Force balance hemispherical resonator gyroscope zero drift compensation method and device, electronic equipment and computer readable storage medium

Abstract

The application discloses a force balance hemispherical resonator gyro zero drift compensation method and device, electronic equipment and computer readable storage medium, and the method comprises the steps of setting the hemispherical resonator gyro in a force balance mode, pushing the mode azimuth to a damping simple vibration axis, and making the sensitive axis of the hemispherical resonator gyro vertically upward; changing the environment temperature of the hemispherical resonator gyro; collecting the gyro circuit temperature, the measured resonant frequency and the zero drift output measurement value in real time; constructing a regression model according to each circuit temperature and the corresponding measured resonant frequency and zero drift output measurement value; solving the regression model to obtain fitting parameters; substituting the fitting parameters into a zero drift output compensation model; and calculating the compensated zero drift output value according to the zero drift output compensation model. The circuit sampling temperature reflects the amplification difference of the circuit, and the zero drift is estimated and compensated simultaneously according to the two characteristics, so that the compensated gyroscope can basically inhibit the influence of the zero drift.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial technology, and in particular to a force balance hemispherical resonator gyro zero drift compensation method and device, electronic equipment and computer readable storage medium. BACKGROUND

[0002] The hemispherical resonator gyro in the force balance mode is an angular rate sensor applied in the field of inertial navigation. Zero drift is a key factor for measuring the accuracy of the gyro, and the influence of temperature on the structural parameters and the control circuit of the gyro is an important reason for the zero drift.

[0003] The hemispherical resonator gyro mainly relies on the two-antinode vibration of the hemispherical resonator for angular rate sensitivity, which is made of high-quality factor fused quartz glass material. The physical properties of the resonator such as elastic modulus, density, thickness, radius and Poisson's ratio have a strong correlation with the resonator temperature, and these factors will cause the resonant frequency, damping coefficient and frequency splitting coefficient of the resonator to change, thereby causing the zero drift of the resonator.

[0004] The main control circuit of the hemispherical resonator gyro is mainly divided into a detection circuit and a driving circuit part, and the components thereof are greatly affected by temperature. The change of the temperature of the environment in which the hemispherical resonator gyro is located will cause the amplification of the detection circuit and the driving circuit to change, thereby causing the zero bias output in the force balance mode to drift.

[0005] The existing zero drift compensation model of the hemispherical resonator gyro often starts from a single dimension of the resonant frequency, and uses a piecewise polynomial fitting method or a BP neural network method or a particle swarm optimization algorithm to solve a complex regression model. The final compensation model has the disadvantages of poor repeatability, large compensation residual and large calculation amount, and does not have engineering practicability. SUMMARY

[0006] In view of the problems in the background art, the present application provides a force balance hemispherical resonator gyro zero drift compensation method, which reflects the physical state difference of the resonator by the resonant frequency of the resonator, reflects the amplification difference of the circuit by the circuit sampling temperature, and estimates and compensates the zero drift by the two characteristics. The compensated gyro can basically suppress the influence of zero drift. Correspondingly, the present application also provides a device for implementing the compensation method, an electronic equipment for executing the method and a computer readable storage medium.

[0007] The present application adopts the following technical solutions:

[0008] A force balance hemispherical resonator gyro zero drift compensation method, comprising the following steps:

[0009] Step 1: set the hemispherical resonator gyro in the force balance mode and push the mode azimuth angle to the damping simple vibration axis, and make the sensitive axis of the hemispherical resonator gyro vertical to the ground upward,

[0010] Step 2: change the environmental temperature of the hemispherical resonator gyro, and collect the circuit temperature T of the hemispherical resonator gyro in real time, and the measured resonance frequency f corresponding to each circuit temperature T and the zero offset output measurement value

[0011] Step 3: according to the circuit temperature T of each hemispherical resonator gyro, and the measured resonance frequency f corresponding to each circuit temperature T, the zero offset output measurement value corresponding to each measured resonance frequency f Constructing a zero offset output measurement value The regression model of the relative resonance frequency f and the circuit temperature T is solved to obtain the fitting parameter A,

[0012] Step 4: substituting the fitting parameter A into the zero offset output compensation model, and calculating the compensated zero offset output value according to the zero offset output compensation model

[0013] Optionally, the specific expression of the regression model is:

[0014]

[0015] Wherein, the fitting parameter A=[a1, a2, a3, a4, a5, a6, a7, a8].

[0016] Optionally, the regression model is discretized to obtain the specific expression of the discretized regression model:

[0017]

[0018] Wherein, Δf=f(t)―f(t―1), is the measured resonance frequency difference between two continuous sampling times t, t-1, and ΔT=T(t)―T(t-1), is the circuit temperature difference between two continuous times t, t-1.

[0019] Optionally, the specific expression of the zero offset output compensation model is:

[0020]

[0021] Wherein, Ω 地速 is the rotation speed of the earth at the latitude of the hemispherical resonator gyro, and k is the scale factor of the force balance mode of the hemispherical resonator gyro.

[0022] Optionally, in step 2, the specific operation of changing the environmental temperature of the hemispherical resonator gyro is:

[0023] The environmental temperature of the hemispherical resonator gyro is continuously decreased from room temperature to-30℃, and then continuously increased from-30℃ to 50℃, and then continuously decreased from 50℃ to-30℃.

[0024] As a general inventive concept, the application also provides a force balance hemispherical resonator gyroscope zero drift compensation device, comprising: an operation module, a temperature control module, a collection module and a solving module,

[0025] The operation module is used for setting the hemispherical resonator gyroscope in a force balance mode and pushing the mode angle to a damping simple vibration axis, and making the sensitive axis of the hemispherical resonator gyroscope vertically upward,

[0026] The temperature control module is used for changing the environmental temperature of the hemispherical resonator gyroscope and transmitting to the collection module in real time,

[0027] The collection module is used for collecting the circuit temperature T of the hemispherical resonator gyroscope in real time, and the measured resonance frequency f and the zero offset output measurement value of the hemispherical resonator gyroscope corresponding to each circuit temperature T and transmitting to the solving module and the zero offset output module,

[0028] The solving module is used for constructing the zero offset output measurement value according to the circuit temperature T of each hemispherical resonator gyroscope, the measured resonance frequency f corresponding to the circuit temperature T of each hemispherical resonator gyroscope, and the zero offset output measurement value corresponding to each measured resonance frequency f a regression model of the relative resonance frequency f and the circuit temperature T, solving the regression model to obtain the fitting parameter A, and transmitting to the zero offset output module;

[0029] The zero offset output module is used for substituting the fitting parameter into a zero offset output compensation model, and calculating the compensated zero offset output value

[0030] Optionally, the specific expression of the regression model of the zero offset output measurement value constructed by the solving module relative to the resonance frequency f and the circuit temperature T is as follows:

[0031]

[0032] Wherein, the fitting parameter A=[a1, a2, a3, a4, a5, a6, a7, a8].

[0033] Optionally, the solving module discretizes the regression model to obtain the specific expression of the discretized regression model as follows:

[0034]

[0035] Wherein, Δf=f(t)―f(t―1), is the measured resonance frequency difference value between two continuous sampling times t and t-1, and ΔT=T(t)―T(t―1), is the temperature difference between two continuous times t and t-1.

[0036] Optionally, the specific expression of the zero bias output compensation model adopted by the zero bias output module is as follows:

[0037]

[0038] Wherein, Ω 地速 is the rotation speed of the earth at the latitude where the hemispherical resonator gyroscope is located, and k is the scale factor under the force balance mode of the hemispherical resonator gyroscope.

[0039] As a general inventive concept, the present application also provides an electronic device, which comprises:

[0040] a memory for storing a computer program;

[0041] a processor for implementing the steps of the force balance hemispherical resonator gyroscope zero bias compensation method when the computer program is executed.

[0042] As a general inventive concept, the present application also provides a computer readable storage medium, which has a computer program stored thereon, and the computer program implements the steps of the force balance hemispherical resonator gyroscope zero bias compensation method when executed by a processor.

[0043] Compared with the prior art, the present application has the following advantages:

[0044] The force balance hemispherical resonator gyroscope zero bias compensation method of the present application finds the correlation between the zero bias and the resonant frequency and the temperature of the sampling circuit by continuously testing the force balance mode gyroscope under temperature cycles, establishes a regression fitting model, solves the model parameters by regression, and substitutes the regression parameters into the compensation model to realize the zero bias compensation of the gyroscope. Practice shows that the compensated gyroscope can basically inhibit the influence of the zero bias. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to make the present application easier to understand, it will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. These drawings only depict typical embodiments of the present application and should not be considered as limiting the scope of protection of the present application.

[0046] Figure 1 The flow chart of the force balance mode hemispherical resonator gyroscope zero bias compensation method of the embodiment of the present application.

[0047] Figure 2 The system block diagram of the force balance mode hemispherical resonator gyroscope zero bias compensation method of the embodiment of the present application.

[0048] Figure 3 The comparison diagram of the zero bias output results of a force balance hemispherical resonator gyroscope before and after compensation by using the method of the present application. DETAILED DESCRIPTION

[0049] Embodiments of the present application will be described below with reference to the accompanying drawings so that those skilled in the art can better understand the present application and implement it, but the embodiments listed are not intended to limit the present application, and the embodiments described below and the technical features in the embodiments can be combined with each other without conflict, wherein the same components are denoted by the same reference numerals.

[0050] Embodiment 1

[0051] As shown in Figure 1 and Figure 2 The present embodiment provides a force balance hemispherical resonator gyro zero drift compensation method, comprising the following steps:

[0052] Step 1: set the hemispherical resonator gyro in a force balance mode and push the mode angle to a damped simple vibration axis, and make the sensitive axis of the hemispherical resonator gyro vertically upward to the ground,

[0053] Step 2: change the environmental temperature of the hemispherical resonator gyro, and collect the circuit temperature T of the hemispherical resonator gyro in real time, and the measured resonance frequency f and the zero offset output measurement value corresponding to each circuit temperature T

[0054] Step 3: according to the circuit temperature T of each hemispherical resonator gyro, and the measured resonance frequency f corresponding to each circuit temperature T, and the zero offset output measurement value corresponding to each measured resonance frequency f Construct the zero offset output measurement value the regression model of the relative resonance frequency f and the circuit temperature T, solve the regression model to obtain the fitting parameter A,

[0055] Step 4: substitute the fitting parameter A into the zero offset output compensation model, and calculate the compensated zero offset output value according to the zero offset output compensation model

[0056] In the present embodiment, the specific expression of the regression model is:

[0057]

[0058] Wherein, the fitting parameter A = [a1, a2, a3, a4, a5, a6, a7, a8].

[0059] In the present embodiment, the regression model is discretized, and the specific expression of the discretized regression model is:

[0060]

[0061] Wherein, Δf=f(t)-f(t-1), is the measured resonance frequency difference between two continuous sampling time t, t-1, ΔT=T(t)-T(t-1), is the circuit temperature difference between two continuous time t, t-1.

[0062] In the embodiment, the specific expression of the zero bias output compensation model is:

[0063]

[0064] Wherein, Ω 地速 The earth rotation speed of the latitude where the hemispherical resonator gyroscope is located, k is the scale factor under the force balance mode of the hemispherical resonator gyroscope.

[0065] In step 2 of the embodiment, the specific operation of changing the environment temperature of the hemispherical resonator gyroscope is:

[0066] The environment temperature of the hemispherical resonator gyroscope is continuously decreased from room temperature to-30 DEG C, then continuously increased from-30 DEG C to 50 DEG C, and then continuously decreased from 50 DEG C to-30 DEG C.

[0067] The zero drift compensation method of the force balance hemispherical resonator gyroscope of the application characterizes the current physical state of the resonator by the resonant frequency of the resonator, increases a temperature measurement sensor chip on the circuit to measure the real-time temperature of the circuit, puts the hemispherical resonator gyroscope into a temperature box to collect the resonant frequency, the circuit temperature and the corresponding output zero bias under continuous temperature change, establishes a multi-factor fitting model and carries out regression compensation parameter calculation, and imports the program to realize zero bias output compensation.

[0068] Under different temperatures, the damping coefficient and the frequency split coefficient of the resonator will change, and the circuit amplification factor will also change accordingly, which will all cause the zero bias of the resonator to drift. The physical state difference of the resonator is reflected by the resonant frequency of the resonator, and the amplification difference of the circuit is reflected by the circuit sampling temperature, and the zero drift is estimated and compensated at the same time by the two characteristics.

[0069] The application collects the sample data in a variable temperature collection uninterrupted manner, carries out model regression fitting through continuous change of temperature and resonant frequency, and improves the accuracy of model fitting on the basis of a large amount of data samples. At the same time, the model has a certain generalization, can carry out zero drift compensation prediction calculation on the temperature and frequency combination not contained in the training data set, so that the model can be applied to various variable temperature and variable frequency scenes.

[0070] Specifically, the resonant gyro meter and the circuit are put into a temperature box, the gyro sensitive axis is vertically upward (sensitive to local ground speed, i.e. local earth rotation angular velocity), and the temperature of the temperature box is controlled to change from -30 DEG C to 50 DEG C. The force balance controlled azimuth angle is pushed to the damped simple vibration axis, which can reduce the influence of uneven damping on zero drift to the maximum extent. Due to the uncertainty of the thermal field and the non-uniformity of temperature transmission, the zero bias output of the gyro has a relatively large correlation with the temperature change rate. Considering the influence of the resonant frequency change, the resonant frequency change rate, the circuit temperature change and the circuit temperature change rate, a zero bias output measurement value is established Regression model of relative resonant frequency f and circuit temperature T

[0071]

[0072] Wherein, A = [a1, a2, a3, a4, a5, a6, a7, a8] is a regression fitting parameter to be regressed. The above model is discretized to obtain

[0073]

[0074] Wherein, Δf = f(t) - f(t-1) is the frequency deviation between two continuous sampling points, and ΔT = T(t) - T(t-1) is the circuit temperature difference between two continuous sampling points.

[0075] After N sample points are sampled, the regression parameter A is calculated by substituting the above regression model into the least square fitting.

[0076] The regression parameter A is substituted into the following compensation model to compensate the zero bias output

[0077]

[0078] Wherein, Ω 地速 is the local ground speed of the gyro during high and low temperature change, and k is the scale factor of the gyro force balance mode.

[0079] The following is a specific process of implementing zero drift compensation of a certain hemispherical resonator gyro by using the present application:

[0080] S01, the gyro is put into a temperature box, the resonator sensitive axis is vertically upward (sensitive to local ground speed, i.e. local earth rotation angular velocity), and the force balance mode is opened to control the vibration mode angle to the damped simple vibration axis.

[0081] S02, continuously and slowly change the temperature of the oven. Set the temperature to -30°C, keep for 2 hours, then increase the temperature to 50°C for 2 hours, continue to keep for 2 hours; then decrease the temperature to -30°C for 2 hours. The temperature of the oven is changed according to the above, and the temperature of the gyroscope circuit will present a process of continuously decreasing from room temperature to -30°C, then continuously increasing from -30°C to 50°C, and then continuously decreasing from 50°C to -30°C.

[0082] S03, continuously collect the resonant frequency of the resonator, the sampling circuit temperature and the force balance zero drift output value in real time until the temperature change test is completed.

[0083] S04, substitute the above collected data set into the zero offset fitting model, perform least squares regression calculation compensation parameter, and obtain the estimated parameter A.

[0084] S05, substitute the estimated parameter into the zero offset output compensation model to compensate the force balance output force.

[0085] Figure 3 For the above hemispherical gyroscope, after sampling compensation regression, the static placement compensation test is carried out, and the zero drift of the 100 second average value is compared. The sensitive angular velocity is the local ground speed. As can be seen from the figure, with the change of time, the zero drift of the uncompensated hemispherical resonator gyroscope is large, and the compensated gyroscope can basically suppress the influence of zero drift.

[0086] Embodiment 2:

[0087] The embodiment provides a force balance hemispherical resonator gyroscope zero drift compensation device, which comprises an operation module, a temperature control module, a collection module and a solving module,

[0088] The operation module is used for setting the hemispherical resonator gyroscope in a force balance mode and pushing the mode angle to a damping simple vibration axis, and making the sensitive axis of the hemispherical resonator gyroscope vertically upward to the ground,

[0089] The temperature control module is used for changing the environment temperature of the hemispherical resonator gyroscope, and transmitting to the collection module in real time,

[0090] The collection module is used for collecting the circuit temperature T of the hemispherical resonator gyroscope and the measured resonant frequency f and the zero drift output measurement value of the hemispherical resonator gyroscope corresponding to each circuit temperature T in real time and transmitting to the solving module and the zero drift output module,

[0091] The solving module is used for constructing the zero drift output measurement value according to the circuit temperature T of each hemispherical resonator gyroscope, the measured resonant frequency f corresponding to the environment temperature T of each hemispherical resonator gyroscope and the zero drift output measurement value corresponding to each measured resonant frequency f ​The regression model of the relative resonant frequency f and the circuit temperature T is solved to obtain a fitting parameter A, and the fitting parameter A is transmitted to the zero drift output module.

[0092] The zero drift output module is configured to substitute the fitting parameter into a zero drift output compensation model, and calculate a compensated zero drift output value according to the zero drift output compensation model.

[0093] In this embodiment, the solving module constructs a zero drift output measurement value The specific expression of the regression model of the relative resonant frequency f and the circuit temperature T is as follows:

[0094]

[0095] The fitting parameter A is [a1, a2, a3, a4, a5, a6, a7, a8].

[0096] In this embodiment, the solving module discretizes the regression model, and the specific expression of the discretized regression model is as follows:

[0097]

[0098] The Δf is a measured resonant frequency difference between two continuous sampling times t and t-1, and the ΔT is a circuit temperature difference between two continuous times t and t-1.

[0099] In this embodiment, the specific expression of the zero drift output compensation model used by the zero drift output module is as follows:

[0100]

[0101] The Ω 地速 is the rotation speed of the earth at the latitude where the hemispherical resonator gyroscope is located, and k is a scale factor in the force balance mode of the hemispherical resonator gyroscope.

[0102] Embodiment 3

[0103] The embodiment provides an electronic device, and the device comprises:

[0104] A memory is configured to store a computer program.

[0105] A processor is configured to execute the computer program to implement the steps of the force balance hemispherical resonator gyroscope zero drift compensation method of embodiment 1.

[0106] Embodiment 4

[0107] The embodiment 4 provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement steps of the force balance hemispherical resonator gyroscope zero drift compensation method in the embodiment 1.

[0108] The above-described embodiments are only preferred specific embodiments of the present application. The present specification uses the phrases "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" to refer to one or more embodiments according to the present disclosure. Common variations and replacements made by those skilled in the art within the technical solution of the present application should be included in the protection scope of the present application.

Claims

1. A method for zero drift compensation of a force-rebalance hemispherical resonator gyroscope, characterized in that, The method comprises the following steps: Step 1: setting the hemispherical resonator gyroscope in a force balance mode and pushing the mode azimuth angle to a damped simple vibration axis, and making the sensitive axis of the hemispherical resonator gyroscope vertically upward to the ground, Step 2: change the environmental temperature of the hemispherical resonator gyroscope, and collect the circuit temperature T of the hemispherical resonator gyroscope in real time, and the measured resonance frequency f and the zero offset output measurement value of the hemispherical resonator gyroscope corresponding to each circuit temperature T Step 3: according to the circuit temperature T of each hemispherical resonator gyroscope, and the measured resonant frequency f corresponding to the circuit temperature T of each hemispherical resonator gyroscope, the zero bias output measurement value corresponding to each measured resonant frequency f Constructing a zero bias output measurement value A regression model of the relative resonant frequency f and the circuit temperature T, solving the regression model to obtain the fitting parameter A, Step 4: substituting the fitting parameter A into the zero-bias output compensation model, and calculating the compensated zero-bias output value according to the zero-bias output compensation model 2. The force balance hemispherical resonator gyroscope zero bias compensation method of claim 1, wherein, The specific expression of the regression model is: Wherein, the fitting parameter A = [a1, a2, a3, a4, a5, a6, a7, a8].

3. The zero drift compensation method of a force-balanced hemispherical resonator gyroscope according to claim 2, characterized in that: The specific expression of the discrete regression model obtained by discretizing the regression model is: Wherein, Δf = f(t) - f(t-1), is the measured resonance frequency difference between two continuous sampling times t, t-1, and ΔT = T(t) - T(t-1), is the temperature difference between two continuous times t, t-1.

4. The method according to claim 3, wherein the zero drift compensation of the force balance hemispherical resonator gyroscope is performed by the steps of: The specific expression of the zero bias output compensation model is: where Ω 地速 is the earth rotation rate at the latitude where the hemispherical resonator gyroscope is located, and k is the scale factor in the force rebalance mode of the hemispherical resonator gyroscope.

5. The method according to any one of claims 1-4, wherein, In step 2, the specific operation of changing the environmental temperature of the hemispherical resonator gyroscope is: The environmental temperature of the hemispherical resonator gyroscope is continuously decreased from room temperature to -30℃, then continuously increased from -30℃ to 50℃, and then continuously decreased from 50℃ to -30℃.

6. A force balance hemispherical resonator gyroscope zero drift compensation device, comprising: The operation module, the temperature control module, the acquisition module and the solving module, The operation module is used for setting the hemispherical resonator gyroscope in a force balance mode and pushing the mode azimuth angle to a damped simple vibration axis, and making the sensitive axis of the hemispherical resonator gyroscope vertically upward to the ground, The temperature control module is used for changing the environmental temperature of the hemispherical resonator gyroscope and transmitting to the acquisition module in real time, The acquisition module is used for acquiring the circuit temperature T of the hemispherical resonator gyro in real time, and the measured resonance frequency f and the zero-offset output measurement value of the hemispherical resonator gyro corresponding to each circuit temperature T and transmitting to the solving module and the zero-offset output module, The solving module is configured to solve a regression model of the relative resonant frequency f and the circuit temperature T according to the circuit temperature T of each hemispherical resonator gyroscope and the measured resonant frequency f corresponding to the circuit temperature T of each hemispherical resonator gyroscope, the zero bias output measurement value corresponding to each measured resonant frequency f The regression model of the relative resonant frequency f and the circuit temperature T is constructed The regression model is solved to obtain a fitting parameter A, and the fitting parameter A is transmitted to the zero bias output module. The zero-bias output module is configured to substitute the fitting parameters into the zero-bias output compensation model, and calculate a compensated zero-bias output value according to the zero-bias output compensation model 7. The force balance hemispherical resonator gyroscope zero drift compensation device according to claim 6, wherein, Zero-bias output measurement values constructed by the solving module The specific expression of the regression model of the relative resonance frequency f versus the circuit temperature T is: Wherein, the fitting parameter A = [a1, a2, a3, a4, a5, a6, a7, a8]; The specific expression of the discrete regression model obtained by discretizing the regression model by the solving module is: Wherein, Δf = f(t) - f(t-1), is the measured resonance frequency difference between two continuous sampling times t, t-1, and ΔT = T(t) - T(t-1), is the temperature difference between two continuous times t, t-1.

8. The force balance hemispherical resonator gyroscope zero bias compensation device of claim 6, wherein, The specific expression of the zero bias output compensation model used by the zero bias output module is: where Ω 地速 is the earth rotation rate at the latitude where the hemispherical resonator gyroscope is located, and k is the scale factor in the force rebalance mode of the hemispherical resonator gyroscope.

9. An electronic device, comprising: The device comprises: A memory for storing a computer program; A processor for executing the computer program to realize the steps of the force balance hemispherical resonator gyroscope zero drift compensation method according to any one of claims 1-5.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to realize the steps of the force balance hemispherical resonator gyroscope zero drift compensation method according to any one of claims 1-5.

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