CN106248104A - A kind of north finder comprehensive slewing and torque compensation method - Google Patents

Abstract

The invention belongs to inertia and seek north orientation survey technical field, be specifically related to a kind of by north finder gyrocompassing backoff algorithm, improve the comprehensive slewing of north finder and the torque compensation method seeking north orientation survey precision.The present invention includes: the quick low precision of magnetic compass orients；± 1 ° of two-position orientation；Three position compensation conductive hairspring disturbance torques.The present invention solves the demand of the multiple application of above-mentioned north finder device, on the premise of not changing main body instrument and hardware, propose and devise two-position slewing and compensate the algorithm of guide's silk disturbance torque, to realize improving orientation system precision, meeting quick corresponding demand.

Description

A kind of north finder comprehensive slewing and torque compensation method

Technical field

The invention belongs to inertia and seek north orientation survey technical field, be specifically related to one and mended by north finder gyrocompassing Repay algorithm, improve the comprehensive slewing of north finder and the torque compensation method seeking north orientation survey precision.

Background technology

Now with the development of Defense Weapon System, north finder is sought north time, orientation accuracy and requires more and more higher.With Time, along with the complication of weaponry environment, general north finder orientation method realizes seeking north by rotating 180 °, but Some special external environment can limit its angle rotated, and causes seeking north error and increases even failed, on the other hand, bigger The anglec of rotation can increase seeks the north time, affects the rapidity of system.

Summary of the invention

It is an object of the invention to provide a kind of magnetic compass quick low precision orientation, two-position of introducing high-precision fixed to calculation Method, north finder comprehensive slewing and the torque compensation method of three position compensation conductive hairspring disturbance torque algorithms

The object of the present invention is achieved like this:

(1) magnetic compass quick low precision orientation

Demarcated the angle of gyro motor axle and north orientation by magnetic compass, gyro service precision reaches 0.5 °, by gyro installation The angle of gyro machine axle and north orientation is given in systems in 10s；

(2) ± 1 ° of two-position orientation

On the basis of magnetic compass coarse positioning, north finder is carried out little scope ± 1 ° and rotates, it is thus achieved that measure position, position for two Put 1 and position 2, by the dynamic balance feedback current measured in torquer stator, rotor for twice, calculate the constant value moment recorded Value, and then calculate the angle of gyro machine axle and north orientation；.

(3) three position compensation conductive hairspring disturbance torques

Orientation system initial position is north orientation, when its rotation alpha angle, and in-position 2,

Orient by initial position rotate-α angle, in-position 3,

In formula: M_KFor the control moment measured；H_GFor rotation momentum, its unit is Kg m²/ s thousand；ω_ieFor the earth certainly Tarnsition velocity, its value is 72.9211 × 10^-6rad/s；For local geographic latitude；α is angle between gyroaxis and north orientation； M² _{Constant value moment}, M³ _{Constant value moment}Constant value moment for position of rotation 2 with position 3；

The constant value moment of north finder is:

Wherein: M¹ _{Constant value moment}Constant value moment for position of rotation 1；

Due to the existence of disturbance torque,

M² _{Constant value moment}=M_{Constant value moment}+ Δ M, M³ _{Constant value moment}=M_{Constant value moment}-Δ M,

Disturbance torque is:

Δ M=M³ _{Constant value moment}-M² _{Constant value moment},

Being compensated directional angle is:

Δ α is i.e. the compensation to guide's silk disturbance torque.

The beneficial effects of the present invention is:

The present invention solves the demand of the multiple application of above-mentioned north finder device, in the premise not changing main body instrument and hardware Under, propose and devise two-position slewing and compensate the algorithm of guide's silk disturbance torque, to realize improving orientation system essence Degree, meets the demand of quickly response.

Accompanying drawing explanation

Fig. 1 is that the north finder of patent of the present invention rotates schematic diagram.

Fig. 2 is the particular flow sheet of the present invention.

Specific implementation method

Below in conjunction with the accompanying drawings the present invention is described further:

After north finder starts, carry out fast rough with magnetic compass, make north finder navigate to position 1；Then one is rotated Low-angle α, makes north finder in-position 2, to carry out data acquisition in position 1 and position 2 respectively, carries out seeking north calculating, is sought North instrument seek north moment；Rotate north finder to-α, i.e. position 3, by 3 position torque analysis, available caused by silk of conducting a sightseeing tour Disturbance torque, then can calculate the offset angle compensated required for this moment, to improve system accuracy.

1, magnetic compass quick low precision orientation

Under comprehensive state, the orientation moment experienced due to gyro sensitive element is different, causes measuring range relatively big, This just brings the polynomial system deviations such as force feedback loop, for reducing system approach error as far as possible, need to predict gyro as far as possible Motor drive shaft and the angle of north orientation, along with the raising of geomagnetic sensor precision, the magnetic compass that cost performance is higher obtains in multiple fields Having arrived application, through the demarcation to magnetic compass, its service precision reaches 0.5 °, and being installed by this sensor in systems can be The angle of gyro machine axle and north orientation is given, first with it as the thickest orientation sensor in the present invention, for rear in 10s Continuous high-acruracy survey creates fasting conditions.

2, little scope (± 1 °) two-position orientation algorithm

On the basis of magnetic compass coarse positioning, north finder is carried out little scope rotation, it is thus achieved that measure position, position 1 for two With position 2, by the dynamic balance feedback current in twice measurement torquer stator, rotor, calculate the constant value moment values recorded, And then calculate the angle of gyro machine axle and north orientation, reach to orient purpose.This process employs two-position oriented solution to calculate calmly To moment, thus resolving the angle of gyro machine axle and north orientation, usually, orientation time is not more than 5 minutes, and this orientation time wraps Time, force feedback loop equilibration time, sampling time, rotational time etc. are floated containing motor starting time, magnetic.

3, three position compensation conductive hairspring disturbance torque

North finder applies rotor case sensing assembly, for completing transmission and the power supply of signal, have employed disturbance torque relatively Few guide's silk device, has the shadows such as the dependency with corner, gyroscopic procession moment, system decorating position due to its disturbance torque Ringing, cause the center balance point position of the equilibrium point not conductive hairspring of force feedback loop, this just causes conductive hairspring interference The existence of moment, this error and the material of conductive hairspring, install, the process control procedure such as welding relevant, but its necessary being, but It has symmetry, uses corner mode can offset its impact.

Assume that orientation system initial position is north orientation, when its rotation alpha angle, in-position 2, obtain equation below:

Orient and rotated-α angle, in-position 3 by initial position, obtain equation below:

In formula: M_KFor the control moment measured；H_GFor rotation momentum, its unit is Kg m²/ s thousand；ω_ieFor the earth certainly Tarnsition velocity, its value is 72.9211 × 10^-6rad/s；For local geographic latitude；α is angle between gyroaxis and north orientation； M² _{Constant value moment}, M³ _{Constant value moment}Constant value moment for position of rotation 2 with position 3.

The constant value moment of north finder is:

Wherein: M¹ _{Constant value moment}Constant value moment for position of rotation 1.

Due to the existence of disturbance torque, M² _{Constant value moment}=M_{Constant value moment}+ Δ M, M³ _{Constant value moment}=M_{Constant value moment}-Δ M, it can thus be appreciated that perturbed force Square:

Δ M=M³ _{Constant value moment}-M² _{Constant value moment}

So, can obtain compensation directional angle is:

Δ α is i.e. the compensation to guide's silk disturbance torque.

Claims (1)

1. a north finder comprehensive slewing and torque compensation method, it is characterised in that comprise the steps:

(1) magnetic compass quick low precision orientation

Demarcated the angle of gyro motor axle and north orientation by magnetic compass, gyro service precision reaches 0.5 °, by gyro installation is being System is given in 10s the angle of gyro machine axle and north orientation, quickly provides the north orientation of coarse positioning；

(2) ± 1 ° of two-position orientation

On the basis of magnetic compass coarse positioning, north finder is carried out little scope ± 1 ° and rotates, it is thus achieved that measure position, position 1 for two With position 2, by the dynamic balance feedback current in twice measurement torquer stator, rotor, calculate the constant value moment values recorded, And then calculate the angle of gyro machine axle and north orientation；

(3) three position compensation conductive hairspring disturbance torques

Orientation system initial position is north orientation, when its rotation alpha angle, and in-position 2,

Orient by initial position rotate-α angle, in-position 3,

In formula: M_KFor the control moment measured；H_GFor rotation momentum, its unit is Kg m²/ s thousand；ω_ieFor earth rotation angle Speed, its value is 72.9211 × 10^-6rad/s；For local geographic latitude；α is angle between gyroaxis and north orientation；M² _{Constant value moment}, M³ _{Constant value moment}Constant value moment for position of rotation 2 with position 3；

The constant value moment of north finder is:

Wherein: M¹ _{Constant value moment}Constant value moment for position of rotation 1；

Due to the existence of disturbance torque,

M² _{Constant value moment}=M_{Constant value moment}+ Δ M, M³ _{Constant value moment}=M_{Constant value moment}-Δ M,

Disturbance torque is:

Δ M=M³ _{Constant value moment}-M² _{Constant value moment},

Being compensated directional angle is:

Δ α is i.e. the compensation to guide's silk disturbance torque.