Hemispherical resonator gyroscope sine wave amplitude phase detection method based on IIR filtering

A technology of hemispherical resonant gyro and phase detection, which is applied in the direction of speed measurement by gyro effect, gyroscope/steering sensing equipment, speed/acceleration/shock measurement, etc., to achieve the effect of small delay, low consumption of internal hardware resources, and low delay

Active Publication Date: 2022-07-29
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

The IIR digital filter has high amplitude-frequency characteristics; while the FIR filter has a linear phase delay

Method used

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  • Hemispherical resonator gyroscope sine wave amplitude phase detection method based on IIR filtering
  • Hemispherical resonator gyroscope sine wave amplitude phase detection method based on IIR filtering
  • Hemispherical resonator gyroscope sine wave amplitude phase detection method based on IIR filtering

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Embodiment Construction

[0045] In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and the best embodiments.

[0046] Based on the working principle of the hemispherical resonant gyroscope, the invention adopts the IIR filtering algorithm inside the FPGA to obtain the vibration displacement signal information of the gyroscope.

[0047] Technical solution of the present invention:

[0048] Based on the IIR filtering method of the hemispherical resonant gyroscope, the extraction of the gyro signal is realized. The implementation is as follows:

[0049] The analog signal output by the gyroscope is converted into a digital signal, and then the digital signal is multiplied and demodulated, and the double-frequency signal component is filtered out by a filter. Among them, the signal filtering link uses the IIR filter.

[0050] The advantage...

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Abstract

The invention relates to a hemispherical resonator gyroscope, in particular to a hemispherical resonator gyroscope sine wave amplitude and phase detection method based on IIR (Infinite Impulse Response) filtering, which comprises the following steps of: converting an analog signal output by the gyroscope into a digital signal, performing multiplication demodulation on the digital signal, filtering out double-frequency signal components through a signal filter, and calculating the sine wave amplitude and phase of the hemispherical resonator gyroscope. The signal filtering uses an IIR filter. According to the method, the IIR filter is adopted, the method has the characteristics of small order and small delay, the frequency doubling signal brought by demodulation is filtered based on the IIR, the delay of the signal can be reduced, and the precision of resolving the vibration displacement parameter of the gyroscope is improved. Compared with a traditional filtering algorithm based on FIR, the time delay is reduced by 10 times while the same precision and noise level are obtained, and the consumption of hardware resources in the FPGA is reduced by about 10 times.

Description

technical field [0001] The invention relates to a hemispherical resonant gyroscope, in particular to a method for detecting the amplitude and phase of a sine wave of a hemispherical resonant gyroscope based on IIR filtering. Background technique [0002] Hemispherical resonant gyroscopes are sensitive to external angular velocity based on the Coriolis effect. Compared with the traditional mechanical gyroscope, it has a simple structure. The core working components are only the quartz resonator and the electrode base, and it relies on micro-amplitude vibration to work without mechanical wear, so it has the characteristics of low cost, high reliability and long life. Although China is one of the few countries that can fully independently produce hemispheric resonant gyroscopes, there is still a gap between the performance and consistency of the gyroscopes produced by the United States, France, and Russia. The gap in the leading level requires breakthroughs in the manufacturin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C19/5691G01C19/5776H03H17/00
CPCG01C19/5691G01C19/5776H03H17/00H03H2017/009
Inventor 孙文超贾廷悦王强陈刚张海峰贾晨凯杨松普
Owner TIANJIN NAVIGATION INSTR RES INST
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