Solid-state resonant gyroscope self-calibration method and system
A resonant gyro and self-calibration technology, which is applied in the directions of instruments, navigation, surveying and navigation, etc., can solve the problems of gyroscope repeatability error and separation, achieve the effect of solving repeatability error, avoiding energy loss, and improving the accuracy of azimuth measurement
Active Publication Date: 2021-05-18
北京中科航芯科技有限责任公司
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This error is in the same phase as the Coriolis force and cannot be separated by demodulation, and due to the change of the damping imbalance error of the harmonic oscillator with time or temperature, it is also the main source of the repeatability error of the gyroscope
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[0048] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0049] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0050] Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a", "said" and "the" are also intended to include the plural forms unless the context clearly dictates otherwise.
[0051] Gothic vibratory gyroscopes are divided in...
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The invention provides a solid-state resonant gyro self-calibration method and system, which relate to the technical field of underground drilling attitude measurement, can realize the separation of zero bias error and angular rate, and fundamentally solve the problem of repeatability error; The excitation signal collects the steady-state signals of the key monitoring points inside the gyroscope in different working modes in real time, and realizes the separation of the zero bias error and the input angular rate through an algorithm, thereby calibrating the repeatability error of the gyroscope; the excitation signal includes the first and the second excitation signal; the first and second excitation signals are respectively related to the demodulated main mode detection signal D ‑x and the secondary mode detection signal D +y Combined to realize feed-in; the key monitoring points include the output point of the antinode controller and the output point of the node controller, and realize the separation of zero bias error and input angular rate according to the excitation signal and the acquisition signal of the monitoring point. The technical solution provided by the invention can be applied to a measurement-while-drilling system or a navigation system.
Description
【Technical field】 [0001] The invention relates to the technical field of attitude measurement for underground drilling, in particular to a self-calibration method and system for a solid-state resonant gyroscope. 【Background technique】 [0002] When an inertial navigation system composed of a gyroscope and an accelerometer is used for initial alignment or north-seeking, the accuracy of azimuth measurement depends on the observability component of the gyroscope constant value drift in the geographic east direction. When it is completely in the horizontal section, such as The well inclination is at 90°, in the east-west direction, the gyro output in the geographical east direction mainly comes from the Z-axis gyro (such as figure 1 As shown), because its constant value drift is unobservable, it cannot be eliminated, so that GMD (Gyro Measurement while Drilling, referred to as GMD in this paper) cannot achieve satisfactory measurement accuracy in the east-west orientation, espec...
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IPC IPC(8): G01C25/00G01C19/56G01C21/16
CPCG01C19/56G01C21/165G01C25/005
Inventor 薛旭
Owner 北京中科航芯科技有限责任公司