全自动陀螺经纬仪自动寻北系统设计研究
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摘要
陀螺经纬仪是一种能够测定真北方位的自主定向仪器,它在国民经济和国防建设中发挥着重要作用。国内的陀螺经纬仪大多需要人工操作才能完成寻北测量,不仅寻北速度较慢而且寻北精度也因操作人员素质差异而不同。目前,西方发达国家已经研制出了全自动、高精度的陀螺经纬仪,为了自主研制我国的全自动陀螺经纬仪,以JT-15型上架式陀螺经纬仪为基础,设计了自动寻北系统,最终实现了陀螺经纬仪的全自动化。
课题所设计的自动粗寻北系统能将处于水平面内任意方位的陀螺经纬仪旋转到粗北方位,其精度控制在±30"以内,时间控制在1分钟以内。粗寻北完成后需下放陀螺灵敏部进行精寻北,精寻北完成后需上托陀螺灵敏部再停机,以步进电机为核心的自动升降机构取代了传统的手动完成陀螺灵敏部的上托和下放。
为了提高对陀螺灵敏部自动升降机构以及自动粗寻北系统中旋转平台的控制精度,采用TA8435H芯片设计了8细分的步进电机驱动电路,该驱动电路结构简单、工作可靠,并使系统电路实现了小型化。
自动读数系统采用CCD器件将光标的光强信号转化为电压信号输出后被单片机采集,再经A/D转换后由软件实现求光标中心的计算,计算出来的光标中心值将被发送到上位机进行更复杂的寻北计算;同时,单片机也接收来自上位机的控制指令。因USB2.0接口具有即插即用、高速数据传输等优点,课题选用CY7C68013A芯片设计了USB2.0接口用于单片机与上位机间通信。
实验结果表明,全自动陀螺经纬仪能在上电后不需人工干预就能完成整个寻北过程,直至得出寻北结果;仪器寻北精度为20",寻北时间可控制在12分钟以内。
Gyro-theodolite is an equipment which can direct the real north independently. It has played a very important role in national economy and national defense building. The gyro-theodolite need manual operate in our country. It is much slower and has a lower precision for different personnel operating. At present, the western developed countries have developed a fully automated, high-precision gyro-theodolite, in order to develop the fully automatic gyro-theodolite dependently, we have been designed a system of automatic north-finding which based on the JT-15-Gyrotheodolite. Ultimately, realized the gyro-theodolite fully automated.
The system of automatic coarse north-finding designed by this paper can rotate the gyro-theodolite to the coarse north when it is in any position in horizontal. The precision is controlled in±30"and the time less than 1 min. After coarse North- finding, lower the sensitive components and make a precise north- finding. Last, raise it to turn off. The automatic rising-lowering institutions in which core of stepper motor has replace the traditional manual operation on the rising-lowering.
In order to improve the automatic rising-lowering institutions and the rotary table’s controlling precision. A stepper drive of eight fractionization has been designed by TA8435H. It is reliable and make the system more simple.
The automatic reading system uses CCD to turn the cursor intensity into voltage and be acquisited by SCM. Then, SCM will calculate the value of cursor and sent it to computer for north-finding calculation. The SCM will receive the control commands from the PC also. In the advantages of plug and play and high-speed data transmission of USB2.0 interface. The USB2.0 which base on the chip of CY7C68013A has been designed for commiunication between the SCM and PC .
Experimental results show that the all automated Gyro-theodolite can complete the North-finding without the manual intervention in condition of electrifing until gained the results. The precision of the equipment is 20", and the time can be control within 12 minutes。
课题所设计的自动粗寻北系统能将处于水平面内任意方位的陀螺经纬仪旋转到粗北方位,其精度控制在±30"以内,时间控制在1分钟以内。粗寻北完成后需下放陀螺灵敏部进行精寻北,精寻北完成后需上托陀螺灵敏部再停机,以步进电机为核心的自动升降机构取代了传统的手动完成陀螺灵敏部的上托和下放。
为了提高对陀螺灵敏部自动升降机构以及自动粗寻北系统中旋转平台的控制精度,采用TA8435H芯片设计了8细分的步进电机驱动电路,该驱动电路结构简单、工作可靠,并使系统电路实现了小型化。
自动读数系统采用CCD器件将光标的光强信号转化为电压信号输出后被单片机采集,再经A/D转换后由软件实现求光标中心的计算,计算出来的光标中心值将被发送到上位机进行更复杂的寻北计算;同时,单片机也接收来自上位机的控制指令。因USB2.0接口具有即插即用、高速数据传输等优点,课题选用CY7C68013A芯片设计了USB2.0接口用于单片机与上位机间通信。
实验结果表明,全自动陀螺经纬仪能在上电后不需人工干预就能完成整个寻北过程,直至得出寻北结果;仪器寻北精度为20",寻北时间可控制在12分钟以内。
Gyro-theodolite is an equipment which can direct the real north independently. It has played a very important role in national economy and national defense building. The gyro-theodolite need manual operate in our country. It is much slower and has a lower precision for different personnel operating. At present, the western developed countries have developed a fully automated, high-precision gyro-theodolite, in order to develop the fully automatic gyro-theodolite dependently, we have been designed a system of automatic north-finding which based on the JT-15-Gyrotheodolite. Ultimately, realized the gyro-theodolite fully automated.
The system of automatic coarse north-finding designed by this paper can rotate the gyro-theodolite to the coarse north when it is in any position in horizontal. The precision is controlled in±30"and the time less than 1 min. After coarse North- finding, lower the sensitive components and make a precise north- finding. Last, raise it to turn off. The automatic rising-lowering institutions in which core of stepper motor has replace the traditional manual operation on the rising-lowering.
In order to improve the automatic rising-lowering institutions and the rotary table’s controlling precision. A stepper drive of eight fractionization has been designed by TA8435H. It is reliable and make the system more simple.
The automatic reading system uses CCD to turn the cursor intensity into voltage and be acquisited by SCM. Then, SCM will calculate the value of cursor and sent it to computer for north-finding calculation. The SCM will receive the control commands from the PC also. In the advantages of plug and play and high-speed data transmission of USB2.0 interface. The USB2.0 which base on the chip of CY7C68013A has been designed for commiunication between the SCM and PC .
Experimental results show that the all automated Gyro-theodolite can complete the North-finding without the manual intervention in condition of electrifing until gained the results. The precision of the equipment is 20", and the time can be control within 12 minutes。
引文
[1]田育民.超薄显示屏0LED在陀螺经纬仪中的应用[J].电子技术应用,2006, (3):139-140
[2]煤炭科学研究院唐山分院陀螺经纬仪组.陀螺经纬仪基本原理、结构与定位[M] .北京:煤炭工业出版社,1982:1-15
[3]梁阁亭,惠俊军,李玉平.陀螺仪的发展及应用[J].控制与制导,2006, (4):38-40
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[7]郭喜庆,武克用.基于环形激光陀螺调制输出的寻北系统[J] .光电工程,2001,28(2):11-13
[8]田海峰,王登顺.激光陀螺快速寻北仪的研究[J].中国惯性技术学报,2004,12(5):9-12
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[10] S.Huang,L.Thevenaz,K.Toyama. Optical Kerr-Effect in Fiber-optic Brillouin Ring Laser Gyroscopes,IEEE photonics technology letters,1993,5(3):365-366
[11] Komoriya,Kiyoshi,Oyama. Position estimation of a mobile robot using optical fiber gyroscope (OFG),IEEE International Conference on Intelligent Robots and Systems,1994,1(9):143-149
[12]吴富梅,蒋庆仙,马小辉.寻北仪中光纤陀螺斜坡漂移估计与比较[J].中国惯性技术学报,2007,15(3):338-342
[13]张德宁,万健如,韩延明.光纤陀螺寻北仪原理及其应用[J].航海技术,2006,(1):37-38
[14]刘畅,韩冀皖,王园宇等.光纤陀螺仪原理及数据读取方法研究[J].太原理工大学学报,2005,36(1):48-50
[15]马小辉,蒋庆仙,陈晓璧.光纤陀螺寻北方案的比较[J].测绘科学与工程,2006,26(3):54-58
[16] Roy U,Baneijee P,L iu C R.Design of an automated assembly enviroment. CAD, 1989,(9):561-569
[17] Rocheleau D N , L ee K.System for interactive assembly modeling.CAD, 1987,(2):65-72
[18]董景新,Yu.G.Martynenko,C.E.Gubarenko.静电陀螺寻北仪的力学原理[J].清华大学学报,1998,(8):15-18
[19]陈俊衡.陀螺与惯性制导[J].物理,1995,24(6):348-354
[20]马芮.静电陀螺在方位测量中的应用[J].飞航导弹,1998,(8):50-53
[21]Fang Yuming,Li Pu,Mao Pansong. Robust control for double gimbal vibratory MEMS gyroscope[J]. Scientific Instrument,2005,26(6):591-596
[22]T.Rogers,N.Aitken,K.Stribley. Improvements in MEMS gyroscope production as a result of using in situ, aligned, current-limited anodic bonding[J].Sensors and Actuators A (Physical),2005,123:106-110
[23]Ji Xunsheng,Wang Shourong,Xu Yishen.Application of fast wavelet transformation in signal processing of MEMS gyroscope[J].Journal of Southeast University,2006,22(4):510-513
[24]刘瑞华,刘建业.振动轮式MEMS陀螺动力学分析[J].宇航学报,2001,22(6):114-118
[25]傅建国,王孝通,李博等.MEMS陀螺随机误差模型研究[J].传感器技术,2005,24(3):75-77
[26]夏桂锁.陀螺经纬仪自动寻北关键技术的研究,[博士学位论文],天津:天津大学,2006
[27]周兴东.国内外陀螺经纬仪概况及其发展趋势[J].西安矿业学院学报,1993,(3):42-45
[28]林明春.陀螺经纬仪自动测量系统仪器化的研究,[硕士学位论文],天津:天津大学,2003
[29]林玉池,孙占元,赵美蓉等.中天法在陀螺智能寻北系统中的应用研究[J].机械工程学报,2003,39(8):116-119
[30]魏小龙.MSP430系列单片机接口技术及系统设计实例[M].北京:北京航空航天大学出版社,2002,1-2
[31] Gao ZhangFei,Zhu ShanAn. Multipoint wireless communication module on MSP430 and nRF905[J]. Journal of Electron Devices,2006,29(3):264-267
[32] Xie Min. Designation of low cost instrument system based on MSP430[J]. Microcomputer Information,2007,(22):142-144
[33] Racz Robert,Schott Christian,Huber Samuel. Electronic compass sensor. Proceedings of IEEE Sensors, v 3, Proceedings of the IEEE Sensors 2004, 2004 (10):1446-1449
[34] Liu Langtao,Balachandran W. . Electronic compass for blind or deaf-blind pedestrians. Electronics Letters,1993,29(16):1462– 1463
[35] Hoff B.,Azuma R. .Autocalibration of an electronic compass in an outdoor augmented reality system,Augmented Reality, 2000.(ISAR 2000). Proceedings. IEEE and ACM International Symposium on 5-6 Oct. 2000.159-164
[36] K. CHIH-YEH, Virtual instrumentation-based system in a real-time applications of GPS/GIS. Proceedings of international conference on recent advances in space technologies (IEEE Cat. No.03EX743), 2003.403-8.
[37]刘升.二相步进电机驱动芯片TA8435H及其应用[J].国外电子元器件,2005,(3):37-40
[38]K.Shinoda,M.Hamasaki,T.Asaida. A CCD chip for EFP and colour TV camera applications,Broadcasting Convention, 1988. IBC 1988., International,1988,23-27(9):152-155
[39]王庆有.CCD应用技术[M].天津:天津大学出版社,2000,30-39
[40]杨博雄.CCD细分技术及其应用研究,[博士学位论文],北京:中国地震局地球物理研究所,2005
[41]扈啸,张玘,张连超.USB2.0控制器CY7C68013特点与应用[J].单片机与嵌入式系统应用,2002,(10) :48-50
[42]Zhuxinkai,Xulixin,Jiayonghong . USB Interface Data Acquisition System Hardware Design. Control Conference, 2006. CCC 2006. Chinese,2006,(9):1405-1410
[43]Ziqiang Song,Qiang Wang,Xiuli Du. A High Speed Digital Ultrasonic Flaw Detector Based on PC and USB.Instrumentation and Measurement Technology Conference Proceedings, 2007 IEEE,2007,(3):1-4
[44]郝红侠.基于USB2.0的光栅自动检测仪的研究和设计,[硕士学位论文],西安:西安电子科技大学,2006
[45]王震洲,刘教民,李海彬等.基于USB2.0的开关电器参数测量系统设计[J].电测与仪表,2007,44(502) :16-18
[46]周槃,姜书艳,蔡荣海等.基于WDM的通用串行接口驱动程序设计—Cypress 68013芯片驱动设计[J].仪器仪表学报,2005,26(8) :596-598
[47]李强,伍坚,姚冬苹.CY7C68013芯片的USB接口固件设计[J].单片机与嵌入式系统应用,2006,(10) :70-72
[48]刘红梅.激光多普勒信号采集的设计,[硕士学位论文],西安:西安电子科技大学,2007
[49]焦斌亮,韩志学.基于EZ-USB实现的高速数据采集系统[J].仪表技术与传感器,2005,7,21~22
[2]煤炭科学研究院唐山分院陀螺经纬仪组.陀螺经纬仪基本原理、结构与定位[M] .北京:煤炭工业出版社,1982:1-15
[3]梁阁亭,惠俊军,李玉平.陀螺仪的发展及应用[J].控制与制导,2006, (4):38-40
[4]王宇飞,陈俊,孙芳.陀螺斜测仪中的陀螺设计选型[J] .测井技术,2004, 28(3):235-236
[5]薛文胜.浅析几种新型陀螺的发展动态[J].电子科技大学学报, 1995, 24(5):485- 489
[6]张思将,秦石乔,王省书等.连续式激光陀螺寻北仪研究[J] .航空兵器,2006,(1):12-14
[7]郭喜庆,武克用.基于环形激光陀螺调制输出的寻北系统[J] .光电工程,2001,28(2):11-13
[8]田海峰,王登顺.激光陀螺快速寻北仪的研究[J].中国惯性技术学报,2004,12(5):9-12
[9]D.A.Andrews,S.Roden,and T.A.King.A Model for Lock-in Growth in Ring Laser Gyroscopes,IEEE Journal of quantum electronics,1995,31(9):1709-1715
[10] S.Huang,L.Thevenaz,K.Toyama. Optical Kerr-Effect in Fiber-optic Brillouin Ring Laser Gyroscopes,IEEE photonics technology letters,1993,5(3):365-366
[11] Komoriya,Kiyoshi,Oyama. Position estimation of a mobile robot using optical fiber gyroscope (OFG),IEEE International Conference on Intelligent Robots and Systems,1994,1(9):143-149
[12]吴富梅,蒋庆仙,马小辉.寻北仪中光纤陀螺斜坡漂移估计与比较[J].中国惯性技术学报,2007,15(3):338-342
[13]张德宁,万健如,韩延明.光纤陀螺寻北仪原理及其应用[J].航海技术,2006,(1):37-38
[14]刘畅,韩冀皖,王园宇等.光纤陀螺仪原理及数据读取方法研究[J].太原理工大学学报,2005,36(1):48-50
[15]马小辉,蒋庆仙,陈晓璧.光纤陀螺寻北方案的比较[J].测绘科学与工程,2006,26(3):54-58
[16] Roy U,Baneijee P,L iu C R.Design of an automated assembly enviroment. CAD, 1989,(9):561-569
[17] Rocheleau D N , L ee K.System for interactive assembly modeling.CAD, 1987,(2):65-72
[18]董景新,Yu.G.Martynenko,C.E.Gubarenko.静电陀螺寻北仪的力学原理[J].清华大学学报,1998,(8):15-18
[19]陈俊衡.陀螺与惯性制导[J].物理,1995,24(6):348-354
[20]马芮.静电陀螺在方位测量中的应用[J].飞航导弹,1998,(8):50-53
[21]Fang Yuming,Li Pu,Mao Pansong. Robust control for double gimbal vibratory MEMS gyroscope[J]. Scientific Instrument,2005,26(6):591-596
[22]T.Rogers,N.Aitken,K.Stribley. Improvements in MEMS gyroscope production as a result of using in situ, aligned, current-limited anodic bonding[J].Sensors and Actuators A (Physical),2005,123:106-110
[23]Ji Xunsheng,Wang Shourong,Xu Yishen.Application of fast wavelet transformation in signal processing of MEMS gyroscope[J].Journal of Southeast University,2006,22(4):510-513
[24]刘瑞华,刘建业.振动轮式MEMS陀螺动力学分析[J].宇航学报,2001,22(6):114-118
[25]傅建国,王孝通,李博等.MEMS陀螺随机误差模型研究[J].传感器技术,2005,24(3):75-77
[26]夏桂锁.陀螺经纬仪自动寻北关键技术的研究,[博士学位论文],天津:天津大学,2006
[27]周兴东.国内外陀螺经纬仪概况及其发展趋势[J].西安矿业学院学报,1993,(3):42-45
[28]林明春.陀螺经纬仪自动测量系统仪器化的研究,[硕士学位论文],天津:天津大学,2003
[29]林玉池,孙占元,赵美蓉等.中天法在陀螺智能寻北系统中的应用研究[J].机械工程学报,2003,39(8):116-119
[30]魏小龙.MSP430系列单片机接口技术及系统设计实例[M].北京:北京航空航天大学出版社,2002,1-2
[31] Gao ZhangFei,Zhu ShanAn. Multipoint wireless communication module on MSP430 and nRF905[J]. Journal of Electron Devices,2006,29(3):264-267
[32] Xie Min. Designation of low cost instrument system based on MSP430[J]. Microcomputer Information,2007,(22):142-144
[33] Racz Robert,Schott Christian,Huber Samuel. Electronic compass sensor. Proceedings of IEEE Sensors, v 3, Proceedings of the IEEE Sensors 2004, 2004 (10):1446-1449
[34] Liu Langtao,Balachandran W. . Electronic compass for blind or deaf-blind pedestrians. Electronics Letters,1993,29(16):1462– 1463
[35] Hoff B.,Azuma R. .Autocalibration of an electronic compass in an outdoor augmented reality system,Augmented Reality, 2000.(ISAR 2000). Proceedings. IEEE and ACM International Symposium on 5-6 Oct. 2000.159-164
[36] K. CHIH-YEH, Virtual instrumentation-based system in a real-time applications of GPS/GIS. Proceedings of international conference on recent advances in space technologies (IEEE Cat. No.03EX743), 2003.403-8.
[37]刘升.二相步进电机驱动芯片TA8435H及其应用[J].国外电子元器件,2005,(3):37-40
[38]K.Shinoda,M.Hamasaki,T.Asaida. A CCD chip for EFP and colour TV camera applications,Broadcasting Convention, 1988. IBC 1988., International,1988,23-27(9):152-155
[39]王庆有.CCD应用技术[M].天津:天津大学出版社,2000,30-39
[40]杨博雄.CCD细分技术及其应用研究,[博士学位论文],北京:中国地震局地球物理研究所,2005
[41]扈啸,张玘,张连超.USB2.0控制器CY7C68013特点与应用[J].单片机与嵌入式系统应用,2002,(10) :48-50
[42]Zhuxinkai,Xulixin,Jiayonghong . USB Interface Data Acquisition System Hardware Design. Control Conference, 2006. CCC 2006. Chinese,2006,(9):1405-1410
[43]Ziqiang Song,Qiang Wang,Xiuli Du. A High Speed Digital Ultrasonic Flaw Detector Based on PC and USB.Instrumentation and Measurement Technology Conference Proceedings, 2007 IEEE,2007,(3):1-4
[44]郝红侠.基于USB2.0的光栅自动检测仪的研究和设计,[硕士学位论文],西安:西安电子科技大学,2006
[45]王震洲,刘教民,李海彬等.基于USB2.0的开关电器参数测量系统设计[J].电测与仪表,2007,44(502) :16-18
[46]周槃,姜书艳,蔡荣海等.基于WDM的通用串行接口驱动程序设计—Cypress 68013芯片驱动设计[J].仪器仪表学报,2005,26(8) :596-598
[47]李强,伍坚,姚冬苹.CY7C68013芯片的USB接口固件设计[J].单片机与嵌入式系统应用,2006,(10) :70-72
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