A Method for Obtaining Mode Shape Angle of Hemispherical Resonant Gyroscope When Errors Exist in Electrode Angle

A hemispherical resonant gyro and angle error technology, which is applied in the inertial field, can solve the problems that the hemispherical resonant gyroscope 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: 2022-05-24
HARBIN INST OF TECH
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  • 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 the angle when there is an error in the detection electrode angle, resulting in low navigation accuracy, and proposes a method for obtaining the mode angle of the hemispherical resonant gyroscope when there is an error in the electrode angle

Method used

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  • A Method for Obtaining Mode Shape Angle of Hemispherical Resonant Gyroscope When Errors Exist in Electrode Angle
  • A Method for Obtaining Mode Shape Angle of Hemispherical Resonant Gyroscope When Errors Exist in Electrode Angle
  • A Method for Obtaining Mode Shape Angle of Hemispherical Resonant Gyroscope When Errors Exist in Electrode Angle

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specific Embodiment approach 1

[0021] 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 there is an error in the electrode angle in this embodiment is as follows:

[0022] The invention proposes a method for obtaining the mode angle of the hemispherical resonant gyroscope when there is an error in the electrode angle. to identify. The method obtains an accurate angle measurement formula by identifying the electrode angle error, thereby calculating the precise mode angle of the resonator, and realizing the high-precision angle measurement of the gyroscope. The present invention can also realize the identification of the electrode angle error by extending nonlinear identification algorithms such as Kalman filtering.

[0023] Step 1, install and fix the hemispherical resonant gyroscope on the turntable, so that the sensitive axis of the gyroscope coincides with the rotation axis of the turnt...

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. like Figure 4 shown.

[0032] Other steps and parameters are the same as in the first embodiment.

specific Embodiment approach 3

[0033] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 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 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:

[0034] 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:

[0035]

[0036] 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';

[0037] 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 there is an error in the electrode angle. The invention relates to a method for acquiring the mode angle of the hemispherical resonant gyro when there is an error in the electrode angle. The purpose of the present invention is to solve the problem that the hemispherical resonant gyroscope cannot measure the angle accurately when there is an error in the angle of the detection electrode, thus resulting in low navigation accuracy. The process is: 1. Install and fix the hemispherical resonant gyro on the turntable; 2. Perform parameter excitation until the amplitude of the vibration signal of the resonator remains unchanged; 3. Collect the vibration signals detected by the 0° and 45° detection electrodes on the gyro and the turntable angle; 4. Get E, R, S; 5. Establish the angle measurement equation considering the electrode angle error; 6. Set the initial parameters for the nonlinear identification algorithm; 7. Get the estimated electrode angle error; 8. Get the electrode The mode shape angle of the hemispherical resonator gyro when there is an error in the angle. The invention is used in the field of inertia technology.

Description

technical field [0001] The invention relates to a method for obtaining the mode angle of a hemispherical resonant gyroscope when there is an error in an electrode angle, and belongs to the field of inertial technology. 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". The "three-piece set" hemispherical resonant gyroscope consists of three parts: resonator, excitation cover and detection base, and the "two-piece set" consists of resonator Substitute and electrode base. Due to the simple mechanical structure and the physical properties 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. [000...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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