阅读说明：本技术 一种高精度低成本异构型激光陀螺寻北仪 (High-precision low-cost heterogeneous laser gyro north finder ) 是由 焦晨阳 王盛 李旬 白焕旭 余胜义 高秋娟 高艳 刘冰 王瑾 王庆广 于 2020-11-19 设计创作，主要内容包括：本发明公开了一种高精度低成本异构型激光陀螺寻北仪,属于惯性导航系统的寻北技术领域,包括：第一基座,第一基座的上端、下端、左端、右端、前端和后端均开设有第一凹槽；惯性测量单元,设于第一基座,实现惯性器件数据采集；其中,惯性测量单元包括第一50型激光陀螺、第二50型激光陀螺和90型激光陀螺,可测量其相对于惯性空间的运动角速度,并形成脉冲信号,第一50型激光陀螺固定设置在第一基座左侧的第一凹槽内,第二50型激光陀螺固定设置在第一基座上侧的第一凹槽内,90型激光陀螺固定设置在第一基座前侧的第一凹槽内。本发明在保证高精度寻北测量的前提下,降低了设备的成本、体积和重量,便于设备的使用维护和批量化生产。(The invention discloses a high-precision low-cost heterogeneous laser gyro north finder, which belongs to the technical field of north finding of an inertial navigation system and comprises the following steps: the upper end, the lower end, the left end, the right end, the front end and the rear end of the first base are all provided with first grooves; the inertia measurement unit is arranged on the first base and used for realizing data acquisition of an inertia device; the inertia measurement unit comprises a first 50 type laser gyro, a second 50 type laser gyro and a 90 type laser gyro, the movement angular velocity of the inertia measurement unit relative to the inertia space can be measured, a pulse signal is formed, the first 50 type laser gyro is fixedly arranged in a first groove on the left side of a first base, the second 50 type laser gyro is fixedly arranged in a first groove on the upper side of the first base, and the 90 type laser gyro is fixedly arranged in a first groove on the front side of the first base. The invention reduces the cost, volume and weight of the equipment on the premise of ensuring high-precision north-seeking measurement, and is convenient for use, maintenance and batch production of the equipment.)

1. The utility model provides a low cost heterogeneous laser gyro north seeker of high accuracy which characterized in that includes:

the device comprises a first base (1), wherein first grooves (6) are formed in the upper end, the lower end, the left end, the right end, the front end and the rear end of the first base (1);

the inertia measurement unit (2) is arranged on the first base (1) and used for realizing inertia data acquisition; the inertia measurement unit (2) comprises a first 50-type laser gyro (21), a second 50-type laser gyro (22) and a 90-type laser gyro (23), the movement angular velocity of the inertia measurement unit relative to the inertia space can be measured, a pulse signal is formed, the first 50-type laser gyro (21) is fixedly arranged in a first groove (6) on the left side of a first base (1), the second 50-type laser gyro (22) is fixedly arranged in the first groove (6) on the upper side of the first base (1), the 90-type laser gyro (23) is fixedly arranged in the first groove (6) on the front side of the first base (1), and the sensitive axes of the first 50-type laser gyro (21), the second 50-type laser gyro (22) and the 90-type laser gyro (23) are mutually perpendicular and meet the right hand rule;

the main control board (3) is arranged on the first base (1), the main control board (3) is in signal connection with the inertia measurement unit (2) and receives pulse signals, and north seeker software is arranged in the main control board (3); and

and the upper computer is in signal connection with the main control board (3) and realizes data receiving, processing, displaying, storing and instruction control.

2. A high precision low cost heterogeneous laser gyro north finder according to claim 1, characterized in that the inertial measurement unit (2) further comprises an accelerometer (24) measuring its linear acceleration relative to the inertial space and forming a current signal; the three accelerometers (24) are respectively and fixedly arranged in first grooves (6) in the rear side, the right side and the lower side of the first base (1), and the sensitive axes of the three accelerometers (24) are respectively parallel to the sensitive axes of a first 50-type laser gyro (21), a second 50-type laser gyro (22) and a 90-type laser gyro (23).

3. A high-precision low-cost heterogeneous laser gyro north finder according to claim 2, characterized by further comprising an IF board (4) disposed at the rear side of the first base (1) for receiving the current signal, converting the current signal into a pulse signal and sending the pulse signal to the main control board (3).

4. The high-precision low-cost heterogeneous laser gyro north finder according to claim 3, further comprising two square frame supports (7), wherein the number of the square frame supports (7) is two, the main control board (3) and the IF board (4) are respectively fixed between the inner walls of the two square frame supports (7) through screws, the two square frame supports (7) are respectively connected with the front end and the rear end of the first base (1) through four screws, and thin cylinders (8) are respectively padded between the four corners of the end portion of the two square frame supports (7) close to the first base (1) and the first base (1) so as to prevent the square frame supports (7) from contacting the first base (1).

5. The heterogeneous laser gyro north seeker of claim 1, wherein the north seeker software comprises a data acquisition module, an error compensation module, an external communication module, a state monitoring module and a north seeking solution module, wherein the data acquisition module acquires data of a first 50 type laser gyro (21), a second 50 type laser gyro (22), a 90 type laser gyro (23) and an accelerometer (24), the acquired data are corrected based on the error compensation module, acceleration and angular velocity information of the north seeker in a geographic coordinate system are obtained, and the north seeking solution module estimates and outputs information of a north azimuth and the like in real time through a Kalman filter and a north seeking algorithm.

6. The high-precision low-cost heterogeneous laser gyro north finder according to any one of claims 1-5, wherein a second base (9) is arranged on the lower side of the first base (1), a circular groove (10) is formed in the upper end of the second base (9), a single-axis rotating mechanism (5) is arranged on the inner wall of the circular groove (10), and the single-axis rotating mechanism (5) is connected with the lower end of the first base (1).

7. The high-precision low-cost heterogeneous laser gyro north finder according to claim 6, wherein the single-axis rotating mechanism (5) comprises a motor, a resolver circuit, a signal processing circuit and a driving circuit, the signal processing circuit acquires and conditions an analog signal from the resolver circuit, obtains current position information of the single-axis rotating mechanism (5) and feeds the current position information back to the driving circuit, and the driving circuit generates a corresponding control signal to control the motor to drive the inertial measurement unit (2) to rotate around a vertical axis.

8. A high-precision low-cost heterogeneous laser gyro north finder according to claim 7, characterized by further comprising an external power supply, wherein the external power supply supplies power to the main control board (3), the IF board (4), the single-axis rotation mechanism (5), the first type 50 laser gyro (21), the second type 50 laser gyro (22), the type 90 laser gyro (23) and the three accelerometers (24) through a socket.

9. A high precision low cost heterogeneous laser gyro north finder according to claim 8, characterized in that the first base (1) is a cuboid base.

10. A use method of a high-precision low-cost heterogeneous laser gyro north finder is characterized by comprising the following steps:

s1, assembling a first 50-type laser gyro (21), a second 50-type laser gyro (22), a 90-type laser gyro (23) and an accelerometer (24) in a first base (1), placing a single-axis rotating mechanism (5) at the bottom of the first base (1), connecting a main control board (3) and an IF board (4), and after the equipment is assembled, fixedly connecting a north seeker on a mounting plate;

s2, connecting an external power supply through a power supply cable, wherein the power supply voltage is 24V, connecting an upper computer interface through a communication cable, and sending a control instruction and uploading data for display;

s3, automatically carrying out initialization configuration after the north seeker is electrified, detecting the working state of each component, and entering a ready state if the detection is successful;

s4, sending a 'north seeking' command frame to the north seeker through the upper computer, controlling the single-shaft rotating mechanism (5) to rotate to the first position after the north seeker receives the command, starting data acquisition, performing error compensation, and estimating an azimuth angle in real time by using a Kalman filter;

s5, after the acquisition is finished, controlling the single-shaft rotating mechanism (5) to rotate 180 degrees around the steering shaft to a second position, and performing data acquisition and filtering estimation at the same time, wherein the azimuth angle gradually converges and approaches a true value along with the stability of the Kalman filter;

and S6, the north seeker navigates back to the reference position again, and the included angle of the reference position relative to the north direction is output outwards.

Technical Field

The invention relates to the technical field of north finding of an inertial navigation system, in particular to a high-precision low-cost heterogeneous laser gyro north finder.

Background

The laser gyro north finder measures the earth rotation angular rate component value and the gyro axial horizontal error angle by using a laser gyro and an accelerometer, and obtains the included angle between the reference axis of the north finder body and the true north direction, namely the north azimuth angle, through calculation.

The measurement accuracy of the north seeker mainly depends on the accuracy level of an inertial device, therefore, three same high-accuracy laser gyroscopes are usually adopted to form the same-type north seeker for north seeking measurement, however, the matching mode causes the problems of high equipment hardness cost, large size and weight and the like, and the transportation and operation difficulty of the equipment is increased.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a high-precision low-cost heterogeneous laser gyro north finder, which reduces the cost, volume and weight of equipment on the premise of ensuring high-precision north finding measurement and high-precision north finding measurement.

2. Technical scheme

In order to solve the problems, the invention adopts the following technical scheme:

a high-precision low-cost heterogeneous laser gyro north finder comprises:

the upper end, the lower end, the left end, the right end, the front end and the rear end of the first base are provided with first grooves;

the inertia measurement unit is arranged on the first base and used for realizing inertia data acquisition; the inertia measurement unit comprises a first 50 type laser gyro, a second 50 type laser gyro and a 90 type laser gyro, the movement angular velocity of the inertia measurement unit relative to an inertia space can be measured, a pulse signal is formed, the first 50 type laser gyro is fixedly arranged in a first groove on the left side of a first base, the second 50 type laser gyro is fixedly arranged in a first groove on the upper side of the first base, the 90 type laser gyro is fixedly arranged in a first groove on the front side of the first base, and the sensitive axes of the first 50 type laser gyro, the second 50 type laser gyro and the 90 type laser gyro are mutually vertical and meet the right-hand rule;

the main control board is arranged on the first base, is in signal connection with the inertial measurement unit and receives pulse signals, and north seeker software is arranged in the main control board; and

and the upper computer is in signal connection with the main control board, and realizes data receiving, processing, displaying, storing and instruction control. The invention reduces the cost, volume and weight of the equipment on the premise of ensuring high-precision north-seeking measurement, and is convenient for installation, use and later maintenance of the equipment.

As a preferable aspect of the present invention, the inertial measurement unit further includes an accelerometer, which measures the linear acceleration of the inertial measurement unit relative to the inertial space and forms a current signal; the three accelerometers are respectively and fixedly arranged in first grooves in the rear side, the right side and the lower side of the first base, and the sensitive axes of the three accelerometers are respectively parallel to the sensitive axes of the first 50 type laser gyro, the second 50 type laser gyro and the 90 type laser gyro.

As a preferable scheme of the present invention, the present invention further includes an IF board disposed at the rear side of the first base, and the IF board receives the current signal, converts the current signal into a pulse signal, and sends the pulse signal to the main control board.

As a preferable scheme of the invention, the solar cell module further comprises two square frame supports, the main control board and the IF board are respectively fixed between the inner walls of the two square frame supports through screws, the two square frame supports are connected with the front end and the rear end of the first base through four screws, and thin cylinders are respectively arranged between the four corners of the end part of the two square frame supports close to the first base and the first base, so that the square frame supports are not in contact with the first base.

As a preferred scheme of the invention, the north seeker software comprises a data acquisition module, an error compensation module, an external communication module, a state monitoring module and a north-seeking calculation module, wherein the data acquisition module acquires data of a first 50 type laser gyro, a second 50 type laser gyro, a 90 type laser gyro and an accelerometer, corrects the acquired data based on the error compensation module to obtain acceleration and angular velocity information of the north seeker in a geographic coordinate system, and the north-seeking calculation module estimates and outputs information such as a north azimuth in real time through a Kalman filter and a north-seeking algorithm.

As a preferable scheme of the present invention, a second base is disposed on a lower side of the first base, a circular groove is disposed on an upper end of the second base, a single-axis rotating mechanism is disposed on an inner wall of the circular groove, and the single-axis rotating mechanism is connected to a lower end of the first base.

As a preferred scheme of the present invention, the single-axis rotating mechanism includes a motor, a resolver circuit, a signal processing circuit, and a driving circuit, the signal processing circuit acquires and conditions an analog signal from the resolver circuit to obtain current position information of the single-axis rotating mechanism, and feeds the current position information back to the driving circuit, and the driving circuit generates a corresponding control signal to control the motor to drive the inertia measurement unit to rotate around the zenith axis.

As a preferable scheme of the present invention, the present invention further comprises an external power supply, wherein the external power supply supplies power to the main control board, the IF board, the single-axis rotation mechanism, the first 50 type laser gyro, the second 50 type laser gyro, the 90 type laser gyro and the three accelerometers through a socket.

In a preferred embodiment of the present invention, the first base is a rectangular parallelepiped base.

A use method of a high-precision low-cost heterogeneous laser gyro north finder comprises the following steps:

s1, assembling a first 50-type laser gyro, a second 50-type laser gyro 90-type laser gyro and an accelerometer in a first base, placing a single-axis rotating mechanism at the bottom of the first base, connecting a main control board and an IF board, and after the equipment is assembled, fixedly connecting a north seeker on a mounting board;

s2, connecting an external power supply through a power supply cable, wherein the power supply voltage is 24V, connecting an upper computer interface through a communication cable, and sending a control instruction and uploading data for display;

s3, automatically carrying out initialization configuration after the north seeker is electrified, detecting the working state of each component, and entering a ready state if the detection is successful;

s4, sending a 'north seeking' command frame to the north seeker through the upper computer, controlling the single-shaft rotating mechanism to rotate to the first position after the north seeker receives the command, starting data acquisition, performing error compensation, and estimating an azimuth angle in real time by using a Kalman filter;

s5, after the acquisition is finished, controlling the single-shaft rotating mechanism to rotate 180 degrees around the zenith rotating shaft to a second position, and performing data acquisition and filtering estimation at the same time, wherein the azimuth angle gradually converges along with the stability of the Kalman filter and approaches to a true value;

and S6, the north seeker navigates back to the reference position again, and the included angle of the reference position relative to the north direction is output outwards.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) the invention adopts the first 50 type laser gyro, the second 50 type laser gyro and the 90 type laser gyro which are in the heterogeneous shapes, has small volume and light weight, saves the installation space and is convenient for the transportation, the use and the maintenance of equipment.

(2) The invention achieves the precision level of the same-type high-precision north seeker by optimizing the north-seeking strategy and prolonging the north-seeking time.

(3) According to the invention, the combination mode of the high-precision 90-type laser gyro and the low-precision first 50-type laser gyro and second 50-type laser gyro is adopted, so that the hardware design cost is reduced, and the large-scale batch production is facilitated.

Drawings

FIG. 1 is a perspective view of a high-precision low-cost heterogeneous laser gyro north finder of the present invention;

FIG. 2 is a first exploded perspective view of a high-precision low-cost heterogeneous laser gyro north finder of the present invention;

FIG. 3 is a second exploded perspective view of a high-precision low-cost heterogeneous laser gyro north finder of the present invention;

FIG. 4 is a functional block diagram of the principle of the high-precision low-cost heterogeneous laser gyro north finder of the present invention;

FIG. 5 is a functional block diagram of the inertial measurement unit and the main control board of the high-precision low-cost heterogeneous laser gyro north finder of the present invention;

FIG. 6 is a schematic diagram of the north seeker software in the high-precision low-cost heterogeneous laser gyro north seeker of the present invention.

The reference numbers in the figures illustrate:

1. a first base; 2. an inertial measurement unit; 21. a first 50 type laser gyro; 22. a second type 50 laser gyro; 23. a type 90 laser gyro; 24. an accelerometer; 3. a main control board; 4. an IF board; 5. a single-shaft rotating mechanism; 6. a first groove; 7. a square frame support; 8. a thin cylinder; 9. a second base; 10. a circular groove.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

referring to fig. 1-6, a high-precision low-cost heterogeneous laser gyro north finder includes:

the device comprises a first base 1, wherein first grooves 6 are formed in the upper end, the lower end, the left end, the right end, the front end and the rear end of the first base 1, and the first base 1 is a cuboid base;

the inertia measurement unit 2 is arranged on the first base 1 and used for realizing inertia data acquisition; the inertia measurement unit 2 comprises a first 50-type laser gyro 21, a second 50-type laser gyro 22 and a 90-type laser gyro 23, and can measure the movement angular velocity of the inertia measurement unit relative to the inertia space and form a pulse signal, wherein the first 50-type laser gyro 21 is fixedly arranged in a first groove 6 on the left side of a first base 1, the second 50-type laser gyro 22 is fixedly arranged in the first groove 6 on the upper side of the first base 1, the 90-type laser gyro 23 is fixedly arranged in the first groove 6 on the front side of the first base 1, and the sensitive axes of the first 50-type laser gyro 21, the second 50-type laser gyro 22 and the 90-type laser gyro 23 are mutually vertical and meet the right-hand rule;

the inertial measurement unit 2 further comprises an accelerometer 24, which measures the linear acceleration of its movement relative to the inertial space and forms a current signal; three accelerometers 24 are arranged, the three accelerometers 24 are respectively and fixedly arranged in the first grooves 6 on the rear side, the right side and the lower side of the first base 1, and the sensitive axes of the three accelerometers 24 are respectively parallel to the sensitive axes of the first 50 type laser gyro 21, the second 50 type laser gyro 22 and the 90 type laser gyro 23;

the main control board 3 is arranged on the front side of the first base 1, the main control board 3 is in signal connection with the inertial measurement unit 2 and receives pulse signals, north seeker software is arranged in the main control board 3, the north seeker software is arranged in the main control board 3 and specifically comprises a data acquisition module, an error compensation module, an external communication module, a state monitoring module and a north-seeking calculation module, the data acquisition module acquires data of the first 50 type laser gyroscope 21, the second 50 type laser gyroscope 22, the 90 type laser gyroscope 23 and the accelerometer 24 and corrects the acquired data based on the error compensation module to acquire acceleration and angular velocity information of the north seeker in a geographic coordinate system, and the north-seeking calculation module estimates and outputs information such as a north direction and the like in real time through a Kalman filter and a north-seeking algorithm;

the IF board 4 is arranged on the rear side of the first base 1, receives the current signal, converts the current signal into a pulse signal and sends the pulse signal to the main control board 3;

the upper computer is in signal connection with the main control board 3 and realizes data receiving, processing, displaying, storing and instruction control;

the downside of first base 1 is provided with second base 9, circular recess 10 has been seted up to the upper end of second base 9, the inner wall of circular recess 10 is provided with unipolar rotary mechanism 5, and unipolar rotary mechanism 5 is connected with the lower extreme of first base 1, it is specific, unipolar rotary mechanism 5 includes the motor, the rotary circuit, signal processing circuit and drive circuit, signal processing circuit gathers the analog signal who goes out the rotary circuit in the future and the signal is taked care of the back, obtain unipolar rotary mechanism 5 current position information, and feed back to drive circuit, drive circuit produces corresponding control signal, control motor drives inertial measurement unit 2 and rotates around day to the axle, it is that to explain: the resolver circuit, the signal processing circuit and the driving circuit are all common knowledge of technicians in the field, so detailed description is omitted, and the output end of the motor is fixedly connected with the center of the lower end of the first base 1;

in order to realize the installation of the main control board 3 and the IF board 4, the invention also comprises two square frame supports 7, the main control board 3 and the IF board 4 are respectively fixedly arranged between the inner walls of the two square frame supports 7 through screws, the two square frame supports 7 are respectively connected with the front end and the rear end of the first base 1 through four screws, and thin cylinders 8 are respectively padded between the four corners of the end part of the two square frame supports 7 close to the first base 1 and the first base 1 so as to realize that the square frame supports 7 are not contacted with the first base 1;

in order to realize power supply, the invention also comprises an external power supply, the external power supply respectively supplies power to the main control board 3, the IF board 4, the single-axis rotating mechanism 5, the first 50-type laser gyro 21, the second 50-type laser gyro 22, the 90-type laser gyro 23 and the three accelerometers 24 through a socket, and the main control board is fixedly arranged between the inner walls of the left side and the right side of the first base and close to the upper side.

Specifically, the method comprises the following steps:

s1, assembling a first 50-type laser gyro 21, a second 50-type laser gyro 2290-type laser gyro 23 and an accelerometer 24 in a first base 1, placing a single-axis rotating mechanism 5 at the bottom of the first base 1, connecting a main control board 3 and an IF board 4, and after equipment assembly is completed, fixedly connecting a north seeker to a mounting board, which is not shown in the drawing;

s2, connecting an external power supply through a power supply cable, wherein the power supply voltage is 24V, connecting an upper computer interface through a communication cable, and sending a control instruction and uploading data for display;

s3, automatically carrying out initialization configuration after the north seeker is electrified, detecting the working state of each component, and entering a ready state if the detection is successful;

s4, sending a 'north seeking' command frame to the north seeker through the upper computer, controlling the single-shaft rotating mechanism 5 to rotate to the first position after the north seeker receives the command, starting data acquisition, performing error compensation, and estimating an azimuth angle in real time by using a Kalman filter;

s5, after the acquisition is finished, controlling the single-shaft rotating mechanism 5 to rotate 180 degrees around the steering shaft to a second position, and performing data acquisition and filtering estimation at the same time, wherein the azimuth angle gradually converges along with the stability of the Kalman filter and approaches to a true value;

and S6, the north seeker navigates back to the reference position again, and the included angle of the reference position relative to the north direction is output outwards.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.