WO2022174831A1 - Continuous north-seeking apparatus and method, electronic device, and storage medium - Google Patents

Continuous north-seeking apparatus and method, electronic device, and storage medium Download PDF

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WO2022174831A1
WO2022174831A1 PCT/CN2022/077109 CN2022077109W WO2022174831A1 WO 2022174831 A1 WO2022174831 A1 WO 2022174831A1 CN 2022077109 W CN2022077109 W CN 2022077109W WO 2022174831 A1 WO2022174831 A1 WO 2022174831A1
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data
mems
north
angular velocity
horizontal displacement
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PCT/CN2022/077109
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French (fr)
Chinese (zh)
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李荣熙
韩雷晋
司徒春辉
朱赞林
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广州导远电子科技有限公司
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Publication of WO2022174831A1 publication Critical patent/WO2022174831A1/en

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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
    • G01C19/02—Rotary gyroscopes
    • G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Definitions

  • the present application relates to the technical field of inertial navigation, and in particular, to a continuous north-seeking device, method, electronic device and storage medium.
  • the commonly used directional devices include magnetic compass, GNSS dual-antenna directional device, and gyro directional instrument.
  • Commonly used directional equipment such as magnetic compass is easily affected by the magnetic field interference formed by surrounding steel components and electrical equipment, so it is necessary to eliminate environmental interference such as magnetic field first. and other shortcomings.
  • the purpose of the embodiments of the present application is to provide a continuous north finding device, method, electronic device and storage medium, using a high-precision MEMS gyro array, which can continuously find north at multiple positions, and solve the problem that the existing directional equipment is easily affected by environmental interference, It is bulky, expensive, inconvenient to carry and increases the time to find north.
  • An embodiment of the present application provides a continuous north-seeking device, and the device includes:
  • a MEMS gyroscope array including a plurality of coaxially arranged MEMS gyroscopes, is used to continuously output the angular velocity data of multiple positions measured during the rotation;
  • a MEMS accelerometer used for acquiring acceleration data when the MEMS gyro array generates a horizontal displacement, so as to acquire the included angle of true north during movement according to the acceleration data;
  • a data processing module electrically connected to the MEMS gyro array and the MEMS accelerometer, respectively, for receiving and processing the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement .
  • the MEMS gyroscope array uses multiple coaxially arranged MEMS gyroscopes, which has lower cost, smaller volume and can accurately measure the rotation speed of the earth while ensuring accuracy, and can be used without horizontal displacement.
  • the yaw angle is measured by the multi-cycle rotation of the MEMS gyro array, and the accurate measurement in the horizontal movement state can be achieved by combining with the MEMS accelerometer, thus realizing the continuous north-seeking measurement in a short time.
  • the device also includes a rotating device, and the rotating device includes:
  • the MEMS gyro array is arranged on the rotating platform;
  • the motor is connected with the rotating platform and controlled by the data processing module to drive the rotating platform to rotate.
  • the motor is controlled by the data processing module, so that the rotating platform drives the MEMS gyro array to rotate continuously, and the north-seeking result is accurately obtained through continuous north-seeking.
  • the device also includes:
  • the zero-position photoelectric sensor is arranged on the rotating device, and is used for monitoring the initial position of the rotating device in each period of rotation.
  • the zero-position photoelectric sensor is used to monitor the initial position of each rotation of the platform, which is also the orientation of the device when it is used.
  • the MEMS gyroscope array includes 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform.
  • the MEMS gyroscope array is composed of 2-4 pieces of MEMS gyroscopes installed coaxially. The purpose is to optimize the measurement results of multiple pieces of gyroscopes, and obtain far more than one piece of gyroscope under suitable volume and cost conditions. accuracy of the instrument.
  • the embodiment of the present application also provides a continuous north-seeking method, which is applied to the data processing module, and the method includes:
  • the angular velocity data and the acceleration data are processed to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
  • the included angle of true north can be quickly found without interference from the magnetic field environment.
  • the directional instrument can be moved.
  • the included angle of true north can change with the movement of the equipment, and the device has the advantages of small size, It is light in weight and can be stored in pockets, which greatly reduces the restrictions on transportation and use environment, and has a wider range of applications and applications.
  • processing of the angular velocity data to obtain the true north angle without horizontal displacement includes:
  • the true north angle is obtained according to the real-time phase value.
  • the north-seeking result in the case of no horizontal displacement, the north-seeking result can be output synchronously during the continuous rotation of the MEMS gyro array.
  • processing of the angular velocity data and the acceleration data to obtain the true north angle under the horizontal displacement includes:
  • the MEMS gyro array has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
  • the true north angle is obtained based on the attitude angle.
  • the angular change during the moving process of the device can be continuously output by combining the acceleration data and the angular velocity data.
  • modifying the sampled data to obtain modified data includes:
  • the sampled data is corrected by calibration compensation and zero drift correction.
  • the sampled value is corrected through calibration compensation and zero drift correction.
  • An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to execute any one of the above The continuous north-seeking method described in item.
  • Embodiments of the present application further provide a readable storage medium, where computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, execute any of the above Continuous north finding method.
  • FIG. 1 is a structural block diagram of a continuous north-seeking device provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of acquiring the true north angle under no horizontal displacement state provided by an embodiment of the present application
  • FIG. 5 is a block diagram of a course outward push provided by an embodiment of the present application.
  • 100-MEMS gyro array 101-zero photoelectric sensor; 102-MEMS accelerometer; 103-data processing module; 104-wire slip ring; 105-motor driver; 106-motor; 107-rotating platform.
  • FIG. 1 is a structural block diagram of a continuous north finding apparatus provided by an embodiment of the present application.
  • the device includes:
  • the MEMS gyroscope array 100 includes a plurality of coaxially arranged MEMS gyroscopes, which are used to continuously output the angular velocity data of multiple positions measured during the rotation process;
  • the MEMS accelerometer 102 is configured to acquire acceleration data when the MEMS gyro array 100 generates a horizontal displacement, so as to acquire the true north angle during the movement process according to the acceleration data.
  • the data processing module 103 is electrically connected to the MEMS gyro array 100 and the MEMS accelerometer 102 respectively, and is used for receiving and processing the angular velocity data and the acceleration data, so as to obtain the true value of the horizontal displacement or no horizontal displacement state. North angle.
  • the MEMS gyro array 100 is arranged on a rotating device, and the rotating device includes:
  • a rotating platform 107 on which the MEMS gyro array 100 is disposed;
  • the motor 106 is in driving connection with the rotating platform 107 and controlled by the data processing module 103 to drive the rotating platform 107 to rotate.
  • the motor 106 is connected to the motor driver 105 , and the motor driver 105 is connected to the data processing module 103 through the wire slip ring 104 to realize the start-stop control of the motor 106 .
  • the MEMS gyroscope array is composed of a plurality of MEMS gyroscopes installed coaxially and installed on the rotating platform 107.
  • the motor 106 can be a stepping motor, and the rotating platform 107 is connected with the stepping motor and is driven by the stepping motor at a constant speed.
  • the data processing module 103 such as DSP sends an instruction to the motor driver 105 to control the motor 106 to drive the rotating platform 107 to rotate at a constant speed.
  • the MEMS gyroscope array 100 may include 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform 107 for continuous output measurement , the component of the angular velocity of the Earth's rotation on its sensitive axis.
  • the purpose of using 2-4 pieces of MEMS gyroscopes to be installed coaxially to form the MEMS gyroscope array 100 is to obtain the accuracy far higher than that of one piece of gyroscopes under suitable volume and cost conditions by optimizing the calculation of the measurement results of the multiple pieces of gyroscopes.
  • MEMS gyroscopes Compared with fiber optic gyroscopes and laser gyroscopes, MEMS gyroscopes have lower cost, smaller volume, but lower accuracy. At present, the zero drift of high-precision MEMS gyroscopes is 1°-10°/hour, while the earth's The rotation angular velocity is 15.0411°/hour, which is still relatively difficult to measure the earth's rotation angular velocity, but if multiple MEMS gyroscope arrays are used, for example, the outputs of N MEMS gyroscopes arranged coaxially and with the same characteristics are added together, Modeling and optimization calculations based on the statistical and time-series characteristics of each MEMS gyroscope can greatly improve its accuracy, thus achieving the effect of lower cost and smaller volume than fiber optic gyroscopes and laser gyroscopes and can accurately measure the angular velocity of the earth's rotation. .
  • the number of MEMS gyroscopes used may be comprehensively considered based on aspects such as calculation accuracy, cost, and volume, and there is no limitation on the number of MEMS gyroscopes.
  • the device further includes a zero-position photoelectric sensor 101, which is arranged on the rotating device and is used to monitor the initial position of the rotating device in each period of rotation.
  • the zero-position photoelectric sensor 101 such as a zero-position photoelectric switch, is used to monitor the initial position of the rotating platform 107 for each rotation, and this position is also the orientation of the orientation instrument when it is used.
  • the zero-position photoelectric sensor 101 can be zero-corrected by DSP.
  • the motor 106 starts to count from the zero position, then rotates 360°/N accurately, takes the gyro output value of N times, and takes the average value of the gyro output signal at each position to obtain an accurate
  • the included angle of true north, wherein the MEMS gyro array 100 rotates once, can obtain a sinusoidal gyro output signal.
  • the MEMS accelerometer 102 When the horizontal displacement of the device occurs, the MEMS accelerometer 102 is used to measure and obtain the acceleration data, and the data is corrected by processing the acceleration data and angular velocity data such as calibration compensation and zero drift correction, and then the extended Kalman filter is used to output the attitude angle, so as to achieve continuous direction angle measurement in a short time.
  • continuous north-seeking through MEMS gyroscope has the advantages of fast north-seeking, small size and low cost, which can reduce the limitations of the use scenarios of north-seekers.
  • the accuracy is better than that of a single-chip MEMS gyroscope; the true north angle can be output within 3 minutes after being placed horizontally, and if there is a horizontal movement after that, it can continue to output the changing true north angle, and the device is not affected by horizontal displacement. It can achieve continuous and fast north seeking.
  • This embodiment of the present application provides a continuous north finding method, which is applied to the data processing module 103 in Embodiment 1.
  • FIG. 2 it is a flowchart of the continuous north finding method, which can realize the state of no horizontal displacement and the state of horizontal movement.
  • the measurement of the true north angle of the method includes:
  • Step S100 Receive angular velocity data corresponding to each of the positions output when the MEMS gyro array 100 rotates at least once and rotates to a plurality of preset positions;
  • Step S200 Receive acceleration data output by the MEMS accelerometer 102 when the MEMS gyro array 100 generates a horizontal displacement
  • Step S300 Process the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
  • FIG. 3 it is a flow chart of acquiring the true north angle in the state of no horizontal displacement, and the step may specifically include:
  • Step S311 If the MEMS gyro array 100 has no horizontal displacement in the process of acquiring the angular velocity data, perform Fourier transform on the angular velocity data to obtain a real-time phase value;
  • Step S312 Obtain the true north angle according to the real-time phase value.
  • the motor 106 In the case of no horizontal displacement, let the motor 106 start to count from the zero position, then rotate 360°/N precisely, take the gyro output value of N times, and perform FFT transformation on the data of N times, that is, for a single cycle
  • the initial phase of the sine and cosine signals can be obtained, that is, the initial heading angle can be obtained, but the accuracy is not high, and the continuous north finding algorithm can be used.
  • the gyro output signal is averaged, and then the N position data is subjected to FFT transformation to obtain real-time phase values at different positions, and the final true north angle, that is, the yaw angle, can be obtained.
  • this step may specifically include:
  • Step S321 If the MEMS gyro array 100 has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
  • Step S322 modifying the sampling data to obtain modified data
  • Step S323 filter the corrected data using an extended Kalman filter to obtain and update the attitude angle
  • Step S324 Obtain the true north angle based on the attitude angle.
  • FIG. 5 it is a block diagram of course extrapolation, and the sampling data is corrected, which can be corrected by calibration compensation and zero drift correction, and the attitude angle can be obtained by filtering through the extended Kalman filter, and the attitude angle can be updated at the same time. , the true north angle can be obtained through the attitude angle, so no matter whether the device has horizontal displacement or not, it can continuously output the changing true north angle.
  • An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the embodiment 1 Any one of the continuous north finding methods.
  • Embodiments of the present application further provide a readable storage medium, where computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, execute any one of Embodiment 1.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
  • each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

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Abstract

A continuous north-seeking apparatus and method, an electronic device, and a storage medium, relating to the technical field of inertial navigation. The apparatus comprises: a MEMS gyroscope array (100) comprising a plurality of coaxially disposed MEMS gyroscopes and used for continuously outputting measured angular velocity data of a plurality of positions in a rotating process; a MEMS accelerometer (102) used for obtaining acceleration data when the MEMS gyroscope array (100) produces horizontal displacement so as to obtain a true north included angle in a moving process according to the acceleration data; and a data processing module (103) electrically connected to the MEMS gyroscope array (100) and the MEMS accelerometer (102), separately, and used for receiving and processing the angular velocity data and the acceleration data so as to obtain a true north included angle in a horizontal displacement state or a horizontal-displacement-free state. The apparatus uses the high-precision MEMS gyroscope array (100) and can continuously seek north at multiple positions, and the problem that existing orientation devices are easily interfered by environment, large in size, high in cost and inconvenient to carry and cause an increase in north seeking time is solved.

Description

一种连续寻北装置、方法、电子设备及存储介质A continuous north-seeking device, method, electronic device and storage medium 技术领域technical field
本申请涉及惯性导航技术领域，具体而言，涉及一种连续寻北装置、方法、电子设备及存储介质。The present application relates to the technical field of inertial navigation, and in particular, to a continuous north-seeking device, method, electronic device and storage medium.
背景技术Background technique
在广泛的军用导航及高精度测绘领域里，确定当前方位是核心且关键的问题。目前常用的定向设备有磁罗盘、GNSS双天线定向设备、陀螺定向仪等。常用的定向设备如磁罗盘容易受周边的钢铁构件和电气设备所形成的磁场干扰影响，从而需要先需要消除磁场等环境干扰，有的具有体积大、成本高，不方便携带以及增加寻北时间等缺点。In a wide range of military navigation and high-precision surveying and mapping fields, determining the current position is the core and key problem. At present, the commonly used directional devices include magnetic compass, GNSS dual-antenna directional device, and gyro directional instrument. Commonly used directional equipment such as magnetic compass is easily affected by the magnetic field interference formed by surrounding steel components and electrical equipment, so it is necessary to eliminate environmental interference such as magnetic field first. and other shortcomings.
发明内容SUMMARY OF THE INVENTION
本申请实施例的目的在于提供一种，连续寻北装置、方法、电子设备及存储介质，采用高精度的MEMS陀螺阵列，可以多位置连续寻北，解决现有的定向设备容易受到环境干扰、体积大、成本高，不方便携带以及增加寻北时间的问题。The purpose of the embodiments of the present application is to provide a continuous north finding device, method, electronic device and storage medium, using a high-precision MEMS gyro array, which can continuously find north at multiple positions, and solve the problem that the existing directional equipment is easily affected by environmental interference, It is bulky, expensive, inconvenient to carry and increases the time to find north.
本申请实施例提供了一种连续寻北装置，所述装置包括：An embodiment of the present application provides a continuous north-seeking device, and the device includes:
MEMS陀螺阵列，包括多片同轴设置的MEMS陀螺仪，用于在转动过程中连续输出测量的多个位置的角速度数据；A MEMS gyroscope array, including a plurality of coaxially arranged MEMS gyroscopes, is used to continuously output the angular velocity data of multiple positions measured during the rotation;
MEMS加速度计，用于获取所述MEMS陀螺阵列产生水平位移时的加速度数据，以根据所述加速度数据获取移动过程中的真北夹角；a MEMS accelerometer, used for acquiring acceleration data when the MEMS gyro array generates a horizontal displacement, so as to acquire the included angle of true north during movement according to the acceleration data;
数据处理模块，分别与所述MEMS陀螺阵列和所述MEMS加速度计电连接，用于接收和处理所述角速度数据和所述加速度数据，以获取水平位移或无水平位移状态下的真北夹角。A data processing module, electrically connected to the MEMS gyro array and the MEMS accelerometer, respectively, for receiving and processing the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement .
在上述实现过程中，MEMS陀螺阵列采用多片同轴设置的MEMS陀螺仪，在保证精度的同时具有较低的成本、更小的体积且能够准确测量地 球的自转速度，在无水平位移下可通过MEMS陀螺阵列的多周期转动实现偏航角度的测量，并且结合MEMS加速度计可实现水平移动状态下的准确测量，从而实现了短时间内连续的寻北测量。In the above implementation process, the MEMS gyroscope array uses multiple coaxially arranged MEMS gyroscopes, which has lower cost, smaller volume and can accurately measure the rotation speed of the earth while ensuring accuracy, and can be used without horizontal displacement. The yaw angle is measured by the multi-cycle rotation of the MEMS gyro array, and the accurate measurement in the horizontal movement state can be achieved by combining with the MEMS accelerometer, thus realizing the continuous north-seeking measurement in a short time.
进一步地，述装置还包括旋转装置，所述旋转装置包括：Further, the device also includes a rotating device, and the rotating device includes:
旋转平台，所述MEMS陀螺阵列设置于所述旋转平台上；a rotating platform, the MEMS gyro array is arranged on the rotating platform;
电机，与所述旋转平台传动连接，且由所述数据处理模块控制，以带动所述旋转平台转动。The motor is connected with the rotating platform and controlled by the data processing module to drive the rotating platform to rotate.
在上述实现过程中，通过数据处理模块控制电机工作，使得旋转平台带动MEMS陀螺阵列连续转动，通过连续寻北精确得到寻北结果。In the above implementation process, the motor is controlled by the data processing module, so that the rotating platform drives the MEMS gyro array to rotate continuously, and the north-seeking result is accurately obtained through continuous north-seeking.
进一步地，所述装置还包括：Further, the device also includes:
零位光电传感器，设置于所述旋转装置上，用于监测所述旋转装置每个周期转动的初始位置。The zero-position photoelectric sensor is arranged on the rotating device, and is used for monitoring the initial position of the rotating device in each period of rotation.
在上述实现过程中，零位光电传感器用来监测平台转动每圈的初始位置，该位置也是该装置使用时的朝向。In the above implementation process, the zero-position photoelectric sensor is used to monitor the initial position of each rotation of the platform, which is also the orientation of the device when it is used.
进一步地，所述MEMS陀螺阵列包括2-4片MEMS陀螺仪，且所述MEMS陀螺仪的敏感轴同轴安装且与所述旋转平台上表面平行。Further, the MEMS gyroscope array includes 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform.
在上述实现过程中，MEMS陀螺阵列是由2-4片MEMS陀螺仪共轴安装组成，目的是通过优化运算多片陀螺仪的测量结果，在合适的体积和成本条件下获得远高于一片陀螺仪的精度。In the above implementation process, the MEMS gyroscope array is composed of 2-4 pieces of MEMS gyroscopes installed coaxially. The purpose is to optimize the measurement results of multiple pieces of gyroscopes, and obtain far more than one piece of gyroscope under suitable volume and cost conditions. accuracy of the instrument.
本申请实施例还提供一种连续寻北方法，应用于数据处理模块，所述方法包括：The embodiment of the present application also provides a continuous north-seeking method, which is applied to the data processing module, and the method includes:
接收MEMS陀螺阵列至少旋转一周且旋转到设定的多个位置时输出的每个所述位置上对应的角速度数据；Receive angular velocity data corresponding to each of the positions output when the MEMS gyro array rotates at least once and rotates to a plurality of preset positions;
接收MEMS加速度计输出的所述MEMS陀螺阵列产生水平位移时的加速度数据；Receive acceleration data when the MEMS gyro array output by the MEMS accelerometer produces horizontal displacement;
对所述角速度数据和所述加速度数据进行处理，以获取水平位移或无水平位移状态下的真北夹角。The angular velocity data and the acceleration data are processed to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
在上述实现过程中，能够快速找出真北夹角，不受磁场环境干扰，得到真北夹角后可以移动定向仪，真北夹角能够随着设备移动而变化，且装置具有体积小、重量轻的特点，可以口袋收纳，大大降低对运输及使用环 境的限制，应用场合和应用范围更加广泛。In the above implementation process, the included angle of true north can be quickly found without interference from the magnetic field environment. After obtaining the included angle of true north, the directional instrument can be moved. The included angle of true north can change with the movement of the equipment, and the device has the advantages of small size, It is light in weight and can be stored in pockets, which greatly reduces the restrictions on transportation and use environment, and has a wider range of applications and applications.
进一步地，所述对所述角速度数据进行处理，以获取无水平位移状态下的真北夹角，包括：Further, the processing of the angular velocity data to obtain the true north angle without horizontal displacement includes:
若所述MEMS陀螺阵列在获取所述角速度数据的过程中无水平位移，则对所述角速度数据进行傅里叶变换，以得到实时相位值；If the MEMS gyro array has no horizontal displacement in the process of acquiring the angular velocity data, Fourier transform is performed on the angular velocity data to obtain a real-time phase value;
根据所述实时相位值，获取所述真北夹角。The true north angle is obtained according to the real-time phase value.
在上述实现过程中，在无水平位移情况下，可在MEMS陀螺阵列连续转动的过程中同步输出寻北结果。In the above implementation process, in the case of no horizontal displacement, the north-seeking result can be output synchronously during the continuous rotation of the MEMS gyro array.
进一步地，所述对所述角速度数据和所述加速度数据进行处理，以获取水平位移下的真北夹角，包括：Further, the processing of the angular velocity data and the acceleration data to obtain the true north angle under the horizontal displacement includes:
若所述MEMS陀螺阵列在获取所述角速度数据的过程中具有水平位移，获取加速度数据和角速度数据的采样数据；If the MEMS gyro array has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
对所述采样数据进行修正，以得到修正数据；modifying the sampled data to obtain modified data;
对所述修正数据利用扩展卡尔曼滤波器进行滤波以得到并更新姿态角；Filtering the corrected data using an extended Kalman filter to obtain and update the attitude angle;
基于所述姿态角得到所述真北夹角。The true north angle is obtained based on the attitude angle.
在上述实现过程中，当具有水平位移时，可以通过加速度数据和角速度数据相结合，持续输出装置移动过程中的角度变化。In the above implementation process, when there is a horizontal displacement, the angular change during the moving process of the device can be continuously output by combining the acceleration data and the angular velocity data.
进一步地，所述对所述采样数据进行修正，以得到修正数据，包括：Further, modifying the sampled data to obtain modified data includes:
通过标定补偿和零点漂移校正对所述采样数据进行修正。The sampled data is corrected by calibration compensation and zero drift correction.
在上述实现过程中，通过标定补偿和零点漂移校正来修正采样值。In the above implementation process, the sampled value is corrected through calibration compensation and zero drift correction.
本申请实施例还提供一种电子设备，所述电子设备包括存储器以及处理器，所述存储器用于存储计算机程序，所述处理器运行所述计算机程序以使所述电子设备执行上述中任一项所述的连续寻北方法。An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to execute any one of the above The continuous north-seeking method described in item.
本申请实施例还提供一种可读存储介质，所述可读存储介质中存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行上述中任一项所述的连续寻北方法。Embodiments of the present application further provide a readable storage medium, where computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, execute any of the above Continuous north finding method.
附图说明Description of drawings
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例 中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.
图1为本申请实施例提供的一种连续寻北装置的结构框图；1 is a structural block diagram of a continuous north-seeking device provided by an embodiment of the present application;
图2为本申请实施例提供的连续寻北方法的流程图；2 is a flowchart of a continuous north-seeking method provided by an embodiment of the present application;
图3为本申请实施例提供的在无水平位移状态下获取真北夹角的流程图；3 is a flowchart of acquiring the true north angle under no horizontal displacement state provided by an embodiment of the present application;
图4为本申请实施例提供的在有水平位移情况下获取真北夹角的流程图；4 is a flow chart of acquiring the true north angle under the condition of horizontal displacement provided by the embodiment of the present application;
图5为本申请实施例提供的航向外推框图。FIG. 5 is a block diagram of a course outward push provided by an embodiment of the present application.
图标：icon:
100-MEMS陀螺阵列；101-零位光电传感器；102-MEMS加速度计；103-数据处理模块；104-导线滑环；105-电机驱动器；106-电机；107-旋转平台。100-MEMS gyro array; 101-zero photoelectric sensor; 102-MEMS accelerometer; 103-data processing module; 104-wire slip ring; 105-motor driver; 106-motor; 107-rotating platform.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
实施例1Example 1
请参看图1，图1为本申请实施例提供的一种连续寻北装置的结构框图。该装置包括：Please refer to FIG. 1. FIG. 1 is a structural block diagram of a continuous north finding apparatus provided by an embodiment of the present application. The device includes:
MEMS陀螺阵列100，包括多片同轴设置的MEMS陀螺仪，用于在转动过程中连续输出测量的多个位置的角速度数据；The MEMS gyroscope array 100 includes a plurality of coaxially arranged MEMS gyroscopes, which are used to continuously output the angular velocity data of multiple positions measured during the rotation process;
MEMS加速度计102，用于获取所述MEMS陀螺阵列100产生水平位移时的加速度数据，以根据所述加速度数据获取移动过程中的真北夹角。The MEMS accelerometer 102 is configured to acquire acceleration data when the MEMS gyro array 100 generates a horizontal displacement, so as to acquire the true north angle during the movement process according to the acceleration data.
数据处理模块103，分别与所述MEMS陀螺阵列100和所述MEMS 加速度计102电连接，用于接收和处理所述角速度数据和所述加速度数据，以获取水平位移或无水平位移状态下的真北夹角。The data processing module 103 is electrically connected to the MEMS gyro array 100 and the MEMS accelerometer 102 respectively, and is used for receiving and processing the angular velocity data and the acceleration data, so as to obtain the true value of the horizontal displacement or no horizontal displacement state. North angle.
MEMS陀螺阵列100设置于旋转装置上，旋转装置包括：The MEMS gyro array 100 is arranged on a rotating device, and the rotating device includes:
旋转平台107，所述MEMS陀螺阵列100设置于所述旋转平台107上；a rotating platform 107, on which the MEMS gyro array 100 is disposed;
电机106，与所述旋转平台107传动连接，且由所述数据处理模块103控制，以带动所述旋转平台107转动。The motor 106 is in driving connection with the rotating platform 107 and controlled by the data processing module 103 to drive the rotating platform 107 to rotate.
具体地，电机106连接电机驱动器105，电机驱动器105通过导线滑环104连接数据处理模块103，实现对电机106的启停控制。Specifically, the motor 106 is connected to the motor driver 105 , and the motor driver 105 is connected to the data processing module 103 through the wire slip ring 104 to realize the start-stop control of the motor 106 .
示例地，MEMS陀螺仪阵列由多片MEMS陀螺仪共轴安装组成，并安装在旋转平台107上，电机106可以采用步进电机，旋转平台107与步进电机连接并在步进电机带动下匀速旋转，通过数据处理模块103如DSP向电机驱动器105发送指令，可以控制电机106带动旋转平台107匀速转动。For example, the MEMS gyroscope array is composed of a plurality of MEMS gyroscopes installed coaxially and installed on the rotating platform 107. The motor 106 can be a stepping motor, and the rotating platform 107 is connected with the stepping motor and is driven by the stepping motor at a constant speed. For rotation, the data processing module 103 such as DSP sends an instruction to the motor driver 105 to control the motor 106 to drive the rotating platform 107 to rotate at a constant speed.
作为其中一种实施方式，MEMS陀螺阵列100可以包括2-4片MEMS陀螺仪，且所述MEMS陀螺仪的敏感轴同轴安装且与所述旋转平台107上表面平行，用于连续输出测得的角速度数据，即地球自转角速度在其敏感轴上的分量。As one embodiment, the MEMS gyroscope array 100 may include 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform 107 for continuous output measurement , the component of the angular velocity of the Earth's rotation on its sensitive axis.
采用2-4片MEMS陀螺仪共轴安装成MEMS陀螺阵列100的目的是通过优化运算多片陀螺仪的测量结果，在合适的体积和成本条件下获得远高于一片陀螺仪的精度。The purpose of using 2-4 pieces of MEMS gyroscopes to be installed coaxially to form the MEMS gyroscope array 100 is to obtain the accuracy far higher than that of one piece of gyroscopes under suitable volume and cost conditions by optimizing the calculation of the measurement results of the multiple pieces of gyroscopes.
由于MEMS陀螺仪相对于光纤陀螺仪及激光陀螺仪来说成本较低，体积较小，但精度也较低，目前较高精度的MEMS陀螺仪零漂在1°-10°/小时，而地球自转角速度为15.0411°/小时，这样的精度用来测量地球自转角速度仍比较勉强，但如果采用多片MEMS陀螺仪阵列，例如把N片同轴布置且相同特性的MEMS陀螺仪的输出相加，根据每片MEMS陀螺仪的统计和时间序列特性进行建模和优化计算，可以大大改善其精度，从而达到了比光纤陀螺及激光陀螺更低成本、更小体积且能准确测量地球自转角速度的效果。Compared with fiber optic gyroscopes and laser gyroscopes, MEMS gyroscopes have lower cost, smaller volume, but lower accuracy. At present, the zero drift of high-precision MEMS gyroscopes is 1°-10°/hour, while the earth's The rotation angular velocity is 15.0411°/hour, which is still relatively difficult to measure the earth's rotation angular velocity, but if multiple MEMS gyroscope arrays are used, for example, the outputs of N MEMS gyroscopes arranged coaxially and with the same characteristics are added together, Modeling and optimization calculations based on the statistical and time-series characteristics of each MEMS gyroscope can greatly improve its accuracy, thus achieving the effect of lower cost and smaller volume than fiber optic gyroscopes and laser gyroscopes and can accurately measure the angular velocity of the earth's rotation. .
此外，对于使用的MEMS陀螺仪的数量可以基于计算精度、成本以及体积等方面进行综合考量，对于MEMS陀螺仪的数量在此不做任何限定。In addition, the number of MEMS gyroscopes used may be comprehensively considered based on aspects such as calculation accuracy, cost, and volume, and there is no limitation on the number of MEMS gyroscopes.
该装置还包括零位光电传感器101，设置于所述旋转装置上，用于监测所述旋转装置每个周期转动的初始位置。The device further includes a zero-position photoelectric sensor 101, which is arranged on the rotating device and is used to monitor the initial position of the rotating device in each period of rotation.
零位光电传感器101如零位光电开关用来监测旋转平台107转动每圈的初始位置，该位置也是定向仪使用时的朝向，可通过DSP对零位光电传感器101进行零位校正。The zero-position photoelectric sensor 101, such as a zero-position photoelectric switch, is used to monitor the initial position of the rotating platform 107 for each rotation, and this position is also the orientation of the orientation instrument when it is used. The zero-position photoelectric sensor 101 can be zero-corrected by DSP.
采用连续寻北法，令电机106从零位开始采数，随后精确地旋转360°/N，取N次位置的陀螺输出值，对每个位置的陀螺输出信号取平均值，可得到精确的真北夹角，其中，MEMS陀螺阵列100旋转一圈，可得到一个正弦的陀螺输出信号。通过采集多个转动位置的陀螺敏感轴的输出结果，利用偏航角与输出结果的关系可以快速完成寻北结果的输出。Using the continuous north-seeking method, the motor 106 starts to count from the zero position, then rotates 360°/N accurately, takes the gyro output value of N times, and takes the average value of the gyro output signal at each position to obtain an accurate The included angle of true north, wherein the MEMS gyro array 100 rotates once, can obtain a sinusoidal gyro output signal. By collecting the output results of the gyro-sensitive axes of multiple rotation positions, the output of the north-seeking result can be quickly completed by using the relationship between the yaw angle and the output result.
在装置发生水平位移时，通过MEMS加速度计102进行测量并获得加速度数据，通过对加速度数据和角速度数据进行处理如标定补偿、零点漂移校正实现对数据的修正，再利用扩展卡尔曼滤波器输出姿态角，从而实现短时间内连续的方向角测量。When the horizontal displacement of the device occurs, the MEMS accelerometer 102 is used to measure and obtain the acceleration data, and the data is corrected by processing the acceleration data and angular velocity data such as calibration compensation and zero drift correction, and then the extended Kalman filter is used to output the attitude angle, so as to achieve continuous direction angle measurement in a short time.
综上，通过MEMS陀螺进行连续寻北，具有寻北快、体积小、低成本的优势，可以降低寻北仪的使用场景的限制，并且采用多片MEMS陀螺仪阵列进行连续寻北，可以得到优于单片MEMS陀螺仪的精度；水平放置后3分钟以内可输出朝向的真北夹角，且之后如果发生水平移动，能持续输出朝向变化的真北夹角，该装置不受水平位移的影响，可实现连续快速寻北。To sum up, continuous north-seeking through MEMS gyroscope has the advantages of fast north-seeking, small size and low cost, which can reduce the limitations of the use scenarios of north-seekers. The accuracy is better than that of a single-chip MEMS gyroscope; the true north angle can be output within 3 minutes after being placed horizontally, and if there is a horizontal movement after that, it can continue to output the changing true north angle, and the device is not affected by horizontal displacement. It can achieve continuous and fast north seeking.
实施例2Example 2
本申请实施例提供一种连续寻北方法，应用于实施例1中的数据处理模块103，如图2所示，为连续寻北方法的流程图，可以实现无水平位移状态和水平移动状态下的真北夹角的测量，所述方法包括：This embodiment of the present application provides a continuous north finding method, which is applied to the data processing module 103 in Embodiment 1. As shown in FIG. 2 , it is a flowchart of the continuous north finding method, which can realize the state of no horizontal displacement and the state of horizontal movement. The measurement of the true north angle of , the method includes:
步骤S100：接收MEMS陀螺阵列100至少旋转一周且旋转到设定的多个位置时输出的每个所述位置上对应的角速度数据；Step S100: Receive angular velocity data corresponding to each of the positions output when the MEMS gyro array 100 rotates at least once and rotates to a plurality of preset positions;
步骤S200：接收MEMS加速度计102输出的所述MEMS陀螺阵列100产生水平位移时的加速度数据；Step S200: Receive acceleration data output by the MEMS accelerometer 102 when the MEMS gyro array 100 generates a horizontal displacement;
步骤S300：对所述角速度数据和所述加速度数据进行处理，以获取水平位移或无水平位移状态下的真北夹角。Step S300: Process the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
作为其中一种实施方式，如图3所示，为在无水平位移状态下获取真北夹角的流程图，该步骤具体可以包括：As one of the embodiments, as shown in FIG. 3 , it is a flow chart of acquiring the true north angle in the state of no horizontal displacement, and the step may specifically include:
步骤S311：若所述MEMS陀螺阵列100在获取所述角速度数据的过程中无水平位移，则对所述角速度数据进行傅里叶变换，以得到实时相位值；Step S311: If the MEMS gyro array 100 has no horizontal displacement in the process of acquiring the angular velocity data, perform Fourier transform on the angular velocity data to obtain a real-time phase value;
步骤S312：根据所述实时相位值，获取所述真北夹角。Step S312: Obtain the true north angle according to the real-time phase value.
在无水平位移的情况下，令电机106从零位开始采数，随后精确地旋转360°/N，取N次位置的陀螺输出值，对N次位置的数据进行FFT变换，即对单周期的正余弦信号求初始相位，即可以得到初始的航向角度，但是精度不高，可采用连续寻北算法可以在陀螺连续转动过程中，MEMS陀螺阵列100进行连续多圈旋转，对每个位置的陀螺输出信号取平均值，再对N位置数据做FFT变换，可以得到不同位置的实时相位值，可得到最终的真北夹角即偏航角度。In the case of no horizontal displacement, let the motor 106 start to count from the zero position, then rotate 360°/N precisely, take the gyro output value of N times, and perform FFT transformation on the data of N times, that is, for a single cycle The initial phase of the sine and cosine signals can be obtained, that is, the initial heading angle can be obtained, but the accuracy is not high, and the continuous north finding algorithm can be used. The gyro output signal is averaged, and then the N position data is subjected to FFT transformation to obtain real-time phase values at different positions, and the final true north angle, that is, the yaw angle, can be obtained.
作为另一种实施方式，如图4所示，为在有水平位移情况下获取真北夹角的流程图，该步骤具体可以包括：As another implementation manner, as shown in FIG. 4 , it is a flowchart of obtaining the included angle of true north under the condition of horizontal displacement, and this step may specifically include:
步骤S321：若所述MEMS陀螺阵列100在获取所述角速度数据的过程中具有水平位移，获取加速度数据和角速度数据的采样数据；Step S321: If the MEMS gyro array 100 has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
步骤S322：对所述采样数据进行修正，以得到修正数据；Step S322: modifying the sampling data to obtain modified data;
步骤S323：对所述修正数据利用扩展卡尔曼滤波器进行滤波以得到并更新姿态角；Step S323: filter the corrected data using an extended Kalman filter to obtain and update the attitude angle;
步骤S324：基于所述姿态角得到所述真北夹角。Step S324: Obtain the true north angle based on the attitude angle.
其中，如图5所示，为航向外推框图，对采样数据进行修正，可通过标定补偿和零点漂移校正进行修正，通过扩展卡尔曼滤波器进行滤波可得姿态角，同时对姿态角进行更新，通过姿态角可得到真北夹角，因此，无论装置是否产生水平位移，可持续输出朝向变化的真北夹角。Among them, as shown in Figure 5, it is a block diagram of course extrapolation, and the sampling data is corrected, which can be corrected by calibration compensation and zero drift correction, and the attitude angle can be obtained by filtering through the extended Kalman filter, and the attitude angle can be updated at the same time. , the true north angle can be obtained through the attitude angle, so no matter whether the device has horizontal displacement or not, it can continuously output the changing true north angle.
本申请实施例还提供一种电子设备，所述电子设备包括存储器以及处理器，所述存储器用于存储计算机程序，所述处理器运行所述计算机程序以使所述电子设备执行实施例1中任一项所述的连续寻北方法。An embodiment of the present application further provides an electronic device, the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the embodiment 1 Any one of the continuous north finding methods.
本申请实施例还提供一种可读存储介质，所述可读存储介质中存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行实 施例1中任一项所述的连续寻北方法。Embodiments of the present application further provide a readable storage medium, where computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, execute any one of Embodiment 1. The continuous north-finding method described above.
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may also be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architectures, functions and possible implementations of apparatuses, methods and computer program products according to various embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。In addition, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需 要对其进行进一步定义和解释。The above descriptions are merely examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Claims (10)

  1. 一种连续寻北装置，其特征在于，所述装置包括：A continuous north-seeking device, characterized in that the device comprises:
    MEMS陀螺阵列，包括多片同轴设置的MEMS陀螺仪，用于在转动过程中连续输出测量的多个位置的角速度数据；A MEMS gyroscope array, including a plurality of coaxially arranged MEMS gyroscopes, is used to continuously output the angular velocity data of multiple positions measured during the rotation;
    MEMS加速度计，用于获取所述MEMS陀螺阵列产生水平位移时的加速度数据，以根据所述加速度数据获取移动过程中的真北夹角；a MEMS accelerometer, used for acquiring acceleration data when the MEMS gyro array generates a horizontal displacement, so as to acquire the included angle of true north during movement according to the acceleration data;
    数据处理模块，分别与所述MEMS陀螺阵列和所述MEMS加速度计电连接，用于接收和处理所述角速度数据和所述加速度数据，以获取水平位移或无水平位移状态下的真北夹角。A data processing module, electrically connected to the MEMS gyro array and the MEMS accelerometer, respectively, for receiving and processing the angular velocity data and the acceleration data to obtain the true north angle in a state of horizontal displacement or no horizontal displacement .
  2. 根据权利要求1所述的连续寻北装置，其特征在于，所述装置还包括旋转装置，所述旋转装置包括：The continuous north-seeking device according to claim 1, wherein the device further comprises a rotating device, and the rotating device includes:
    旋转平台，所述MEMS陀螺阵列设置于所述旋转平台上；a rotating platform, the MEMS gyro array is arranged on the rotating platform;
    电机，与所述旋转平台传动连接，且由所述数据处理模块控制，以带动所述旋转平台转动。The motor is connected with the rotating platform and controlled by the data processing module to drive the rotating platform to rotate.
  3. 根据权利要求2所述的连续寻北装置，其特征在于，所述装置还包括：The continuous north-seeking device according to claim 2, wherein the device further comprises:
    零位光电传感器，设置于所述旋转装置上，用于监测所述旋转装置每个周期转动的初始位置。The zero position photoelectric sensor is arranged on the rotating device and is used for monitoring the initial position of the rotating device in each cycle of rotation.
  4. 根据权利要求2所述的连续寻北装置，其特征在于：continuous north-seeking device according to claim 2, is characterized in that:
    所述MEMS陀螺阵列包括2-4片MEMS陀螺仪，且所述MEMS陀螺仪的敏感轴同轴安装且与所述旋转平台上表面平行。The MEMS gyroscope array includes 2-4 pieces of MEMS gyroscopes, and the sensitive axes of the MEMS gyroscopes are installed coaxially and parallel to the upper surface of the rotating platform.
  5. 一种连续寻北方法，其特征在于，应用于数据处理模块，所述方法包括：A continuous north-seeking method, characterized in that it is applied to a data processing module, the method comprising:
    接收MEMS陀螺阵列至少旋转一周且旋转到设定的多个位置时输出的每个所述位置上对应的角速度数据；Receive angular velocity data corresponding to each of the positions output when the MEMS gyro array rotates at least once and rotates to a plurality of preset positions;
    接收MEMS加速度计输出的所述MEMS陀螺阵列产生水平位移时的加速度数据；Receive acceleration data when the MEMS gyro array output by the MEMS accelerometer produces horizontal displacement;
    对所述角速度数据和所述加速度数据进行处理，以获取水平位移或无水平位移状态下的真北夹角。The angular velocity data and the acceleration data are processed to obtain the true north angle in a state of horizontal displacement or no horizontal displacement.
  6. 根据权利要求5所述的连续寻北方法，其特征在于，所述对所述角速度数据进行处理，以获取无水平位移状态下的真北夹角，包括：The continuous north-seeking method according to claim 5, wherein the processing of the angular velocity data to obtain the true north angle in a state without horizontal displacement comprises:
    若所述MEMS陀螺阵列在获取所述角速度数据的过程中无水平位移，则对所述角速度数据进行傅里叶变换，以得到实时相位值；If the MEMS gyro array has no horizontal displacement in the process of acquiring the angular velocity data, Fourier transform is performed on the angular velocity data to obtain a real-time phase value;
    根据所述实时相位值，获取所述真北夹角。The true north angle is obtained according to the real-time phase value.
  7. 根据权利要求5所述的连续寻北方法，其特征在于，所述对所述角速度数据和所述加速度数据进行处理，以获取水平位移下的真北夹角，包括：The continuous north-seeking method according to claim 5, wherein the processing of the angular velocity data and the acceleration data to obtain the true north angle under horizontal displacement, comprising:
    若所述MEMS陀螺阵列在获取所述角速度数据的过程中具有水平位移，获取加速度数据和角速度数据的采样数据；If the MEMS gyro array has a horizontal displacement in the process of acquiring the angular velocity data, acquire sampling data of acceleration data and angular velocity data;
    对所述采样数据进行修正，以得到修正数据；modifying the sampled data to obtain modified data;
    对所述修正数据利用扩展卡尔曼滤波器进行滤波以得到并更新姿态角；Filtering the corrected data using an extended Kalman filter to obtain and update the attitude angle;
    基于所述姿态角得到所述真北夹角。The true north angle is obtained based on the attitude angle.
  8. 根据权利要求7所述的连续寻北方法，其特征在于，所述对所述采样数据进行修正，以得到修正数据，包括：The continuous north-seeking method according to claim 7, wherein the modifying the sampling data to obtain the modified data comprises:
    通过标定补偿和零点漂移校正对所述采样数据进行修正。The sampled data is corrected by calibration compensation and zero drift correction.
  9. 一种电子设备，其特征在于，所述电子设备包括存储器以及处理器，所述存储器用于存储计算机程序，所述处理器运行所述计算机程序以使所述电子设备执行根据权利要求5至8中任一项所述的连续寻北方法。An electronic device, characterized in that the electronic device comprises a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to execute according to claims 5 to 8 The continuous north-seeking method described in any one of the above.
  10. 一种可读存储介质，其特征在于，所述可读存储介质中存储有计算机程序指令，所述计算机程序指令被一处理器读取并运行时，执行权利要求5至8任一项所述的连续寻北方法。A readable storage medium, characterized in that the readable storage medium stores computer program instructions, and when the computer program instructions are read and run by a processor, executes any one of claims 5 to 8. continuous north-finding method.
PCT/CN2022/077109 2021-02-20 2022-02-21 Continuous north-seeking apparatus and method, electronic device, and storage medium WO2022174831A1 (en)

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