CN102435181A - Gyroscope based on acceleration sensor and positioning method - Google Patents
Gyroscope based on acceleration sensor and positioning methodDownload PDFInfo
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- CN102435181A CN102435181ACN2011103389145ACN201110338914ACN102435181ACN 102435181 ACN102435181 ACN 102435181ACN 2011103389145 ACN2011103389145 ACN 2011103389145ACN 201110338914 ACN201110338914 ACN 201110338914ACN 102435181 ACN102435181 ACN 102435181A
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Abstract
Description
Technical Field
The invention relates to the technical field of gyroscopes, in particular to an acceleration sensor-based gyroscope and a positioning method.
Background
The technology of gyroscopes has been developed for a considerable time, and conventional gyroscopes have a rigid rotor rotating at a high speed and can capture their own attitude by virtue of their own performance. Gyroscopes were originally used for marine navigation and subsequently have found widespread use in the aerospace industry. At present, various gyroscopes in the market are manufactured by using a basic principle that a rotating shaft always stably points to one direction by using strong angular momentum of a moving object when rotating at a high speed, and the core of the gyroscopes requires a rigid body to move or swing at a high speed around a symmetric axis, so that the gyroscopes manufactured by using the principle have the defects of high energy consumption, complex manufacturing and high cost caused by mechanical motion.
Disclosure of Invention
The invention aims to provide a gyroscope based on an acceleration sensor and a positioning method, which are independent of a mechanical moving object rotating at a high speed or swinging at a high speed and reduce energy consumption and manufacturing cost.
The purpose of the invention is realized by the following technical scheme:
a gyroscope based on acceleration sensors comprises a rigid rotor and at least two acceleration sensors which are fixed in the rigid rotor and are arranged in the vertical direction of a rotation shaft of the rigid rotor.
The acceleration sensor is a two-dimensional acceleration sensor or a three-dimensional acceleration sensor.
The two acceleration sensors are placed in the vertical direction of the rotation axis of the rigid rotor and placed in the radial direction of the motion direction of the rigid rotor or placed in the tangential direction of the motion direction of the rigid rotor.
Three acceleration sensors are placed in the vertical direction of the rotation axis of the rigid rotor, wherein an acceleration sensor A and an acceleration sensor B are placed in the radial direction of the motion direction of the rigid rotor, and an acceleration sensor A and an acceleration sensor C are placed in the tangential direction of the motion direction of the rigid rotor.
An acceleration sensor-based positioning method comprises the following steps:
at least two acceleration sensors are arranged in the vertical direction of the rotation shaft of the rigid rotor;
and in the rotation process of the rigid body rotor, acquiring the acceleration measurement value of each acceleration sensor, and calculating the rotation state of the rigid body rotor according to the acceleration measurement value.
Wherein, two acceleration sensors are placed along the vertical direction of the rotation axis of the rigid rotor, and the two acceleration sensors are placed along the radial direction of the motion direction of the rigid rotor or along the tangential direction of the motion direction of the rigid rotor.
Three acceleration sensors are placed in the vertical direction of the rotation axis of the rigid rotor, wherein an acceleration sensor A and an acceleration sensor B are placed in the radial direction of the motion direction of the rigid rotor, and an acceleration sensor A and an acceleration sensor C are placed in the tangential direction of the motion direction of the rigid rotor.
When three-dimensional acceleration sensors are placed in the vertical direction of the rotation axis of the rigid rotor, the process of calculating the rotation state of the rigid rotor according to the acceleration measurement value further includes:
respectively reading readings of an acceleration sensor A, an acceleration sensor B and an acceleration sensor C in X, Y, Z three directions
、
、
；
According to the formula
、
And the readings of the three acceleration sensors respectively calculate the angular acceleration of the rigid rotor rotating along the X, Y, Z axis
And angular velocity
(ii) a Wherein,
the difference value of the tangential acceleration of two mass points along the vertical direction of the rotating shaft of the rigid rotor,
the two mass points along the vertical direction of the rotation axis of the rigid rotor are added in the radial directionDifference in velocity values.
Compared with the prior art, the embodiment of the invention has the following beneficial effects.
The embodiment of the invention is based on the principle that the mass points at different positions of the rigid rotor are stressed differently during rotation, and calculates the angular velocity and the angular acceleration of the rotation of the rigid body by using the acceleration difference tested by the acceleration sensors arranged at different positions on the rigid rotor.
Drawings
Fig. 1 is a schematic diagram of an acceleration sensor of an embodiment of the present invention.
Fig. 2 is a schematic diagram of an embodiment of the acceleration sensor-based gyroscope according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, two mass points inside a rigid body rotor have the following relationship when the rigid body rotor moves:
the first basic theorem: when the rigid body rotor does not rotate, the stress (acceleration) of each mass point in the rigid body rotor is equal, that is to say
（1）
And the acceleration of each mass point in the rigid body rotor in X, Y and Z directions is equal, namely
The application comprises the following steps: when the rigid body rotor is in the inertial reference system, reading values of all directions of all acceleration sensors at different positions of the rigid body rotor are 0; when the rigid body rotor is in the gravity field inertial reference system, the acceleration sensors are placed at different positions in the rigid body rotor, the readings in the corresponding directions are equal and are kept unchanged, and the rigid body rotor is in a uniform linear motion state or a static state.
The second basic theorem: when the rigid rotor rotates, along two mass points in the vertical direction of the rotating shaft of the rigid rotor, the stress difference value in the vertical direction (radial direction) of the rotating shaft is as follows:
in the formula, m is the weight of a mass point;
the difference value of the acceleration of the two mass points in the direction vertical to the rotating shaft (radial direction); d is the difference between the distances between the two mass points and the rotation axis; omega is the angular velocity of the rigid body rotating around the rotation axis;
the difference value of the acceleration of the two mass points in the direction of the rotation axis is as follows:
（4）
the rigid body rotation angular velocity is as follows:
the application comprises the following steps: the difference of the acceleration values of the acceleration sensors at two mass points of the rigid rotor in the vertical direction of the rotation shaft in the radial direction is read, and the angular velocity of the rotation of the rigid rotor can be calculated by applying the formula (5).
Basic theorem three: when the rigid body rotor rotates, the force difference of two mass points of the rigid body rotor along the vertical direction of the rotating shaft in the mass point motion direction (tangential direction) is as follows:
（6）
wherein,
angular acceleration of rotation of the rigid rotor;
the angular acceleration of the rotation of the rigid rotor is as follows:
wherein,
the linear acceleration difference value of two mass points in the rotating direction along the vertical direction of the rotating shaft of the rigid rotor is a vector;
the application comprises the following steps: the difference of the acceleration values of the acceleration sensors at the two mass points of the rigid rotor along the vertical direction of the rotation shaft in the tangential direction is read, and the angular acceleration of the rotation of the rigid rotor can be calculated by applying a formula (7).
The present embodiment is implemented by applying the above three basic principles. As shown in fig. 2, the gyroscope of this embodiment includes three-axis acceleration sensors A, B, C, which are respectively disposed at two rotation axis parallel positions of the rigid rotor, the directions of the three acceleration sensors are the same as the orientation of the rigid rotor (see upper left corner of fig. 2), and the distance between the acceleration sensor a and the acceleration sensor C disposed parallel to the Y axis is
The distance between the acceleration sensor A and the acceleration sensor B, which are placed parallel to the X-axis, is
The accelerations of the three acceleration sensors in the X, Y and Z directions are respectively
、、
. The method for judging the autorotation state of the rigid body rotor comprises the following steps:
1. in the rest state: according to the first basic theorem, A, B, C three acceleration sensors read in X, Y and Z directions
2. In the motion state:
in the X-axis direction, the rotation angular velocity of the rigid body rotor along the X-axis direction is obtained by calculation according to the second basic theorem
(ii) a Obtaining the self-rotation angular acceleration of the rigid rotor along the X-axis direction by three calculations according to the basic theorem
。
In the same way, the rotation angular velocity and the rotation angular acceleration of the rigid rotor along the Y-axis and the Z-axis directions can be obtained.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A gyroscope based on acceleration sensors is characterized by comprising a rigid rotor and at least two acceleration sensors which are fixed inside the rigid rotor and are arranged along the vertical direction of a rotation shaft of the rigid rotor.
2. The gyroscope of claim 1, wherein the acceleration sensor is a two-dimensional acceleration sensor or a three-dimensional acceleration sensor.
3. The gyroscope of claim 2, wherein two acceleration sensors are placed in a direction perpendicular to the rotation axis of the rigid body rotor, and the two acceleration sensors are placed in a radial direction of the movement direction of the rigid body rotor or in a tangential direction of the movement direction of the rigid body rotor.
4. The gyroscope of claim 2, wherein three acceleration sensors are placed in a direction perpendicular to the rotation axis of the rigid body rotor, wherein the acceleration sensor a and the acceleration sensor B are placed in a radial direction of the movement direction of the rigid body rotor, and the acceleration sensor a and the acceleration sensor C are placed in a tangential direction of the movement direction of the rigid body rotor.
5. An acceleration sensor-based positioning method, characterized in that the method comprises the steps of:
at least two acceleration sensors are arranged in the vertical direction of the rotation shaft of the rigid rotor;
and in the rotation process of the rigid body rotor, acquiring the acceleration measurement value of each acceleration sensor, and calculating the rotation state of the rigid body rotor according to the acceleration measurement value.
6. The positioning method according to claim 5, wherein two acceleration sensors are disposed in a direction perpendicular to the rotation axis of the rigid body rotor, and the two acceleration sensors are disposed in a radial direction of the moving direction of the rigid body rotor or in a tangential direction of the moving direction of the rigid body rotor.
7. The positioning method according to claim 5, wherein three acceleration sensors are disposed in a direction perpendicular to the rotation axis of the rigid body rotor, wherein the acceleration sensor A and the acceleration sensor B are disposed in a radial direction of the moving direction of the rigid body rotor, and the acceleration sensor A and the acceleration sensor C are disposed in a tangential direction of the moving direction of the rigid body rotor.
8. The positioning method according to claim 7, wherein, when three-dimensional acceleration sensors are disposed in a direction perpendicular to the rotation axis of the rigid rotor, the calculating of the rotation state of the rigid rotor based on the acceleration measurements further comprises:
respectively reading readings of an acceleration sensor A, an acceleration sensor B and an acceleration sensor C in X, Y, Z three directions
、
、
；
According to the formula、
And the readings of the three acceleration sensors respectively calculate the angular acceleration of the rigid rotor rotating along the X, Y, Z axis
And angular velocity
(ii) a Wherein,the difference value of the tangential acceleration of two mass points along the vertical direction of the rotating shaft of the rigid rotor,
the difference value of the acceleration values of two mass points along the vertical direction of the rotation axis of the rigid rotor in the radial direction is shown.
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| CN201110338914.5ACN102435181B (en) | 2011-11-01 | 2011-11-01 | Accelerator sensor-based gyroscope and positioning method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108645396A (en)* | 2018-05-10 | 2018-10-12 | 东南大学 | A kind of method for measuring angular velocity of wide range angular-rate sensor |
| CN115507813A (en)* | 2022-09-30 | 2022-12-23 | 中航通飞华南飞机工业有限公司 | Space rotation angle measuring method |
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| CN108645396A (en)* | 2018-05-10 | 2018-10-12 | 东南大学 | A kind of method for measuring angular velocity of wide range angular-rate sensor |
| CN115507813A (en)* | 2022-09-30 | 2022-12-23 | 中航通飞华南飞机工业有限公司 | Space rotation angle measuring method |
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