A Standing Wave Angular Rate Error Compensation Method, Device, Equipment and Storage Medium

Abstract

The present application discloses a standing wave angular rate error compensation method, device, equipment and storage medium, relating to the technical field of error compensation, including: obtaining a two-dimensional vibration equation corresponding to a resonator; obtaining a target standing wave angular rate error formula corresponding to the resonator based on the two-dimensional vibration equation, the driving electrode error and the detection electrode error corresponding to the resonator; controlling the resonator to rotate at different target speeds, obtaining the variation relationship of the standing wave angular rate error corresponding to the resonator with each target speed during the rotation process, and compensating the standing wave angular rate according to the target standing wave angular rate error formula and the variation relationship; wherein, the standing wave angular rate error includes the error generated when the resonator rotates under the condition of not less than the target speed. By compensating the error generated when the resonator rotates under the condition of not less than the target speed, the problem of output angle or angular rate distortion is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of error compensation, and particularly relates to a standing wave angular rate error compensation method, device, equipment and storage medium. Background Art

[0002] When a Coriolis vibrating gyro operates at a relatively high rotational speed, errors that could originally be ignored when operating at a static or low rotational speed will become non-negligible. For example, when operating at a relatively high rotational speed, the frequency splitting of the Coriolis vibrating gyro will change, and the residual orthogonal error after error compensation may also increase, etc., resulting in the appearance of some originally ignorable errors, that is, additional errors compared to the state when operating at a static or low rotational speed. The above phenomena exist when the Coriolis vibrating gyro operates at a high speed, and the greater the external rotational speed, the more obvious the impact of the additional error will be, making the output angle or angular rate signal of the gyro distorted when operating at a relatively high rotational speed.

[0003] Currently, for the error compensation of the Coriolis vibrating gyro, only specific errors of the Coriolis vibrating gyro, such as phase error, orthogonal error, electrode error, and damping error, are calibrated and compensated, without considering the additional error problems caused by changes in frequency splitting, orthogonal error residue, etc. when operating at a high rotational speed. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a standing wave angular rate error compensation method, device, equipment and storage medium, which can compensate for the errors generated when the resonator rotates under the condition of not less than the target rotational speed, and solve the problem of distorted output angular rate. The specific solutions are as follows:

[0005] In a first aspect, the present application provides a standing wave angular rate error compensation method, including:

[0006] Obtain the two-dimensional vibration model of the resonator corresponding to the target Coriolis vibrating gyro, and obtain the two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator;

[0007] Based on the two-dimensional vibration equation, the driving electrode error corresponding to the resonator, and the detection electrode error, obtain the target standing wave angular rate error formula corresponding to the resonator; wherein, the target standing wave angular rate error formula is an error formula obtained after error compensation for the driving electrode error and the detection electrode error, and the driving electrode error and the detection electrode error are errors generated during the electrode assembly process of the resonator;

[0008] Control the resonator to rotate at different target speeds, obtain the variation relationship of the standing wave angular rate error corresponding to the resonator during the rotation process with respect to each of the target speeds, and perform error compensation on the standing wave angular rate corresponding to the resonator according to the target standing wave angular rate error formula and the variation relationship; wherein, the standing wave angular rate error includes the error generated when the resonator rotates under the condition of not less than the target speed.

[0009] Optionally, the obtaining of the two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator includes:

[0010] Construct a resonator coordinate system corresponding to the resonator based on the two-dimensional vibration model of the resonator, and perform calculations on the resonator coordinate system and the two-dimensional vibration model of the resonator to obtain the two-dimensional vibration equation corresponding to the resonator.

[0011] Optionally, the obtaining of the target standing wave angular rate error formula corresponding to the resonator based on the two-dimensional vibration equation, the driving electrode error corresponding to the resonator, and the detection electrode error includes:

[0012] Analyze the resonator states with the driving electrode error and without the detection electrode error and the resonator states with the detection electrode error and without the driving electrode error to obtain corresponding first and second analysis results;

[0013] Based on the first analysis result, the second analysis result, and the two-dimensional vibration equation, obtain the initial standing wave angular rate error formula when the driving electrode error and the detection electrode error exist simultaneously, and obtain the target standing wave angular rate error formula corresponding to the resonator according to the initial standing wave angular rate error formula.

[0014] Optionally, the obtaining of the initial standing wave angular rate error formula when the driving electrode error and the detection electrode error exist simultaneously based on the first analysis result, the second analysis result, and the two-dimensional vibration equation includes:

[0015] Obtain the frequency splitting state corresponding to the resonator, and based on the frequency splitting state, the two-dimensional vibration equation, the first analysis result, and the second analysis result, obtain the initial standing wave angular rate error formula when the driving electrode error and the detection electrode error exist simultaneously.

[0016] Optionally, the controlling the resonator to rotate at different target speeds includes:

[0017] Set the rotation speed of the preset rate turntable to the target rotation speed, fix the target Coriolis vibrating gyro on the preset rate turntable, and use the preset rate turntable to drive the resonator in the target Coriolis vibrating gyro to rotate at the target rotation speed.

[0018] Optionally, the obtaining the variation relationship of the standing wave angular rate error corresponding to the resonator during the rotation process with respect to each of the target rotation speeds includes:

[0019] Perform data fitting on the standing wave angular rate error based on the target data fitting method and the standing wave angle corresponding to the resonator to obtain the corresponding relationship between the standing wave angular rate error and the standing wave angle;

[0020] Obtain the fitting parameters corresponding to the standing wave angular rate error according to the corresponding relationship, and obtain the variation relationship based on the fitting parameters.

[0021] Optionally, the performing error compensation on the standing wave angular rate corresponding to the resonator according to the target standing wave angular rate error formula and the variation relationship includes:

[0022] Establish a multiple linear regression equation based on the variation relationship and each of the target rotation speeds, analyze the multiple linear regression equation by using the multiple linear stepwise regression analysis method, and perform error compensation on the standing wave angular rate corresponding to the resonator according to the corresponding third analysis result and the target standing wave angular rate error formula.

[0023] In a second aspect, the present application provides a standing wave angular rate error compensation device, including:

[0024] A vibration equation acquisition module, configured to acquire a two-dimensional vibration model of a resonator corresponding to a target Coriolis vibrating gyro, and obtain a two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator;

[0025] An error formula acquisition module, configured to obtain a target standing wave angular rate error formula corresponding to the resonator based on the two-dimensional vibration equation, the driving electrode error corresponding to the resonator, and the detection electrode error; wherein, the target standing wave angular rate error formula is an error formula obtained after error compensation for the driving electrode error and the detection electrode error, and the driving electrode error and the detection electrode error are errors generated during the electrode assembly process of the resonator;

[0026] An error compensation module is used to control the resonator to rotate at different target speeds, obtain the variation relationship of the standing wave angular rate error corresponding to the resonator during rotation with respect to each of the target speeds, and perform error compensation on the standing wave angular rate corresponding to the resonator according to the target standing wave angular rate error formula and the variation relationship; wherein, the standing wave angular rate error includes the error generated when the resonator rotates under the condition of not less than the target speed.

[0027] In a third aspect, the present application provides an electronic device, including:

[0028] A memory for storing a computer program;

[0029] A processor for executing the computer program to implement the foregoing standing wave angular rate error compensation method.

[0030] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, and when the computer program is executed by a processor, the foregoing standing wave angular rate error compensation method is implemented.

[0031] The present application first obtains a two-dimensional vibration model of the resonator corresponding to the target Coriolis vibration gyroscope, and obtains a two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator. Then, based on the two-dimensional vibration equation, the driving electrode error and the detection electrode error corresponding to the resonator, a target standing wave angular rate error formula corresponding to the resonator is obtained; wherein, the target standing wave angular rate error formula is an error formula obtained after error compensation for the driving electrode error and the detection electrode error, and the driving electrode error and the detection electrode error are errors generated during the electrode assembly process of the resonator. Finally, the resonator is controlled to rotate at different target speeds, and the variation relationship of the standing wave angular rate error corresponding to the resonator during rotation with respect to each of the target speeds is obtained, and error compensation is performed on the standing wave angular rate corresponding to the resonator according to the target standing wave angular rate error formula and the variation relationship; wherein, the standing wave angular rate error includes the error generated when the resonator rotates under the condition of not less than the target speed. It can be seen that by obtaining the target standing wave angular rate error formula obtained after error compensation for the driving electrode error and the detection electrode error, the present application enables the additional error generated due to the rotation speed being greater than the target speed during the rotation process of the resonator to be calibrated in the form of an angular rate formula, and the additional error in the form of an angular rate can be compensated for the output angle or angular rate signal, so that the output angle or angular rate signal is more accurate, and the problem of signal distortion of the output angle or angular rate caused by ignoring the additional error generated during the rotation process of the resonator is avoided. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0033] Figure 1 Flowchart of a standing wave angular rate error compensation method provided by an embodiment of the present application;

[0034] Figure 2 Schematic diagram of a coordinate system of a resonator provided by an embodiment of the present application;

[0035] Figure 3 Schematic diagram of an electrode driving force provided by an embodiment of the present application;

[0036] Figure 4 Schematic diagram of the vibration displacement of a resonator provided by an embodiment of the present application;

[0037] Figure 5 Schematic diagram of the structure of a standing wave angular rate error compensation device provided by an embodiment of the present application;

[0038] Figure 6 Structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0040] Currently, the error compensation method for a Coriolis vibration gyro ignores the errors generated by the resonator in the gyro during high-speed rotation, resulting in the problem of distortion of the output angle or angular rate signal of the gyro. For this reason, the present application provides a standing wave angular rate error compensation method, which compensates for the additional errors generated by the gyro during high-speed rotation, avoiding the problem of distortion of the output angle or angular rate signal.

[0041] See Figure 1 As shown, the embodiments of the present invention disclose a standing wave angular rate error compensation method, including:

[0042] Step S11, obtain a two-dimensional vibration model of the resonator corresponding to the target Coriolis vibration gyro, and obtain the two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator.

[0043] In this embodiment, the process of obtaining the two-dimensional vibration equation corresponding to the harmonic oscillator according to the two-dimensional vibration model of the harmonic oscillator may specifically include: constructing a harmonic oscillator coordinate system corresponding to the harmonic oscillator based on the two-dimensional vibration model of the harmonic oscillator, and calculating the harmonic oscillator coordinate system and the two-dimensional vibration model of the harmonic oscillator to obtain the two-dimensional vibration equation corresponding to the harmonic oscillator. It should be noted that the vibration process of the Coriolis vibration gyro harmonic oscillator can be characterized by a two-dimensional vibration mass block model, that is, the above-mentioned two-dimensional vibration model of the harmonic oscillator. By constructing a coordinate system for the two-dimensional vibration model of the harmonic oscillator, a harmonic oscillator coordinate system can be obtained. Usually, the harmonic oscillator coordinate system formed by the X-axis vibration direction and the Y-axis vibration direction of the harmonic oscillator separated by 45° is expanded into a vertical coordinate system, that is, the harmonic oscillator coordinate system analyzes the vibration displacement of the harmonic oscillator to obtain the two-dimensional vibration equation corresponding to the harmonic oscillator. See Figure 2 as shown in Figure 2 FIG. 6 is a harmonic oscillator coordinate system provided by an embodiment of the present application. The elliptical trajectory represents the Lissajous curve formed by the vibration displacements of the harmonic oscillator in the X-axis and Y-axis directions separated by 45°. Among them, represents the semi-major axis length of the elliptical trajectory, represents the semi-minor axis length of the elliptical trajectory, represents the resultant force in the major axis direction of the elliptical trajectory, represents the resultant force in the minor axis direction of the elliptical trajectory, represents the electrode driving force in the X-axis direction, represents the electrode driving force in the Y-axis direction, represents the standing wave azimuth angle, represents the phase, represents the angular frequency, represents the time, represents the externally input angular rate. The thick lines in the figure respectively represent the electrodes corresponding to the X-axis direction and the Y-axis direction separated by 45°. It can be understood that the harmonic oscillator is the core component of the Coriolis vibration gyro, and its performance directly determines the working performance of the gyro. Since the Coriolis vibration gyro harmonic oscillator often operates in the second-order four-wave belly vibration mode, the standing wave angles between the two vibration modes of the harmonic oscillator coordinate system are separated by 45 degrees. For the convenience of theoretical analysis, it is often expanded into a rectangular coordinate system for theoretical derivation and substituted into the analysis in the form of twice the standing wave azimuth angle, that is, the interval between the coordinate systems is changed from 45 degrees to 90 degrees. Through analysis, the following two-dimensional vibration equation set (1) of the harmonic oscillator at full speed can be obtained:

[0044] ;

[0045] where x represents the vibration displacement in the X-axis direction, y represents the vibration displacement in the Y-axis direction, is the included angle between the frequency main axis of the harmonic oscillator and the electrode direction, is the angle between the damped main shaft and the 0° electrode direction, and k represents the scale factor, that is, the ratio between the standing wave angular rate and the external input angular rate. k is a constant, such as k = 0.27, represents the centrifugal coefficient, that is, the ratio between the centrifugal force received by the harmonic oscillator and the square of the external input angular rate, is a constant, for example , represents the first derivative of x, represents the second derivative of x, represents the first derivative of y, represents the second derivative of y, represents the external input angular rate (i.e., the target rate of rotation of the turntable), represents the decay time, represents the damping error, represents the frequency splitting.

[0046] By calculating the two-dimensional vibration model of the harmonic oscillator and the coordinate system of the harmonic oscillator, the corresponding two-dimensional vibration equation set of the harmonic oscillator is obtained. By using the two-dimensional vibration equation set for subsequent error calculation, the reliability of error compensation is ensured.

[0047] Step S12: Obtain the target standing wave angular rate error formula corresponding to the harmonic oscillator based on the two-dimensional vibration equation, the driving electrode error corresponding to the harmonic oscillator, and the detection electrode error; wherein, the target standing wave angular rate error formula is the error formula obtained after error compensation for the driving electrode error and the detection electrode error, and the driving electrode error and the detection electrode error are the errors generated during the electrode assembly process of the harmonic oscillator.

[0048] In this embodiment, when represents the in-phase component of displacement, represents the quadrature component of displacement, the x and y results in the aforementioned two-dimensional vibration equation set can be expressed as Equation (2), where Equation (2) is as follows:

[0049] ;

[0050] Among them, represents the coefficient of the in-phase component (cosine component) of x, represents the coefficient of the quadrature component (sine component) of x, represents the coefficient of the in-phase component (cosine component) of y, represents the coefficient of the quadrature component (sine component) of y. Thus, Equation (3) can be obtained, where Equation (3) is as follows:

[0051] ;

[0052] Since the magnitude of the detected displacement needs to be obtained by demodulating the detection signal during the driving and detection of the gyroscope, the above-mentioned , , , are also referred to as the signal demodulation amount. It can be understood that x and y should satisfy the elliptical trajectory shown in Figure 1 , and and are the lengths of the semi-major axis and semi-minor axis of the ellipse respectively. Then, using to represent the resultant force in the major axis direction of the elliptical trajectory, and to represent the resultant force in the minor axis direction of the elliptical trajectory, represents the driving force of the electrode in the X-axis direction, represents the driving force of the electrode in the Y-axis direction. Thus, Equation (4) is obtained, where Equation (4) is as follows:

[0053] ;

[0054] Among them, is the phase control force that can change the vibration phase, is the amplitude control force used to maintain the amplitude of the resonator, is the orthogonal control force used to suppress frequency splitting, is the control force used to maintain the standing wave azimuth angle in the force balance mode or apply virtual rotation in the full angle mode. From Equation (4), it can be seen that assuming , and A is an auxiliary parameter, then , and the above equation satisfies Equation (5), where Equation (5) is as follows:

[0055] ;

[0056] In this embodiment, the process of obtaining the target standing wave angular rate error formula corresponding to the resonator based on the two-dimensional vibration equation, the driving electrode error and the detection electrode error corresponding to the resonator may specifically include: analyzing the resonator states with driving electrode errors and no detection electrode errors and the resonator states with detection electrode errors and no driving electrode errors to obtain corresponding first analysis results; obtaining the initial standing wave angular rate error formula with both driving electrode errors and detection electrode errors based on the first analysis results and the two-dimensional vibration equation, and obtaining the target standing wave angular rate error formula corresponding to the resonator according to the initial standing wave angular rate error formula; specifically, first consider the case where there are driving electrode errors but no detection electrode errors, that is, the case where all other errors except the detection electrode error exist. Since the major axis , minor axis , standing wave azimuth angle and phase in Equation (2) with respect to the angular frequency They are all slow variables. Assume that the actual vibration displacement satisfies: ;

[0057] Therefore, its original vibration displacement in the harmonic oscillator coordinate system satisfies Equation (6), where Equation (6) is as follows:

[0058] ;

[0059] Taking the derivative of formula (6) with respect to time gives formula (7), where formula (7) is as follows:

[0060] ;

[0061] Taking the derivative of (7) again gives formula (8), where formula (8) is as follows:

[0062] ;

[0063] Furthermore, from Equation (5), since generally is 0, the actually applied driving force can be simplified to formula (9), where formula (9) is as follows:

[0064] ;

[0065] Assume that the X-axis direction is taken as the reference direction, and the driving electrode of the actually applied driving force coincides with the X-axis direction, and its driving gain coefficient is 1. While for the driving electrode of the actually applied driving force, there is a driving electrode error angle with the Y-axis direction and a driving gain error coefficient . See Figure 3 as shown. Figure 3 This is a schematic diagram of the driving force applied by a driving electrode provided by an embodiment of the present application. From Figure 3 it can be seen that the equivalent driving force , and the driving force actually applied through the driving electrode should satisfy the corresponding relationship as shown in formula (10), where formula (10) is as follows:

[0066] ;

[0067] According to formula (10), for the vibration coordinate system, the equivalent driving force used for vibration model analysis should be formula (11), where formula (11) is as follows:

[0068] ;

[0069] Substitute Equations (6), (7), (8) and (11) into the vibration equation of Equation (1). By using the harmonic balance (the coefficients on both sides of the equation are equal), Equation (12) can be obtained. Equation (12) is as follows: and the coefficients in front are equal), Equation (12) can be obtained. Equation (12) is as follows:

[0070] ;

[0071] Solving Equation (12) can obtain Equation (13). Equation (13) is as follows:

[0072] ;

[0073] The above analysis process is the aforementioned first analysis result. Next, consider the case where there is a detection electrode error but no driving electrode error. The original vibration displacement corresponding to the actual vibration displacement detected when there is a detection electrode error is obtained by back-calculation, and then substituted into the vibration equation of the harmonic oscillator for error analysis. The actual vibration displacement of the harmonic oscillator satisfies Equation (14). Equation (14) is as follows:

[0074] ;

[0075] Assume that the X-axis direction is the reference direction, and the direction detection electrode actually observed coincides with the X-axis direction, and its detection gain coefficient is 1. However, the direction detection electrode actually observed has a detection electrode error angle with the Y-axis direction and a detection gain error coefficient . Refer to Figure 4 shown. Figure 4 is a schematic diagram of the vibration displacement detected by a detection electrode provided by an embodiment of the present application. As can be seen from Figure 4 , the actual vibration displacements detected by the two detection electrodes (i.e., and ) and the original vibration displacements (i.e., x and y) should satisfy Equation (15). Equation (15) is as follows:

[0076] ;

[0077] According to Equation (15), for the vibration coordinate system, the original vibration displacement used for vibration model analysis should be Equation (16). Equation (16) is as follows:

[0078] ;

[0079] Taking the first and second derivatives of Equation (16), the results are Equation (17) and Equation (18) respectively. Equation (17) is as follows:

[0080] ;

[0081] Equation (18) is as follows:

[0082] ;

[0083] After substituting Equation (9), Equation (16), Equation (17), and Equation (18) into Equation (1), using harmonic balance (the coefficients on both sides of the equation are equal), Equation (19) can be obtained, where Equation (19) is as follows: and the coefficients in front are equal), Equation (19) can be obtained, where Equation (19) is as follows:

[0084] ;

[0085] where the expression of E is as follows:

[0086] ;

[0087] By solving, it can be obtained that the standing-wave angular velocity should satisfy Equation (20), where Equation (20) is as follows:

[0088] ;

[0089] The above analysis result is the aforementioned second analysis result. In this embodiment, the process of obtaining the initial standing-wave angular velocity error formula with both driving electrode error and detection electrode error based on the first analysis result, the second analysis result, and the two-dimensional vibration equation may specifically include: obtaining the frequency splitting state corresponding to the resonator, and obtaining the initial standing-wave angular velocity error formula with both driving electrode error and detection electrode error based on the frequency splitting state, the two-dimensional vibration equation, the first analysis result, and the second analysis result; specifically, considering the simultaneous existence of electrode driving error and electrode detection error, combining Equations (13) and (20) can obtain Equation (21), where Equation (21) is as follows:

[0090] ;

[0091] Since when operating at a relatively high rotational speed, the frequency splitting of the resonator will change, and this change amount is directly related to the external rotational speed, the frequency splitting can be expressed by least-squares polynomial fitting as Equation (22), where Equation (22) is as follows:

[0092] ;

[0093] In the formula is a constant value, n is the highest order of the least-squares polynomial fitting, They are the coefficients of the nth-order polynomial obtained by fitting the frequency splitting through the least squares method. Substituting Equation (22) into Equation (21), Equation (23) is obtained, where Equation (23) is as follows:

[0094] ;

[0095] When the externally input angular rate is the standing-wave angular rate of the resonator can be expressed as where represents the standing-wave angular rate error amount, which is Equation (24), that is, the aforementioned initial standing-wave angular rate error formula, where Equation (24) is as follows:

[0096] ;

[0097] Therefore, through Equation (24), the angular rate error of the Coriolis vibratory gyro in the rate form under the influence of drive electrode error, detection electrode error, damping error, and additional error can be analyzed. The angular rate error can be classified into four parts: one is the driving force term (including the virtual rotation control force term and the amplitude stabilization control force term); the second is the externally input angular velocity term (including term); the third is the damping error term (including term); the fourth is the additional error term (including term).

[0098] It can be understood that from the above expression of the additional error term, when the gyro is operating at static or low rotational speeds, and then that is, the additional error term can be ignored. However, when the gyro is operating at relatively high rotational speeds, the above conditions are no longer satisfied, and as the external rotational speed increases, the changes in q and become larger, and the influence caused by the additional error will become more obvious. This will cause the output angle or angular rate signal of the gyro to become distorted when operating at relatively high rotational speeds, seriously affecting the measurement accuracy of the Coriolis vibratory gyro, and also reflecting the importance and necessity of accurately calibrating and compensating for the additional error.

[0099] In this embodiment, only the additional error is calibrated and compensated, and the compensation methods for the related drive electrode error, detection electrode error, damping error, phase error, orthogonality error, and temperature error are not discussed. That is, in this embodiment, it is assumed that the compensation for the drive electrode error, detection electrode error, phase error, and orthogonality error has been completed before the additional error compensation. Therefore, after the above error compensation is completed, the standing-wave angular rate error of the gyro can be expressed as Equation (25), where Equation (25) is as follows:

[0100] ;

[0101] In the above formula represents the damping error related term, and the remaining part is the additional error related term.

[0102] It should be noted that the angular rate error generated by the resonator of the gyroscope during rotation includes quadrature error, drive electrode error, detection electrode error, damping error, temperature error, phase error, and additional error other than the above errors generated at a speed greater than the target speed. The target standing wave angular rate error formula in this embodiment is the angular rate error formula obtained after compensating for the quadrature error, drive electrode error, detection electrode error, and phase error. In this embodiment, phase error and temperature error are not considered because the phase error can generally be compensated by default when the gyroscope operates under normal conditions, and the temperature error is generally carried out after the above errors are compensated, and neither of them is analyzed in this application; moreover, the additional error generated during the rotation of the resonator is positively correlated with the above target speed, that is, the greater the target speed of the resonator, the greater the additional error generated during the rotation; the above target speed can be determined according to the actual error compensation requirements. For example, it can be 100° / s or 200° / s, and no specific limitation is made here. By obtaining the target standing wave angular rate error formula corresponding to the resonator, the additional error generated during the rotation process is presented in an intuitive form, which is convenient for calculating the additional error. By analyzing, calibrating, and compensating the additional error generated during the rotation of the resonator, it is avoided that as the external speed increases, the influence of the additional error becomes more obvious, so that the output angle or angular rate signal of the gyroscope during operation at a large speed becomes distorted, affecting the measurement accuracy of the Coriolis vibration gyroscope.

[0103] Step S13: Control the resonator to rotate at different target speeds, obtain the variation relationship between the standing wave angular rate error corresponding to the resonator during rotation and each target speed, and perform error compensation on the standing wave angular rate corresponding to the resonator according to the target standing wave angular rate error formula; wherein, the standing wave angular rate error includes the error generated when the resonator rotates under the condition of not less than the target speed.

[0104] In this embodiment, before controlling the resonator to rotate at different target speeds and obtaining the variation relationship between the standing wave angular rate error corresponding to the resonator during the rotation process with respect to each target speed, the following steps are also included: Based on the target data fitting method and the standing wave angle corresponding to the resonator, data fitting is performed on the standing wave angular rate error to obtain the corresponding relationship between the standing wave angular rate error and the standing wave angle; According to the corresponding relationship, the fitting parameters corresponding to the standing wave angular rate error are obtained, so as to obtain the variation relationship based on the fitting parameters. In this embodiment, the process of controlling the resonator to rotate at different target speeds may specifically include: setting the rotation speed of the preset rate turntable to the target speed, fixing the target Coriolis vibration gyro on the preset rate turntable, and using the preset rate turntable to drive the resonator in the Coriolis vibration gyro to rotate at the target speed; Specifically, fix the Coriolis vibration gyro that works in the full-angle mode and has completed error compensation such as drive electrode error, detection electrode error, and damping error on the rate turntable, make the positive direction of the gyro input axis consistent with the turntable axis, and set the turntable to rotate at a speed of under the condition of uniform rotation.

[0105] In this embodiment, a method for accurately calibrating the additional error by using experiments and data fitting and then compensating by deducting the additional error amount will be described in detail. Among them, in the process of obtaining the variation relationship between the standing wave angular rate error corresponding to the resonator during the rotation process with respect to each target speed, it includes: Based on the target data fitting method and the standing wave angle corresponding to the resonator, data fitting is performed on the standing wave angular rate error to obtain the corresponding relationship between the standing wave angular rate error and the standing wave angle; According to the corresponding relationship, the fitting parameters corresponding to the standing wave angular rate error are obtained, and the variation relationship is obtained based on the fitting parameters; Specifically, after the standing wave rotates 180° from the 0° position (it can also be any angle) (generally, to ensure the data fitting quality of the standing wave angular rate, the standing wave rotates at least 180°, more than two periods of vibration and the standing wave rotation range can cover all electrodes, and integer multiples of semi-circular angles such as 180° and 360° are often used), data fitting is performed on the variation of the gyro standing wave angular rate error with the standing wave azimuth angle during the process; As can be seen from Equation (25), at this time, the gyro standing wave angular rate error should satisfy Equation (26), where Equation (26) is as follows:

[0106] ;

[0107] Equation (26) can reflect the corresponding relationship between the standing wave angular rate error and the standing wave angle, and based on the above corresponding relationship and using the least squares method to perform data fitting on the variation of the gyro standing wave angular rate error with the standing wave angle, the fitting parameters and values can be obtained.

[0108] Comparing with Equation (25), the turntable speed and the fitting parameter The following formula (27) should be satisfied therebetween, where formula (27) is shown as follows:

[0109] ;

[0110] Change the rotating table speed multiple times, and obtain the corresponding fitting parameters according to the above method (for example, set the rotating table speeds to -500° / s, -400° / s, -300° / s, -200° / s, -100° / s, 100° / s, 200° / s, 300° / s, 400° / s, 500° / s, etc. in sequence). Then, for the r-th setting of the rotating table speed and the corresponding r-th fitting parameter The following formula (28) should be satisfied therebetween, where formula (28) is shown as follows:

[0111] ;

[0112] The above formula (28) reflects the variation relationship of the standing wave angular rate error corresponding to the harmonic oscillator with each target speed during the rotation process.

[0113] In this embodiment, the process of compensating the standing wave angular rate corresponding to the harmonic oscillator according to the target standing wave angular rate error formula and the variation relationship specifically includes: establishing a multiple linear regression equation based on the variation relationship and each target speed, analyzing the multiple linear regression equation by using the multiple linear stepwise regression analysis method, and compensating the standing wave angular rate corresponding to the harmonic oscillator according to the corresponding third analysis result and the target standing wave angular rate error formula; specifically, it can be seen from formula (27) that , , and other n parameters are used as variables to establish a multiple linear regression equation, and the following formula (29) should be satisfied, that is, the above multiple linear regression equation, where formula (29) is shown as follows:

[0114] ;

[0115] In the formula, , . According to the multiple groups of data obtained from formula (28), use the multiple linear stepwise regression analysis method to eliminate the terms with weak influence on the fitting parameter value among the above n variables according to the magnitude of their significance, and retain the significant terms. Assume that there are m significant terms retained, and the j-th variable is , where j = 1, 2, 3... m, then the polynomial model of the fitting parameter varying with the rotating table speed finally obtained satisfies the following formula (30), where formula (30) is shown as follows:

[0116] ;

[0117] Wherein the correlation coefficients , , , have all been determined in the above least squares fitting. It should be noted that since the above calibration process only uses components for analysis and there is no need to use the components, that is, the components affected by the damping error, it will not be affected by the change of the damping error due to the environmental temperature. Through the above method, the calibration of the additional error can be completed without being affected by the damping error, and then the compensation can be completed by subtracting the additional error amount from the gyro standing wave angular rate. That is, when the measured external rotational speed is , the output standing wave angular rate should be Equation (31) after compensation, where Equation (31) is shown as follows:

[0118] ;

[0119] By integration, it can be known that the gyro output standing wave angle should be Equation (32) after compensation, where Equation (32) is shown as follows:

[0120] ;

[0121] It can be seen that by obtaining the target standing wave angular rate error formula obtained after error compensation for the driving electrode error and the detection electrode error in the present application, the additional error generated during the rotation of the resonator due to the rotational speed being greater than the target rotational speed can be calibrated in the form of an angular rate formula, and the output angle or angular rate signal can be compensated by the additional error in the form of an angular rate, making the output angle or angular rate signal more accurate and avoiding the problem of distortion of the output angle or angular rate signal caused by ignoring the additional error generated during the rotation of the resonator.

[0122] As Figure 5 shown, the embodiment of the present application discloses a standing wave angular rate error compensation device, including:

[0123] A vibration equation acquisition module 11, configured to acquire a two-dimensional vibration model of a resonator corresponding to a target Coriolis vibration gyro, and obtain a two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator;

[0124] An error formula acquisition module 12 is configured to obtain a target standing wave angular rate error formula corresponding to the harmonic oscillator based on the two-dimensional vibration equation, the driving electrode error and the detection electrode error corresponding to the harmonic oscillator; wherein, the target standing wave angular rate error formula is an error formula obtained after error compensation for the driving electrode error and the detection electrode error, and the driving electrode error and the detection electrode error are errors generated during the electrode assembly process of the harmonic oscillator.

[0125] An error compensation module 13 is configured to control the harmonic oscillator to rotate at different target speeds, obtain the variation relationship between the standing wave angular rate error corresponding to the harmonic oscillator and each target speed during the rotation process, and perform error compensation on the standing wave angular rate corresponding to the harmonic oscillator according to the target standing wave angular rate error formula and the variation relationship; wherein, the standing wave angular rate error includes the error generated when the harmonic oscillator rotates under the condition of not less than the target speed.

[0126] It can be seen that in this application, by obtaining the target standing wave angular rate error formula obtained after error compensation for the driving electrode error and the detection electrode error, the additional error generated due to the rotation speed being greater than the target speed during the rotation process of the harmonic oscillator can be calibrated in the form of an angular rate formula. By compensating the additional error in the form of angular rate for the output angle or angular rate signal, the output angle or angular rate signal is made more accurate, avoiding the problem of distortion of the output angle or angular rate signal caused by ignoring the additional error generated during the rotation process of the harmonic oscillator.

[0127] In some specific embodiments, the vibration equation acquisition module 11 may specifically include:

[0128] A vibration equation acquisition unit is configured to construct a harmonic oscillator coordinate system corresponding to the harmonic oscillator based on the two-dimensional vibration model of the harmonic oscillator, and calculate the harmonic oscillator coordinate system and the two-dimensional vibration model of the harmonic oscillator to obtain the two-dimensional vibration equation corresponding to the harmonic oscillator.

[0129] In some specific embodiments, the error formula acquisition module 12 may specifically include:

[0130] A state analysis unit is configured to analyze the state of the harmonic oscillator with the driving electrode error and without the detection electrode error and the state of the harmonic oscillator with the detection electrode error and without the driving electrode error to obtain corresponding first and second analysis results.

[0131] An error formula acquisition sub-module, configured to obtain an initial standing wave angular rate error formula in which the driving electrode error and the detection electrode error exist simultaneously based on the first analysis result, the second analysis result, and the two-dimensional vibration equation, and obtain the target standing wave angular rate error formula corresponding to the resonator according to the initial standing wave angular rate error formula.

[0132] In some specific embodiments, the error formula acquisition sub-module may specifically include:

[0133] A cracking state acquisition unit, configured to acquire the frequency cracking state corresponding to the resonator, and obtain the initial standing wave angular rate error formula in which the driving electrode error and the detection electrode error exist simultaneously based on the frequency cracking state, the two-dimensional vibration equation, the first analysis result, and the second analysis result.

[0134] In some specific embodiments, the error compensation module 13 may specifically include:

[0135] A rotation speed setting unit, configured to set the rotation speed of a preset speed turntable to the target rotation speed, fix the target Coriolis vibrating gyro on the preset speed turntable, and drive the resonator in the target Coriolis vibrating gyro to rotate at the target rotation speed by using the preset speed turntable.

[0136] In some specific embodiments, the error compensation module 13 further includes:

[0137] A correspondence relationship acquisition unit, configured to perform data fitting on the standing wave angular rate error based on a target data fitting method and the standing wave angle corresponding to the resonator, so as to obtain the correspondence relationship between the standing wave angular rate error and the standing wave angle;

[0138] A fitting parameter acquisition unit, configured to obtain the fitting parameter corresponding to the standing wave angular rate error according to the correspondence relationship, and obtain the variation relationship based on the fitting parameter.

[0139] In some specific embodiments, the error compensation module 13 may specifically include:

[0140] An error compensation unit, configured to establish a multiple linear regression equation based on the variation relationship and each of the target rotation speeds, analyze the multiple linear regression equation by using a multiple linear stepwise regression analysis method, and perform error compensation on the standing wave angular rate corresponding to the resonator according to the corresponding third analysis result and the target standing wave angular rate error formula.

[0141] Furthermore, an electronic device is also disclosed in an embodiment of the present application. Figure 6It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure should not be regarded as any limitation on the scope of use of this application.

[0142] Figure 6 This is a schematic structural diagram of an electronic device 20 provided by an embodiment of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the standing wave angular rate error compensation method disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0143] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of this application, and no specific limitation is imposed on it here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is made here.

[0144] In addition, as a carrier for resource storage, the memory 22 may be a read-only memory, a random access memory, a magnetic disk, or an optical disc, etc., and the resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0145] Among them, the operating system 221 is used to manage and control each hardware device and the computer program 222 on the electronic device 20, and it may be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the standing wave angular rate error compensation method executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.

[0146] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the standing wave angular rate error compensation method disclosed above. For the specific steps of this method, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.

[0147] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For related parts, reference can be made to the description in the method section.

[0148] Those skilled in the art can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0149] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0150] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0151] The above has introduced the technical solutions provided by this application in detail. Specific examples are used herein to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A standing wave angular velocity error compensation method, characterized in that: include: Acquire a two-dimensional vibration model of a resonator corresponding to the resonator of the target Coriolis vibrating gyroscope, and obtain a two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator; A target standing wave angular rate error formula corresponding to the resonator is obtained based on the two-dimensional vibration equation, the driving electrode error and the detection electrode error corresponding to the resonator; wherein the target standing wave angular rate error formula is an error formula obtained after error compensation for the driving electrode error and the detection electrode error, and the driving electrode error and the detection electrode error are errors generated by the resonator during the electrode assembly process; The resonator is controlled to rotate at different target rotational speeds, and a variation relationship between a standing wave angular velocity error corresponding to the resonator and each target rotational speed is obtained during the rotation process; and an error compensation is performed on the standing wave angular velocity corresponding to the resonator according to the target standing wave angular velocity error formula and the variation relationship; wherein the standing wave angular velocity error includes an error generated when the resonator rotates under a condition of not less than the target rotational speed.

2. The standing wave angular velocity error compensation method according to claim 1, characterized in that: The step of obtaining the two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator includes: A resonator coordinate system corresponding to the resonator is constructed based on the two-dimensional vibration model of the resonator, and the resonator coordinate system and the two-dimensional vibration model of the resonator are calculated to obtain the two-dimensional vibration equation corresponding to the resonator.

3. The standing wave angular velocity error compensation method according to claim 1, characterized in that: The formula for obtaining the target standing wave angular velocity error corresponding to the resonator based on the two-dimensional vibration equation, the driving electrode error corresponding to the resonator, and the detection electrode error includes: Analyzing the resonator state with the driving electrode error but without the detecting electrode error and the resonator state with the detecting electrode error but without the driving electrode error to obtain corresponding first analysis results and second analysis results; Based on the first analysis result, the second analysis result and the two-dimensional vibration equation, an initial standing wave angular velocity error formula in which the driving electrode error and the detecting electrode error coexist is obtained, and based on the initial standing wave angular velocity error formula, the target standing wave angular velocity error formula corresponding to the resonator is obtained.

4. The standing wave angular velocity error compensation method according to claim 3, characterized in that: The formula for obtaining the initial standing wave angular velocity error in which the driving electrode error and the detecting electrode error coexist based on the first analysis result, the second analysis result and the two-dimensional vibration equation includes: The frequency breakup state corresponding to the resonator is obtained, and based on the frequency breakup state, the two-dimensional vibration equation, the first analysis result and the second analysis result, the initial standing wave angular velocity error formula in which the driving electrode error and the detection electrode error simultaneously exist is obtained.

5. The standing wave angular velocity error compensation method according to claim 1, characterized in that: The controlling the resonator to rotate at different target speeds includes: The rotation speed of the preset rate turntable is set as the target rotation speed, the target Coriolis vibration gyroscope is fixed on the preset rate turntable, and the preset rate turntable is used to drive the resonator in the target Coriolis vibration gyroscope to rotate at the target rotation speed.

6. The standing wave angular velocity error compensation method according to any one of claims 1 to 5, characterized in that: The obtaining of the relationship between the standing wave angular velocity error corresponding to the resonator and each target rotation speed during the rotation process includes: Performing data fitting on the standing wave angular velocity error based on a target data fitting method and the standing wave angle corresponding to the resonator to obtain a corresponding relationship between the standing wave angular velocity error and the standing wave angle; The fitting parameters corresponding to the standing wave angular velocity error are obtained according to the corresponding relationship, and the change relationship is obtained based on the fitting parameters.

7. The standing wave angular velocity error compensation method according to claim 6, characterized in that: The error compensation of the standing wave angular velocity corresponding to the resonator according to the target standing wave angular velocity error formula and the change relationship includes: A multivariate linear regression equation is established based on the change relationship and each of the target rotational speeds, the multivariate linear stepwise regression analysis method is used to analyze the multivariate linear regression equation, and the standing wave angular velocity corresponding to the resonator is error compensated according to the corresponding third analysis result and the target standing wave angular velocity error formula.

8. A standing wave angular velocity error compensation device, characterized in that: include: A vibration equation acquisition module is used to acquire a two-dimensional vibration model of a resonator corresponding to the resonator of the target Coriolis vibration gyroscope, and obtain a two-dimensional vibration equation corresponding to the resonator according to the two-dimensional vibration model of the resonator; an error formula acquisition module, used for acquiring a target standing wave angular rate error formula corresponding to the resonator based on the two-dimensional vibration equation, a driving electrode error and a detecting electrode error corresponding to the resonator; wherein the target standing wave angular rate error formula is an error formula obtained after error compensation for the driving electrode error and the detecting electrode error, and the driving electrode error and the detecting electrode error are errors generated by the resonator during the electrode assembly process; An error compensation module is used to control the resonator to rotate at different target speeds, obtain the relationship between the standing wave angular velocity error corresponding to the resonator and the target speeds during the rotation process, and perform error compensation on the standing wave angular velocity corresponding to the resonator according to the target standing wave angular velocity error formula and the change relationship; wherein the standing wave angular velocity error includes the error generated when the resonator rotates under the condition of not less than the target speed.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the standing wave angular velocity error compensation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the standing wave angular velocity error compensation method as described in any one of claims 1 to 7.

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