JPH0783665A - Gyro device for navigation - Google Patents

Abstract

PURPOSE:To provide a gyro apparatus which can obtain a precise gyro output and in which information on an angle regarding the running direction of a vehicle on which the gyro apparatus is mounted, can be data-output accurately. CONSTITUTION:The gyro apparatus is provided with a gyro body 1 which outputs a change is the running direction of a running vehicle 10 as the information on rotation and a rotary stage 2 which can support and turn the gyro body 1 as a whole in an arbitray direction or which can stop its rotation. The rotary stage 2 is equipped with an encoder 5 which detects an angle of rotation with reference to the tyro body 1 as whole. The gyro apparatus is also equipped with a CPU 6 to which individual outputs of the encoder 6 and of the gyro body 1 are input, which performs a prescribed operation and which outputs information on a prescribed angle of rotation regarding the running direction of the running vehicle 10. The CPU 6 is provided with a stage-rotation control function which drives and controls the rotary stage 2 so that the information on rotation of the gyro 1 becomes always zero.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation gyro device, and more particularly to a navigation gyro device suitable for obtaining orientation data for self-position recognition of an automobile or a mobile robot.

[0002]

2. Description of the Related Art In this type of gyro device, a vibration gyro, an optical fiber gyro and the like are used relatively often. These gyros output angular acceleration. Then, by integrating the gyro output, the angle, that is, the rotation angle of the vehicle equipped with the gyro can be obtained.

[0003]

However, in the above-mentioned conventional example, since the gyro output is analog / digital converted (A / D converted) and then integrated, the accuracy of the output data is A / D. There is an inconvenience that it depends on the resolution of the D converter. That is, A / D
When the converter covers the dynamic range of the gyro, a large error occurs in the output angle data even if the integrated value is the minimum resolution.

[0004]

It is an object of the present invention to improve the disadvantages of the conventional example, and in particular to obtain an accurate gyro output,
It is an object of the present invention to provide a navigation gyro device capable of accurately outputting the angle information concerning the azimuth of the traveling direction of a vehicle equipped with the same.

[0005]

According to the present invention, a gyro body mounted on a traveling vehicle for continuously outputting a change in traveling direction of the traveling vehicle as predetermined rotation information, and a gyro main body supporting the entire gyro body and The gyro main body is provided with a rotary stage that can rotate the entire gyro body in an arbitrary direction or stop the rotation according to an external command.

The rotary stage is equipped with an encoder for detecting the rotation angle with respect to the entire gyro body, and
A CPU is provided which inputs the outputs of the encoder and the gyro main body, performs a predetermined calculation, and outputs predetermined rotation angle information related to the traveling direction of the traveling vehicle.

The CPU is provided with a stage rotation control function for driving and controlling the rotary stage so that the rotation information of the gyro body is always zero. This aims to achieve the above-mentioned object.

[0008]

[Operation] The traveling vehicle makes a U-turn and "-90 (degrees / S)"
.About. + 90 [degrees / S] ", if there is a gyro output of, for example, ± 0.9 [degrees / S] due to feedback control aiming at zero output to the gyro body, it is" A resolution of 1/100 ”can be obtained with the same A / D converter 7. this is,
It means a level that an error of about “1.6 °” occurs in 1 hour.

Since the integrated value of the gyro output indicates the direction of the rotating part regardless of the control performance, the information of the change in the vehicle direction can be obtained with high accuracy by matching the integrated value with the direction of the rotating part by the encoder. You can

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

The embodiment shown in FIGS. 1 to 6 is a gyro main body 1 comprising a vibrating gyro that is mounted on a traveling vehicle 10 and continuously outputs changes in the traveling direction of the traveling vehicle 10 as predetermined rotation information 1a. The rotary stage 2 supports the entire gyro main body 1 and can rotate the entire gyro main body 1 in an arbitrary direction or stop the rotation according to an external command.

As shown in FIG. 3, the rotary stage 2 includes a disc-shaped base 2A fixedly mounted on the traveling vehicle 10, and
A rotor frame 2C having an inverted U-shaped cross section, which is rotatably supported on the base 2A through a cross roller bearing 2B mounted in parallel with the base 2A, and mounted on the inner wall side of the rotor frame 2C. 2C of the rotor core, and the above-mentioned base 2 disposed inside the rotor core 2C.
A cylindrical stator core portion 2D fixedly mounted on A,
The aforementioned rotor core portion 2 of this stator core portion 2D
And a motor drive coil 2E provided in a portion facing C. Reference numeral 2F indicates an annular member that supports the above-described cross roller bearing 2B. This annular member 2F
Is fixedly mounted on the base 2A.

Here, a DD motor (Direct Drive Moto) for the rotary stage 2 is constituted by the rotor core portion 2C mounted on the rotor frame 2C, the stator core portion 2D, and the motor drive coil 2E mounted on the stator core portion 2D.
r) 3 is configured.

Reference numeral 4 indicates the rotor frame 2C described above.
3 shows a cylindrical contact support member for a slip ring mounted on the central axis part of the. And this cylindrical contact support member 4
On the inner surface side (on the central axis) of the cylindrical contact supporting member 4A described above, a plurality of stages of slip rings 4A fixedly mounted on the above-mentioned base 2A are arranged, and corresponding to the plurality of stages of slip rings 4A. A plurality of annular contacts 4B are mounted on the wall surface.

The slip rings 4A having a plurality of stages
And the plurality of annular contacts 4B through the traveling vehicle 1 described above.
The power supply circuit section and the signal circuit section between 0 and the gyro body 1 are connected.

Further, the rotary stage 2 described above is equipped with an encoder 5. In this embodiment, the encoder 5 includes a cylindrical contact support member 4 and a stator core portion 2D.
And the rotation information 5a including the rotation angle of the rotor frame 2C portion described above can be externally output from the base 2A side described above as rotation information 5a of the entire gyro main body 1 with respect to the rotation stage 2. ing.

Further, the rotation information 5a output from the encoder 5 and the rotation information 1a output from the gyro body 1 described above are input, and a predetermined calculation is performed to perform a predetermined rotation related to the traveling direction of the traveling vehicle. It is equipped with a CPU 6 that outputs angle information.

The CPU 6 has a stage rotation control function for driving and controlling the rotary stage 2 so that the rotation information 1a of the gyro body 1 is always zero. Specifically, the DD motor 3 of the rotary stage 2 can be drive-controlled so that the rotation information 1a of the gyro body 1 is always zero.

Here, the output of the gyro body 1 is actually input to the above-mentioned CPU 6 through the analog / digital converter (A / D converter) 7.
Further, the output 5a of the encoder 5 described above is the counter 8
It is adapted to be inputted to the above-mentioned CPU 6 via. Further, the rotation control signal 6a from the CPU 6 to the DD motor 3 is sent through a digital / analog converter (D / A converter) 9.

Next, the operation of the above embodiment will be described.

The above-described embodiment is an application of the output system of a rotary-comb type gyro to a vibration gyro. As described above, the gyro main body 1 which is a vibration gyro is mounted on the rotary stage 2 fixedly mounted on the vehicle. The rotation stage 2 is equipped with feedback control so that the output of the gyro main body 1 becomes zero when the vehicle rotates. This will be described in more detail.

Assuming that the direction of the vehicle body is f (t), the angle obtained by integrating the output of the gyro body 1 is g (t), and the rotation angle of the rotary stage 2 is h (t), then f (t) = G (t) + h (t) "
Is established.

Here, by feeding back the rotary stage 2 so as to cancel the gyro output, the angle g (t) obtained by integrating the output of the gyro main body 1 can be set and controlled to zero. FIG. 6 shows the control system in this case. Actually, the resolution of the A / D converter 7 is set, and the A / D converter 7
The accuracy is improved by finely resolving. That is, if the precision of g (t) is increased, the precision of f (t) is improved.

FIG. 4 shows the gyro output when the traveling vehicle changes by 180 degrees (U turn). Here, FIG.
FIG. 4A shows the U-turn state of the traveling vehicle, and FIG. 4B shows the gyro output at that time and the state of change in the course direction obtained by integration.

FIG. 5 shows the degree of gyro output obtained when the gyro output obtained in the case of FIG. 4 is controlled to be set to zero. As is clear from FIG. 5, when feedback control is performed on the rotary stage 2 when the traveling vehicle makes a U-turn,
The orientation of the rotary stage 2 is invariable with respect to the outside (state in which it does not rotate). This is shown in FIG. FIG. 5B shows the situation of the change in the course direction obtained by the gyro output and integration in this case.

As a result, the gyro output can be controlled to be set to a value as close to zero as possible.
The resolution of the / D conversion can also be set finely, and therefore the above-described feedback control can be effectively performed.

Here, the usefulness of the above-described embodiment will be clarified by comparing with the conventional example.

As described above, the gyro directly attached to the traveling vehicle 10 has a "-90" corresponding to the U-turn.
The angular velocity of [degree / S] to +90 [degree / S] is set as the measurement range. On the other hand, when this range is A / D converted in a normal state and taken in, if the resolution of this A / D conversion is 12 bits, then “180 [degrees / S] ÷ 4096≈0.0
44 [degrees / S] "and 1-bit resolution is 0.044
[Degree / S]. Converting this to 1 minute,
The error is 2.6 degrees.

On the other hand, in the above embodiment, when the traveling vehicle 10 makes a U-turn and changes from "-90 (degrees / S) to +90 [degrees / S]", feedback control, for example, ± 0.9. Assuming that there is a gyro output of [degrees / S] (originally, 0 [degrees / S] is good), the A / D converter 7 having the same resolution of “1/100” as compared with the case of the conventional example described above.
Can be obtained at This means a level that an error of about “1.6 °” occurs in 1 hour.

Since the integrated value of the gyro output indicates the direction of the rotating portion regardless of the control performance, the information of the change in the vehicle direction can be obtained with high accuracy by matching the integrated value with the direction of the rotating portion by the encoder 5. be able to. Here, in the above embodiment, the encoder 5 is mounted on the outer peripheral portion of the cylindrical contact support member 4 for the slip ring, but the encoder 5 may be mounted on the outer peripheral portion of the rotor frame 2C. By doing so, more accurate azimuth angle information can be output from the encoder 5.

[0031]

Since the present invention is constructed and functions as described above, according to this, the encoder output obtained together with the feedback reverse rotation control for the rotary stage can be externally output as the change information of the traveling direction of the traveling vehicle,
Moreover, in the control toward zero output for the gyro output, even if the same A / D converter as the conventional one is used, it is possible to perform the feedback control with high resolution, for example, with a resolution of "1/100" compared to the conventional one. Therefore, it is possible to provide a highly accurate gyro output, and thus it is possible to provide an unprecedented excellent navigation gyro device that can accurately output the angle information of the traveling direction of the vehicle equipped with the gyro output. .

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is an explanatory view showing a mounting portion of a gyro main body portion for the traveling vehicle of the embodiment in FIG.

FIG. 3 is a partial cross-sectional view showing an example of a rotary stage portion of the embodiment in FIG.

FIG. 4 is an explanatory diagram showing a gyro output of the embodiment shown in FIG. 1, FIG. 4 (A) showing a U-turn situation of a traveling vehicle, and FIG. 4 (A) qualitatively showing a gyro output at that time. FIG.

5 is an explanatory diagram showing a gyro output when feedback control is performed on the rotary stage in the embodiment shown in FIG.
FIG. 5A shows an example of feedback control for the rotary stage obtained when the traveling vehicle makes a U-turn,
FIG. 5B is an explanatory diagram qualitatively showing the gyro output at that time.

6 is an explanatory diagram showing a feedback control system of the rotary stage in FIG.

[Explanation of symbols]

 1 gyro main body 2 rotary stage 5 encoder 6 CPU 10 traveling vehicle

[Procedure amendment]

[Submission date] April 22, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Fig. 4

[Correction method] Change

[Correction content]

FIG. 4 is an explanatory diagram showing a gyro output of the embodiment shown in FIG. 1, FIG. 4 (A) showing a U-turn situation of a traveling vehicle, and FIG. 4 (B) qualitatively showing a gyro output at that time. FIG.

Claims (2)

[Claims] 1. A gyro main body that is mounted on a traveling vehicle and continuously outputs a change in the traveling direction of the traveling vehicle as predetermined rotation information, and a gyro main body that supports the entire gyro main body and externally commands the entire gyro main body by an external command. And a rotary stage that can stop the rotation, and the rotary stage is equipped with an encoder that detects a rotation angle with respect to the entire gyro main body, and inputs the encoder and each output of the gyro main body. In addition, the CPU is equipped with a CPU that performs a predetermined calculation and outputs predetermined rotation angle information related to the traveling direction of the traveling vehicle. The CPU controls the rotation stage so that the rotation information of the gyro body is always zero. A navigation gyro device having a stage rotation control function for drive control. 2. The rotary stage is equipped with a DD motor, and the DD motor is configured to be feedback-controlled by the CPU based on a signal from the gyro body via an analog / digital converter. The gyro device for navigation according to claim 1.