陀螺

The Gyro Gunsight Mk I - Pt I 陀螺瞄准镜Mk I -第一部分 The gyro gunsight at last solved the most difficult problem faced by pilots and air gunners, that of finding the correct angle of deflection or 'lead' needed to hit the target when it was moving across the line of fire.

陀螺瞄准镜最终解决了飞行员和空中射手面对的最困难的问题，那就是在目标横越发射线的时候，找到正确的命中目标所需要的前置角度或者提前量。

In plotting scene, the invention connects fiber-optic gyro(1) with full station instrument telescope(3) by adaptor(2), and make optical fibre gyro can follow full station instrument telescope simultaneously do 180 degree turning reel full station instrument cross shaft, respectively on two horizontal positions of east and west direction of gyro axis that differ by 180 degree; each horizontal position process 2 x 2 position gyro data acquisition on full station instrument perpendicular tray that differ by 180 degree; using formula to count out full station instrument collimation axis true azimuth, survey station meridian convergence angle, then can obtain full station instrument collimation axis grid azimuth, realize full station instrument orient.

基于光纤陀螺的全站仪组合定向方法是一种应用于测绘工作的基于光纤陀螺的全站仪组合定向方法，该方法在测绘现场，把光纤陀螺(1)通过连接装置(2)与全站仪望远镜(3)固连，使光纤陀螺(1)可随全站仪望远镜(3)绕全站仪横轴(4)同步做180度转动，分别在陀螺轴东西向相差180度两个水平位置，每个水平位置在全站仪竖盘相差180度的两个竖直位置进行2×2位置陀螺数据采集；利用公式算得全站仪视准轴真方位角、测站子午线收敛角，即可进一步获得全站仪视准轴坐标方位角，实现全站仪定向。

This course consists of three parts : A.The fundamental theory of gyroscopes. a.Kinematics and dynamics of gyroscopes, consisting of Coriolis acceleration, theorem of angular momentum, Euler's dynamical equations, dynamical explanation of gyroscopes' properties. b.Gyroscopes' motion equations, including the complete equations, technical equations and precession equations derived from Euler's dynamical equations, and the technical equations derived from static vs. dynamic method. c.Analysis of gyroscopes' motion. d.Coordinate systems and their mutual transformation. e.Gyroscope drift and its measurement. B.Principle of typical gyroscope instruments, such as gyro compass, gyro north finder, gyro horizon, platform compass, rate gyroscope and integrating gyroscope. C.Principles and applications of new-type gyroscpes, such as electrically suspended gyro, ring laser gyroscope, fiber optical gyroscope, hemispherical resonator gyro, dynamically tuned gyroscope and micro inertial sensors.

本课程教学内容由三部分组成：陀螺仪的基本理论，内容包括：陀螺力学基础（哥氏加速度、角动量定理和欧拉动力学方程、陀螺特性的力学解释）；陀螺仪运动方程和运动分析（用欧拉动力学方程建立完整方程、陀螺仪运动的技术方程和进动方程，用动静法建立技术方程）；坐标系及其变换；陀螺仪的漂移及其测试；典型陀螺仪器（包括陀螺罗经、陀螺找北仪、陀螺地平仪、平台罗经、速率陀螺仪和积分陀螺仪等）的工作原理；新型陀螺仪（包括静电陀螺仪、激光陀螺仪、光纤陀螺仪、半球谐振陀螺仪、挠性陀螺仪、微机械陀螺仪等）的原理及应用。

The key technology of this method is to quickly converge the sensitive axes of the mechanical gyroscope to the intersection line of the meridional plane and the horizontal plane based on the principle of gyroscope compass, to isolate payload from platform disturbance with the gyroscope and two degrees of freedom gimbals, to obtain the attitude angle of the platform by electro-optical sensor on the gimbals, and to make the sight slaved to the sensitive axes of the gyroscope to realize the indirect stabilization.

利用陀螺罗经原理，使机械陀螺的敏感轴快速收敛于子午面和水平面的交线上，并借助陀螺定轴性和2自由度环架，使陀螺隔离运动载体的扰动；通过环架上的光电传感器测出运动载体的姿态角，使观瞄镜的瞄准线随动于陀螺的敏感轴，实现间接稳定。

The attitude error equation for the polar gyro is linear time-invariant, and that for the equator gyro is linear and time varying. Furthermore, they are independent of each other.

极轴陀螺的姿态误差方程是线性定常的，赤道陀螺的姿态误差方程是线性时变的，并且极轴陀螺与赤道陀螺的姿态误差方程是相互独立的。

The gyroscope is the key device for stabilizing, scanning and tracking in the seeker. The work mechanism of the gyroscope in the seeker is illustrated detailedly through analyzing the PL-2 missile seeker"s structure. The gyroscope electric circuit, including the gyroscope"s driver circuit, the gyro shaft position detecting circuit and the gyroscope"s precessional circuit, was designed according to the gyroscope"s work mechanism.

陀螺是仿真导引头中稳定、搜索和跟踪的关键部件，论文从分析PL-2导弹红外点源导引头的结构和特点出发，对其中的稳定陀螺工作机理进行了详细的研究，并根据陀螺的工作机理，自行研制了一套陀螺电路，包括陀螺驱动电路、陀螺轴位置检测电路和陀螺进动电路，并得到了实验验证，效果良好。

The gyroscope is the key device for stabilizing, scanning and tracking in the seeker. The work mechanism of the gyroscope and especially the precession theory in the seeker is illustrated detailedly through analyzing the PL-2 missile seeker"s structure. The gyroscope electric circuit, including the gyroscope"s rotary circuit,the gyroscope"s precessional circuit and the gyro shaft position detecting circuit, was designed according to the gyroscope"s work mechanism.

陀螺是仿真导引头中稳定、搜索和跟踪的关键部件，论文从分析PL-2导弹红外点源导引头的结构和特点出发，对其中的稳定陀螺工作机理特别是陀螺进动理论进行了详细的研究，并根据陀螺的工作机理，自行研制了一套陀螺电路，包括陀螺旋转电路、陀螺进动电路和陀螺轴位置检测电路，并得到了实验验证，效果良好。

Through the interferencing light intensity under a sine-wave modulation signal analysis, the output signal of fiber-optic gyroscope is demodulated. And then the change of the output signal of gyro is gotten. Through the analysis of the change we know that the effect of residuary intensity modulation on the performance of Interferometric Fiber Optic Gyroscope is related with the precision and accuracy requirements of IFOG. The higher precision, the more obvious effect.

本文首先通过正弦波调制下干涉信号光强分析解调出光纤陀螺的输出信号，进而得出残余强度调制存在的情况下陀螺输出信号的变化情况，同时，通过分析陀螺信号的变化说明残余强度调制对光纤陀螺性能的影响与陀螺精度要求有关，精度越高，其影响越明显。

The impact proof mass on the gyros performance is discussed on the basis of microgyro dynamic equation and several important parameters in the design of micromechanical vibrating gyros, including equivalent moment of inertia constraint conditions in the inner and outer gimbals, sensitivity, etc .

根据陀螺的动力学方程，从陀螺设计中的重要参数——内、外框架组件的等惯量约束条件和振动灵敏度等角度，探讨了检测质量对陀螺性能的影响，为微机械框架振动陀螺的设计提供了理论依据。

To reduce and compensate the influence of temperature on ring laser gyro bias error and attain the precision of inertial level gyro, the mechanism of RLG zero-bias error due to temperature is analyzed. Based on a great number of environmental temperature experiments of RLG, a general temperature compensating model and a new kind of BP neural network model are established. A method for identifying the model parameter is proposed. Simulation results show that the simplified compensating model can reduce the zero-bias by more than a magnitude and achieve real-time compensating feature.

零偏是衡量激光陀螺性能的一个重要指标，但其受温度影响很大，为了降低和补偿温度对激光陀螺零偏的影响，使其达到惯性级陀螺仪的精度要求，分析了温度对激光陀螺零偏误差的产生机理，在大量高低温环境试验的基础上，建立了一种通用的零偏温度补偿模型和一种BP神经网络模型，并给出了模型参数的辨识方法，仿真结果表明，对该模型作适当的简化，可以将零偏减小一个数量级以上，而且具有实时补偿性能。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。