稳瞄惯导周视观瞄镜的设计

介绍一种中精度、低成本周视观瞄镜的设计方法，其特点是用一个机械陀螺同时实现稳瞄和惯导2项功能。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。在瞄准过程中，瞄准线的调转指令以随动修正量的形式加入，通过姿态矩阵的解算，可获得运动载体扰动量沿稳瞄坐标轴方向的投影，即瞄准线随动陀螺轴的输入量。最后综合运动载体的姿态和里程计信息，可以实现导航功能。

Design of stabilized panoramic sight with inertial navigation

The design of a low-cost and middle accuracy panoramic sight is introduced. It features with one mechanical gyroscope for both stabilization and inertial navigation. 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. During the calculation, the moving command for the sight was input in the form of slave correction. The projection of platform disturbance along the stabilized coordinates was acquired by resolving the attitude matrix. The navigation function can be realized by combining the information of the platform attitude and an odometer.