为克服国内摆式陀螺经纬仪对初始架设角度要求严格、难以实现全方位的不足,以某经纬仪为样机,运用欧拉动力学方程建立摆式陀螺大偏北角运动方程,推导了在跟踪状态下陀螺摆速与偏北角度之间关系的数学公式,提出了一种改进的大偏北角粗寻北方法——跟踪速度检测法.分析和试验结果表明,该方法能在1 min内实现任意初始架设方位预定向,预定向后灵敏部主轴方位角在6°左右,解决了大偏北角寻北问题.%The pendulous gyro north-seeker has strict requirement to its initial erection azimuth, and it is difficult to implement omni-bearing north seeking. Taking a certain type of pendulous gyro theodolite as prototype, we established the motion equation of pendulous gyro in large azimuth by using Euler dynamical equations, deduced the mathematical model of gyroscope motion and the trajectory of gyroscope sensitive department, and proposed an improved rough north-seeking method for large azimuth, called tracking speed detection method. Experiments were designed and conducted to verify the new method. The analysis and experiment results show that the proposed method can achieve omni-directional north seeking at any initial erecting azimuth within 1 minute, and the maximum azimuth of the basic shaft of the gyro is about 6 ° . The new method is of great importance for realizing all-directional orientation of the pendulous gyro north seeker.
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