【作者】 林明春；

【导师】 林玉池；

【作者基本信息】 天津大学 ， 测试计量技术及仪器， 2007， 博士

【摘要】 由于定向精度高、不受气候条件限制、在任何时间和地点都可以全天候自主寻北测量,陀螺经纬仪成为工程测量及军事领域中用以定向和确定方位的主要仪器之一。传统陀螺经纬仪寻北时大多采用人工测量,自动化程度低,已无法满足现代应用的需求。新式全自动陀螺经纬仪被发达国家所垄断,为了实现全自动陀螺经纬仪的国产化,利用最新科学技术方法,结合现代传感技术、现代数字信号处理技术及自动控制技术,以现有JT-15型陀螺经纬仪为样机,探索实现陀螺经纬仪数字化及全自动化的关键技术,为最终实现全自动陀螺经纬仪打下基础。设计了陀螺仪数字化测量系统,实现了光标采集与寻北测量的数字化及自动化,为寻北算法的研究搭建了便利平台;设计了陀螺仪自动粗寻北系统,利用模糊控制算法控制实现了陀螺仪粗寻北的自动化;基于数字化测量系统,研究了实时中天法及积分法寻北算法;提出磁传感器与陀螺粗、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,验证了方案的可行性和合理性。构建陀螺经纬仪运动数字信号的数据采集和处理的软硬件系统。CCD采集陀螺仪光标信号,信号经过放大、模数转换后由DSP处理器进行处理和寻北计算,实现了陀螺经纬仪数字化。设计了转台系统,通过减速机构,实现转动速度的细分。由DSP处理器、步进电机驱动器、步进电机、电子罗盘形成一个闭环控制系统。以电子罗盘输出陀螺经纬仪照准部与真北方向的偏角作为反馈信号, DSP处理器进行解算,并利用模糊控制算法控制步进电机的运动,逐步逼近,实现粗寻北自动化。此项技术已申请发明专利,并进入了实质审查阶段,专利申请号为200610014751.4。基于陀螺经纬仪运动的近似正弦曲线,在分析陀螺仪定向传统中天法的基础上,提出光标在任何位置处即可开始进行寻北测量的实时中天法,该方法在保证精度的同时提高了寻北速度。利用CCD信号采集系统,实现对陀螺仪运动整个过程进行记录。根据所记录的运动曲线,推导积分法的基本原理和公式,完成积分法寻北算法的研究及其在数字化DSP寻北系统中实现和应用。陀螺仪数字化测量子系统、陀螺仪灵敏部自动升降子系统、粗寻北自动控制子系统,经DSP和CPLD的总体控制协调,结合全自动寻北算法方案,合作完成了全自动智能寻北系统的实验装置。通过JT-15型陀螺经纬仪样机寻北实验表明,当寻北时间为13min时,寻北精度为8″;当寻北时间为6min时,寻北精度为25″,验证了实验装置方案的可行性及合理性。更多还原

【Abstract】 Due to high precision of orientation, high adaptation in all the weathers, independent measuring at any time and location, gyroscope has been widely used as one of the major instruments for orientation in such fields as military affairs, mapping, mine exploitation, and so on. Because the traditional gyroscopes are manipulated mainly by manpower with a low automation, it can not meet the requirements of the modern technology. Newly full automatic gyroscopes are monopolized by developed countries. Based on the modern technology, in combination with the modern sensor technique, digital signal processing technology as well as the automatic controlling technology, JT-15 gyroscope is adopted as the experimental pattern to explore and implement the key technology of its digitization and full automation and make a foundation for the fully automatic gyroscopes.Digital measuring system of gyroscope is established, and digitization and automation of collecting cursor and north-finding are realized, so it makes convenience for the research of north-finding arithmetic. Automatic coarse north-finding system of the gyroscope is designed and its automation is achieved by fuzzy control arithmetic. Based on the digital measuring system, Real-time transit method and integral north-finding arithmetic are studied; furthermore, a scheme of fully 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 produced to confirm the rationality of the scheme.The hardware and software systems for data acquiring and processing of the digital signal during the movement of gyroscope are established. After the magnification, A/D transformation of the cursor signal acquired by CCD, the signal is processed by DSP processor to find north, so the digitization of the gyroscope is achieved.The turntable system is designed, and the rotating speed has been fractionized by virtue of speed-decreasing system. A closed-loop control system is formed involving the DSP processor, step motor driver, step motor and electronic compass. The angle between the collimating position of the gyroscope is exported from the electronic compass and true north as the feedback signal to be processed by DSP, and the fuzzy control arithmetic is adopted for control the movement of the step motor to achieve the coarse north-finding automatically. The technology has been applied for a patent and is in checkup phase by far (applying number: 200610014751).Based on the movement close to the sinusoid and the traditional transit method of gyroscope, the real-time transit method is presented which could start to find north while cursor is in any position. The real-time transit reduces the measuring time distinctly and preserves the measurement precision synchronously. The whole movement of gyroscope acquired by CCD signal acquiring system is used to deduce the basic theory and expressions,so the study on north-finding arithmetic of integral method and the its application in digitization of north-finding is completed.Gyroscope digital measuring subsystem, sensitive components automatic rising and lowing subsystem, automatic coarse north-finding 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. JT-15 gyroscope is adopted as the experimental pattern, when the north-finding time is 15min, the north-finding precision is 8″, and when the north-finding time is 5min, the north-finding precision is 25″. The experiment results confirm the feasibility and rationality of the scheme.更多还原