Hemispherical resonator gyroscope amplitude auxiliary maintaining method and device and hemispherical resonator gyroscope

Abstract

The invention discloses an amplitude auxiliary maintaining method and device for a hemispherical resonator gyro and the hemispherical resonator gyro, and the amplitude auxiliary maintaining method comprises the following steps: setting the voltage of all electrodes of the hemispherical resonator gyro to be 0, and after the hemispherical resonator gyro starts oscillation, starting the hemispherical resonator gyro; the output of an amplitude control loop of the hemispherical resonator gyroscope is converted into an alternating current signal, then the alternating current signal is switched to a high-voltage electrode of the hemispherical resonator gyroscope, and meanwhile, a direct current signal applied to the high-voltage electrode is kept unchanged. The high-voltage electrode is reused as the annular electrode to assist in maintaining the amplitude of the hemispherical resonator gyroscope, the circuit improvement structure is simple, and software can be compatible with a traditional control algorithm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial technology, and particularly relates to a hemispherical resonator gyro amplitude auxiliary maintenance method and device and a hemispherical resonator gyro. BACKGROUND

[0002] The hemispherical resonator gyro is an inertial sensitive device, and has the advantages of small volume, light mass, simple structure and long service life. The hemispherical resonator gyro detects angular velocity by using standing wave vibration of a hemispherical resonator. Since the vibration of the hemispherical resonator inevitably exists damping, it is necessary to apply an excitation control force to the hemispherical resonator, so that the amplitude can be maintained at a set value. Conventionally, a sine electrostatic force is applied to the eight electrodes at the edge of the resonator by an electrostatic, electromagnetic or piezoelectric exciter, so that the resonator generates vibration at the natural frequency. The sine electrostatic force is obtained by demodulating the detection signal amplitude and phase, that is, the sine electrostatic force is related to the mode azimuth angle. However, due to the process limit, the eight electrodes always have more or less differences in electrical characteristics, which will cause phase deviation and gain deviation of the output of each electrode in the process of maintaining the vibration, thereby affecting the precision of the gyro.

[0003] At present, there are developed parameter excitation gyroscopes which add ring electrodes on the peripheral structure of the electrode plate, such as Figure 5 As shown, the ring electrode and the resonator form a ring capacitor, and the driving force applied to the electrode is no longer related to the mode azimuth angle, and the process of doing work of the driving force does not affect the mode azimuth angle. The essence is to rely on the deformation of the resonator when it vibrates, the gap between the ring electrode and the resonator at the antinode is reduced, and the force is greater, thereby further increasing the amplitude of the antinode position. As shown in Figure 1 The thick ellipse in the figure schematically shows the resonator, and the thin circle schematically shows the ring electrode. (a) shows that when the antinode is located at the X+ electrode, the gap between the ring electrode and the resonator at the antinode is the smallest, d1, and the attraction force at the antinode is the largest; (b) shows that the resonator restores to the circular state due to its own elasticity; (c) shows that when the antinode is located at the X- electrode, the gap between the ring electrode and the resonator at the antinode is the smallest, d2, and the attraction force at the antinode is the largest; (d) shows that the resonator restores to the circular state again due to its own elasticity; thereby the attraction force at the antinode position is greater, and the amplitude is maintained. As shown in Figure 2 The driving signal waveform diagram of the ring electrode is shown in (a) state, the excitation signal output is positive, the resonator is deformed, energy is injected into the mode, and the amplitude is maintained at the set value; (b) state, the excitation signal output is negative, and the damping of the process of the resonator restoring to the circular state due to its own elasticity is reduced; (c) state, the excitation signal output is positive, the resonator is deformed at the X- electrode, energy is injected into the mode, and the amplitude is maintained at the set value; (d) state, the excitation signal output is negative, and the damping of the process of the resonator restoring to the circular state due to its own elasticity is reduced.

[0004] However, adding annular electrodes not only increases the manufacturing cost of the hemispherical resonator gyroscope, but also inevitably increases its volume, which is not conducive to the miniaturization of the hemispherical resonator gyroscope. Summary of the Invention

[0005] In response to the problems in the background technology, the present invention proposes a method and device for auxiliary maintenance of the amplitude of a hemispherical resonant gyroscope, which reuses high-voltage electrodes as ring electrodes to assist in maintaining the amplitude of the hemispherical resonant gyroscope. The circuit improvement structure is simple and the software is compatible with traditional control algorithms.

[0006] The present invention adopts the following technical solutions: A method for auxiliary maintenance of amplitude of a hemispherical resonant gyroscope, comprising: setting the voltage of all electrodes of the hemispherical resonant gyroscope to 0, After the HRG starts oscillating, the output of the amplitude control loop of the HRG is converted into an AC signal and then switched to the high-voltage electrode of the HRG, while the DC signal applied to the high-voltage electrode remains unchanged.

[0007] Optionally, the method further includes: performing loop delay calculation based on a detection signal collected in real time by a detection circuit of the hemispherical resonant gyroscope, and performing real-time phase compensation on the AC signal based on the calculated loop delay.

[0008] As a general inventive concept, the present invention also provides a hemispherical resonant gyroscope amplitude auxiliary maintenance device for implementing the above method, comprising: an auxiliary maintenance circuit and a zeroing circuit, The auxiliary maintenance circuit includes a DAC circuit and a coupling capacitor. The input end of the DAC circuit is used to be electrically connected to the output end of the amplitude control loop of the hemispherical resonant gyroscope. The DAC circuit is used to convert the output of the amplitude control loop of the hemispherical resonant gyroscope into an AC signal. The output end of the DAC circuit is electrically connected to one end of the coupling capacitor. The other end of the coupling capacitor is disconnectably electrically connected to the high-voltage electrode of the hemispherical resonant gyroscope. The zeroing circuit includes a first operational amplifier and a first resistor. The positive input terminal of the first operational amplifier is grounded, the negative input terminal of the first operational amplifier is connected to the electrode of the hemispherical resonant gyroscope and one end of the first resistor respectively, the other end of the first resistor is connected to the output terminal of the first operational amplifier, and the output terminal of the first operational amplifier is used to be connected to the detection circuit of the hemispherical resonant gyroscope.

[0009] Optionally, the auxiliary maintenance circuit also includes a second operational amplifier, a second resistor, a third resistor and a fourth resistor, the output end of the DAC circuit is connected to the positive input end of the second operational amplifier, the negative input end of the second operational amplifier is connected to one end of the second resistor and the third resistor respectively, the other end of the second resistor is grounded, the other end of the third resistor is connected to the output end of the second operational amplifier and one end of the fourth resistor respectively, and the other end of the fourth resistor is connected to one end of the coupling capacitor.

[0010] Optionally, the auxiliary maintaining circuit further comprises a first diode and a second diode, an anode of the first diode and a cathode of the second diode are connected to the connecting end of the fourth resistor and the coupling capacitor, a cathode of the first diode is connected to the power supply, and an anode of the second diode is grounded.

[0011] Optionally, the auxiliary maintaining circuit further comprises a fifth resistor, one end of the fifth resistor is connected to the connecting end of the coupling capacitor and the high-voltage electrode, and the other end of the fifth resistor is connected to the high-voltage power supply.

[0012] Optionally, the loop delay circuit comprises an ADC circuit and a control unit, an input end of the ADC circuit is connected to an output end of the detection circuit of the hemispherical resonator gyroscope, an output end of the ADC circuit is connected to an input end of the control unit, and an output end of the control unit is connected to the DAC circuit, the ADC circuit converts the detection signal collected by the detection circuit into a digital signal and transmits the digital signal to the control unit, the control unit calculates the delay of the loop according to the digital signal and compensates the alternating signal of the DAC circuit.

[0013] As a general inventive concept, the application further provides a hemispherical resonator gyroscope, comprising a gyroscope body and a control module, the gyroscope body comprises an electrode plate and a hemispherical resonator, the electrode plate is provided with a plurality of electrodes, the hemispherical resonator is provided with a high-voltage electrode, the control module comprises a high-voltage power supply and a detection circuit, a control chip and a loop control circuit connected in sequence, the high-voltage power supply is connected to the high-voltage electrode, an output end of the loop control circuit is connected to the plurality of electrodes, the loop control circuit comprises an amplitude control loop, and further comprises the hemispherical resonator amplitude auxiliary maintaining device, the output end of the amplitude control loop is in cuttable electrical connection with the plurality of electrodes and in cuttable electrical connection with an input end of the DAC circuit of the hemispherical resonator amplitude auxiliary maintaining device, and an output end of the first operational amplifier of the hemispherical resonator amplitude auxiliary maintaining device is connected to an input end of the detection circuit.

[0014] Compared with the prior art, the application has the following advantages: The application sets the voltage of all electrodes of the hemispherical resonator gyroscope to 0, whereby 8 voltage equal electrodes and the hemispherical resonator form a ring capacitor, after the hemispherical resonator gyroscope is started, under the premise that the direct current signal applied to the high voltage electrode of the hemispherical resonator gyroscope remains unchanged, the output of the amplitude control loop of the hemispherical resonator gyroscope is converted into an alternating current signal and then switched to the high voltage electrode (the high voltage electrode is located on the anchor rod of the hemispherical resonator), the antinode part of the hemispherical resonator is more attracted, and the amplitude of the hemispherical resonator is maintained. Thus, the high voltage electrode is successfully multiplexed as a ring force electrode, the output of the amplitude control loop in the control loop is executed, and the driving is assisted to maintain. Since the application does not need to improve the structure of the gyroscope body, only needs to slightly improve the circuit structure, the output of the amplitude control loop before and after starting is switched (from discrete electrodes to high voltage electrodes), and the control algorithm of the original amplitude control loop is not changed, the software can be compatible with the traditional control algorithm, thereby greatly reducing the improvement cost, and the volume occupied by the circuit improvement is much smaller than the additional ring electrode of the body; and since the amplitude maintenance voltage amplitude is very low, about 10 mV, much smaller than the high voltage value, generally 300 V, therefore, the auxiliary maintenance driving will not affect the high voltage maintenance.

[0015] Specifically, the output of the amplitude control loop can be converted from a digital signal to an alternating current signal by designing a DAC conversion circuit, and the problem of superimposing high voltage and alternating current signal can be solved by using capacitive coupling, and the circuit design is simple and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to make the application easier to understand, the application will be described in more detail by referring to the specific embodiments shown in the drawings. These drawings only depict typical embodiments of the application and should not be considered as limiting the scope of protection of the application.

[0017] Figure 1 The schematic diagram for realizing the amplitude maintenance of the hemispherical resonator gyroscope by the ring electrode and the resonator of the prior art to form a ring capacitor.

[0018] Figure 2 The driving signal waveform diagram of the ring electrode of the prior art.

[0019] Figure 3 The schematic diagram of the amplitude auxiliary maintenance method of the hemispherical resonator gyroscope of the embodiment of the application.

[0020] Figure 4 The schematic diagram of the amplitude auxiliary maintenance device of the hemispherical resonator gyroscope of the embodiment of the application.

[0021] Figure 5 The circuit structure diagram of the auxiliary maintenance circuit in the embodiment of the application.

[0022] Figure 6The circuit structure diagram of the auxiliary maintaining circuit in the embodiment of the present application (adding loop delay circuit).

[0023] Figure 7 The typical signal loopback test result schematic diagram.

[0024] Figure 8 The amplitude maintaining effect diagram recorded in an experiment. DETAILED DESCRIPTION

[0025] Embodiments of the present application are 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 listed embodiments are not as a limitation of the present application, and the following embodiments and technical features in the embodiments can be combined with each other without conflict, wherein the same components are denoted by the same reference numerals.

[0026] As shown in Figure 3 , the embodiment proposes a kind of amplitude auxiliary maintaining method of hemispherical resonator gyro, comprising: the voltage of all electrodes of hemispherical resonator gyro is 0, after hemispherical resonator gyro is started, the output of amplitude control loop of hemispherical resonator gyro is converted into AC signal, and then switched to high voltage electrode of hemispherical resonator gyro, while the DC signal applied on high voltage electrode remains unchanged.

[0027] Further, loop delay is solved according to the detection signal in real time collected by the detection circuit of hemispherical resonator gyro, and the real-time phase compensation of the AC signal is carried out according to the solved loop delay.

[0028] To realize the auxiliary maintaining method of multiplexing high voltage electrode, the embodiment further proposes an amplitude auxiliary maintaining device of hemispherical resonator gyro, referring to Figure 4 , it includes auxiliary maintaining circuit and zero setting circuit, referring to Figure 5 , the auxiliary maintaining circuit of the present application is special circuit for superimposing high voltage and low voltage AC signal, and the auxiliary maintaining circuit includes DAC circuit 1 and coupling capacitor 8, the input end of DAC circuit is electrically connected with the output end of amplitude control loop, DAC circuit 1 is used to convert the output of amplitude control loop of hemispherical resonator gyro into AC signal, the output end of DAC circuit 1 is electrically connected with one end of coupling capacitor 8, and the other end of coupling capacitor 8 is electrically connected with the high voltage electrode of hemispherical resonator gyro and can be cut off; The zeroing circuit includes a first operational amplifier 13 and a first resistor 14. The positive input of the first operational amplifier 13 is grounded, the negative input of the first operational amplifier 13 is connected to an electrode of the hemispherical resonant gyroscope and one end of the first resistor 14, respectively, and the other end of the first resistor 14 is connected to the output of the first operational amplifier 13. The output of the first operational amplifier 13 is used to connect to the input of the detection circuit of the hemispherical resonant gyroscope.

[0029] The auxiliary maintaining circuit also includes a second operational amplifier 2, a second resistor 3, a third resistor 4 and a fourth resistor 5. The output end of the DAC circuit 1 is connected to the positive input end of the second operational amplifier 2, the negative input end of the second operational amplifier 2 is connected to one end of the second resistor 3 and the third resistor 4 respectively, the other end of the second resistor 3 is grounded, the other end of the third resistor 4 is connected to the output end of the second operational amplifier 2 and one end of the fourth resistor 5 respectively, and the other end of the fourth resistor 5 is connected to one end of the coupling capacitor 8.

[0030] The auxiliary maintaining circuit also includes a first diode 6 and a second diode 7, the anode of the first diode 6 and the cathode of the second diode 7 are both connected to the connection end of the fourth resistor 5 and the coupling capacitor 8, the cathode of the first diode 6 is connected to the power supply, and the anode of the second diode 7 is grounded.

[0031] The auxiliary maintaining circuit further includes a fifth resistor 9 , one end of which is connected to the connection end of the coupling capacitor 8 and the high voltage electrode, and the other end of the fifth resistor 9 is connected to the high voltage power supply.

[0032] Second operational amplifier 2 provides zero-approaching output impedance. Second, third, and fourth resistors 3, 4, and 5 adjust the AC signal amplification factor. First and second diodes 6 and 7 act as protection diodes to prevent damage to the low-voltage circuit under abnormal conditions. Coupling capacitor 8 isolates the high voltage, and fifth resistor 9 serves as a series resistor for the high-voltage output. Ultimately, the low-voltage AC signal and high-voltage DC signal are coupled to the high-voltage electrode via coupling capacitor 8 and fifth resistor 9, respectively. This solves the problem of high-voltage and AC signal superposition and enables reuse of the high-voltage electrode.

[0033] like Figure 4 As shown, 8 discrete electrodes are distributed around the resonator. Each electrode is separated by etching, and the etching gap is extremely small. When the 8 electrodes are connected to the first operational amplifier 13 as shown, the voltages of the 8 electrodes are equal and all are 0. When the voltages of the 8 electrodes are equal, the electrostatic force they generate is equivalent to that of the ring electrode. In this way, the 8 electrodes with equal voltages and the resonator form a ring capacitor, which Figure 2 When the drive signal shown (which is obtained by converting the output of the amplitude control loop from a digital signal to an AC signal) is applied to the resonator, the resonator's anti-node position is more strongly attracted, and the amplitude is maintained.

[0034] The principle and transfer function of the circuit in the detection process are as follows: ; ; ; ; ; Wherein, represents the voltage of the high-voltage electrode, which is composed of the direct current and the auxiliary maintaining driving quantity with an amplitude of , and the driving frequency is . is the capacitance composed of the detection electrode and the resonator, which is composed of the initial capacitance and the sinusoidal variation quantity with an amplitude of , and the sinusoidal frequency is also . represents the charge quantity on the plate of the detection electrode, and the derivative thereof is the gyro output current . The current acts on the impedance of the circuit to obtain the voltage . The simultaneous equations are as follows: ; ; Because the quality factor of the resonator is very high, generally above 2 million, the maintaining voltage amplitude is very low, about 10 mV, far less than the high-voltage value, generally 300 V. , so that , , can be ignored. Therefore, there is: ; This is consistent with the normal demodulation transfer function, thus it is illustrated that the demodulation process is not affected by the multiplexing auxiliary maintaining driving.

[0035] In order to ensure that the driving signal and the vibration of the gyro are in phase, it is necessary to calibrate the loop delay of the driving signal. The application also designs a loop delay circuit, such as Figure 6As shown, the loop delay circuit includes an ADC circuit 11 and a control unit 12. During calibration, the input end of the detection circuit 10 of the hemispherical resonator gyroscope is connected to the connection end of the coupling capacitor 8 and the fifth resistor 9. During normal operation, the input end of the detection circuit 10 of the hemispherical resonator gyroscope is connected to the output end of the first operational amplifier 13. The input end of the ADC circuit 11 is connected to the output end of the detection circuit 10 of the hemispherical resonator gyroscope. The output end of the ADC circuit 11 is connected to the input end of the control unit 12. The output end of the control unit 12 is connected to the DAC circuit 1. The ADC circuit 11 converts the vibration signal of the hemispherical resonator gyroscope collected by the detection circuit 10 into a digital signal and transmits the digital signal to the control unit 12. The control unit 12 calculates the loop delay according to the digital signal and compensates the AC signal of the DAC circuit 1.

[0036] As shown in Figure 6 During calibration, the signal output end after coupling is looped to the detection circuit by closing the high voltage, and the loop delay is calibrated. During the driving delay calibration, the control unit 12 controls the DAC to output an AC signal with a frequency approximately equal to the resonant frequency of the gyroscope, and the amplitude is constant. The signal is collected by the ADC after passing through the detection circuit. The entire signal loop is consistent with the normal working state of the gyroscope, and can reflect the loop delay of the gyroscope in the normal working state. After receiving the conversion result of the ADC, the control unit 12 compares the 0 phase difference with the DAC output signal to determine the loop delay at this time. That is, the ADC circuit 11 converts the detection signal collected by the detection circuit in real time into a digital signal and transmits the digital signal to the control unit 12. The control unit 12 calculates the loop delay according to the digital signal and compensates the AC signal of the DAC circuit 1 in real time. The calculation of the loop delay can be completed by the control chip of the hemispherical resonator gyroscope. As shown in Figure 7 A typical signal loopback test result diagram is shown in

[0037] During the cold start of the gyroscope, the 8-electrode excitation method is used to control the start of the gyroscope, and the phase-locked control loop, the amplitude control loop, and the quadrature suppression loop are controlled. The 8 discrete electrodes are divided into X drive electrodes and Y drive electrodes. During the start-up process, the first step is to apply a driving force with a frequency close to the resonant frequency of the gyroscope to the X drive electrodes and the Y drive electrodes, respectively. The second step is to track the resonant frequency of the gyroscope after the gyroscope has an output current. The third step is to output a driving force to the 8 discrete electrodes by the amplitude control loop to adjust the amplitude of the gyroscope to the target value, and the quadrature suppression loop suppresses the quadrature error to zero. In this way, the start-up of the gyroscope is completed.

[0038] After the gyro is started, the output of the amplitude control loop is switched from the 8 discrete electrodes to the high-voltage electrode. While maintaining the phase-locked control and quadrature suppression, the precision of the amplitude control loop is improved. The scheme does not change the control algorithm of the original amplitude control loop, and only changes the actuator of the amplitude control loop from the discrete electrode to the high-voltage electrode. The software is compatible with the traditional control algorithm. As shown in Figure 3 Fig. 1 is a control loop diagram of the hemispherical gyro according to the present application. The amplitude control force output is independent of the azimuth angle calculation and acts on the high-voltage electrode.

[0039] The present application provides an auxiliary maintenance method of multiplexing the high-voltage electrode to solve the problem of how to maintain the gyro amplitude in the full-angle mode. After the gyro is started, the output of the amplitude control loop is switched from the 8 discrete electrodes to the high-voltage electrode, and the ring electrode force application scheme is realized on the basis of the 8-electrode gyro.

[0040] The following is a specific example of the auxiliary maintenance method of multiplexing the high-voltage electrode provided by the present application: S01, as shown in Figure 6 Fig. 1, first, the delay calibration of the auxiliary maintenance circuit (coupling circuit of alternating current signal and high-voltage direct current signal) of the present application is performed. The CPU controls the DAC to output an alternating current signal with a frequency approximately equal to the resonance frequency of the gyro, and the amplitude is constant. The input end of the detection circuit 10 of the hemispherical resonant gyro is connected to the connection end of the coupling capacitor 8 and the fifth resistor 9. The signal passes through the detection circuit and is collected by the ADC. After the CPU receives the conversion result of the ADC, the phase difference between the DAC output signal is compared, the loop delay at this time is judged, and the phase compensation amount is generated to compensate the alternating current signal in real time. After the delay calibration is completed, the connection between the detection circuit 10 and the auxiliary maintenance circuit is disconnected, and the input end of the detection circuit 10 of the hemispherical resonant gyro is connected to the output end of the first operational amplifier 13.

[0041] S02, the gyro is installed on the turntable, the high-voltage is turned on, and the gyro is started by the 8-electrode excitation method. The phase-locked control loop, the amplitude control loop, and the quadrature suppression loop are controlled.

[0042] S03, the electrical connection between the 8 electrodes and the amplitude control loop is closed to cut off the vibration mode driving force of the amplitude control loop to the 8 electrodes to avoid the influence of the phase deviation of each electrode output. As shown in Figure 3 Fig. 2, the output of the amplitude control loop is switched to the high-voltage electrode through the auxiliary maintenance circuit of the present application. According to the loop delay measured in S01, the amplitude control loop outputs the vibration mode driving force consistent with the phase of the gyro vibration through the auxiliary maintenance circuit to act on the high-voltage electrode.

[0043] S04, the turntable is rotated, and the effect of the actual amplitude maintenance when the angular rate is input is observed, as shown in Figure 8The amplitude curve recorded in an experiment is shown, the amplitude a corresponds to the reading value of the ADC, the maximum is 32768, and the result of this experiment is controlled at about 30000. It can be seen that the auxiliary maintenance method of the multiplex high-voltage electrode can achieve the effect of stable maintenance of the amplitude, and the fluctuation range of the amplitude is less than one thousandth.

[0044] The above-described embodiments are only the preferred specific embodiments of the present application, and the phrases "in an embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" in the specification can all refer to one or more of the same or different embodiments according to the present disclosure. The usual changes and replacements made by those skilled in the art within the scope of the technical solutions of the present application should be included in the protection scope of the present application.

Claims

1. A method for auxiliary maintenance of amplitude of a hemispherical resonant gyroscope, characterized in that: include: Set the voltage of all electrodes of the hemispherical resonant gyroscope to 0. After the HRG starts oscillating, the output of the amplitude control loop of the HRG is converted into an AC signal and then switched to the high-voltage electrode of the HRG, while the DC signal applied to the high-voltage electrode remains unchanged.

2. The method for auxiliary maintenance of amplitude of a hemispherical resonant gyroscope according to claim 1, characterized in that: Also includes: A loop delay is calculated based on a detection signal collected in real time by a detection circuit of the hemispherical resonant gyroscope, and real-time phase compensation is performed on the AC signal based on the calculated loop delay.

3. A device for auxiliary maintenance of amplitude of a hemispherical resonant gyroscope for implementing the method according to claim 1 or 2, characterized in that: include: Auxiliary holding circuit and zeroing circuit, The auxiliary maintenance circuit includes a DAC circuit and a coupling capacitor. The input end of the DAC circuit is used to be electrically connected to the output end of the amplitude control loop of the hemispherical resonant gyroscope. The DAC circuit is used to convert the output of the amplitude control loop of the hemispherical resonant gyroscope into an AC signal. The output end of the DAC circuit is electrically connected to one end of the coupling capacitor. The other end of the coupling capacitor is disconnectably electrically connected to the high-voltage electrode of the hemispherical resonant gyroscope. The zeroing circuit includes a first operational amplifier and a first resistor. The positive input terminal of the first operational amplifier is grounded, the negative input terminal of the first operational amplifier is connected to the electrode of the hemispherical resonant gyroscope and one end of the first resistor respectively, the other end of the first resistor is connected to the output terminal of the first operational amplifier, and the output terminal of the first operational amplifier is used to be connected to the detection circuit of the hemispherical resonant gyroscope.

4. The hemispherical resonator gyroscope amplitude auxiliary maintenance device according to claim 3, characterized in that: The auxiliary holding circuit also includes a second operational amplifier, a second resistor, a third resistor and a fourth resistor. The output end of the DAC circuit is connected to the positive input end of the second operational amplifier, the negative input end of the second operational amplifier is connected to one end of the second resistor and the third resistor respectively, the other end of the second resistor is grounded, the other end of the third resistor is connected to the output end of the second operational amplifier and one end of the fourth resistor respectively, and the other end of the fourth resistor is connected to one end of the coupling capacitor.

5. The hemispherical resonator gyroscope amplitude auxiliary maintenance device according to claim 4, characterized in that: The auxiliary maintaining circuit also includes a first diode and a second diode, the anode of the first diode and the cathode of the second diode are both connected to the connection end of the fourth resistor and the coupling capacitor, the cathode of the first diode is connected to the power supply, and the anode of the second diode is grounded.

6. The hemispherical resonator gyroscope amplitude auxiliary maintenance device according to claim 5, characterized in that: The auxiliary maintaining circuit further includes a fifth resistor, one end of the fifth resistor is connected to the connection end of the coupling capacitor and the high voltage electrode, and the other end of the fifth resistor is connected to the high voltage power supply.

7. The hemispherical resonator gyroscope amplitude auxiliary maintenance device according to any one of claims 3 to 6, characterized in that: It also includes a loop delay circuit, which includes an ADC circuit and a control unit. The input end of the ADC circuit is connected to the output end of the detection circuit of the hemispherical resonant gyroscope, the output end of the ADC circuit is connected to the input end of the control unit, and the output end of the control unit is connected to the DAC circuit. The ADC circuit converts the detection signal collected by the detection circuit into a digital signal and transmits it to the control unit. The control unit calculates the loop delay based on the digital signal and compensates the AC signal of the DAC circuit.

8. A hemispherical resonant gyroscope, comprising a gyroscope body and a control module, wherein the gyroscope body comprises an electrode plate and a hemispherical resonator, wherein the electrode plate is provided with a plurality of electrodes, and the hemispherical resonator is provided with a high-voltage electrode, wherein the control module comprises a high-voltage power supply, and a detection circuit, a control chip, and a loop control circuit connected in sequence, wherein the high-voltage power supply is connected to the high-voltage electrode, and an output end of the loop control circuit is connected to the plurality of electrodes, and the loop control circuit comprises an amplitude control loop, characterized in that: The device further comprises the hemispherical resonant gyroscope amplitude auxiliary maintenance device according to any one of claims 3 to 7, wherein the output end of the amplitude control loop can be electrically disconnected from the plurality of electrodes and the input end of the DAC circuit of the hemispherical resonant gyroscope amplitude auxiliary maintenance device, and the output end of the first operational amplifier of the hemispherical resonant gyroscope amplitude auxiliary maintenance device is connected to the input end of the detection circuit.

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