电子罗盘在全自动智能陀螺寻北仪中的应用

15520075OpticsandPrecisionEngineeringVol.15No.5May2007:20061021;:20070318.:(No.20030056017)1004924X(2007)05071906林明春,夏桂锁,林玉池,黄银国,刘红星(天津大学精密测试技术及仪器国家重点实验室,天津300072):,DSP,,,,10min1.5min;30,:陀螺仪;寻北方法;电子罗盘;粗寻北;自动化:V241.5:AApplicationofelectroniccompasstoallautomatedintelligentgyroscopenorthfinderLINMingchun,XIAGuisuo,LINYuchi,HUANGYinguo,LIUHongxing(StateKeyLaboratoryofPrecisionMeasuringTechnologyandInstruments,TianjinUniversity,Tianjin300072,China)Abstract:Toimprovethenorthfindingspeedofthetraditionalmechanicalgyroscope,acoarsenorthfindingmethodthroughelectroniccompassispresented.Basedontheprincipleofelectroniccompass,theanglevaluesbetweenthenorthandheadingofthesystemarerealtimeacquiredthroughthedigitalportandserialportoftheelectroniccompassusingDSPprocessor,andtheheadingofthesystemisdriventothecoarsenorthdirectionthroughtheacquiredanglevalues.Theautomatizationofgyroscopecoarsenorthfindinginsteadofthetrackreversionpointwayisachievedsuccessfully.Experimentsshowthatthetimeofcoarsenorthfindingisreducedfrom10minto1.5min,andtheprecisionwithin30canreachtherequirementofprecisenorthfinding.Keywords:gyroscope;northfindingways;electroniccompass;coarsenorthfinding;automatization1引言21,[1],,,,,,,,,,,,,,[2],,,,;,,,,,JT15,8min,25min,,,10min,2全自动智能陀螺仪的硬件组成1,[3],R=902,,,,DSP(DigitalSignalProcessor),CPLD(ComplexProgrammableLogicDevice),,,,;,,1Fig.1Systemarchitecture2Fig.2Structureofallautomatedintelligentnorthfinder,CCD(),CCD,,A/D,DSP,,3电子罗盘3.1[4]KVHC100(),,0.5,0.1,,XY,,-40!~+65!,72015,3.2KVHC100C100(SerialPort)(DigitalPort)(AnalogPort)(PowerInputs)C100,Clk,Data,Strobe,,,clkData10Hz;,StrobeC100,RXDTXDGroundC100PC,KVHC100C100NMEA0183[5]ASCIIC100DSP3.3C100[6]:,1~2min,,(Score)(MagneticEnvironmentCount),0~9,0,9∀7,4陀螺仪粗寻北模块设计JT15[7],,,,,;,,,25min,,,4.1,DSP,;DSP,,,[8]33Fig.3Controlsystemofelectroniccompasscoarsenorthfinder,,,R=904.24DSPKVHC100[9]RXDNMEA0183ASCIINMEA018319,RS232,DSPRXDSP,19,0,7ASCII,,10DSP,,19NMEA0183,,,,7215,:4DSPC100Fig.4InterfaceofDSPandC1004.3,DSPCPLD[10]5,DSPIO2,IO0,IO1CPLD5Fig.5Controlofstepmotorthroughfeedbackofelectroniccompass,A,,:A,;A,;,3[11]:6,0A∀5,,0.04r/min;5A∀10,,0.31r/min;10A∀180,,1.22r/min6Fig.6Fieldsofcontrolspeed5实验及数据处理:3075150179,0;JT15,,,A(),,;,(,),3075150179,,121(:())Tab.1Precisionofcoarsenorthfindingindifferentclockwiseorientations(Unit:())A307515017911.671-4.435-16.829-0.078218.157-9.8890.74310.924316.130-5.794-23.887-7.1024-19.652-9.959-5.706-27.9815-7.020-22.457-26.523-14.36512.52610.50714.73812.090722152(:())Tab.2Precisionofcoarsenorthfindingindifferentanticlockwiseorientations(Unit:())A3075150179111.834-9.884-2.4779.5582-4.9456.90924.3730.3523-2.688-3.236-11.81312.1994-6.8129.971-7.66713.67153.859-4.66414.4079.4766.0286.93312.1479.051-27.981,#30,:,+180-180,1.189min,10min,6结论,#30,1.5min:[1]张文博,范大鹏,张智永,等.[J].光学精密工程,2006,14(4):689696.ZHANGWB,FANDP,ZHANGZHY,etal.ResearchonapplicationofMEMSgyrotoservosystemforEOstabilizationandtrackingdevices[J].Opt.PrecisionEng.,2006,14(4):689696.(inChinese)[2]林玉池,孙占元,赵美蓉,等.[J].机械工程学报,2003,39(8):116119.LINYCH,SUNZHY,ZHAOMR,etal..Applicationandresearchoftransmitmethodinintelligentnorthfindinggyroscopesystem[J].J.Mech.Eng.,2003,39(8):116119.(inChinese)[3]李开龙,魏彪,米德伶,等.FPGAX_CT2[J].光学精密工程,2005,13(增):168172.LIKL,WEIB,MIDL,etal..Designofthe2ndgenerationscanningmotioncontrolcardbasedonFPGAforindustrialXCT[J].Opt.PrecisionEng.,2005,13(supp.):168172.(inChinese)[4]RACZR,SCHOTTC,HUBERS.Electroniccompasssensor[J].ProceedingsofIEEE2427,2004,3:14461449.[5]CHIHYEHK.VirtualinstrumentationbasedsysteminarealtimeapplicationsofGPS/GIS[C].ProceedingsofInternationalConferenceonRecentAdvancesinSpaceTechnologies(IEEECat.No.03EX743),2003:4038.[6]RUSSR.TestingandfieldcalibrationprocedurefortheKVHC100compass[R].SpaceandSubseaRoboticsLab.,UniversityVictoria,2001.[7]郭喜庆,武克用.[J].光学精密工程,2001,9(2):182185.GUOXQ,WUKY.Newtypegyrotheodoliteanditsapplications[J].Opt.PrecisionEng.,2001,9(2):182185.(inChinese)[8]黄令龙,郭阳宽,蒋培军,等.[J].清华大学学报(自然科学版),2004,44(8):10541056.HUANGLL,GUOYK,JIANGPJ,etal..Controlsystemforhighprecisionturntable[J].J.TsinghuaUniv.,2004,44(8):10541056.(inChinese)[9]YEARYMB,FINKRJ,BECKD,etal..ADSPbasedmixedsignalwaveformgenerator[J].IEEETransactionsonInstrumentationandMeasurement,2004,53(3):665671.[10]朱明,鲁剑锋,胡硕.DSP[J].光学精密工程,2005,13(增):232235.7235,:ZHUM,LUJF,HUSH.DevelopmentofTVmeasuringandtrackingsystembyusingDSP[J].Opt.PrecisionEng.,2005,13(supp.):232235.(inChinese)[11]过润秋,林晓春,鲍建跃.[J].西安电子科技大学学报,1999,26(94):1016.GUORQ,LINXCH,BAOJY.Studyoftheautomaticrotarycontrolsystembasedonfuzzycontrol[J].J.XidianUniv.,1999,26(94):1016.(inChinese):(1977-),,,,Email:[e-mail]72415