Automatic tracking proportional-integral-differential (PID) control system and method for gyrotheodolite to perform coarse north finding

Abstract

The invention discloses an automatic tracking proportional-integral-differential (PID) control system and an automatic tracking PID control method for a gyrotheodolite to perform coarse north finding, which belong to the fields of positioning and orientation of the gyrotheodolite. A non-torque tracking reversal point method is used for performing automatic coarse north finding. By the automatic tracking PID control system and the automatic tracking PID control method for the gyrotheodolite to perform coarse north finding provided by the invention, coarse north finding can be performed in the full scale 360-degree range of the gyrotheodolite; the influence of anthropic factors on the north-finding measurement of the gyrotheodolite is reduced; and the automation degree of the north-finding of the gyrotheodolite is improved.

Description

technical field [0001] The invention relates to the field of positioning and orientation of a gyro theodolite, in particular to an automatic tracking PID control system and a control method for rough north-seeking of a gyro theodolite. Background technique [0002] The gyro theodolite can indicate the direction of true north at any measuring point on the ground, mines or tunnels within the range of 75° north and south latitude, and has a wide range of applications in engineering construction surveying, shipbuilding, and military targeting. [0003] The orientation process of the gyro theodolite generally includes two steps: rough orientation (or rough north seeking) and fine orientation (or fine north seeking), that is, the rough north seeking is performed first, and the purpose is to place the collimation axis of the sighting part of the gyro theodolite at a position deviated from true north. Within ±30′, and then use the transit method to find the north, so as to find the ...

AI Technical Summary

Problems solved by technology

[0005] The disadvantage of traditional rough north-seeking is that the operator is labor-intensive, and manual tracking can only rely on experience and hand feeling, which is difficult for novices to operate. At light, manual tracking is uneven, resulting in pulsating torsion effects, and at worst, it cannot be timely Track the movement of the gyro theodolite and damage the gyro theodolite. Practice has proved that: 50% of the measurement error is caused by manual operation, and it needs to be oriented towards the approximate true north at the beginning of the measurement

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