CN108592899A - Gyrostatic orientation survey method - Google Patents
Gyrostatic orientation survey method Download PDFInfo
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- CN108592899A CN108592899A CN201810260823.6A CN201810260823A CN108592899A CN 108592899 A CN108592899 A CN 108592899A CN 201810260823 A CN201810260823 A CN 201810260823A CN 108592899 A CN108592899 A CN 108592899A
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- torquer
- gyrocompassing
- instrument
- rotor
- gyrocompassing instrument
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The gyrostatic orientation survey method that the present invention designs, which is characterized in that it includes the following steps：Step 1：Apply fixed voltage signal in the torquer stator feeder ear of gyrocompassing instrument, after the sensing element of gyrocompassing instrument reaches the state of equalising torque, acquires the operating voltage signal on the torquer rotor of gyrocompassing instrument；Step 2：The torquer rotor voltage signal of gyrocompassing instrument is filtered, the rotor voltage value stablized after filtering is obtained；Step 3：The angle between the gyroaxis and north orientation of gyrocompassing instrument at this time is calculated using the rotor voltage value stablized after the operating voltage signal on the torquer rotor of torquer stator power supply terminal voltage, gyrocompassing instrument in step 1, the filtering in step 2.The present invention is measured using torquer measuring technique automatic seeking north replaces artificial reading, eliminates human error, substantially increases accuracy of reading and measuring speed.
Description
Technical field
The present invention relates to gyroscope field of navigation technology, in particular to a kind of gyrostatic orientation survey method.
Technical background
Gyrostatic orientation survey is to utilize gyro sensitivity earth rotation, carries out geographical north azimuthal measurement.In tunnel, mine, subway
Important role is suffered from the work of the holing through survey such as construction and control airmanship.
In traditional gyrostatic orientation survey, generally use is manually to measure, and needs to carry out operating personnel special
After industry training, just it can then substitute into formula into line cursor observed reading, timing, record data and calculate geographical north place.Operation
Personnel labor intensity is big, fatiguability, and measurement process has larger error to the reading of cursor position and time, make measurement accuracy with
Speed is affected.Therefore, the Chinese invention patent " a kind of new method of gyrostatic orientation survey " of Publication No. CN101285684
In, it proposes that use is measured by total powerstation and gyroscope gyroscope total station dimerous, eliminates traditional measurement acceptance of the bid
Determine the calculating of the complicated processes and the convergence of meridians of instrumental constant.Although simplifying gyrostatic orientation survey to a certain extent
Process, but still need to a large amount of manual record and calculating.
Invention content
The object of the present invention is to provide a kind of gyrostatic orientation survey method, this method reaches top using torquer measuring technique
The purpose of spiral shell orientation survey.
In order to achieve this, the gyrostatic orientation survey method designed by the present invention, it includes the following steps：
Step 1：Apply fixed voltage signal in the torquer stator feeder ear of gyrocompassing instrument, waits for the ground of gyrocompassing instrument
After revolutions angular speed sensing element reaches the state of equalising torque, the work electricity on the torquer rotor of gyrocompassing instrument is acquired
Press signal；
Step 2：The torquer rotor voltage signal of gyrocompassing instrument is filtered, turn stablized after filtering is obtained
Sub- voltage value；
Step 3：Utilize the work on the torquer rotor of torquer stator power supply terminal voltage, gyrocompassing instrument in step 1
Make the rotor voltage value stablized after the filtering in voltage signal, step 2 calculate the gyroaxis of gyrocompassing instrument at this time and north orientation it
Between angle.
By adopting the above-described technical solution, the invention has the advantages that：
1, the present invention is filtered rotor voltage value, effectively reduces the random error of data.
2, the present invention is when Beijiao angle value is sought in acquisition, using the method being averaged repeatedly is measured, to a certain extent to being
Error is compensated caused by the harmful torque to interact in system.
3, the present invention is measured using torquer measuring technique automatic seeking north replaces artificial reading, eliminates human error, greatly
Improve accuracy of reading and measuring speed greatly.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the voltage curve of rotor double sampling before present invention filtering；
Fig. 3 is the voltage curve of rotor double sampling after present invention filtering；
The y-axis of Fig. 2 and Fig. 3 is the number of sampled point.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
A kind of gyrostatic orientation survey method that the present invention designs, as shown in Figures 1 to 3, it includes the following steps：
Step 1：Apply fixed voltage signal (such as 3.5V) in the torquer stator feeder ear of gyrocompassing instrument, waits for that gyro is fixed
After the state for reaching equalising torque to the rotational-angular velocity of the earth sensing element of instrument, on the torquer rotor of acquisition gyrocompassing instrument
Operating voltage signal, as shown in Fig. 2 left figures；
Step 2：The torquer rotor voltage signal of gyrocompassing instrument is filtered, turn stablized after filtering is obtained
Sub- voltage value (0.4V), as shown in Fig. 3 left figures；
Step 3：Utilize the work on the torquer rotor of torquer stator power supply terminal voltage, gyrocompassing instrument in step 1
Make the rotor voltage value stablized after the filtering in voltage signal, step 2 calculate the gyroaxis of gyrocompassing instrument at this time and north orientation it
Between angle (0.2064 °)；
Step 4：It is 5V to change the voltage swing applied on the torquer stator feeder ear of gyrocompassing instrument, repeats step 1
~step 3, the operating voltage signal before and after collected filtering on torquer rotor respectively as shown in Fig. 2 right figures, Fig. 3 right figures,
The angle (0.2757 °) between the gyroaxis and north orientation of gyrocompassing instrument is calculated；
Step 5：Repeatedly (general survey 3 times) repeats step 4, and by the gyroaxis for the multiple gyrocompassing instrument being calculated with
Angle between north orientation be averaged acquire it is final seek Beijiao angle value (0.2546 °), the present invention uses torquer measuring technique
Automatic seeking north, which measures, replaces artificial reading, eliminates human error, substantially increases accuracy of reading and measuring speed.
In the step 3 of above-mentioned technical proposal, the formula for calculating the angle between the gyroaxis and north orientation of gyrocompassing instrument is
In formula, fKFor the directional gain of gyrocompassing instrument, torque coefficient, the gyro moment of momentum and sample circuit with torquer
Amplification factor is related, is 0.003 in the present embodiment；UrotFor the operating voltage signal on the torquer rotor of gyrocompassing instrument, Ust
For torquer stator power terminal voltage,It it is 30.92 ° for geographic latitude at this time, in the present embodiment.
Being filtered as mean filter method in the step 2 of above-mentioned technical proposal.
In above-mentioned technical proposal, torquer is made of torquer stator and rotor, and equalising torque is generated into power by it
Square is the core of entire gyrocompassing instrument.Torquer rotor and stator voltage are read by computer, then is measured by torquer
Algorithm calculates the angle between gyroaxis and north orientation, you can realizes its automatic seeking north measurement to replace manually reading.For this purpose, this hair
It is bright that gyrostatic orientation survey is achieved the purpose that using torquer measuring technique.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Protection domain in.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (4)
1. a kind of gyrostatic orientation survey method, which is characterized in that it includes the following steps：
Step 1：Apply fixed voltage signal in the torquer stator feeder ear of gyrocompassing instrument, waits for that rotational-angular velocity of the earth incudes
After element reaches the state of equalising torque, the operating voltage signal on the torquer rotor of gyrocompassing instrument is acquired；
Step 2：The torquer rotor voltage signal of gyrocompassing instrument is filtered, the rotor electricity stablized after filtering is obtained
Pressure value；
Step 3：Utilize the work electricity on the torquer rotor of torquer stator power supply terminal voltage, gyrocompassing instrument in step 1
The rotor voltage value stablized after the filtering in signal, step 2 is pressed to calculate at this time between the gyroaxis and north orientation of gyrocompassing instrument
Angle.
2. gyrostatic orientation survey method according to claim 1, it is characterised in that：In the step 3, gyrocompassing is calculated
The formula of angle between the gyroaxis and north orientation of instrument is
In formula, fKFor the directional gain of gyrocompassing instrument, UrotFor the operating voltage signal on the torquer rotor of gyrocompassing instrument,
UstFor torquer stator power terminal voltage,For geographic latitude at this time.
3. gyrostatic orientation survey method according to claim 1, it is characterised in that：It further include step 4 after step 3：Change
The voltage swing applied on the torquer stator feeder ear of gyrocompassing instrument repeats step 1~step 3, obtains another gyro
Angle between the gyroaxis and north orientation of direction finder；
Step 5：Step 4 is repeated several times, and by the angle between the gyroaxis and north orientation of the multiple gyrocompassing instrument being calculated
It is averaged to acquire and final seeks Beijiao angle value.
4. gyrostatic orientation survey method according to claim 1, it is characterised in that：In the step 2 be filtered for
Mean filter method.
Priority Applications (1)
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|---|---|---|---|
| CN201810260823.6A CN108592899A (en) | 2018-03-27 | 2018-03-27 | Gyrostatic orientation survey method |
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|---|---|---|---|
| CN201810260823.6A CN108592899A (en) | 2018-03-27 | 2018-03-27 | Gyrostatic orientation survey method |
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Application publication date: 20180928 |