【作者】 潘宏义；

【导师】 高延滨；

【作者基本信息】 哈尔滨工程大学 ， 模式识别与智能系统， 2002， 硕士

【摘要】 在人类的生产、生活实践中，地理方位信息必不可少，因此方位指示仪器的研究意义重大。千百年来，人们为研究定位与定向技术进行了不懈的努力。惯性技术及计算机控制技术的出现及其应用为研制自主的、精密的方向指示仪器—找北系统提供了可能。 平台系统做自主式高精度船用导航设备已经越来越广泛的应用于各种舰艇及潜艇中，但由于其寻北原理是基于动机座下的罗经原理，因而时间过长。本文提出一种基于解析的快速寻北方法，其原理是利用陀螺仪敏感地球的自传角速率分量，并由此计算出载体的参考轴向与真北方向的夹角，即偏北角。应用该方法，系统将在系泊状态下1个小时左右的寻北时间缩短到几分钟。车载寻北仪便是应用上述基本原理工作的定向仪表。 本系统运用双轴二位置寻北方案，结合高稳定性精确定位转位机构，并建立了相应的误差分析理论和误差修正方案，使产品寻北精度大大提高。通过计算机进行寻北控制，并实施多种补偿，从而进一步提高寻北精度。 DSP作为一种专门的数字信号处理器，具有高效、高速、高精度等优点，而且本文所用的TMS320C31芯片还具有浮点运算能力，这就为寻北系统中的复杂数学运算奠定了基础，本文以TMS320C31芯片为核心，设计并调试了数据的采集、控制作用输出、信息通讯等硬件电路和相关软件，结果比较良好。更多还原

【Abstract】 In the life and practice of people, the information of geographical orientation is essential. So it is instructive to do research on the orientational and directional instrument. People have always been making great efforts to explorethe technology of orientation and direction for long time. The occurrence andapplication of the inertia and computer control make it possible to devise anddevelop the independently and precisely orientational instrument.Platform system, as independent and highly precise navigation equipment, has been widely used in all kinds of ships and submarines. However, because its north-seeking principle is the compass principle based on movable mount, the time of seeking north is too long . This paper introduces an analytic method of quick north seeker ,whose principle is to use gyro to sense the component value of the angle-rate of the rotation of the earth.. In term of the principle the northern azimuth angle (between the referenced shaft of carrier and actual north angle) can be measured. By means of this method, ships can only spend 3-5 minutes in seeking for the north at the state of berthing. The north-seeking system equipped in chariots is the orientational instrument based on this elementary principle.This system applies two-shaft and two-position north-seeking scheme, conbines highly stable and accurately directional machine, and builds the corresponding theory of error analysis and method of error modification , which makes the precision of the north seeker improved well. Besides this ,the system utilizes computer to control north-seeking process, and implements lots of compensatory schemes, so the precision of north seeker is increased more .DSP , as an special digital signal processor, has high operation speed and precision, and the TMS320C31 DSP used in the paper has the capacity of float point operation. All of the characteristics make the operation of complicated mathematics in north-seeking system more easy. Using C31 DSP as core, this paper designed and debugged the hardware and software which consists of data sampling, signal outputting and communication. The result is good.更多还原