公开(公告)号：US5416976A

公开(公告)日：1995-05-23

申请号：US100050

申请日：1993-07-30

申请人： Fuyuki Hane ,  Shinichi Kawada ,  Takeshi Hojo ,  Mamoru Akimoto ,  Kazushige Murabayashi

发明人： Fuyuki Hane ,  Shinichi Kawada ,  Takeshi Hojo ,  Mamoru Akimoto ,  Kazushige Murabayashi

IPC分类号： G01C19/38

CPC分类号： G01C19/38

摘要： A gyro compass having a gyro case housing therein a gyro and supported with freedom of three axes, functions for outputting a signal corresponding to an inclined angle of the gyro spin axis relative to the horizontal plane, and a function for applying a torque around a vertical axis of the gyro case in proportion to an input signal. A controller is supplied with a signal corresponding to the inclined angle and a latitude value at which the gyro compass is located, and a constant relative to the input latitude value is determined by the controller after the gyro compass is energized. A signal, resulting from differentiating the signal corresponding to the inclined angle during a predetermined time, is added to the product of the signal corresponding to the inclined angle and the constant. This added signal functions as the input signal for the gyro, whereby a constant optimum north-seeking movement is carried out regardless of the change of the latitude value. An error corrector is provided having supplied to it the signal corresponding to the inclined angle, the speed signal of the vehicle and its heading azimuth signal, and a bias error caused by the inclined angle of the gyro compass spin axis and an azimuth error caused by the movement of the vehicle are estimated and calculated to thereby reduce an azimuth error caused by any bias error and the vehicles' movement.

摘要翻译： 一种陀螺罗盘，其具有容纳在其中的陀螺仪并具有三轴自由度的陀螺仪壳体，用于输出对应于陀螺仪旋转轴线相对于水平面的倾斜角度的信号的功能，以及用于在垂直方向施加扭矩的功能 陀螺仪壳体的轴与输入信号成比例。 向控制器提供对应于陀螺仪罗盘所在的倾斜角度和纬度值的信号，并且在陀螺仪罗盘通电之后由控制器确定相对于输入纬度值的常数。 将在预定时间内对应于倾斜角度的信号进行微分而产生的信号加到对应于倾斜角度和常数的信号的积中。 该添加的信号用作陀螺仪的输入信号，由此执行恒定的最佳北移运动，而不管纬度值的变化。 提供了一种误差校正器，其向其提供了与倾斜角度，车辆速度信号及其方位角信号相对应的信号，以及由陀螺仪罗盘旋转轴的倾斜角度引起的偏移误差和由 估计和计算车辆的运动，从而减少由任何偏置误差和车辆运动引起的方位角误差。

公开(公告)号：US5272815A

公开(公告)日：1993-12-28

申请号：US790245

申请日：1991-11-08

申请人： Fuyuki Hane ,  Shinichi Kawada ,  Takeshi Hojo ,  Mamoru Akimoto ,  Kazushige Murabayashi

发明人： Fuyuki Hane ,  Shinichi Kawada ,  Takeshi Hojo ,  Mamoru Akimoto ,  Kazushige Murabayashi

IPC分类号： G01C19/38

CPC分类号： G01C19/38

摘要： A gyro compass having a gyro case housing therein a gyro and supported with freedom of three axes, functions for outputting a signal corresponding to an inclined angle of the gyro spin axis relative to the horizontal plane and a function for applying a torque around a vertical axis of the gyro case in proportion to an input signal, and a controller supplied with the signal corresponding to the inclined angle and a latitude value at which the gyro compass is located, wherein a constant relative to the input latitude value is set by the controller after the gyro compass is energized, a signal, which results from differentiating the signal corresponding to the inclined angle during a predetermined time, is added to a signal, which results from multiplying the signal corresponding to the inclined angle with the constant and an added result is set as the input signal, whereby a constant optimum north-seeking movement is carried out regardless of the change of the latitude value to thereby reduce a settle time. Also, the gyro compass having an error corrector supplied with the signal corresponding to the inclined angle, a speed signal of a navigation vehicle and its heading azimuth signal, wherein a bias error caused by the inclined angle of the gyro compass spin axis and an azimuth error caused by the movement of the navigation vehicle are estimated and calculated to thereby reduce an azimuth error caused by the bias error.

摘要翻译： 一种陀螺仪罗盘，其具有容纳在其中的陀螺仪并具有三轴自由度的陀螺仪壳体，用于输出对应于陀螺旋转轴线相对于水平面的倾斜角度的信号，以及用于围绕垂直轴线施加扭矩的功能 的陀螺仪盒，以及控制器，其被提供有对应于陀螺仪罗盘所在的倾斜角度和纬度值的信号，其中相对于输入纬度值的常数由控制器设置 陀螺仪罗盘被通电，将在预定时间内对应于倾斜角度的信号进行微分而产生的信号加到由倾斜角相应的信号与常数相乘而产生的信号，并且相加的结果是 设定为输入信号，由此进行恒定的最佳北移动，而与纬度值的变化无关，从而r 降低安息时间。 此外，陀螺罗盘具有提供有与倾斜角相对应的信号的误差校正器，导航车辆的速度信号及其航向方位信号，其中由陀螺仪罗盘旋转轴的倾斜角度引起的偏置误差和方位角 估计和计算由导航车辆的运动引起的误差，从而减少由偏置误差引起的方位误差。

公开(公告)号：US4879918A

公开(公告)日：1989-11-14

申请号：US363408

申请日：1988-10-27

申请人： Takeshi Hojo ,  Kanshi Yamamoto ,  Shinichi Kawada ,  Kazushige Murabayashi ,  Mamoru Akimoto ,  Michio Fukano

发明人： Takeshi Hojo ,  Kanshi Yamamoto ,  Shinichi Kawada ,  Kazushige Murabayashi ,  Mamoru Akimoto ,  Michio Fukano

IPC分类号： G01C19/38

CPC分类号： G01C19/38 ,  Y10T74/1254 ,  Y10T74/1289

摘要： A gyro compass having a gyro case incorporating a gyro of which the spin axis is substantially horizontal, a vertical ring disposed around the outer periphery of the gyro case and for rotatably supporting the gyro case around a vertical axis, a follow-up pickup for detecting an angular displacement between the gyro case and the vertical ring around the vertical axis, an accelerometer having an input axis parallel to the spin axis, a vertical torquer mounted on the vertical ring for applying a torque of magnitude proportional to an input signal to the gyro case around the vertical axis, and a control apparatus for receiving an output signal of the accelerometer and for supplying its output to the vertical torquer, in which during a predetermined time after the gyro compass is started to operate, the output signal from the accelerometer is differentiated to produce a differentiation signal which is then supplied to the vertical torquer to reduce a settling time of the north-seeking action.

摘要翻译： 一种具有陀螺仪的陀螺仪罗盘，其具有旋转轴基本上水平的陀螺仪;围绕陀螺仪壳体的外周设置的垂直环，并且用于围绕垂直轴线可旋转地支撑陀螺仪壳体，用于检测的跟踪拾取器 陀螺仪壳体和垂直轴之间的垂直环之间的角位移，具有平行于旋转轴的输入轴的加速度计，安装在垂直环上的垂直绞盘，用于施加与输入信号成比例的扭矩扭矩到陀螺仪 围绕垂直轴的壳体，以及用于接收加速度计的输出信号并将其输出提供给垂直托盘的控制装置，其中在陀螺罗盘开始运行之后的预定时间内，来自加速度计的输出信号为 分化以产生分化信号，然后将其分配给垂直绞盘，以减少寻北动作的稳定时间 n。