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A Method for Obtaining Mode Shape Angle of Hemispherical Resonator Gyroscope When the Forward Amplification Factors Are Inconsistent

A hemispherical resonant gyroscope and forward amplification technology, applied in the field of inertia, can solve the problems of the hemispherical resonant gyroscope being unable to accurately measure the angle of the carrier and reducing the navigation accuracy, so as to improve the navigation accuracy and achieve high-precision angle measurement and accuracy. high effect

Active Publication Date: 2022-05-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A Method for Obtaining Mode Shape Angle of Hemispherical Resonator Gyroscope When the Forward Amplification Factors Are Inconsistent
  • A Method for Obtaining Mode Shape Angle of Hemispherical Resonator Gyroscope When the Forward Amplification Factors Are Inconsistent
  • A Method for Obtaining Mode Shape Angle of Hemispherical Resonator Gyroscope When the Forward Amplification Factors Are Inconsistent

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specific Embodiment approach 1

[0023] Embodiment 1: Combining figure 1 This embodiment is described. The specific process of a method for obtaining the mode angle of a hemispherical resonant gyroscope when the forward amplification factor is inconsistent in this embodiment is as follows:

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

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. like Figure 4 shown.

[0034] Other steps and parameters are the same as in the first embodiment.

specific Embodiment approach 3

[0035] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that in the step 4, the reference signal v generated by the phase-locked loop is used. rc , v rs Demodulate the detected vibration signals x and y respectively to obtain the signals Cx, Sx, Cy, and Sy, and perform low-pass filtering on the signals Cx, Sx, Cy, and Sy to obtain the signals Cx', Sx', Cy', Sy ', and then combine the signals Cx', Sx', Cy', Sy' twice to obtain the E, R, S signals; the specific process is:

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

[0037]

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

[0039] The signals Cx', Sx', Cy', and Sy' are combined twice to ...

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Abstract

A method for acquiring the mode angle of a hemispherical resonant gyro when the forward amplification coefficients are inconsistent, the invention relates to a method for acquiring the mode angle of the hemispherical resonant gyroscope when the forward amplification factors are inconsistent. The purpose of the present invention is to solve the problem that the hemispherical resonant gyro cannot accurately measure information such as the angle of the carrier when the forward amplification factors are inconsistent, and the navigation accuracy rate is reduced. The process is: 1: fix the gyro on the turntable so that the sensitive axis of the gyro coincides with the rotation axis of the turntable; 2: apply excitation voltage to the excitation electrode on the gyro for parameter excitation until the amplitude of the vibration signal of the harmonic oscillator remains unchanged; 3: make The turntable rotates at a constant speed, and the vibration signals detected by the 0° and 45° electrodes on the gyro and the angle of the turntable are collected; 4: Obtain E, R, and S signals; 5: Design an extended Kalman filter and set initial parameters; 6: Estimate forward amplification Coefficient ratio; 7: Obtain the 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 obtaining the mode angle of a hemispherical resonant gyro when the forward amplification coefficients are inconsistent, and belongs to the field of inertial technology. Background technique [0002] In the 1960s, a new type of vibrating gyroscope appeared, the hemispherical resonant gyroscope. This new type of gyroscope has many advantages, such as small error, long working life and wide application fields. Not only that, compared with the traditional mechanical gyroscope, the hemispherical resonant gyroscope has fewer components and a simple structure. The core component of the hemispherical resonant gyroscope, the resonator, is made of fused silica. Due to the stable physical properties of quartz glass, the resonator not only has high reliability and long working life, but also has strong radiation resistance and is not susceptible to cosmic rays and The interference of high-energy particles is often used for a...

Claims

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Application Information

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Patent Type & Authority Patents(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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