Axisymmetric gyro zero self-compensation system and method based on in-plane mode rotation
A gyroscope, axisymmetric technology, applied in the gyroscope field, can solve problems such as limiting compensation reliability, and achieve the effect of low cost and small size
Active Publication Date: 2019-05-31
SOUTHEAST UNIV
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Problems solved by technology
However, due to the uncertainty of the relationship between the zero drift of the gyroscope and environmental factors, when using the general method for calibration compensation, it often faces the challenge of repeatability, which greatly limits the reliability of compensation.
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[0022] The technical solution of the present invention will be further introduced below in combination with specific embodiments.
[0023] The axisymmetric gyroscope zero position self-compensation system and method based on in-plane modal rotation of the present invention, the specific implementation theory is as follows:
[0024] The motion equation of the axisymmetric gyroscope harmonic oscillator with the harmonic number n can be expressed as:
[0025]
[0026] In the formula, P τ and P ω is x, y to damping main axis θ τ and the stiffness principal axis θ ω The rotation matrix;
[0027]
[0028] τ 1,2 and ω 1,2 are the time constant and resonance frequency, respectively; η is the precession coefficient. Ideally, the parameters of the two axes of the harmonic oscillator are the same, and the direction of the main axis is arbitrary; however, machining errors and environmental factors will lead to inter-axis coupling and uncontrollable main axis direction.
[00...
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The invention discloses an axisymmetric gyro zero self-compensation system based on in-plane mode rotation. The system comprises an axisymmetric harmonic oscillator, a gyroscope driving and detectingmode control subsystem and an in-plane mode rotation control system. The gyroscope driving and detecting mode control subsystem comprises a driving modal control portion and a detection modal controlportion, the driving modal control portion is configured to maintain a drive direction of harmonic oscillator worked in a resonance state, the detection modal control portion is configured to balancethe standing wave procession generated by a Coriolis effect and take the balance voltage as a measurement result of an angular speed for output. Compared to traditional IMU rotation modulation, the method does not need a rotation mechanism and extra addition of the complexity of a gyro mechanism, the size is small, and the cost is low. Compared to the known axisymmetric gyro zero bias suppressiontechnology based on modal inversion, the method does not need switching time of modal reversal to achieve the uninterrupted sensitivity to the external angular velocity.
Description
technical field [0001] The invention relates to the field of gyroscopes, in particular to an axisymmetric gyroscope zero position self-compensation system and method based on in-plane modal rotation. Background technique [0002] Gyroscope is a sensor for measuring the rotational angular velocity of an object. It is the core component in the field of inertial measurement. It has very important applications in both civilian and military fields. Especially in the military field, gyroscopes are used in increasingly intelligent weapons and equipment. is indispensable. Null drift is a key factor that gyroscopes face that deteriorates the accuracy of the gyroscope. At present, most gyroscopes use a calibration method to compensate for zero drift. However, due to the uncertainty in the relationship between the zero drift of the gyroscope and environmental factors, when using the general method for calibration compensation, it often faces the challenge of repeatability, which grea...
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IPC IPC(8): G01C25/00
Inventor 丁徐锴吕骞李宏生黄丽斌赵立业
Owner SOUTHEAST UNIV