All-digital hemispherical resonator gyro frequency tracking loop based on Costas ring

Abstract

The invention relates to an all-digital hemispherical resonant gyro frequency tracking loop based on a Costas ring. A gyro electrode vibration signal sampling circuit collects vibration signals on anx electrode and a y electrode of a gyro respectively; the two paths of vibration signals are respectively subjected to multiplication phase discrimination with output signals of a sin branch and a cosbranch of a voltage-controlled oscillator through a multiplier, and then are filtered through each low-pass filter; the filtered signals are calculated by a phase error signal arithmetic unit to obtain a phase error signal, and the phase error signal is sent to a loop filter; the loop filter generates a control signal according to the input phase error signal, and the control signal adjusts the phase of the output signal of the voltage-controlled oscillator NCO, so that the phase difference between the vibration signal and the output signal is continuously reduced until the loop locking steady-state phase difference is 0; based on the Costas ring technology, the frequency tracking loop design of the full-digital hemispherical resonator gyro is realized in the FPGA, the design can improvethe precision of frequency tracking, and the frequency tracking loop has the advantages of simple structure and strong universality.

Description

technical field [0001] The invention relates to the field of digital signal processing of a hemispherical resonant gyroscope, in particular to an all-digital hemispherical resonant gyroscope frequency tracking circuit based on a Costas ring. Background technique [0002] The hemispherical resonant gyroscope is a solid vibrating gyroscope based on the Coriolis effect. It has the characteristics of high precision, long life, high reliability, small mass and small size. It has been used in aerospace, navigation, tactics and other fields. Resonant gyro has become a research hotspot in the field of inertial navigation. [0003] The hemispherical resonant gyroscope has two working modes: force balance and full angle, which can be used to measure angular velocity or angle respectively. The corresponding control circuits of the two working modes involve gyroscope signal acquisition, signal processing, filtering, amplitude control, quadrature control and frequency tracking. link. T...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the technical problems existing in the prior art, the present invention provides an all-digital hemispherical resonant gyro frequency trac

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