摘要
由于现有摆式陀螺寻北仪对初始架设方位要求严格,难以实现全方位的快速寻北,本文提出了一种复合式全方位快速寻北方案。研究了该方案涉及的摆式陀螺大偏北角运动规律、全方位的快速预定向和小偏北角的快速粗寻北和精寻北。根据刚体动力学原理建立了摆式陀螺大偏北角运动方程,运用数值分析和曲线拟合方法求得方程的近似解析解。依据上述运动规律,分析了1/2周期和1/4周期全方位步进预定向的寻北时间和寻北效果,并对寻北策略进行了优化。在分析曲线拟合快速粗寻北和步进快速限幅法的基础上,提出了一种快速步进粗寻北限幅方法。最后,结合上述方法和光电积分法,提出了一种复合式全方位快速寻北方案。仿真结果表明:优化后的步进策略可以在190s内将陀螺主轴步进到真北±300′以内;快速步进粗寻北限幅法可以在95s内完成小偏北角粗寻北和限幅;复合式寻北总时间不超过11min。结果显示该寻北方案有效克服了对初始架设方位的限制。
The pendulous gyro north seeker is difficult to complete the rapid omnibearing north seeking,for it is limited by initial erection azimuth seriously.In this paper,a complex rapid omnibearing north seeking method was put forward and the technological points involved such as the motion of pendulous gyro in a large azimuth,rapid omnibearing pre-direction,and fast coarse and precise north seeking in a small azimuth were investigated.Firstly,the motion equations of pendulous gyro in the large azimuth were established based on principles of rigid dynamics and its approximate analytic solution was gained by using the numerical analysis and curve fitting method.On the basis of the approximate analytic solution,the north seeking time and results of 1/2 period and 1/4 period step-measuring method were carefully studied and the step strategy was optimized.Then,a fast step coarse seeking and limiting method was proposed based on the analysis of curve fitting fast coarse north seeking and step fast limiting methods.Finally,a complex omnibearing method was designed with the combination of rapid omnibearing rough north seeking,fast coarse north seeking and limiting and the photoelectric integral method.Simulation results show that the basic shaft of the gyro can be stepped to the position of ±300′ from north within 190 s by optimized step strategy,the coarse north seeking and limiting can be achieved within 95 s,and the total time cost of the complex method is less than 11 min.With the complex method proposed,the azimuth angle in any direction can be determined accurately in a short time.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2013年第12期3072-3079,共8页
Optics and Precision Engineering
基金
国家自然科学基金资助项目(No.41174162)
关键词
摆式陀螺
全方位寻北
复合寻北
步进法
曲线拟合
pendulous gyroscope
omnibearing north-seeking
complex north seeking
step-measuring method
curve fitting
