Method and device for generating virtual Coriolis effect of hemispherical resonant gyroscope

Abstract

The embodiment of the present invention discloses a method and device for generating a virtual Coriolis effect of a hemispherical resonant gyroscope. The method comprises: extracting the vibration velocity information of the driving mode of the resonator; generating a virtual Coriolis force according to the vibration velocity information of the driving mode; applying the virtual Coriolis force to the detection mode, so that the gyroscope completes the switching from an open-loop mode without external angular velocity input to a full-angle mode in which the detection mode is acted upon by the virtual Coriolis force. The present invention solves the problem in the related art that the error characteristics of the hemispherical resonant gyroscope are greatly different from those of the traditional gyroscope, and the calibration and compensation methods are difficult to solve, resulting in the existence of a sensitive angular velocity dead zone in the rate-integrating hemispherical resonant gyroscope and an angle-dependent drift error component in the output angular velocity.

Description

Technical Field

[0001] The present invention relates to the application field of inertial instrument technology, and in particular to a method and device for generating a virtual Coriolis effect of a hemispherical resonant gyroscope. Background Art

[0002] From the overall development of gyroscopes, most of the existing gyroscopes are passive gyroscopes, which only complete the task of being sensitive to external angular velocity excitation and outputting angular velocity information. However, due to the limited online self-adjustment capability of passive gyroscopes without disassembly, the complex and changeable working environment and its own losses, it is difficult to maintain high-precision output throughout the entire life cycle; from the specific application of rate-integrating hemispherical resonant gyroscopes, their unique working characteristics make their zero bias present periodic variability, which is a periodic quantity related to the fourth harmonic of the excitation angular velocity and the standing wave azimuth angle, rather than a constant value. The error characteristics of the hemispherical resonant gyroscope are quite different from those of traditional gyroscopes. The existing calibration and compensation methods are difficult to solve the problems of the existence of sensitive angular velocity dead zone and angle-dependent drift error components in the output angular velocity, which also seriously affects the output accuracy of the rate-integrating hemispherical resonant gyroscope and the strapdown inertial navigation system using it as an angle sensor.

[0003] In the current related technologies, the error characteristics of the hemispherical resonant gyroscope are quite different from those of the traditional gyroscope, and the calibration and compensation methods in the existing technology are difficult to solve. As a result, the rate-integrating hemispherical resonant gyroscope has a sensitive angular velocity dead zone and an angle-dependent drift error component in the output angular velocity, which has not yet been effectively solved. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for generating a virtual Coriolis effect of a hemispherical resonant gyroscope, so as to at least solve the problem in the related art that the error characteristics of the hemispherical resonant gyroscope are quite different from those of the traditional gyroscope, and the calibration and compensation methods are difficult to solve, resulting in the existence of a sensitive angular velocity dead zone in the rate-integrating hemispherical resonant gyroscope and an angle-dependent drift error component in the output angular velocity.

[0005] According to one aspect of an embodiment of the present invention, a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope is provided, comprising: extracting the vibration velocity information of the driving mode of the resonator; generating a virtual Coriolis force based on the vibration velocity information of the driving mode; and applying the virtual Coriolis force to a detection mode so that the gyroscope can complete the switching from an open-loop mode without external angular velocity input to a full-angle mode in which the detection mode is acted upon by the virtual Coriolis force.

[0006] Optionally, extracting the driving mode vibration velocity information of the resonator includes: extracting the driving mode vibration velocity information when the resonator completes oscillation and is in a vibration holding state.

[0007] Further, optionally, when the resonator completes oscillation and is in a vibration holding state, extracting the driving mode vibration speed information includes: applying force to the resonator through a driving electrode to control the oscillation of the resonator; wherein the amplitude of the driving mode vibration signal increases from 0 to a range near the reference amplitude; tracking the frequency and phase of the driving mode vibration signal through a frequency-phase tracking loop to generate a demodulation reference signal, wherein the frequency of the demodulation reference signal is in a range near the driving mode resonance frequency; and obtaining the driving mode vibration speed information based on the amplitude of the driving mode vibration signal when the resonator is oscillated and the frequency of the demodulation reference signal.

[0008] Optionally, generating a virtual Coriolis force based on the driving modal vibration velocity information includes: decomposing the driving modal vibration velocity information using standing wave azimuth information to obtain real-time vibration velocity information of the resonator in the x-axis and y-axis directions.

[0009] Further, optionally, the method also includes: utilizing a self-excitation control module to extract the driving mode vibration velocity information during the standing wave precession process in real time, and generating a virtual Coriolis voltage signal based on the self-excitation angular velocity information.

[0010] Optionally, applying the virtual Coriolis force to the detection mode includes: decomposing the virtual Coriolis force signal using standing wave azimuth information, and applying the virtual Coriolis force to the x-axis and y-axis directions respectively, which is equivalent to applying the virtual Coriolis force to the detection mode.

[0011] Furthermore, optionally, the method further includes: utilizing the standing wave azimuth information output in real time by the signal demodulation module to decompose the virtual Coriolis force, and applying the decomposed virtual Coriolis force to the x-axis and y-axis directions respectively, and acting equivalently on the detection mode to generate orthogonal waves, which are mutually coupled with the main wave to cause the antinode axis of the standing wave to precess, wherein the virtual Coriolis force in the x-axis direction is sinusoidally related to the negative twice of the standing wave azimuth angle, and the virtual Coriolis force in the y-axis direction is cosine related to twice the standing wave azimuth angle; applying a quasi-orthogonal control force on the detection mode to suppress the frequency difference The standing wave azimuth angle information output by the signal demodulation module in real time is used to decompose the quasi-orthogonal control force signal of the detection mode, and acts on the x-axis and y-axis directions respectively, which is equivalent to the detection mode. The quasi-orthogonal control force in the x-axis direction is sinusoidally related to the negative twice of the standing wave azimuth angle, and the quasi-orthogonal control force in the y-axis direction is cosine related to twice the standing wave azimuth angle. The virtual Coriolis force is used to cause the effective precession of the standing wave, and the application of the rate-integrated HRG self-excitation angular velocity is completed. By detecting the change in the standing wave azimuth angle, the detection and output of the gyro's sensitive angular velocity are realized.

[0012] Optionally, the method further includes: when the resonator is started and the vibration is maintained, the hemispherical resonant gyroscope operates in an open-loop mode without external angular velocity input, wherein when there is no standing wave azimuth drift caused by non-equal damping error, the open-loop mode without external angular velocity input includes:

[0013]

[0014] Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d The driving mode vibration angular frequency tracked by the frequency-phase tracking loop is used as the angular frequency of each alternating driving force.

[0015] Optionally, the method further includes: when the hemispherical resonant gyroscope operates in a full-angle mode in which the detection mode is acted upon by a virtual Coriolis force, the steady-state response of the vibration displacement of the hemispherical resonant gyroscope in the 0° and 45° electrode axis directions is:

[0016]

[0017] Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d The driving mode vibration angular frequency tracked by the frequency-phase tracking loop is used as the angular frequency of each alternating driving force.

[0018]

[0019]

[0020] Virtual Coriolis force f cx ,f cy The effective precession of the resonant vibration mode will be caused, which is equivalent to the influence of the real Coriolis force generated by the fixed-axis rotation of the rate-integrated HRG.

[0021] According to another aspect of an embodiment of the present invention, there is provided a device for generating a virtual Coriolis effect of a hemispherical resonant gyroscope, comprising: an extraction module for extracting the vibration velocity information of the driving mode of the resonator; a generation module for generating a virtual Coriolis force based on the vibration velocity information of the driving mode; and a switching module for applying the virtual Coriolis force to a detection mode so that the gyroscope can switch from an open-loop mode without external angular velocity input to a full-angle mode in which the detection mode is acted upon by the virtual Coriolis force.

[0022] In the embodiment of the present invention, the vibration velocity information of the driving mode of the resonator is extracted; a virtual Coriolis force is generated according to the vibration velocity information of the driving mode; and the virtual Coriolis force is applied to the detection mode so that the gyroscope completes the switching from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force. In other words, the embodiment of the present invention can solve the problem in the related art that the error characteristics of the hemispherical resonant gyroscope are greatly different from those of the traditional gyroscope, and the calibration and compensation methods are difficult to solve, resulting in the existence of a sensitive angular velocity dead zone and an angle-dependent drift error component in the output angular velocity in the rate-integrating hemispherical resonant gyroscope, thereby achieving the technical effect of improving the output accuracy of the rate-integrating hemispherical resonant gyroscope single table and the strapdown inertial navigation system using it as an angle sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 A schematic diagram of a flow chart of a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided by an embodiment of the present invention;

[0025] Figure 2 A diagram showing the basic working principle of HRG in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0026] Figure 3 An analysis diagram of the precession characteristics of the resonant vibration mode in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of realizing the self-excitation principle of rate-integrated HRG in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0028] Figure 5 A control principle diagram of a rate-integrated HRG system with a self-excitation control module in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0029] Figure 6A diagram of a HRG dynamics simulation model in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0030] Figure 7 A simulation model diagram of a rate-integrated HRG control system with a self-excitation control module in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0031] Figure 8 A diagram showing the realization of rate-integrated HRG self-excitation in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided by an embodiment of the present invention;

[0032] Fig. 9 A diagram showing the output accuracy and stability of the angular velocity of the gyro sensitive angle increment when the self-excitation angular velocity input is +300° / s in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0033] Fig.10 A schematic diagram of a virtual Coriolis effect generating device for a hemispherical resonant gyroscope provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second" and the like in the specification, claims and drawings of the present invention are used to distinguish different objects rather than to limit a specific order.

[0036] According to one aspect of an embodiment of the present invention, a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope is provided. Figure 1 A schematic diagram of a flow chart of a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided by an embodiment of the present invention. Figure 1 As shown, the embodiment of the present application provides a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope, including:

[0037] Step S102, extracting the driving modal vibration velocity information of the resonator;

[0038] Optionally, extracting the driving mode vibration velocity information of the resonator includes: extracting the driving mode vibration velocity information when the resonator completes oscillation and is in a vibration holding state.

[0039] Further, optionally, when the resonator completes oscillation and is in a vibration holding state, extracting the driving mode vibration speed information includes: applying force to the resonator through a driving electrode to control the oscillation of the resonator; wherein the amplitude of the driving mode vibration signal increases from 0 to a range near the reference amplitude; tracking the frequency and phase of the driving mode vibration signal through a frequency-phase tracking loop to generate a demodulation reference signal, wherein the frequency of the demodulation reference signal is in a range near the driving mode resonance frequency; and obtaining the driving mode vibration speed information based on the amplitude of the driving mode vibration signal when the resonator is oscillated and the frequency of the demodulation reference signal.

[0040] Step S104, generating a virtual Coriolis force according to the driving mode vibration velocity information;

[0041] Optionally, generating a virtual Coriolis force based on the driving modal vibration velocity information includes: decomposing the driving modal vibration velocity information using standing wave azimuth information to obtain real-time vibration velocity information of the resonator in the x-axis and y-axis directions.

[0042] Further, optionally, the method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present application also includes: utilizing a self-excitation control module to extract in real time the vibration velocity information of the driving mode during the standing wave precession process, and generating a virtual Coriolis voltage signal based on the self-excitation angular velocity information.

[0043] Step S106, applying the virtual Coriolis force to the detection mode, so that the gyroscope completes the switch from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force.

[0044] Optionally, applying the virtual Coriolis force to the detection mode includes: decomposing the virtual Coriolis force signal using standing wave azimuth information, and applying the virtual Coriolis force to the x-axis and y-axis directions respectively, which is equivalent to applying the virtual Coriolis force to the detection mode.

[0045] Further, optionally, the method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present application also includes: using the standing wave azimuth angle information output in real time by the signal demodulation module to decompose the virtual Coriolis force, and applying the decomposed virtual Coriolis force to the x-axis and y-axis directions respectively, and acting equivalently on the detection mode to generate orthogonal waves, and the orthogonal waves are coupled with the main wave to cause the antinode axis of the standing wave to precess, wherein the virtual Coriolis force in the x-axis direction is sinusoidally related to the negative twice of the standing wave azimuth angle, and the virtual Coriolis force in the y-axis direction is cosine related to twice the standing wave azimuth angle; applying a quasi-orthogonal force on the detection mode Control force is used to suppress the frequency difference. The standing wave azimuth angle information output by the signal demodulation module in real time is used to detect the decomposition of the quasi-orthogonal control force signal of the mode, and act on the x-axis and y-axis directions respectively, which is equivalent to the detection mode. Among them, the quasi-orthogonal control force in the x-axis direction is sinusoidally related to the negative twice of the standing wave azimuth angle, and the quasi-orthogonal control force in the y-axis direction is cosine related to twice the standing wave azimuth angle. The virtual Coriolis force is used to cause the effective precession of the standing wave, and the application of the rate-integrated HRG self-excitation angular velocity is completed. By detecting the change in the standing wave azimuth angle, the detection and output of the gyro's sensitive angular velocity are realized.

[0046] Optionally, the method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present application further includes: when the resonator is started and the vibration is maintained, the hemispherical resonant gyroscope operates in an open-loop mode without external angular velocity input, wherein when there is no standing wave azimuth drift caused by non-equal damping error, the open-loop mode without external angular velocity input includes:

[0047]

[0048] Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d The driving mode vibration angular frequency tracked by the frequency-phase tracking loop is used as the angular frequency of each alternating driving force.

[0049] Optionally, the method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present application further includes: when the hemispherical resonant gyroscope operates in a full-angle mode in which the detection mode is acted upon by a virtual Coriolis force, the steady-state response of the vibration displacement of the hemispherical resonant gyroscope in the 0° and 45° electrode axis directions is:

[0050]

[0051] Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d The driving mode vibration angular frequency tracked by the frequency-phase tracking loop is used as the angular frequency of each alternating driving force.

[0052]

[0053]

[0054] Virtual Coriolis force f cx ,f cy The effective precession of the resonant vibration mode will be caused, which is equivalent to the influence of the real Coriolis force generated by the fixed-axis rotation of the rate-integrated HRG.

[0055] In summary, the method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope proposed in the embodiment of the present application changes the existing rate-integrating hemispherical resonant gyroscope from a passive type to an active type, and realizes the application of self-excitation angular velocity, thereby providing a new solution for suppressing its periodic variation zero bias error, completing the self-excitation-based jump out of the dead zone, the drift error component compensation in the resonant vibration mode precession rate, single-meter-level virtual rotation modulation, and improving the output accuracy of a single meter and a strapdown inertial navigation system using it as an angle sensor.

[0056] The basic working principle of the hemispherical resonance gyroscope (HRG) is shown in the attached figure. Figure 2 As shown, Figure 2 A basic working principle diagram of HRG in a method for generating virtual Coriolis effect of a hemispherical resonant gyroscope provided by an embodiment of the present invention. When there is an external angular velocity excitation, the particles on the hemispherical resonant gyroscope after the vibration not only move radially but also move in a circular motion, thereby generating Coriolis acceleration a c =2Ω×v and Coriolis force F c =-2mΩ×v. The effect of Coriolis force is shown in the attached figure. Figure 2 As shown by the dashed arrow in the middle, the resonator is forced to move in an elliptical shape at an angle of 45° to the antinode axis of the main wave, that is, to generate an orthogonal wave. In the full-angle mode, the resonant vibration mode precesses under the action of the Coriolis force. The precession characteristics of the resonant vibration mode are analyzed as shown in the attached figure. Figure 3 As shown, Figure 3An analysis diagram of the precession characteristics of the resonant vibration mode in a method for generating a virtual Coriolis effect for a hemispherical resonant gyroscope provided in an embodiment of the present invention. The detection modal response caused by the Coriolis effect, i.e., the orthogonal wave, and the driving modal response, i.e., the main wave, have an equivalent effect of causing the main wave antinode to precess axially in a direction opposite to the excitation angular velocity. By detecting the change in the azimuth angle of the standing wave, the gyroscope input angular velocity can be detected and the angular increment information can be output.

[0057] The embodiment of the present application proposes a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope. Based on the Coriolis effect and the working principle of HRG in full-angle mode, the method for generating the virtual Coriolis effect can utilize internal signal processing to complete the application of a virtual Coriolis force on the detection mode, which is equivalent to the influence of a real Coriolis force generated by an external angular velocity excitation. The realization of HRG self-excitation requires the completion of three major steps: extracting the vibration velocity of the driving mode, generating a virtual Coriolis force, and applying the virtual Coriolis force to the detection mode. In full-angle mode, there are two ways to extract the vibration velocity of the driving mode during the precession of the resonant vibration mode. The methods are as shown in the attached figure. Figure 4 As shown by the dotted line, Figure 4 A schematic diagram of the rate-integrated HRG self-excitation realization in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention, which directly extracts the x-axis and y-axis vibration displacement signals and generates them through a differentiator and It is equivalent to obtaining the components of the driving mode vibration velocity on the two axes; Method 2 is as shown in the attached Figure 4 As shown by the solid line, the driving mode vibration velocity information is obtained by using the internal amplitude signal of the gyroscope and the demodulation reference signal. This method has the advantages of relying on the high-precision reference signal inside the gyroscope and not being affected by the azimuth angle of the standing wave. The present invention adopts this method.

[0058] On the basis of the existing full-angle mode HRG control circuit, a self-excitation control module is added to complete the application of virtual Coriolis force on the detection mode. This driving force can produce effective precession of the resonant vibration mode equivalent to that under the external excitation state.

[0059] The realization of rate-integrated HRG self-excitation is mainly divided into the following three stages: 1) oscillation of the resonator; 2) maintenance of the vibration of the resonator; 3) extraction of the driving mode vibration velocity signal, and use of the standing wave azimuth information to decompose the signal and generate virtual Coriolis force components, which act in the x-axis and y-axis directions and act equivalently on the detection mode.

[0060] The above three stages include two working modes. In the first and second stages, HRG works in open-loop mode without external angular velocity input. In the third stage, HRG works in full-angle mode where the detection mode is acted by virtual Coriolis force. The steady-state response of vibration displacement in the two modes is as follows:

[0061] 1) Open-loop mode without external angular velocity input (assuming no standing wave azimuth drift caused by non-equal damping error)

[0062]

[0063] Where x and y represent the vibration displacement signals detected at 0° and 45° directions of the hemispherical resonant gyroscope, respectively, and Q x and Q y is the quality factor of vibration in the x-axis and y-axis directions, ω x and ω y is the angular frequency of vibration in two directions, ω d It is the driving mode vibration angular frequency tracked by the frequency-phase tracking loop, which will also be used as the angular frequency of each alternating driving force;

[0064] 2) Full-angle mode with virtual Coriolis force acting on the detection mode

[0065]

[0066] in,

[0067]

[0068]

[0069] Virtual Coriolis force f cx ,f cy The effective precession of the resonant vibration mode will be caused, which is equivalent to the influence of the real Coriolis force generated by the fixed-axis rotation of the rate-integrated HRG.

[0070] The control principle of the rate-integrated HRG system with a self-excitation control module is shown in the attached figure. Figure 5 As shown, Figure 5 A control schematic diagram of a rate-integrated HRG system with a self-excitation control module in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention. In full-angle mode, a signal demodulation module generates control judgment quantities required by each loop; a frequency-phase tracking loop tracks the frequency and phase of a driving modal vibration signal in real time to generate a demodulation reference signal; an amplitude control loop always maintains the driving modal amplitude near a given reference amplitude; a quasi-orthogonal control loop suppresses the detection modal vibration amplitude caused by frequency cracking; and a virtual Coriolis force generated by the self-excitation control module acts on the detection mode together with the quasi-orthogonal control force.

[0071] Attached Figure 6 and attached Figure 7 They are the HRG dynamics simulation model based on the simulink module in matlab and the rate-integrated HRG control system simulation model with a self-excitation control module, namely, Figure 6A diagram of a HRG dynamics simulation model in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention, Figure 7 A simulation model diagram of a rate-integrated HRG control system with a self-excitation control module in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in an embodiment of the present invention is used for simulation verification of the method for generating a virtual Coriolis effect and to complete the application of the method in realizing self-excitation of a rate-integrated HRG.

[0072] The Simulink simulation model includes: HRG dynamics simulation model, signal demodulation module, demodulation reference signal generation module and three basic control modules of frequency-phase tracking, amplitude control and quasi-orthogonal control, etc. Functional modules required for rate-integrated HRG. The control signal modulation module realizes the conversion of discrete digital signal (low frequency) to continuous voltage signal (high frequency). The drive module and the detection module simulate the 0° and 45° axial drive / detection electrodes of the hemispherical resonant gyroscope to realize the conversion between voltage signal and control force signal, and between voltage signal and vibration displacement signal. In addition, the self-excitation control module designed by the present invention is also included in the above-mentioned simulation model. By using the demodulation reference signal frequency and amplitude control amount, a virtual Coriolis voltage signal can be generated in the module, and then a virtual Coriolis force is generated to act on the corresponding drive electrode, which acts equivalently on the detection mode in real time, realizing the function of high-precision angular velocity self-excitation of the rate-integrated HRG.

[0073] The rate-integrated HRG self-excitation angular velocity is applied based on the virtual Coriolis effect generation method as shown in the attached figure. Figure 8 As shown, Figure 8 A diagram showing the realization of rate-integrated HRG self-excitation in a method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided by an embodiment of the present invention. Figure 8 The signal curves of the virtual Coriolis force in the driving mode, the resultant force of the quasi-orthogonal control force in the detection mode, and the component forces of each force in the x- and y-axis directions all represent the output state under the initial phase, and the control force applied to the resonator is defined as positive outward (i.e., radially outward along the equator of the resonator is positive), and the initial phase of the resonant displacement signal is in cosine form.

[0074] The implementation process of the method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope provided in the embodiment of the present application is as follows:

[0075] 1) The driving electrode applies force to make the resonator vibrate. In the absence of non-equal damping error, the x-axis vibration amplitude gradually increases from 0 to a reference amplitude of 10 μm, and the amplitude control loop is used to maintain the vibration of the resonator. The whole process takes about 6 seconds. Figure 8 As shown in (a), (c), and (d), after the vibration is started, without angular velocity excitation, the antinode axis of the standing wave is maintained in the x-axis direction;

[0076] 2) The frequency-phase tracking loop tracks the frequency and phase of the driving modal vibration signal and generates a demodulation reference signal. The signal frequency is near the natural resonant frequency of the driving modal signal, 4964.7Hz. The tracking process is very fast and is completed within 0.5s after power-on. The driving mode will change its position with the precession of the standing wave. The frequency-phase control quantity output by the signal demodulation module ensures real-time tracking of the frequency and phase of the driving modal vibration signal. The tracking effect is shown in the attached figure. Figure 8 (b)

[0077] 3) At 10s, apply Figure 8 (e) shows a constant self-excitation angular velocity of 300° / s (within the range of the rate-integrated HRG sensitive angular velocity capability), and uses the self-excitation control module to extract the driving modal vibration velocity information during the standing wave precession process in real time to generate a virtual Coriolis voltage signal. For details, see the attached Figure 7 Simulation model, and then generate the driving mode virtual Coriolis force, as shown in the attached Figure 8 (f) The virtual Coriolis force generated by this process is equivalent to the influence of the real Coriolis force under external angular velocity excitation. When the initial phase and the standing wave oscillate in the 0° electrode axis direction, the state of the resonator is as shown in the attached figure. Figure 2 As shown in (a), when the positive angular velocity excitation is applied in this state, the Coriolis force is generated along the radial outward direction of the resonator equator in the direction of the 45° electrode axis, causing the standing wave antinode on the resonator to move axially in the direction opposite to the excitation angular velocity, as shown in the attached figure. Figure 3 (a)

[0078] 4) Using the standing wave azimuth information output in real time by the signal demodulation module, the virtual Coriolis force signal of the driving mode is decomposed and acts on the x-axis and y-axis directions respectively, which is equivalent to acting on the detection mode to generate orthogonal waves. The orthogonal waves are coupled with the main wave to cause the antinode axis of the standing wave to precess. Among them, the virtual Coriolis force in the x-axis direction is sinusoidally related to the negative twice of the standing wave azimuth angle, and the virtual Coriolis force in the y-axis direction is cosine related to twice the standing wave azimuth angle. The virtual Coriolis effect components in the two directions are shown in the attached figure. Figure 8 (g) and (h);

[0079] 5) The existence of the excitation angular velocity will cause a frequency difference between the driving mode and the detection mode. It is necessary to apply a quasi-orthogonal control force on the detection mode to suppress the frequency difference. The standing wave azimuth information output in real time by the signal demodulation module can be realized as shown in the attached figure. Figure 8 The quasi-orthogonal control force signal of the detection mode shown in (i) is decomposed and acts on the x-axis and y-axis directions respectively, which is equivalent to the detection mode. Among them, the quasi-orthogonal control force in the x-axis direction is in a sine relationship with the negative twice of the standing wave azimuth angle, and the quasi-orthogonal control force in the y-axis direction is in a cosine relationship with the twice of the standing wave azimuth angle. The quasi-orthogonal control force components in the two directions are shown in the attached figure. Figure 8 (j) and (k);

[0080] 6) The virtual Coriolis force will cause the standing wave to effectively precess, completing the application of the rate-integrated HRG self-excitation angular velocity. By detecting the change in the standing wave azimuth angle, the gyro input angular velocity can be detected and output, as shown in the attached figure. Figure 8 (l) as shown.

[0081] according to Fig. 9 The gyro sensitivity angle increment output result can be obtained, Fig. 9 A diagram of the accuracy and stability of the gyro sensitive angular velocity output when the self-excitation angular velocity input is +300° / s in a method for generating a virtual Coriolis effect of a hemispherical resonant gyro provided in an embodiment of the present invention. When a hemispherical resonant gyro dynamics simulation model without unequal damping and unequal elastic errors is used to test and verify the effect of applying the rate-integrated HRG self-excitation angular velocity, when the self-excitation angular velocity input is a positive rotation of 300° / s, the output relative stability time is extremely short, and the absolute value of the output angular velocity error is less than 0.1° / s, which proves the feasibility of the virtual Coriolis effect generation method proposed in the present invention from principle to the realization of rate-integrated HRG self-excitation angular velocity application and standing wave virtual precession.

[0082] In the embodiment of the present invention, the vibration velocity information of the driving mode of the resonator is extracted; a virtual Coriolis force is generated according to the vibration velocity information of the driving mode; and the virtual Coriolis force is applied to the detection mode, so that the gyroscope completes the switching from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force. In other words, the embodiment of the present invention can rely on the virtual Coriolis effect, utilize virtual angular velocity excitation to complete the gyroscope jumping out of the dead zone and suppress the angle-dependent drift caused by non-equal damping, and solves the problem in the related art that the error characteristics of the hemispherical resonant gyroscope are greatly different from those of the traditional gyroscope, and the calibration and compensation methods are difficult to solve, resulting in the existence of a sensitive angular velocity dead zone and an angle-dependent drift error component in the output angular velocity of the rate-integrating hemispherical resonant gyroscope, thereby achieving the technical effect of improving the output accuracy of the rate-integrating hemispherical resonant gyroscope single table and the strapdown inertial navigation system using it as an angle sensor.

[0083] According to another aspect of an embodiment of the present invention, a device for generating a virtual Coriolis effect of a hemispherical resonant gyroscope is provided. Fig.10 Schematic diagram of a virtual Coriolis effect generating device for a hemispherical resonant gyroscope provided by an embodiment of the present invention. Fig.10 As shown, the virtual Coriolis effect generating device of the hemispherical resonant gyroscope provided in the embodiment of the present application includes: an extraction module 1002, used to extract the driving mode vibration velocity information of the resonator; a generation module 1004, used to generate a virtual Coriolis force according to the driving mode vibration velocity information; a switching module 1006, used to apply the virtual Coriolis force to the detection mode, so that the gyroscope completes the switching from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force.

[0084] In the embodiment of the present invention, the vibration velocity information of the driving mode of the resonator is extracted; a virtual Coriolis force is generated according to the vibration velocity information of the driving mode; and the virtual Coriolis force is applied to the detection mode, so that the gyroscope completes the switching from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force. In other words, the embodiment of the present invention can rely on the virtual Coriolis effect, utilize virtual angular velocity excitation to complete the gyroscope jumping out of the dead zone and suppress the angle-dependent drift caused by non-equal damping, and solves the problem in the related art that the error characteristics of the hemispherical resonant gyroscope are greatly different from those of the traditional gyroscope, and the calibration and compensation methods are difficult to solve, resulting in the existence of a sensitive angular velocity dead zone and an angle-dependent drift error component in the output angular velocity of the rate-integrating hemispherical resonant gyroscope, thereby achieving the technical effect of improving the output accuracy of the rate-integrating hemispherical resonant gyroscope single table and the strapdown inertial navigation system using it as an angle sensor.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope, characterized in that: include: Extract the vibration velocity information of the driving mode of the resonator; generating a virtual Coriolis force according to the driving modal vibration velocity information; Applying the virtual Coriolis force to the detection mode, so that the gyroscope completes the switching from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force; When the resonator is started and the vibration is maintained, the hemispherical resonant gyroscope operates in an open-loop mode without external angular velocity input, wherein when there is no standing wave azimuth drift caused by non-equal damping error, the open-loop mode without external angular velocity input includes: Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d It is the driving mode vibration angular frequency tracked by the frequency-phase tracking loop, and the driving mode vibration angular frequency is used as the angular frequency of each alternating driving force.

2. The method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope according to claim 1, characterized in that: The step of extracting the driving modal vibration velocity information of the resonator comprises: When the resonator has completed oscillation and is in a vibration-maintaining state, the driving mode vibration velocity information is extracted.

3. The method for generating virtual Coriolis effect of a hemispherical resonant gyroscope according to claim 2, characterized in that: When the resonator completes oscillation and is in a vibration holding state, extracting the driving mode vibration speed information includes: Applying force to the resonator through the driving electrode to control the resonator to oscillate; wherein the amplitude of the driving mode vibration signal increases from 0 to a range near the reference amplitude; Tracking the frequency and phase of the driving mode vibration signal through a frequency-phase tracking loop to generate a demodulation reference signal, wherein the frequency of the demodulation reference signal is in a range near the driving mode resonant frequency; The driving mode vibration speed information is obtained according to the driving mode vibration signal amplitude when the resonator is oscillated and the demodulated reference signal frequency.

4. The method for generating a virtual Coriolis effect of a hemispherical resonant gyroscope according to any one of claims 1 to 3, characterized in that: Generating the virtual Coriolis force according to the driving modal vibration velocity information comprises: The driving modal vibration velocity information is decomposed using the standing wave azimuth information to obtain real-time vibration velocity information of the resonator in the x-axis and y-axis directions.

5. The method for generating virtual Coriolis effect of a hemispherical resonant gyroscope according to claim 4, characterized in that: The method further comprises: The self-excitation control module is used to extract the driving mode vibration velocity information in the standing wave precession process in real time, and a virtual Coriolis voltage signal is generated according to the self-excitation angular velocity information.

6. The method for generating virtual Coriolis effect of a hemispherical resonant gyroscope according to claim 4, characterized in that: Applying the virtual Coriolis force to the detection mode includes: The virtual Coriolis force signal is decomposed using the standing wave azimuth information and acts on the x-axis and y-axis directions respectively, which is equivalent to acting on the detection mode.

7. The method for generating virtual Coriolis effect of a hemispherical resonant gyroscope according to claim 6, characterized in that: The method further comprises: The virtual Coriolis force is decomposed by using the standing wave azimuth information output in real time by the signal demodulation module, and the decomposed virtual Coriolis force is respectively applied to the x-axis and y-axis directions, and equivalently applied to the detection mode to generate orthogonal waves, which are coupled with the main wave to cause the antinode axis of the standing wave to precess, wherein the virtual Coriolis force in the x-axis direction is in a sine relationship with the negative twice of the standing wave azimuth angle, and the virtual Coriolis force in the y-axis direction is in a cosine relationship with twice the standing wave azimuth angle; Apply a quasi-orthogonal control force on the detection mode to suppress the frequency difference, use the standing wave azimuth angle information output in real time by the signal demodulation module to decompose the detection mode quasi-orthogonal control force signal, and act on the x-axis and y-axis directions respectively, equivalently acting on the detection mode, wherein the quasi-orthogonal control force in the x-axis direction is in a sine relationship with the negative twice of the standing wave azimuth angle, and the quasi-orthogonal control force in the y-axis direction is in a cosine relationship with twice the standing wave azimuth angle; The virtual Coriolis force causes the effective precession of the standing wave, completes the application of the rate-integrated HRG self-excitation angular velocity, and detects and outputs the gyro's sensitive angular velocity by detecting the change in the standing wave azimuth angle.

8. The method for generating virtual Coriolis effect of a hemispherical resonant gyroscope according to claim 1, characterized in that: The method further comprises: When the hemispherical resonant gyroscope operates in the full-angle mode in which the detection mode is acted upon by the virtual Coriolis force, the steady-state response of the vibration displacement in the 0° and 45° electrode axis directions of the hemispherical resonant gyroscope is: Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d is the driving mode vibration angular frequency tracked by the frequency-phase tracking loop, and the driving mode vibration angular frequency is used as the angular frequency of each alternating driving force, The virtual Coriolis force f cx ,f cy The effective precession of the resonant vibration mode will be caused, which is equivalent to the influence of the real Coriolis force generated by the fixed-axis rotation of the rate-integrated HRG.

9. A virtual Coriolis effect generating device for a hemispherical resonant gyroscope, characterized in that: include: An extraction module, used to extract the driving modal vibration velocity information of the resonator; A generating module, used for generating a virtual Coriolis force according to the driving modal vibration velocity information; A switching module, used for applying the virtual Coriolis force to the detection mode, so that the gyroscope completes the switching from the open-loop mode without external angular velocity input to the full-angle mode in which the detection mode is acted by the virtual Coriolis force; When the resonator is started and the vibration is maintained, the hemispherical resonant gyroscope operates in an open-loop mode without external angular velocity input, wherein when there is no standing wave azimuth drift caused by non-equal damping error, the open-loop mode without external angular velocity input includes: Where x represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 0°, y represents the vibration displacement signal detected by the hemispherical resonant gyroscope at 45°, Q x is the quality factor of vibration in the x-axis direction, Q y is the quality factor of vibration in the y-axis direction, ω x is the angular frequency of vibration in the x-axis direction, ω y is the angular frequency of vibration in the y-axis direction, ω d It is the driving mode vibration angular frequency tracked by the frequency-phase tracking loop, and the driving mode vibration angular frequency is used as the angular frequency of each alternating driving force.

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