Method for acquiring vibration mode angle of hemispherical resonator gyroscope with electrode angle error

A technology of hemispherical resonant gyroscope and acquisition method, which is applied in the field of inertia, can solve the problems that hemispherical resonant gyroscopes cannot achieve accurate angle measurement and low accuracy, and achieve the effects of improving navigation accuracy, improving measurement accuracy, and improving angle measurement accuracy

Active Publication Date: 2021-10-26
HARBIN INST OF TECH
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  • 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 the angle when there is an error in the detection el

Method used

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  • Method for acquiring vibration mode angle of hemispherical resonator gyroscope with electrode angle error
  • Method for acquiring vibration mode angle of hemispherical resonator gyroscope with electrode angle error
  • Method for acquiring vibration mode angle of hemispherical resonator gyroscope with electrode angle error

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine figure 1 Describe this embodiment. In this embodiment, a method for obtaining the mode angle of a hemispherical resonator gyro when there is an error in the electrode angle is as follows:

[0022] The invention proposes a method for acquiring the mode angle of a hemispherical resonator gyro when there is an error in the electrode angle. The method is based on an improved angle measurement equation and uses a nonlinear least square to identify. The method obtains the precise angle measurement formula by identifying the electrode angle error, thereby calculating the precise mode angle of the harmonic oscillator, and realizing the high-precision angle measurement of the gyroscope. The present invention can also realize the identification of the electrode angle error by expanding nonlinear identification algorithms such as Kalman filter.

[0023] Step 1, install and fix the hemispherical resonant gyro on the turntable so that the...

specific Embodiment approach 2

[0031] 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.

[0032] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0033] 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:

[0034] 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:

[0035]

[0036] 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;

[0037] 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 with an electrode angle error. The invention relates to the method for acquiring the vibration mode angle of the hemispherical resonator gyroscope when the electrode angle has an error. The invention aims to solve the problem of low navigation accuracy caused by the fact that the hemispherical resonator gyroscope cannot accurately measure the angle when the error exists in the angle of a detection electrode. The method comprises the following steps: 1, mounting and fixing the hemispherical resonator gyroscope on a rotary table; 2, performing parameter excitation till that the vibration signal amplitude of the harmonic oscillator is unchanged; 3, collecting vibration signals detected by the 0-degree detection electrode and the 45-degree detection electrode on the gyroscope and the angle of the rotary table; 4, obtaining E, R and S; 5, establishing an angle measurement equation considering an electrode angle error; 6, performing initial parameter setting on a nonlinear identification algorithm; 7, obtaining an estimated electrode angle error; and 8, obtaining the vibration mode angle of the hemispherical resonator gyroscope when the electrode angle has the error. The invention is used in 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 there is an error in the electrode angle, and belongs to the technical field of inertia. Background technique [0002] The gyroscope is an important inertial element that can be used to detect the angle or angular velocity of the carrier. The hemispherical resonant gyroscope has two mechanical structures: "three-piece set" and "two-piece set". Composed of sub and electrode base. Due to the simple mechanical structure and the physical characteristics of the materials, the hemispherical resonant gyroscope has the advantages of high detection accuracy, strong reliability, and long working life. It has been widely used in my country's aerospace, navigation and other military fields. [0003] According to the measurement of angular velocity or angle, the hemispherical resonant gyroscope can be divided into two working modes: force balance and full-ang...

Claims

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Application Information

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IPC IPC(8): G01C19/5776G01C25/00
CPCG01C19/5776G01C25/00
Inventor 解伟男汪昕杨奚伯齐王奇伊国兴王常虹
Owner HARBIN INST OF TECH
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