CN107462264B - Dynamic gyro north-seeking calibration device - Google Patents
Dynamic gyro north-seeking calibration device Download PDFInfo
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- CN107462264B CN107462264B CN201710789068.6A CN201710789068A CN107462264B CN 107462264 B CN107462264 B CN 107462264B CN 201710789068 A CN201710789068 A CN 201710789068A CN 107462264 B CN107462264 B CN 107462264B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The invention relates to a dynamic gyro north-seeking calibration device, which adopts an observing and aiming device and at least one aimed device. The invention adopts GNSS all-weather real-time positioning and orientation functions, utilizes RTK technology and split orientation technology, can realize high-precision orientation in a shorter base line, combines high-precision photoelectric sighting equipment to realize high-precision north orientation, is randomly distributed in open sites for calibration, is not limited by the sites, does not need to calibrate for long-time work of the equipment, has low maintenance cost, and can realize high-precision north orientation in a short distance. The invention can calibrate gyro devices with different precision and has quick calibration. For the above reasons, the invention can be widely applied to the technical field of gyro inspection and calibration.
Description
Technical Field
The invention relates to the technical field of gyroscope checking and calibrating, in particular to a dynamic gyroscope north-seeking calibrating device.
Background
The north seeking method mainly uses the principle that the gyroscope has directionality and precession, under the influence of low rotation effective components of the gyroscope in the earth rotation process, the main shaft of the gyroscope always precesses towards the meridian plane direction, and can keep continuous and unattenuated elliptic simple harmonic oscillation nearby the meridian plane, and an included angle with true north is finally obtained through rough orientation, precise orientation by utilizing the characteristic, and the included angle is the north seeking azimuth angle output by the gyroscope. Because the gyroscope is limited by the technology of process manufacturing, the output azimuth angles of the gyroscope have indication deviations with different degrees, the gyroscope needs to be checked and calibrated regularly, and the gyroscope needs to be checked and calibrated before the gyroscope leaves the factory and enters the factory with the gyroscope.
With the rapid development of GNSS (Global Navigation Satell ite System ) satellite positioning technology, there is an increasing demand for rapid and high-precision position information. The most widely used high-precision positioning technology is RTK (Real-Time Kinematic), and the key of the RTK technology is that the carrier phase observables of Beidou/GPS are used, the spatial correlation of the observation errors between a reference station and a mobile station is utilized, and most of the errors in the observation data of the mobile station are removed in a differential mode, so that the positioning of high-precision centimeter level is realized.
The RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observation values, and can provide three-dimensional positioning results of a measuring station in a specified coordinate system in real time and achieve centimeter-level precision. In the RTK mode of operation, the reference station transmits its observations along with station coordinate information to the rover through a data link. The mobile station not only receives the data from the reference station through the data link, but also acquires GPS observation data, and forms a differential observation value in the system to carry out real-time processing, and simultaneously gives a centimeter-level positioning result for less than one second. The mobile station may be in a stationary state or in a moving state; the method can be used for carrying out initialization on a fixed point and then entering dynamic operation, or can be used for directly starting up under a dynamic condition and completing searching and solving of whole-cycle ambiguity under a dynamic environment. After the whole unknown number solution is fixed, real-time processing of each epoch can be performed, and the mobile station can give centimeter-level positioning results at any time as long as tracking and necessary geometric figures of more than four satellite phase observation values can be maintained. The RTK high-precision positioning technology is utilized to realize high-precision relative positioning between two points (a reference station and a mobile station), an included angle between a connecting line of the two points and true north can be obtained through calculation, and the gyroscopes with different precision can be inspected and calibrated by adjusting the distance between the reference station and the mobile station.
The north-seeking calibration of the gyroscope at present adopts astronomical direction angle calibration and static calibration.
The north seeking of the existing gyro mainly has the following problems:
(1) The astronomical calibration mechanism is heavy and relatively complex to operate; the real-time dynamic north seeking calibration cannot be performed;
(2) Static calibration can only be put at a fixed point and cannot be moved at will;
the above results occur mainly for the following reasons:
(1) Because astronomical observation is needed for north seeking, the device is easy to be influenced by weather;
(2) The calibration direction is calibrated in advance and cannot be moved randomly.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the problems that in the prior art, the north seeking of the gyro device is influenced by weather and can not move randomly after the position is set, the invention provides a dynamic gyro north seeking calibration device for solving the problems.
The invention adopts the technical proposal for solving the technical problems that: a dynamic gyro north-seeking calibration device is characterized in that: it comprises an observing and aiming device and at least one aimed device; the viewing equipment comprises a first tripod, a high-precision GNSS positioning photoelectric viewing instrument, a gyro mounting mechanism, a first antenna connector and a first GNSS antenna, wherein gyro equipment to be detected is arranged on the gyro mounting mechanism; the first GNSS antenna and the gyro installation mechanism are connected together by adopting the first antenna connector according to a central symmetry principle; the high-precision GNSS positioning photoelectric sighting instrument and the gyro mounting mechanism are connected together according to a central symmetry principle to form horizontal coaxial rotation of the high-precision GNSS positioning photoelectric sighting instrument and the gyro mounting mechanism; the high-precision GNSS positioning photoelectric sighting device is arranged on the first tripod and comprises first high-precision photoelectric sighting equipment which comprises a sighting telescope mechanism and a laser red light emitter; each aimed device comprises a second tripod, a high-precision GNSS wireless locator, a second antenna connector, a second GNSS antenna and an aimed rod, wherein the aimed rod is arranged in an aiming range of the sighting telescope mechanism and the laser infrared transmitter; wherein the aimed rod is arranged on the geometric center of the second GNSS antenna; the second GNSS antenna and the high-precision GNSS wireless locator are connected together through the second antenna connector by adopting a central symmetry principle, and the high-precision GNSS wireless locator is arranged on the second tripod.
The gyro installation mechanism comprises two slide rails and four adjustable clamps; the two sliding rails are arranged on two sides above the high-precision GNSS positioning photoelectric sighting instrument, and the sliding rails are hollow sliding ways; the adjustable clamp comprises a sliding block, a screw rod, a top block and a hand wheel; two sliding blocks are sleeved outside the sliding rail at one side; the middle of each sliding block passes through a threaded screw rod; one end of each screw rod is provided with a top block, the top blocks are attached to the outer side of the gyro device to be tested, the gyro device to be tested is clamped through the four top blocks, and the north direction of the gyro device to be tested is consistent with the direction of the sighting telescope mechanism; the other end of each screw rod is connected with the hand wheel.
The aimed rod comprises an aimed rod switch, an aimed rod battery, an LED lamp, a vertical line-marking column and a transparent material; the aimed rod switch is connected with the aimed rod battery, the aimed rod battery is connected with the LED lamp, and the aimed rod switch is used for controlling the LED lamp to be turned on and off; the LED lamp is characterized in that the vertical wire marking column is arranged below the LED lamp, a cross scribing line is arranged on the vertical wire marking column, and the transparent material is arranged on the periphery of the vertical wire marking column.
The transparent material is transparent plastic or transparent glass.
The high-precision GNSS positioning photoelectric sighting instrument comprises a first display device, a first high-precision GNSS positioning instrument, a first high-precision photoelectric sighting device, a first wireless communication device and a first main control device; the first main control device is respectively connected with the first display device, the first high-precision GNSS positioning instrument, the first high-precision photoelectric sighting device and the first wireless communication device; the first display device adopts an OLED display screen or an LCD display screen; the first high-precision GNSS positioning instrument adopts Beidou positioning equipment or GPS positioning equipment with a difference function; the first high-precision photoelectric sighting device adopts a theodolite; the first wireless communication equipment adopts a data transmission radio station, wireless network bridge equipment or 2G/3G/4G network equipment; the first master control device adopts an arm processor or an x86 embedded processor.
The precision of the first high-precision GNSS positioning instrument in the positioning horizontal direction is less than or equal to 1cm in the RTK mode.
The high-precision GNSS wireless locator comprises a second display device, a second high-precision GNSS locator, a second wireless communication device and a second main control device; the second main control device is respectively connected with the second display device, the second high-precision GNSS locator and the second wireless communication device; the second display device adopts an OLED display screen, an LCD display screen or an LED indicator lamp; the second high-precision GNSS positioning instrument adopts Beidou positioning equipment or GPS positioning equipment with a difference function; the second wireless communication equipment adopts a data transmission radio station, wireless network bridge equipment or 2G/3G/4G network equipment; the second main control equipment adopts an arm processor or an x86 embedded processor.
And the precision of the second high-precision GNSS positioning instrument in the positioning horizontal direction is less than or equal to 1cm in the RTK mode.
The optimal observation distance between the observing device and the observed device is 100-300 m.
The beneficial effects of the invention are as follows: 1. the invention adopts the split type arrangement of the sighting device and the sighting device, avoids the trouble of calibration, can randomly zoom in or zoom out the distance, and adjusts the distance between the sighting device and the sighting device according to different north-seeking precision requirements, so long as the sighting telescope mechanism in the sighting device can see the sighting rod in the sighting device. The invention adopts GNSS all-weather real-time positioning and orientation functions, utilizes RTK technology and split orientation technology, can realize high-precision orientation in a shorter base line, combines high-precision photoelectric sighting equipment to realize high-precision north orientation, is randomly distributed in open sites for calibration, is not limited by the sites, does not need to calibrate for long-time work of the equipment, has low maintenance cost, and can realize high-precision north orientation in a short distance. 2. According to the invention, the aimed rod is adopted, an aimed rod switch in the aimed rod is connected with an aimed rod battery, the aimed rod battery is connected with the LED lamp, and the aimed rod switch is used for controlling the opening and closing of the LED lamp. The LED lamp below is provided with perpendicular marking post, is provided with the scale on the perpendicular marking post, and the periphery of perpendicular marking post is provided with transparent material to when the LED lamp was opened at night, the lamp light was through transparent material reflection on perpendicular marking post, the observation of being convenient for aim at night. 3. The invention adopts a gyro installation mechanism which comprises two slide rails and four adjustable clamps. The two slide rails are arranged on two sides above the high-precision GNSS positioning photoelectric sighting instrument, and the slide rails are hollow slide ways. The adjustable fixture comprises a sliding block, a screw rod, a top block and a hand wheel. Two sliding blocks are sleeved outside the sliding rail at one side; the middle of each sliding block passes through a screw rod with threads; one end of each screw rod is provided with a jacking block, the jacking block is attached to the outer side of the gyro device to be tested, and the other end of each screw rod is connected with a hand wheel. Because each ejector block is propped against the outer side of the gyro device to be detected, the gyro device to be detected is clamped by four adjustable clamps, and the north direction of the gyro device to be detected is consistent with the direction of the sighting telescope mechanism. And after the position is determined, rotating the hand wheel to adjust the fixed position of the screw rod. By adopting the arrangement, the invention can calibrate gyro devices with different precision and has quick calibration. For the above reasons, the invention can be widely applied to the technical field of gyro inspection and calibration.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the overall apparatus of the present invention;
FIG. 2 is a block diagram of a high-precision GNSS positioning photoelectric viewer;
FIG. 3 is a top view of the top mount mechanism;
FIG. 4 is a right side view of FIG. 3;
FIG. 5 is a right side rear view of FIG. 3;
FIG. 6 is a schematic diagram of a high-precision GNSS radio positioning instrument;
FIG. 7 is a schematic view of the structure of the rod being aimed;
FIG. 8 is a schematic diagram of a north coordinate calculation;
FIG. 9 is a schematic diagram of a high-precision GNSS positioning photo-viewer according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a high-precision GNSS wireless locator according to an embodiment of the present invention;
FIG. 11 is a diagram of the positional relationship of an sighting device and a sighted device in accordance with one embodiment of the present invention;
FIG. 12 is a diagram of the positional relationship of an sighting device and a sighted device in accordance with another embodiment of the present invention;
fig. 13 is a diagram showing a positional relationship between an observing and aiming device and an aimed device according to another embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in fig. 1, the invention comprises an sighting device 1 and at least one sighting device 2.
The viewing device 1 comprises a first tripod 11, a high precision GNSS positioning photo-viewer 12, a gyro mounting mechanism 13, a first antenna connector 14 and a first GNSS antenna 15.
The first GNSS antenna 15 and the gyro mounting mechanism 13 are connected together by using a first antenna connector 14 according to a central symmetry principle, the high-precision GNSS positioning photoelectric sighting device 12 and the gyro mounting mechanism 13 are connected together according to a central symmetry principle, and the high-precision GNSS positioning photoelectric sighting device 12 is disposed on the first tripod 11. Since the gyro mounting mechanism 13 is provided on the photoelectric viewer 12 positioned in the horizontal direction using the high-precision GNSS, it is possible to realize both of them to be rotated horizontally and coaxially one by one.
As shown in fig. 2, the high-precision GNSS positioning photo-viewer 12 includes a first display device 121, a first operation button 122, a first battery 123, a first high-precision GNSS positioning device 124, a first high-precision photo-viewer device 125, a first leveling device 126, a first wireless communication device 127, and a first master control device 128.
The first main control device 128 is connected to the first display device 121, the first operation button 122, the first battery 123, the first high-precision GNSS positioning apparatus 124, the first high-precision photoelectric sighting device 125 and the first wireless communication device 127, respectively. The first leveling device 126 is used for adjusting a level line of the high-precision GNSS positioning photo-viewer 12 at 90 ° with respect to a gravitational line, and is used for connecting the first tripod 11.
As shown in fig. 2, the first high precision photoelectric viewing device 125 includes a horizontal coarse adjustment mechanism 1251, a horizontal fine adjustment mechanism 1252, a horizontal encoder 1253, a vertical coarse adjustment mechanism 1254, a vertical fine adjustment mechanism 1255, a vertical direction encoder 1256, a telescope mechanism 1257, and a laser red light emitter 1258, the laser red light emitter 1258 being disposed above the telescope mechanism 1257. The first high-precision photoelectric observation device 125 adopts a theodolite, and the components described in the first high-precision photoelectric observation device 125 are all included in the theodolite, so that the details are not repeated. The horizontal encoder 1253, the vertical encoder 1256, and the laser infrared transmitter 1258 are respectively connected to the first master control device 128.
In the above-described embodiment, the first display device 121 may employ a display screen including, but not limited to, an OLED (Organic Light-Emitting Diode), an Organic Light-Emitting Diode, also referred to as an Organic laser display, an Organic Light-Emitting semiconductor, and a LCD (Liquid Crystal Display) display screen.
In the above embodiment, the first high-precision GNSS positioning apparatus 124 positions the horizontal direction with a precision of 1cm or less in the RTK mode. The first high-precision GNSS locator 124 may employ a Beidou locator device including, but not limited to, a differential function and a GPS locator device.
In the above embodiment, the first high precision photoelectric sighting device 125 may be used including, but not limited to, theodolites such as southern theodolite DT-05 and self-lapping devices.
In the above embodiments, the first wireless communication device 127 may employ devices including, but not limited to, a data transfer station, a wireless bridge device, and a 2G/3G/4G network device.
In the above embodiments, the first master device 128 may employ a system including, but not limited to, an arm processor and an x86 embedded processor.
As shown in fig. 3, gyro mount mechanism 13 includes two slide rails 131 and four adjustable clamps 132.
As shown in fig. 4, two sliding rails 131 are disposed on two sides above the high-precision GNSS positioning photoelectric viewer 12, and the sliding rails 131 are hollow sliding ways.
As shown in fig. 5, adjustable clamp 132 includes a slider 1321, a screw 1322, a top block 1323, and a hand wheel 1324.
Two sliding blocks 1321 are sleeved outside the sliding rail 131 on one side; a threaded screw 1322 is threaded through the middle of each slide 1321; one end of each screw rod 1322 is provided with a top block 1323, and the top block 1323 is attached to the outer side of the gyro device 3 to be tested, and the other end of each screw rod 1322 is connected with a hand wheel 1324. Because each top block 1323 is propped against the outer side of the gyro device 3 to be tested, the gyro device 3 to be tested is clamped by the four adjustable clamps 132, and the north direction of the gyro device 3 to be tested is consistent with the direction of the sighting telescope mechanism 1257. After the position is determined, the handwheel 1324 is rotated to adjust the fixed position of the screw 1322.
As shown in fig. 1, each of the aimed devices 2 comprises a second tripod 21, a high-precision GNSS radio locator 22, a second antenna connector 23, a second GNSS antenna 24 and an aimed rod 25.
Wherein the aimed rod 25 is arranged on the geometrical centre of the second GNSS antenna 24. The second GNSS antenna 24 and the high-precision GNSS wireless locator 22 are connected together by a second antenna connector 23 using the principle of center symmetry, and the high-precision GNSS wireless locator 22 is disposed on the second tripod 21.
In the above embodiment, the high-precision GNSS wireless locator 22 locates the horizontal direction with a precision of 1cm or less in the RTK mode.
As shown in fig. 6, the high-precision GNSS radio locator 22 includes a second display device 221, a second operation button 222, a second battery 223, a second high-precision GNSS locator 224, a second leveling device 225, a second radio communication device 226, and a second master control device 227.
The second master control device 227 is connected to the second display device 221, the second operation button 222, the second battery 223, the second high-precision GNSS locator 224, and the second wireless communication device 226, respectively. The second leveling device 225 is used for adjusting the level of the high-precision GNSS wireless locator 22 at 90 ° with respect to the gravity line, and is used for connecting with the second tripod 21.
In the above embodiment, the second display device 221 may employ a display including, but not limited to, an OLED display, an LCD display, and an LED indicator.
In the above embodiment, the second high-precision GNSS positioning apparatus 224 positions the horizontal direction with a precision of 1cm or less in the RTK mode. The second high-precision GNSS locator 224 may employ a Beidou locator device including, but not limited to, a differential function and a GPS locator device.
In the above embodiments, the second wireless communication device 226 may employ devices including, but not limited to, a data transfer station, a wireless bridge device, and a 2G/3G/4G network device.
In the above embodiments, the second master device 227 may employ a system including, but not limited to, an arm processor and an x86 embedded processor.
As shown in fig. 7, the aimed beam 25 includes an aimed beam switch 251, an aimed beam battery 252, an LED lamp 253, a vertical scribe line 254, and a transparent material 255.
The rod-to-be-addressed switch 251 is connected with the rod-to-be-addressed battery 252, the rod-to-be-addressed battery 252 is connected with the LED lamp 253, and the rod-to-be-addressed switch 251 is used for controlling the LED lamp 253 to be turned on and off. A vertical line marking column 254 is arranged below the LED lamp 253, and a cross line marking is formed on the vertical line marking column 254 and is used for aiming the aiming mirror mechanism 1257 in the aiming device 1, so that the aiming device 1 aims at the aimed device 2. The periphery of the vertical wire pole 254 is provided with a transparent material 255, so that when the LED lamp 253 is turned on at night, the lamp light is reflected on the vertical wire pole 254 through the transparent material 255, and the night sighting and observation are facilitated.
In the above embodiments, the transparent material 255 may be, but is not limited to, transparent plastic or transparent glass.
In the above embodiment, the viewing device 1 and the aimed device 2 are placed in a visible certain distance, such as a position arbitrarily larger than 100m and smaller than 300m, according to the accuracy of the gyro device 3 to be measured, that is, the optimal viewing distance between the viewing device 1 and the aimed device 2 is between 100m and 300 m.
The invention works as follows:
1) The horizontal direction rotation torsion of the high-precision GNSS positioning photoelectric sighting device 12 is firstly opened, the high-precision GNSS positioning photoelectric sighting device 12 in the rotation sighting device 1 is aimed at an aimed rod 25 at the upper end of a second GNSS antenna 24 in the aimed device 2, fine adjustment is carried out, a cross line in a sighting telescope mechanism 1257 is used for completely aiming at a vertical line-marking column 254 on the aimed rod 25, a first horizontal adjusting device 126 is locked, and the north base line of the gyro device 3 to be measured is also pointed at the aimed rod 25 at the upper end of the second GNSS antenna 24 in the aimed device 2.
2) The high-precision GNSS positioning photoelectric sighting instrument 12 in the sighting device 1 is internally provided with a first high-precision GNSS positioning instrument 124 and a second high-precision GNSS positioning instrument 224 in the sighting device 2, the high-precision RTK positioning is realized through GNSS satellites and wireless communication equipment, direct wireless link difference is carried out between the sighting device 1 and the sighting device 2, the relative precision of two points is improved, the coordinates of the two points of the sighting device 1 and the sighting device 2 are obtained, the high-precision coordinate north direction between the two points is obtained according to the coordinates of the two points, the coordinates of the sighting device 2 are transmitted to the sighting device 1, and the main control equipment 128 in the sighting device 1 calculates the coordinate north and meridian convergence angle, so that the north direction is calculated.
A calculation formula between the north coordinate, the meridian convergence angle and the true north angle alpha is preset in the main control equipment 128; the above processes are all prior art and will not be described in detail.
As shown in fig. 8, the included angle between the two-point connecting line and true north is obtained by coordinate projection calculation, and the process of calculating the included angle α between the two-point connecting line and true north is as follows:
1. let the sighting device 1 be the origin of coordinates O (y 2, x 2) and the sighting device 2 be the point a (y 1, x 1).
2. The longitude and latitude coordinates are converted to 2000 national geodetic coordinates through coordinate conversion, the transverse axis in 2000 plane coordinates is Y, and the longitudinal axis is X.
3. The formula for calculating the north of the coordinates is as follows:
Δx＝x1-x2
Δy＝y1-y2
β＝|arctan(Δx/Δy)|
is the included angle between the connecting line of the O (y 2, X2) point and the A (y 1, X1) point and the north X coordinate
The calculation formula of the meridian convergence angle gamma comprises the following steps:
t=tan (O), O being the latitude of origin
H＝T 2
W= (L-L0) ×cos (O), L0 is the local central meridian, L is the point longitude
M＝W 2
Where a and b are both the major and minor radii of an 84 ellipsoid (WGS 84, the world geodetic coordinate system) and are known quantities and will not be described in detail.
E＝e' 2 ×(cos(O)) 2
Q＝1+E
γ＝(T×W×(1+M×((Q+E)×Q÷3+M×(2-H)÷15)))×180÷π
True north included angle alpha calculation formula:
3) The high-precision GNSS positioning photoelectric sighting telescope 12 in the sighting device 1 performs coarse adjustment and fine adjustment through the horizontal coarse adjustment mechanism 1251, the horizontal fine adjustment mechanism 1252, the vertical coarse adjustment mechanism 1254 and the vertical fine adjustment mechanism 1255 in the first high-precision photoelectric sighting telescope 125, so that the sighting telescope mechanism 1257 in the sighting device 2 aims at the sighting rod 25 at the upper end of the second GNSS antenna 24, and at the moment, the relative clear button in the first operation button 122 in the high-precision GNSS positioning photoelectric sighting telescope 12 is pressed, which is an existing component, so that the detailed description is not provided, and then the numerical value displayed on the first display device 121 is the included angle α between the two connecting lines of the current sighting device 1 and the sighting device 2 and true north;
and reading the north seeking value of the gyro device 3 to be detected, wherein the north seeking value is the included angle between the gyro north base line and true north.
And (5) recording and then comparing the north seeking value obtained by the observation equipment 1 with the north seeking value of the gyro equipment 3 to be detected.
The aimed device 2 is placed in another direction again, or the aimed device 2 is aimed to the next aimed device 2 (the aimed device 2 can be arranged according to a certain angle in an embodiment), the above steps are repeated, the data are recorded for one or more circles, and then the data are compared. Subtracting the north seeking value of the observing and aiming device 1 from the north seeking value of the plurality of groups of the gyro devices 3 to be detected, taking standard deviation (the number of samples cannot be less than 7) from the difference values, and if the number of the standard deviation is less than or equal to the nominal precision value of the gyro devices 3 to be detected, judging that the gyro devices 3 to be detected are qualified, otherwise, disqualified.
Example 1
The viewing device 1 comprises a first tripod 11, a high precision GNSS positioning photo viewer 12, a first antenna connector 14 and a first GNSS antenna 15.
As shown in fig. 9, the high-precision GNSS positioning photo-viewer 12 includes a first display device 121, a first operation button 122, a first battery 123, a first high-precision GNSS positioning device 124, a first high-precision photo-viewer device 125, a first leveling device 126, a first wireless communication device 127, and a first master control device 128.
The first display device 121 adopts a 2.4 inch 128 x 64 OLED display screen;
the first battery 123 is a 4000mAh/12V lithium battery;
the first high-precision GNSS locator 124 adopts a Beidou board card of southwest K505;
the first high-precision photoelectric sighting device 125 adopts a theodolite;
the first wireless communication device 127 adopts two complementary network communication modes of a TRP data transmission radio station (the TRP data transmission radio station is a data transmission module of Shenzhen Huaxia technology, the model is TRP) and a 4G network (the 4G network module adopts a Hua ME909u-521LTE 4G module), so that different application modes are satisfied;
the first main control device 128 adopts an ARM processor of STM32F427, and the ARM processor is connected with a theodolite (the first high-precision photoelectric sighting device 125), a Beidou board card of span K505 (the high-precision GNSS positioning device 124), a TRP data transmission radio station and a 4G network (the China is an ME909u-521 4G network module) through serial ports.
The first GNSS antenna 15 adopts a beidou satellite receiving antenna;
the high-precision photoelectric observation device 1 in the observation device 1 adopts a theodolite (the first high-precision photoelectric observation device 125), and the laser red light emitter 1258 is placed on a lens barrel of the theodolite (the first high-precision photoelectric observation device 125) and is arranged in parallel with the lens barrel.
Each of the four aimed devices 2 comprises said second tripod (21), a high-precision GNSS radio locator 22, a second antenna connector 23, a second GNSS antenna 24 and an aimed rod 25.
As shown in fig. 10, the high-precision GNSS radio locator 22 includes a second display device 221, a second operation button 222, a second battery 223, a second high-precision GNSS locator 224, a second leveling device 225, a second radio communication device 226, and a second master control device 227.
The second display device 221 in the high-precision GNSS wireless locator 22 adopts an OLED display screen of 1.69 inches 128 x 64; the second battery 223 adopts 4000mAh/12V lithium battery, and the second high-precision GNSS locator 224 adopts a Beidou board card of span K505; the second wireless communication device 226 adopts two complementary network communication modes of a TRP data transmission radio station and a 4G network (the 4G network module adopts a ME909u-521LTE 4G module), different application modes are satisfied, and the second main control device 227 adopts an ARM processor of STM32F 427.
The Beidou receiving antenna (the first GNSS antenna 15) and the theodolite (the first high-precision photoelectric sighting device 125) are connected together through the first antenna connector 14 by adopting a central symmetry principle, and are arranged on the first tripod 11.
The aimed device 2 comprises a second tripod 21, a high precision GNSS radio locator 22, a second antenna connector 23, a second GNSS antenna 24 and an aimed rod 25.
Wherein the aimed rod 25 is arranged on the geometrical centre of the second GNSS antenna 24. The second GNSS antenna 24 and the high-precision GNSS wireless locator 22 are connected together through a second antenna connector 23 by adopting a center symmetry principle, and the high-precision GNSS wireless locator 22 is arranged on the second tripod (21).
Viewing devices 1 and 0 。 The azimuth aimed devices 2 can be placed at will at a distance of about 100m from each other. The high-precision GNSS wireless locator 22 in the sighting device 1 and the high-precision GNSS wireless locator in the sighting device 2 realize high-precision RTK positioning through GNSS satellites and wireless communication equipment, so that the high-precision coordinate north direction between the two points is obtained. And obtaining the included angle between the two-point connecting line and true north through coordinate projection calculation.
The theodolite (the first high-precision photoelectric sighting device 125) in the sighting device 1 is subjected to rough adjustment and fine adjustment, so that the sighting telescope mechanism 1257 of the theodolite (the first high-precision photoelectric sighting device 125) is aimed at the aimed rod 25 at the upper end of the second GNSS antenna 24 in the aimed device 2, at this time, a relative clear key in the high-precision GNSS positioning photoelectric sighting device 12 is pressed, and at this time, the numerical value displayed on the first display 121 is the included angle alpha between the two-point connecting line of the current sighting device 1 and the aimed device 2 and true north.
And reading the north seeking value of the gyro device 3 to be detected, wherein the north seeking value is the included angle between the gyro north base line and true north.
And (5) recording and then comparing the north seeking value obtained by the observation equipment 1 with the north seeking value of the gyro equipment 3 to be detected.
As shown in fig. 11, the viewing device 1 is aimed again at 90 respectively 。 Orientation of 180 ° Orientation, 270 ° The azimuth aimed device n (1-4) (angle is not necessarily an accurate value), the above steps are repeated, rotated for two weeks, 8 sets of data are recorded, and thenSubtracting the north seeking value of the observation device 1 from the north seeking value of the 8 groups of gyro devices 3 to be detected, and then taking the standard deviation value of the 8 groups of difference values, if the standard deviation value is smaller than or equal to the nominal precision value of the gyro devices 3 to be detected, the gyro devices 3 to be detected are considered to be qualified, otherwise, the gyro devices 3 to be detected are not qualified.
Example 2
As shown in fig. 12, otherwise, as in embodiment 1, the sighting device 1 is aimed at the aimed device 2 (the angle is not necessarily an accurate value) of 0 ° azimuth, 45 ° azimuth, 90 ° azimuth, 135 ° azimuth, 180 ° azimuth, 225 ° azimuth, 270 ° azimuth, 315 ° azimuth, the above steps are repeated, the rotation is performed for one circle, 8 sets of data are recorded, then the north seeking value of the sighting device 1 is subtracted from the obtained north seeking value of the 8 sets of gyro devices 3 to be tested, then the standard deviation value of the 8 sets of differences is taken, if the standard deviation value is smaller than or equal to the nominal precision value of the gyro devices 3 to be tested, the gyro devices 3 to be tested are considered to be qualified, otherwise, the gyro devices 3 to be tested are not qualified.
Example 3:
as shown in fig. 13, the other is the same as that of example 1, but the number of the aimed devices is 1, after one observation, the aimed device 2 is moved to another angle, for example, 45 degrees, the observation is performed, the aimed device 2 is moved to 90 degrees, the process is repeated for two weeks, the rotation is performed for two weeks, 8 groups of data are recorded, and then the data are compared. And subtracting the north seeking value of the observation equipment 1 from the north seeking value of the plurality of groups of gyro equipment 3 to be detected, and taking a standard deviation value of 8 groups of difference values, wherein if the standard deviation value is smaller than or equal to the nominal precision value of the gyro equipment 3 to be detected, the gyro equipment 3 to be detected is considered to be qualified, otherwise, the gyro equipment 3 to be detected is not qualified.
With the above-described preferred embodiments according to the present invention as an illustration, various changes and modifications may be made by the worker in the above description without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to what has been described in the specification, and must be determined according to the scope of the claims.
Claims (5)
1. A dynamic gyro north-seeking calibration device is characterized in that: it comprises an observing and aiming device (1) and at least one aimed device (2);
the observation device (1) comprises a first tripod (11), a high-precision GNSS positioning photoelectric observation device (12), a gyro mounting mechanism (13), a first antenna connector (14) and a first GNSS antenna (15), wherein the gyro mounting mechanism (13) is provided with a gyro device (3) to be detected, the gyro mounting mechanism (13) comprises two sliding rails (131) and four adjustable clamps (132), the two sliding rails (131) are arranged on two sides above the high-precision GNSS positioning photoelectric observation device (12), the sliding rails (131) are hollow sliding rails, the adjustable clamps (132) comprise sliding blocks (1321), screw rods (1322), top blocks (1323) and hand wheels (1324), one side of each sliding rail (131) is externally sleeved with two sliding blocks (1321), the middle of each sliding block (1321) passes through one screw rod (1322) with threads, one end of each screw rod (1323) is provided with a top block (1323), and the top blocks (1323) are arranged on two sides of the gyro device to be detected and are kept in the same direction with the gyro device (1253) to be detected by the gyro device (1323) to be detected; the other end of each screw rod (1322) is connected with the hand wheel (1324);
the first GNSS antenna (15) and the gyro installation mechanism (13) are connected together by adopting the first antenna connector (14) according to a central symmetry principle; the high-precision GNSS positioning photoelectric sighting instrument (12) and the gyro installation mechanism (13) are connected together according to a central symmetry principle to form horizontal coaxial rotation of the gyro installation mechanism and the gyro installation mechanism;
the high-precision GNSS positioning photoelectric sighting telescope (12) is arranged on the first tripod (11), the high-precision GNSS positioning photoelectric sighting telescope (12) comprises a first high-precision photoelectric sighting telescope device (125), the first high-precision photoelectric sighting telescope (125) comprises a sighting telescope mechanism (1257) and a laser red light emitter (1258), the high-precision GNSS positioning photoelectric sighting telescope (12) comprises a first display device (121), a first high-precision GNSS positioning telescope (124), a first high-precision photoelectric sighting telescope device (125), a first radio communication device (127) and a first master control device (128), the first master control device (128) is respectively connected with the first display device (121), the first high-precision GNSS positioning telescope (124), the first high-precision photoelectric sighting telescope device (125) and the first radio communication device (127), the first display device (121) adopts an OLED display screen or an LCD display screen, the first high-precision GNSS positioning telescope (124) has a differential function, and the first radio communication device (127) adopts a GPS (86) or a first radio communication station (3G/m) or a first radio communication device;
each aimed device (2) comprises a second tripod (21), a high-precision GNSS wireless positioning instrument (22), a second antenna connector (23), a second GNSS antenna (24) and an aimed rod (25), the aimed rod (25) is arranged in an aiming range of the aiming mirror mechanism (1257) and the laser red light emitter (1258), the aimed rod (25) comprises an aimed rod switch (251), an aimed rod battery (252), an LED lamp (253), a vertical line-of-sight column (254) and a transparent material (255), wherein the aimed rod switch (251) is connected with the aimed rod battery (252), the aimed rod battery (252) is connected with the LED lamp (253), and the aimed rod switch (251) is used for controlling the LED lamp (253) to be turned on and off; the LED lamp is characterized in that the vertical wire-carving column (254) is arranged below the LED lamp (253), a cross-shaped scribing line is arranged on the vertical wire-carving column (254), the transparent material (255) is arranged on the periphery of the vertical wire-carving column (254), and the transparent material (255) is made of transparent plastic or transparent glass;
wherein the aimed beam (25) is arranged on the geometrical centre of the second GNSS antenna (24); the second GNSS antenna (24) and the high-precision GNSS wireless locator (22) are connected together through the second antenna connector (23) by adopting a central symmetry principle, and the high-precision GNSS wireless locator (22) is arranged on the second tripod (21).
2. The dynamic gyroscope north-seeking calibration apparatus of claim 1, wherein: the precision of the first high-precision GNSS positioning instrument (124) in the positioning horizontal direction in the RTK mode is less than or equal to 1cm.
3. The dynamic gyroscope north-seeking calibration apparatus of claim 1, wherein: the high-precision GNSS wireless locator (22) comprises a second display device (221), a second high-precision GNSS locator (224), a second wireless communication device (226) and a second master control device (227);
wherein the second master control device (227) is connected to the second display device (221), the second high-precision GNSS locator (224) and the second wireless communication device (226), respectively;
the second display device (221) adopts an OLED display screen, an LCD display screen or an LED indicator lamp;
the second high-precision GNSS positioning instrument (224) adopts Beidou positioning equipment or GPS positioning equipment with a difference function;
the second wireless communication device (226) adopts a data transmission station, a wireless network bridge device or a 2G/3G/4G network device;
the second master device (227) employs an arm processor or an x86 embedded processor.
4. A dynamic gyroscope north-seeking calibration apparatus as claimed in claim 3 wherein: and the precision of the second high-precision GNSS positioning instrument (224) in the positioning horizontal direction in the RTK mode is less than or equal to 1cm.
5. A dynamic gyroscope north-seeking calibration apparatus as claimed in claim 1, 2 or 3 wherein: the optimal observation distance between the sighting device (1) and the sighted device (2) is between 100 and 300 m.
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| CN110221317B (en) * | 2018-11-30 | 2023-08-01 | 武汉滨湖电子有限责任公司 | Beidou north-seeking antenna high-precision installation method based on modularization |
| CN109470275B (en) * | 2018-12-17 | 2022-06-28 | 中国科学院光电技术研究所 | High-precision autonomous orientation method for photoelectric theodolite of motorized station |
| CN109556459B (en) * | 2019-01-22 | 2024-02-27 | 中国人民解放军陆军工程大学 | Rocket gun inertial navigation north-seeking precision detection system and method |
| CN111007545B (en) * | 2019-11-20 | 2021-10-12 | 北京国电富通科技发展有限责任公司 | Positioning guide device, positioning system and method and electronic equipment |
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