CN216483089U - Fiber-optic gyroscope north seeker - Google Patents
Fiber-optic gyroscope north seeker Download PDFInfo
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- CN216483089U CN216483089U CN202123315124.3U CN202123315124U CN216483089U CN 216483089 U CN216483089 U CN 216483089U CN 202123315124 U CN202123315124 U CN 202123315124U CN 216483089 U CN216483089 U CN 216483089U
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Abstract
The utility model relates to a north appearance is sought to fiber-optic gyroscope, include: a main machine and an inertial assembly; the host comprises a support frame, a double-shaft indexing mechanism, a level, a prism and a hardware circuit; the double-shaft indexing mechanism is fixedly arranged on the support frame, and the inertia assembly is fixedly arranged on the double-shaft indexing mechanism; the leveling instrument is fixedly arranged on the supporting frame, and the supporting frame is horizontally corrected based on the leveling instrument; the double-shaft indexing mechanism drives the inertia assembly to rotate and turn; the inertial assembly acquiring rotational angular rates of the earth at a plurality of positions; the hardware circuit is arranged on the double-shaft indexing mechanism, obtains a north deflection angle based on the rotation angular rate of the earth, and is led out through the mirror surface normal of the prism. The utility model discloses can effectively improve the stability and the availability factor of instrument.
Description
Technical Field
The utility model relates to a seek north and measure technical field, especially relate to a fiber-optic gyroscope north seeker.
Background
The gyro north finder is an instrument for measuring the meridian direction (true north direction) of a point on a carrier by measuring the rotation angular rate of the earth by using the basic characteristics of a gyro. The main characteristics are as follows: the orientation precision is high, the measurement time is short, the method is not limited by climatic conditions, and the method can be used for autonomous orientation at any time and place (except high latitude areas). With the progress of inertial technology, electronic technology, computer and other technologies, the gyro north finder is widely applied in military and civil orientation fields.
Strictly speaking, any inertial gyroscope can sense the rotation angular rate of the earth, and each gyroscope can adopt various methods to complete north seeking measurement. No matter what north-seeking method is adopted, after the gyro north-seeking instrument finishes north-seeking measurement, the direction indicated by the gyro sensitive axis needs to be transmitted out so as to lead out the north-seeking measurement result. Because most of the theoretical input shafts of the gyroscope cannot be directly and accurately measured and led out by a simple method, only a base plane which has a stable relation with the theoretical axis of the gyroscope can be determined on the gyroscope north finder, the normal direction of the base plane represents the theoretical axis of the gyroscope, and the deviation between the normal of the base plane and the theoretical axis of the gyroscope is obtained by comparing the base plane with the external astronomical azimuth reference, and the deviation value is called as an instrument constant. Therefore, the gyro north seeker belongs to a relative measurement instrument, a system deviation (instrument constant) exists, and the algebraic sum of the measurement result of the gyro north seeker and the instrument constant is the final north seeker.
The instrument constant is an important technical index of the gyro north seeker, and the stability of the gyro north seeker directly influences the accuracy and reliability of the north seeking result. If the constant of the instrument is unstable, the performance of the gyro north seeker is unstable, so that the performance of the gyro north seeker is reduced, and even the using function is lost. The instrument constants must be calibrated by external astronomical orientation references before shipment. In order to make the north-seeking result more reliable, the gyro north-seeking instrument usually calibrates the instrument constant before measurement. The calibration precision of the instrument constant is not only related to the precision and reliability of the instrument, the operation of measuring personnel, the latitude of a calibration place and the observation environment condition, but also has a close relation with the precision of an astronomical azimuth reference, so that the instrument constant needs to be checked regularly. When the instrument is used in a measuring area, the astronomical azimuth reference for calibrating the instrument constant is considered to be unchanged, and the azimuth angle measured by the gyro north finder is mainly related to whether the structural parameters of the north finder are changed or not and the north finding measurement error. The precision and reliability of the instrument constant directly influence the precision and reliability of the north-seeking result, and are main factors causing the performance reduction of the gyro north-seeking instrument.
The constant of the gyro north seeker needs to be repeatedly checked in the using process of the gyro north seeker, so that the using efficiency of the gyro north seeker is reduced.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a north seeker of fiber-optic gyroscope need not carry out the instrument constant through outside astronomical position benchmark and revises, needn't mark the instrument constant regularly in the use, can effectively improve the stability and the availability factor of instrument, and then can all-weather, all-round, accurate and realize high accuracy position benchmark's establishment and transmission fast.
In order to achieve the above object, the utility model provides a following scheme:
a fiber optic gyro north finder comprising: a main machine and an inertial assembly;
the host comprises a support frame, a double-shaft indexing mechanism, a level, a prism and a hardware circuit;
the double-shaft indexing mechanism is fixedly arranged on the support frame, and the inertia assembly is fixedly arranged on the double-shaft indexing mechanism;
the leveling instrument is fixedly arranged on the supporting frame, and the supporting frame is horizontally corrected based on the leveling instrument;
the double-shaft indexing mechanism drives the inertia assembly to rotate and turn;
the inertial assembly acquiring rotational angular rates of the earth at a plurality of positions;
the hardware circuit is arranged on the double-shaft indexing mechanism, obtains a north deflection angle based on the rotation angular rate of the earth, and is led out through the mirror surface normal of the prism.
Preferably, the host further comprises: a housing;
the shell is fixed on the support frame through screws.
Preferably, the main machine further comprises an electrical interface and an electrical slip ring;
the external line is connected with the hardware circuit through the electrical interface;
the electric slip ring is positioned between the electric interface and the hardware circuit and is fixedly arranged on the supporting frame, and the electric slip ring prevents the double-shaft indexing mechanism from winding wires in the rotating or overturning process.
Preferably, the fiber-optic gyroscope north-seeking further comprises: a leveling seat;
the leveling seat is fixedly connected with the support frame through screws, and the leveling seat is used for horizontally correcting the support frame.
Preferably, the leveling seat comprises: the device comprises an upper seat, an adjusting screw mechanism and a lower seat;
the upper seat is fixedly connected with the support frame through screws;
the adjusting screw mechanism is respectively connected with the upper seat and the lower seat, and the support frame is horizontally corrected by adjusting the adjusting screw mechanism.
Preferably, the dual-axis indexing mechanism comprises: an azimuth axis system and a turning axis system;
the inertia assembly is arranged on the overturning shaft system, the overturning shaft system is arranged on the azimuth shaft system, and the azimuth shaft system is fixedly arranged on the support frame;
the overturning shafting drives the inertia assembly to overturn, and the azimuth shafting drives the overturning shafting and the inertia assembly to rotate simultaneously;
the overturning shaft system has an overturning angle limiting function; the azimuth axis system rotates and fixes in azimuth through the locking mechanism.
Preferably, the fiber-optic gyroscope north-seeking further comprises: a display; the inertial assembly includes an accelerometer and a gyroscope;
the gyroscope acquires rotation angular rates of the earth at a plurality of positions;
the accelerometer acquires a pitch angle of the inertial assembly, and the hardware circuit sends the pitch angle to the display for displaying;
while a level correction is made based on the pitch angle and the level.
Preferably, the number of levels is 2, respectively positioned as a first level and a second level;
the first level and the second level are vertically arranged on the supporting frame on a horizontal plane.
Preferably, the fiber-optic gyroscope north-seeking further comprises a first motor and a second motor;
the hardware circuit controls the azimuth shafting to rotate through the first motor;
and the hardware circuit controls the overturning shafting to overturn through the second motor.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect:
the utility model relates to a north appearance is sought to fiber-optic gyroscope, include: a main machine and an inertial assembly; the host comprises a support frame, a double-shaft indexing mechanism, a level, a prism and a hardware circuit; the double-shaft indexing mechanism is fixedly arranged on the support frame, and the inertia assembly is fixedly arranged on the double-shaft indexing mechanism; the leveling instrument is fixedly arranged on the supporting frame, and the supporting frame is horizontally corrected based on the leveling instrument; the double-shaft indexing mechanism drives the inertia assembly to rotate and turn; the inertial assembly acquiring rotational angular rates of the earth at a plurality of positions; the hardware circuit is arranged on the double-shaft indexing mechanism, obtains a north deflection angle based on the rotation angular rate of the earth, and is led out through the mirror surface normal of the prism. The utility model discloses can effectively improve the stability and the availability factor of instrument.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a structural diagram of the fiber-optic gyroscope north seeker of the present invention;
FIG. 2 is a perspective view of the main body of the present invention;
FIG. 3 is a structural diagram of the leveling seat of the present invention;
fig. 4 is a schematic diagram of the gyroscope of the present invention.
Description of the symbols: 1-a main machine, 2-a leveling seat, 3-an inertia assembly, 11-a shell, 12-a support frame, 13-a double-shaft indexing mechanism, 14-a first water level, 15-a prism, 16-a hardware circuit, 17-a second water level, 18-an electrical interface, 19-an electrical slip ring, 21-an upper seat, 22-an adjusting screw rod mechanism, 23-a lower seat, 31-a first reference shaft, 32-a second reference shaft and 33-a sensitive shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a north appearance is sought to fiber-optic gyroscope need not carry out the instrument constant through outside astronomical position benchmark and revises, needn't regularly mark the instrument constant in the use, can effectively improve the stability and the availability factor of instrument, and then can be all-weather, all-round, accurate and realize the establishment and the transmission of high accuracy position benchmark fast.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Fig. 1 is the structure diagram of the fiber-optic gyroscope north seeker of the present invention. As shown in the figure the utility model provides a north seeker of fiber-optic gyroscope, include: host computer 1, leveling seat 2 and inertia assembly 3.
As shown in fig. 2, the main body 1 includes a housing 11, a support frame 12, a biaxial indexing mechanism 13, a level, a prism 15, an electrical interface 18, an electrical slip ring 19, a display, and a hardware circuit 16.
The double-shaft indexing mechanism 13 is fixedly arranged on the support frame 12, and the inertia assembly 3 is fixedly arranged on the double-shaft indexing mechanism 13. The inertial mass 3 comprises an accelerometer and a gyroscope.
Preferably, the biaxial indexing mechanism 13 includes: an azimuth axis system and a turning axis system;
the inertia assembly 3 is arranged on the overturning shaft system, the overturning shaft system is arranged on the azimuth shaft system, and the azimuth shaft system is fixedly arranged on the support frame 12.
The overturning shafting drives the inertia assembly 3 to overturn, and the azimuth shafting drives the overturning shafting and the inertia assembly 3 to rotate simultaneously.
The overturning shaft system has an overturning angle limiting function; the azimuth axis system rotates and fixes in azimuth through the locking mechanism.
Further, the hardware circuit 16 controls the azimuth shafting to rotate through a first motor; the hardware circuit 16 controls the overturning shafting to overturn through the second motor.
The housing 11 is fixed to the support frame 12 by screws.
The number of levels is 2, positioned as a first level 14 and a second level 17, respectively.
The first level 14 and the second level 17 are vertically arranged on the supporting frame 12 on a horizontal plane.
The accelerometer obtains the pitch angle of the inertial assembly 3, and the hardware circuit 16 sends the pitch angle to the display for displaying.
The leveling seat 2 is fixedly connected with the support frame 12 through screws, and the leveling seat 2 horizontally corrects the support frame 12.
Preferably, as shown in fig. 3, the leveling seat 2 comprises: an upper seat 21, an adjusting screw mechanism 22 and a lower seat 23.
The upper seat 21 is fixedly connected with the support frame 12 through screws.
The adjusting screw mechanisms 22 are respectively connected with the upper seat 21 and the lower seat 23.
Further, the adjusting screw mechanism 22 includes a first adjusting screw, a second adjusting screw, and a third adjusting screw. The first adjusting screw, the second adjusting screw and the third adjusting screw are uniformly distributed with the same radius.
Based on the pitch angle, the first level 14 and the second level 17, the support frame 12 is then horizontally corrected by adjusting the first adjusting screw, the second adjusting screw and the third adjusting screw.
External lines are connected to the hardware circuit 16 via the electrical interface 18.
The electrical slip ring 19 is located between the electrical interface 18 and the hardware circuit 16 and is fixedly disposed on the supporting frame 12, and the electrical slip ring 19 prevents the dual-axis indexing mechanism 13 from winding during rotation or overturning.
The double-shaft indexing mechanism 13 drives the inertia assembly 3 to rotate and turn. The gyroscope is a fiber optic gyroscope.
The gyroscope obtains rotational angular rates of the earth at a plurality of locations.
The hardware circuit 16 is disposed on the biaxial indexing mechanism 13, and the hardware circuit 16 obtains a north-bias angle based on each rotation angular rate of the earth, and is led out through a mirror surface normal of the prism 15.
In this embodiment, the rotation angular rate of the earth at 4 positions is obtained as follows:
the axes of the gyroscope are a first reference axis 31, a second reference axis 32 and a sensitive axis 33, respectively, as shown in fig. 4.
During the first measurement, the first reference axis 31 is upward, the second reference axis 32 points to the approximate east direction, the sensitive axis 33 points to the approximate north direction, the first reference axis 31, the second reference axis 32 and the sensitive axis 33 form a plane right-hand coordinate system, and the components on the sensitive axis 33 at this time are read to obtain a first earth rotation angular rate.
And after the north seeking measurement is completed at the position during the first measurement, the second motor drives the overturning shafting to rotate. When the overturning shaft system overturns 180 degrees, the overturning angle limiting function is started, the second motor stops working and is self-locked, the second motor reaches the second measuring position and starts to carry out second measurement, the first reference shaft 31 points downwards, the second reference shaft 32 points to the approximate east direction, the sensitive shaft 33 points to the approximate south direction, and the component on the sensitive shaft 33 is read at the moment to obtain the second geosphere rotation angular rate.
After the north seeking measurement is completed at the second measurement position, the first motor drives the azimuth shafting to rotate, and the angle value of the output rotation position is measured in real time. When the azimuth shaft system rotates by 180 degrees, the locking mechanism locks the azimuth shaft system, reaches a third measurement position, and starts to perform third measurement. At this time, the first reference axis 31 points downward, the second reference axis 32 points to the approximate west direction, the sensitive axis 33 points to the approximate north direction, and the component on the sensitive axis 33 at this time is read to obtain a third earth rotation angular rate.
And after the north seeking measurement is completed at the third measurement position, the second motor drives the overturning shafting to rotate. And when the overturning shaft system overturns 180 degrees, the overturning angle limiting function is started, the second motor stops working and self-locks, the fourth measurement position is reached, and the fourth measurement is started. At this time, the first reference axis 31 points upward, the second reference axis 32 points to the approximate west direction, the sensitive axis 33 points to the approximate south direction, and the component on the sensitive axis 33 at this time is read to obtain a fourth earth rotation angular rate.
After the north seeking measurement is completed at the fourth measuring position, the first motor drives the azimuth axis to rotate, and the angle value of the output rotating position is measured in real time. When the azimuth shaft system rotates 180 degrees, the locking mechanism locks the azimuth shaft system and returns to the initial position, and measurement is completed.
Calculating through the first earth rotation angular rate, the second earth rotation angular rate, the third earth rotation angular rate and the fourth earth rotation angular rate to obtain the north-bias angle, wherein the calculation formula is as follows:
in the formula: omegaeIs the angular velocity of the earth, omega1xIs the first earth rotation angular rate, ω2xIs the second earth rotation angular rate, ω3xIs the third earth rotation angular rate, ω4xIs the fourth rate of rotation of the earth,
for approximate longitude and latitude, ψ is the north declination.
The north seeker calibrates constants before leaving a factory, a stable azimuth angle relation between a mirror surface normal of the prism 15 and the sensitive shaft 33 of the gyroscope is established by using the angle measurement and output functions of the azimuth shaft system through a known north reference, after calibration is completed, the mirror surface normal of the prism 15 is used as a north seeking result output shaft, the stable azimuth angle relation between the mirror surface normal of the prism 15 and the sensitive shaft 33 of the gyroscope is known, and the north bias angle is obtained, so that the north bias angle can be converted into a true north bias angle of the mirror surface normal of the prism 15, and measurement in the true north direction is realized.
The utility model discloses beneficial effect as follows:
1) the high-precision optical fiber gyroscope is used as a sensor for sensing the rotational angular rate of the earth, the attitude angle of the optical fiber gyroscope is measured by utilizing the accelerometer, and the influence of a constant of a structural instrument on a measurement result is eliminated by adopting a four-position and turnover combined measurement mode.
2) Under the condition of no external assistance, high-precision azimuth reference establishment and transmission can be realized, and the attitude angle and the local latitude of the carrier can be accurately measured.
3) The measuring result does not need to correct the instrument constant through an external astronomical azimuth reference, the instrument constant does not need to be calibrated regularly in use, and the stability and the use efficiency of the instrument can be effectively improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the device and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (9)
1. A fiber optic gyroscope north seeker, comprising: a main machine and an inertial assembly;
the host comprises a support frame, a double-shaft indexing mechanism, a level, a prism and a hardware circuit;
the double-shaft indexing mechanism is fixedly arranged on the support frame, and the inertia assembly is fixedly arranged on the double-shaft indexing mechanism;
the leveling instrument is fixedly arranged on the supporting frame, and the supporting frame is horizontally corrected based on the leveling instrument;
the double-shaft indexing mechanism drives the inertia assembly to rotate and turn;
the inertial assembly acquiring rotational angular rates of the earth at a plurality of positions;
the hardware circuit is arranged on the double-shaft indexing mechanism, obtains a north deflection angle based on the rotation angular rate of the earth, and is led out through the mirror surface normal of the prism.
2. The fiber optic gyro north seeker of claim 1, wherein the host further comprises: a housing;
the shell is fixed on the support frame through screws.
3. The fiber optic gyro north seeker of claim 1, wherein the host further comprises an electrical interface and an electrical slip ring;
the external line is connected with the hardware circuit through the electrical interface;
the electric slip ring is positioned between the electric interface and the hardware circuit and is fixedly arranged on the supporting frame, and the electric slip ring prevents the double-shaft indexing mechanism from winding wires in the rotating or overturning process.
4. The fiber optic gyro north seeker of claim 1, further comprising: a leveling seat;
the leveling seat is fixedly connected with the support frame through screws, and the leveling seat is used for horizontally correcting the support frame.
5. The fiber optic gyroscope north seeker of claim 4, wherein the leveling base comprises: the device comprises an upper seat, an adjusting screw mechanism and a lower seat;
the upper seat is fixedly connected with the support frame through screws;
the adjusting screw mechanism is respectively connected with the upper seat and the lower seat, and the support frame is horizontally corrected by adjusting the adjusting screw mechanism.
6. The fiber optic gyroscope north seeker of claim 1, wherein the dual-axis indexing mechanism comprises: an azimuth axis system and a turning axis system;
the inertia assembly is arranged on the overturning shaft system, the overturning shaft system is arranged on the azimuth shaft system, and the azimuth shaft system is fixedly arranged on the supporting frame;
the overturning shafting drives the inertia assembly to overturn, and the azimuth shafting drives the overturning shafting and the inertia assembly to rotate simultaneously;
the overturning shaft system has an overturning angle limiting function; and the azimuth shaft system rotates and fixes in azimuth through the locking mechanism.
7. The fiber optic gyro north seeker of claim 1, further comprising: a display; the inertial assembly includes an accelerometer and a gyroscope;
the gyroscope acquires rotation angular rates of the earth at a plurality of positions;
the accelerometer acquires a pitch angle of the inertial assembly, and the hardware circuit sends the pitch angle to the display for displaying;
while a level correction is made based on the pitch angle and the level.
8. The fiber optic gyro north seeker of claim 1, wherein the number of levels is 2, positioned as a first level and a second level, respectively;
the first level and the second level are vertically arranged on the supporting frame on a horizontal plane.
9. The fiber optic gyroscope north seeker of claim 6, further comprising a first motor and a second motor;
the hardware circuit controls the azimuth shafting to rotate through the first motor;
and the hardware circuit controls the overturning shafting to overturn through the second motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123315124.3U CN216483089U (en) | 2021-12-27 | 2021-12-27 | Fiber-optic gyroscope north seeker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123315124.3U CN216483089U (en) | 2021-12-27 | 2021-12-27 | Fiber-optic gyroscope north seeker |
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| Publication Number | Publication Date |
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| CN216483089U true CN216483089U (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123315124.3U Active CN216483089U (en) | 2021-12-27 | 2021-12-27 | Fiber-optic gyroscope north seeker |
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2021
- 2021-12-27 CN CN202123315124.3U patent/CN216483089U/en active Active
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