CN115127533A - Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation - Google Patents
Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation Download PDFInfo
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- 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 resonance gyroscope, in particular to an error fitting compensation method based on resonance gyroscope vibration mode rotation modulation, which deducts the vibration mode rotation modulation rate from resonance gyroscope output according to the preset vibration mode rotation modulation rate, and the obtained residual output of the resonance gyroscope comprises external angular rate information and resonance gyroscope errors, wherein the resonance gyroscope errors are scale errors and drift errors; the method solves the output fluctuation problem of the resonance system after adopting the resonance gyroscope vibration type rotation modulation technology, effectively reduces the output fluctuation level of the resonance gyroscope through modeling compensation of periodic scale errors, periodic drift and constant errors in the resonance gyroscope output, and has obvious effect.
Description
Technical Field
The invention relates to a resonant gyroscope, in particular to an error fitting compensation method based on resonant gyroscope vibration mode rotation modulation.
Background
When the quartz hemispherical resonator gyroscope works in a full-angle mode, the vibration mode of the harmonic oscillator can precess freely when the angular rate is input from the outside, and in the process of traversing the full angle of the vibration mode, the output of the quartz hemispherical resonator gyroscope has regular drift, namely periodic drift, and regular scale error, namely periodic scale error. The periodic drift is generally in the magnitude of dozens of degrees/hour, the navigation precision of the system is greatly influenced, and the vibration mode rotation modulation of the resonant gyroscope can inhibit the influence of the periodic drift and the periodic scale factor error on the system precision.
Disclosure of Invention
The invention designs an output error fitting compensation technology under the vibration mode rotation modulation of a resonant gyroscope. Because the original output information after the vibration mode rotation modulation of the resonant gyroscope can be used for system alignment and navigation only by two-step processing, firstly, the actively applied rotation control force is removed from the output of the resonant gyroscope, and secondly, the error fitting compensation is carried out on the residual part of the output of the resonant gyroscope, so that the influence of periodic fluctuation in the output of the resonant gyroscope on the system alignment and navigation is reduced. By the adoption of the output error fitting compensation technology of the resonant gyroscope, output accuracy of the resonant gyroscope can be remarkably improved, and system navigation requirements are met.
The technical scheme for realizing the aim of the invention is an error fitting compensation method based on the vibration mode rotation modulation of the resonant gyroscope, which comprises the following steps:
s1, presetting a vibration mode rotation modulation rate, and deducting the preset vibration mode rotation modulation rate from the output of the resonant gyroscope to obtain the residual output of the resonant gyroscope, wherein the residual output of the resonant gyroscope comprises external angular rate information and a resonant gyroscope error, and the resonant gyroscope error is a scale error and a drift error;
s2, respectively modeling the scale error in the output of the resonant gyroscope in the step S1 by adopting a least square method, and modeling the drift error;
s3, fixedly installing the resonance gyroscope on the single-shaft turntable, and carrying out forward and reverse rotation modulation to obtain the output of the resonance gyroscope;
s4, substituting the output of the resonant gyroscope obtained in the step S3 into the scale error model and the drift error model established in the step S2, calibrating coefficients in the scale error model and the drift error model, and obtaining the scale error model and the drift error model;
and S5, compensating the output of the resonant gyroscope according to the scale error model and the drift error model obtained in the S4 and the measured standing wave mode angle of the resonant gyroscope.
The scale errors include periodic scale errors and constant scale errors.
The drift error includes a periodic drift error and a constant drift error.
In step 2, the scale error model isIn which、、、 、For the scale error model coefficients to be calibrated,representing the resonant gyro standing wave mode angle.
In step S3, the rotation modulation process includes:
s31, rotating the turntable to make the resonant gyroscope rotating shaft coincide with the turntable outer frame shaft,
s32, making the angular velocity of the resonant gyroscope in the positive direction of the outer frame shaft of the turntable beRecording the output of the forward rotation resonant gyro as;
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyro have the angular velocity ofRecording the output of the inverted resonator gyro as;
And S34, repeating the steps S32 and S33 for multiple times to obtain the output of the resonant gyroscope corresponding to the angular velocity of the resonant gyroscope.
In step S4, the resonator gyro outputsIn whichIn order to resonate the gyro angular velocity,in order to provide a resonant gyro scale error,is the resonant gyro drift error.
In step 5, the method for compensating the output of the resonant gyroscope comprises the following steps:whereinIn order to compensate for the output of the rear resonator gyro,obtained from the raw output of the resonant gyro,and calculating the resonant gyro angular velocity through the calibration error model and the drift error model in the step S4 and the measured resonant gyro standing wave mode angle.
The invention has the beneficial effects that:
the invention designs an output error fitting compensation technology under vibration type rotation modulation of a resonant gyroscope, solves the problem of output fluctuation of a resonant system after the vibration type rotation modulation technology of the resonant gyroscope is adopted, and effectively reduces the output fluctuation level of the resonant gyroscope through modeling compensation on periodic scale errors, periodic drift and constant errors in the output of the resonant gyroscope, and has obvious effect.
Drawings
FIG. 1 is a graph of the original output of a resonant gyroscope of the present invention;
FIG. 2 is the output curve of the resonator gyro after eliminating the rotation force value;
FIG. 3 is a graph of the output of a resonant gyroscope according to the present invention after a curve-fitting compensation scheme;
FIG. 4 is a partial enlarged view of a resonant gyroscope output curve after the use of a curve-fit compensation scheme in accordance with the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.
Establishing a resonance gyroscope complete error model according to a non-ideal harmonic oscillator and a line error thereof
The production and manufacturing process of the harmonic oscillator is limited by the current process, the circumferential mass distribution of the harmonic oscillator is uneven due to workpiece clamping eccentricity, cutter vibration or uneven cutter abrasion in the manufacturing process, the circumferential rigidity uniformity of the harmonic oscillator is influenced, and the circumferential rigidity and mass unevenness can cause frequency cracking; in addition, the actual hemispherical resonance gyro harmonic oscillator has damping, the damping can lead to harmonic oscillator can lose energy when vibrating, and the kinetic energy of vibration is converted into heat energy and is dissipated, and the amplitude attenuates gradually along with time. Meanwhile, the production and manufacturing process of the harmonic oscillator is limited by the current process, and circumferential damping of the harmonic oscillator is unequal in size. In addition, since the hemispherical resonator gyro needs to detect the vibration of the resonator and apply the excitation force control, the surface of the resonator needs to be metallized, and the uniformity of the plating film also affects the symmetry of the resonator, thereby affecting the uniformity of the circumferential damping.
In the actual operation of the resonant gyroscope, not only is an nonideal error of a harmonic oscillator present, but also an error is present in the design of the relevant circuit and the force application and detection of signals of the resonant gyroscope through the electrodes, which can cause the mutual coupling of the force application and detection signals of 4 loops of the resonant gyroscope, and thus the output of the resonant gyroscope has an error.
After the analysis by the averaging method, neglecting the second order small quantity, the following can be obtained:
wherein the content of the first and second substances,
the axis of the maximum damping value of the harmonic oscillator forms an included angle with the detection electrode axis;
the axis of the maximum harmonic oscillator frequency cracking value and the detection electrode axis form an included angle;
2) Determining periodic errors in resonant gyro output
In the actual resonant gyroscopic control process,andfor quadrature signals, in the time domain, can be written asAndsubstituting equation (1), the expression of the obtained periodic error is as follows:
periodic scale error:
periodic drift error:
constant drift error:
constant scale error:
and obtaining the expression forms of various errors of the resonant gyroscope after the vibration mode rotation modulation, and carrying out periodic error modeling fitting compensation according to the expression forms.
Establishing a resonant gyroscope output compensation model
The invention carries out online compensation on the output information of the resonant gyroscope after vibration mode rotation modulation, deducts the information from the output of the resonant gyroscope according to the preset vibration mode rotation modulation rate, and obtains the residual output of the resonant gyroscope, wherein the residual output of the resonant gyroscope comprises external angular rate information and resonant gyroscope errors, and the resonant gyroscope errors comprise periodic scale errors, periodic drift errors, constant drift errors and constant scale errors. As shown in fig. 1 and 2.
And (3) performing curve fitting by adopting a least square method, and modeling and compensating errors (periodic errors and constant errors) in the output of the resonant gyroscope. The model is as follows:
wherein, the formula (6) is a drift error model, and the formula (7) is a scale error model、、、、、、 、The undetermined coefficient is used.
The rotation modulation process comprises the following steps:
s31, after the system is started up, before the initial alignment, the rotary table is rotated to enable the resonant gyroscope rotary shaft to be superposed with the rotary table outer frame shaft,
s32, making the angular velocity of the resonant gyroscope in the positive direction of the outer frame shaft of the turntable beRecording the output of a positive rotation resonant gyro as;
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyro have the angular velocity ofRecording the output of the inverted resonator gyro as;
S34, repeating the steps S32 and S33 for multiple times to obtain multiple resonant gyro angular velocities and corresponding resonant gyro outputs.
whereinFor the resonant gyro angular velocity,in order to provide a resonant gyro scale error,is the resonant gyro drift error.
the method for compensating the output of the resonant gyroscope comprises the following steps:
in whichIn order to compensate for the output of the rear resonator gyro,obtained from the raw output of the resonant gyro,through the calibration error model and the drift error model in the step S4 and the measured resonant gyro standing wave mode angleAnd calculating the angular speed of the resonant gyroscope. The compensated output of the resonant gyroscope can be obtained by substituting the original output of the resonant gyroscope, the resonant gyroscope standing wave vibration mode angle obtained by the measurement of the resonant gyroscope and the resonant gyroscope angular velocity into a formula (8). As shown in fig. 3 and 4.
The invention designs an output error fitting compensation technology under vibration type rotation modulation of a resonant gyroscope, solves the problem of output fluctuation of a resonant system after the vibration type rotation modulation technology of the resonant gyroscope is adopted, and effectively reduces the output fluctuation level of the resonant gyroscope through modeling compensation on periodic scale errors, periodic drift and constant errors in the output of the resonant gyroscope, and has obvious effect.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. An error fitting compensation method based on resonance gyroscope vibration mode rotation modulation is characterized by comprising the following steps:
s1, presetting a vibration mode rotation modulation rate, and deducting the preset vibration mode rotation modulation rate from the output of the resonant gyroscope to obtain the residual output of the resonant gyroscope, wherein the residual output of the resonant gyroscope comprises external angular rate information and a resonant gyroscope error, and the resonant gyroscope error is a scale error and a drift error;
s2, respectively modeling the scale error in the output of the resonant gyroscope in the step S1 by adopting a least square method, and modeling the drift error;
s3, fixedly installing the resonance gyroscope on the single-shaft turntable, and carrying out forward and reverse rotation modulation to obtain the output of the resonance gyroscope;
s4, substituting the output of the resonant gyroscope obtained in the step S3 into the scale error model and the drift error model established in the step S2, calibrating coefficients in the scale error model and the drift error model, and obtaining the scale error model and the drift error model;
and S5, compensating the output of the resonant gyroscope according to the scale error model and the drift error model obtained in the S4 and the measured standing wave mode angle of the resonant gyroscope.
2. The method of claim 1, wherein the scaling errors comprise periodic scaling errors and constant scaling errors.
3. The method of claim 1, wherein the drift error comprises a periodic drift error and a constant drift error.
4. The error fitting compensation method based on resonance gyroscope mode-rotating modulation as claimed in any of claims 1 to 3, characterized in that in step 2, the scale error model isIn which、、、 、For the scale error model coefficients to be calibrated,representing the resonant gyro standing wave mode angle.
6. The method of claim 5, wherein in step S3, the rotation modulation process comprises:
s31, rotating the turntable to make the resonance gyroscope rotating shaft coincide with the turntable outer frame shaft,
s32, making the angular velocity of the resonant gyroscope in the positive direction of the outer frame shaft of the turntable beRecording the output of the forward rotation resonant gyro as;
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyro have the angular velocity ofRecording the output of the inverted resonator gyro as;
And S34, repeating the steps S32 and S33 for multiple times to obtain the output of the resonant gyroscope corresponding to the angular velocity of the resonant gyroscope.
8. The method of claim 7, wherein in step 5, the method of compensating for the resonator gyroscope output by fitting errors under resonator gyroscope mode-rotation modulation comprises:whereinIn order to compensate for the output of the rear resonator gyro,obtained from the raw output of the resonant gyro,through the calibration error model and the drift error model in the step S4 and the measured standing wave vibration mode angle of the resonant gyroscope, the resonant gyroscopeAnd (4) calculating the angular speed.
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CN116608890A (en) * | 2023-07-21 | 2023-08-18 | 中国船舶集团有限公司第七〇七研究所 | Scale error compensation method of full-angle mode hemispherical resonator gyroscope |
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