Quartz gyroscope orthogonal coupling error suppression method and system

Abstract

The present invention provides a method and system for suppressing quadrature coupling errors in a quartz gyroscope. The method comprises: generating a first signal based on a quadrature component representing the quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, the drive signal being generated by a digitally controlled oscillator; generating a cancellation signal based on the first signal, wherein the cancellation signal is a signal having an amplitude equal to that of the quadrature coupling error signal and an opposite polarity to that of the quadrature coupling error signal, the quadrature coupling error signal being collected by a detection terminal of the quartz gyroscope, the detection terminal being connected to the digitally controlled oscillator; and suppressing the quadrature coupling error signal based on the cancellation signal. The present invention suppresses the quadrature coupling error signal collected by the detection terminal by adding a cancellation signal having an amplitude equal to that of the quadrature coupling error signal and an opposite polarity to that of the quadrature coupling error signal, thereby reducing the impact of the quadrature coupling error on the angular velocity measurement of the quartz gyroscope.

Description

Technical Field

[0001] The present invention relates to the technical field of digital signal processing, and in particular to a method and system for suppressing orthogonal coupling errors of a quartz gyroscope. Background Art

[0002] A quartz gyroscope is an inertial measurement unit based on micromachining technology. It measures angular velocity through the piezoelectric effect, inverse piezoelectric effect, and Coriolis force of quartz crystal.

[0003] A quartz gyroscope is mainly composed of a sensitive unit, a driving circuit, and a detection circuit. The sensitive unit, also known as a quartz tuning fork, is divided into two parts: the driving end and the detection end.

[0004] The drive circuit is connected to the tuning fork's driving end and is responsible for applying force to the driving end. Specifically, a sinusoidal signal is input to the driving end's interdigital electrodes via a numerically controlled oscillator (NCO), controlled by automatic gain control (AGC) parameters and a phase-locked loop (PLL). This oscillation, driven by the quartz inverse piezoelectric effect, causes the driving end's interdigital electrodes to oscillate with constant amplitude at their resonant frequency, perpendicular to the plane of the dial. Theoretically, when the gyroscope is stationary, meaning without angular velocity input, the detection end's interdigital fingers will not vibrate. However, if the gyroscope rotates about the detection end's interdigital fingers, the Coriolis force causes the driving end's interdigital fingers to vibrate in a direction normal to the tuning fork's plane. Due to torque balance, this vibration is coupled to the detection end. Under the piezoelectric effect, the detection circuit can then obtain an electrical signal through the detection end electrodes. The amplitude of the driving-end interdigital vibration is constant, meaning that the amplitude of the driving-end interdigital vibration caused by rotation is determined solely by the angular velocity. The coupling process from the driving-end vibration to the detection end is also linear, so the amplitude of the voltage signal output by the detection end electrode is linearly related to the angular velocity of rotation. After calibration, the angular velocity can be obtained.

[0005] The detection circuit amplifies and collects the signal voltage. Demodulating the voltage signal then yields a value representing the vibration amplitude, or in other words, the uncalibrated angular velocity. The drive circuit also collects the voltage signal at the tuning fork's drive end, which represents the vibration state of the driver's interdigits. The collected drive signal is demodulated using reference in-phase and quadrature signals to obtain the signal's projections in both the in-phase and quadrature directions. The signal—the amplitude and phase of the interdigit vibration—is then calculated. The collected signal amplitude is then used to perform closed-loop control of the amplitude of the sinusoidal input to the interdigits, known as automatic gain control. A quartz crystal can be equivalent to an RLC circuit with a parallel electrostatic capacitor, C0. Ignoring the influence of C0, the RLC circuit exhibits resistance at the resonant frequency, meaning the phase difference is zero, and the phase varies monotonically with frequency. This phase can be used to determine the relative deviation between the real-time frequency and the resonant frequency. This can then be used to adjust the NCO's output frequency, locking the phase of the driver's output signal and ultimately achieving closed-loop frequency control.

[0006] The quartz tuning fork is a key sensitive component in a quartz gyroscope, determining the upper limit of its angular velocity measurement precision and accuracy. During the machining process, the asymmetry between the fork fingers causes the driving vibration of the driver to couple to the sensitive vibration direction of the detection end. This, in turn, generates an error signal due to the inverse piezoelectric effect, known as quadrature coupling error. Quadrature coupling error is a significant error source in gyros, affecting the bias and bias stability of the gyroscope's output angular velocity. Furthermore, the quadrature coupling error varies with temperature, affecting the gyroscope's angular velocity performance over all temperatures. Excessive quadrature coupling error can reduce the gyroscope's dynamic measurement range. Summary of the Invention

[0007] The quartz gyroscope quadrature coupling error suppression method and system provided by the present invention are used to solve the problem in the prior art that the quadrature coupling error affects the angular velocity measurement of the quartz gyroscope.

[0008] The present invention provides a method for suppressing orthogonal coupling errors of a quartz gyroscope, comprising:

[0009] generating a first signal according to a quadrature component representing a quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator;

[0010] generating a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of the orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, the orthogonal coupling error signal being collected by a detection end of the quartz gyroscope, the detection end being connected to the digitally controlled oscillator;

[0011] The quadrature coupling error signal is suppressed based on the cancellation signal.

[0012] According to a method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention, the method for obtaining the orthogonal components includes:

[0013] The orthogonal coupling error signal is demodulated based on an orthogonal demodulation signal to obtain the orthogonal component. The phase of the orthogonal demodulation signal is orthogonal to the phase of the drive signal, and the phase of the orthogonal demodulation signal leads the phase of the drive signal.

[0014] According to a method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention, generating a cancellation signal according to the first signal includes:

[0015] Using the orthogonal component as feedback of a proportional-integral controller to obtain an automatic gain control parameter;

[0016] Adjusting the amplitude and polarity of the first signal based on the automatic gain control parameter to generate a second signal, where the second signal has the same frequency as the drive signal and has the same amplitude as the orthogonal coupling error signal;

[0017] The cancellation signal is generated according to the second signal.

[0018] According to a method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention, generating the cancellation signal according to the second signal includes:

[0019] The second signal is coupled to an amplifier through a ceramic capacitor with temperature compensation, and the phase of the second signal is shifted by 90 degrees to generate the cancellation signal. The amplifier is connected to the detection end.

[0020] According to a method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention, a method for acquiring the angular velocity of the quartz gyroscope includes:

[0021] Demodulating the angular velocity signal collected by the detection end based on the in-phase demodulation signal to obtain an in-phase component representing the angular velocity of the quartz gyroscope, wherein the in-phase demodulation signal is a signal with the same phase as the angular velocity signal, and the angular velocity signal has the same frequency and phase as the driving signal;

[0022] The angular velocity is obtained according to the in-phase component.

[0023] According to a method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention, both the orthogonal coupling error signal and the angular velocity signal are sinusoidal signals.

[0024] The present invention also provides a quartz gyroscope orthogonal coupling error suppression system, comprising: a first acquisition module, a second acquisition module and an error suppression module;

[0025] The first acquisition module is configured to generate a first signal based on a quadrature component representing an orthogonal coupling error of the quartz gyroscope, wherein the first signal is a signal having an amplitude controlled by the orthogonal component and having the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator;

[0026] the second acquisition module is configured to generate a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of the orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, the orthogonal coupling error signal being collected by a detection end of the quartz gyroscope, the detection end being connected to the digitally controlled oscillator;

[0027] The error suppression module is configured to suppress the orthogonal coupling error signal based on the cancellation signal.

[0028] The present invention also provides an electronic device, comprising a processor and a memory storing a computer program, wherein when the processor executes the program, the method for suppressing orthogonal coupling errors of a quartz gyroscope as described above is implemented.

[0029] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for suppressing orthogonal coupling errors of a quartz gyroscope as described above is implemented.

[0030] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for suppressing orthogonal coupling errors of a quartz gyroscope.

[0031] The present invention provides a quartz gyroscope quadrature coupling error suppression method and system. The method suppresses the quadrature coupling error signal collected by a detection end by adding a cancellation signal with the same amplitude and opposite polarity as the quadrature coupling error signal, thereby reducing the influence of the quadrature coupling error on the angular velocity measurement of the quartz gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 11 is a flow chart of a method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention;

[0034] Figure 2 Schematic diagram of the structure of the quartz gyroscope orthogonal coupling error suppression system provided by the present invention;

[0035] Figure 3 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0037] Quadrature coupling error affects the measurement of gyro angular velocity, which is specifically reflected in the full-temperature zero bias, zero bias stability, and gyro qualification rate of the quartz gyro. Due to the limitations of the processing technology, it is difficult to completely eliminate the orthogonal coupling error at the source. The present invention provides a method for suppressing the orthogonal coupling error of a quartz gyro. The method suppresses the orthogonal coupling error by adding a cancellation signal with opposite polarity to the orthogonal coupling error signal, thereby reducing the impact of the orthogonal coupling error on the quartz gyro angular velocity measurement. The specific implementation is as follows:

[0038] Figure 1 FIG. 1 is a flow chart of the method for suppressing orthogonal coupling errors of a quartz gyroscope provided by the present invention, as shown in FIG. Figure 1 As shown, the method includes:

[0039] Step 110: Generate a first signal based on the quadrature component representing the quadrature coupling error of the quartz gyroscope, wherein the first signal has an amplitude controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator.

[0040] Step 120: Generate a cancellation signal based on the first signal, wherein the cancellation signal has an amplitude equal to that of the quadrature coupling error signal and a polarity opposite to that of the quadrature coupling error signal. The quadrature coupling error signal is collected by a detection terminal of the quartz gyroscope, and the detection terminal is connected to the digitally controlled oscillator.

[0041] Step 130: Suppress the quadrature coupling error signal based on the cancellation signal.

[0042] It should be noted that the execution subject of the above method may be a computer device.

[0043] Optionally, the first component may specifically be an orthogonal component characterizing the measured orthogonal coupling error of the quartz gyroscope, the first signal may specifically be a controlled signal, the controlled signal may specifically refer to a signal whose amplitude is controlled by the orthogonal component and whose frequency is the same as the frequency signal driving the quartz gyroscope, and the driving signal may specifically be generated by a data-controlled oscillator.

[0044] The cancellation signal can be specifically a signal having an amplitude equal to that of the obtained quadrature coupling error signal and an opposite polarity to that of the quadrature coupling error signal. The cancellation signal can be specifically generated by using the quadrature component as feedback, adjusting the amplitude of the controlled signal based on negative feedback, and coupling the adjusted first signal to a preamplifier at the detection end via a temperature-compensated coupling capacitor. The cancellation signal has an amplitude equal to that of the quadrature coupling error signal and an opposite polarity to that of the quadrature coupling error signal. Inputting this cancellation signal to the detection end can suppress the quadrature coupling error signal.

[0045] The quadrature coupling error signal can specifically be a signal collected by the detection end of a quartz gyroscope. The quadrature component can reflect the magnitude and polarity of the quadrature coupling error, and the obtained quadrature component can be used to monitor the magnitude and changes of the quadrature coupling error. Based on the magnitude of the quadrature component, a controlled signal with a controlled amplitude and the same frequency as the drive signal is generated. A cancellation signal generated based on this controlled signal is introduced into the signal collected by the detection end of the quartz gyroscope (i.e., the cancellation signal is added to the quadrature coupling error signal), thereby reducing the impact of the quadrature coupling error signal.

[0046] Since the cancellation signal and the orthogonal coupling error signal have equal amplitudes and opposite polarities, the orthogonal coupling error signal can be offset based on the cancellation signal. Under the control of the automatic gain control parameters, the orthogonal component of the orthogonal coupling error signal will eventually stabilize near 0, that is, the orthogonal component in the orthogonal coupling error signal collected by the detection end is completely suppressed.

[0047] The quartz gyroscope quadrature coupling error suppression method provided by the present invention suppresses the quadrature coupling error signal collected by the detection end by adding a cancellation signal with the same amplitude and opposite polarity as the quadrature coupling error signal, thereby reducing the influence of the quadrature coupling error on the angular velocity measurement of the quartz gyroscope.

[0048] Furthermore, in one embodiment, the method for obtaining the orthogonal component may specifically include:

[0049] The orthogonal coupling error signal is demodulated based on an orthogonal demodulation signal to obtain the orthogonal component. The phase of the orthogonal demodulation signal is orthogonal to the phase of the drive signal, and the phase of the orthogonal demodulation signal leads the phase of the drive signal.

[0050] Optionally, the quadrature demodulation signal may be a signal that is orthogonal to the phase of the driving signal and whose phase leads the phase of the driving signal, that is, the phase of the quadrature demodulation signal leads the phase of the driving signal by 90°.

[0051] The signal collected from the detection end includes an angular velocity signal and an orthogonal coupling error signal, which are orthogonal to each other. The angular velocity signal has the same phase and frequency as the drive signal, while the orthogonal coupling error signal has a 90° phase difference with the drive signal. The drive signal is used as a demodulation reference signal, and a signal that is 90° ahead of the drive signal is used as the other demodulation reference signal, which are respectively called the in-phase demodulation signal and the orthogonal demodulation signal. Using the in-phase demodulation signal to demodulate the angular velocity signal collected by the detection end can obtain the in-phase component representing the angular velocity, and using the orthogonal demodulation signal to demodulate the orthogonal coupling error signal collected by the detection end can obtain the orthogonal component representing the orthogonal coupling error.

[0052] Furthermore, in one embodiment, the orthogonal coupling error signal and the angular velocity signal are both sinusoidal signals.

[0053] Optionally, the orthogonal coupling error signal and the angular velocity signal collected by the detection end may be specifically sinusoidal signals, such as sine wave signals.

[0054] For example, if the detection end collects a sinusoidal signal containing an angular velocity signal and an orthogonal coupling error signal, specifically: sinx + cosx = 1.414sin(x + 45°), then sinx is considered the angular velocity signal, cosx is the orthogonal coupling error signal, and the signal collected by the detection end is 1.414sin(x + 45°). In this case, the cancellation signal should be -cosx.

[0055] The present invention provides a method for suppressing quadrature coupling errors in a quartz gyroscope. The method demodulates a quadrature coupling error signal using a quadrature demodulation signal to obtain a quadrature component representing the quadrature coupling error. Based on the quadrature component, a cancellation signal having an amplitude equal to but a polarity opposite to that of the quadrature coupling error signal is generated. The cancellation signal is then used to suppress the quadrature coupling error signal collected by a detection end, thereby reducing the influence of the quadrature coupling error on the angular velocity measurement of the quartz gyroscope.

[0056] Furthermore, in one embodiment, generating a cancellation signal according to the first signal may specifically include:

[0057] Using the orthogonal component as feedback of a proportional-integral controller to obtain an automatic gain control parameter;

[0058] Adjusting the amplitude and polarity of the first signal based on the automatic gain control parameter to generate a second signal, where the second signal has the same frequency as the drive signal and has the same amplitude as the orthogonal coupling error signal;

[0059] The cancellation signal is generated according to the second signal.

[0060] Alternatively, the demodulated quadrature component is used as the observed feedback quantity and subtracted from a given value (the given value is set to 0, and the quadrature coupling error is desired to be 0) to obtain a real-time error. This real-time error is input into a proportional-integral controller (PI controller), which outputs the automatic gain control parameter AGC.

[0061] At this time, the digitally controlled oscillator (NCO) outputs two sinusoidal signals with the same frequency and phase, one as the driving signal and the other as the controlled signal. The amplitude and polarity of the controlled signal are adjusted based on the AGC to generate a second signal with the same frequency as the driving signal and the same amplitude as the orthogonal coupling error signal. Based on the second signal, a cancellation signal with the same amplitude as the orthogonal coupling error signal and the opposite polarity to the orthogonal coupling error signal is generated. The cancellation signal is connected to the detection circuit connected to the detection end to cancel the orthogonal coupling error.

[0062] Furthermore, in one embodiment, generating the cancellation signal according to the second signal may specifically include:

[0063] The second signal is coupled to an amplifier through a ceramic capacitor with temperature compensation, and the phase of the second signal is shifted by 90 degrees to generate the cancellation signal. The amplifier is connected to the detection end.

[0064] Optionally, since the cancellation signal needs to have the same frequency and amplitude as the quadrature coupling error signal and has the opposite polarity to the quadrature coupling error signal, and the quadrature coupling error signal is 90° out of phase with the drive signal, the generated second signal is coupled to the detection end preamplifier to cause the output signal to lag in phase by 90°. Specifically:

[0065] The digitally controlled oscillator (NCO) outputs two sinusoidal signals of the same frequency but different amplitudes: one serving as the driving signal and the other as the controlled signal. These signals are controlled by two separate AGCs. The quadrature coupling error can be characterized by the quadrature components derived from the quadrature coupling error signals collected by the demodulated detection terminal. These quadrature components serve as feedback for the proportional-integral controller, achieving closed-loop control of the amplitude and polarity of the controlled signal. The resulting cancellation signal has an amplitude equal to that of the quadrature coupling error signal and an opposite polarity.

[0066] The second signal is coupled to the preamplifier at the detection end through a temperature-compensated ceramic capacitor, such as an NPO capacitor, so that the phase of the second signal is shifted by 90° to generate a cancellation signal, so that the generated cancellation signal is in antiphase with the orthogonal coupling error signal (i.e., has the opposite polarity to the orthogonal coupling error signal), ultimately achieving the purpose of suppressing the orthogonal coupling error.

[0067] It should be noted that the value of AGC can be positive or negative to adjust the amplitude and polarity of the cancellation signal, ultimately suppressing the orthogonal coupling error.

[0068] By setting the value of the AGC, a cancellation signal having a polarity opposite to that of the quadrature coupling error signal and an amplitude equal to that of the quadrature coupling error signal can be generated.

[0069] The cancellation signal will offset the orthogonal coupling error. Under the control of AGC, the orthogonal component will eventually stabilize near 0, that is, the orthogonal component in the orthogonal coupling error signal collected by the detection end is completely suppressed.

[0070] The quartz gyroscope quadrature coupling error suppression method provided by the present invention generates a cancellation signal with equal amplitude and opposite polarity to the quadrature coupling error signal through amplitude closed loop and NPO capacitive coupling. The cancellation signal is connected to the detection end to suppress the influence of the quadrature coupling error. If the polarity of the cancellation signal is corrected to be exactly opposite to the quadrature coupling error signal, the quadrature coupling error signal collected by the detection end will be completely suppressed after the closed loop control is introduced.

[0071] Furthermore, in one embodiment, the method for obtaining the angular velocity of the quartz gyroscope may specifically include:

[0072] Demodulating the angular velocity signal collected by the detection end based on the in-phase demodulation signal to obtain an in-phase component representing the angular velocity of the quartz gyroscope, wherein the in-phase demodulation signal is a signal with the same phase as the angular velocity signal, and the angular velocity signal has the same frequency and phase as the driving signal;

[0073] The angular velocity is obtained according to the in-phase component.

[0074] Optionally, the angular velocity signal is demodulated using an in-phase demodulation signal having the same phase as the angular velocity signal collected by the detection end to obtain an in-phase component representing the angular velocity of the quartz gyroscope. The angular velocity of the quartz gyroscope can be obtained based on the in-phase component. The angular velocity signal has the same frequency and phase as the driving signal generated by the digitally controlled oscillator.

[0075] For example, assuming that the orthogonal coupling error is equivalent to an angular velocity of 30° / s at room temperature, and the equivalent angular velocity of the maximum voltage allowed by the measurement circuit is 100° / s, then the maximum effective angular velocity measurement is actually The range of the gyroscope will be affected. If the preamplifier circuit at the detection end cancels the orthogonal coupling error, the range of the gyroscope will be determined only by the circuit.

[0076] The impedance of the transmission line in the circuit is difficult to control and may change due to aging and temperature changes, thus affecting the signal delay in the acquisition system. When the impedance of the detection end circuit produces a 1° phase deviation, after demodulation using the reference signal, the measured angular velocity becomes:

[0077] rate*cos1°+quadrature*sin1°=0.9998*rate+0.0175*quadrature

[0078] Among them, rate represents the angular velocity and quadrature represents the orthogonal component.

[0079] That is, when the orthogonal coupling error equivalent angular velocity is 30° / s, a deviation of about 0.5° / s will be generated. Since the orthogonal coupling error will change with temperature, the zero bias introduced by the orthogonal coupling error will also change with temperature. After using the quartz gyroscope orthogonal coupling error suppression method provided by the present invention, considering that the orthogonal coupling error obtained by demodulation is quadrature*cos1°-rate*sin1°, the cancellation signal obtained by closed-loop control is quadrature+rate*sin1° / cos1°, and after the signal is canceled and demodulated, the deviation term is rate*sin1°*sin1° / cos1°, which is unrelated to the orthogonal coupling error. The influence of the orthogonal coupling error on the angular velocity is effectively suppressed.

[0080] The quartz gyroscope quadrature coupling error suppression method provided by the present invention suppresses the quadrature coupling error signal collected by the detection end by adding a cancellation signal with equal amplitude and opposite polarity to the quadrature coupling error signal, thereby reducing the influence of the quadrature coupling error on the angular velocity measurement of the quartz gyroscope and increasing the dynamic measurement range of the angular velocity.

[0081] The quartz gyroscope orthogonal coupling error suppression system provided by the present invention is described below. The quartz gyroscope orthogonal coupling error suppression system described below and the quartz gyroscope orthogonal coupling error suppression method described above can be referred to each other.

[0082] Figure 2 Schematic diagram of the structure of the quartz gyroscope orthogonal coupling error suppression system provided by the present invention, as shown in FIG. Figure 2 As shown, including:

[0083] A first acquisition module 210, a second acquisition module 211 and an error suppression module 212;

[0084] The first acquisition module 210 is configured to generate a first signal based on a quadrature component representing a quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator;

[0085] The second acquisition module 211 is configured to generate a cancellation signal based on the first signal, wherein the cancellation signal is a signal having an amplitude equal to that of the orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, wherein the orthogonal coupling error signal is collected by a detection end of the quartz gyroscope, and the detection end is connected to the digitally controlled oscillator;

[0086] The error suppression module 212 is configured to suppress the quadrature coupling error signal based on the cancellation signal.

[0087] The quartz gyroscope quadrature coupling error suppression system provided by the present invention suppresses the quadrature coupling error signal collected by the detection end by adding a cancellation signal with the same amplitude and opposite polarity as the quadrature coupling error signal, thereby reducing the influence of the quadrature coupling error on the angular velocity measurement of the quartz gyroscope.

[0088] Figure 3 This is a schematic diagram of the physical structure of an electronic device provided by the present invention, such as Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 311, a memory 312, and a bus 313, wherein the processor 310, the communication interface 311, and the memory 312 communicate with each other via the bus 313. The processor 310 may call the logic instructions in the memory 312 to execute the following method:

[0089] generating a first signal according to a quadrature component representing a quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator;

[0090] generating a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of the orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, the orthogonal coupling error signal being collected by a detection end of the quartz gyroscope, the detection end being connected to the digitally controlled oscillator;

[0091] The quadrature coupling error signal is suppressed based on the cancellation signal.

[0092] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer power screen (which can be a personal computer, server, or network power screen, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0093] Furthermore, the present invention discloses a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions. When the program instructions are executed by a computer, the computer can perform the quartz gyroscope orthogonal coupling error suppression method provided by the above-mentioned method embodiments, for example, comprising:

[0094] generating a first signal according to a quadrature component representing a quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator;

[0095] generating a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of the orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, the orthogonal coupling error signal being collected by a detection end of the quartz gyroscope, the detection end being connected to the digitally controlled oscillator;

[0096] The quadrature coupling error signal is suppressed based on the cancellation signal.

[0097] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for suppressing orthogonal coupling errors of a quartz gyroscope provided in each of the above embodiments is implemented, for example, including:

[0098] generating a first signal according to a quadrature component representing a quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator;

[0099] generating a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of the orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, the orthogonal coupling error signal being collected by a detection end of the quartz gyroscope, the detection end being connected to the digitally controlled oscillator;

[0100] The quadrature coupling error signal is suppressed based on the cancellation signal.

[0101] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for suppressing orthogonal coupling errors of a quartz gyroscope, characterized in that: include: generating a first signal according to a quadrature component representing a quadrature coupling error of the quartz gyroscope, wherein the first signal is a signal whose amplitude is controlled by the quadrature component and has the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator; generating a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of an orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, wherein the orthogonal coupling error signal is collected by a detection end of the quartz gyroscope, and the detection end is connected to the digitally controlled oscillator; suppressing the quadrature coupling error signal based on the cancellation signal; Generating a cancellation signal according to the first signal includes: Using the orthogonal component as feedback of a proportional-integral controller to obtain an automatic gain control parameter; Adjusting the amplitude and polarity of the first signal based on the automatic gain control parameter to generate a second signal, where the second signal has the same frequency as the drive signal and has the same amplitude as the orthogonal coupling error signal; generating the cancellation signal according to the second signal; Generating the cancellation signal according to the second signal includes: The second signal is coupled to an amplifier through a ceramic capacitor with temperature compensation, and the phase of the second signal is shifted by 90 degrees to generate the cancellation signal. The amplifier is connected to the detection end.

2. The method for suppressing orthogonal coupling errors of a quartz gyroscope according to claim 1, wherein: The method for obtaining the orthogonal component includes: The orthogonal coupling error signal is demodulated based on an orthogonal demodulation signal to obtain the orthogonal component. The phase of the orthogonal demodulation signal is orthogonal to the phase of the drive signal, and the phase of the orthogonal demodulation signal leads the phase of the drive signal.

3. The method for suppressing orthogonal coupling errors of a quartz gyroscope according to claim 1, wherein: The method for obtaining the angular velocity of the quartz gyroscope includes: Demodulating the angular velocity signal collected by the detection end based on the in-phase demodulation signal to obtain an in-phase component representing the angular velocity of the quartz gyroscope, wherein the in-phase demodulation signal is a signal with the same phase as the angular velocity signal, and the angular velocity signal has the same frequency and phase as the driving signal; The angular velocity is obtained according to the in-phase component.

4. The method for suppressing orthogonal coupling errors of a quartz gyroscope according to claim 3, wherein: The orthogonal coupling error signal and the angular velocity signal are both sinusoidal signals.

5. A quartz gyroscope orthogonal coupling error suppression system, characterized in that: include: a first acquisition module, a second acquisition module, and an error suppression module; The first acquisition module is configured to generate a first signal based on a quadrature component representing an orthogonal coupling error of the quartz gyroscope, wherein the first signal is a signal having an amplitude controlled by the orthogonal component and having the same frequency as a drive signal of the quartz gyroscope, wherein the drive signal is generated by a digitally controlled oscillator; the second acquisition module is configured to generate a cancellation signal based on the first signal, the cancellation signal being a signal having an amplitude equal to that of an orthogonal coupling error signal and a polarity opposite to that of the orthogonal coupling error signal, the orthogonal coupling error signal being collected by a detection end of the quartz gyroscope, the detection end being connected to the digitally controlled oscillator; The error suppression module is configured to suppress the orthogonal coupling error signal based on the cancellation signal; The second acquisition module is specifically configured to: Using the orthogonal component as feedback of a proportional-integral controller to obtain an automatic gain control parameter; Adjusting the amplitude and polarity of the first signal based on the automatic gain control parameter to generate a second signal, where the second signal has the same frequency as the drive signal and has the same amplitude as the orthogonal coupling error signal; generating the cancellation signal according to the second signal; The second acquisition module is specifically configured to: The second signal is coupled to an amplifier through a ceramic capacitor with temperature compensation, and the phase of the second signal is shifted by 90 degrees to generate the cancellation signal. The amplifier is connected to the detection end.

6. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the method for suppressing orthogonal coupling errors of a quartz gyroscope according to any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for suppressing orthogonal coupling errors of a quartz gyroscope as claimed in any one of claims 1 to 4 is implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for suppressing orthogonal coupling errors of a quartz gyroscope according to any one of claims 1 to 4 is implemented.

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