CN114964199A - Electrode gain self-compensation system of hemispherical resonator gyroscope and implementation method - Google Patents
Electrode gain self-compensation system of hemispherical resonator gyroscope and implementation method Download PDFInfo
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- 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
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5691—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a hemispherical resonance gyro electrode gain self-compensation system and an implementation method, wherein an x-axis detection electrode of an electrode in an x-axis direction is connected with one end of an x-axis buffer amplifier, a y-axis detection electrode in a y-axis direction is connected with one end of the y-axis buffer amplifier, the other ends of the x-axis buffer amplifier and the y-axis buffer amplifier are connected with a gyro control unit sequentially through an analog-digital converter and a carrier demodulation unit, one path of the gyro control unit is connected with a driving electrode of the electrode through the digital-analog converter, the other path of the gyro control unit is connected with a harmonic oscillator sequentially through a carrier generation unit and a carrier modulation unit, and the carrier demodulation unit is connected with the gyro control unit sequentially through a gain calculation unit and a gain compensation unit; the invention utilizes the signal modulation and demodulation technology, and the gain change of the detection electrode is monitored in real time by modulating the high-frequency sine carrier signal at the harmonic oscillator and comparing the amplitude change of the high-frequency sine carrier signal after passing through the detection electrode, thereby realizing the function of online real-time self-compensation.
Description
Technical Field
The invention relates to a hemispherical resonator gyroscope electrode gain self-compensation system and an implementation method, belonging to the technical field of inertial instrument control.
Background
The quartz hemispherical resonator gyroscope is a novel gyroscope and has the advantages of short starting time, low drift noise, good long-term drift stability and the like.
The electrode of the hemispherical resonator gyroscope consists of a coated harmonic oscillator and an electrode base. Due to the influence of machining precision, indexing errors exist in all electrodes, and small differences exist between electrode distances, so that electrode gains on x and y axes of the gyroscope are inconsistent. Meanwhile, in the control circuit, the loop gains of the x axis and the y axis are also inconsistent. The combination of the two results in uneven electrode gain errors, thereby affecting the use precision of the gyroscope.
Off-line calibration methods are typically used to compensate for electrode gain imbalance errors. Firstly, the gains of the two detection electrodes are measured, then normalization is carried out, and the gain coefficient after normalization is compensated into a control loop, so that the gains of the two detection electrodes are consistent. However, the gyro is affected by environmental temperature change and device aging, and the off-line calibration model gradually deviates, resulting in the performance degradation of the gyro. The traditional offline calibration method cannot overcome the influence of environmental change and device aging, and needs to seek online compensation to meet the requirement of long-term stable operation.
Some existing online compensation methods need to perform an additional operation process during the operation of the gyroscope, for example, CN112146637A "a self-compensation method for full-angle mode circuit gain error self-compensation system of micro-electromechanical gyroscope" proposes to make the standing wave angle of the gyroscope rotate by a certain angle and then compensate by calculating the signal amplitudes of two angle positions. The method cannot be used in some application scenes, such as a platform navigation system, the standing wave azimuth angle of the gyroscope in a stable loop working mode of the platform system cannot be changed, and the online compensation method is not suitable.
Disclosure of Invention
The invention aims at the problem that the gain error of the electrode of the hemispherical resonance gyroscope is influenced by factors such as environmental change, aging and the like, and the performance of the gyroscope is reduced in an application scene with long-term stable working requirement, and simultaneously aims at the problem that the gyroscope needs to rotate a certain angle in operation in the existing self-compensation method and is not applicable to a platform type inertial navigation system,
the method can automatically identify the electrode gain error and perform online self-compensation under the condition of not interfering the normal operation of the gyroscope. The invention utilizes the signal modulation and demodulation technology, modulates the high-frequency sine carrier signal at the harmonic oscillator, compares the amplitude change of the high-frequency sine carrier signal after passing through the detection electrode, monitors the gain change of the detection electrode in real time, and can realize the function of online real-time self-compensation.
The technical solution of the invention is as follows: a hemispherical resonance gyroscope electrode gain self-compensation system comprises a harmonic oscillator, an electrode, a carrier generation unit, a carrier modulation unit, an x-axis buffer amplifier, a y-axis buffer amplifier, an analog-to-digital converter, a carrier demodulation unit, a gyroscope control unit, a gain calculation unit, a gain compensation unit and a digital-to-analog converter;
the electrode is connected with one end of an x-axis detection electrode and one end of an x-axis buffer amplifier in the x-axis direction, the y-axis detection electrode and one end of a y-axis buffer amplifier in the y-axis direction, and the other ends of the x-axis buffer amplifier and the y-axis buffer amplifier are connected with a gyro control unit sequentially through an analog-to-digital converter and a carrier demodulation unit;
one path of the gyro control unit is connected with a driving electrode of the electrode through a digital-to-analog converter, the other path of the gyro control unit is connected with the harmonic oscillator through a carrier generation unit and a carrier modulation unit in sequence, and the carrier demodulation unit is connected with the gyro control unit through a gain calculation unit and a gain compensation unit in sequence;
the harmonic oscillator is a gyro core sensitive unit;
the electrodes are used for driving and detecting the vibration of the harmonic oscillator;
the carrier generation unit is used for generating a high-frequency sinusoidal signal with a specific amplitude as a carrier signal;
the carrier modulation unit is used for modulating a carrier signal to the harmonic oscillator;
the x-axis buffer amplifier is used for acquiring signals of an x-axis detection electrode of the electrode in the x-axis direction;
the y-axis buffer amplifier is used for acquiring a signal of a y-axis detection electrode of the electrode in the y-axis direction;
the analog-to-digital converter is used for converting the signals of the x-axis detection electrode and the y-axis detection electrode into digital signals;
the carrier demodulation unit is used for demodulating the digital signal and acquiring the latest amplitude of the carrier;
the gyro control unit is used for calculating a gyro control signal according to the gyro detection signal obtained by the demodulation of the carrier demodulation unit;
the gain calculation unit is used for comparing the amplitude of the carrier signal generated by the carrier generation unit with the latest carrier amplitude obtained from the carrier demodulation unit to calculate the latest gain values of the x-axis detection electrode and the y-axis detection electrode;
and the gain compensation unit is used for compensating the calculation result to a control loop of the gyro control unit in real time.
The carrier demodulation unit consists of a high-pass filter and a digital signal processing module, the high-pass filter is respectively connected with the analog-to-digital converter and the gain calculation unit, and the digital signal processing module is respectively connected with the analog-to-digital converter and the gyro control unit.
The harmonic oscillator is hemispherical, is made of fused quartz, and is characterized in that the electrode is in a non-contact type and is a capacitor.
A method for realizing electrode gain self-compensation system of hemispherical resonance gyroscope, wherein a gyroscope is composed of harmonic oscillators and electrodes, and the self-compensation method for inconsistent electrode gains of an x-axis detection electrode and a y-axis detection electrode of the electrodes comprises the following steps:
Step 2, after the gyroscope is powered on and started and works normally, the gyroscope control unit starts to execute a detection electrode gain self-compensation process according to a preset time interval;
step 5, the carrier demodulation unit extracts the amplitude, phase and orthogonal information of the detection signals of the x-axis detection electrode and the y-axis detection electrode through signal demodulation, and sends the information to the gyro control unit for gyro basic control; meanwhile, the carrier demodulation unit obtains the latest amplitude effective value V of the sine carrier signal passing through the x-axis detection electrode through high-pass filtering x Effective value V of latest amplitude after y-axis detection electrode y Sending the signal to a gain calculation unit;
and 7, determining a compensation coefficient by the gain compensation unit according to the calculation result, sending the compensation coefficient into the gyro control unit, updating the compensation coefficient by the gyro control unit, performing real-time compensation, and completing the gain self-compensation process of the detection electrode.
The preset time interval in the step 2 is the time when the gains of the x-axis detection electrode and the y-axis detection electrode are changed, and the preset time interval is 10 minutes to 10 hours.
The preset frequency in the step 3 is more than 6 times of the resonance frequency, and the amplitude effective value V r Has a value of 10 to 1000 mV.
The method for acquiring the latest amplitude effective value of the sinusoidal carrier signal after the sinusoidal carrier signal passes through the x-axis detection electrode and the y-axis detection electrode in the step 5 is as follows: the carrier demodulation unit comprises a high-pass filter and a digital signal processing module, detection signals of the x-axis detection electrode and the y-axis detection electrode reach the digital signal processing module, and amplitude, phase and orthogonal information of the x-axis detection signal and the y-axis detection signal are obtained through a least square demodulation method; after the detection signals of the x-axis detection electrode and the y-axis detection electrode reach the high-pass filter, the amplitude effective value V of the carrier signal in the x-axis detection signal is obtained x And the effective amplitude value V of the carrier signal in the y-axis detection signal y 。
The method for calculating the latest gain of the x-axis detection electrode and the y-axis detection electrode in the step 6 is as follows:
utilizing the effective value V of the carrier amplitude obtained in the step 3 r And the effective amplitude value V of the carrier signal in the x-axis detection signal obtained in the step 5 x And the effective amplitude value V of the carrier signal in the y-axis detection signal y Calculating the latest gain:
k x =V x /V r ,k y =V y /V r
in the formula (k) x Detecting the latest gain measurement value of the electrode for the x axis;
——k y detecting the latest gain measurement value of the electrode for the y axis;
——V x the effective value of the amplitude of the carrier signal passing through the x-axis detection electrode;
——V y after passing through the y-axis detection electrodeThe effective value of the amplitude of the carrier signal;
——V r the effective value of the amplitude of the carrier signal before the electrode is detected through an x axis and a y axis.
The method for determining the compensation coefficient described in step 7 is as follows: will k x And k y Gain value k in the factory calibration in step 1 0 Comparing to obtain a gain compensation coefficient;
k x1 = k 0 /k x ,k y1 =k 0 /k y
in the formula (k) x1 Detecting an electrode gain compensation coefficient for the x-axis;
——k y1 the electrode gain compensation factor is detected for the y-axis.
The method for updating the compensation coefficient described in step 7 is as follows: in the subsequent working time, when the gyro control unit acquires the amplitude information from the carrier demodulation unit again, the compensation coefficient k of the x-axis detection electrode is multiplied by the amplitude information of the x-axis x1 Multiplying the amplitude information of the y-axis by a compensation coefficient k of the y-axis detection electrode y1 And the gain compensation coefficient is updated in real time.
The invention has the advantages and positive effects that:
1. according to the structural characteristics of the hemispherical resonance gyroscope, the electrodes are capacitance electrodes, high-frequency sine carriers can be superposed or modulated, and the uneven gain errors of the electrodes are identified and compensated by utilizing a carrier modulation and demodulation technology under the condition that the normal work of the gyroscope is not influenced.
2. The self-compensation process of the invention is automatically executed after a preset time interval, the gyroscope recovers to a normal working state after the self-compensation process is finished, no additional manual operation is needed, and the running state of the gyroscope is not needed to be monitored all the time, thereby further reducing the interference and influence of the self-compensation process on the normal working of the gyroscope.
3. The invention can overcome the problem of gyro performance reduction in the application scene of long-term stable working requirement caused by environmental change and aging by compensating electrode gain error in real time during operation.
4. The online self-compensation method can complete the online self-compensation process without applying an additional calibration operation process which interferes with the normal work of the gyroscope in the running process or waiting for the gyroscope to rotate for a certain angle, and can be used in an application scene with long-term stable work requirement.
5. The method is suitable for more application scenes, such as a strapdown inertial navigation system or a platform inertial navigation system.
Drawings
The invention is further described with reference to the accompanying drawings, in which:
FIG. 1 is a system connection block diagram of the present invention;
FIG. 2 is a block circuit diagram of a carrier demodulation unit according to the present invention;
FIG. 3 is a flow chart of a method for implementing the present invention.
Detailed Description
As shown in fig. 1, an electrode gain self-compensation system for a hemispherical resonator gyro comprises a resonator 1, electrodes 2, a carrier generation unit 3, a carrier modulation unit 4, an x-axis buffer amplifier 5x, a y-axis buffer amplifier 5y, an analog-to-digital converter 6, a carrier demodulation unit 7, a gyro control unit 8, a gain calculation unit 9, a gain compensation unit 10, and a digital-to-analog converter 11;
the carrier demodulation unit 7 is composed of a high-pass filter and a digital signal processing module.
The harmonic oscillator 1 is a gyro core sensitive unit and is made of fused quartz.
The electrode 2 is used for driving and detecting the harmonic oscillator vibration, is of a non-contact structure, and forms a capacitor with the metalized harmonic oscillator.
The harmonic oscillator 1 and the electrodes 2 form a gyroscope, and the inconsistent electrode gains of the x-axis detection electrode and the y-axis detection electrode of the electrodes 2 are objects to be compensated by a hemispherical resonance gyroscope electrode gain self-compensation system.
The carrier generation unit 3 generates a sinusoidal carrier signal of a specific frequency, which is generally 6 times or more the resonance frequency. The carrier modulation unit 4 modulates a sinusoidal carrier signal onto the harmonic oscillator 1.
The x-axis buffer amplifier 5x and the y-axis buffer amplifier 5y are used for extracting vibration information of the harmonic oscillator 1 acquired on the electrode 2, and have signal conversion and isolation amplification effects, such as a charge amplifier and the like, and voltage signals containing gyro vibration information acquired by the x-axis buffer amplifier 5x and the y-axis buffer amplifier 5y are acquired by the analog-to-digital converter 6 and converted into digital quantities.
The carrier demodulation unit 7 obtains a gyro vibration signal and a carrier amplitude signal through mathematical operations (such as multiplication demodulation, etc.), the gyro vibration signal is sent to the gyro control unit 8 for gyro control, the carrier amplitude signal is sent to the gain calculation unit 9 for calculating the variation of the gain, the calculation result is sent to the gain compensation unit 10, and the control signal compensated by the two detection electrodes is sent to the gyro control unit 8 for completing the self-compensation process.
The specific working process and principle are as follows:
(1) initial calibration
The gain of the X-axis detection electrode and the gain of the Y-axis detection electrode are initially calibrated before the system works, the gains of the two electrodes are compensated to be equal, the gains of the two detection electrodes are kept consistent, and the gain k of the two electrodes is obtained at the moment x =k y =k 0 。
In the formula, k x Gain, k, for the x-axis sense electrode y Gain, k, for the y-axis sense electrode 0 Is the gain after initial calibration.
(2) Carrier generation unit
The carrier generation unit 3 sets the frequency ω according to the user r Generating a sinusoidal carrier signal V r ：
V r =sin(ω r t) （1）
In the formula of V r Is a sinusoidal carrier signal;
——ω r is the carrier signal frequency;
-t is time.
By modulating the carrier frequency omega r And the driving frequency omega 0 The design of frequency error can avoid the carrier signal V r The carrier frequency of the interference to the normal operation of the gyroscope is usually more than 6 times of the driving frequency, such as 5kHz of the driving frequency and 400kHz of the carrier frequency.
(3) Carrier modulation unit
The carrier modulation unit 4 modulates the carrier signal to the harmonic oscillator 1, so that the signals obtained on the x and y axes of the detection electrode carry carrier information, and can be compared with the initial value after the subsequent signal demodulation.
(4) Carrier demodulation unit
Signals obtained on the x-axis detection electrode and the y-axis detection electrode are converted into digital signals through an x-axis buffer amplifier 5x, a y-axis buffer amplifier 5y and an analog-to-digital converter 6, and the digital signals are sent to a carrier demodulation unit 7 for signal demodulation, wherein the carrier demodulation unit 7 comprises a high-pass filter and a digital signal processing module, as shown in fig. 2.
The detection signals of the x-axis detection electrode and the y-axis detection electrode reach a digital signal processing module to be processed by digital signals, amplitude, phase and orthogonal information of the x-axis detection signal and the y-axis detection signal are obtained through calculation by a least square demodulation method, and are sent to a gyro control unit 8 for gyro control, and the control is consistent with that of a traditional resonance gyro; after the detection signals of the x-axis detection electrode and the y-axis detection electrode reach the high-pass filter, filtering low-frequency signals, extracting high-frequency signals, and obtaining the amplitude effective value V of the carrier signal in the x-axis detection signals x And the effective amplitude value V of the carrier signal in the y-axis detection signal y And fed to the gain calculation unit 9 for calculating the latest gain.
(5) Gain calculation unit
After obtaining the amplitude signals of the x-axis detection electrode and the y-axis detection electrode, calculating gain:
k x =V x /V r ,k y =V y /V r （2）
then k is added x And k y Value k from initial calibration 0 Comparing and carrying out normalization compensation;
k x1 = k 0 /k x ,k y1 =k 0 /k y （3）
will k x1 And k y1 Is sent to the gain compensation unit 10.
(6) Gain compensation unit
Gain compensation coefficient k of x-axis and y-axis detection electrodes obtained from gain calculation unit x1 And k y1 Sent to the control system and demodulated by the carrier demodulation unit 7And correspondingly detecting the gyro vibration signal of the electrode.
(7) Gyro control unit
The gyro control unit 8 is used for basic gyro control, and simultaneously executes a gain self-compensation process according to a preset time interval, wherein the process comprises the steps of enabling the carrier generation unit to generate a sinusoidal carrier, receiving a compensation coefficient of the gain compensation unit, and updating the gain compensation coefficient in the subsequent working time.
After the self-compensation process, the gyroscope can gradually complete the gain self-compensation process of the detection electrode according to time intervals during long-time working, and long-time stable working is guaranteed.
In embodiment 1, the hemispherical resonator gyroscope is applied to a platform-type inertial navigation system, and is operated in a stable loop working mode of the platform-type inertial navigation system in an all-angle mode, at this time, a standing wave azimuth angle is fixed by a frame angle of a platform, the standing wave azimuth angle is not changed, at this time, rotation of the frame angle of the platform replaces rotation of the standing wave azimuth angle, the rotation angle of the frame angle of the platform is an output of the gyroscope in the all-angle mode, and a self-compensation process is shown in fig. 3.
The harmonic oscillator 1 is hemispherical, is made of fused quartz, and has a natural frequency of 5102 Hz.
The electrode 2 is a capacitor formed by a base and a metal coating on the inner surface of the harmonic oscillator 1.
Carrying out factory calibration to normalize the gains of the x-axis detection electrode and the y-axis detection electrode, and obtaining a gain value k 0 =1。
After the gyroscope is electrified and started to normally work, the gain self-compensation process of the detection electrode is started after 30 min.
The gyro control unit 8 causes the carrier generation unit 3 to generate a sinusoidal signal having a frequency of 400kHz and an amplitude effective value of 100mV by the circuit configuration, and causes the sinusoidal signal to be modulated on the harmonic oscillator by the circuit configuration of the carrier modulation unit 4.
An x-axis detection electrode of the electrode 2 in the x-axis direction and a y-axis detection electrode in the y-axis direction acquire a vibration signal with a sinusoidal carrier signal from the harmonic oscillator 1, the vibration signal is converted into a digital signal through an x-axis buffer amplifier 5x, a y-axis buffer amplifier 5y and an analog-to-digital converter 6, and the digital signal is sent into a carrier demodulation unit 7;
the carrier demodulation unit 7 comprises a high-pass filtering module and a demodulation calculation module, after the X-axis and y-axis detection electrode signals pass through the high-pass filtering module, low-frequency signals are filtered, carrier signals of 400kHz are left, and then the high-frequency filtering module extracts a carrier amplitude effective value V x And V y And sent to the gain calculation unit 9.
Signals of the X-axis detection electrode and the y-axis detection electrode are demodulated by a least square demodulation method through a digital signal processing module, amplitude, phase and quadrature information of the demodulated signals are sent to a gyro control unit 8, and amplitude control, frequency stabilization control and quadrature control of a gyro are respectively carried out, and the method is consistent with a basic control method of a traditional gyro.
The signal demodulation process is that in a digital signal processing module of a carrier demodulation unit, detection signals obtained by an x-axis detection electrode and a y-axis detection electrode are respectively multiplied by reference signals, double-frequency signals are filtered out from the results, and amplitude, phase and quadrature signals are obtained through combination.
In the signal demodulation process, a least square method is added to minimize noise in the demodulation process, and the method is called as the least square demodulation method.
k x =V x /100=1.05381614, k y =V y /100=1.01246187,
The calculation result is fed to the gain compensation unit 10.
The gain compensation unit 10 determines a gain compensation coefficient k x1 And k y1 ，
k x1 =k 0 /k x =0.94893213, k y1 =k 0 /k y =0.98769151,
The gain compensation coefficient is sent to the gyro control unit 8, and the gyro control unit 8 updates the gain compensation coefficient. Multiplying the amplitude information of the detection signals of the x-axis detection electrode and the y-axis detection electrode by the x-axis detection electrode respectivelyCompensation coefficient k of x1 And compensation coefficient k of y-axis detection electrode y1 And the gain compensation coefficient is updated in real time.
The self-compensation process is finished, the carrier generation unit 3 is temporarily turned off, and the next self-compensation process is waited for to start.
The above-mentioned adjusting parameters of the present invention are only examples for illustrating the present invention, and are not limitations to the embodiments of the present invention. Variations and modifications in other variations will occur to those skilled in the art upon reading the foregoing description. Not all embodiments are exhaustive. All obvious changes and modifications of the present invention are within the scope of the present invention.
The above-mentioned embodiments, which further illustrate the objects, technical solutions and advantages of the present invention, should be understood that the above-mentioned embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a hemisphere resonance top electrode gain self-compensating system which characterized in that: the device comprises a harmonic oscillator (1), an electrode (2), a carrier generation unit (3), a carrier modulation unit (4), an x-axis buffer amplifier (5 x), a y-axis buffer amplifier (5 y), an analog-to-digital converter (6), a carrier demodulation unit (7), a gyro control unit (8), a gain calculation unit (9), a gain compensation unit (10) and a digital-to-analog converter (11);
the electrode (2) is connected with one end of an x-axis buffer amplifier (5 x) at an x-axis detection electrode in the x-axis direction, is connected with one end of a y-axis buffer amplifier (5 y) at a y-axis detection electrode in the y-axis direction, and is connected with a gyro control unit (8) at the other ends of the x-axis buffer amplifier (5 x) and the y-axis buffer amplifier (5 y) sequentially through an analog-to-digital converter (6) and a carrier demodulation unit (7);
one path of the gyro control unit (8) is connected with a driving electrode of the electrode (2) through a digital-to-analog converter (11), the other path of the gyro control unit (8) is connected with the harmonic oscillator (1) through a carrier generation unit (3) and a carrier modulation unit (4) in sequence, and the carrier demodulation unit (7) is connected with the gyro control unit (8) through a gain calculation unit (9) and a gain compensation unit (10) in sequence;
the harmonic oscillator (1) is a gyro core sensitive unit;
the electrode (2) is used for driving and detecting the vibration of the harmonic oscillator (1);
the carrier generation unit (3) is used for generating a high-frequency sinusoidal signal with a specific amplitude as a carrier signal;
the carrier modulation unit (4) is used for modulating a carrier signal to the harmonic oscillator (1);
the x-axis buffer amplifier (5 x) is used for acquiring signals of an x-axis detection electrode of the electrode (2) in the x-axis direction;
the y-axis buffer amplifier (5 y) is used for acquiring a signal of a y-axis detection electrode of the electrode (2) in the y-axis direction;
the analog-to-digital converter (6) is used for converting the signals of the x-axis detection electrodes and the signals of the y-axis detection electrodes into digital signals;
the carrier demodulation unit (7) is used for demodulating the digital signal and acquiring the latest amplitude of the carrier;
the gyro control unit (8) is used for calculating a gyro control signal according to the gyro detection signal obtained by demodulation of the carrier demodulation unit (7);
the gain calculation unit (9) is used for comparing the amplitude of the carrier signal generated by the carrier generation unit (3) with the latest carrier amplitude acquired from the carrier demodulation unit (7) to calculate the latest real gain values of the x-axis detection electrode and the y-axis detection electrode;
the gain compensation unit (10) is used for compensating the calculation result to a control loop of the gyro control unit (8) in real time.
2. The hemispherical resonator gyroscope electrode gain self-compensation system of claim 1, wherein: the carrier demodulation unit (7) is composed of a high-pass filter and a digital signal processing module, the high-pass filter is respectively connected with the analog-to-digital converter (6) and the gain calculation unit (9), and the digital signal processing module is respectively connected with the analog-to-digital converter (6) and the gyro control unit (8).
3. The hemispherical resonator gyroscope electrode gain self-compensation system of claim 1, wherein: the harmonic oscillator (1) is hemispherical, the material is fused quartz, the electrode (2) is non-contact, and the electrode (2) is a capacitor.
4. A method for realizing electrode gain self-compensation system of hemispherical resonator gyro according to claim 1, characterized by: the harmonic oscillator (1) and the electrode (2) form a gyroscope, and the self-compensation method for the inconsistency of the electrode gains of the x-axis detection electrode and the y-axis detection electrode of the electrode (2) comprises the following steps:
step 1, carrying out factory calibration on gains of an x-axis detection electrode and a y-axis detection electrode of an electrode (2) to enable the gains of the two electrodes to be consistent and equal to k 0 ；
Step 2, after the gyroscope is powered on and started and works normally, the gyroscope control unit (8) starts to execute a detection electrode gain self-compensation process according to a preset time interval;
step 3, the gyro control unit (8) controls the carrier generation unit (3) to generate a sine carrier signal according to a preset frequency and amplitude effective value, then the sine carrier signal is modulated to the harmonic oscillator (1) through the carrier modulation unit (4), and meanwhile, the carrier amplitude effective value V is used r Sending the signal to a gain calculation unit (9);
step 4, acquiring a vibration signal with a sinusoidal carrier signal from the harmonic oscillator (1) by using an x-axis detection electrode in the x-axis direction and a y-axis detection electrode in the y-axis direction of the electrode (2), converting the vibration signal into a digital signal through an x-axis buffer amplifier (5 x), a y-axis buffer amplifier (5 y) and an analog-to-digital converter (6), and sending the digital signal into a carrier demodulation unit (7);
step 5, the carrier demodulation unit (7) extracts the amplitude, phase and quadrature information of the detection signals of the x-axis detection electrode and the y-axis detection electrode through signal demodulation, and sends the amplitude, phase and quadrature information to the gyro control unit (8) for gyro basic control; meanwhile, the carrier demodulation unit (7) obtains the latest amplitude effective value V of the sine carrier signal passing through the x-axis detection electrode through high-pass filtering x The latest amplitude effective value V after the detection electrode of the y axis y Sent to a gain calculation unit (9);
step 6, comparing the carrier initial amplitude effective value generated by the carrier generation unit (3) with the latest amplitude effective value obtained from the carrier demodulation unit (7) and passing through the x-axis detection electrode and the y-axis detection electrode, calculating the latest gains of the x-axis detection electrode and the y-axis detection electrode, and sending the calculation result to the gain compensation unit (10);
and 7, determining a compensation coefficient by the gain compensation unit (10) according to the calculation result, sending the compensation coefficient into the gyro control unit (8), updating the compensation coefficient by the gyro control unit (8), and performing real-time compensation to complete the gain self-compensation process of the detection electrode.
5. The method of claim 4, wherein the electrode gain self-compensation system comprises: the preset time interval in the step 2 is the time when the gains of the x-axis detection electrode and the y-axis detection electrode are changed, and the preset time interval is 10 minutes to 10 hours.
6. The method of claim 4, wherein the electrode gain self-compensation system comprises: the preset frequency in the step 3 is more than 6 times of the resonance frequency, and the amplitude effective value V r Has a value of 10 to 1000 mV.
7. The method of claim 4, wherein the electrode gain self-compensation system comprises: the sine carrier wave signal obtained in the step 5 passes through the x-axis detection electrode and the y-axis detection electrodeThe method of the latter latest amplitude effective value is as follows: the carrier demodulation unit comprises a high-pass filter and a digital signal processing module, detection signals of the x-axis detection electrode and the y-axis detection electrode reach the digital signal processing module, and amplitude, phase and orthogonal information of the x-axis detection signal and the y-axis detection signal are obtained through a least square demodulation method; after the detection signals of the x-axis detection electrode and the y-axis detection electrode reach the high-pass filter, the amplitude effective value V of the carrier signal in the x-axis detection signal is obtained x And the effective amplitude value V of the carrier signal in the y-axis detection signal y 。
8. The method of claim 4, wherein the electrode gain self-compensation system comprises: the method for calculating the latest gain of the x-axis detection electrode and the y-axis detection electrode in the step 6 is as follows: utilizing the effective value V of the carrier amplitude obtained in the step 3 r And the effective amplitude value V of the carrier signal in the x-axis detection signal obtained in the step 5 x And the effective amplitude value V of the carrier signal in the y-axis detection signal y Calculating the latest gain:
k x =V x /V r ,k y =V y /V r
in the formula (k) x Detecting the latest gain measurement value of the electrode for the x axis;
——k y detecting the latest gain measurement value of the electrode for the y axis;
——V x the effective value of the amplitude of the carrier signal passing through the x-axis detection electrode;
——V y the effective value of the amplitude of the carrier signal passing through the y-axis detection electrode;
——V r the effective value of the amplitude of the carrier signal before the electrode is detected through an x axis and a y axis.
9. The method of claim 4, wherein the electrode gain self-compensation system comprises: the method for determining the compensation coefficient described in step 7 is as follows: will k x And k y Gain value k in the factory calibration in step 1 0 Comparing to obtainTo the gain compensation factor;
k x1 = k 0 /k x ,k y1 =k 0 /k y
in the formula (k) x1 Detecting an electrode gain compensation coefficient for the x-axis;
——k y1 the electrode gain compensation factor is detected for the y-axis.
10. The method of claim 4, wherein the electrode gain self-compensation system comprises: the method for updating the compensation coefficient described in step 7 is as follows: in the subsequent working time, when the gyro control unit acquires the amplitude information from the carrier demodulation unit again, the compensation coefficient k of the x-axis detection electrode is multiplied by the amplitude information of the x-axis x1 Multiplying the amplitude information of the y-axis by the compensation coefficient k of the y-axis detection electrode y1 And the gain compensation coefficient is updated in real time.
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