controlled by the control box. A GPS signal receiving board is added in order to ensure uninterrupted received signal. Electric map software about way of this train is installed to CPU in order to get clear relevant images.

The invention discloses a ship data collecting and transmission control terminal system. The ship data collecting and transmission control terminal system comprises a ship data collecting unit and a maritime satellite data transmission control unit, wherein the ship data collecting unit collects and transmits data of ship AIS (automatic identification system) equipment, ship position data and GPS (global position system) time data output by ship GPS equipment, ship working condition data and ship local area network data to the maritime satellite data transmission control unit; the maritime satellite data transmission control unit collects ship heading data of ship gyrocompass equipment and meteorological data of current waters, transmits data transmitted by the ship data collecting unit and the maritime satellite data transmission control unit to a shore-side monitoring center through a maritime satellite, and receives remote configuration of collecting control parameters of the ship data collecting and transmission control terminal system achieves reliable communication between ships and the shore-side monitoring center.

The invention relates to a fault detecting device of a cable-free bathyscaph track control system. The system comprises a GPS (Global Position System) receiving antenna, a GPS receiving device, a gyrocompass, a helm angle feedback device, a track controller, a helm angle controller, a track tracking reference model, a control signal receiving device, a steeling instrument, a steering engine, a helm, a fault detection filter, a reference residual error model, a residual error signal analyzing device and a fault alarming device. The invention also provides a fault detecting method of the fault detecting device. By utilizing the device, the fault detection of the cable-free bathyscaph track control system is realized conveniently and rapidly; the maneuverability and the security in cable-free bathyscaph tracking are ensured; and the device has practical application and popularization value.

The object of the present invention is an intelligent rotary jacking type juice extractor, comprising a juice extraction box and a juice output box, a juice extraction box is arranged above the juice output box, and the juice extraction box and the juice output box are connected by a filter plate, The filter plate at the bottom of the juice box is equipped with a fruit pomace storage box that can be pulled out automatically, and a rotating juice extraction plate is installed above the fruit pomace storage box. Connection, the top of the juicing box is equipped with a driving motor, the rotating shaft of the driving motor is clamped and connected with the rotary jacking shaft through the rotating compass, and the side where the fruit residue storage box is in contact with the juicing box is equipped with a box pop-up device, and the side of the juicing box There is a material inlet on the wall, and the traditional blade juicing method is changed to a rotating juicing plate for jacking and rotating juice, which can greatly reduce the noise of juicing and improve the comfort of use Spend.

The invention provides a ship-borne adaptive solar cell panel carrying device and an adaption method. The solar altitude angle, solar azimuth angle and ship steering angle are calculated according to the location of a ship and the current date and time and based on the time, latitude and longitude, and ship heading output by a ship-borne GPS and a gyrocompass; and the angle of a solar cell panel is adjusted to make the solar cell panel perpendicular to the sun's rays. The device for implementing the method comprises a main control unit, and three driving rotation units connected with the main control unit. The main control unit is used to calculate the solar altitude angle, solar azimuth angle and ship steering angle and send control commands to the corresponding driving rotation units. By adopting the method and the device of the invention, the solar cell panel can change as the sun and the ship heading change, the solar cell panel can be adjusted automatically to be perpendicular to the sun's rays, a sailing ship can make full use of solar energy, and therefore, the solar energy utilization rate of the ship-borne adaptive solar cell panel is improved.

The invention provides an integrated system for underwater positioning. The integrated system includes a computer, a DGPS, a gyrocompass, an attitude sensor and an acoustic positioning device, wherein the DGPS, the gyrocompass, the attitude sensor and the acoustic positioning device are connected to the computer. As a result of the technical scheme, the underwater land situation and landform can be intuitively and comprehensively evaluated, and later mapping is also facilitated.

The invention relates to the field of harbor machinery, discloses an automatic deviation correcting method and system for linear travelling of a RTG (Rubber-Tyred Gantry crane). The automatic deviation correcting method for linear travelling of the RTG comprises the following steps: during the travelling process of the RTG, periodically detecting the travelling direction of the RTG with a gyrocompass mounted on the RTG, and detecting a travelling deviation of the RTG according to the deviation direction of the RTG to obtain a deviation angle; and if the deviation angle is not zero, generating a control signal according to the deviation angle and sending the control signal to an actuator of a driving wheel of the RTG. The invention further discloses the automatic deviation correcting system for linear travelling of the RTG, which comprises the gyrocompass and a controller. Through the automatic deviation correcting method for linear travelling of the RTG, the RTG is enabled to realize automatic deviation correction, so that the labor intensity of RTG workers is relieved, and the accident occurrence probability is effectively reduced.

The present invention provides an electromagnetic log assisted AUV multi-program parallel solution navigation method, which comprises that: output data of a gyroscope, an accelerometer and an electromagnetic log are collected; the collected output data of the gyroscope and the accelerometer is adopted to operate a strapdown inertial navigation program, and the solution speed and the position of AUV are output; the speed solved by the strapdown inertial navigation program and the speed measured by the electromagnetic log are treated by a virtual log, and the optimized speed information is output; the optimized speed information is adopted to carry out acceleration compensation on the collected output data of the accelerometer, and the compensated value is adopted as the input of a strapdown gyrocompass program; the optimized speed and the latitude value solved by the strapdown inertial navigation program are adopted to carry out angular velocity compensation on the strapdown gyrocompass system; and the position information is output through the strapdown inertial navigation program, the attitude information is output through the strapdown gyrocompass program, and the speed information is output through the virtual log. According to the present invention, under the premise of no increase of the cost, influence of ocean currents on AUV navigation can be reduced so as to obtain complete and high-precision navigation information.

The invention provides a docking positioning guiding method for an offshore oil drilling platform. The method is characterized by integrating inertial navigation, satellite navigation and optical measurement technologies, and utilizing measurement information of an optical-fiber gyro attitude heading reference system, a differential GPS (global positioning system), a gyrocompass and multiple sensors of a total station to establish a time and space uniform benchmark of multiple sensors by synchronously processing data time and space, and thus the three-dimensional high-precision measurement of docking positioning guidance is realized; a non-reset federated kalman filter is utilized to integrate the information, and then the docking guiding information is outputted; through the data after-treatment of the information of the differential GPS, faults of the system can be monitored, and the system reliability and fault tolerance can be improved; by virtue of a virtual reality technology, the whole-process three-dimensional display of the entire docking process can be realized. The method can be used for effectively guiding the docking of a drilling platform and an oil production platform.

The invention discloses a control network connecting mode of a drag-suction dredger power positioning control system. The system comprises a control computer, a switch, a bow programmable logic controller (PLC), a power positioning PLC, a dredging PLC, a multi-serial-port communication card, a program field bus (PROFIBUS) communication card, an electric gyrocompass, a differential global positioning system (DGPS), an aerovane, a motion unit, a log, a sounding instrument and a dredging track display system. The power positioning PLC is connected with the bow PLC and the dredging PLC through the network switch, and each PLC has a unique internet protocol (IP) address; the electric gyrocompass, the DGPS, the aerovane, the motion unit, the log and the sounding instrument are connected with the control computer through the multi-serial-port communication card; the PLCs are connected with the control computer through the PROFIBUS communication card; the control computer is connected with the dredging track display system through the network switch; and the PLCs and the control computer realize one-to-one communication by adopting data processing (DP) protocols, so that the control requirement of the dredger power positioning control system is met.