第21卷
第12期
2013年12月
文章编号
1004-924X(2013)12-3072-08
光学精密工程
Optics and Precision Engineering
摆式陀螺复合式全方位快速寻北
张志利，陈河*，周召发
Vol. 21No.12
Dee.2013
（第二炮兵工程大学兵器发射理论与技术国家重点学科实验室，陕西西安710025)
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适动规律、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，并对导北策略进行了优化。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士300'以内：快速步进租寻北限幅法可以在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11 min。结果显示该导北方案有效克服了对初始架设方位的限制，为摆式陀螺全方位快速高精度寻北提供了理论支撑和实践依据
关键
调：据式陀螺；全方位寻北；复合寻北；步进法；曲线拟合
中图分类号：V241.5；U666.1
文献标识码：A
doi;10.3788/OPE,20132112.3072
Complex rapid omnibearing north seeking ofpendulous gyroscope
ZHANGZhi-li，CHENHe'，ZHOUZhao-fa
(StateKey Discipline Laboratory of Armament Launch Theory and Technology,
theSecondArtilleryEngineering University,Xi'an710025,China)
CorrespondingauthorE-mail:chenhe2008888@126.com
Abstract: The pendulous gyro north secker is difficult to complete the rapid omnibearing north see king, 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 solu-tion was gained by using the numerical analysis and curve fitting method, On the basis of the approxi-mate 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 combina
收稿日期：2013-06-03；修订日期：2013-07-21，
基金项目：国家白然科学基金资助项目（No,41174162)