Phase compensation method and system for digital circuit of quartz gyro

Abstract

The application provides a quartz gyro digital circuit phase compensation method and system, the method comprising: generating a co-directional signal and a quadrature signal through a digital control oscillator in a microprocessor; co-directionally demodulating a driving displacement signal output by an ADC in the microprocessor by taking the co-directional signal as a reference signal, and quadrature demodulating the driving displacement signal by taking the quadrature signal as a reference signal; and performing angle rotation on the driving displacement signal after co-directional demodulation and quadrature demodulation according to the time delay of a driving loop in a digital circuit of a quartz gyro, to obtain a new co-directional signal and a new quadrature signal. The application realizes phase compensation, guarantees the phase stability of the driving loop, accurately, reliably and efficiently controls the driving frequency of a digital quartz gyro, improves the performance of the quartz gyro, and is simple in design, saves devices and reduces costs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of phase compensation, and particularly relates to a quartz gyroscope digital circuit phase compensation method and system. BACKGROUND

[0002] The quartz micromechanical gyroscope with small volume, low price, small power consumption, reliable stability and batch production is widely used in many fields. The gyroscope circuit plays a very important role in optimizing the performance of the gyroscope, which can compensate for the machining errors of the watch core to a certain extent and make the gyroscope have certain stability when coping with external environmental interference. The quartz gyroscope is divided into digital quartz micromechanical gyroscope and full analog quartz micromechanical gyroscope according to the circuit principle, and discrete components are used to build the drive end circuit and the detection end circuit to realize the functions of the drive tuning fork closed loop control and the angular velocity signal detection of the gyroscope.

[0003] The working principle of the digital gyroscope is as follows: the ARM (Advanced RISC Machines, microprocessor) loads the drive signal onto the tuning fork through the digital to analog converter (Digital to Analog Converter, DAC), then the drive displacement signal and the detection displacement signal are converted into voltage signals by the preamplifier circuit built by the precision operational amplifier, and finally the voltage signals are converted into digital signals by the analog to digital converter (Analog to Digital Converter, ADC). The ARM main controller demodulates and filters the received drive displacement signal and detection displacement signal, so as to realize the closed loop control of the quartz tuning fork drive end and the angular velocity detection.

[0004] In the digital quartz gyroscope circuit, the working principle of the drive circuit is as follows: the numerically controlled oscillator (Numerically Controlled Oscillator, NCO) in the ARM main controller outputs a sinusoidal digital drive signal, which is loaded onto the tuning fork after passing through the DAC. The response of the tuning fork is converted into a voltage signal by the preamplifier, and then converted into a digital signal by the ADC to obtain the drive displacement.

[0005] When the influence of electrostatic capacitance is not considered, the drive signal and the drive displacement have a certain phase difference, i.e. 0°, when the drive signal is at the drive resonance frequency point of the tuning fork. However, due to the delay of the drive end circuit (ADC, DAC and analog amplification will cause delay) and the delay of data processing, the phase relationship between the digital sinusoidal signal generated by the NCO and the drive signal output by the built-in ADC of the ARM is not 0° at the drive resonance frequency point of the tuning fork. However, in the drive closed loop circuit, the control of the drive frequency is calculated according to the phase difference between the drive signal and the drive displacement signal. Therefore, the instability of the phase of the drive circuit directly affects the control of the drive frequency, which further leads to the deterioration of the performance of the gyroscope. SUMMARY

[0006] The application provides a quartz gyroscope digital circuit phase compensation method and system, which solves the problem of poor performance of a gyroscope caused by unstable phase of a driving circuit in the prior art, realizes phase compensation of the driving circuit, and ensures phase stability of the driving circuit.

[0007] The application provides a quartz gyroscope digital circuit phase compensation method, which comprises the following steps:

[0008] generating a co-directional signal and a quadrature signal through a digital control oscillator in a microprocessor;

[0009] demodulating a driving displacement signal output by the microprocessor through the co-directional signal as a reference signal, and demodulating the driving displacement signal through the quadrature signal as a reference signal;

[0010] rotating the driving displacement signal after the co-directional demodulation and the quadrature demodulation by an angle according to a delay of a driving circuit in a digital circuit of a quartz gyroscope, to obtain a new co-directional signal and a new quadrature signal.

[0011] The application provides a quartz gyroscope digital circuit phase compensation method, and before the step of demodulating a driving displacement signal output by the microprocessor through the co-directional signal as a reference signal, the method further comprises the following steps:

[0012] generating a driving signal through the digital control oscillator;

[0013] loading the driving signal to a tuning fork of the quartz gyroscope through a DAC in the microprocessor;

[0014] converting a driving displacement signal responded by the tuning fork into a voltage signal through a preamplifier;

[0015] converting the voltage signal into a digital signal through the ADC.

[0016] The application provides a quartz gyroscope digital circuit phase compensation method, and the step of loading the driving signal to the tuning fork of the quartz gyroscope through the DAC in the microprocessor comprises the following steps:

[0017] converting the driving signal into an analog signal through the DAC;

[0018] loading the analog signal to the tuning fork of the quartz gyroscope through an amplification circuit.

[0019] The application provides a quartz gyroscope digital circuit phase compensation method, and the delay of the driving circuit comprises a circuit delay and a data processing delay.

[0020] The circuit delay includes the delay caused by the DAC, the ADC, the amplification circuit and the preamplifier.

[0021] According to the quartz gyroscope digital circuit phase compensation method, before the step of performing angle rotation on the drive displacement signals after homodyne demodulation and quadrature demodulation, the method further comprises the following steps:

[0022] determining the difference between the phase of the drive signal and the phase of the drive displacement signal at the drive resonance frequency point of the tuning fork of the quartz gyroscope;

[0023] taking the difference as the delay of the drive circuit.

[0024] According to the quartz gyroscope digital circuit phase compensation method, before the step of performing angle rotation on the drive displacement signals after homodyne demodulation and quadrature demodulation, the method further comprises the following steps:

[0025] performing low-pass filtering on the drive displacement signals after homodyne demodulation and quadrature demodulation to filter out the alternating component in the drive displacement signals.

[0026] The application further provides a quartz gyroscope digital circuit phase compensation system, comprising:

[0027] a generation module configured to generate a homodyne signal and a quadrature signal through a digital control oscillator in a microprocessor;

[0028] a demodulation module configured to perform homodyne demodulation on a drive displacement signal output by an ADC in the microprocessor by taking the homodyne signal as a reference signal, and perform quadrature demodulation on the drive displacement signal by taking the quadrature signal as a reference signal;

[0029] a rotation module configured to perform angle rotation on the drive displacement signals after homodyne demodulation and quadrature demodulation according to the delay of a drive circuit in a digital circuit of a quartz gyroscope, to obtain a new homodyne signal and a new quadrature signal.

[0030] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the quartz gyroscope digital circuit phase compensation method according to any one of the above-described methods when executing the program.

[0031] The application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable on a processor to implement the quartz gyroscope digital circuit phase compensation method according to any one of the above-described methods.

[0032] The application further provides a computer program product comprising a computer program which, when executed by a processor, implements the quartz gyroscope digital circuit phase compensation method according to any one of the above.

[0033] The quartz gyroscope digital circuit phase compensation method and system provided by the application realize phase compensation by using the co-directional signal and the quadrature signal as reference signals to demodulate the driving displacement signal output by the ADC, and performing angle rotation on the demodulated driving displacement signal according to the delay of the driving circuit, so that the phase difference between the driving signal and the driving displacement signal at the tuning fork driving resonance point is 0°, the phase stability of the driving circuit is ensured, the driving frequency of the digital quartz gyroscope is accurately, reliably and efficiently controlled, and the performance of the quartz gyroscope is improved; on the other hand, the delay caused by the driving end is overcome through angle rotation, the design is simple, the devices are saved, and the cost is saved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0035] Figure 1 is a flowchart of the quartz gyroscope digital circuit phase compensation method provided by the application;

[0036] Figure 2 is a logic block diagram of the working principle of the driving end phase compensation in the quartz gyroscope digital circuit phase compensation method provided by the application;

[0037] Figure 3 is a co-directional component curve diagram of the ADC output of the gyroscope driving end before phase compensation in the quartz gyroscope digital circuit phase compensation method provided by the application;

[0038] Figure 4 is a quadrature component curve diagram of the ADC output of the gyroscope driving end before phase compensation in the quartz gyroscope digital circuit phase compensation method provided by the application;

[0039] Figure 5 is a co-directional component curve diagram of the ADC output of the driving end after phase compensation in the quartz gyroscope digital circuit phase compensation method provided by the application;

[0040] Figure 6 is a quadrature component curve diagram of the ADC output of the driving end after phase compensation in the quartz gyroscope digital circuit phase compensation method provided by the application;

[0041] Figure 7is a quartz gyro driving circuit phase temperature change curve schematic diagram in a quartz gyro digital circuit phase compensation method provided by the application;

[0042] Figure 8 is a quartz gyro driving frequency temperature change curve schematic diagram in a quartz gyro digital circuit phase compensation method provided by the application;

[0043] Figure 9 is a structure schematic diagram of a quartz gyro digital circuit phase compensation system provided by the application;

[0044] Figure 10 is a structure schematic diagram of an electronic device provided by the application. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in connection with the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0046] The present application will be described below in connection with Figure 1 A quartz gyro digital circuit phase compensation method provided by the present application is described below, which comprises the following steps.

[0047] Step 101: generating a driving signal, a co-directional signal and a quadrature signal by a digital control oscillator in a microprocessor;

[0048] The microprocessor (MCU) is a component of the quartz gyro. Optionally, the microprocessor is an ARM (Advanced RISC Machines) main controller.

[0049] The microprocessor is built-in with an NCO, an ADC and a DAC. The co-directional signal and the quadrature signal are generated by the NCO in the microprocessor as reference signals.

[0050] Step 102: using the co-directional signal as a reference signal to co-directionally demodulate a driving displacement signal output by the ADC in the microprocessor, and using the quadrature signal as a reference signal to quadrature-demodulate the driving displacement signal;

[0051] The driving displacement signal is a displacement signal on a driving end of a tuning fork of the quartz gyro. The ADC in the microprocessor is used to collect the driving displacement signal.

[0052] The co-directional signal and the quadrature signal are used to respectively co-directionally demodulate and quadrature-demodulate the driving displacement signal output by the ADC.

[0053] In step 103, the driving displacement signal after homodyne demodulation and quadrature demodulation is angularly rotated according to the time delay of the driving loop in the digital circuit of the quartz gyroscope, to obtain a new homodyne signal and a new quadrature signal.

[0054] Due to the time delay of the driving loop, the phase difference between the driving signal and the driving displacement signal at the driving resonance point of the tuning fork is not 0°. The driving displacement signal after demodulation is angularly rotated by Δθ according to the time delay, to obtain a new homodyne signal and a new quadrature signal, as shown in the following formula. Figure 2

[0055] The absolute value of the new homodyne signal is the amplitude, and the ratio between the new quadrature signal and the new homodyne signal is the phase, which is 0°, thereby realizing phase compensation at the driving end.

[0056] The digital quartz micro-mechanical gyroscope realizes driving, demodulation and filtering processing in a digital manner, can realize compensation of the gyroscope in a microprocessor, and the digital system can flexibly adjust the parameters of the driving and demodulation links.

[0057] In the embodiment, the driving displacement signal output by the ADC is demodulated by using the homodyne signal and the quadrature signal as reference signals, and the driving displacement signal after demodulation is angularly rotated according to the time delay of the driving loop, thereby realizing phase compensation, making the phase difference between the driving signal and the driving displacement signal at the driving resonance point of the tuning fork 0°, ensuring the phase stability of the driving loop, accurately, reliably and efficiently controlling the driving frequency of the digital quartz gyroscope, and improving the performance of the quartz gyroscope. On the other hand, the time delay caused by the driving end is overcome through angular rotation, which is simple in design, saves devices and saves costs.

[0058] As shown in the following formula, on the basis of the above embodiment, in the embodiment, before the step of homodyne demodulating the driving displacement signal output by the ADC in the microprocessor by using the homodyne signal as a reference signal, the following steps are further included. Figure 2 Generating a driving signal through the digital control oscillator.

[0059] Generating a driving signal through the NCO in the microprocessor, and the driving signal is an excitation signal.

[0060] Loading the driving signal to the tuning fork of the quartz gyroscope through the DAC in the microprocessor.

[0061] The DAC in the microprocessor converts the driving signal from a digital signal to an analog signal and loads it to the driving tine of the tuning fork of the quartz gyroscope.

[0062] The DAC in the microprocessor converts the driving signal from a digital signal to an analog signal and loads it to the driving tine of the tuning fork of the quartz gyroscope.

[0063] ​The driving displacement signal of the tuning fork is converted into a voltage signal by a preamplifier.

[0064] The driving displacement signal is outputted by the driving interdigital according to the driving signal, and the driving displacement signal is converted into a voltage signal by a preamplifier.

[0065] The voltage signal is converted into a digital signal by the ADC.

[0066] The voltage signal of the analog signal is converted into a digital signal by the built-in ADC of the microprocessor.

[0067] The NCO in the embodiment continuously outputs two-way frequency-controllable sine digital signals, one of which is used as an excitation signal, and the other of which is used as a reference signal for phase compensation of the driving end loop, which greatly improves the accuracy of phase compensation of the driving loop and lays a solid foundation for the stability and accuracy of driving frequency control.

[0068] On the basis of the above embodiments, as shown in Figure 2 The step of loading the driving signal onto the tuning fork of the quartz gyroscope by the DAC in the microprocessor includes:

[0069] The driving signal is converted into an analog signal by the DAC.

[0070] The analog signal is loaded onto the tuning fork of the quartz gyroscope by an amplification circuit.

[0071] After the DAC converts the driving signal into an analog signal, the embodiment first amplifies the analog signal by an amplification circuit and then loads the amplified signal onto the driving interdigital of the tuning fork of the quartz gyroscope.

[0072] On the basis of the above embodiments, the delay of the driving loop in the embodiment includes circuit delay and data processing delay.

[0073] The circuit delay includes the delay caused by the DAC, the ADC, the amplification circuit, and the preamplifier.

[0074] The circuit delay includes the delay caused by the electrical elements in the circuit to the signal. The data processing delay includes the delay caused by the transmission of data in the driving loop.

[0075] On the basis of the above embodiments, the embodiment further includes, before the step of performing angle rotation on the driving displacement signal after homodyne demodulation and quadrature demodulation according to the delay of the driving loop in the digital circuit of the quartz gyroscope:

[0076] Determining the difference between the phases of the driving signal and the driving displacement signal at the driving resonant frequency point of the tuning fork of the quartz gyroscope.

[0077] The difference value is taken as the delay of the drive circuit.

[0078] Due to the delay of the drive circuit, the phase difference value between the drive signal generated by the NCO in the microprocessor and the drive displacement signal output by the ADC is not 0°.

[0079] The size of the phase difference value between the signals reflects the length of the delay of the drive circuit, and the phase difference value between the signals is taken as the delay of the drive circuit.

[0080] On the basis of the above embodiments, the step of rotating the drive displacement signal after the homodyne demodulation and quadrature demodulation in the embodiment further comprises:

[0081] The drive displacement signal after the homodyne demodulation and quadrature demodulation is low-pass filtered to filter out the alternating component in the drive displacement signal.

[0082] The working principle of the drive end phase compensation is described below. Without considering the influence of the static capacitance, the phase of the drive signal generated by the NCO is 0° at the drive resonance frequency point of the tuning fork. At this time, the homodyne component of the drive signal is sin( ), and the quadrature component is cos( ), is the drive resonance frequency of the tuning fork, is the sampling time of the drive signal by the DAC in the microprocessor.

[0083] Due to the delay of the circuit , the drive displacement signal output by the ADC is:

[0084] ;

[0085] wherein A0 is the amplitude of the drive displacement signal output by the ADC, is the delay caused by the ADC, the DAC, the analog amplification circuit, and data processing.

[0086] Taking the homodyne and quadrature components of the drive signal as the reference signals, the output signal of the ADC is demodulated to obtain:

[0087]

[0088] is the homodyne component after the demodulation of the output signal of the ADC, is the quadrature component after the demodulation of the output signal of the ADC.

[0089] The homodyne component and the quadrature component after the demodulation are low-pass filtered to filter out the alternating component to obtain:

[0090] ;

[0091] .

[0092] In order to achieve accurate control of the driving frequency, the phase difference between the driving signal and the driving response displacement signal needs to be 0°, which requires arctan( )=0°. Therefore, the delay caused by ADC, DAC, analog amplification and data processing needs to be eliminated. The phase delay of the driving circuit is compensated by the angle rotation method.

[0093] The two-dimensional vector composed of the in-phase component and the quadrature component after demodulation is rotated clockwise (counterclockwise- ), and the rotated vector is:

[0094]

[0095] is the in-phase component after angle rotation, is the quadrature component after angle rotation.

[0096] At this time, the amplitude of the output signal of the ADC after demodulation, low-pass filtering and phase compensation (angle rotation) is 0.5A0, and the phase is arctan( )=0°. It can be found that the amplitude of the output signal of the ADC before and after phase compensation differs by a scale, and the phase of the output signal of the ADC is equal to the initial phase of the driving signal. The phase difference between the driving displacement signal after phase compensation and the driving signal is always 0°, which ensures the stability of the driving circuit phase and provides accurate reference for subsequent phase closed-loop control (PLC) and amplitude closed-loop control (AGC).

[0097] The in-phase component and the quadrature component of the output of the driving end of the digital quartz gyroscope before and after phase compensation are obtained by sweeping the frequency of the driving tuning fork resonant frequency ±25Hz.

[0098] The sweep test conditions are: power supply mode +5VDC±5%; working temperature 25℃±2℃; data acquisition mode is to collect real-time values of the quartz gyroscope output after power-on; test method is to install the quartz gyroscope on the tooling and place it on the vibration isolation turntable for static test for 1800s output.

[0099] Taking the normal temperature sweep data of a certain digital quartz gyroscope before and after phase compensation as an example, Figure 3 Fig. 4 shows the in-phase component curve of the output of the driving end of the gyroscope before phase compensation, Figure 4 Fig. 5 shows the quadrature component curve of the output of the driving end of the gyroscope before phase compensation. The real part is the in-phase component, and the imaginary part is the quadrature component. Figure 5Fig. 2 is a schematic diagram of a curve of a same-phase component of an ADC output after phase compensation of a driving end, Figure 6 Fig. 3 is a schematic diagram of a curve of a quadrature component of an ADC output after phase compensation of a driving end.

[0100] According to the sweep test result, it is known that a phase delay Δθ=26.74° caused by a program and a circuit in the digital gyroscope. From Figure 5 and Figure 6 it is known that the compensated driving same-phase component is mirror-symmetrical at a resonance frequency point, and the compensated quadrature component is substantially symmetrically distributed at a 0 reference line (without considering the influence of an electrostatic capacity C0, the quadrature component after compensation of C0 will be completely symmetrically distributed), which indicates that the compensation angle is effective and accurate. It is further indicated that the method of using the same-phase and quadrature signals generated by the NCO as reference signals, performing in-phase and quadrature demodulation (including low-pass filtering) on the driving displacement signals output by the ADC, and then performing angle rotation to compensate the phase of the driving loop is feasible.

[0101] A temperature cycle test is performed on the digital quartz gyroscope using the circuit demodulation reference signal phase compensation method, to verify the stability of the driving loop phase and the accuracy of the driving frequency of the gyroscope after the circuit demodulation reference signal phase compensation.

[0102] The temperature cycle test conditions are as follows: a power supply mode is +5VDC±5%; a working temperature is -45℃ to 85℃; a temperature variation rate is 2℃ / min; a data acquisition mode is to collect real-time values of the quartz gyroscope output after power-on; and a test method is to place the quartz gyroscope on a vibration isolation turntable for temperature cycle test, and to collect the average value of the gyroscope output every 1s in the temperature rising section.

[0103] A driving loop phase Phase variation curve in a temperature rising range is obtained through the temperature cycle test, as shown in Fig. 4, and a driving frequency variation curve is shown in Fig. 5. Figure 7 Figure 8

[0104] Through the temperature cycle test, it is found by comparing the phase variation curve and the driving frequency variation curve in the quartz gyroscope driving loop that the variation order of the driving loop phase is ±10 -5 in the temperature rising range, which indicates that the phase loop is kept in a closed loop, the phase variation can track the frequency variation, and the driving tuning fork is always oscillated at its resonance frequency. In the temperature rising section, the driving frequency varies from 11.071×10 3 to 11.0735×10 3 Hz, and the driving frequency variation is basically the same in multiple temperature rising processes, which can indicate that the control of the driving frequency is accurate and reliable in the temperature rising range. It is further verified that the driving loop phase compensation method based on the digital circuit demodulation reference signal is feasible.

[0105] ​​The quartz gyro digital circuit phase compensation system provided by the application is described below, and the quartz gyro digital circuit phase compensation system described below can be correspondingly referred to the quartz gyro digital circuit phase compensation method described above.

[0106] As shown in the figure, the system comprises a generation module 901, a demodulation module 902 and a rotation module 903; wherein: Figure 9

[0107] The generation module 901 is used for generating co-directional signals and quadrature signals by a digital control oscillator in a microprocessor;

[0108] The demodulation module 902 is used for co-directionally demodulating a driving displacement signal output by the microprocessor through an ADC with the co-directional signals as reference signals, and quadrature-demodulating the driving displacement signal with the quadrature signals as reference signals;

[0109] The rotation module 903 is used for performing angle rotation on the driving displacement signal after co-directional demodulation and quadrature demodulation according to the delay of a driving loop in the digital circuit of the quartz gyro, to obtain new co-directional signals and new quadrature signals.

[0110] The embodiment realizes phase compensation by using the co-directional signals and the quadrature signals as reference signals to demodulate the driving displacement signal output by the ADC, and performing angle rotation on the demodulated driving displacement signal according to the delay of the driving loop, so that the phase difference between the driving signal and the driving displacement signal at the tuning fork driving resonance point is 0°, the phase stability of the driving loop is ensured, the driving frequency of the digital quartz gyro is accurately, reliably and efficiently controlled, and the performance of the quartz gyro is improved; on the other hand, the delay caused by the driving end is overcome through angle rotation, the design is simple, the devices are saved, and the cost is saved.

[0111] Figure 10 An example of an entity structure diagram of an electronic device is shown in the figure, Figure 10 ​As shown, the electronic device can include a processor 1010, a communications interface 1020, a memory 1030, and a communications bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 complete mutual communication through the communications bus 1040. The processor 1010 can call the logic instructions in the memory 1030 to execute the quartz gyro digital circuit phase compensation method, which includes: generating a co-directional signal and a quadrature signal through a digital control oscillator in a microprocessor; co-directionally demodulating a driving displacement signal output by the microprocessor through the co-directional signal as a reference signal, and quadrature demodulating the driving displacement signal through the quadrature signal as a reference signal; and performing angle rotation on the driving displacement signal after co-directional demodulation and quadrature demodulation according to the delay of a driving loop in the digital circuit of the quartz gyro, to obtain a new co-directional signal and a new quadrature signal.

[0112] In addition, the logic instructions in the memory 1030 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0113] On the other hand, the present application also provides a computer program product, which includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the quartz gyro digital circuit phase compensation method provided by the above-mentioned methods, which includes: generating a co-directional signal and a quadrature signal through a digital control oscillator in a microprocessor; co-directionally demodulating a driving displacement signal output by the microprocessor through the co-directional signal as a reference signal, and quadrature demodulating the driving displacement signal through the quadrature signal as a reference signal; and performing angle rotation on the driving displacement signal after co-directional demodulation and quadrature demodulation according to the delay of a driving loop in the digital circuit of the quartz gyro, to obtain a new co-directional signal and a new quadrature signal.

[0114] In yet another aspect, the application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for phase compensation of a digital circuit of a quartz gyroscope as provided by the above methods, the method comprising: generating a co-directional signal and a quadrature signal by a digital controlled oscillator in a microprocessor; co-directionally demodulating a drive displacement signal output by an ADC in the microprocessor using the co-directional signal as a reference signal, and quadrature demodulating the drive displacement signal using the quadrature signal as a reference signal; and performing angular rotation on the drive displacement signal after co-directional and quadrature demodulation according to a delay of a drive loop in the digital circuit of the quartz gyroscope to obtain a new co-directional signal and a new quadrature signal.

[0115] The system embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0116] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, 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, magnetic disk, optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0117] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A phase compensation method for a quartz gyroscope digital circuit, characterized in that, include: The microprocessor generates both in-phase and quadrature signals using a digitally controlled oscillator. The same-direction signal is used as a reference signal to demodulate the driving displacement signal output by the ADC in the microprocessor in the same direction, and the quadrature signal is used as a reference signal to demodulate the driving displacement signal in the quadrature direction. Based on the delay of the drive circuit in the digital circuit of the quartz gyroscope, the drive displacement signals after demodulation in the same direction and in the quadrature are rotated by an angle to obtain a new same-direction signal and a new quadrature signal; the absolute value of the new same-direction signal is the amplitude, and the ratio between the new quadrature signal and the new same-direction signal is the phase, with a phase of 0°, thereby realizing phase compensation at the drive end. The delay of the drive circuit includes circuit delay and data processing delay; The circuit delay includes the delay caused by the DAC, ADC, amplifier circuit and preamplifier; Alternatively, before the step of rotating the demodulated and quadrature-demodulated drive displacement signals by angle based on the delay of the drive circuit in the digital circuit of the quartz gyroscope, the method further includes: The phase difference between the driving signal and the driving displacement signal at the driving resonant frequency of the tuning fork of the quartz gyroscope is determined; the driving signal is generated by the digitally controlled oscillator. The difference is used as the delay of the drive circuit.

2. The phase compensation method for a quartz gyroscope digital circuit according to claim 1, characterized in that, Before the step of using the same-direction signal as a reference signal to perform same-direction demodulation of the drive displacement signal output by the ADC in the microprocessor, the method further includes: The driving signal is loaded onto the tuning fork of the quartz gyroscope via the DAC in the microprocessor; The driving displacement signal of the tuning fork response is converted into a voltage signal by a preamplifier; The voltage signal is converted into a digital signal by the ADC.

3. The phase compensation method for quartz gyroscope digital circuits according to claim 2, characterized in that, The step of loading the driving signal onto the tuning fork of the quartz gyroscope via the DAC in the microprocessor includes: The drive signal is converted into an analog signal via the DAC; The analog signal is applied to the tuning fork of the quartz gyroscope through an amplification circuit.

4. The phase compensation method for a quartz gyroscope digital circuit according to any one of claims 1-3, characterized in that, Before the step of rotating the driven displacement signal after demodulation in the same direction and quadrature, the method further includes: The driving displacement signal after in-phase demodulation and quadrature demodulation is subjected to low-pass filtering to remove the AC component in the driving displacement signal.

5. A phase compensation system for a quartz gyroscope digital circuit, characterized in that, include: The generation module is used to generate in-phase and quadrature signals via a digitally controlled oscillator in the microprocessor. The demodulation module is used to demodulate the driving displacement signal output by the ADC in the microprocessor in the same direction as the reference signal, and to demodulate the driving displacement signal in orthogonally as the reference signal. The rotation module is used to rotate the drive displacement signal after demodulation in the same direction and in the quadrature based on the delay of the drive circuit in the digital circuit of the quartz gyroscope, so as to obtain a new same-direction signal and a new quadrature signal; the absolute value of the new same-direction signal is the amplitude, and the ratio between the new quadrature signal and the new same-direction signal is the phase, with a phase of 0°, thereby realizing phase compensation at the drive end. The delay of the drive circuit includes circuit delay and data processing delay; The circuit delay includes the delay caused by the DAC, ADC, amplifier circuit and preamplifier; Alternatively, before the step of rotating the demodulated and quadrature-demodulated drive displacement signals by angle based on the delay of the drive circuit in the digital circuit of the quartz gyroscope, the method further includes: The phase difference between the driving signal and the driving displacement signal at the driving resonant frequency of the tuning fork of the quartz gyroscope is determined; the driving signal is generated by the digitally controlled oscillator. The difference is used as the delay of the drive circuit.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the quartz gyroscope digital circuit phase compensation method as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the quartz gyroscope digital circuit phase compensation method as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the quartz gyroscope digital circuit phase compensation method as described in any one of claims 1 to 4.

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