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Hemispherical resonator gyroscope X/Y path driving gain asymmetry and electrode non-orthogonal error identification method
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A hemispherical resonant gyro, gain asymmetry technology, applied in gyroscope/steering sensing equipment, gyro effect for speed measurement, speed/acceleration/shock measurement, etc., can solve hemispherical resonant gyroscope X/Y channel drive gain asymmetry, Error, standing wave azimuth drift control loop and other problems, to solve the standing wave azimuth drift and control loop error, improve the effect of performance
Active Publication Date: 2022-07-22
HARBIN INST OF TECH
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[0003] The purpose of this invention is to solve the problem of standing wave azimuth drift and control loop error due to the inconsistency of the X / Y two-way drive signal gain and the non-orthogonal drive electrodes problem, and propose a hemispherical resonator gyroscope X / Y channel drive gain asymmetry and electrode non-orthogonal error identification method
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specific Embodiment approach 1
[0036] Embodiment 1: A hemispherical resonant gyro X / Y channel drive gain asymmetry and electrode non-orthogonal error identification method of this embodiment, the specific process of the method is:
[0037] Step 1. Calculate the precession velocity ω according to the azimuth angle θ of the standing wave and the vibration amplitude A r ; The specific process is:
[0038]
[0039] Among them, F x , F y are the electrostatic forces applied to the x and y-axis electrodes, respectively, when k x ≠k y And the declination angle of the y-axis electrode and the orthogonal direction of the x-axis is when, F x , F y The expression is:
[0040]
[0041] where k x , k y are the gain coefficients of the x and y-axis drive circuits, respectively, G is the kinematic model of the harmonic oscillator, ω 0 is the given precession speed;
[0042] Step 2. Define H=k 0 Gω 0 , k 0 is the ideal x, y axis drive circuit gain coefficient;
[0043] And given the initial value k(0)...
specific Embodiment approach 2
[0058] Embodiment 2. The difference between this embodiment and Embodiment 1 is that the Jacobian matrix J r The expression for (i) is:
[0059]
[0060] Other steps and parameters are the same as in the first embodiment.
specific Embodiment approach 3
[0061] Embodiment 3. The difference between this embodiment and Embodiment 1 or 2 is that: according to the Jacobian matrix J r (i) Calculate the increment of the drive gain asymmetry coefficient k and the non-orthogonal declination angle of the electrodes at time i The increment of and the increment of H, which are:
[0062]
[0063] Among them, Δk(i) is the increment of the drive gain asymmetry coefficient k at time i, is the electrode non-orthogonal declination angle The increment at time i, ΔH(i) is the increment of H at time i, the superscript T represents the transpose of the matrix, and the superscript -1 represents the inverse of the matrix.
[0064] Other steps and parameters are the same as in the first or second embodiment.
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Abstract
The invention discloses a hemispherical resonator gyroscope X / Y path driving gainasymmetry and electrode non-orthogonal error identification method, and belongs to the technical field of hemispherical resonator gyroscope error parameter identification. According to the invention, the problems of standing waveazimuth angle drift and control loop error caused by inconsistent gain of X / Y two paths of driving signals and non-orthogonal driving electrodes are solved. According to the method, error parameters are identified by using an identification method on the basis of a precession speed model when a driving gain asymmetric coefficient k and an electrode non-orthogonal deflection angle exist, so that a driving gain asymmetric error coefficient and the electrode non-orthogonal deflection angle are calculated, and the problems of standing waveazimuth angle drift and control loop errors are solved; and the performance of the hemispherical resonator gyroscope is improved. The method disclosed by the invention can be applied to identifying the driving gain asymmetry of the X / Y path of the hemispherical resonatorgyroscope and the non-orthogonal error of the electrode.
Description
technical field [0001] The invention belongs to the technical field of error parameter identification of a hemispherical resonant gyroscope, and particularly relates to a method for identifying the asymmetry of X / Y channel drive gain of a hemispherical resonant gyroscope and an electrode non-orthogonal error. Background technique [0002] Hemispherical resonant gyroscope is a new generation of high-precision gyroscope developed on the basis of traditional mechanical rotor-type gyroscope and optical gyroscope. One of the high-precision inertial devices, has been widely used in aviation, aerospace, navigation and other fields. The hemispherical resonant gyroscope detects the position of the standing wave in real time through the X / Y two-way signal, and then can measure the external input angle and angular velocity. When the hemispherical resonant gyroscope works normally, the amplitude control loop is required to stabilize the vibration amplitude of the resonator, and the qua...
Claims
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