陀螺经纬仪自动寻北关键技术的研究
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摘要
陀螺经纬仪是一种能够实现自主定向的精密测试仪器,广泛用于军事、测绘、矿山开采等领域。新式全自动陀螺经纬仪被发达国家所垄断,国内的陀螺经纬仪寻北时大多采用人工测量,既影响测量精度,又无法满足现代科技发展的需求。为了实现全自动陀螺经纬仪的国产化,论文围绕陀螺寻北仪全自动化过程中的关键技术问题展开研究。
论文设计了微机式陀螺仪自动测量系统,实现了光标采集与寻北测量的自动化,为寻北算法的研究搭建了便利的平台;设计了陀螺仪灵敏部自动升降系统,实现了陀螺仪灵敏部升降的自动化,并在寻北测量的全过程中实现了故障处理的智能化;研究了欠周期寻北算法,提出了磁传感器与陀螺粗、精寻北相结合的全自动寻北方案;完成一套全自动寻北仪实验装置,确认了方案的合理性。
论文结合现代传感技术和现代数字信号处理技术,用直线电机代替凸轮装置,由DSP控制电机完成了陀螺仪灵敏部自动升降,使陀螺仪寻北测量中的启动、停止过程彻底摆脱人为干预,解决了陀螺经纬仪全自动化的关键瓶颈。该项技术已申请发明专利并进入了实质审查阶段,申请号为:200610014750.x。
在国内首次将智能诊断引入到陀螺仪寻北过程中。电机完成陀螺仪灵敏部下放后,如出现光标晃动或寻北摆动速度超限,将自动托起并重新下放陀螺仪灵敏部并设置超限报警;数据采集过程中,如出现光标晃动或寻北摆动速度超限,则自动托起陀螺仪灵敏部,并报警。
研究了欠周期测量算法及其在智能寻北系统中的应用。在利用电子罗盘初寻北中,利用由加速度曲线求平衡位置的寻北算法精度达到5′,测量时间只需要10s;在精寻北中,创造性地提出了1/4周期测量算法,保证精度为25″的情况下测量时间缩短为整周期的1/4~1/2。
陀螺仪数字测量子系统、陀螺仪灵敏部自动升降子系统、经纬仪回转自动控制子系统,经DSP和CPLD的总体控制协调,结合全自动寻北算法方案,完成了一种磁传感器与陀螺粗、精寻北相结合的全自动智能寻北系统的实验装置。该系统可以实现光标自动采集、仪器操作的自动化与智能化、寻北结果的计算与显示等功能。以JT-15陀螺仪作为实验样机,测量时间为13min时,寻北精度为8″时;测量时间为6min时,寻北精度为25″。
Gyroscope which is an accurate measuring instrument to orient independently is widely used in the military, mapping, mine exploitation, and so on. Newly full automatic gyroscopes are monopolized by developed countries; domestic gyroscopes mainly manipulated by manpower with low measuring speed affect the measuring precision and could not meet the needs of modern technology. In order to make the full automatic gyroscopes in our country, the key technologies of full automatic gyroscope are researched in the dissertation.
Microcomputer automatic measuring system of gyroscope is established, and automation of collecting cursor and north-finding is realized, which makes easy for the research of the north-finding arithmetic. Automatic rising-lowering sensitive components of the gyroscope is designed to automatically rise-low the sensitive components of the gyroscope instead of the traditional cam gear manipulated by manpower and intelligentized fault-handling method is applied in whole north-finding process. Half-baked period transit methods are studied, and a scheme of full automatic north-finding combining coarse north-finding by magnetic sensor with precise north-finding by gyroscope is proposed. A set of full automatic experiment equipment is constructed to confirm the rationality of the scheme.
In combination with modern sensor and digital signal processing technology, linear motor controlled by the DSP(Digital Signal Processing) is adopted to automatically rise-low the sensitive components of the gyroscope instead of the traditional cam gear manipulated by manpower, which settles the bottleneck of full automation of gyroscope. The technology has been applied for a patent and is in checkup phase by far (applying number: 200610014750.X).
Intelligent diagnosis is introduced to the north-finding of gyroscope at homeland for the first time. If the cursor sways or sway speed of north-finding exceeds the limit after the sensitive components of the gyroscope is lowed by motor, the sensitive components are raised automatically and lowed again, and then the threshold of alarm is set. In the process of data acquiring if the cursor sways or sway speed of north-finding exceeds the threshold, the gyroscope gives an alarm.
The half-baked period transit methods and its applications in intelligent north-finding system are studied. In coarse north-finding, 5′north-finding precision can be reached and the measuring time is 10s using the acceleration curve to compute the balance position. 1/4 period measuring arithmetic is proposed creatively which only takes about 1/4~1/2 time of whole period method and could guarantee the precision of 30″. According to the research on the north-finding arithmetic, a scheme of full automation north-finding combining coarse north-finding by magnetic sensor with precise north-finding by gyroscope is proposed.
Gyroscope digital measuring subsystem, sensitive components automatic rising and lowing subsystem, theodolite automatic controlling subsystem controlled by DSP and CPLD, combined with full automation north-finding scheme, make up of the whole-automation intelligent north-finding experimental system. The system could collect the moving curve of cursor automatically, operate automatically and intelligently, compute and display the north-finding results, and so on. JT-15 gyroscope is adopted as the experimental pattern, when north-finding precision is 8″, a whole automatic measuring period is less than 20min, and when north-finding precision is 30″, a whole automatic measuring period is less than 10min.
论文设计了微机式陀螺仪自动测量系统,实现了光标采集与寻北测量的自动化,为寻北算法的研究搭建了便利的平台;设计了陀螺仪灵敏部自动升降系统,实现了陀螺仪灵敏部升降的自动化,并在寻北测量的全过程中实现了故障处理的智能化;研究了欠周期寻北算法,提出了磁传感器与陀螺粗、精寻北相结合的全自动寻北方案;完成一套全自动寻北仪实验装置,确认了方案的合理性。
论文结合现代传感技术和现代数字信号处理技术,用直线电机代替凸轮装置,由DSP控制电机完成了陀螺仪灵敏部自动升降,使陀螺仪寻北测量中的启动、停止过程彻底摆脱人为干预,解决了陀螺经纬仪全自动化的关键瓶颈。该项技术已申请发明专利并进入了实质审查阶段,申请号为:200610014750.x。
在国内首次将智能诊断引入到陀螺仪寻北过程中。电机完成陀螺仪灵敏部下放后,如出现光标晃动或寻北摆动速度超限,将自动托起并重新下放陀螺仪灵敏部并设置超限报警;数据采集过程中,如出现光标晃动或寻北摆动速度超限,则自动托起陀螺仪灵敏部,并报警。
研究了欠周期测量算法及其在智能寻北系统中的应用。在利用电子罗盘初寻北中,利用由加速度曲线求平衡位置的寻北算法精度达到5′,测量时间只需要10s;在精寻北中,创造性地提出了1/4周期测量算法,保证精度为25″的情况下测量时间缩短为整周期的1/4~1/2。
陀螺仪数字测量子系统、陀螺仪灵敏部自动升降子系统、经纬仪回转自动控制子系统,经DSP和CPLD的总体控制协调,结合全自动寻北算法方案,完成了一种磁传感器与陀螺粗、精寻北相结合的全自动智能寻北系统的实验装置。该系统可以实现光标自动采集、仪器操作的自动化与智能化、寻北结果的计算与显示等功能。以JT-15陀螺仪作为实验样机,测量时间为13min时,寻北精度为8″时;测量时间为6min时,寻北精度为25″。
Gyroscope which is an accurate measuring instrument to orient independently is widely used in the military, mapping, mine exploitation, and so on. Newly full automatic gyroscopes are monopolized by developed countries; domestic gyroscopes mainly manipulated by manpower with low measuring speed affect the measuring precision and could not meet the needs of modern technology. In order to make the full automatic gyroscopes in our country, the key technologies of full automatic gyroscope are researched in the dissertation.
Microcomputer automatic measuring system of gyroscope is established, and automation of collecting cursor and north-finding is realized, which makes easy for the research of the north-finding arithmetic. Automatic rising-lowering sensitive components of the gyroscope is designed to automatically rise-low the sensitive components of the gyroscope instead of the traditional cam gear manipulated by manpower and intelligentized fault-handling method is applied in whole north-finding process. Half-baked period transit methods are studied, and a scheme of full automatic north-finding combining coarse north-finding by magnetic sensor with precise north-finding by gyroscope is proposed. A set of full automatic experiment equipment is constructed to confirm the rationality of the scheme.
In combination with modern sensor and digital signal processing technology, linear motor controlled by the DSP(Digital Signal Processing) is adopted to automatically rise-low the sensitive components of the gyroscope instead of the traditional cam gear manipulated by manpower, which settles the bottleneck of full automation of gyroscope. The technology has been applied for a patent and is in checkup phase by far (applying number: 200610014750.X).
Intelligent diagnosis is introduced to the north-finding of gyroscope at homeland for the first time. If the cursor sways or sway speed of north-finding exceeds the limit after the sensitive components of the gyroscope is lowed by motor, the sensitive components are raised automatically and lowed again, and then the threshold of alarm is set. In the process of data acquiring if the cursor sways or sway speed of north-finding exceeds the threshold, the gyroscope gives an alarm.
The half-baked period transit methods and its applications in intelligent north-finding system are studied. In coarse north-finding, 5′north-finding precision can be reached and the measuring time is 10s using the acceleration curve to compute the balance position. 1/4 period measuring arithmetic is proposed creatively which only takes about 1/4~1/2 time of whole period method and could guarantee the precision of 30″. According to the research on the north-finding arithmetic, a scheme of full automation north-finding combining coarse north-finding by magnetic sensor with precise north-finding by gyroscope is proposed.
Gyroscope digital measuring subsystem, sensitive components automatic rising and lowing subsystem, theodolite automatic controlling subsystem controlled by DSP and CPLD, combined with full automation north-finding scheme, make up of the whole-automation intelligent north-finding experimental system. The system could collect the moving curve of cursor automatically, operate automatically and intelligently, compute and display the north-finding results, and so on. JT-15 gyroscope is adopted as the experimental pattern, when north-finding precision is 8″, a whole automatic measuring period is less than 20min, and when north-finding precision is 30″, a whole automatic measuring period is less than 10min.
引文
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