Full-angle hemispherical resonator gyroscope exciting electrode error compensation method

A technology of hemispherical resonant gyroscope and excitation electrode, which is applied in the field of gyroscope, can solve the problems of electrode gain inconsistency and error, and achieve the effect of ensuring accuracy

Active Publication Date: 2022-08-02
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

In the actual situation, due to the defects of the manufacturing process, there is an electr

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  • Full-angle hemispherical resonator gyroscope exciting electrode error compensation method
  • Full-angle hemispherical resonator gyroscope exciting electrode error compensation method
  • Full-angle hemispherical resonator gyroscope exciting electrode error compensation method

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Embodiment Construction

[0021] A full-angle hemispherical resonant gyroscope excitation electrode error compensation method, the specific process is as follows figure 1 shown, it includes the following steps:

[0022] S1: Put the gyro in a static environment;

[0023] S2: Periodically give a pulse signal P to the quadrature loop, so that the quadrature control force of the gyro becomes , while changing the gain difference between the excitation A electrode and the excitation Q electrode , to expand the control force provided by the excitation A electrode times, and in real time will correspond to and The value is transmitted to the frequency tracking loop;

[0024] S3: Frequency tracking loop based on and value, record the frequency tracking loop output of the next gyro control cycle after the kth pulse signal is applied ;

[0025] S4: Recall the pre-stored reference frequency tracking loop output , and will minus , to get the corresponding perturbation value , and will The...

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Abstract

The invention relates to the technical field of gyroscopes, in particular to a full-angle hemispherical resonator gyroscope exciting electrode error compensation method, which comprises the following steps of: placing a gyroscope in a static environment, periodically giving an orthogonal loop pulse signal P, changing an orthogonal control force of the gyroscope, and changing a gain difference and a frequency tracking loop according to a sum value, the output of the frequency tracking loop of the next gyro control period after the kth pulse signal is applied is recorded and subtracted to obtain a corresponding disturbance value, and the upper computer controls the orthogonal control force provided by the excitation A electrode to be multiplied according to the value corresponding to the minimum disturbance value. The method provided by the invention can effectively eliminate the inconsistent gain error of the excitation electrode, so that the precision of the gyroscope is ensured.

Description

technical field [0001] The present invention relates to the technical field of gyroscopes, in particular to a method for compensating errors of excitation electrodes of a full-angle hemispherical resonant gyroscope. 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. Compared with optical gyroscopes, it has a better cost, size, mass and power ratio (C-SWaP). The hemispherical resonant gyroscope uses discrete electrodes to control the standing wave of the gyroscope resonator, and the gain between the excitation electrodes is required to be consistent in the control model. In practical...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 唐明浩王兴岭贾廷悦杨松普
Owner TIANJIN NAVIGATION INSTR RES INST
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