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Method for acquiring vibration mode angle of hemispherical resonator gyroscope in case of inconsistent forward amplification coefficients

A hemispherical resonant gyro and forward amplification technology, applied in the inertial field, can solve the problems that the hemispherical resonant gyroscope cannot accurately measure the angle of the carrier and reduce the accuracy of navigation, so as to improve the accuracy of navigation and realize high-precision angle measurement. high effect

Active Publication Date: 2021-08-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the hemispherical resonant gyroscope cannot accurately measure information such as the angle of the carrier when the forward magnification coefficients are inconsistent, and reduce the navigation accuracy. access method

Method used

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  • Method for acquiring vibration mode angle of hemispherical resonator gyroscope in case of inconsistent forward amplification coefficients
  • Method for acquiring vibration mode angle of hemispherical resonator gyroscope in case of inconsistent forward amplification coefficients
  • Method for acquiring vibration mode angle of hemispherical resonator gyroscope in case of inconsistent forward amplification coefficients

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specific Embodiment approach 1

[0023] Specific implementation mode one: combine figure 1 This embodiment is described. In this embodiment, a hemispherical resonator gyroscope mode angle acquisition method when the forward amplification coefficients are inconsistent is as follows:

[0024] The purpose of the present invention is to provide a method for obtaining the mode angle of the hemispherical resonator gyroscope when the forward amplification coefficients are inconsistent, and to propose an improved angle measurement method for the problem of angle measurement errors when the forward amplification coefficients of the hemispherical resonant gyroscope detection circuit are not equal. Formula, based on this formula, an extended Kalman filter is established. While rotating the gyroscope, the vibration signals collected by the 0° and 45° electrodes are demodulated, low-pass filtered, etc., and the obtained signals E, R, and S are used as extended The input of the Kalman filter realizes the identification of ...

specific Embodiment approach 2

[0033] Embodiment 2: The difference between this embodiment and Embodiment 1 is that in the step 2, the excitation electrodes are arranged on the hemispherical resonant gyroscope at intervals. Such as Figure 4 shown.

[0034] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0035] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that the reference signal v generated by the phase-locked loop is used in the step 4 rc , v rs Demodulate the detected vibration signals x and y respectively to obtain signals Cx, Sx, Cy and Sy, respectively perform low-pass filtering on the signals Cx, Sx, Cy and Sy to obtain signals Cx', Sx', Cy' and Sy ', and then combine the signals Cx', Sx', Cy', and Sy' twice to obtain E, R, and S signals; the specific process is:

[0036] The reference signal v generated by the phase-locked loop rc , v rs The detected vibration signals x and y are respectively demodulated to obtain signals Cx, Sx, Cy and Sy. The expressions are:

[0037]

[0038]The signals Cx, Sx, Cy, and Sy are low-pass filtered to filter out the double frequency in the signals Cx, Sx, Cy, and Sy respectively, and the signals Cx', Sx', Cy', and Sy' are obtained;

[0039] The signals Cx', Sx', Cy', Sy' ...

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Abstract

The invention relates to a method for acquiring a vibration mode angle of a hemispherical resonator gyroscope in case of inconsistent forward amplification coefficients, and in particular relates to the method for acquiring the vibration mode angle of the hemispherical resonator gyroscope in case of inconsistent forward amplification coefficients. The invention aims to solve the problem that the navigation accuracy is reduced because the hemispherical resonator gyroscope cannot accurately measure information such as the angle of a carrier when forward amplification coefficients are inconsistent. The method comprises the steps of 1 fixing a gyroscope on a turntable to coincide a gyroscope sensitive shaft with a turntable rotating shaft; 2 applying excitation voltage to an excitation electrode on the gyroscope to carry out parameter excitation until the amplitude of a vibration signal of a harmonic oscillator is not changed; 3 rotating the turntable at a constant speed, and collecting vibration signals detected by 0-degree and 45-degree electrodes on the gyroscope and the angle of the turntable; 4 obtaining E, R and S signals; 5 designing an extended Kalman filter and setting initial parameters; 6 estimating a forward amplification coefficient ratio; and 7 obtaining the vibration mode angle of the hemispherical resonator gyroscope when the forward amplification coefficients are inconsistent. The invention belongs to the technical field of inertia.

Description

technical field [0001] The invention relates to a method for acquiring the mode angle of a hemispherical resonant gyroscope when the forward amplification coefficients are inconsistent, and belongs to the technical field of inertia. Background technique [0002] In the 1960s, a new type of vibrating gyroscope, the hemispherical resonant gyroscope, appeared. This new type of gyroscope has many advantages, such as small error, long working life, wide application field and so on. Not only that, compared with the traditional mechanical gyroscope, the hemispherical resonant gyroscope has fewer components and a simple structure. Its head is only composed of two to three parts, and it is not easy to wear and tear, and the failure rate is very low. The resonator, the core component of the hemispherical resonator gyroscope, is made of fused quartz. Due to the stable physical properties of quartz glass, the resonator not only has high reliability and long working life, but also has s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C19/5705G01C19/5776G01C21/18
CPCG01C19/5705G01C19/5776G01C21/18
Inventor 解伟男汪昕杨孙一为奚伯齐伊国兴王常虹
Owner HARBIN INST OF TECH
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