中文摘要：

为克服国内摆式陀螺寻北仪对初始架设方位要求严格,难以实现全方位寻北的不足,通过对其大偏北角运动规律的分析,提出了一种基于摆速检测的全方位快速预定向方法。运用欧拉动力学方程建立摆式陀螺大偏北角运动方程;运用相平面法分析了其全局运动规律,运用修正的谐波平衡法求得周期摆动的近似解析解;然后根据求得的近似解析解分析了灵敏部摆动速度和摆动周期的变化规律,提出采用最大摆动速度检测法实现全方位预定向,并通过降低陀螺马达转速缩短寻北时间;最后设计了实现方案,并进行了初步试验验证。分析和试验结果表明,该方法能在2 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最大不超过5°。该方法对实现摆式陀螺全方位快速寻北具有重要意义。

英文摘要：

To overcome the difficulty of the pendulous gyro north seeker in completing rapid omnibearing north seeking due to the serious limit on its initial erection azimuth, a rapid omni-bearing pre-orientation method based on swing speed detection is put forward through analyzing the motion characteristics of the gyro in large azimuth. Firstly, the motion equations of pendulous gyro in large azimuth are es- tablished based on Euler dynamical equations. Then its global motion characteristics are analyzed with phase plane analysis method, and the approximate analytic solution of its periodical swing is acquired using the modified harmonic balance method. On the basis of the ob- tained approximate analytic solution, the changing rules of the swing speed and swing period of the gyro are analyzed, and a pre-orienta- tion method based on maximum swing speed detection is put forward to achieve all-directional north-seeking and the time cost can be re- duced by decreasing the rotating speed of the gyro-motor. Finally, experiments were designed and conducted to verify the new method. Analysis and experiment results show that the proposed method can achieve omni-directional north seeking at any initial erecting azimuth within 2 minutes and the maximum azimuth of the basic shaft of the gyro is less than 5°. The new method is of great importance in reali- zing all-directional orientation of the pendulous gyro north seeker.