CN116086485A - Hemispherical resonator gyro error force compensation method and device - Google Patents
Hemispherical resonator gyro error force compensation method and device Download PDFInfo
- Publication number
- CN116086485A CN116086485A CN202211012047.0A CN202211012047A CN116086485A CN 116086485 A CN116086485 A CN 116086485A CN 202211012047 A CN202211012047 A CN 202211012047A CN 116086485 A CN116086485 A CN 116086485A
- Authority
- CN
- China
- Prior art keywords
- force
- error
- electrostatic
- compensation
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000013016 damping Methods 0.000 claims abstract description 98
- 230000000694 effects Effects 0.000 claims abstract description 16
- 230000003068 static effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005284 excitation Effects 0.000 claims description 13
- 230000010355 oscillation Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000002441 reversible effect Effects 0.000 claims description 6
- 230000002401 inhibitory effect Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 10
- 230000036632 reaction speed Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 11
- 238000004088 simulation Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- 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
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Gyroscopes (AREA)
Abstract
The embodiment of the invention discloses a hemispherical resonator gyroscope error force compensation method and device. The method comprises the following steps: in a force balance mode, utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Golgi force to complete gyroscope error self-excitation; according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and a rate HRG scale factor and a zero offset error parameter are obtained; obtaining a non-equal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the non-equal damping error coefficient; according to the unequal damping error coefficient, the self-excitation control module generates electrostatic compensation force to act on x And (5) in the directions of the axis and the y axis, and finishing gyro error force compensation. The invention solves the problems that in the prior art, the gyroscope needs to be calibrated by a turntable again before each use, the testing environment is different from the actual use environment, the reaction speed of the gyroscope is seriously influenced, and the angular speed of the gyroscope is outputThe problem of low precision is solved, and the technical effect of improving the angular speed output precision of the gyroscope is achieved.
Description
Technical Field
The invention relates to the technical application field of inertial instruments, in particular to a hemispherical resonator gyroscope error force compensation method and device.
Background
The zero offset and other error parameters of the gyroscope can drift in the long-term storage and use processes, and the use precision of the gyroscope is seriously affected. The concrete steps are as follows: under the condition of one-time electrifying multiple groups of tests, slow drift and inconsistency of error parameters such as zero offset of a gyroscope exist; under the condition of successive or repeated power-on, error parameters show time-space dynamic rapidity, and the change rule is difficult to determine. The existing gyroscope calibration method depends on a speed experiment of an external high-precision turntable, but the method system cannot effectively solve the problems, and the gyroscope is periodically disassembled and calibrated, so that the problems of high maintenance cost, large workload, low use flexibility, low rapidity and the like exist for a single meter, and the problems are bottleneck problems of high-precision application of various gyroscopes. Recalibration of the gyroscope before each use will seriously affect the reaction speed; the difference between the test environment and the practical application environment causes the space-time dynamic rapidity of the gyroscope error parameter to cause the high precision to be difficult to maintain.
Aiming at the problems that in the prior art, the gyroscope needs to be calibrated again before each use, the testing environment is different from the actual use environment, the reaction speed of the gyroscope is seriously influenced, and the output precision of the angular speed of the gyroscope is low, the method has not been solved effectively at present.
Disclosure of Invention
The embodiment of the invention provides a hemispherical resonator gyroscope error force compensation method and device, which at least solve the problems that in the prior art, a gyroscope needs to be calibrated again before each use, the testing environment and the actual use environment are different, the reaction speed of the gyroscope is seriously influenced, and the angular speed output precision of the gyroscope is low.
According to an aspect of the embodiment of the present invention, there is provided a hemispherical resonator gyro error force compensation method, including: in the force balance mode, electrostatic driving force is utilizedThe gyroscope error self-excitation is completed by the electrostatic feedback force, the quasi-orthogonal control force and the virtual Golgi force; according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and a rate HRG scale factor and a zero offset error parameter are obtained; obtaining a non-equal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the non-equal damping error coefficient; according to the unequal damping error coefficient, the self-excitation control module generates electrostatic compensation force to act on x And (5) in the directions of the axis and the y axis, and finishing gyro error force compensation.
Optionally, in the force balance mode, using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force, and the virtual coriolis force, completing the gyroscope error self-excitation includes: executing the steps of extracting the vibration speed of the driving mode, generating virtual Golgi force and acting the virtual Golgi force on the detection mode according to a preset sequence; in the force balance mode, the driving mode is locked in the x-axis direction, the detection mode is locked in the y-axis direction, the amplitude is restrained, and the self-excitation of the gyroscope error is completed by utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual coriolis force, and the error is reflected in the electrostatic feedback force.
Optionally, obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, and obtaining the rate HRG scale factor and the zero offset error parameter includes: according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and then a single-axis positive and negative rotation calibration formula is obtained; and (3) completing static calibration by utilizing virtual angular velocity excitation according to a calibration formula to obtain a scale factor and zero offset error parameters of the rate HRG.
Further optionally, obtaining the unequal damping error coefficient according to the relationship between the scale factor and the zero offset error parameter and the unequal damping error coefficient comprises:
wherein the scale factor is SF 2 And zero offset error is B 2 K is a precession factor, τ is an oscillation damping time constant, and the unequal damping error coefficients include: unequal damping error amplitude
And principal axis deflection angle theta τ 。
Optionally, generating, by the self-excitation control module, an electrostatic compensation force according to the unequal damping error coefficient, acting on the x-axis and the y-axis directions, and completing gyro error force compensation includes: generating an electrostatic compensation force f by a self-exciting control module xs And f ys Applied to the axial directions of the electrodes at 0 degrees and 45 degrees respectively, the resonance vibration mode drift error caused by unequal damping error is restrained, and gyro error force compensation is completed, wherein the electrostatic compensation force f xs And f ys The theoretical forms of (a) include:
wherein the electrostatic compensation force is in phase with the vibration speed of the harmonic oscillator, wherein,
the vibration amplitude, omega of the resonance vibration output by the signal demodulation module d The natural vibration angular frequency of the driving mode of the harmonic oscillator tracked by the frequency phase tracking loop is +.>
Real-time phase of demodulation reference signal output for frequency phase tracking loop, < >>
Is the amplitude value of unequal damping error, theta τ Is the principal axis deflection angle.
Further, optionally, the method further comprises: after the electrostatic compensation force is applied, the hemispherical resonator gyro dynamics model is changed, wherein the changed hemispherical resonator gyro dynamics model comprises:
wherein x represents a vibration displacement signal detected in the 0-degree direction of the hemispherical resonator, y represents a vibration displacement signal detected in the 45-degree direction, and f x Electrostatic driving force applied to x-direction driving electrode, f y The electrostatic feedback force applied to the y-direction drive electrode,
and->
The coriolis force coupling term generated for the coriolis effect, K is the precession factor, τ is the oscillation decay time constant, +.>
Wherein omega 1 To simplify the natural vibration angular frequency omega of the positive axis harmonic oscillator for maximum rigidity 2 For the minimum rigidity, the natural vibration angular frequency of the harmonic oscillator on the axis is simplified, delta omega is the unequal elasticity error coefficient, and the harmonic oscillator is in the form of ++>
θ ω Is the included angle between the minimum stiffness axis and the x axis;
in the force balance mode, according to the resonance vibration mode vibration state
After the electrostatic compensation force is applied, the driving mode resonant frequency and the electrostatic driving force f x And electrostatic feedback force f y The theoretical forms of (a) include:
wherein A is the vibration amplitude, omega of the harmonic oscillator x Is the natural vibration angular frequency of the harmonic oscillator in the x direction,
real-time phase for the resonant signal.
According to another aspect of an embodiment of the present invention, there is provided a hemispherical resonator gyro error force compensation apparatus, including: the self-excitation module is used for completing the self-excitation of the gyroscope error by utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Golgi force in a force balance mode; the calibration module is used for obtaining an HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, and obtaining a rate HRG scale factor and a zero offset error parameter; the coefficient acquisition module is used for obtaining the unequal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the unequal damping error coefficient; and the compensation module is used for generating electrostatic compensation force through the self-excitation control module according to the unequal damping error coefficient, acting on the directions of the x axis and the y axis and finishing gyro error force compensation.
Optionally, the self-excitation module includes: the execution unit is used for executing the steps of extracting the vibration speed of the driving mode, generating virtual Golgi force and acting the virtual Golgi force on the detection mode according to a preset sequence; and the self-excitation unit is used for locking a driving mode in the x-axis direction, locking a detecting mode in the y-axis direction and inhibiting the amplitude, and completing the self-excitation of the gyroscope error by utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Golgi force and reflecting the error in the electrostatic feedback force.
Optionally, the calibration module includes: the formula acquisition unit is used for acquiring an HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force so as to acquire a single-axis forward/reverse rotation calibration formula; and the calibration unit is used for completing static calibration by utilizing virtual angular velocity excitation according to a calibration formula to obtain the scale factor and zero offset error parameter of the rate HRG.
Further optionally, obtaining the unequal damping error coefficient according to the relationship between the scale factor and the zero offset error parameter and the unequal damping error coefficient comprises:
wherein the scale factor is SF 2 And zero offset error is B 2 K is a precession factor, τ is an oscillation damping time constant, and the unequal damping error coefficients include: unequal damping error amplitude
And principal axis deflection angle theta τ 。
In the embodiment of the invention, under a force balance mode, the self-excitation of the gyroscope error is completed by utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Golgi force; according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and a rate HRG scale factor and a zero offset error parameter are obtained; obtaining a non-equal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the non-equal damping error coefficient; and generating electrostatic compensation force by a self-excitation control module according to the unequal damping error coefficient, and acting on the directions of the x axis and the y axis to finish gyro error force compensation. That is, the embodiment of the invention can solve the problems that in the prior art, the gyroscope needs to be calibrated by a turntable again before each use, the testing environment is different from the actual use environment, the reaction speed of the gyroscope is seriously influenced, and the output precision of the angular speed of the gyroscope is low, thereby achieving the technical effect of improving the output precision of the angular speed of the gyroscope.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic flow chart of a hemispherical resonator gyroscope error force compensation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an implementation of a hemispherical resonator gyroscope error force compensation method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control system of a rate HRG system with a self-excitation control module (function one: self-excitation angular velocity application is implemented) in a hemispherical resonator gyro error force compensation method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control system of a rate HRG system with a self-excitation control module (implementing function II: static compensation force application) in a hemispherical resonator gyro error force compensation method according to an embodiment of the present invention;
FIG. 5 is a simulation model diagram of a rate HRG control system with a self-excitation control module in a hemispherical resonator gyro error force compensation method according to an embodiment of the present invention;
FIG. 6 is a diagram of a realization of rate HRG error force compensation in a hemispherical resonator gyro error force compensation method according to an embodiment of the present invention;
FIG. 7 is a verification chart of the error force compensation effect of the rate HRG in the error force compensation method of the hemispherical resonator gyroscope according to the embodiment of the invention;
fig. 8 is a schematic diagram of a hemispherical resonator gyro error force compensation device according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and in the drawings are used for distinguishing between different objects and not for limiting a particular order.
According to an aspect of the embodiment of the present invention, a hemispherical resonator gyro error force compensation method is provided, and fig. 1 is a schematic flow chart of the hemispherical resonator gyro error force compensation method provided by the embodiment of the present invention. As shown in fig. 1, the hemispherical resonator gyro error force compensation method provided in the embodiment of the present application includes:
step S102, under a force balance mode, utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Golgi force to complete gyroscope error self-excitation;
optionally, in the force balance mode, using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force, and the virtual coriolis force, completing the gyroscope error self-excitation includes: executing the steps of extracting the vibration speed of the driving mode, generating virtual Golgi force and acting the virtual Golgi force on the detection mode according to a preset sequence; in the force balance mode, the driving mode is locked in the x-axis direction, the detection mode is locked in the y-axis direction, the amplitude is restrained, and the self-excitation of the gyroscope error is completed by utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual coriolis force, and the error is reflected in the electrostatic feedback force.
Specifically, in the hemispherical resonator gyro error force compensation method provided by the embodiment of the application, in essence, gyro drift errors caused by unequal damping errors of the harmonic oscillator in a force balance mode are reflected in electrostatic feedback force output by a force feedback control loop, and sensitive angular velocity output of a rate HRG depends on output precision of the electrostatic feedback force. In theory, there are two ways to improve the output precision of the gyroscope, namely, the self-excitation-based error self-compensation method provided by the invention is utilized to perform force compensation on the resonance vibration mode drift error so as to reduce the component of the resonance vibration mode drift error restraining force contained in the electrostatic feedback force and ensure the stable proportional relation between the electrostatic feedback force and the excitation angular velocity; in a second mode, a gyro error turntable calibration method is utilized to finish the calibration of a rate HRG scale factor and zero offset error, and algorithm compensation is carried out on electrostatic feedback force output with internal error of a gyro so as to obtain high-precision gyro sensitivityThe angular velocity is sensed to output a signal. The hemispherical resonator gyro error force compensation method provided by the embodiment of the present application corresponds to the first solution, the overall implementation flow is shown in fig. 2, fig. 2 is an execution schematic diagram of the hemispherical resonator gyro error force compensation method provided by the embodiment of the present invention, the error of the rate HRG (hemispherical resonance gyroscope, hemispherical resonator gyro) is self-excited, and the application of the virtual coriolis force on the detection mode is completed by using internal signal processing, which is equivalent to the effect of the coriolis force generated by the excitation of the external angular velocity; the HRG self-excitation is realized by three steps of extracting the driving mode vibration speed, generating the virtual coriolis force, and applying the virtual coriolis force to the detection mode. In the force balance mode, the driving mode is locked in the x-axis direction, the detecting mode is locked in the y-axis direction and the amplitude is almost suppressed to 0%
Tending to 0) so that the rate HRG error self-excitation can be achieved by only applying a driving force in the y-axis direction and reflecting the error in the electrostatic feedback force. The control scheme of the rate HRG system with the self-excitation control module (realizing function I: self-excitation angular velocity application) is shown in fig. 3, and fig. 3 is a schematic diagram of the rate HRG system control with the self-excitation control module (realizing function I: self-excitation angular velocity application) in the hemispherical resonator gyro error force compensation method according to the embodiment of the invention, and the self-excitation is utilized to apply two angular velocities omega in equal and opposite directions + And omega - Generating virtual Golgi force>
And->
Acting in the y-axis direction, the force feedback control loop applies an electrostatic feedback force +.>
And->
Suppressing the damping error component caused by the Golgi effect and the interior of the gyroVibration in the y-axis direction.
Step S104, according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and a rate HRG scale factor and a zero offset error parameter are obtained;
optionally, obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, and obtaining the rate HRG scale factor and the zero offset error parameter includes: according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and then a single-axis positive and negative rotation calibration formula is obtained; and (3) completing static calibration by utilizing virtual angular velocity excitation according to a calibration formula to obtain a scale factor and zero offset error parameters of the rate HRG.
Specifically, as shown in fig. 2, on the premise that two equal large reverse and positive/negative angular velocities are applied by using self-excitation to obtain electrostatic feedback force output under positive/negative excitation, a single-axis forward and reverse rotation method is used for calibrating the scale factor and zero offset error parameter of the rate HRG according to the rate HRG error evolution model. When calibrating model shape
When the calibration formula is used:
wherein, the liquid crystal display device comprises a liquid crystal display device,
and->
Is positive/negative self-excitation angular velocity, +.>
And->
For electrostatic feedback force output under positive/negative angular velocity excitation, +.>
And->
Is output for the corresponding electrostatic driving force.
To obtain the electrostatic feedback force f under the force balance mode y And electrostatic driving force f x In a gyro error evolution model for obtaining angular velocity output by the ratio of (2) and (2) a scale factor SF 2 And zero offset error B 2 Is a self-calibration result of (2).
Step S106, obtaining a non-equal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the non-equal damping error coefficient;
optionally, obtaining the unequal damping error coefficient according to the relationship between the scale factor and the zero offset error parameter and the unequal damping error coefficient comprises:
wherein the scale factor is SF 2 And zero offset error is B 2 K is a precession factor, τ is an oscillation damping time constant, and the unequal damping error coefficients include: unequal damping error amplitude
And principal axis deflection angle theta τ 。
Specifically, as shown in FIG. 2, the scale factor SF is determined in accordance with the rate HRG error evolution model 2 And zero offset error B 2 Non-equal damping error coefficient with harmonic oscillator
And theta τ And uses the relation of the scale factor SF 2 And zero offset error B 2 And (3) reversely solving unequal damping error coefficients according to the self-calibration result. If not using any original engineering test parameters, the working environment is performedIf harmonic oscillator unequal damping error coefficient is autonomously identified, electrostatic feedback force f can be utilized y And electrostatic driving force f x In a gyro error evolution model for obtaining angular velocity output by ratio, a scale factor SF 2 And zero offset error B 2 Is the result of the self-calibration of the harmonic oscillator and the amplitude of the unequal damping error>
And principal axis deflection angle theta τ I.e. +.>
Step S108, generating electrostatic compensation force by the self-excitation control module according to the unequal damping error coefficient, and acting on the directions of the x axis and the y axis to finish gyro error force compensation.
Optionally, generating, by the self-excitation control module, an electrostatic compensation force according to the unequal damping error coefficient, acting on the x-axis and the y-axis directions, and completing gyro error force compensation includes: generating an electrostatic compensation force f by a self-exciting control module xs And f ys Applied to the axial directions of the electrodes at 0 degrees and 45 degrees respectively, the resonance vibration mode drift error caused by unequal damping error is restrained, and gyro error force compensation is completed, wherein the electrostatic compensation force f xs And f ys The theoretical forms of (a) include:
wherein the electrostatic compensation force is in phase with the vibration speed of the harmonic oscillator, wherein,
the vibration amplitude, omega of the resonance vibration output by the signal demodulation module d The natural vibration angular frequency of the driving mode of the harmonic oscillator tracked by the frequency phase tracking loop is +.>
Real-time phase of demodulation reference signal output for frequency phase tracking loop, < >>
Is the amplitude value of unequal damping error, theta τ Is the principal axis deflection angle.
Further, optionally, the hemispherical resonator gyro error force compensation method provided in the embodiment of the present application further includes: after the electrostatic compensation force is applied, the hemispherical resonator gyro dynamics model is changed, wherein the changed hemispherical resonator gyro dynamics model comprises: comprising the following steps:
wherein x represents a vibration displacement signal detected in the 0-degree direction of the hemispherical resonator, y represents a vibration displacement signal detected in the 45-degree direction, and f x Electrostatic driving force applied to x-direction driving electrode, f y The electrostatic feedback force applied to the y-direction drive electrode,
and->
The coriolis force coupling term generated for the coriolis effect, K is the precession factor, τ is the oscillation decay time constant, +.>
Wherein omega 1 To simplify the natural vibration angular frequency omega of the positive axis harmonic oscillator for maximum rigidity 2 For the minimum rigidity, the natural vibration angular frequency of the harmonic oscillator on the axis is simplified, delta omega is the unequal elasticity error coefficient, and the harmonic oscillator is in the form of ++>
θ ω Is the included angle between the minimum stiffness axis and the x axis; />
In the force balance mode, according to the resonance vibration mode vibration state
After the electrostatic compensation force is applied, the driving mode resonant frequency and the electrostatic driving force f x And electrostatic feedback force f y The theoretical forms of (a) include:
wherein A is the vibration amplitude, omega of the harmonic oscillator x Is the natural vibration angular frequency of the harmonic oscillator in the x direction,
real-time phase for the resonant signal.
Specifically, as shown in fig. 2, the rate HRG error force compensates. By utilizing internal signal processing, the self-excitation control module generates electrostatic compensation force, acts on the directions of the x axis and the y axis, suppresses the resonance vibration mode drift error, obtains high-precision electrostatic feedback force output, ensures that the gyro zero offset error is stable and tends to 0, improves the gyro sensitive angular velocity output precision, and completes gyro error force compensation.
On the premise of obtaining the unequal damping error amplitude and the main shaft deflection angle of the harmonic oscillator, the internal signal processing is utilized, and the self-excitation control module is used for generating electrostatic compensation force f xs And f ys Applied to the directions of the x axis and the y axis, the inhibition type HRG dynamic model comprises
The resonant mode drift error component of (a), i.e
Rate HRG system control scheme with self-energizing control module (implementing function two: electrostatic compensation force application)As shown in FIG. 4, FIG. 4 is a schematic diagram of a control system of a rate HRG system with a self-excited control module (implementing function two: electrostatic compensation force application) in a hemispherical resonator gyro error force compensation method according to an embodiment of the present invention, and based on four basic control loops (amplitude control, frequency phase tracking, quasi-orthogonal control, force feedback control) in an original force balance mode, the internal resonance vibration amplitude of a control circuit board is utilized
And angular frequency omega d Signal and harmonic oscillator unequal damping error amplitude obtained by autonomous identification
And principal axis deflection angle theta τ Constructing a self-excitation control module capable of realizing electrostatic compensation force application, wherein x Applying an electrostatic compensation force in the axial direction:
applying an electrostatic compensation force in the y-axis direction:
electrostatic compensation force f xs Acting together with electrostatic compensation forces controlling the stabilization of the amplitude of the resonant vibrations x Axial direction, electrostatic compensation force f ys The y-axis direction is acted with quasi-orthogonal control force for suppressing the electrostatic feedback force of the detection mode vibration amplitude and suppressing the bad vibration caused by the non-equal elastic error of the harmonic oscillator. The application of the electrostatic compensation force can effectively control the bad vibration state of the harmonic oscillator, and the effect of inhibiting the resonance vibration mode drift error caused by the harmonic oscillator unequal damping error is achieved.
Applying the electrostatic compensation force f xs And f ys After that, the HRG dynamics model in the theoretical conventional force balance mode becomes:
in the force balance mode, there is
Substituting the vibration states (displacement, velocity, acceleration) in the x-axis and y-axis directions into the data, it is obtained,
wherein A is harmonic oscillator vibration amplitude, omega x Is that x The natural vibration angular frequency of the harmonic oscillator in the direction,
real-time phase for the resonant signal;
after the electrostatic compensation force is applied, the driving mode resonant frequency and the electrostatic driving force f are obtained x And electrostatic feedback force f y The theoretical form of (a) is as follows:
at this time, the electrostatic feedback force f y And electrostatic driving force f x No longer contains a component for suppressing unequal damping error, in using quadrature demodulation reference signals
When omega d Tend to be omega x ，/>
Tend to->
At the time of demodulating the electrostatic feedback force f y In the way of (a) when obtaining gyro-sensitive angular velocity output, < ->
Wherein->
B 1 =0. The zero offset theoretical value is 0, and the resolution precision of the gyro sensitive angular velocity is greatly improved.
In order to complete simulation verification of a rate HRG error force compensation method, the invention builds a simulation model of an HRG control system in a force balance mode by using simulink, and the simulation model comprises four basic control circuits and a self-excitation control module with self-excitation angular velocity application and electrostatic compensation force application functions, as shown in fig. 5, fig. 5 is a simulation model diagram of the rate HRG control system with the self-excitation control module in the hemispherical resonator gyro error force compensation method provided by the embodiment of the invention. In the self-excitation control module, in order to apply the self-excitation angular velocity, the amplitude control quantity in the control circuit and the demodulation reference signal frequency can be utilized to generate a virtual Golgi voltage signal, so that a virtual Golgi force signal in phase with the vibration velocity of the harmonic oscillator is generated in the control signal modulation module, and acts on the HRG dynamic model, and is equivalent to the action effect of the real Golgi force generated by external angular velocity excitation; in order to apply electrostatic compensation force, the electrostatic compensation force which is in phase with the vibration speed of the harmonic oscillator is generated in the control signal modulation module by utilizing the autonomous identification result of the harmonic oscillator parameter and combining with the reference signal in the control circuit board to respectively generate the x-axis and y-axis self-compensation voltage signals, and the electrostatic compensation force acts on the HRG dynamic model to achieve the effect of inhibiting the bad vibration of the harmonic oscillator caused by unequal damping errors.
In summary, the dynamics model of hemispherical resonator gyroscopes (HRG, hemispherical resonance gyroscope) in the examples of the present application is:
the dynamic model can represent the real working state of the hemispherical harmonic oscillator. Wherein x represents a vibration displacement signal detected in the 0-degree direction of the hemispherical resonator, y represents a vibration displacement signal detected in the 45-degree direction, and f x Electrostatic driving force applied to x-direction driving electrode, f y The electrostatic feedback force applied to the y-direction drive electrode,
and->
The coriolis force coupling term generated for the coriolis effect, K is the precession factor, Ω is the excitation angular velocity; τ is the oscillation decay time constant, +.>
Wherein τ 1 Oscillation damping time constant of harmonic oscillator on maximum and damping simple axis 2 For minimum damping, the oscillation damping time constant of the harmonic oscillator on the simple axis, < >>
Is a non-equal damping error coefficient,>
θ τ is the included angle between the maximum damping axis and the x axis, < > and the maximum damping axis>
Wherein omega 1 To simplify the natural vibration angular frequency omega of harmonic oscillator on axis for maximum rigidity 2 For the minimum rigidity, the natural vibration angular frequency of the harmonic oscillator on the axis is simplified, delta omega is the unequal elasticity error coefficient, and the harmonic oscillator is in the form of ++>
θ ω Is the angle between the minimum stiffness axis and the x-axis.
There are two ways to calculate the gyro sensitive angular velocity output, one way is to use the quadrature demodulation reference signal
When omega d Tend to be omega x ，/>
Tend to->
At the time of demodulating the electrostatic feedback force f y I.e. +.>
Wherein the scale factor->
Zero deviation->
Mode two, electrostatic feedback force f is utilized y And electrostatic driving force f x Ratio of (2), i.e.)>
Wherein the scale factor->
Zero offset
By utilizing a single-axis forward and backward rotation method and combining the rate HRG error evolution model, the gyro scale factor SF under two angular velocity calculation modes can be obtained through calibration 1 、SF 2 And zero offset error B 1 、B 2 。/>
The theoretical forms of the scale factor and zero offset error under the two angular velocity resolving modes can be seen that the unequal damping error amplitude of the harmonic oscillator
And principal axis deflection angle theta τ Form the same in two modes of solution
The scale factor is affected by harmonic non-equal damping errors and can be eliminated by means of a change in the angular velocity resolution, e.g. the scale factor SF 1 Is not affected by unequal damping errors.
In this embodiment of the present application, implementation of rate HRG error force compensation is shown in fig. 6, fig. 6 is a graph of implementation of rate HRG error force compensation in a hemispherical resonator gyro error force compensation method according to an embodiment of the present invention, and virtual coriolis force f in fig. 6 c Electrostatic feedback force f y Electrostatic drivingPower f x And electrostatic compensation force f xs ,f ys The signal curves of (a) represent the output state at the initial phase and define that the control forces applied to the resonators are all positive outwards (i.e. positive radially outwards along the equator of the resonators), the initial phase of the resonant displacement signal is in cosine form.
The embodiment of the application and the implementation process thereof are as follows:
1) applying self-excitation angular velocity shown in fig. 6 (a 1) and (a 2), obtaining virtual coriolis force shown in fig. 6 (b 1) and (b 2), electrostatic feedback force shown in fig. 6 (c 1) and (c 2) and electrostatic driving force shown in fig. 6 (c 3) and (c 4) under each state, and completing self-excitation of internal error of the gyroscope and appearance of the internal error in each electrostatic control force. Then, outputting information by using the electrostatic driving force and the electrostatic compensation force, and completing self-calibration of a calibration factor and zero offset error and inverse solution identification of a non-equal damping error coefficient in a rate HRG error evolution model in the angular velocity resolving mode, wherein convergence results of all parameters are shown in fig. 6 (d) (e) (f) (g) respectively;
2) According to the autonomous identification result of the unequal damping error amplitude of the harmonic oscillator and the principal axis deflection angle, the self-excitation control module is utilized to generate an x-axis and y-axis self-compensation voltage signal, particularly see a simulation model of fig. 5, and then static compensation force is generated, as shown in fig. 6 (h 1) (h 2), resonance vibration mode drift error generated by the unequal damping error is restrained, because the included angle between the maximum damping axis of the harmonic oscillator and the 0-degree electrode axis is 22.5 degrees, the unequal damping error between the maximum damping axis and the minimum damping axis is 3.1194e-05, under the initial phase, the static compensation force applied to the x-axis is 0N in theory, the static compensation force applied to the y-axis direction is 9.73e-06N in the direction along the radial direction of the harmonic oscillator, and in fact the static compensation force of 1e-07N magnitude is applied to the y-axis direction, as shown in fig. 6 (h 1), and the static compensation force applied to the radial direction of the harmonic oscillator is restrained to the inner direction along the harmonic oscillator equator, as shown in fig. 6 (h 2), and the application of the static compensation force can restrain the resonance vibration mode drift error to a certain extent, so that the self-excitation vibration mode drift error is realized;
3) After the rate HRG error force compensation is completed, the non-equal damping error restraining force component in the static compensation force is greatly reduced, and according to the single-axis positive and negative rotation self-calibration result of the gyro static compensation force output, zero bias error is reduced from-5.80480 degrees/h before compensation to-0.03675 degrees/h after force compensation, namely error force compensation enables the gyro to have hundred-grade angular velocity output precision.
Under the condition of multiple angular velocity input, the effect of the rate HRG error force compensation method on the improvement of the gyro output precision can be estimated according to the gyro sensitive angular velocity output conditions before and after force compensation. As can be seen from the experimental results of FIG. 7, FIG. 7 is a verification chart of the error force compensation effect of the rate HRG in the error force compensation method of the hemispherical resonator gyroscope provided by the embodiment of the invention, and the error force compensation of the hemispherical resonator gyroscope provided by the embodiment of the invention can complete self-precision improvement, and the output error of the rate HRG is reduced to a percentage (about three percent per hour).
According to the hemispherical resonator gyro error force compensation method, on the basis of completing gyro error parameter calibration and harmonic oscillator unequal damping error coefficient identification, internal signal processing is utilized, compensation force is applied through a self-excitation method, rate HRG error self-compensation is completed, so that gyro zero offset errors are stable and tend to 0 in a full life cycle, and a gyroscope keeps high-precision angular velocity output.
The hemispherical resonator gyroscope error force compensation method provided by the embodiment of the application effectively controls the bad vibration state of the harmonic oscillator by utilizing the electrostatic compensation force, reduces the component of the resonance vibration mode drift error restraining force caused by unequal damping errors contained in the electrostatic feedback force, ensures the stable proportion relation between the electrostatic feedback force and sensitive angular velocity excitation, ensures that the rate HRG zero offset error is stable and tends to 0, solves the problems that the gyroscope in the prior art needs to be calibrated again before each use, has different testing environments and actual use environments, seriously influences the response speed and leads to low angular velocity output precision of the gyroscope, and maintains the high-precision angular velocity output in the whole life cycle of the gyroscope. In the embodiment of the invention, under a force balance mode, the self-excitation of the gyroscope error is completed by utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Golgi force; according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and a rate HRG scale factor and a zero offset error parameter are obtained; obtaining a non-equal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the non-equal damping error coefficient; and generating electrostatic compensation force by a self-excitation control module according to the unequal damping error coefficient, and acting on the directions of the x axis and the y axis to finish gyro error force compensation. That is, the embodiment of the invention can solve the problems that in the prior art, the gyroscope needs to be calibrated by a turntable again before each use, the testing environment is different from the actual use environment, the reaction speed of the gyroscope is seriously influenced, and the output precision of the angular speed of the gyroscope is low, thereby achieving the technical effect of improving the output precision of the angular speed of the gyroscope.
According to another aspect of the embodiment of the present invention, there is provided a hemispherical resonator gyro error force compensation apparatus, and fig. 8 is a schematic diagram of the hemispherical resonator gyro error force compensation apparatus provided by the embodiment of the present invention, as shown in fig. 8, the hemispherical resonator gyro error force compensation apparatus provided by the embodiment of the present invention includes:
the self-excitation module 82 is configured to perform self-excitation of the gyroscope error in a force balance mode by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual coriolis force; the calibration module 84 is configured to obtain an HRG error evolution model of the sensitive angular velocity information according to a proportional relationship between the electrostatic driving force and the electrostatic feedback force, and obtain a rate HRG scale factor and a zero offset error parameter; the coefficient obtaining module 86 is configured to obtain a non-equal damping error coefficient according to the relationship between the scale factor and the zero offset error parameter and the non-equal damping error coefficient; the compensation module 88 is used for generating electrostatic compensation force through the self-excitation control module according to the unequal damping error coefficient, and acting on the x-axis and y-axis directions to complete gyro error force compensation.
Optionally, the self-excitation module 82 includes: the execution unit is used for executing the steps of extracting the vibration speed of the driving mode, generating virtual Golgi force and acting the virtual Golgi force on the detection mode according to a preset sequence; and the self-excitation unit is used for locking a driving mode in the x-axis direction, locking a detecting mode in the y-axis direction and inhibiting the amplitude, and completing the self-excitation of the gyroscope error by utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Golgi force and reflecting the error in the electrostatic feedback force.
Optionally, the calibration module 84 includes: the formula acquisition unit is used for acquiring an HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force so as to acquire a single-axis forward/reverse rotation calibration formula; and the calibration unit is used for completing static calibration by utilizing virtual angular velocity excitation according to a calibration formula to obtain the scale factor and zero offset error parameter of the rate HRG.
Further optionally, obtaining the unequal damping error coefficient according to the relationship between the scale factor and the zero offset error parameter and the unequal damping error coefficient comprises:
wherein the scale factor is SF 2 And zero offset error is B 2 K is a precession factor, τ is an oscillation damping time constant, and the unequal damping error coefficients include: unequal damping error amplitude
And principal axis deflection angle theta τ 。
In the embodiment of the invention, under a force balance mode, the self-excitation of the gyroscope error is completed by utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Golgi force; according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and a rate HRG scale factor and a zero offset error parameter are obtained; obtaining a non-equal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the non-equal damping error coefficient; and generating electrostatic compensation force by a self-excitation control module according to the unequal damping error coefficient, and acting on the directions of the x axis and the y axis to finish gyro error force compensation. That is, the embodiment of the invention can solve the problems that in the prior art, the gyroscope needs to be calibrated by a turntable again before each use, the testing environment is different from the actual use environment, the reaction speed of the gyroscope is seriously influenced, and the output precision of the angular speed of the gyroscope is low, thereby achieving the technical effect of improving the output precision of the angular speed of the gyroscope.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. The hemispherical resonant gyroscope error force compensation method is characterized by comprising the following steps of:
in a force balance mode, utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Golgi force to complete gyroscope error self-excitation;
according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and the rate HRG scale factor and zero offset error parameter are obtained;
obtaining the unequal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the unequal damping error coefficient;
and generating electrostatic compensation force through a self-excitation control module according to the unequal damping error coefficient, and acting on the directions of the x axis and the y axis to finish gyro error force compensation.
2. The hemispherical resonator gyro error force compensation method of claim 1, wherein in the force balance mode, using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force, and the virtual coriolis force, the performing the gyro error self-excitation includes:
executing extraction of driving mode vibration speed, generation of the virtual coriolis force and application of the virtual coriolis force to a detection mode according to a preset sequence;
in the force balance mode, the driving mode is locked in the x-axis direction, the detection mode is locked in the y-axis direction, and the amplitude is suppressed, and the gyroscope error self-excitation is completed and the error is reflected in the electrostatic feedback force by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual coriolis force.
3. The hemispherical resonator gyro error force compensation method according to claim 1 or 2, wherein the obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, and the obtaining the rate HRG scale factor and the zero offset error parameter includes:
according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, an HRG error evolution model of sensitive angular velocity information is obtained, and then a single-axis forward and reverse rotation calibration formula is obtained;
and completing static calibration by utilizing virtual angular velocity excitation according to the calibration formula to obtain the scale factor and zero offset error parameter of the rate HRG.
4. The hemispherical resonator gyro error force compensation method of claim 3, wherein said deriving said unequal damping error coefficients from said scale factor and said relationship of zero offset error parameters to unequal damping error coefficients comprises:
wherein the scale factor is SF 2 And zero offset error is B 2 K is a precession factor, τ is an oscillation decay time constant, and the unequal damping error coefficients include: unequal damping error amplitude
And principal axis deflection angle theta τ 。
5. The hemispherical resonator gyro error force compensation method of claim 4, wherein said generating electrostatic compensation forces by the self-excitation control module based on said unequal damping error coefficients, acting in x-axis and y-axis directions, to accomplish gyro error force compensation comprises:
generating an electrostatic compensation force f by a self-exciting control module xs And f ys Applied to the axial directions of the electrodes at 0 degrees and 45 degrees respectively, and used for restraining resonance vibration mode drift errors caused by unequal damping errors and completing the gyro error force compensation, wherein the electrostatic compensation force f xs And f ys The theoretical forms of (a) include:
wherein the electrostatic compensation force is in phase with the resonator vibration speed, wherein,
the vibration amplitude, omega of the resonance vibration output by the signal demodulation module d The natural vibration angular frequency of the driving mode of the harmonic oscillator tracked by the frequency phase tracking loop is +.>
Real-time phase of demodulation reference signal output for frequency phase tracking loop, < >>
Is the amplitude value of unequal damping error, theta τ Is the principal axis deflection angle.
6. The hemispherical resonator gyro error force compensation method of claim 5, further comprising:
after the electrostatic compensation force is applied, a hemispherical resonator gyro dynamics model is changed, wherein the changed hemispherical resonator gyro dynamics model comprises:
wherein x represents a vibration displacement signal detected in the 0-degree direction of the hemispherical resonator, y represents a vibration displacement signal detected in the 45-degree direction, and f x Electrostatic driving force applied to x-direction driving electrode, f y The electrostatic feedback force applied to the y-direction drive electrode,
and->
The coriolis force coupling term generated for the coriolis effect, K is the precession factor, τ is the oscillation decay time constant,
wherein omega 1 To simplify the natural vibration angular frequency omega of the positive axis harmonic oscillator for maximum rigidity 2 For the minimum rigidity, the natural vibration angular frequency of the harmonic oscillator on the axis is simplified, delta omega is the unequal elasticity error coefficient, and the harmonic oscillator is in the form of ++>
θ ω Is the included angle between the minimum stiffness axis and the x axis;
in the force balance mode, according to the resonance vibration mode vibration state
After the electrostatic compensation force is applied, the driving modeResonant frequency, electrostatic driving force f x And electrostatic feedback force f y The theoretical forms of (a) include:
wherein A is the vibration amplitude, omega of the harmonic oscillator x Is the natural vibration angular frequency of the harmonic oscillator in the x direction,
real-time phase for the resonant signal.
7. A hemispherical resonator gyro error force compensation apparatus, comprising:
the self-excitation module is used for completing the self-excitation of the gyroscope error by utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Golgi force in a force balance mode;
the calibration module is used for obtaining an HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, and obtaining the rate HRG scale factor and the zero offset error parameter;
the coefficient acquisition module is used for acquiring the unequal damping error coefficient according to the relation between the scale factor and the zero offset error parameter and the unequal damping error coefficient;
and the compensation module is used for generating electrostatic compensation force through the self-excitation control module according to the unequal damping error coefficient, acting on the directions of the x axis and the y axis and finishing gyro error force compensation.
8. The hemispherical resonator gyro error force compensation apparatus of claim 6, wherein the self-excitation module comprises:
the execution unit is used for executing the steps of extracting the vibration speed of the driving mode, generating the virtual Golgi force and acting the virtual Golgi force on the detection mode according to a preset sequence;
and the self-excitation unit is used for locking the driving mode in the x-axis direction in the force balance mode, locking the detection mode in the y-axis direction, inhibiting the amplitude, completing the self-excitation of the gyroscope error by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Golgi force, and reflecting the error in the electrostatic feedback force.
9. The hemispherical resonator gyro error force compensation apparatus of claim 6 or 7, wherein the calibration module comprises:
the formula acquisition unit is used for acquiring an HRG error evolution model of the sensitive angular velocity information according to the proportional relation between the electrostatic driving force and the electrostatic feedback force, so as to acquire a single-axis forward/reverse rotation calibration formula;
and the calibration unit is used for completing static calibration by utilizing virtual angular velocity excitation according to the calibration formula to obtain the scale factor and zero offset error parameter of the rate HRG.
10. The hemispherical resonator gyro error force compensation apparatus of claim 8, wherein said deriving said unequal damping error coefficients from said scale factor and said relationship of zero offset error parameters to unequal damping error coefficients comprises:
wherein the scale factor is SF 2 And zero offset error is B 2 K is a precession factor, τ is an oscillation decay time constant, and the unequal damping error coefficients include: unequal damping error amplitude
And a main partAngle of deviation theta τ 。/>
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211012047.0A CN116086485A (en) | 2022-08-23 | 2022-08-23 | Hemispherical resonator gyro error force compensation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211012047.0A CN116086485A (en) | 2022-08-23 | 2022-08-23 | Hemispherical resonator gyro error force compensation method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116086485A true CN116086485A (en) | 2023-05-09 |
Family
ID=86210860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211012047.0A Pending CN116086485A (en) | 2022-08-23 | 2022-08-23 | Hemispherical resonator gyro error force compensation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116086485A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN117029882A (en) * | 2023-10-10 | 2023-11-10 | 北京航空航天大学 | Calibration method for full-angle hemispherical resonator gyro detection gain asymmetry error |
| CN117928605A (en) * | 2024-03-20 | 2024-04-26 | 四川图林科技有限责任公司 | Error analysis method for hemispherical resonator gyro quadrature control |
| CN118010069A (en) * | 2024-04-10 | 2024-05-10 | 四川图林科技有限责任公司 | Vibration error compensation method of hemispherical resonator gyroscope |
-
2022
- 2022-08-23 CN CN202211012047.0A patent/CN116086485A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN117029882A (en) * | 2023-10-10 | 2023-11-10 | 北京航空航天大学 | Calibration method for full-angle hemispherical resonator gyro detection gain asymmetry error |
| CN117029882B (en) * | 2023-10-10 | 2023-12-22 | 北京航空航天大学 | Calibration method for full-angle hemispherical resonator gyro detection gain asymmetry error |
| CN117928605A (en) * | 2024-03-20 | 2024-04-26 | 四川图林科技有限责任公司 | Error analysis method for hemispherical resonator gyro quadrature control |
| CN117928605B (en) * | 2024-03-20 | 2024-06-11 | 四川图林科技有限责任公司 | Error analysis method for hemispherical resonator gyro quadrature control |
| CN118010069A (en) * | 2024-04-10 | 2024-05-10 | 四川图林科技有限责任公司 | Vibration error compensation method of hemispherical resonator gyroscope |
| CN118010069B (en) * | 2024-04-10 | 2024-06-11 | 四川图林科技有限责任公司 | Vibration error compensation method of hemispherical resonator gyroscope |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116086485A (en) | Hemispherical resonator gyro error force compensation method and device | |
| CN110865580B (en) | Hemispherical resonant gyroscope fully-differential control system and control method based on time division multiplexing | |
| CN111578923B (en) | Closed-loop control method and system for resonant gyroscope | |
| US7565839B2 (en) | Bias and quadrature reduction in class II coriolis vibratory gyros | |
| CN110686662B (en) | Dual-mode differential resonant gyroscope system capable of realizing online self-calibration | |
| KR102487462B1 (en) | High bandwidth coriolis vibratory gyroscope (cvg) with in-situ bias self-calibration | |
| US20070245826A1 (en) | Small Angle Bias Measurement Mechanism For MEMS Instruments | |
| CN115388910A (en) | Hemispherical resonant gyro error self-excitation method and system | |
| CN114964306A (en) | Hemispherical resonator gyroscope calibration factor and zero offset self-calibration method | |
| CN114166242B (en) | Calibration method and system for hemispherical resonator gyro detection signal non-uniformity | |
| CN115451999A (en) | Method and device for generating virtual Goldfish effect of hemispherical resonator gyroscope | |
| CN114509057A (en) | Full-angle mode control method of resonant gyroscope | |
| CN114858184A (en) | Hemispherical harmonic oscillator parameter identification method | |
| CN114383590A (en) | Phase error identification and compensation method of rate integral gyroscope | |
| Hu et al. | Control and damping imperfection compensation for a rate integrating MEMS gyroscope | |
| CN116412837A (en) | Method for generating hemispherical resonance gyro force balance mode calibration electric signal | |
| CN114370886B (en) | Full-angle mode vibration gyro measurement error self-calibration method based on virtual rotation | |
| CN116465384B (en) | Hemispherical resonator gyro drift error compensation method based on modal inversion | |
| Yin et al. | A phase self-correction method for bias temperature drift suppression of MEMS gyroscopes | |
| CN116698084A (en) | Real-time zero-bias drift suppression and zero-bias stability improvement method for symmetrical gyroscope | |
| EP3043146B1 (en) | Approach for control redistribution of coriolis vibratory gyroscope ("cvg") for performance improvement | |
| CN115077561B (en) | Method and system for adaptively compensating damping anisotropy of hemispherical harmonic oscillator | |
| US3805625A (en) | Asymmetric gyroscope | |
| Kim et al. | Drift error analysis caused by RLG dither axis bending | |
| CN116576886A (en) | Hemispherical resonator gyro damping non-uniformity identification method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |