CN100533060C - Device for implementing rough north-seeking of gyroscope using electronic compass - Google Patents
Device for implementing rough north-seeking of gyroscope using electronic compass Download PDFInfo
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- CN100533060C CN100533060C CNB2006100147514A CN200610014751A CN100533060C CN 100533060 C CN100533060 C CN 100533060C CN B2006100147514 A CNB2006100147514 A CN B2006100147514A CN 200610014751 A CN200610014751 A CN 200610014751A CN 100533060 C CN100533060 C CN 100533060C
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Abstract
The invention relates to a device for realizing coarse north searching of gyroscope using electric compass, belonging to the technical filed of position and orientation of gyroscopic theodolite. The inventive method can realize automatic north searching, and improve the response speed and north searching precision of gyroscopic theodolite. The device comprises an electric compass, a digital signal processor, a complex programmable logic device, a motor driving module, a stepping motor, a junction box, a retarder, and a rotary platform, wherein the above components are sequentially connected, the digital signal processor can determine the direction of the stepping motor in accordance with the deviation between the north direction reflected by the angle value outputted from the electric compass and true north direction, and determine the operating speed of the stepping motor through the complex programmable logic device, and the digital signal processor is also connected with the gyroscopic theodolite via a gyroscope landing device. The invention is mainly used for manufacturing the device for realizing coarse north searching of gyroscope using electric compass.
Description
Technical field
The invention belongs to gyro-theodolite position and orientation technology, especially relate to electronic compass and realize the rough north-seeking of gyroscope device.
Background technology
In the modern control theory, more and more emphasized to reduce human intervention, strengthened robotization, intellectuality and the self diagnostic capability of itself instrument.Modern times seek in the measurement of north, and people also are being devoted to seek north intellectuality, Automation Research.Present stage, how still domestic mechanical gyroscope seeks Beijing University application tracking reversal point method and transit method.Follow the tracks of reversal point method and seek north, labor intensity of operating staff is big, fatiguability, causes can producing than mistake the cursor position record in the measuring process, makes measuring accuracy and speed be subjected to very big influence, generally adopts when rough north-seeking so follow the tracks of reversal point method; And transit method measuring accuracy height, observation has laborsaving, eyes indefatigability, observer can be dealt with extraneous dealing personnel and other burst factor in observation process advantages such as interference.But transit method requires to seek north in certain north in angular range, otherwise the method will lose efficacy, and can't finish the northern process of seeking.
Traditional northern process of seeking is at first utilized tracking reversal point method rough north-seeking, and then utilizes the transit method essence to seek north, and two kinds of methods are in conjunction with finishing the whole northern task of seeking.This north time of seeking in conjunction with north finding method will reach 20～30 minutes, and it is longer to seek northern elapsed time.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of the present invention is to provide a kind of with electronic compass realization rough north-seeking of gyroscope device, this device can be finished rough north-seeking automatically, need not artificial participation, can improve response speed, north finding precision and the automaticity of gyro-theodolite.The technical solution used in the present invention is: realize the rough north-seeking of gyroscope device with electronic compass, comprise the electronic compass that links to each other successively, digital signal processor, CPLD, motor drive module, stepper motor, shaft joint, speed reduction unit, rotation platform, electronic compass and gyro-theodolite are installed on the rotation platform, the charge-coupled image sensor acquisition module that is used to receive the cursor picture of gyro-theodolite output links to each other with digital signal processor, also comprise link to each other with digital signal processor respectively keyboard and display system, digital signal processor can according to electronic compass output angle value reflected with the north to the running speed of difference size output decision stepper motor and the signal of direction to CPLD, digital signal processor is also transferred device by gyro and is linked to each other with gyro-theodolite.
Said digital signal processor links to each other with electronic compass by the serial ports level switch module.
Said charge-coupled image sensor acquisition module links to each other with digital signal processor, is that the output of charge-coupled image sensor acquisition module is converted to digital signal by the A/D conversion chip and outputs to digital signal processor again.
The present invention possesses following effect: because the present invention has adopted electronic compass, digital signal processor, CPLD, motor drive module, stepper motor, shaft joint, speed reduction unit, rotation platform structure, automatically realize the gyro-theodolite rough north-seeking, thereby the present invention can bring following effect:
(1) the rough north-seeking process is finished automatically, repeatable accuracy height, good reliability;
(2) the rough north-seeking process need not artificial participation, the instrument user is required low, can shorten seek north the time;
(3) gyro-theodolite can be sought north work in the position in any direction.
Description of drawings
Fig. 1 fully-automatic intelligent north-seeking system structural representation.
Fig. 2 is a step motor control rotation system structural representation.
Fig. 3 is the general system set-up synoptic diagram.Among the figure, 1 gyroscope, 2 transits, 3 electronic compasss, 4 stepper motors, 5 turntables, 6 deceleration systems.
Fig. 4 is an electronic compass FEEDBACK CONTROL motor synoptic diagram.
Fig. 5 is DSP and C100 interface synoptic diagram.
Fig. 6 is control zone classification synoptic diagram.
Fig. 7 is an electronic compass rough north-seeking software flow pattern.
Embodiment
Below in conjunction with drawings and Examples one fully-automatic intelligent north-seeking system, further specify the present invention.
The fully-automatic intelligent north-seeking system is positioned over the measurement place to all automatic measurement system as shown in Figure 1.System's power-on self-test, self check by after begin automatic leveling, electronic compass is started working then, the north that records inputs to digital signal processor DSP to signal, pass through the motor drive module drive stepping motor according to data processed result by complex programmable logic device (CPLD), through rotary system, past roughly northern to close the gyro-theodolite alidade, so repeatedly, finally realize the gyro-theodolite rough north-seeking; Gyro-theodolite in the thick north to, DSP control gyro is transferred device and is transferred the gyroscope rod meter, reflect of the light path system imaging of the cursor signal of rotor case movable information simultaneously by gyro-theodolite, the cursor picture is received by CCD (charge-coupled image sensor) acquisition module, by the opto-electronic conversion of CCD, cursor signal is changed into the voltage signal of reflection light intensity by light signal.Voltage signal is a simulating signal, is converted to digital signal by the A/D conversion chip, and digital signal processor DSP carries out pre-service and seeks northern computing the digital signal of input then, again operation result is delivered to display module at last.Keyboard is input as human-machine interface module, by realizing required various operations to its control.
Embodiment of the invention fully-automatic intelligent north-seeking system is achieved through the following technical solutions.As shown in Figure 2 digital signal processor DSP can according to electronic compass output angle value reflected with the north to the difference size decide the running speed and the direction of stepper motor.As shown in Figure 3, gyro-theodolite and electronic compass are fixedly mounted on same rotation platform, adopt stepper motor by shaft coupling rotation platform to be driven, and are the steadily compact transmission of speed reduction unit realization of R=90 through reduction gear ratio.
The embodiment of the invention is used KVH C100 electronic compass produced in USA.KVH C100 resolution is 0.1 °, and north finding precision is 0.5 °, satisfies the required precision of total system rough north-seeking.KVH C100 provides multiple interfaces to use for the user.Comprise serial ports (Serial Port), numeral mouthful (Digital Port), simulation mouthful (Analog Port), power supply input (Power Inputs).This patent utilizes serial ports to carry out data communication.
Adopt the 57DYGH-8001-02 type stepper motor of Tianjin electronics corporation of state section, step angle is 1.8 °, and driver adopts GK-2HB15-8D type step motor drive module.
The collection of Stepping Motor Control and electronic compass data is finished by digital signal processor DSP (Digital SignalProcessor) and complex programmable logic device (CPLD) (Complex Programmable Logic Device), as shown in Figure 4, digital signal processor DSP passes through IO
2Control step motor sense of rotation is passed through IO
0, IO
1The control complex programmable logic device (CPLD) reaches the purpose of control step motor speed.Digital control employing DSP model is the TMS320F206PZ of TI company, and the CPLD model is the EMP7064SLC44-10 of Al tera company.
1. the calibration of electronic compass
KVH C100 electronic compass provides three kinds of calibration stepss: 8 calibration methods, 3 calibration methods and rotational alignment method.3 calibration methods can be calibrated accurate course, so present embodiment adopts the method to calibrate.
In order to carry out 3 calibrations, need an accurate external reference direction.According to prompting localized electron compass to 0 °, 120 °, 240 °.When electronic compass points to correct direction approx, import accurate course, this value is read from the electronic theodolite of JT15 gyro-theodolite.
Do not need inceptive direction must import 000 °, need not import three with reference to the course yet by specific sequence.Accuracy of electronic compass after 3 calibrations relies on the precision of three reference directions fully and decides.
2. electronic compass data acquisition
As Fig. 5 is the control circuit synoptic diagram of DSP and KVH C100 electronic compass serial communication.Electronic compass departs from the north orientation angle value by the ASCII character form output of RXD pin with the NMEA0183 standard.The NMEA0183 statement is made up of 19 bytes, and signal is gathered by the RX pin of DSP by after the RS232 level conversion.DSP needs 19 bytes of continuous acquisition by angle value of the every collection of serial ports, and each byte most significant digit is 0, and low 7 is ASCII character.In transmission course, each byte adds a start bit and a position of rest, is 10 altogether.Data acquisition is finished by the asynchronous serial port interruption subroutine of DSP, interrupts gathering a byte each time, so each angle value readings needs 19 asynchronous serial ports to interrupt.Data to the NMEA0183 form that collects split then, extract angle value wherein, analyze comparison, and then the control rotary system, thereby reach the purpose of rough north-seeking robotization.
3. just seek northern turntable speed control
If the electronic compass reading also is that gyro-theodolite alidade and real north angle deviate are A, at the control requirement of system, the control law that control system should be followed is: when A is big, require control action quick, sensitive; When A hour, require control action steadily, slowly; When gyro-theodolite alidade and real north angle deviate during, require system to carry out Position Tracking near the indicated rough north-seeking angle of electronic compass.Whole control process is divided into 3 control zones according to the actual angle that turns over of gyro-theodolite: high velocity, low regime and tracking area.As shown in Figure 6, when 0 °＜A≤10 °, rotary control system operates in tracking area, and this moment, the turntable rotating speed was 0.04 rev/min; When 10 °＜A≤30 °, rotary system operates in low regime, and this moment, the turntable rotating speed was 0.31 rev/min; When 30 °＜A≤180 °, rotary system operates in high velocity, and this moment, the turntable rotating speed was 1.22 rev/mins.
Digital signal processor rough north-seeking function software process flow diagram as shown in Figure 7.Software control procedure uses the method for C language and assembly language hybrid programming to realize.
Native system has been realized the automatic rough north-seeking of gyroscope north searching instrument.Designed Stepping Motor Control circuit, worked out the control program of automatic rough north-seeking system based on DSP.Experiment shows that the rough north-seeking system can effectively replace manually following the tracks of inversion point rough north-seeking method automatically, has greatly improved the whole northern speed of seeking, and has improved north finding precision to a certain extent.
Claims (2)
1. device of realizing the gyro-theodolite rough north-seeking with electronic compass, it is characterized in that, comprise the electronic compass that links to each other successively, digital signal processor, CPLD, motor drive module, stepper motor, shaft joint, speed reduction unit, rotation platform, electronic compass and gyro-theodolite are installed on the rotation platform, the output of charge-coupled image sensor acquisition module that is used to receive the cursor picture of gyro-theodolite output is converted to digital signal by the A/D conversion chip and outputs to digital signal processor again, also comprise the keyboard and the display system that link to each other with digital signal processor respectively, digital signal processor can according to electronic compass output angle value reflected with the north to the direction of difference size decision stepper motor, and by controlling the running speed of CPLD decision stepper motor, digital signal processor is also transferred device by gyro and is linked to each other with gyro-theodolite.
2. a kind of device with electronic compass realization gyro-theodolite rough north-seeking according to claim 1 is characterized in that said digital signal processor links to each other with electronic compass by the serial ports level switch module.
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| CNB2006100147514A CN100533060C (en) | 2006-07-11 | 2006-07-11 | Device for implementing rough north-seeking of gyroscope using electronic compass |
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| CNB2006100147514A CN100533060C (en) | 2006-07-11 | 2006-07-11 | Device for implementing rough north-seeking of gyroscope using electronic compass |
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| CN100533060C true CN100533060C (en) | 2009-08-26 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009000350B3 (en) * | 2009-01-21 | 2010-08-19 | Trimble Jena Gmbh | Motor drive device and control method for a surveying instrument |
| CN103791896B (en) * | 2012-10-30 | 2016-11-02 | 北京航天发射技术研究所 | The comprehensive north finding device of a kind of pendulum type gyroscope north searching instrument and method |
| CN107161856A (en) * | 2017-04-24 | 2017-09-15 | 李世强 | Bridge crane electromagnetic lifter angle automatic station-keeping system |
| CN108592899A (en) * | 2018-03-27 | 2018-09-28 | 湖北三江航天万峰科技发展有限公司 | Gyrostatic orientation survey method |
| CN111141274A (en) * | 2019-12-23 | 2020-05-12 | 北京中广上洋科技股份有限公司 | Robot automatic positioning and navigation method based on computer vision |
| CN111504288B (en) * | 2020-04-22 | 2021-10-08 | 北京港震科技股份有限公司 | North seeking device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4635375A (en) * | 1983-09-05 | 1987-01-13 | Magyar Optikai Muvek | Vertical shaft system for gyroscopic theodolites with two degrees of freedom |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4635375A (en) * | 1983-09-05 | 1987-01-13 | Magyar Optikai Muvek | Vertical shaft system for gyroscopic theodolites with two degrees of freedom |
Non-Patent Citations (2)
| Title |
|---|
| 陀螺经纬仪定向. 张国良，全文，中国矿业大学出版社. 1988 |
| 陀螺经纬仪定向. 张国良，全文，中国矿业大学出版社. 1988 * |
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