CN1126310A - Quick high accuracy gyroscope theodolite - Google Patents
Quick high accuracy gyroscope theodolite Download PDFInfo
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- CN1126310A CN1126310A CN 95101562 CN95101562A CN1126310A CN 1126310 A CN1126310 A CN 1126310A CN 95101562 CN95101562 CN 95101562 CN 95101562 A CN95101562 A CN 95101562A CN 1126310 A CN1126310 A CN 1126310A
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Abstract
The gyrotheodolite for quickly finding and stably pointing to north with high precision is composed of theodolite, suspended fibre, and assemblage, bearing, motor, gyro room, optical sensor, lock and limit mechanism, force moment unit, magnetic shielder, tripod, electric transmission unit, casing, servo and tacho motors, and drive mechanism, and features large-angle finding of northern, and antimagnetic and anti-vibration performance.
Description
The present invention relates to a kind of gyro-theodolite, the particularly a kind of underneath type quick high accuracy gyroscope theodolite that can seek north automatically.
Since nineteen forty-seven, Germany, the Soviet Union, Britain, Hungary, Switzerland, the U.S., Japan and China have successively carried out the research of gyro-theodolite, the history of existing four more than ten years so far; The development of gyro-theodolite can be divided into three phases substantially;
1. liquid floating gyrocompass, such is product the earliest, its poor-performing, volume are big, complicated operation, orientation time is long, precision is low, are eliminated at present;
2. go up the posture gyro-theodolite, continuous development along with the gyro technology, the appearance of accurate small-sized gyro element, in view of some engineering survey requirement orientation accuracy needn't be too high, developed a kind of small-sized gyro annex, place on the transit, such instrument volume is little, in light weight, be convenient to operation, carry, domestic this quasi-instrument is more at present, but the instrument overall height is bigger, is subject to the influence of wind-force and vibration during use;
3. underneath type gyro-theodolite, its advantage is that this quasi-instrument overall height is less, the gyro dish is overhead near during use, and be contained on the best axle of transit rigidity, thereby be subjected to wind-force, vibration, Temperature Influence less, can adapt to open-air harsh environmental conditions, this is particularly important to military equipment, and this is the direction of Future Development.
The current domestic gyro-theodolite that is used for orientation has manual, also has automatically; The JT15 of manual gyro-theodolite such as optical instrument factory, Xuzhou, the DJ2-T20 of Xian Optical-Measure Instruments Factory, its shortcoming is that orientation time is oversize, was respectively 25 minutes and 30 minutes, and manual operations, very high to operating personnel's requirement; Automatic gyro-theodolite, as the TDJ83 of 15 of the Ministry of Aerospace Industry, its shortcoming also is that orientation time is long, orientation time is 20 minutes, and can not fixed automatically north.
The objective of the invention is to adapt to the underneath type quick high accuracy gyroscope theodolite of various severe environmental conditions for a kind of precision height, slewing, measurement robotization being provided, seeking north and be stabilized in north orientation automatically.
The objective of the invention is to realize by following technical scheme.Get transit ready, suspension, suspension assembly, dense ball bearing shafting, gyro motor, rotor case, optical sensor, locking and amplitude limiting mechanism, the torquer assembly, magnetic shielding device, tripod, power transmitting device, support housing, servomotor and speed measuring motor, gear train, by suspension, suspension assembly, gyro motor, rotor case, the torquer assembly, magnetic shielding device, power transmitting device is formed hitch, gyro motor is fixed on the rotor case, rotor case and suspension assembly are connected, upper end at suspension assembly is linked to each other with suspension by clamp system, power transmitting device one end is fixed on the suspension assembly, the other end is fixed on the tracking means, power to gyro motor, the rotor of torquer assembly is fixed on the lower end of rotor case, the stator of torquer assembly is fixed on the support housing, magnetic shielding device is fixed on around the rotor case, and hitch links to each other by suspension with tracking means; By dense ball bearing shafting, optical sensor, locking and amplitude limiting mechanism, support housing, servomotor and speed measuring motor, gear train is formed tracking means, locking and amplitude limiting mechanism are fixed on the below of support housing, be used to lock hitch, and amplitude limit is carried out in the motion to hitch, optical sensor is used for the motion of responsive gyropendulum, the angular motion of gyropendulum becomes light signal by optical sensor, light signal becomes electric signal by optical sensor circuit and preposing signal process circuit, send into computer control circuit, this signal is sent into the bias stabilization circuit respectively, servo-actuated circuit and damping circuit through power amplification; Optical sensor is fixed on the support housing, motion with responsive hitch, the axle of dense ball bearing shafting is fixed on the support housing, axle sleeve is fixed on the tripod, support housing and transit are connected, servomotor and speed measuring motor are fixed on the tripod, and are connected with gear train, and gear train is connected by gear with dense ball bearing shafting.
Transit is general transit; Suspension is made with nickel 42 chromium titaniums (Ni42CrTi); Fixed mechanism when the bypass mechanism of suspension assembly during by the reflective mirror of clamp device, hanging column, optical sensor, motor starting, locking, the fixed sturcture of power transmitting device are formed, clamp device is fixed on the upper end of hanging column, the reflective mirror of optical sensor is fixed on the middle part of hanging column, the fixed sturcture of power transmitting device is fixed on the top of hanging column, bypass mechanism during motor starting is fixed on the lower end of hanging column, and the fixed sturcture during locking also is fixed on the lower end of hanging column; Dense ball bearing shafting is made of axle, axle sleeve, parallel circle, thrust plate, spacer ring and accurate ball; Gyro motor is the high accuracy gyroscope motor; Rotor case is high-accuracy structure rotor case; Optical sensor is made of reflective mirror, three lens, right-angle prism, refracting prisms, scale grating, light source, indication gratings; Locking is made up of cam, spring, ball, sliding axle, supporting plate, handwheel with amplitude limiting mechanism, cam is fixed on the support housing, and cam links to each other with sliding axle by ball, and supporting plate links to each other with sliding axle, handwheel links to each other with cam, and spring links to each other with support housing with sliding axle; The torquer assembly is made up of rotor and stator, and rotor is fixed on the lower end of rotor case on the hitch, and stator is fixed on the support housing; Magnetic shielding device is a multi-layer shield, in order to the shielding external magnetic field; Tripod is general tripod; Power transmitting device is made up of last transmission of electricity dish, following transmission of electricity dish, flexible circuit conductor; Support housing is used for each assembly of supporting, tracking device; Servomotor and speed measuring motor are general-purpose machine; Gear train is made of harmonic gear reducer and secondary transmission, and wherein the one-level transmission is gear drive, and the secondary transmission is the worm and gear transmission.Hitch is used for the north component of revolutions angular speed sensitively; Tracking means is used for the gyroscope axis of rotation in the hitch is carried out servo tracking, reaches the purpose of gyroscope and transit synchronous operation, and the telescope with transit transmits the north orientation orientation at last.
The present invention has adopted suspension-wire type gyro, vertical damping self-orientation owing to orientation, thereby has realized the wide-angle rapid north-seeking; Owing to adopted high accuracy gyroscope motor and rotor case, highly sensitive gyro hitch, the high-resolution torquer of high stable, the angle measuring system of stable precision, the low flow guide system that disturbs high stability, precise rotary shaft system and servo-drive system thereof, the magnetic shielding mechanism of high permeability, thereby precision height (can reach a second class precision), Measuring Time is short, easy to use, antimagnetic, vibrationproof, seek northern robotization and autostable at north orientation, without manual intervention, the reliability height of instrument, adapt to harsh environmental conditions, can be widely used in the mine, building, railway, forest, industries such as space flight.
Below in conjunction with accompanying drawing the present invention is described in further detail:
Fig. 1 is a structural representation block diagram of the present invention
Fig. 2 is a structural drawing of the present invention
Fig. 3 is movement locus figure of the present invention
Fig. 4 is the present invention's electricity theory diagram
Fig. 5 is an electrical schematic diagram of the present invention
Fig. 6 is an optical sensor structural representation of the present invention
Fig. 7 dense ball bearing shafting structural representation of the present invention
Referring to figs. 1 through Fig. 7, get transit 1, suspension 2, suspension assembly 3, dense ball bearing shafting 4, gyro motor 5, rotor case 6, optical sensor 7, locking and amplitude limiting mechanism 8, torquer assembly 9, magnetic shielding device 10, tripod 11, power transmitting device 12, support housing 13, servomotor and speed measuring motor 14, gear train 15 ready; By suspension 2, suspension assembly 3, gyro motor 5, rotor case 6, torquer assembly 9, magnetic shielding device 10, power transmitting device 12 is formed hitch, gyro motor 5 is fixed on the rotor case 6, rotor case 6 is connected with suspension assembly 3, upper end at suspension assembly 3 is linked to each other with suspension 2 by clamp system, power transmitting device 10 1 ends are fixed on the suspension assembly 3, the other end is fixed on the tracking means, give gyro motor 5 power supplies, the rotor of torquer assembly 9 is fixed on the lower end of rotor case 6 on the hitch, the stator of torquer assembly 9 is fixed on the support housing 13 of tracking means, magnetic shielding device 10 is fixed on around the rotor case 6, and hitch links to each other by suspension 2 with tracking means; By dense ball bearing shafting 4, optical sensor 7, locking and amplitude limiting mechanism 8, support housing 13, servomotor and speed measuring motor 14, gear train 15 is formed tracking means, locking and amplitude limiting mechanism 8 are fixed on the below of support housing 13, be used to lock hitch, and amplitude limit is carried out in the motion to hitch, the optical sensor circuit 51 of optical sensor 7 successively with preposing signal process circuit 52, computer control circuit 53, power driving circuit 57, bias stabilization circuit 54, servo-actuated circuit 56, damping circuit 55 usefulness leads link, optical sensor 7 is used for the motion of responsive gyropendulum, the angular motion of gyropendulum becomes light signal by photoelectric sensor 7, light signal becomes electric signal by photoelectric sensor circuit 51 and preposing signal process circuit 52, send into computer control circuit 53, this signal is sent into bias stabilization circuit 54 respectively through power driving circuit 57, servo-actuated circuit 56 and damping circuit 55, photoelectric sensor 7 is fixed on the support housing 13, motion with responsive hitch, the axle 73 of dense ball bearing shafting 4 is fixed on the support housing 13, axle sleeve 74 is fixed on the tripod 11, support housing 13 is connected with transit 1, servomotor and speed measuring motor 14 are fixed on the tripod 11, and be connected with gear train 15, gear train 15 and dense ball bearing shafting 4 are connected by gear.
In the motion process of gyro-theodolite, to the timing sampling of optical sensor 7 signals, the data processing after the sampling, compensation to the servomotor dead band, refer to the north differentiation, finishing of work such as the control of operational process and demonstration all realizes by computer control circuit 53; Computer control circuit 53 adopts MCS-51 series monolithic system, is main frame with 8031 chips, and external EPROM2764 and programmable parallel interface 8255, code translator 74LS138, each a slice of address latch 74ls373 are formed microsystem; Hitch is used for the north component of revolutions angular speed sensitively, tracking means is used for the gyroscope axis of rotation in the hitch is carried out servo tracking, reach the purpose of gyroscope and transit 1 (being connected with tracking means) synchronous operation, the telescope with transit 1 transmits the north orientation orientation at last; Bias stabilization circuit 54 is used for eliminating the error between pendulum and the tracking means, and servo-actuated circuit 56 is used for servo tracking is carried out in the motion of gyropendulum, and damping circuit 55 is used for damping is carried out in the motion of gyropendulum, makes its decay; Specific implementation refers to that automatically the process in north is: hang gyroscope (by gyro motor 5 on suspension, rotor case 6 is formed), torquer assembly 9 and angle measurement autocollimation system (passing device 7 etc. by optics forms), when gyroscope because when the influence of rotational-angular velocity of the earth and precession, angle measurement autocollimation system produces light signal and changes electric signal into, through amplifying, send into servomotor after the correction, the angular speed of servomotor is detected by speed measuring motor, send into torquer through servo amplification and produce damping torque, make spin axis of gyro be still in the true meridian direction gradually, meanwhile, the driven by servomotor transit rotates, make transit also be parked in the true meridian direction, make it to have realized automatic finger north and be stabilized in north orientation, without manual intervention.
In the pendulum type gyroscope compass, gyro is suspended on the very soft low moment of torsion metal suspension strap, if do not add damping, pendulum will be done the constant amplitude swing around terrestrial meridian, spin axis of gyro will be depicted an ellipse pie diagram shape on the plane perpendicular to the earth rate north component, utilize this constant amplitude swing characteristic, can be in 1/4th hunting periods of accurate timing that instrument is rough fast due to north orientation from initial position (within ± 15 ° of scopes); Apply damping torque with torquer to pendulum then, make gyropendulum make convergent mode of motion, the motion of the device tracking of servo tracking simultaneously gyropendulum, with undamped four/one-period method, overdamping realizes thick directed, realizes the smart directed of instrument with underdamping; When pendulum and tracking means during near meridian, the size of speed measuring motor voltage signal just reduces, when in case the speed measuring motor signal is lower than setting, the aim detecting circuit is connected, and is no more than setting also after a period of stabilisation at signal, sends instruction by computing machine, close the servo tracking device, send registration signal, locking mechanism will be put locking simultaneously, and the orientation, geographical north can pass by the telescope on the transit.
Adopt the underneath type structure on the structure of the present invention, thus good stability, and having adopted the multi-layer shield structure with antimagnetic, sealing structure adopts damping unit with shockproof, applicable to various severe environmental conditions with protection against the tide.
Claims (8)
1. a quick high accuracy gyroscope theodolite comprises transit [1], suspension [2], gyro motor [5], rotor case [6], tripod [11].It is characterized in that described quick high accuracy gyroscope theodolite also comprises suspension assembly [3], dense ball bearing shafting [4], optical sensor [7], locking and amplitude limiting mechanism [8], torquer assembly [9], magnetic shielding device [10], power transmitting device [12], support housing [13], servomotor and speed measuring motor [14], gear train [15]; By suspension [2], suspension assembly [3], gyro motor [5], rotor case [6], torquer assembly [9], magnetic shielding device [10], power transmitting device [12] is formed hitch, gyro motor [5] is fixed on the rotor case [6], rotor case [6] is connected with suspension assembly [3], upper end at suspension assembly [3] is linked to each other with suspension [2] by clamp system, power transmitting device [10] one ends are fixed on the suspension assembly [3], the other end is fixed on the tracking means, give gyro motor [5] power supply, the rotor [42] of torquer assembly [9] is fixed on the lower end of rotor case on the hitch [6], the stator [41] of torquer assembly [9] is fixed on the support housing, magnetic shielding device [10] is fixed on rotor case [6] on every side, and hitch links to each other by suspension [2] with tracking means; By dense ball bearing shafting [4], optical sensor [7], locking and amplitude limiting mechanism [8], support housing [13], servomotor and speed measuring motor [14], gear train [15] is formed tracking means, locking and amplitude limiting mechanism [8] are fixed on the below of support housing [13], be used to lock hitch, and amplitude limit is carried out in the motion to hitch, optical sensor [7] is used for the motion of responsive gyropendulum, the angular motion of gyropendulum becomes light signal by optical sensor [7], light signal becomes electric signal by optical sensor circuit [51] and preposing signal process circuit [52], send into computer control circuit [53], this signal is sent into bias stabilization circuit [54] respectively through power driving circuit [57], servo-actuated circuit [56] and damping circuit [55], optical sensor [7] is fixed on the support housing [13], motion with responsive hitch, the axle [73] of dense ball bearing shafting [4] is fixed on the support housing [13], axle sleeve [74] is fixed on the tripod [11], support housing [13] is connected with transit [1], servomotor and speed measuring motor [14] are fixed on the tripod [11], and be connected with gear train [15], gear train [15] is connected by gear with dense ball bearing shafting [4].
2. quick high accuracy gyroscope theodolite as claimed in claim 1, fixed mechanism [23] when the bypass mechanism [24] when it is characterized in that described suspension assembly [3], locking, the fixed sturcture [25] of power transmitting device [12], the upper end that clamp device [21] is fixed on hanging column [22] by the reflective mirror [61] of clamp device [21], hanging column [22], optical sensor [7], motor starting, the reflective mirror [61] of optical sensor [7] is fixed on the top of hanging column [22], and the bypass mechanism during motor starting [24] is fixed on the lower end of hanging column [22].
3. quick high accuracy gyroscope theodolite as claimed in claim 1 is characterized in that described dense ball bearing shafting [4] is made of axle [73], axle sleeve [74], parallel circle [76], thrust plate [71], spacer ring [75] and accurate ball [72].
4. quick high accuracy gyroscope theodolite as claimed in claim 1 is characterized in that described optical sensor [7] by reflective mirror [61], lens [62], [63], [67], right-angle prism [64], refracting prisms [65], scale grating [66], light source [68], indication grating [69] constitutes.
5. quick high accuracy gyroscope theodolite as claimed in claim 1, it is characterized in that described locking and amplitude limiting mechanism [8] be made up of cam [32], spring [34], ball [36], sliding axle [35], supporting plate [31], handwheel [33], cam [32] is fixed on the support housing [13], cam [32] links to each other with sliding axle [35] by ball [36], supporting plate [31] links to each other with sliding axle [35], handwheel [33] links to each other with cam [32], and spring [34] links to each other with support housing [13] with sliding axle [35].
6. quick high accuracy gyroscope theodolite as claimed in claim 1, it is characterized in that described torquer assembly [9] is made up of rotor [42] and stator [41], rotor [42] is fixed on rotor case [6] lower end on the hitch, and stator [41] is fixed on the support housing [13].
7. quick high accuracy gyroscope theodolite as claimed in claim 1 is characterized in that described power transmitting device [12] is by last transmission of electricity dish [82], down transmission of electricity dish [25], flexible circuit conductor [81] are formed.
8. quick high accuracy gyroscope theodolite as claimed in claim 1 is characterized in that described gear train [15] is made of harmonic gear reducer and secondary transmission, and wherein the one-level transmission is gear drive, and the secondary transmission is the worm and gear transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN95101562A CN1034835C (en) | 1995-02-28 | 1995-02-28 | Quick high accuracy gyroscope theodolite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN95101562A CN1034835C (en) | 1995-02-28 | 1995-02-28 | Quick high accuracy gyroscope theodolite |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1126310A true CN1126310A (en) | 1996-07-10 |
| CN1034835C CN1034835C (en) | 1997-05-07 |
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ID=5073984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN95101562A Expired - Fee Related CN1034835C (en) | 1995-02-28 | 1995-02-28 | Quick high accuracy gyroscope theodolite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1034835C (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101105397B (en) * | 2006-07-11 | 2010-05-12 | 天津大学 | Method for controlling automatic lifting of gyro-theodolite sensitive part |
| CN101793511A (en) * | 2009-01-21 | 2010-08-04 | 特里伯耶拿有限公司 | Motor drive apparatus and control method for a surveying instrument |
| CN102261913A (en) * | 2011-04-28 | 2011-11-30 | 苏州一光仪器有限公司 | Gyro north-finder, and power supplying method for gyro north-finder motor |
| CN103322993A (en) * | 2012-03-22 | 2013-09-25 | 北京航天发射技术研究所 | Driver for north seeker |
| CN103791896A (en) * | 2012-10-30 | 2014-05-14 | 北京航天发射技术研究所 | Full range north seeker of pendulum gyro north finder and method |
| RU2630524C2 (en) * | 2016-02-17 | 2017-09-11 | ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ КАЗЕННОЕ ВОЕННОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ОБРАЗОВАНИЯ "Военная академия Ракетных войск стратегического назначения имени Петра Великого" МИНИСТЕРСТВА ОБОРОНЫ РОССИЙСКОЙ ФЕДЕРАЦИИ | Device for determination of multiple-elevation high-accuracy geodesic reference directions in field conditions |
| CN108007478A (en) * | 2017-12-13 | 2018-05-08 | 中国船舶重工集团公司第七0七研究所 | Electromagnetic damper |
| CN108458701A (en) * | 2018-03-30 | 2018-08-28 | 天津大学 | A kind of suspension-wire type float support construction |
| CN109186572A (en) * | 2018-10-31 | 2019-01-11 | 中国船舶重工集团公司第七0七研究所 | A kind of locking of suspension-wire type gyroscope north searching instrument loosens and power supply unit |
| CN109443335A (en) * | 2018-10-31 | 2019-03-08 | 中国船舶重工集团公司第七0七研究所 | A kind of novel sensitivity portion for pendulum type gyroscope north searching instrument |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3795150A (en) * | 1972-12-13 | 1974-03-05 | Us Air Force | System for rapidly positioning gimbaled objects |
| GB1549043A (en) * | 1975-10-08 | 1979-08-01 | Bodenseewerk Geraetetech | Apparatus for determining the north direction |
| FR2508631A1 (en) * | 1981-06-29 | 1982-12-31 | Etudes Realis Electronique | Electric motor driven gyroscope functioning monitor - uses voltage and current measurements on azimuth and elevation motors to obtain function and its integral to derive respective angles |
| DE3346450C2 (en) * | 1983-12-22 | 1994-06-09 | Teldix Gmbh | Device for determining the north direction |
-
1995
- 1995-02-28 CN CN95101562A patent/CN1034835C/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101105397B (en) * | 2006-07-11 | 2010-05-12 | 天津大学 | Method for controlling automatic lifting of gyro-theodolite sensitive part |
| CN101793511A (en) * | 2009-01-21 | 2010-08-04 | 特里伯耶拿有限公司 | Motor drive apparatus and control method for a surveying instrument |
| CN101793511B (en) * | 2009-01-21 | 2014-01-15 | 特里伯耶拿有限公司 | Motor drive apparatus and control method for a surveying instrument |
| CN102261913A (en) * | 2011-04-28 | 2011-11-30 | 苏州一光仪器有限公司 | Gyro north-finder, and power supplying method for gyro north-finder motor |
| CN102261913B (en) * | 2011-04-28 | 2012-09-05 | 苏州一光仪器有限公司 | Gyro north-finder, and power supplying method for gyro north-finder motor |
| CN103322993B (en) * | 2012-03-22 | 2015-08-26 | 北京航天发射技术研究所 | Driver on north finder |
| CN103322993A (en) * | 2012-03-22 | 2013-09-25 | 北京航天发射技术研究所 | Driver for north seeker |
| CN103791896B (en) * | 2012-10-30 | 2016-11-02 | 北京航天发射技术研究所 | The comprehensive north finding device of a kind of pendulum type gyroscope north searching instrument and method |
| CN103791896A (en) * | 2012-10-30 | 2014-05-14 | 北京航天发射技术研究所 | Full range north seeker of pendulum gyro north finder and method |
| RU2630524C2 (en) * | 2016-02-17 | 2017-09-11 | ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ КАЗЕННОЕ ВОЕННОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ОБРАЗОВАНИЯ "Военная академия Ракетных войск стратегического назначения имени Петра Великого" МИНИСТЕРСТВА ОБОРОНЫ РОССИЙСКОЙ ФЕДЕРАЦИИ | Device for determination of multiple-elevation high-accuracy geodesic reference directions in field conditions |
| CN108007478A (en) * | 2017-12-13 | 2018-05-08 | 中国船舶重工集团公司第七0七研究所 | Electromagnetic damper |
| CN108458701A (en) * | 2018-03-30 | 2018-08-28 | 天津大学 | A kind of suspension-wire type float support construction |
| CN109186572A (en) * | 2018-10-31 | 2019-01-11 | 中国船舶重工集团公司第七0七研究所 | A kind of locking of suspension-wire type gyroscope north searching instrument loosens and power supply unit |
| CN109443335A (en) * | 2018-10-31 | 2019-03-08 | 中国船舶重工集团公司第七0七研究所 | A kind of novel sensitivity portion for pendulum type gyroscope north searching instrument |
| CN109186572B (en) * | 2018-10-31 | 2021-12-31 | 中国船舶重工集团公司第七0七研究所 | Locking, loosening and power supply device of suspension wire type gyro north seeker |
| CN109443335B (en) * | 2018-10-31 | 2022-06-17 | 中国船舶重工集团公司第七0七研究所 | Novel sensitive part for pendulum gyroscope north seeker |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1034835C (en) | 1997-05-07 |
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Granted publication date: 19970507 Termination date: 20140228 |