CN115127533B - 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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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 mode of vibration 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 mode of vibration, the output of the 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 resonance 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 resonance gyroscope output error fitting compensation technology designed by the invention, the output precision of the resonance gyroscope can be obviously improved, and the navigation requirement of a system is met.
The technical scheme of the invention is realized, and the error fitting compensation method based on the resonance gyroscope vibration mode rotation modulation 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 establishing a model for the scale error and the drift error in the output of the resonant gyroscope in the step S1 by adopting a least square method;
s3, fixedly installing the resonant gyroscope on the single-shaft turntable, and performing forward and reverse rotation modulation to obtain output of the resonant 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 vibration 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 isWherein、、、 、For the scale error model coefficients to be calibrated,representing the resonant gyro standing wave mode angle.
In step 2, the drift error model isIn which、、And the drift error model coefficient to be calibrated.
In step S3, the rotation modulation process is:
s31, rotating the turntable to enable the resonant gyroscope rotating shaft to be superposed with the turntable outer frame shaft,
s32, making the angular speed of the resonant gyroscope in the forward rotation 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 gyroscope have the angular speed ofRecording the output of the inverted resonator gyro as;
And S34, repeating 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 output of the resonant gyroscope isIn whichIn order to resonate the angular velocity of the gyroscope,in order to resonate the 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:in whichIn order to compensate for the output of the rear resonator gyro,obtained from the raw output of the resonant gyro,and calculating the resonant gyroscope angular velocity through the scale error model and the drift error model in the step S4 and the measured resonant gyroscope standing wave vibration mode angle.
The beneficial effects of the invention are:
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 raw output of a resonator gyroscope according to the present invention;
FIG. 2 is the output curve of the resonator gyroscope after the rotating force value is removed;
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 not uniform due to eccentric clamping of a workpiece, vibration of a cutter or uneven abrasion of the cutter in the manufacturing process, the circumferential rigidity uniformity of the harmonic oscillator is influenced, and the frequency cracking is caused due to the circumferential rigidity and mass nonuniformity; in addition, there is damping in the real hemisphere resonance top harmonic oscillator, and the damping can lead to the harmonic oscillator can lose the energy when the vibration, and the kinetic energy of vibration converts heat energy into and scatters, and the amplitude attenuates gradually 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 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 are non-ideal errors of the harmonic oscillator exist, but also errors exist in the design of the relevant circuit and the force application and detection of signals of the resonant gyroscope through the electrodes, so that the mutual coupling of the force application and detection signals of 4 loops of the resonant gyroscope can be caused, and the output of the resonant gyroscope has errors.
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 resonator gyro output
In the actual resonant gyro 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 speed of the resonant gyroscope in the forward rotation 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 gyroscope have the angular speed ofRecording the output of the inverted resonator gyro as;
S34, repeating S32 and S33 for multiple times to obtain a plurality of resonant gyroscope angular velocities and corresponding resonant gyroscope outputs.
whereinIn order to resonate the 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,and calculating the angular speed of the resonant gyroscope 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 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 amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (5)
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 and the drift error in the output of the resonant gyroscope in the step S1 by adopting a least square method, wherein the scale error model isWherein、、、 、For the scale error model coefficients to be calibrated,representing the standing wave mode angle of the resonant gyroscope and the drift error model isWherein、、The drift error model coefficient to be calibrated;
s3, fixedly installing the resonant gyroscope on the single-shaft turntable, and performing forward and reverse rotation modulation to obtain output of the resonant gyroscope;
and 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: the output of the resonant gyroscope isWhereinIn order to resonate the angular velocity of the gyroscope,in order to provide a resonant gyro scale error,is the resonant gyro drift error;
and S5, compensating the output of the resonant gyroscope according to the scale error model, the drift error model and the measured resonant gyroscope standing wave vibration mode angle obtained in the S4 and the resonant gyroscope angular velocity.
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-vibration rotation modulation according to any claim 1 to 3, characterized in that in step S3, the rotation modulation process is:
s31, rotating the turntable to enable the resonant gyroscope rotating shaft to be superposed 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 gyroscope have the angular speed ofRecording the output of the inverted resonator gyro as;
And S34, repeating S32 and S33 for multiple times to obtain the output of the resonant gyroscope corresponding to the angular velocity of the resonant gyroscope.
5. The method of claim 4, wherein in step 5, the method of compensating for the resonator gyroscope output by fitting errors under resonator gyroscope mode-rotation modulation comprises:in whichIn order to compensate for the output of the rear resonator gyro,obtained from the raw output of the resonant gyro,and calculating the resonant gyroscope angular velocity through the scale error model and the drift error model in the step S4 and the measured resonant gyroscope standing wave vibration mode angle.
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CN116026298B (en) * | 2023-03-27 | 2023-06-16 | 中国人民解放军国防科技大学 | Vibration gyro measurement and control method and device based on vibration mode control |
CN116608890B (en) * | 2023-07-21 | 2023-10-13 | 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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