CN106289205B - A kind of rhumb self-operated measuring unit - Google Patents
A kind of rhumb self-operated measuring unit Download PDFInfo
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- CN106289205B CN106289205B CN201610640263.8A CN201610640263A CN106289205B CN 106289205 B CN106289205 B CN 106289205B CN 201610640263 A CN201610640263 A CN 201610640263A CN 106289205 B CN106289205 B CN 106289205B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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Abstract
The invention discloses a kind of rhumb self-operated measuring units, including compass circle, optical azimuth device, automatic angle measurement integrated apparatus and host computer application system.The optical azimuth device is mounted on compass circle；The automatic angle measurement integrated apparatus is made of target bearing sensor, information processing system, display unit, communication interface, control system and power supply system；The automatic angle measurement integrated apparatus is mounted on the left of optical azimuth device, and the azimuth sensitivity axis of target bearing sensor is consistent with the optical laying axis direction of optical azimuth device and rotation is synchronous, the azimuth of target that synchronous sensing optical azimuth device aims at；The host computer application system is exchanged by communication interface with automatic angle measurement integrated apparatus progress navigation information and result calculates.Rhumb self-operated measuring unit does not influence the original use of traditional rhumb instrument, realizes rhumb instrument target bearing angle observation and location Calculation automation, and the degree of automation greatly improves.
Description
Technical field
The present invention relates to navigation field of measuring technique, and in particular to a kind of rhumb self-operated measuring unit.
Background technique
Currently, all naval vessels are equipped with rhumb instrument, although modern airmanship continues to develop, rhumb instrument by
It is used as one of means of guaranteeing the minimum of naval vessels and marine navigation always in its independence and high reliability, better equipment there is no to replace
It.But traditional rhumb instrument has the following disadvantages: that observation information needs people by human brain memory, observed result in use
Work draws calculation, and the degree of automation is seriously relatively low.In e Maritime Navigation Era, it cannot preferably meet the demand of guaranteeing the minimum.
Summary of the invention
For the above-mentioned prior art, it is an object of that present invention to provide a kind of rhumb self-operated measuring units, do not change sieve
Through azimuth device original structure, rhumb instrument is not influenced and was used originally, realize the automatic of traditional rhumb instrument azimuth of target
Measurement, is automatically sensed observation information, automatically processes observation information, transmit observation information automatically, carry out location Calculation automatically, automatically
Change degree greatly improves.
In order to solve the above technical problems, the present invention is achieved by the following scheme:
A kind of rhumb self-operated measuring unit includes: the integrally makeup of compass circle, optical azimuth device, automatic angle measurement
It sets and host computer application system.The optical azimuth device is mounted on compass circle；The automatic angle measurement integrated apparatus by
Target bearing sensor, information processing system, display unit, communication interface, control system and power supply system composition.
The automatic angle measurement integrated apparatus has azimuth reference by oneself, is mounted on the left of optical azimuth device, it is desirable that target bearing
The azimuth sensitivity axis of sensor is consistent with the optical laying axis direction of optical azimuth device and rotation is synchronous, synchronous sensing optics orientation
The azimuth of target that instrument aims at.
The information processing system acquires the azimuth information of target bearing sensor in real time, is changed after calibration according to computation model
It is counted as target bearing angle information, calibration benchmark can be sieve north benchmark, magnetic north benchmark or celestial body azimuth benchmark.
The communication interface link information processing system, establishes rhumb self-operated measuring unit and host computer application system
Communication, host computer application system carries out navigation information exchange (write-in by communication interface and rhumb self-operated measuring unit
Time calibration information, reads and observes location information etc. write-in calculated azimuth of celestial body), then determined according to observation location information
Position result calculates.
The control system link information processing system, sends a control signal to information processing system, certainly to rhumb
Dynamic measuring device carries out working state control；The display unit link information processing system is used to display information processor system
The target observation signal of output.
The power supply system is target bearing sensor, information processing system, display unit, communication interface and control system
Unified power supply, power supply system have rechargeable function.
Compared with prior art, beneficial effects of the present invention:
The present invention uses MEMS (MEMS) technology, does not change rhumb instrument existing structure, does not influence compass side
It is azimuthal certainly to realize rhumb instrument observed object using MEMS gyroscope and fluxgate sensor for the position original use of instrument
Dynamic measurement realizes the observation positioning measuring and calculating automation of rhumb instrument, compares, automate with traditional rhumb instrument observation positioning
Degree significantly improves.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of embodiment of rhumb self-operated measuring unit proposed by the invention；
Fig. 2 is the angle measuring principle figure of rhumb self-operated measuring unit shown in Fig. 1.
Specific embodiment
A specific embodiment of the invention is described in detail with reference to the accompanying drawing.It is disclosed in this specification all
Feature or disclosed all methods or in the process the step of, can be with other than mutually exclusive feature and/or step
Any mode combines.
The present invention will be further described with reference to the accompanying drawing:
Embodiment 1
Fig. 1 is a kind of structural schematic diagram of embodiment of Digital Bearing Compass proposed by the invention.Compass side of the invention
Position automatic measuring includes compass circle 1, optical azimuth device 2, automatic angle measurement integrated apparatus 10 and host computer application system 7.
The optical azimuth device 2 is mounted on compass circle 1；The automatic angle measurement integrated apparatus 10 by target bearing sensor 3,
Information processing system 4, display unit 5, communication interface 6, control system 8 and power supply system 9 form.
The automatic angle measurement integrated apparatus 10 has azimuth reference by oneself, is mounted on 2 left side of optical azimuth device, it is desirable that target side
The azimuth sensitivity axis of level sensor 3 is consistent with the optical laying axis direction of optical azimuth device 2 and rotation is synchronous, synchronous sensing optics
The azimuth of target that azimuth device 2 aims at.
The information processing system 4 acquires the azimuth information of target bearing sensor 3 in real time, according to computation model after calibration
It is converted into target bearing angle information, calibration benchmark can be sieve north benchmark, magnetic north benchmark or celestial body azimuth benchmark.The display
5 link information processing system 4 of unit, for the target observation signal of display information processor system output.
The 6 link information processing system 4 of communication interface, establishes rhumb self-operated measuring unit and host computer application is
The communication of system 7, host computer application system 7 carry out navigation information exchange by communication interface and rhumb self-operated measuring unit
(write time calibration information, reads observation location information etc. at write-in calculated azimuth of celestial body), then according to observation location information into
Row positioning result calculates.
The control system 8 is made of control button and control software, and control button link information processing system 4 is sent
Signal is controlled to information processing system 4, working state control is carried out to rhumb self-operated measuring unit.In order to make the present embodiment
Rhumb self-operated measuring unit structure it is simple, it is easy to operate, control button can respectively with " clicking ", " double-click " or
" deletion " three kinds of different push-botton operations realize " measurement ", " calibration " or " deletion " three kinds of function controls.
The power supply system 9 is target bearing sensor 3, information processing system 4, display unit 5, communication interface 6 and control
System 8 processed is unified to power, and power supply system 9 has rechargeable function.
Fig. 2 is the angle measuring principle figure of rhumb self-operated measuring unit shown in Fig. 1, in figure ---
B1--- true bearing, on the basis of geographical north；
B2--- compass bearing, on the basis of compass north；
B3--- microelectromechanicgyroscope gyroscope orientation, on the basis of microelectromechanicgyroscope gyroscope north；
B4--- magnetic azimuth, on the basis of magnetic north；
Δ21--- compass error, Δ21=B1-B2；
Δ23--- reference difference, Δ23=B3-B2
B3、B4It can be provided in real time by the target bearing sensor 3.
When observation positioning, power switch " ON/OFF " booting of long-pressing power supply system 9, rhumb self-operated measuring unit is opened
Beginning work.It initializes first, host computer application system 7 carries out rhumb self-operated measuring unit by communication interface 6 initial
Change parameter setting, comprising: time setting, compass error Δ12Setting and mode setting.Mode setting is divided into " compass north reference mode "
" celestial body azimuth reference mode ", by calculated azimuth of celestial body value BtIt determines, Bt=0 ° is " compass north reference mode ", Bt≠ 0 ° is
" celestial body azimuth reference mode ", system default mode are " compass north reference mode ", and after the completion of initialization, rhumb is surveyed automatically
Amount device carries out entering corresponding operating mode.
" compass north reference mode " workflow is as follows ---
Step 1: measurement " reference difference "." reference difference " is the poor Δ of compass benchmark Yu microelectromechanicgyroscope gyroscope benchmark23.Measuring method
It is: aims at 0 ° or 180 ° of compass circle 1 nearby by manipulation optical azimuth device 2, double-click control button, information processing system
4 are automatically measured " reference difference ".For aiming at 0 ° of compass circle: rotation optical azimuth device aims at compass circle
At 0 °, the control button of control system 8 is double-clicked, at this point, information processing system 4 is according to magnetic north reference bearing information B40 ° of size
≤B4≤ 90 ° or 270 °≤B4It is 0 ° that≤360 °, which judge automatically out be aligned just now, then according to formula Δ23=0 ° of-B3=-B3
Calculate reference difference Δ23, and minute and reference difference Δ23Record saves together, while in 5 real-time display B of display unit1
=B3+Δ23+Δ21, wherein Δ21For the compass error set when system initialization.Hereafter system formally enters observation positioning states；
Step 2: starting to observe.As the observation landmark fix of traditional rhumb, when 2 run-home of optical azimuth device,
The control button of control system 8 is clicked, that is, completes a target bearing observation.At this point, information processing system 4 records sight simultaneously
Survey time and B1, B1=B3+Δ23+Δ21(the drift compensation for needing to carry out microelectromechanicgyroscope gyroscope), observation data (time, orientation)
Display unit 5 is sent to show and save.
After completing the measurement of single target bearing, the rhumb self-operated measuring unit is automatically into observing shape next time
State waits and aims at determination.It is successively reciprocal, until observation terminates.If it find that this observation error is larger, system can be controlled with long-pressing
The control button of system 8, information processing system 4 will delete this observed result.
Step 3: uploading observed result.At the end of observation, host computer application system 7 can read sieve by communication interface 6
The observation information of classical prescription level auto measurer storage, calculates positioning result automatically.
Step 4: at the end of positioning, the power switch " ON/OFF " of long-pressing power supply system 9 shuts down.
When compass error Δ12When insincere, rhumb self-operated measuring unit of the present invention can also work in " celestial body azimuth base
Quasi-mode ".When system initialization, other than time setting, the computer azimuth B of observation celestial body is also sett, meet Bt≠ 0 °, together
When by compass error Δ21Zero setting.Here, the computer azimuth for observing celestial body can be set in advance, and be because celestial body azimuth is in a timing
Between vary less in range.Under this mode, it is necessary to redeterminate compass error Δ using celestial body21.Determination step is as follows ---
Step 1: measurement reference difference Δ23.Measuring method is the same, this is sentenced for 180 ° of compass circle of aiming: rotation light
Azimuth device is learned, when aiming at 180 ° of compass circle, the control button of control system 8 is double-clicked, at this point, 4 basis of information processing system
Magnetic north reference bearing information B490 °≤B of size4It is 180 ° that≤270 °, which judge automatically out be aligned just now, then according to formula
Δ23=180 ° of-B3Calculate reference difference Δ23, and minute and reference difference Δ23Record saves together, while single in display
5 real-time display B of member2=B3+Δ23。
Step 2: compass error by celo-observation.Optical azimuth device is rotated, when optical azimuth device 2 aims at celestial body, clicks control system
Automatically determining for a compass error by celo-observation can be completed as normal observation target bearing in 8 control button.At this point, information
Processing system 4 is according to Δ21=Bt-B2=Bt-(B3+Δ23) calculate compass error Δ21, observation time and compass error Δ21It saves
In respective memory unit；By BtValue zero, cancel " celestial body azimuth reference mode "；Further B1=B3+Δ23+Δ21It (needs
Carry out the drift compensation of microelectromechanicgyroscope gyroscope) it is sent to 5 Dynamically Announce of display unit in real time, system comes back to " compass north benchmark
Mode ".
It should be understood that the compass error Δ of " celestial body azimuth reference mode "21Measurement, by system according to BtValue automatically into
Row judgement, for survey person, compared to " compass north reference mode ", in addition to Initialize installation is different other than, remaining operation with
" compass north reference mode " is identical, and such design is entirely in order to which user is easy to use.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Belong to those skilled in the art in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, all answers
It is included within the scope of the present invention.
Claims (5)
1. a kind of rhumb self-operated measuring unit, including compass circle, optical azimuth device and host computer application system, described
Optical azimuth device is mounted on compass circle, which is characterized in that further includes automatic angle measurement integrated apparatus, the automatic angle measurement
Integrated apparatus is by target bearing sensor, information processing system, display unit, communication interface, control system and power supply system
Composition；
The automatic angle measurement integrated apparatus is mounted on the left of optical azimuth device；The target bearing sensor has orientation base by oneself
The optical laying axis direction of standard, azimuth sensitivity axis and optical azimuth device is consistent and rotation is synchronous, synchronous sensing optical azimuth device
The azimuth of target of aiming；
The information processing system acquires the azimuth information of target bearing sensor in real time, is converted into after calibration according to computation model
The benchmark of target bearing angle information, calibration includes at least sieve north benchmark, magnetic north benchmark or celestial body azimuth benchmark；
When observation positioning, power switch " ON/OFF " booting of long-pressing power supply system, rhumb self-operated measuring unit starts work
Make；It initializes first, host computer application system carries out initiation parameter to rhumb self-operated measuring unit by communication interface
Setting, comprising: time setting, compass error Δ21Setting and mode setting；Mode setting is divided into " compass north reference mode " and " day
Body azimuth reference mode ", by calculated azimuth of celestial body value BtIt determines, Bt=0 ° is " compass north reference mode ", Bt≠ 0 ° is " celestial body
Azimuth reference mode ", system default mode is " compass north reference mode ", after the completion of initialization, rhumb automatic measurement dress
It sets and carries out entering corresponding operating mode；
" compass north reference mode " workflow is as follows ---
Step 1: measurement " reference difference "；" reference difference " is the poor Δ of compass benchmark Yu microelectromechanicgyroscope gyroscope benchmark23；Measuring method is:
0 ° or 180 ° for aiming at compass circle nearby by manipulating optical azimuth device, double-clicks control button, and information processing system is automatic
" reference difference " is measured；For aiming at 0 ° of compass circle: rotation optical azimuth device, when aiming at 0 ° of compass circle,
The control button for double-clicking control system, at this point, information processing system is according to magnetic north reference bearing information B40 °≤B of size4≤
90 ° or 270 °≤B4It is 0 ° that≤360 °, which judge automatically out be aligned just now, then according to formula Δ23=0 ° of-B3=-B3It calculates
Reference difference Δ23, and minute and reference difference Δ23Record saves together, while in display unit real-time display B1=B3+
Δ23+Δ21, wherein Δ21For the compass error set when system initialization, hereafter system formally enters observation positioning states；
Step 2: starting to observe；As the observation landmark fix of traditional rhumb, when optical azimuth device run-home, control is clicked
The control button of system processed completes a target bearing observation；At this point, information processing system simultaneously record observation time and
B1, B1=B3+Δ23+Δ21, observation data are sent to display unit and shows and saves；
After completing the measurement of single target bearing, the rhumb self-operated measuring unit automatically into observation state next time, etc.
Determination to be aimed at；It is successively reciprocal, until observation terminates；If it find that this observation error is larger, it can be with long-pressing control system
Control button, information processing system will delete this observed result；
Step 3: uploading observed result；At the end of observation, host computer application system can read rhumb by communication interface
The observation information of self-operated measuring unit storage, calculates positioning result automatically；
Step 4: at the end of positioning, the power switch " ON/OFF " of long-pressing power supply system shuts down；
When compass error Δ21When insincere, rhumb self-operated measuring unit can also work at " celestial body azimuth reference mode "；System
When system initialization, other than time setting, the computer azimuth B of observation celestial body is also sett, meet Bt≠ 0 °, while by compass error
Δ21Zero setting；Here, the computer azimuth for observing celestial body can be set in advance, and be because celestial body azimuth becomes within the scope of certain time
Change very little；Under this mode, it is necessary to redeterminate compass error Δ using celestial body21；Determination step is as follows ---
Step 1: measurement reference difference Δ23；Measuring method is the same, this is sentenced for 180 ° of compass circle of aiming: rotation optics side
Position instrument double-clicks the control button of control system, at this point, information processing system is according to magnetic north base when aiming at 180 ° of compass circle
Quasi- azimuth information B490 °≤B of size4It is 180 ° that≤270 °, which judge automatically out be aligned just now, then according to formula Δ23=
180°-B3Calculate reference difference Δ23, and minute and reference difference Δ23Record saves together, while real-time in display unit
Show B2=B3+Δ23；
Step 2: compass error by celo-observation；Optical azimuth device is rotated, when optical azimuth device aims at celestial body, clicks the control of control system
Automatically determining for a compass error by celo-observation can be completed as normal observation target bearing in button processed；At this point, information processing
System is according to Δ21=Bt-B2=Bt-(B3+Δ23) calculate compass error Δ21, observation time and compass error Δ21It is stored in phase
Answer storage unit；By BtValue zero, cancel " celestial body azimuth reference mode "；Further B1=B3+Δ23+Δ21It is sent in real time
Display unit Dynamically Announce, system come back to " compass north reference mode "；
It is above-mentioned it is all during, the meaning of each letter is as follows:
B1--- true bearing, on the basis of geographical north；
B2--- compass bearing, on the basis of compass north；
B3--- microelectromechanicgyroscope gyroscope orientation, on the basis of microelectromechanicgyroscope gyroscope north；
B4--- magnetic azimuth, on the basis of magnetic north；
Δ21--- compass error, Δ21=B1-B2；
Δ23--- reference difference, Δ23=B3-B2；
B3、B4It is provided in real time by the target bearing sensor.
2. a kind of rhumb self-operated measuring unit according to claim 1, it is characterised in that: the communication interface connection
Information processing system establishes the communication of rhumb self-operated measuring unit Yu host computer application system；Host computer application system
System carries out navigation information exchange by communication interface and rhumb self-operated measuring unit, is positioned according to observation location information
As a result it calculates.
3. a kind of rhumb self-operated measuring unit according to claim 2, it is characterised in that: the control system connection
Information processing system sends a control signal to information processing system, carries out working condition control to rhumb self-operated measuring unit
System.
4. a kind of rhumb self-operated measuring unit according to claim 3, it is characterised in that: the display unit connection
Information processing system, for the target observation signal of display information processor system output.
5. a kind of rhumb self-operated measuring unit according to claim 4, it is characterised in that: the power supply system is mesh
The unified power supply of aspect sensor, information processing system, display unit, communication interface and control system is marked, power supply system has can
Charge function.
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| CN107504940A (en) * | 2017-07-14 | 2017-12-22 | 中国人民解放军镇江船艇学院 | For measuring the simulated compass and its azimuth measuring method of target bearing on ring curtain |
| CN110361706B (en) * | 2019-07-02 | 2021-03-12 | 中国人民解放军陆军炮兵防空兵学院郑州校区 | Radar antenna array surface normal azimuth angle measuring device and method |
| CN115112087A (en) * | 2022-06-22 | 2022-09-27 | 四川九天惯通科技有限公司 | Multi-channel digital azimuth instrument |
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| US7268700B1 (en) * | 1998-01-27 | 2007-09-11 | Hoffberg Steven M | Mobile communication device |
| US7826999B1 (en) * | 2007-08-20 | 2010-11-02 | Pni Corporation | Magnetic tilt compensated heading compass with adaptive zoffset |
| CN202013195U (en) * | 2011-03-24 | 2011-10-19 | 中国人民解放军海军潜艇学院 | Multi-functional self-contained navigator |
| CN202648649U (en) * | 2012-06-08 | 2013-01-02 | 翟立新 | Target aspect sensor |
| CN206132066U (en) * | 2016-08-05 | 2017-04-26 | 四川汉星航通科技有限公司 | Rhumb automatic measuring device |
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