CN110108276B - Method for precisely measuring geographic latitude by using magnetic suspension gyroscope - Google Patents

Abstract

The invention discloses a method for accurately measuring geographic latitude by using a magnetic levitation gyroscope. The measuring instrument used in the method is composed of a magnetic levitation gyroscope system, a precise angle measurement and rotation system, a centering and leveling system, a computer system, and the like. It is: placing the measuring instrument, inputting the required latitude accuracy requirements, calculating the initial latitude value, measuring the near north of the measuring instrument, calculating the geographic latitude, and finally, by comparing with the required accuracy requirements to determine whether to continue the iteration or output the final the geographic latitude value. The measuring instrument of the invention is simple and easy to operate, the method for calculating the geographic latitude is simple, the data processing time is short, the large-scale joint survey is not required, and the geographic latitude of a single measuring station can be independently obtained.

Description

A method for precise determination of geographic latitude using magnetic levitation gyroscope

technical field

The invention belongs to the technical fields of geodesy, astrometry and celestial mechanics, geodynamics, inertial navigation, and can be used in research fields such as plate motion monitoring, aerospace, precision navigation and positioning, geophysics, etc. A method of determining geographic latitude.

Background technique

Since the rotation process of the earth is unstable, the pole shift is an important parameter to describe the rotation state of the earth. Polar shift changes can be derived by monitoring changes in geographic latitude values at stations. Therefore, the accurate measurement of latitude changes has important practical significance and application value for the study of geodynamics and geodesy.

The traditional space geodetic technology used to monitor the change of the earth's rotation, such as global satellite positioning technology GNSS, satellite laser ranging technology SLR, very long baseline interferometry technology VLBI and so on. These spatial geodetic techniques have the following common characteristics:

1. The monitoring system is complex and huge, which requires huge manpower and material resources; 2. The observation period is long, the solution method is complex, and the data processing time is long; 3. It is impossible to measure the latitude of a single station, and a large-scale joint measurement must be carried out.

SUMMARY OF THE INVENTION

Aiming at the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a method for precisely measuring geographic latitude by using a magnetic levitation gyroscope, which is more precise and simpler than the prior art.

In order to realize the above-mentioned tasks, the present invention adopts the following technical solutions:

A magnetic levitation gyro geographic latitude measuring instrument includes an outer casing, an inner casing disposed in the outer casing, a lower turntable located at the lower part of the outer casing and used for driving the outer casing to rotate, and:

The magnetic levitation gyro system includes a floating device arranged in the inner casing, the floating device drives the gyro room to float or fall to the initial position through the connecting frame, and the gyro room is in a stable position after floating by adjusting the floating device; A damping sensor rotor connected to the lower part of the gyro room is arranged under the inner casing, and a damping sensor stator is distributed in the circumferential direction at the bottom of the outer casing;

A precision angle measuring and turning system, used to drive the inner casing to rotate and measure the rotation angle, as well as measure the rotation angle of the outer casing;

The centering and leveling system is used for preliminary north pointing through the north pointing sign when the measuring instrument is installed, adjusting the measuring instrument to be in a horizontal state, and making the central axis of the measuring instrument pass through the point to be measured;

The computer system is used to drive the gyro to rotate or stop, to drive the gyro room to float or fall, and to judge the position stability after floating, to form a uniform horizontal electromagnetic field between the damping sensor rotor and the damping sensor stator, and to collect the damping sensor rotor Current value and damping sensor stator current value, control the inner shell to rotate to the specified angle, and control the lower turntable to rotate to the specified angle.

Further, the lower part of the damping sensor rotor is connected with a gyro falling cone, and a gyro falling groove is arranged at the center of the inner surface of the bottom of the outer casing to cooperate with the gyro falling cone;

A connecting rod drop cone is arranged at the lower part of the connecting frame, and a connecting rod falling groove is arranged at the bottom of the inner casing to cooperate with the connecting rod falling cone.

Further, the centering and leveling system includes the north-pointing mark, the level tube, the foot screw and the lower centering mark hole, wherein:

The north-pointing sign is located on the upper surface of the outer shell, the leveling tube is located at the center of the upper surface of the outer shell, and the central axis of the leveling tube is perpendicular to the central axis of the measuring instrument; the lower part of the lower turntable is installed on the horizontal platform, and the horizontal platform passes through it. The bottom foot screw is mounted on the lower platform, and the lower centering identification hole is located at the center of the lower platform.

Further, the computer system is arranged on the upper surface of the outer casing, and includes a microcomputer, a keyboard and a display screen.

Further, the precision angle measurement and rotation system includes a grating scale, a rotation motor, and the lower turntable, wherein:

The grating scale plate is installed on the top of the outer casing, the lower part of which is connected to the rotary motor, and the lower part of the rotary motor is connected to the inner casing.

Further, the floating device includes an inductance coil located at the top of the inner casing, and an armature matched with the pole coil is arranged on the connecting frame;

A self-collimation photoelectric sensor is distributed at the end of the connecting frame, and reflecting prisms are distributed on the inner wall of the inner casing, which cooperate with the self-collimation photoelectric sensor and correspond one-to-one.

Further, the gyro room is provided with a gyro rotating shaft, both ends of the gyro rotating shaft are mounted on the inner wall of the gyro room through bearings, and a gyro is installed on the gyro rotating shaft.

A method for accurately measuring geographic latitude using a magnetic levitation gyro, comprising the following steps:

Step 1, install a magnetic levitation gyro geographic latitude measuring instrument on the point to be measured, make the north pointing mark of the measuring instrument initially point north, and level the measuring instrument;

Step 2, input the required latitude accuracy requirement e through the computer system;

Step 3, carry out pointing torque sampling at the 0° position of the rotary motor, obtain the torque value M _{A 0} corresponding to this position, then rotate the rotary motor counterclockwise λ, collect the torque value M _{B 0} corresponding to this position; by the following formula Calculate the initial value of latitude

In the above formula, H is the angular momentum of the gyro, and ω _e is the average angular velocity of the earth's rotation;

Step 4, carry out pointing torque sampling at the 0° position of the rotary motor, obtain the corresponding torque value M at this _position , then the rotary motor _{rotates 180} ° clockwise to collect the corresponding torque value at this position; by the following The formula calculates the northerly angle of the measuring instrument:

为上一步中的纬度解算值；in,

is the solved value for the latitude in the previous step;

Control the counterclockwise rotation angle α _i of the lower turntable, so that the zero position of the measuring instrument is closer to the true north direction;

Step 5: Sampling the pointing torque at the 0° position of the rotary motor to obtain the corresponding torque value M _{a i+1} at this position, and then the rotary motor rotates λ counterclockwise to collect the corresponding torque value M _i+1 at this position. ; Calculate geographic latitude by:

如不满足，则返回步骤4重新迭代计算。Step 6: Determine whether the geographic latitude meets the accuracy requirements, if so, output

If it is not satisfied, go back to step 4 to re-iterate the calculation.

Further, before the moment sampling is performed at each position in steps 3, 4 and 5, the following procedures are executed in sequence through the computer system:

Magnetic levitation gyroscope rotation program, magnetic levitation gyroscope floating program, magnetic levitation gyroscope stable position determination program, torquer measurement program, magnetic levitation gyroscope falling program, magnetic levitation gyroscope stop program, among which:

Magnetic levitation gyro rotation program: After the gyro receives the computer system command, the speed increases from zero to the rated speed, and maintains the rated speed;

Maglev Gyro Floating Procedure: The induction coil is powered on after receiving the command from the computer system, and drives the gyro room to float up through the connecting frame;

The program for determining the stable position of the magnetic levitation gyro: control the self-collimation photoelectric sensor to emit laser and receive the laser reflected by the reflecting prism. If the emitted laser coincides with the reflected laser, the position is stable; otherwise, the computer system adjusts the current in the inductive coil and the horizontal electromagnetic field. size until the position stabilizes;

Torque measurement program: By forming a uniform horizontal electromagnetic field between the damping sensor rotor and the damping sensor stator, the real-time damping sensor rotor internal current value I _R and damping sensor stator internal current value _IS , the torque value can be calculated as:

_M =k·IR·I _S

Among them, k is the torquer coefficient;

Maglev Gyro Drop Program: After the induction coil receives the computer system command, the power is turned off, the gyro room falls under the action of gravity, the drop cone of the connecting rod falls into the falling groove of the connecting rod, and the falling cone of the gyro falls into the falling groove of the gyro, so as to realize the magnetic levitation gyro system accurate reset;

Magnetic levitation gyro stop procedure: After the gyro receives the command from the computer system, the speed gradually decelerates from the rated speed to zero.

Compared with the prior art, the present invention has the following technical characteristics:

The invention provides a method for accurately measuring geographic latitude by using a magnetic levitation gyroscope, and obtains the geographic latitude of a certain point on the ground according to the principle that the magnetic levitation gyroscope is sensitive to the rotation of the earth. The measuring instrument of the invention is simple and easy to operate, the method for calculating the geographic latitude is simple, the data processing time is short, the large-scale joint survey is not required, and the geographic latitude of a single measuring station can be independently obtained.

Description of drawings

Fig. 1 is the principle schematic diagram that the present invention utilizes magnetic levitation gyro to measure geographical latitude;

FIG. 2 is a schematic diagram of the internal structure of the magnetic levitation gyro geographic latitude measuring instrument of the present invention in a standby state.

3 is a schematic diagram of the internal structure of the magnetic levitation gyro geographic latitude measuring instrument of the present invention in a suspended state.

Fig. 4 is the top view of the magnetic levitation gyro geographic latitude measuring instrument of the present invention;

5 is a top view of the connecting frame, the self-collimating photoelectric sensor, and the reflecting prism of the magnetic levitation gyro geographic latitude measuring instrument of the present invention in the working state;

Fig. 6 is the schematic flow chart of the method of the present invention;

Fig. 7 is the relation diagram of position A, position B;

Fig. 8 is a relationship diagram of position C and position D.

Description of the labels in the figure: 1 pointing to the north, 2 microcomputer, 3 display screen, 4 keyboard, 5 level tube, 6 grating dial, 7 rotary motor, 8 inductor coil, 9 outer shell, 10 inner shell, 11 armature, 12 connecting frame, 13 reflecting prism, 14 self-collimating photoelectric sensor, 15 connecting rod drop cone, 16 connecting rod drop groove, 17 gyro room, 18 gyro, 19 gyro shaft, 20 bearing, 21 damping sensor rotor, 22 damping sensor stator , 23 gyro drop cone, 24 gyro drop groove, 25 lower turntable, 26 horizontal platform, 27 foot screw, 28 lower centering mark hole.

Detailed ways

The present invention firstly discloses a magnetic levitation gyro geographic latitude measuring instrument, which includes an outer casing 9 , an inner casing 10 arranged in the outer casing 9 , and a lower turntable 25 located at the lower part of the outer casing 9 for driving the outer casing 9 to rotate. , as well as the magnetic levitation gyro system, the precise angle measurement and rotation system, the centering and leveling system and the computer system, each of which is described in detail below.

As shown in Figure 2, the XX axis is the central axis of the magnetic levitation gyro geographic latitude measuring instrument, and is also the central axis of the outer casing 9 and the lower turntable 25, the YY axis is the central axis of the level tube 5, and the YY axis is perpendicular to the XX axis.

1. Magnetic levitation gyro system

Including a floating device arranged in the inner casing 10, the floating device drives the gyro room 17 to float or fall to the initial position through the connecting frame 12, and the gyro room 17 is in a stable position after floating by adjusting the floating device; the described A damping sensor rotor 21 connected to the lower part of the gyro room 17 is arranged below the inner casing 10 , and a damping sensor stator 22 is distributed in the circumferential direction at the bottom of the outer casing 9 ; The inductance coil 8 at the top is provided with an armature 11 matched with the pole coil 8 on the connecting frame 12;

A self-collimating photoelectric sensor 14 is arranged at the end of the connecting frame 12 , and reflecting prisms 13 that cooperate with the self-collimating photoelectric sensor 14 and correspond one-to-one are distributed on the inner wall of the inner casing 10 . The gyro room 17 is provided with a gyro rotating shaft 19 , both ends of the gyro rotating shaft 19 are mounted on the inner wall of the gyro room 17 through bearings 20 , and a gyro 18 is installed on the gyro rotating shaft 19 .

As shown in FIG. 2 and FIG. 3 , the connecting frame 12 in this solution is composed of a plurality of connecting rods with the same length, connected at the same end and evenly distributed in the circumferential direction. In this embodiment, there are six connecting rods. A self-collimating photoelectric sensor 14 is installed at the end of the connecting rod; correspondingly, six reflecting prisms 13 are arranged on the inner wall of the inner casing 10 . As shown in FIG. 5 , the self-collimation photoelectric sensor 14 emits laser light along the direction of the lever arm to the corresponding six reflecting prisms 13 on the inner side wall of the inner casing 10 , and the self-collimating photoelectric sensor 14 will also receive the reflection of the reflecting prism 13 at the same time. If the laser beam returned by the reflecting prism 13 coincides with the laser beam emitted from the self-collimating photoelectric sensor 14, it can be determined that the gyro 18 is in a stable position.

The inductance coils 8 are centered on the XX axis and are evenly distributed in a regular hexagon. An armature 11 is arranged on the upper part of each connecting rod to cooperate with the inductance coil 8 . After the pole coil 8 is energized, the armature 11 is attracted, thereby driving the gyro room 17 to float up.

There is a connecting rod drop cone 15 under the connecting rod arm, and a gyro room 17 is fixedly connected under the connecting rod. Both ends of the gyro shaft 19 are connected to the gyro house 17 through bearings 20. The bottom of the gyro room 17 is fixedly connected with the damping sensor rotor 21, and the bottom of the damping sensor rotor 21 is fixed with a gyro drop cone 23. After the magnetic levitation gyro system floats and falls, the gyro drop cone 23 falls into the gyro drop groove 24 under the inner wall of the outer casing 9. At the same time, the connecting rod falling cone 15 accurately falls into the connecting rod falling groove 16 under the inner wall of the inner casing 10, so as to ensure the accurate reset of the falling after the magnetic levitation gyro system floats. The damping sensor stator 22 is located below the inner surface of the outer casing 9 , and a uniform horizontal electromagnetic field can be generated between the damping sensor rotor 21 and the damping sensor stator 22 .

2. Precise angle measurement and rotation system

It is used to drive the inner casing 10 to rotate and measure the rotation angle, as well as measure the rotation angle of the outer casing 9; The turntable 25 , wherein: the grating dial 6 is installed on the top of the outer casing 9 , the lower part of which is connected to the rotary motor 7 , and the lower part of the rotary motor 7 is connected to the inner casing 10 .

The grating dial 6 can accurately measure and control the rotation angle of the rotary motor 7 and the lower turntable 25. The rotary motor 7 can drive the inner casing 10 and its internal devices, as well as the connecting frame 12, the gyro room 17 and its internal devices, damping. The sensor rotor 21 and the gyro drop cone 23 are rotated to any angle around the XX axis, and can be rotated to a designated position upon receiving an instruction from the microcomputer 2 . The lower turntable 25 can receive instructions from the microcomputer 2 and rotate the entire outer casing 9 and its internal devices to a designated position around the XX axis.

3. Centering and leveling system

When the measuring instrument is installed, it is used for preliminary north pointing through the north pointing mark 1, adjusting the measuring instrument to be in a horizontal state, and making the central axis of the measuring instrument pass through the point to be measured; the centering and leveling system includes the north pointing Identification 1, level tube 5, foot screw 27 and lower centering identification hole 28, wherein:

The north pointing mark 1 is located on the upper surface of the outer casing 9 , and the north pointing mark 1 calibrates the zero position of the measuring instrument, that is, the 0° position of the grating dial 6 and the zero position of the rotary motor 7 . When the measuring instrument is installed, roughly align the north pointing mark 1 with the true north direction at the point (the angle between the north pointing mark 1 and the true north direction at the point is less than ±10°) for preliminary north pointing. The level tube 5 is located at the center of the upper surface of the outer casing 9, and the central axis of the level tube 5 is perpendicular to the central axis of the measuring instrument; the lower part of the lower turntable 25 is installed on the horizontal platform 26, and the horizontal platform 26 is installed through the foot screw 27 at its bottom On the lower platform, the lower centering identification hole 28 is located at the center of the lower platform. During installation, the vertical ball is installed in the lower centering mark hole 28 to ensure that the central axis XX axis of the measuring instrument passes through the point to be measured, and the foot screw 27 is adjusted to center the bubble of the vial 5. At this time, the measuring instrument is horizontal in the direction of the YY axis. state, the XX axis passes through the measuring point.

4. Computer system

It is used to drive the gyro 18 to rotate or stop, drive the gyro room 17 to float or fall, and to determine the stability of the position after floating, to form a uniform horizontal electromagnetic field between the damping sensor rotor 21 and the damping sensor stator 22, and to collect the damping sensor. The current value of the rotor 21 and the current value of the damping sensor stator 22 are used to control the rotation of the inner casing 10 to a specified angle, and to control the lower turntable 25 to rotate to a specified angle. The computer system is arranged on the upper surface of the outer casing 9 , including a microcomputer 2 , a keyboard 4 and a display screen 3 .

The computer system is the control center of the entire magnetic levitation gyro geographic latitude measuring instrument, and the magnetic levitation gyro geographic latitude measurement program consists of the following subroutines:

Rotation program of the magnetic levitation gyro: After the gyro 18 receives an instruction from the computer system, the rotational speed increases from zero to the rated rotational speed, and is maintained at the rated rotational speed.

Maglev Gyro Floating Procedure: The inductive coil 8 is powered on after receiving the command from the computer system, the armature 11 on the connecting rod is affected by the magnetic force, and the lower gyro room 17 and its internal devices, the damping sensor rotor 21, and the gyro falling cone 23 are pulled upward together. float.

The procedure for determining the stable position of the magnetic levitation gyro: As shown in Figure 5, the self-collimating photoelectric sensor 14 on the head of the connecting rod emits laser light along the direction of the rod arm to the corresponding six reflecting prisms 13 on the inner wall of the inner casing 10, The self-collimating photoelectric sensor 14 also receives the laser light reflected by the reflection prism 13. If the laser light reflected by the 6 groups of reflection prisms 13 coincides with the laser light emitted by the self-collimating photoelectric sensor 14, it can be determined that the gyro 18 is in a stable position. If the laser light reflected by the reflecting prism 13 does not coincide with the laser light emitted by the self-collimating photoelectric sensor 14, the current size of the inductance coil 8 under the corresponding connecting rod arm and the current between the damping sensor rotor 21 and the damping sensor stator 22 are adjusted by adjusting the The size of the horizontal electromagnetic field is uniform, until the laser light reflected by the six groups of reflecting prisms 13 coincides with the laser light emitted from the self-collimating photoelectric sensor 14 .

Torque device measurement program: By forming a uniform horizontal electromagnetic field between the damping sensor rotor 21 and the damping sensor stator 22, and collecting the current value IR inside the damping sensor rotor 21 and the current value _IS inside the _damping sensor stator 22 in real time, it can be calculated The torque value is

_M =k·IR·I _S

Among them, k is the torquer coefficient, and the k value has been accurately calibrated by the manufacturer and stored in the microcomputer 2 when the magnetic levitation gyro leaves the factory. After the moment value M is measured, the result is stored in the microcomputer 2 .

Magnetic levitation gyro falling procedure: after the inductance coil 8 receives the computer system instruction, the power is cut off, the suspension body falls under the action of gravity, the connecting rod falling cone 15 falls into the connecting rod falling groove 16, the gyro falling cone 23 falls into the gyro falling groove 24, Thereby, the accurate reset of the magnetic levitation gyro system is realized.

Magnetic levitation gyro stop procedure: after the gyro 18 receives the command from the computer system, the rotational speed gradually decelerates from the rated rotational speed to zero.

Suspension rotation program: After the rotation motor 7 is connected to the computer system command, it drives the inner casing 10 and its inner fixed inductance coil 8, the reflection prism 13 and the connecting frame 12, the gyro room 17 and its internal devices, the damping sensor rotor 21, The gyro drop cone 23 rotates around the XX axis to the angle designated by the grating dial 6 . After the rotation is completed, the grating dial 6 performs precise angle measurement to determine whether it is rotated to the specified angle.

Turntable rotation program: after the lower turntable 25 receives the computer system command, the entire outer casing 9 and its internal devices are rotated around the XX axis to the angle specified by the grating dial 6. After the lower turntable 25 is rotated, the grating dial 6 is precisely rotated. Angle measurement is performed to determine whether the lower turntable 25 is rotated to a specified angle.

The theoretical basis of the present invention is as follows:

As shown in FIG. 1 , the rotary motor 7 first measures the torque value M _A at the position A, and then rotates a small angle λ counterclockwise to the position B to measure the torque value M _B . The angle λ between the position A and the position B can be accurately measured by the grating scale 6 . According to the physical properties of the magnetic levitation gyroscope, there are

为该点处的地理纬度；α为回转马达7与真北方向的夹角。In the formula, H is the angular _momentum of the magnetic _levitation gyroscope, and the H value has been determined by the manufacturer and stored in the measuring instrument when the magnetic ^levitation gyroscope leaves the factory;

is the geographic latitude of the point; α is the angle between the rotary motor 7 and the true north direction.

Do the difference between the two formulas, we get

When α is a small angle (several degrees), that is, when the measuring instrument is erected, the angle between the north indicator 1 and the true north direction at the point to be measured is a small angle, there is

sin(α+λ)-sinα≈sinλ Equation 4

Then, Equation 3 is transformed into

Then the geographic latitude value at that point can be solved

的精度与α的大小有直接关系：在其他条件一定时，α越小，地理纬度解算精度

越高。由于在测量仪初始架设时，难以保证测量仪的指北标识1与待测点处真北方向的夹角为一个小角度(几度)，因此本发明采用迭代的方法，逐渐使测量仪的指北标识1与待测点处真北方向的夹角越来越小，从而使测量仪可测定出高精度的地理纬度。It can be seen from the derivation process that

The accuracy of α is directly related to the size of α: when other conditions are certain, the smaller α is, the better the accuracy of geographic latitude calculation.

higher. When the measuring instrument is initially erected, it is difficult to ensure that the angle between the north-pointing mark 1 of the measuring instrument and the true north direction at the point to be measured is a small angle (a few degrees), so the present invention adopts an iterative method to gradually make the The angle between the north indicator 1 and the true north direction at the point to be measured is getting smaller and smaller, so that the measuring instrument can measure the geographic latitude with high precision.

On the basis of the above technical solutions, the present invention further discloses a method for accurately measuring geographic latitude by using a magnetic levitation gyro, comprising the following steps:

Step 1, place the measuring instrument

A magnetic levitation gyro geographic latitude measuring instrument is placed on the point to be measured, so that the included angle between the measuring instrument pointing north mark 1 and the true north direction at this point is less than 10° to carry out preliminary north pointing, and the foot screw 27 is adjusted to keep the horizontal platform 26 horizontal; Install the vertical ball in the lower centering mark hole 28 and make it pass through the point to be measured, then the measuring instrument is in a horizontal state in the direction of the YY axis, and the XX axis passes through the point to be measured;

Step 2, enter the desired latitude accuracy requirement e

Press the power-on button of the keyboard 4 to turn on the microcomputer 2, the display screen 3 lights up, input the required latitude accuracy requirement e through the keyboard 4, and click the confirmation button;

Step 3, Solving the initial value of latitude

After receiving the instruction of the microcomputer 2, perform pointing torque sampling: execute the magnetic levitation gyro rotation program, the magnetic levitation gyro floating program, the magnetic levitation gyro stable position determination program, the torquer measurement program, the magnetic levitation gyro falling program, and the magnetic levitation gyro stop program in sequence, The torque value M _{A 0} corresponding to the 0° position of the rotary motor 7 (position A shown in Figure 7) is obtained, then the suspension rotation program is started, the rotary motor 7 rotates λ counterclockwise, and the magnetic levitation is executed in sequence again. Gyro rotation program, magnetic levitation gyroscope floating program, magnetic levitation gyroscope stable position determination program, torquer measurement program, magnetic levitation gyroscope falling program, magnetic levitation gyroscope stop program, and collect the torque value M _{B 0} corresponding to position B (as shown in Figure 7). ; Calculate the initial latitude value by the following formula

保存于微型计算机2中；In the above formula, H is the 18 angular momentum of the gyro, and the H value has been determined by the manufacturer and stored in the measuring instrument when the magnetic levitation gyro leaves the factory; ω _e is the average angular velocity of the earth's rotation _; initial value

stored in the microcomputer 2;

Finally, the suspension rotation program is started, and the rotation motor 7 rotates λ clockwise to return to the zero position. In this embodiment, λ takes a value of 0.2, and can also take a value of any small angle.

Step 4, Surveyor Near North

After receiving the instruction of the microcomputer 2, perform pointing torque sampling: execute the magnetic levitation gyro rotation program, the magnetic levitation gyro floating program, the magnetic levitation gyro stable position determination program, the torquer measurement program, the magnetic levitation gyro falling program, and the magnetic levitation gyro stop program in sequence, Obtain the corresponding torque value M _C at the 0 ° position of the rotary motor 7 (position C as shown in Figure 8); Then the suspension rotation program starts, and the rotary motor 7 rotates 180 ° clockwise, and executes the magnetic levitation in sequence again. Gyro rotation program, magnetic levitation gyroscope floating program, magnetic levitation gyroscope stable position determination program, torquer measurement program, magnetic levitation gyroscope falling program, magnetic levitation gyroscope stop program, and the moment value M _{d i} corresponding to the position D (as shown in Figure 8) is collected. ; Calculate the northerly angle of the gauge by the following formula:

为上一步中的纬度解算值；in,

is the solved value for the latitude in the previous step;

Finally, the suspension rotation program is started, and the rotation motor 7 rotates 180° clockwise to return to the zero position; the turntable rotation program is started, and the turntable below the measuring instrument rotates α _i counterclockwise, so that the zero position of the measuring instrument is closer to the true north direction;

Step 5, Geographical Latitude Solution

After receiving the instruction of the microcomputer 2, perform pointing torque sampling: execute the magnetic levitation gyro rotation program, the magnetic levitation gyro floating program, the magnetic levitation gyro stable position determination program, the torquer measurement program, the magnetic levitation gyro falling program, and the magnetic levitation gyro stop program in sequence, Obtain the torque value M _{A i+1} corresponding to the 0 ° position (position A as shown in Figure 7) of the rotary motor 7; Then the suspension rotary program starts, and the rotary motor 7 rotates λ counterclockwise, and executes in sequence again Magnetic levitation gyroscope rotation program, magnetic levitation gyroscope floating program, magnetic levitation gyroscope stable position determination program, torquer measurement program, magnetic levitation gyroscope falling program, magnetic levitation gyroscope stop program, and collect the torque corresponding to this position (as shown in position B in Figure 7). For the value M _{B i+1} , the geographic latitude is calculated by:

保存于微型计算机2中。最后，悬浮体回转程序启动，回转马达7顺时针旋转λ回到零位。Solve the result of geographic latitude

stored in the microcomputer 2. Finally, the suspension rotation program is started, and the rotation motor 7 rotates λ clockwise to return to the zero position.

Step 6, determine whether the geographic latitude meets the accuracy requirements:

则不满足精度要求，返回步骤4重新迭代计算；like

If the accuracy requirement is not met, go back to step 4 to re-iteratively calculate;

则满足要求，即得到待测点最终的地理纬度值

并将

显示到显示屏3上；like

Then the requirements are met, that is, the final geographic latitude value of the point to be measured is obtained.

and will

displayed on the display screen 3;

时，

的取值为步骤3中的纬度初值；当第i(i>1)次计算

时，

为前一次计算的

值，即上一次迭代值。Among them, when the first calculation

hour,

The value of is the initial latitude value in step 3; when the i-th (i>1) calculation

hour,

calculated for the previous

value, which is the last iteration value.

It should be noted that the present invention is not limited to the above-mentioned specific embodiments, and other different specific solutions can also be obtained according to the concept of the present invention. For example, the present invention can directly measure the latitude value without iteration; The pointing moment is measured at a position of 0° and a counterclockwise rotation at λ=0.3°, and other angles can also be selected; such changes and equivalent transformations all fall within the protection scope of the present invention.

Claims (9)

1. A method for precisely measuring geographical latitude by using a magnetic suspension gyroscope is characterized by comprising the following steps:

step 1, mounting a magnetic suspension gyroscope geographical latitude measuring instrument on a point to be measured, primarily pointing north by a north-pointing mark (1) of the measuring instrument, and leveling the measuring instrument;

step 2, inputting a required latitude precision requirement e through a computer system;

step 3, sampling the pointing torque at the 0-degree position of the rotary motor (7) to obtain a torque value M corresponding to the position _{First 0} Then the rotary motor (7) rotates anticlockwise lambda, and the corresponding torque value M at the position is collected _B0 (ii) a Calculating the initial latitude value by the following formula

In the above formula, H is the angular momentum of gyroscope (18), omega _e Is the average earth rotation angular velocity;

step 4, sampling the pointing torque at the 0-degree position of the rotary motor (7) to obtain a torque value M corresponding to the position _{Third generation} Then the rotary motor (7) rotates clockwise 180 degrees, and corresponding moment value M at the position is collected _{Butyl i} (ii) a The north deflection angle of the gauge is calculated by the following formula:

wherein,

calculating a value for the latitude in the previous step;

controlling the counterclockwise rotation angle alpha of the lower rotary table (25) _i Thereby enabling the zero position of the measuring instrument to be closer to the true north direction;

step 5, sampling the pointing torque at the 0-degree position of the rotary motor (7) to obtain a torque value M corresponding to the position _{First i +1} Then the rotary motor (7) rotates anticlockwise lambda, and the corresponding torque value M at the position is collected _{B 1 +1} (ii) a The geographic latitude is calculated by:

step 6, judging whether the geographical latitude meets the precision requirement, if so, outputting

If not, returning to the step 4 to repeat the calculation.

2. The method of claim 1, wherein the following procedures are performed in sequence by the computer system before the torque sampling is performed at each of the positions in steps 3, 4, and 5:

a magnetic suspension gyroscope rotation program, a magnetic suspension gyroscope floating program, a magnetic suspension gyroscope stable position determination program, a torquer measurement program, a magnetic suspension gyroscope falling program and a magnetic suspension gyroscope stopping program, wherein:

a magnetic suspension gyroscope rotation program: the gyro (18) increases the rotating speed from zero to the rated rotating speed after receiving the computer system instruction, and maintains the rated rotating speed;

the magnetic suspension gyro floating program comprises the following steps: the inductive coil (8) is electrified after receiving the instruction of the computer system, and the top room (17) is driven to float upwards through the connecting frame (12);

determining the stable position of the magnetic suspension gyroscope: controlling the auto-collimation photoelectric sensor (14) to emit laser and receive the laser reflected by the reflecting prism (13), wherein if the emitted laser and the reflected laser are overlapped, the position is stable; otherwise, the computer system adjusts the current magnitude and the horizontal electromagnetic field magnitude in the inductance coil (8) until the position is stable;

torquer measurement procedure: real-time damping of the sensor rotor (21) internal current value I by forming a uniform horizontal electromagnetic field between the damping sensor rotor (21) and the damping sensor stator (22) _R And the internal current value I of the damping sensor stator (22) _S Then the moment of force can be calculated as:

M＝k·I _R ·I _S

wherein k is a torquer coefficient;

a magnetic suspension gyro falling program: the inductive coil (8) is powered off after receiving a computer system command, the gyro room (17) falls under the action of gravity, the connecting rod falling cone (15) falls into the connecting rod falling groove (16), and the gyro falling cone (23) falls into the gyro falling groove (24), so that the accurate resetting of the magnetic suspension gyro system is realized;

stopping a magnetic suspension gyro: the gyro (18) receives the instruction of the computer system and then the rotating speed is gradually reduced from the rated rotating speed to zero.

3. The method as claimed in claim 1 or 2, wherein the magnetically levitated gyroscopic geographic latitude measuring instrument comprises an outer housing (9), an inner housing (10) arranged in the outer housing (9), a lower turntable (25) located below the outer housing (9) and used for driving the outer housing (9) to rotate, and:

the magnetic suspension gyro system comprises a floating device arranged in an inner shell (10), wherein the floating device drives a gyro room (17) to float upwards or fall to an initial position through a connecting frame (12), and the gyro room (17) is in a position stable state after floating upwards by adjusting the floating device; a damping sensor rotor (21) connected with the lower part of the gyro room (17) is arranged below the inner shell (10), and damping sensor stators (22) are distributed on the bottom in the outer shell (9) in the circumferential direction;

the precise angle measurement and rotation system is used for driving the inner shell (10) to rotate and measuring a rotation angle of the outer shell (9);

the centering and leveling system is used for performing initial north-seeking through the north-seeking mark (1) when the measuring instrument is installed, adjusting the measuring instrument to be in a horizontal state and enabling the central axis of the measuring instrument to penetrate through a point to be measured;

and the computer system is used for driving the gyro (18) to rotate or stop, driving the gyro room (17) to float or fall and judging the position stability after floating, forming a uniform horizontal electromagnetic field between the damping sensor rotor (21) and the damping sensor stator (22), acquiring the current value of the damping sensor rotor (21) and the current value of the damping sensor stator (22), controlling the inner shell (10) to rotate to a specified angle, and controlling the lower rotary table (25) to rotate to the specified angle.

4. A method as claimed in claim 3, characterized in that a top-dropping cone (23) is attached to the lower part of the damping sensor rotor (21), and a top-dropping groove (24) is provided at the center of the inner surface of the bottom of the outer casing (9) to be engaged with the top-dropping cone (23);

a connecting rod falling cone (15) is arranged at the lower part of the connecting frame (12), and a connecting rod falling groove (16) matched with the connecting rod falling cone (15) is arranged at the bottom of the inner shell (10).

5. The method of claim 3, wherein said centering leveling system comprises said north indicator (1), leveling tube (5), foot screw (27), and lower centering indicator hole (28), wherein:

the north indicator (1) is positioned on the upper surface of the outer shell (9), the leveling tube (5) is positioned in the center of the upper surface of the outer shell (9), and the central axis of the leveling tube (5) is vertical to that of the measuring instrument; the lower part of the lower rotary table (25) is arranged on a horizontal platform (26), the horizontal platform (26) is arranged on the lower platform through a foot spiral (27) at the bottom of the horizontal platform, and a lower centering marking hole (28) is positioned in the center of the lower platform.

6. A method according to claim 3, characterized in that the computer system is arranged on the upper surface of the outer casing (9) and comprises a microcomputer (2), a keyboard (4) and a display (3).

7. A method as claimed in claim 3, wherein said precision goniometric and rotary system comprises a grating scale (6), a rotary motor (7) and said lower turntable (25), wherein:

the grating dial (6) is arranged at the top in the outer shell (9), the lower part of the grating dial is connected with the rotary motor (7), and the lower part of the rotary motor (7) is connected with the inner shell (10).

8. A method according to claim 3, characterized in that said levitation means comprises an inductor (8) located at the top of the inner housing (10), said engagement frame (12) being provided with an armature (11) cooperating with said inductor (8);

the end of the connecting frame (12) is distributed with auto-collimation photoelectric sensors (14), and the inner wall of the inner shell (10) is distributed with reflecting prisms (13) which are matched with the auto-collimation photoelectric sensors (14) and are in one-to-one correspondence.

9. The method of claim 3, characterized in that a spinning top rotating shaft (19) is arranged in the spinning top room (17), two ends of the spinning top rotating shaft (19) are arranged on the inner wall of the spinning top room (17) through bearings (20), and a spinning top (18) is arranged on the spinning top rotating shaft (19).

Images