JPS59180325A - Azimuth measuring method - Google Patents
Azimuth measuring methodInfo
- Publication number
- JPS59180325A JPS59180325A JP5463683A JP5463683A JPS59180325A JP S59180325 A JPS59180325 A JP S59180325A JP 5463683 A JP5463683 A JP 5463683A JP 5463683 A JP5463683 A JP 5463683A JP S59180325 A JPS59180325 A JP S59180325A
- Authority
- JP
- Japan
- Prior art keywords
- gyro
- angle
- detector
- speedily
- oscillations
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は機械的ジャイロを用いた方位角計測方法に関す
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an azimuth measurement method using a mechanical gyro.
機械的ジャイロは垂直軸に対する回転を自由とし、かつ
ジャイロ軸を水平に保つようなモーメントが加わるよう
に構成すると、地球上のある緯度までは地球の自転を検
知し、いわゆるプレセツション(precession
)を生じ、ジャイロ軸を真北の方向に向ける力が働く。If a mechanical gyro is configured so that it can rotate freely about the vertical axis and a moment is applied to keep the gyro axis horizontal, it can detect the rotation of the earth up to a certain latitude on the earth, resulting in so-called precession.
), and a force acts to direct the gyro axis toward the true north.
この力はジャイロ軸が真北の方向罠近ずく罠つれ弱まる
。従って、垂直軸の回転自由度が大きい程正確な真北を
測定することが可能であるが、一方真北を中心とする振
動を生じ、前記回転自由度が高い程、収斂に時間を要す
る。この振動の周期は、ジャイロの回転モーメント、ジ
ャイロ軸を水平に保つために加えるモーメント、あるい
は測定点の地球上の緯度等によシフ。This force weakens as the gyro axis approaches the true north direction trap. Therefore, the greater the rotational degree of freedom of the vertical axis, the more accurate the true north can be measured, but on the other hand, vibrations centering on the true north occur, and the higher the rotational degree of freedom, the longer it takes for convergence. The period of this vibration varies depending on the rotational moment of the gyro, the moment applied to keep the gyro axis horizontal, or the latitude of the measurement point on the earth.
変るが、通常5〜10分程度は必要である。このように
ジャイロを用いた方位角測定にはかなシの時間を要する
のが普通である。Although it varies, it usually takes about 5 to 10 minutes. In this way, azimuth measurement using a gyro usually takes a considerable amount of time.
本発明は、このような振動中のジャイロにおいて、方位
角をできるだけ正確にかつ迅速に測定する方法を提供す
ることを目的とする。It is an object of the present invention to provide a method for measuring the azimuth angle as accurately and quickly as possible in such a vibrating gyro.
本発明は、方位角を検知する如く構成された機械的ジャ
イロにおいて、光を用いたインターフェイスを用いてジ
ャイロの振動角度を検出する検出個所をe数個設け、角
度検出器の設置角度およびその角度検出器を振動によシ
ジャイロ軸が通過する時刻を計測し、それらの情報を演
算して方位角を表示せしめるようにしたものである。The present invention provides, in a mechanical gyro configured to detect an azimuth angle, several detection points for detecting the vibration angle of the gyro using an interface using light, and the installation angle of the angle detector and its angle. The detector measures the time when the cylindrical axis passes by vibration, and calculates the information to display the azimuth.
以下、本発明を、図面を参照しながら説明する。Hereinafter, the present invention will be explained with reference to the drawings.
第1図は本発明の詳細な説明するだめの図である。この
図において実線のカーブは振動の軌跡を示す。いま、垂
直軸を中心とする振動に対する制動力(r:iきわめて
小さいから、ψl′−、ψ2−ψとしてよい。したかつ
て振動の軌跡は(1)式で表わすことができる。FIG. 1 is a detailed illustration of the present invention. In this figure, the solid curve shows the locus of vibration. Now, since the braking force (r:i) for vibration centered on the vertical axis is extremely small, it may be set to ψl'-, ψ2-ψ.The trajectory of the vibration can be expressed by equation (1).
ただしTは振動の周期である。However, T is the period of vibration.
いまθ1およびθ2に測定点を設け、振動によりジャイ
ロの軸がその点を通過する時刻を測定するものとする。Let us now assume that measurement points are provided at θ1 and θ2, and the time when the gyro axis passes through the points due to vibration is measured.
それらの時刻は第1図に示す如りtl〜t4とする。従
って、第1図においてθ1.θ2.t1〜t4は既知数
となり、θ0.θゆ、ψ+ tQが未知数であり、この
うちθ工がジャイロの振動の中心、即ち真北を示すもの
である。(])式から1、 2π
θ2=ψs i h T (t4〜to)十θ工・・
・(5)が成立する。一方、周期Tは第1図における山
から谷までの時間の2倍であるから、(6)式で表わさ
次にψは(2)〜(5)式から、
ただしmは1または2、九は3捷たは4である。These times are assumed to be tl to t4 as shown in FIG. Therefore, in FIG. 1, θ1. θ2. t1 to t4 are known numbers, and θ0. θY, ψ+tQ are unknown quantities, and θY represents the center of vibration of the gyro, that is, true north. (]) From formula 1, 2π θ2=ψs i h T (t4~to) 10θ engineering...
-(5) holds true. On the other hand, since the period T is twice the time from the peak to the valley in Figure 1, it is expressed by equation (6). Next, ψ is calculated from equations (2) to (5), where m is 1, 2, or 9. is 3 or 4.
また(2)〜(5)式における残る未知数t。は、第1
図の最初の山から1/4周期前であるから、となる。従
って求めるθXは(2)式から1.2π
θX−θl−911 stn −(t+−to )
・・・(9)となる。勿論(2)式の代りに(3)〜(
5)式のいずれを用いてもよい。この(9)式に(61
、(7) 、 (8)式を代入すれば、θXはすべて既
知数で表わすことができ、求めることが可能である。Also, the remaining unknown quantity t in equations (2) to (5). is the first
This is because it is 1/4 cycle before the first peak in the diagram. Therefore, the obtained θX is 1.2π θX−θl−911 stn −(t+−to ) from equation (2)
...(9). Of course, instead of equation (2), (3) ~ (
5) Any of the formulas may be used. In this equation (9), (61
, (7), and (8), all θX can be expressed by known numbers and can be determined.
第2図は上述の測定系を利用して本発明を実施する場合
の計測装置を概略的に示した図である。FIG. 2 is a diagram schematically showing a measuring device for implementing the present invention using the above-mentioned measuring system.
この図において、ジャイロ本体1と角度検出器2との間
は光学的手段で結合することにより、即ちこの間を光で
インターフェイスをとることにより、ジャイロに角度検
出のだめの外力が加わらないようにしである。このよう
な光学的インターフェイスとしては、例えば、発光ダイ
オードおよび受光ダイオードの組み合せた間を、機械的
にジャイロと一体となった指針を用いて光を遮断するこ
とにより角度を検知する方式、あるいはジャイロに鏡を
取シ付け、果菜した光あるいはレーデ光を外部から鏡に
照射し、その反射光を検知するために一定角度間隔で光
検出器を設ける方式等がある。角度検出器から前述の0
1.θ2の情報とt1〜t4に相当する検出情報を、ら
らかしめ前述の(6)〜(9)式をプログラム入力した
演算表示装置4に導き演算せしめ、これによってθアを
求め表示する。演算光示装置の代りに人の計算作業によ
シ行ってもよいことは勿論である。In this figure, the gyro main body 1 and the angle detector 2 are coupled by optical means, that is, by providing an optical interface between them, so that no external force is applied to the gyro for angle detection. . Examples of such optical interfaces include methods that detect angles by mechanically blocking light between a combination of a light-emitting diode and a light-receiving diode using a pointer integrated with a gyro; There is a method in which a mirror is attached to the mirror and light from the outside or LED light is irradiated onto the mirror, and photodetectors are installed at regular angular intervals to detect the reflected light. 0 from the angle detector
1. The information on θ2 and the detection information corresponding to t1 to t4 are led to the arithmetic and display device 4 into which the above-mentioned equations (6) to (9) have been programmed and calculated, whereby θa is determined and displayed. Of course, it is also possible to use human calculation work instead of the arithmetic optical display device.
以上の如く本発明によれば、振動しているジャイロに外
部から余分な機械的な力を加えることなく、振動の中心
を早く見い出すことかでき、真北の測定が正確かつ迅速
、容易に行うことができる。As described above, according to the present invention, the center of vibration can be quickly found without applying extra mechanical force from the outside to the vibrating gyro, and true north can be measured accurately, quickly, and easily. be able to.
なお、上述の例では角度検出点を2箇所としだが、3箇
所以上とってもよいことは勿論である。In the above example, two angle detection points are used, but it is of course possible to use three or more angle detection points.
第1図は本発明の詳細な説明するだめの図、第2図は本
発明を実施する場合の方位角計測装置の概略図である。
1・・・ジャイロ本体、
2・・・角度検出器、
3・・・光によるインターフェイス部分、4・・・演算
表示装置。
代理人 ・弁理士 染 川 利 吉FIG. 1 is a diagram for explaining the present invention in detail, and FIG. 2 is a schematic diagram of an azimuth angle measuring device for carrying out the present invention. 1... Gyro body, 2... Angle detector, 3... Optical interface part, 4... Arithmetic display device. Agent/patent attorney Rikichi Somekawa
Claims (1)
を光学的手段を介して複数個所で検出し、角度検出器の
設置角度およびその角度検出器を振動によシジャイロ軸
が通過する時刻を計測し、それらの情報を演算して方位
角を得ることを特徴とする方位角計測方法。The vibration angle of the gyro configured to detect the azimuth angle is detected at multiple locations via optical means, and the installation angle of the angle detector and the time when the gyro axis passes through the angle detector due to vibration are measured. An azimuth angle measurement method characterized by calculating the information and obtaining the azimuth angle.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5463683A JPS59180325A (en) | 1983-03-30 | 1983-03-30 | Azimuth measuring method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5463683A JPS59180325A (en) | 1983-03-30 | 1983-03-30 | Azimuth measuring method |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS59180325A true JPS59180325A (en) | 1984-10-13 |
Family
ID=12976251
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5463683A Pending JPS59180325A (en) | 1983-03-30 | 1983-03-30 | Azimuth measuring method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS59180325A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01269009A (en) * | 1988-04-20 | 1989-10-26 | Sokkisha Co Ltd | True north measuring method |
-
1983
- 1983-03-30 JP JP5463683A patent/JPS59180325A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01269009A (en) * | 1988-04-20 | 1989-10-26 | Sokkisha Co Ltd | True north measuring method |
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