CN114543843A - Resonant gyroscope channel error calibration and correction method - Google Patents

Resonant gyroscope channel error calibration and correction method Download PDF

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CN114543843A
CN114543843A CN202210246190.XA CN202210246190A CN114543843A CN 114543843 A CN114543843 A CN 114543843A CN 202210246190 A CN202210246190 A CN 202210246190A CN 114543843 A CN114543843 A CN 114543843A
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error
theta
standing wave
angle
channel error
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CN114543843B (en
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丛正
王宝琛
赵小明
张悦
史炯
李世杨
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707th Research Institute of CSIC
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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Abstract

The invention relates to a method for calibrating and correcting channel errors of a resonant gyroscope, which comprises the following steps: 1. establishing a channel error identification model, and arranging the channel error identification model in a control system of the resonant gyroscope; 2. determining the number n of error parameters to be identified, and calling an identification model; 3. initializing standing wave orientation theta and placing at random initial position theta0(ii) a 4. Moving theta to place theta at thetai＝θ0+ i pi/2 n; 5. calculate each thetaiThe angle of the position of the additional drift
Figure DDA0003544742500000011
6. Identifying and calculating n error parameters; 7. substituting the error parameters into the error model, and correcting the current loop coefficient; 8. judging the calculated residual e of each parameterkWhether the set termination condition e is satisfiedk<esetCounting the number k of the corrected parameters; 9. updating the number n of the parameters to be identified and the channel error identification model; 10. if it isIf the identification parameter n is not zero, updating the random initial standing wave orientation theta0＝θ0+ r, return to step 2. Otherwise, the iteration is stopped. The method improves the zero offset and resolution performance of the gyroscope and improves the scale factor nonlinearity.

Description

Resonant gyroscope channel error calibration and correction method
Technical Field
The invention belongs to the technical field of inertial instrument control, and particularly relates to a resonant gyroscope channel error calibration and correction method.
Background
Compared with the traditional force feedback mode, the full-angle model resonant gyroscope has the outstanding advantages of wide range, high dynamic, stable calibration factor and the like. The stationary electrode drives and detects the vibration mode of the harmonic oscillator, so that the stationary wave is stably controlled and the angle is read out. As an angle sensor, the standing wave position of the angle sensor is directly sensitive to the change of the external angle, so that the angle sensor can be positioned at any position of the ring shape of the harmonic oscillator. In practical application, due to the problems of processing, manufacturing and consistency of devices, additional measurement errors can be superposed and coupled with a harmonic oscillator dynamic model, and the performance index of the gyroscope is seriously influenced.
Besides frequency cracking and uneven damping caused by the defects of the harmonic oscillator body, errors caused by the inconsistency of the electrodes and the lines can be uniformly equivalent to inconsistent errors of the gain, the position and the phase shift of the electrodes. The electrodes are divided into drive channel errors and detection channel errors according to their application to drive or detection. The existence of these errors introduces an additional zero offset drift in the gyro output coupling on the one hand; on the other hand, the measurement accuracy of the standing wave angle is interfered, and the error is superposed with a Braun coefficient which is a mapping coefficient of an external angle, so that the periodic characteristic along with the position of the standing wave is shown.
To achieve good gyro performance, channel errors need to be corrected. In the traditional mode, compensation and correction are carried out on single indexes such as zero offset, scale factors and the like in an experimental data fitting mode. However, since the channel error parameters are more and coupled with the harmonic oscillator error, nonlinearity is generated, and it is difficult to achieve a good correction effect by the post-stage fitting compensation method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a resonant gyroscope channel error calibration and correction method, which can improve the zero offset and resolution performance of a gyroscope, reduce the scale factor error and improve the scale factor nonlinearity.
The above object of the present invention is achieved by the following technical solutions:
a resonant gyroscope channel error calibration and correction method is characterized by comprising the following steps: the method comprises the following steps:
step 1, establishing a channel error identification model, and placing the established model in a control system of a resonant gyroscope;
step 2, determining the number n of error parameters to be identified according to task requirements, and calling a channel error identification model;
step 3, initializing standing wave orientation theta and placing the standing wave orientation theta at a random initial position theta0；
Step 4, moving the standing wave orientation theta to place the standing wave orientation theta on thetai＝θ0+iπ/2n，i＝1,…,n；
Step 5, in the process that the standing wave azimuth theta moves for n times in the step 4, calculating the angle additional drift amount at each standing wave azimuth theta i;
step 6, according to the extra drift
Figure BDA0003544742480000011
And a channel identification model for identifying and calculating n error parameters;
step 7, substituting the error parameters obtained by calculation into corresponding positions of the error model, and correcting the current loop coefficient;
step 8, judging the calculation residual e of each parameterkWhether the set termination condition e is satisfiedk<esetCounting the number k of the corrected parameters;
step 9, updating the number n of the parameters to be identified and the channel error identification model;
step 10, if the parameter n to be identified is not zero, updating the random initial standing wave orientation theta0＝θ0+ r, return to step 2; otherwise, the iteration is stopped.
Further: the channel error involved in the step 1 comprises a detection channel error A and a driving channel error B;
the detection channel error A comprises an electrode gain deviation delta kdElectrode position deviation Delta thetadElectrode phase shift deviation delta phidCalculating the obtained standing wave angle for the detection channel error A
Figure BDA0003544742480000021
There is an error associated with the standing wave orientation θ from the true angle θ of the standing wave, as shown in equation (1).
Figure BDA0003544742480000022
Wherein-a is the amplitude of the antinode;
-b is the node amplitude;
——
Figure BDA0003544742480000023
calculating a standing wave angle;
——Δkdto detect electrode gain deviations;
——Δθdto detect electrode position deviations;
——Δφdto detect electrode phase shift deviations;
the drive channel error B includes an electrode gain deviation Δ kePositional deviation of electrode
Figure BDA0003544742480000024
And
Figure BDA0003544742480000025
electrode phase shift deviation delta phie(ii) a For the drive channel error B, it manifests primarily as cross-coupling of the control signals, thereby causing additional drift Δ ε at each standing wave orientation θeEstablishing an error equation of the driving error B to the standing wave azimuth theta as shown in the formula (2) As shown.
Figure BDA0003544742480000031
In the formula, - [ delta ] keDriving the electrode gain offset for X;
——
Figure BDA0003544742480000032
Figure BDA0003544742480000033
x, Y drive electrode position deviations, respectively;
——Δφephase shift offset for the Y drive electrodes;
——Δεeintroducing additional drift for drive error;
SF is the electrode force application scale factor;
——
Figure BDA0003544742480000034
inducing a standing wave azimuth drift angle for the driving error;
——Cais a constant amplitude control signal;
——Cqis a quadrature control signal;
because the real azimuth theta of the standing wave is unknown due to the existence of the detection error A, the standing wave angle theta in the driving error equation (2) is rewritten into an angle calculation value
Figure BDA0003544742480000037
Obtaining a channel error identification model as shown in formula (3)
Figure BDA0003544742480000035
Further: in step 4, the rotation of the standing wave can be provided by the rotation speed Ω of the external carrier, or by applying the active precession signal CpProvided is a method.
Further, the method comprises the following steps: in step 5Calculating additional drift when using an external carrier to provide rotation
Figure BDA0003544742480000036
The formula is as follows:
Figure BDA0003544742480000041
in the formula (II) ─
Figure BDA0003544742480000042
An additional drift angle;
——
Figure BDA0003544742480000043
is the standing wave orientation thetaiCalculating the obtained standing wave azimuth angle theta at the position;
- α is the blaine coefficient true value;
- Ω is the external carrier rotation speed;
-t is the rotation time.
Further, the method comprises the following steps: the calibration acquisition method of the real value of the Braun coefficient comprises the following steps:
the Coriolis force term in the harmonic oscillator kinetic equation generates additional errors due to the fact that the detection channel error matrix A has various anisotropic characteristics, an equivalent Braun coefficient is introduced, and the relation between the equivalent Braun coefficient alpha' (theta) and the vibration azimuth angle theta is shown in a formula (5):
α′＝α+Δαcos[2(θ-θα)] (5)
in the formula, alpha' is an equivalent Blaine coefficient;
- θ is the standing wave azimuth;
——θαan error angle is added to the blaine coefficient.
According to the formula (5), calibrating and obtaining a real value of the Braun coefficient in a mode of averaging and measuring information in the whole period under a full angle mode, and referring to a formula (6):
Figure BDA0003544742480000044
further, the method comprises the following steps: in step 5, when active precession is used, the extra drift is calculated
Figure BDA0003544742480000045
The formula is as follows:
Figure BDA0003544742480000046
wherein-SF is the force application scale;
——Cpis the applied active precession signal.
The invention has the advantages and positive effects that:
1. the calibration correction method of the invention calculates and corrects the channel error on line in a mode of iteratively identifying the channel error parameter by autonomously moving the standing wave azimuth.
2. The calibration correction method of the invention corrects the angle calculation additional error caused by the detection channel and improves the accuracy of angle measurement.
3. The calibration correction method of the invention corrects the additional error of the angle mapping coefficient to lead the additional error to tend to the Braun coefficient, improves the dynamic characteristic and the angle detection nonlinearity, and improves the scale factor nonlinearity and the stability.
4. The calibration correction method reduces the extra drift rate caused by the driving channel, improves the angular resolution of the gyroscope and improves the zero-offset stability of the gyroscope.
Drawings
Fig. 1 is a schematic plan view of a harmonic oscillator;
FIG. 2 is a flow chart of a method for calibrating and correcting channel errors of a resonant gyroscope according to the present invention.
Detailed Description
The structure of the present invention will be further described by way of examples with reference to the accompanying drawings. It is to be understood that this embodiment is illustrative and not restrictive.
Fig. 1 is a schematic plan view of a harmonic oscillator 1, wherein the harmonic oscillator 1 is a core sensitive unit of a gyroscope, and the harmonic oscillator can be made of quartz, silicon-based materials, metals and the like according to different application requirements and precision grades. The electrodes 2 are used for driving and detecting harmonic oscillator vibration, and comprise contact type and non-contact type, such as piezoelectric ceramics, capacitors and the like.
Fig. 2 is a flowchart of a method for calibrating and correcting channel errors of a resonant gyroscope according to the present invention.
The specific calibration and correction steps and principles are as follows:
step 1, establishing a channel error identification model, and placing the established model in a control system of a resonance gyroscope. The method specifically comprises the following steps:
for channel errors, it includes a detection channel error a and a driving channel error B. Wherein, the detection channel error A comprises an electrode gain deviation delta kdElectrode position deviation Delta thetadElectrode phase shift deviation delta phid. Electrode gain error Δ kdThe proportional coefficients of the vibration information reflected by the signals representing the two orthogonal axes are inconsistent, so that the angle is calculated
Figure BDA0003544742480000051
Non-linearity occurs at different positions of the standing wave orientation theta. Electrode position deviation delta thetadCharacterizing two-axis detection signal Vx、VyThe spatial position orthogonality is not strictly maintained, so the detected signal cannot truly reflect the two modes of vibration. Electrode phase shift deviation delta phidTwo-axis vibration information V representing the same momentx、VyAnd the signals cannot be synchronously acquired, and aliasing occurs in a time domain. Thus, detecting channel error A will co-interfere with the angle
Figure BDA0003544742480000052
Is calculated so that it is biased, i.e. the resulting standing wave angle is calculated
Figure BDA0003544742480000055
There is an error associated with the standing wave orientation θ from the true angle θ of the standing wave, as shown in equation (1).
Figure BDA0003544742480000053
Wherein-a is the amplitude of the antinode;
-b is the node amplitude;
——
Figure BDA0003544742480000054
calculating a standing wave angle;
——Δkdto detect electrode gain deviations;
——Δθdto detect electrode position deviations;
——Δφdto detect electrode phase shift deviations.
Drive channel error B indicates when force drive V is appliedX、VYThe actual effect of the force application deviates from the expectation, i.e. the control signal (amplitude-stabilized control signal C), due to errors in the electrodes and the wiringaQuadrature control signal CqActive precession signal Cp) Coupling occurs on both modes. This defect can be equated to a drive electrode deviation, respectively an electrode gain deviation Δ kePositional deviation of electrode
Figure BDA0003544742480000061
And
Figure BDA0003544742480000062
electrode phase shift deviation delta phie. For the drive channel error B, it manifests primarily as cross-coupling of the control signals, thereby causing additional drift Δ ε at each standing wave orientation θeAnd establishing an error equation of the driving error B to the standing wave azimuth theta as shown in the formula (2).
Figure BDA0003544742480000063
In the formula, - [ delta ] keDriving the electrode gain offset for X;
——
Figure BDA0003544742480000064
Figure BDA0003544742480000065
x, Y drive electrode position deviations, respectively;
——Δφephase shift offset for the Y drive electrodes;
——Δεeintroducing additional drift for drive error;
SF is the electrode force application scale factor;
——
Figure BDA0003544742480000066
inducing a standing wave azimuth drift angle for the driving error;
——Cais a constant amplitude control signal;
——Cqis a quadrature control signal.
From equation (2), an additional drift term Δ εeRelated to the standing wave orientation theta and derived from harmonic control signals (amplitude-stabilized control signal C) in the fundamental control equationaQuadrature control signal CqActive precession signal Cp) Is coupled. In practical operation, because the real orientation theta of the standing wave is unknown due to the existence of the detection channel error A, the standing wave angle theta in the error equation (2) needs to be rewritten into an angle calculation value (observed value)
Figure BDA0003544742480000067
Obtaining a channel error identification model as shown in formula (3):
Figure BDA0003544742480000071
the formula (3) is a seven-element one-time transcendental equation and has an analytic solution, so that the solution calculation of the error parameters can be carried out according to the coupling state.
Step 2, determining the number n of error parameters to be identified according to task requirements, and calling a channel error identification model;
preparing before test according to the working state and essence of the topAnd determining error parameters to be identified according to the degree grade requirement. Due to the difference of the physical sources of the error parameters, the stability of each parameter is different. For a scene with low requirements on the stability and the precision of the environmental state, only part of parameters such as gain k and the like need to be identified; when the electrode is left for a long time, the state is changed greatly or the electrode is used with high precision, the whole parameters can be identified (the gain deviation delta k of the detection electrode)dDetecting the positional deviation Delta theta of the electrodedDetecting the phase shift deviation delta phi of the electrodedDrive electrode gain deviation Δ kePositional deviation of driving electrode
Figure BDA0003544742480000072
And
Figure BDA0003544742480000073
drive electrode phase shift deviation delta phie). And if the number of the parameters to be identified is large, the model complexity is high, the calculation cost is high, and the convergence speed is low. According to the number n of the parameters to be identified, n independent observation data need to be established for subsequent identification calculation.
Step 3, initializing standing wave orientation theta and placing the standing wave orientation theta at a random initial position theta0. Specifically, the method comprises the following steps:
excitation of vibration, rotation of vibration mode and detection of signal are performed by electrode 2, and in accordance with conventional full-angle control, by vector synthesis formula, angular force application decomposition is performed according to X-axis and Y-axis to generate driving electrode voltage VX、VYAnd the stable control of the state of each standing wave azimuth theta gyroscope is realized. Initially, the standing wave orientation theta is positioned at a random orientation theta0。
Step 4, moving the standing wave orientation theta to place the standing wave orientation theta on thetai＝θ0+ pi/2 n, i ═ 1, …, n. Specifically, the method comprises the following steps:
the rotation of the standing wave can be provided by the rotation speed omega of the external carrier, and can also be provided by applying an active precession signal CpProvided is a method. When the active precession is applied, the precession signal C is calculated according to the force application scale SFpAnd a rotation time t, to achieve a movement of the standing wave orientation theta (i.e. theta)t＝θ0+CpSF · t). It is noted that the force application scale SF here characterizes the applied voltage signal CpAnd the velocity of the generated standing wave rotation
Figure BDA0003544742480000076
Is different from the blaine coefficient alpha which is the angle detection mapping coefficient. In addition, the force scaling SF is also subject to error, and therefore care must be taken to correct it during calibration to ensure additional drift Δ εeThe accuracy of the acquisition. The following description takes the external carrier rotation as an example, and if active precession is used, then there is the equation Ω ═ CpSF/alpha (conversion formula for active precession and external carrier rotation operation)
Step 5, in the process that the standing wave azimuth theta is moved for n times in the step 4, calculating each standing wave azimuth thetaiThe angle of the position of the additional drift
Figure BDA0003544742480000074
Specifically, the method comprises the following steps:
when moving the standing wave orientation theta to different positions thetaiCalculating the additional drift
Figure BDA0003544742480000075
When using an external carrier to provide rotation Time of flightThe formula is as follows:
Figure BDA0003544742480000081
in the formula (II) ─
Figure BDA0003544742480000082
An additional drift angle;
——
Figure BDA0003544742480000083
is the standing wave orientation thetaiCalculating the obtained standing wave azimuth angle theta at the position;
- α is the blaine coefficient true value;
- Ω is the external carrier rotation speed;
-t is the rotation time.
The acquisition of the real value alpha of the Braun coefficient can be calibrated through factory experiments, and the Braun coefficient can be used as a constant in the using process because the Braun coefficient is only related to the geometric parameters of the harmonic oscillator and has very good stability. The detection channel error matrix a has anisotropic characteristics, which cause an additional error to be generated in the coriolis force term in the harmonic oscillator kinetic equation, so that the resulting equivalent blaine coefficient α' (θ) becomes dependent on the vibration azimuth θ, which is expressed by the following formula:
α′＝α+Δαcos[2(θ-θα)] (5)
wherein alpha' is an equivalent Blaine coefficient;
- θ is the standing wave azimuth;
——θαan error angle is added to the blaine coefficient.
According to the formula (5), the blaine coefficient true value can be obtained by calibrating the averaging and measurement information mode in the whole period in the full angle mode, see formula (6):
Figure BDA0003544742480000084
when active precession is adoptedThe formula is as follows:
Figure BDA0003544742480000085
wherein-SF is the force application scale;
——Cpfor applied active precession signals
Step 6, according to the extra drift
Figure BDA0003544742480000086
And a channel identification model for identifying and calculating n error parameters. Through obtaining n independent equations equal to the number of the parameters to be corrected, the coupling degree is used as an evaluation index of identification, and identification calculation of each error parameter can be carried out through a system identification method. The identification method can adopt a traditional least square method, a recursion least square method and the like, and can also adoptAdvanced algorithms such as genetic algorithm, particle swarm algorithm and the like are adopted.
And 7, substituting the error parameters obtained by calculation into corresponding positions of the channel error identification model established in the step 1, and correcting the current loop coefficient. Specifically, the loop is corrected according to the analytical equations (1) and (2) by using the identified parameters. Because the expression of each parameter is different, the convergence rates are different.
Step 8, judging the calculation residual e of each parameterkWhether the set termination condition e is satisfiedk<esetAnd counting the number k of the parameters completing the correction. Specifically, the method comprises the following steps: in order to reduce the calculation overhead and accelerate the convergence process and stability, independent termination conditions are set for each parameter, and after one iteration is completed, the identification residual e of each parameter is usedk(i.e. the difference between the current and last calculated values) is less than a set threshold esetAnd counting the number k of the parameters meeting the termination condition.
And 9, updating the number n of the parameters to be identified and the identification model. Specifically, the method comprises the following steps: when a parameter satisfies a termination condition ek<esetAnd (3) setting the corresponding parameter in the error equation in the step (1) as a fixed numerical value obtained by calculation, and not carrying out identification and correction. Remaining unsatisfied with the termination condition ek<esetThe identification calculation is continued in the next iteration. And at the moment, the number of the parameters to be identified is changed into n-k, all the parameter identification is completed until n is 0, the iteration is stopped, and the correction is completed.
Step 10, if the parameter n to be identified is not zero, updating the random initial standing wave orientation theta0＝θ0+ r, return to step 2, repeat the identification process until all parameters are corrected. Wherein random standing wave orientations theta are generated0＝θ0+ r as the initial direction theta of the current recognition0The reasons for this are: in order to keep the random characteristic of the data of each iteration, the identification result is prevented from falling into the local optimal solution.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the scope of the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.

Claims (6)

1. A resonant gyroscope channel error calibration and correction method is characterized by comprising the following steps: the method comprises the following steps:
step 1, establishing a channel error identification model, and placing the established model in a control system of a resonant gyroscope;
step 2, determining the number n of error parameters to be identified according to task requirements, and calling a channel error identification model;
step 3, initializing standing wave orientation theta and placing the standing wave orientation theta at a random initial position theta0；
Step 4, moving the standing wave orientation theta to place the standing wave orientation theta on thetai＝θ0+iπ/2n，i＝1,…,n；
Step 5, in the process that the standing wave azimuth theta moves for n times in the step 4, calculating the angle additional drift amount at each standing wave azimuth theta i;
step 6, according to the extra drift
Figure FDA0003544742470000011
And a channel identification model for identifying and calculating n error parameters;
step 7, substituting the error parameters obtained by calculation into corresponding positions of the error model, and correcting the current loop coefficient;
step 8, judging the calculation residual e of each parameterkWhether the set termination condition e is satisfiedk<esetCounting the number k of the corrected parameters;
step 9, updating the number n of the parameters to be identified and the channel error identification model;
step 10, if the parameter n to be identified is not zero, updating the random initial standing wave orientation theta0＝θ0+ r, return to step 2; otherwise, the iteration is stopped.
2. The method for calibrating and correcting channel errors of a resonant gyroscope according to claim 1, characterized by: the channel error involved in the step 1 comprises a detection channel error A and a driving channel error B;
the detection channel error A comprises an electrode gain deviation delta kdElectrode position deviation Delta thetadElectrode phase shift deviation delta phidCalculating the obtained standing wave angle for the detection channel error A
Figure FDA0003544742470000012
An error related to the standing wave orientation theta exists between the real angle theta of the standing wave, as shown in formula (1):
Figure FDA0003544742470000013
wherein-a is the amplitude of the antinode;
-b is the node amplitude;
——
Figure FDA0003544742470000014
calculating a standing wave angle;
——Δkdto detect electrode gain deviations;
——Δθdto detect electrode position deviations;
——Δφdto detect electrode phase shift deviations;
the drive channel error B includes an electrode gain deviation Δ keElectrode position deviation
Figure FDA0003544742470000021
And
Figure FDA0003544742470000022
electrode phase shift deviation delta phie(ii) a For the drive channel error B, it manifests primarily as cross-coupling of the control signals, thereby causing additional drift Δ ε at each standing wave orientation θeEstablishing an error equation of the driving error B to the standing wave azimuth theta as shown in a formula (2);
Figure FDA0003544742470000023
in the formula, - [ delta ] keDriving the electrode gain offset for X;
——
Figure FDA0003544742470000024
x, Y drive electrode position deviations, respectively;
——Δφephase shift offset for the Y drive electrodes;
——Δεeintroducing additional drift for drive error;
SF is the electrode force application scale factor;
——
Figure FDA0003544742470000025
inducing a standing wave azimuth drift angle for the driving error;
——Cais a constant amplitude control signal;
——Cqis a quadrature control signal;
because the real azimuth theta of the standing wave is unknown due to the existence of the detection error A, the standing wave angle theta in the driving error equation (2) is rewritten into an angle calculation value
Figure FDA0003544742470000026
Obtaining a channel error identification model as shown in formula (3):
Figure FDA0003544742470000027
3. the method for calibrating and correcting channel errors of a resonator gyroscope according to claim 2, characterized in that: in step 4, the rotation of the standing wave can be provided by the rotation speed Ω of the external carrier, or by applying the active precession signal CpProvided is a method.
4. According to the rightThe method for calibrating and correcting the channel error of the resonant gyroscope according to claim 3, which is characterized in that: in step 5, the extra drift is calculated when the rotation is provided by the external carrier
Figure FDA0003544742470000031
The formula is as follows:
Figure FDA0003544742470000032
in the formula (II) ─
Figure FDA0003544742470000033
An additional drift angle;
——
Figure FDA0003544742470000034
is the standing wave orientation thetaiCalculating the obtained standing wave azimuth angle theta at the position;
- α is the blaine coefficient true value;
- Ω is the external carrier rotation speed;
-t is the rotation time.
5. The method of calibrating and correcting channel error of a resonator gyroscope of claim 4, wherein the method comprises the following steps: the calibration acquisition method of the real value of the Braun coefficient comprises the following steps:
the Coriolis force term in the harmonic oscillator kinetic equation generates additional errors due to the fact that the detection channel error matrix A has various anisotropic characteristics, an equivalent Braun coefficient is introduced, and the relation between the equivalent Braun coefficient alpha' (theta) and the vibration azimuth angle theta is shown in a formula (5):
α′＝α+Δαcos[2(θ-θα)] (5)
in the formula, alpha' is an equivalent Blaine coefficient;
- θ is the standing wave azimuth;
——θαadding an error angle to the Blaine coefficient;
according to the formula (5), calibrating and obtaining a real value of the Braun coefficient in a mode of averaging and measuring information in the whole period under a full angle mode, and referring to a formula (6):
Figure FDA0003544742470000035
6. the method of calibrating and correcting channel error of a resonator gyroscope of claim 3, wherein the method comprises the following steps: in step 5, when active precession is used, the extra drift is calculated
Figure FDA0003544742470000036
The formula is as follows:
Figure FDA0003544742470000037
wherein-SF is the force application scale;
——Cpis the applied active precession signal.
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CN116465384A (en) * 2023-06-20 2023-07-21 中国船舶集团有限公司第七〇七研究所 Hemispherical resonator gyro drift error compensation method based on modal inversion
CN116465384B (en) * 2023-06-20 2023-08-18 中国船舶集团有限公司第七〇七研究所 Hemispherical resonator gyro drift error compensation method based on modal inversion

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