CN105547238A - Rapid sun height measuring device and positioning method based on rapid sun height measuring device - Google Patents

Abstract

The invention discloses a rapid sun height measuring device and a positioning method based on the rapid sun height measuring device. By using a center joint projection plate, the direction of the sun can be rapidly found, by rotating a measuring balance table, a concave mirror focus of a reflection plate can be aligned to the projection center, and at the moment the turning angle of the measuring balance table can be directly measured by using an AHRS module. The rapid sun height measuring device is simple to operate and convenient to use; with the combination of the height of the sun and a graphing method, navigation positioning can be achieved, and when GPS is interfered or cannot be used in other situations, positioning can be achieved through sun height measurement assistance.

Description

A kind of altitude of the sun rapid measurement device and the localization method based on this device

Technical field

The present invention relates to a kind of altitude of the sun rapid measurement device and the localization method based on this device, belong to navigation positioning field.

Background technology

Sun altitude is called for short altitude of the sun (being angle in fact).For certain place tellurian, sun altitude refers to the angle between the incident direction of sunshine and ground level, specialty is said sun altitude refers to the angle of somewhere sunray and the earth's surface tangent plane be connected with the earth's core by this ground.Sun altitude is called for short elevation angle.When sun altitude is 90 °, now intensity of solar radiation is maximum; When sun oblique fire ground, intensity of solar radiation is just little.Altitude of the sun has important meaning in navigation or other location, and people can calculate orientation by altitude of the sun in conjunction with the method for reference point, have and well locate meaning.The daily location of current people depends on external satellite GPS and locates, once external stopping business lease or be subject to other interference, just specifically cannot learn location, the main radiobeam that relies in the GPS location of satellite carries out transmitting signal simultaneously, easily be subject to the interference of many factors, therefore, after GPS lost efficacy, need a kind ofly can assist the localization method positioned.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of altitude of the sun rapid measurement device and the localization method based on this device, and it can Quick Measurement sun altitude, and calculates navigation fix by astronomical observation by localization method and carry out navigation location.

For solving the problems of the technologies described above, the technical solution adopted in the present invention is:

A kind of altitude of the sun rapid measurement device, it is characterized in that: comprise pedestal, observation platform, U-shaped support, middle seam projection plate, reflector and AHRS module, U-shaped pedestal lower end rotates and is arranged on the upside of pedestal, observation platform is fixed in rotating shaft, rotating shaft two ends are rotated and are arranged on two ends on the upside of U-shaped support, AHRS module level arranges and is fixed in the middle of observation platform, middle seam projection plate and reflector are parallel to each other and are vertically fixed on the two ends of observation platform, a concave mirror is provided with in the middle of inside reflector, two projection seams are had along the vertical axis of symmetry in the middle of middle seam projection plate, article two, projection is sewn on middle seam projection plate center and arranges convergence block and separate.

Further, the structure that described AHRS module is fixed on observation platform is, has a depression cavity volume mated with AHRS block size in the middle of on the upside of observation platform, AHRS Module-embedding depression cavity volume internal fixtion.

Further, described rotating shaft one end and U-shaped bearing attachment position are provided with the tensioning nut for regulating rotating shaft rotating tension.

Further, described pedestal is provided with pedestal levelling gear.

Further, described pedestal levelling gear comprises three adjusting bolts and two levelling poles, pedestal surrounding has three vertical through holes, the internal thread mated with bolt is provided with in through hole, three adjusting bolts to be separately positioned in three vertical through holes and to be connected with vertical through hole whorl, and two levelling poles are horizontally fixed on pedestal upper side and two levelling poles are mutually vertical.

Based on a localization method for the altitude of the sun rapid measurement device of claim 1, it is characterized in that comprising following steps:

A, rotation observation platform make the spot alignment convergence block center of concave mirror focus, the elevation data that AHRS module reads is the measuring height Ht1 of the sun, the observation moment is now GMT1, being searched the declination DEC1 of the sun in corresponding moment and Greenwich hour angle GHA1, GHA1 by nautical almanac with merging with reference to longitude obtains LHA1;

B, by DEC1, LHA1 and reference point latitude substitute into astronomical computing formula

draw computed altitude Hc1 and computer azimuth Ac1;

C, Ht1 and Hc1 is substituted into Δ h=Ht1-Hc1, draw Δ h1;

D, to build with reference point be the coordinate system of initial point, and from initial point, draw the ray in Ac1 direction, and the length intercepting Δ h1 on ray obtains an intersection point, and draw the vertical line L1 of Ac1 oriented radial from this point of intersection, L1 equation can be expressed as $y=-\frac{1}{\tan Ac1}x+\sec Ac1\·\mathrm{\Δ}h1;$

E, after a period of time, measure height H t2 and the GMT2 of the sun again, calculate Δ h2 and computer azimuth Ac2;

F, from initial point, draw the ray in Ac2 direction, and the length intercepting Δ h2 on ray obtains an intersection point, and draw the vertical line L2 of Ac2 oriented radial from this point of intersection, L2 equation can be expressed as $y=-\frac{1}{\tan Ac2}x+\sec Ac2\·\mathrm{\Δ}h2;$

G, CA are the intended course of this ship, and it is S1 that this ship keeps the speed of a ship or plane to navigate by water the voyage of a period of time, and L1 is moved S1 distance along CA direction obtain position line transferred L1 ' by moving collimation method, L1 ' equation is expressed as $y=-\frac{1}{\tan Ac1}x+\sec Ac1\·\[\mathrm{\Δ}h1+S1\·Cos\left(CA-Ac1\right)\];$

H, L2 and L1 ' intersection point P be the fix by astronomical observation in the second observation moment, by the equation of L2 and L1 ' composition linear equation in two unknowns group, by calculating the coordinate (X, Y) that can draw intersection point P, when being converted to latitude and longitude coordinates

Further, the described time interval of measuring altitude of the sun is again one hour.

The present invention compared with prior art, has the following advantages and effect:

1, altitude of the sun rapid measurement device provide a kind of can the device of Quick Measurement sun altitude, the orientation of the sun can be found rapidly, by rotating observation platform by middle seam projection plate, the concave mirror focus of reflector is made to aim at projection centre, now also can directly measure by AHRS module the flip angle (i.e. sun height now) drawing observation platform, simple to operate, easy to use;

2, the localization method of altitude of the sun rapid measurement device, carries out navigation location by altitude of the sun in conjunction with graphing method, when GPS is disturbed or non-serviceable in other situations time, auxiliary positioning can be measured with altitude of the sun;

3, use AHRS module directly to measure inclination angle, thus secondary computer program carry out automatic graphing method calculating, obtains the elements of a fix, easy to operate;

4, use this measurement mechanism to measure altitude of the sun without the need for the visible sky-line, and existing measuring equipment sextant must there is the visible sky-line just can measure.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of altitude of the sun rapid measurement device of the present invention.

Fig. 2 is the schematic diagram of the localization method of altitude of the sun rapid measurement device of the present invention.

Embodiment

Below in conjunction with accompanying drawing, also by embodiment, the present invention is described in further detail, and following examples are explanation of the invention and the present invention is not limited to following examples.

As shown in Figure 1, a kind of altitude of the sun rapid measurement device, comprise pedestal 1, observation platform 2, U-shaped support 3, middle seam projection plate 4, reflector 5 and AHRS module 6, U-shaped support 3 lower end is rotated and is arranged on the upside of pedestal 1, observation platform 2 is fixed in rotating shaft 7, rotating shaft 7 two ends are rotated and are arranged on two ends on the upside of U-shaped support 3, AHRS module 6 is horizontally disposed with and is fixed in the middle of observation platform 2, middle seam projection plate 4 and reflector 5 are parallel to each other and are vertically fixed on the two ends of observation platform 2, a concave mirror 8 is provided with in the middle of inside reflector 5, two projection seams 9 are had along the vertical axis of symmetry in the middle of middle seam projection plate 4, article two, the seam 9 that projects arranges convergence block 10 in middle seam projection plate 4 center and separates.When such use, rotate observation platform 2 thus aim at sun angle, then sunshine focuses in convergence block 10 by concave mirror 8 from the internal radiation to concave mirror 8 of two projection seams 9, slowly regulate the angle of observation platform 2 and position thus the luminous point that concave mirror 8 is focused on is positioned in the middle of convergence block 10, now the angular readings read in AHRS module is the sun altitude needing measurement.

The structure that AHRS module 6 is fixed on observation platform 2 is, has a depression cavity volume mated with AHRS module 6 size in the middle of on the upside of observation platform 2, and AHRS module 6 embeds depression cavity volume internal fixtion.Rotating shaft 7 one end and U-shaped support 3 connecting portion are provided with the tensioning nut for regulating rotating shaft rotating tension, by the resistance regulating tensioning nut to control rotating shaft 7 rotation.

Pedestal 1 is provided with pedestal levelling gear.Pedestal levelling gear comprises three adjusting bolts 11 and two levelling poles 12, pedestal surrounding has three vertical through holes, the internal thread mated with bolt 11 is provided with in through hole, three adjusting bolts 11 to be separately positioned in three vertical through holes and to be connected with vertical through hole whorl, and two levelling poles 12 are horizontally fixed on pedestal 1 upper side and two levelling poles 12 are mutually vertical.Like this when measurement mechanism uses, first a wherein adjusting bolt is adjusted to suitable position, then another bolt is regulated to make a corresponding levelling pole 12 be transferred to level, regulate last remaining adjusting bolt to be adjusted to another root levelling pole 12 level again thus ensure that pedestal 1 keeps horizontality, improving measuring accuracy.

As shown in Figure 2, a kind of localization method of the altitude of the sun rapid measurement device based on claim 1, comprises following steps:

A, rotation observation platform make the spot alignment convergence block center of concave mirror focus, the elevation data that AHRS module reads is the measuring height Ht1 of the sun, by bluetooth or USB, elevation data being accessed the application interface observation moment is now GMT1, searched in electronic navigation astronomical ephemeris by this GMT1 and calculate the declination DEC1 of the now sun and Greenwich hour angle GHA1, GHA1 with merging with reference to longitude and obtain LHA1;

B, by DEC1, LHA1 and reference point latitude substitute into astronomical computing formula draw computed altitude Hc1 and computer azimuth Ac1;

C, Ht1 and Hc1 is substituted into Δ h=Ht1-Hc1, draw Δ h1;

D, as shown in Figure 2, structure take reference point as the coordinate system of initial point, from initial point, draw the ray in Ac1 direction, and the length intercepting Δ h1 on ray is (if Δ h1 is negative value, the return radiation of Ac1 should be drawn) obtain an intersection point, and draw the vertical line L1 of Ac1 oriented radial from this point of intersection, L1 equation can be expressed as $y=-\frac{1}{\tan Ac1}x+\sec Ac1\·\mathrm{\Δ}h1;$

After E, the time interval about one hour, measure height H t2 and the GMT2 of the sun again, and calculate Δ h2 and computer azimuth Ac2 by the step method of B, C, D;

F, from initial point, draw the ray in Ac2 direction, and the length intercepting Δ h2 on ray obtains an intersection point, and draw the vertical line L2 of Ac2 oriented radial from this point of intersection, L2 equation can be expressed as $y=-\frac{1}{\tan Ac2}x+\sec Ac2\·\mathrm{\Δ}h2;$

G, CA are the intended course of this ship, and it is S1 that this ship keeps the speed of a ship or plane to navigate by water the voyage of a period of time, and L1 is moved S1 distance along CA direction obtain position line transferred L1 ' by moving collimation method, L1 ' equation is expressed as $y=-\frac{1}{\tan Ac1}x+\sec Ac1\·\[\mathrm{\Δ}h1+S1\·cos\left(CA-Ac1\right)\];$

H, L2 and L1 ' intersection point P be the fix by astronomical observation in the second observation moment, intersection point P coordinate can be obtained by the direct reading of coordinate system, or by the equation of L2 and L1 ' composition linear equation in two unknowns group, by calculating the coordinate (X that can draw intersection point P, Y), when being converted to latitude and longitude coordinates

Above content described in this instructions is only made for the present invention illustrating.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment; only otherwise depart from the content of instructions of the present invention or surmount this scope as defined in the claims, protection scope of the present invention all should be belonged to.

Claims (7)

1. an altitude of the sun rapid measurement device, it is characterized in that: comprise pedestal, observation platform, U-shaped support, middle seam projection plate, reflector and AHRS module, U-shaped pedestal lower end rotates and is arranged on the upside of pedestal, observation platform is fixed in rotating shaft, rotating shaft two ends are rotated and are arranged on two ends on the upside of U-shaped support, AHRS module level arranges and is fixed in the middle of observation platform, middle seam projection plate and reflector are parallel to each other and are vertically fixed on the two ends of observation platform, a concave mirror is provided with in the middle of inside reflector, two projection seams are had along the vertical axis of symmetry in the middle of middle seam projection plate, article two, projection is sewn on middle seam projection plate center and arranges convergence block and separate.

2. according to altitude of the sun rapid measurement device according to claim 1, it is characterized in that: the structure that described AHRS module is fixed on observation platform is, a depression cavity volume mated with AHRS block size is had, AHRS Module-embedding depression cavity volume internal fixtion in the middle of on the upside of observation platform.

3. according to altitude of the sun rapid measurement device according to claim 1, it is characterized in that: described rotating shaft one end and U-shaped bearing attachment position are provided with the tensioning nut for regulating rotating shaft rotating tension.

4. according to altitude of the sun rapid measurement device according to claim 1, it is characterized in that: described pedestal is provided with pedestal levelling gear.

5. according to altitude of the sun rapid measurement device according to claim 4, it is characterized in that: described pedestal levelling gear comprises three adjusting bolts and two levelling poles, pedestal surrounding has three vertical through holes, the internal thread mated with bolt is provided with in through hole, three adjusting bolts to be separately positioned in three vertical through holes and to be connected with vertical through hole whorl, and two levelling poles are horizontally fixed on pedestal upper side and two levelling poles are mutually vertical.

6., based on a localization method for the altitude of the sun rapid measurement device of claim 1, it is characterized in that comprising following steps:

A, rotation observation platform make the spot alignment convergence block center of concave mirror focus, the elevation data that AHRS module reads is the measuring height Ht1 of the sun, the observation moment is now GMT1, being searched the declination DEC1 of the sun in corresponding moment and Greenwich hour angle GHA1, GHA1 by nautical almanac with merging with reference to longitude obtains LHA1;

B, by DEC1, LHA1 and reference point latitude substitute into astronomical computing formula

draw computed altitude Hc1 and computer azimuth Ac1;

C, Ht1 and Hc1 is substituted into Δ h=Ht1-Hc1, draw Δ h1;

D, to build with reference point be the coordinate system of initial point, and from initial point, draw the ray in Ac1 direction, and the length intercepting Δ h1 on ray obtains an intersection point, and draw the vertical line L1 of Ac1 oriented radial from this point of intersection, L1 equation can be expressed as $y=-\frac{1}{\tan Ac1}x+\sec Ac1\·\mathrm{\Δ}h1;$

E, after a period of time, measure height H t2 and the GMT2 of the sun again, calculate Δ h2 and computer azimuth Ac2;

F, from initial point, draw the ray in Ac2 direction, and the length intercepting Δ h2 on ray obtains an intersection point, and draw the vertical line L2 of Ac2 oriented radial from this point of intersection, L2 equation can be expressed as $y=-\frac{1}{\tan Ac2}x+\sec Ac2\·\mathrm{\Δ}h2;$

G, CA are the intended course of this ship, and it is S1 that this ship keeps the speed of a ship or plane to navigate by water the voyage of a period of time, and L1 is moved S1 distance along CA direction obtain position line transferred L1 ' by moving collimation method, L1 ' equation is expressed as $y=-\frac{1}{\tan Ac1}x+\sec Ac1\·\[\mathrm{\Δ}h1+S1\·Cos(CA-Ac1)\];$

H, L2 and L1 ' intersection point P be the fix by astronomical observation in the second observation moment, by the equation of L2 and L1 ' composition linear equation in two unknowns group, by calculating the coordinate (X, Y) that can draw intersection point P, when being converted to latitude and longitude coordinates

7. according to localization method according to claim 1, it is characterized in that: the described time interval of measuring altitude of the sun is again one hour.