Method for generating calibration electrical signals for hemispherical resonant gyroscope force balance mode

Abstract

The present invention discloses a method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode, comprising the following steps: obtaining an input voltage signal; converting the input voltage signal into initial displacement information of a resonator vibration; iteratively calculating the initial displacement information until an iterative termination condition is satisfied, thereby obtaining final displacement information; and calculating the error of the hemispherical resonant gyroscope based on the initial displacement information and the final displacement information. The present invention converts the voltage signal into displacement information, then iteratively calculates the displacement information, and obtains the error information of the hemispherical resonant gyroscope after the displacement information becomes stable. The electrical signal can be used to replace an analog turntable to calibrate the hemispherical resonant gyroscope, thereby improving calibration accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of hemispherical resonant gyroscopes, and in particular relates to a method for generating a calibration electric signal for a hemispherical resonant gyroscope force balance mode. Background Art

[0002] Gyroscopes are one of the core components of inertial navigation systems, measuring the angular motion of a vehicle in inertial space. The hemispherical resonator gyroscope (HRG), a new type of inertial navigation-grade solid-state gyroscope, boasts advantages such as compact size, low cost, long life, and high reliability. It is widely used in aviation, aerospace, vehicles, industrial robot navigation, unmanned device attitude performance detectors and real-time attitude calibrators, stabilized platforms, airport security, and many other fields.

[0003] The HRG is one of the most promising inertial devices developed in recent years. As a core component of inertial navigation, it impacts the overall operational performance of inertial navigation systems. Therefore, research on HRGs that possess high precision, high shock resistance, radiation resistance, and long life, while meeting the high-end requirements of defense and civilian technologies, holds great value. The HRG is a new type of vibratory gyroscope that detects the rotation of the gyro carrier by observing the changes in the resonant vibration mode of a thin-shell hemispherical resonator during rotation. Compared to traditional mechanical and optical gyroscopes, it lacks a high-speed rotor and moving parts, resulting in no mechanical wear and requiring no complex maintenance. It also requires no warm-up and has a short startup time. It can withstand large maneuvering overloads and exhibits strong shock resistance. Therefore, the HRG has promising development prospects, and research on HRGs is of great significance to the development of inertial technology, especially the implementation of long-life space applications.

[0004] HRGs face numerous pressing challenges in processing, assembly, control circuit integration, and inertial navigation system applications. Existing research focuses on precision assembly and adjustment of HRGs, control circuit design for force-balance and full-angle modes, optimization of resonator materials and structures, and switching between force-balance and full-angle modes to accommodate complex external environments. These efforts have laid a solid foundation for the early mass production and application of HRGs.

[0005] However, during the testing phase after the hemispherical resonant gyroscope is assembled, there are still situations where the accuracy does not meet the requirements and the excitation method is limited. This has led to the hemispherical resonant gyroscope being unable to break through the bottleneck of actual mass application. Summary of the Invention

[0006] The purpose of the present invention is to provide a method for generating a calibration electric signal for a hemispherical resonant gyroscope force balance mode, which replaces the traditional analog turntable for calibrating the hemispherical resonant gyroscope by the electric signal, thereby improving the calibration accuracy.

[0007] The present invention adopts the following technical solution: a method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode, comprising the following steps:

[0008] Obtain input voltage signal;

[0009] Convert the input voltage signal into the initial displacement information of the resonator vibration;

[0010] Iteratively calculate the initial displacement information until the iteration termination condition is met to obtain the final displacement information;

[0011] The error of the hemispherical resonant gyroscope is calculated based on the initial displacement information and the final displacement information.

[0012] Furthermore, the iterative calculation includes:

[0013] Calculate the antinode axis signal, node axis signal, frequency difference solution signal and y-axis orthogonal amplitude slow variable of the hemispherical resonant gyroscope according to the displacement information of the previous moment;

[0014] Generate amplitude control force slow variable according to antinode axis signal, generate orthogonal control force slow variable according to node axis signal, generate Coriolis effect suppression force slow variable according to y-axis orthogonal amplitude slow variable, and generate reference frequency signal according to frequency difference solution signal;

[0015] Calculate the x-axis driving force and the y-axis driving force according to the amplitude control force slow variable, the orthogonal control force slow variable, the Coriolis effect suppression force slow variable and the reference frequency signal;

[0016] The displacement information at the current moment is generated based on the x-axis driving force and the y-axis driving force.

[0017] Furthermore, calculating the antinode axis signal, node axis signal, frequency difference solution signal and y-axis orthogonal amplitude slow variable of the hemispherical resonant gyroscope according to the displacement information at the previous moment includes:

[0018] Obtaining an in-phase demodulation reference signal and a quadrature demodulation reference signal at a previous moment;

[0019] The displacement information of the previous moment, the in-phase demodulation reference signal of the previous moment and the orthogonal demodulation reference signal are used as input information for low-pass filtering to obtain the x-axis in-phase amplitude slow variable S x , y-axis in-phase amplitude slow variable S y , x-axis orthogonal amplitude slow variable C x and calculate the y-axis quadrature amplitude slow variable C y ;

[0020] The antinode axis signal, node axis signal and frequency difference solution signal are calculated by the following formula:

[0021]

[0022] Among them, E is the antinode axis signal, Q is the node axis signal, and the frequency difference solution signal is

[0023] Furthermore, generating a reference frequency signal according to the frequency difference solution signal includes:

[0024] Generate phase difference based on frequency difference solution signal;

[0025] The phase difference is suppressed based on the PI control algorithm to generate a reference frequency signal.

[0026] Furthermore, calculating the x-axis driving force and the y-axis driving force according to the amplitude control force slow variable, the orthogonal control force slow variable, the Coriolis effect suppression force slow variable and the reference frequency signal includes:

[0027]

[0028] Among them, F x is the x-axis driving force, F y is the y-axis driving force, F xc is the slow variable of amplitude control force, ω r is the reference frequency of the previous moment, F yc is the slow variable of Coriolis effect inhibition, F ys is the orthogonal control force slow variable.

[0029] Furthermore, generating the displacement information at the current moment according to the x-axis driving force and the y-axis driving force includes:

[0030]

[0031] in, is the radial acceleration of the resonator x-axis, τ1 is the large damping coefficient corresponding to the large damping axis of the hemispherical resonant gyroscope, τ2 is the small damping coefficient corresponding to the small damping axis of the hemispherical resonant gyroscope, is the radial velocity of the oscillator along the x-axis, θ τ is the azimuth angle between the small damping axis and the x-axis, ω x is the large stiffness coefficient corresponding to the large stiffness axis of the hemispherical resonant gyroscope, ω y is the small stiffness coefficient corresponding to the small stiffness axis of the hemispherical resonant gyroscope, x is the radial displacement of the resonator corresponding to the x-axis, θ ω is the azimuth angle between the maximum stiffness axis and the x-axis, is the radial acceleration of the oscillator along the y-axis, is the radial velocity of the oscillator on the y-axis, y is the radial displacement of the oscillator corresponding to the y-axis, m is the in-phase amplitude of the x-axis, K is the precession factor of the oscillator vibration mode and is a constant, Ω z is the input virtual angular velocity value.

[0032] Another technical solution of the present invention is: a method for generating a hemispherical resonant gyroscope force balance mode calibration electrical signal, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, the method for generating the hemispherical resonant gyroscope force balance mode calibration electrical signal is implemented.

[0033] The beneficial effects of the present invention are as follows: the present invention converts a voltage signal into displacement information, and then iteratively calculates the displacement information. After the displacement information becomes stable, the error information of the hemispherical resonant gyroscope can be obtained; and the hemispherical resonant gyroscope can be calibrated by using an electrical signal instead of an analog turntable, thereby improving the calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of iterative calculation process in an embodiment of the present invention;

[0035] Figure 2 Schematic diagram of the solution process in an embodiment of the present invention;

[0036] Figure 3 1 is a block diagram of an implementation of an antinode amplitude PI control algorithm in an embodiment of the present invention;

[0037] Figure 4 Graph showing changes in x-axis amplitude over time in an embodiment of the present invention;

[0038] Figure 5 1 is a block diagram of an implementation of a quadrature amplitude PI control algorithm according to an embodiment of the present invention;

[0039] Figure 6 Graph showing the change of the y-axis quadrature signal over time in an embodiment of the present invention;

[0040] Figure 7 This is a block diagram of the 45-electrode axial force balance PI control algorithm implementation in an embodiment of the present invention;

[0041] Figure 8 Graph showing the change of the y-axis in-phase signal over time in an embodiment of the present invention;

[0042] Figure 9 1 is a block diagram of an implementation of a frequency tracking algorithm in an embodiment of the present invention;

[0043] Figure 10 A block diagram of a loop filter implementation in an embodiment of the present invention;

[0044] Figure 11A graph showing changes in reference frequency over time in an embodiment of the present invention;

[0045] Figure 12 4 is a block diagram of the virtual Coriolis force synthesis principle in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Existing technologies suffer from the drawback of insufficiently calibrating errors using excitation methods. Due to the limited angular velocity input provided by the turntable, the internal error characteristics of the HRG (Hemispherical Resonant Gyroscope) cannot be fully stimulated. To address this shortcoming, the present invention aims to address the technical issues of low turntable excitation efficiency and a narrow dynamic sensitivity range through error calibration.

[0048] Specifically, the present invention discloses a method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode, comprising the following steps: obtaining an input voltage signal; converting the input voltage signal into initial displacement information of a resonator vibration; iteratively calculating the initial displacement information until an iterative termination condition is met, thereby obtaining final displacement information; and calculating an error of the hemispherical resonant gyroscope based on the initial displacement information and the final displacement information.

[0049] The present invention converts a voltage signal into displacement information, then iteratively calculates the displacement information, and obtains the error information of the hemispherical resonant gyroscope after it becomes stable. By using an electrical signal to replace an analog turntable to calibrate the hemispherical resonant gyroscope, the calibration accuracy can be improved.

[0050] In the embodiment of the present invention, Figure 1 As shown, the iterative calculation includes: calculating the antinode axis signal, node axis signal, frequency difference solution signal and y-axis orthogonal amplitude slow variable of the hemispherical resonant gyroscope according to the displacement information of the previous moment; generating the amplitude control force slow variable according to the antinode axis signal, generating the orthogonal control force slow variable according to the node axis signal, generating the Coriolis effect suppression force slow variable according to the y-axis orthogonal amplitude slow variable, and generating the reference frequency signal according to the frequency difference solution signal; calculating the x-axis driving force and the y-axis driving force according to the amplitude control force slow variable, the orthogonal control force slow variable, the Coriolis effect suppression force slow variable and the reference frequency signal; and generating the displacement information at the current moment according to the x-axis driving force and the y-axis driving force.

[0051] More specifically, first, the displacement signal of the resonator is collected in real time. During the vibration of the resonator, the distance between the detection electrode and the surface of the resonator changes in real time, which means that the capacitance value of the flat electrode is constantly changing. According to the formula And Q=CU, we can get, During detection electrode operation, the charge on the electrode plate remains constant. The distance d between the detection electrode and the inner surface of the resonator can be written as d = d0 + Δd. As the distance d increases, the output voltage increases accordingly, and vice versa. The two have a linear relationship, so the voltage reading can be used to quantitatively determine the displacement information of the resonator vibration in the detection mode. C refers to the capacitance of the plate formed by the detection electrode and the inner surface of the resonator, ε is the dielectric constant of the dielectric between the two plates, S0 is the area between the detection electrode and the inner surface of the resonator, and Q0 is the charge between the plates.

[0052] In an embodiment of the present invention, calculating the antinode axis signal, node axis signal, frequency difference solution signal and y-axis quadrature amplitude slow variable of the hemispherical resonant gyroscope based on the displacement information of the previous moment includes: obtaining the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment; performing low-pass filtering on the displacement information of the previous moment, the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment as input information, and obtaining the x-axis in-phase amplitude slow variable S respectively. x , y-axis in-phase amplitude slow variable S y , x-axis orthogonal amplitude slow variable C x and calculate the y-axis quadrature amplitude slow variable C y ; Calculate the antinode axis signal, node axis signal and frequency difference solution signal by the following formula:

[0053]

[0054] Among them, E is the antinode axis signal, Q is the node axis signal, and the frequency difference solution signal is

[0055] As a specific implementation method, Figure 2 As shown in the figure, in digital signal processing, the frequency tracking module (LPF in the formula) provides a demodulation reference signal. The voltage values ​​read by the two-axis detection electrodes are multiplied by the two demodulation reference signals to obtain four mixed signals of the slow variable and the doubled frequency signal. The doubled frequency signal is then filtered out from the mixed signal through a filtering algorithm, that is, the four slow variable signals are retained. The specific method is as follows:

[0056]

[0057] Among them, V s and V c are the in-phase and quadrature demodulation reference signals at the previous moment, respectively; x and y represent the vibration displacements of the driving mode (x-axis) and the detection mode (i.e., y-axis) at the previous moment, respectively.

[0058] Then, according to the above formula, the antinode axis signal E, node axis signal Q and frequency difference solution signal can be calculated.

[0059] In one embodiment, three PI control algorithms are set to control the three output signals E, Q and C of the demodulation algorithm. y One is the antinode amplitude PI control algorithm, such as Figure 3 As shown, E is kept at a certain value, and the amplitude control force slow variable F is generated at the same time. xc , maintaining the conservation of oscillator energy, such as Figure 4 As shown in , it represents the steady-state process of the driving mode x-axis amplitude changing with time under the action of the antinode amplitude PI control algorithm. The second is the orthogonal amplitude PI control algorithm, such as Figure 5 As shown, Q is suppressed and the orthogonal control force slow variable F is generated. ys , to ensure that the resonator is not interfered with by harmful orthogonal signals such as typical frequency cracking errors during operation, such as Figure 6 As shown in the figure, it represents the steady-state process of the detection mode y-axis orthogonal signal changing with time under the action of the orthogonal amplitude PI control algorithm. The third is the 45-electrode axial force balance PI control algorithm, as shown in the figure. Figure 7 As shown, for C y Implementing inhibition and generating Coriolis effect inhibition force slow variable F yc , to ensure that the vibration amplitude at the 45-degree electrode axis is close to 0, such as Figure 8 The figure shows the steady-state process of the y-axis in-phase signal of the detection mode changing with time under the action of the 45° electrode axis force balance PI control algorithm. The algorithm determines that the HRG works in the force balance mode, the standing wave is always stationary, and no obvious precession phenomenon occurs.

[0060] In addition, generating a reference frequency signal according to the frequency difference solution signal includes: generating a phase difference according to the frequency difference solution signal; and suppressing the phase difference based on a PI control algorithm to generate a reference frequency signal.

[0061] That is to say, if Figure 9 As shown, first use the phase detector to and The two signals are divided and the inverse tangent trigonometric function is calculated to obtain the phase difference Δω between the two input signals; secondly, the loop filter (its implementation block diagram is as follows Figure 10 The PI control algorithm shown in FIG) suppresses the phase difference and generates a reference frequency signal ω r Finally, the reference frequency signal is integrated in real time by the voltage-controlled oscillator to obtain the reference real-time phase signal, which provides the necessary reference signal for demodulation and modulation. Figure 11 , we can see the steady-state process and details of the reference frequency changing over time under the action of the frequency tracking algorithm.

[0062] In one embodiment, generating a digital drive signal in real time based on the useful portion of the control force, that is, calculating the x-axis drive force and the y-axis drive force based on the amplitude control force slow variable, the orthogonal control force slow variable, the Coriolis effect suppression force slow variable, and the reference frequency signal includes:

[0063]

[0064] Among them, F x is the x-axis driving force, F y is the y-axis driving force, F xc is the slow variable of amplitude control force, ω r is the reference frequency of the previous moment, F yc is the slow variable of Coriolis effect inhibition, F ys is the orthogonal control force slow variable.

[0065] according to and Available F is the electrostatic force on the resonator. During operation of the driving electrode, the initial charge on the electrode plate is 0. The distance d between the detection electrode and the inner surface of the resonator can be written as d = d0 - Δd, where Δd in the driving electrode is equal to that in the detection electrode. The real-time driving voltage is determined by both the real-time useful part of the control force and the real-time distance d. Therefore, the square root of the useful part of the control force is modulated by the reference signal of half the resonant frequency and then multiplied by the distance d' to obtain the digital driving signal V. x and V y , the specific implementation formula is as follows:

[0066]

[0067] Where d' is the gap between the excitation electrode and the resonator.

[0068] Then, the two digital drive signals generated by the modulation algorithm are converted into analog signals, namely drive voltages. The drive voltages act on the drive electrodes to generate corresponding electrostatic forces to modify the vibration mode of the resonator in real time. During the driving electrode operation, the initial voltage on the electrode plates is zero, and the spacing can be written as d' = d0' - Δd, where Δd is calculated from the output voltage of the detection electrode. The actual electrostatic force F acting on the resonator is determined by the driving voltage and the spacing between the driving electrode plates. This allows for real-time control of the resonator's vibration mode.

[0069] Since the HRG is a Coriolis resonant gyroscope, that is, a solid-state wave gyroscope, it senses external angular information by causing standing wave precession due to the Coriolis force. Therefore, the Coriolis force calculation formula can better understand the working conditions of the HRG, especially during the testing phase, when the HRG can be stimulated by an external high-precision turntable to make various hidden errors inside the HRG explicit.

[0070] Therefore, generating the displacement information at the current moment according to the x-axis driving force and the y-axis driving force includes:

[0071]

[0072] in, is the radial acceleration of the resonator x-axis, τ1 is the large damping coefficient corresponding to the large damping axis of the hemispherical resonant gyroscope, τ2 is the small damping coefficient corresponding to the small damping axis of the hemispherical resonant gyroscope, is the radial velocity of the oscillator along the x-axis, θ τ is the azimuth angle between the small damping axis and the x-axis, ω x is the large stiffness coefficient corresponding to the large stiffness axis of the hemispherical resonant gyroscope, ω y is the small stiffness coefficient corresponding to the small stiffness axis of the hemispherical resonant gyroscope, x is the radial displacement of the resonator corresponding to the x-axis, θ ω is the azimuth angle between the maximum stiffness axis and the x-axis, is the radial acceleration of the oscillator along the y-axis, is the radial velocity of the oscillator on the y-axis, y is the radial displacement of the oscillator corresponding to the y-axis, m is the in-phase amplitude of the x-axis, K is the precession factor of the oscillator vibration mode and is a constant, Ω z is the input virtual angular velocity value.

[0073] Inspired by the above formula, we can find a self-excitation method that does not rely on an external turntable to achieve HRG error explicitness, such as Figure 12 As shown in the figure, the self-excitation method is a process of simulating the real Coriolis force by using a virtual Coriolis signal with an electrical signal as the carrier to realize the excitation of HRG. and The precession factor K and the angular velocity sensitive signal Ω in the term z Parameterized, speed signals on two axes and The amplitude of each axis vibration can be determined by the amplitude A of each axis vibration. i =max{|i|}, i=x, y and resonant frequency ω r So the amplitude of the virtual Coriolis force on the two axes is also determined to be and

[0074] Virtual Coriolis force and represent the virtual Coriolis electrostatic force applied to the driving mode and the detection mode respectively, K represents the precession factor of the oscillator vibration mode and is a constant, Ω z Represents the virtual angular velocity value entered by the user, detecting the radial velocity of the resonator at the mode It can be expressed as Radial velocity of the oscillator at the detection mode It can be expressed as S x and S y Represent the in-phase amplitudes of the resonator in the driving mode and the detection mode, respectively.

[0075] The amplitude is used as a modulation signal and processed by the in-phase reference modulation signal carrier to generate a self-excitation voltage signal which is input to the HRG excitation electrode. A signal generator provides a virtual angular velocity signal, which has the same effect on the HRG as the real turntable input, thus achieving the purpose of replacing the real turntable input with the self-excitation algorithm. The reference frequency signal ω provided by the frequency tracking algorithm is then used to generate the virtual angular velocity signal. r The two signals, including the antinode amplitude signal E provided by the antinode amplitude PI control algorithm, are necessary elements for generating real-time virtual Coriolis force. The generated two-axis real-time virtual Coriolis force is embedded in the useful part of the real-time control force, thereby completing the self-excitation input process.

[0076] In summary, inspired by the oscillator dynamics equation, this application designs a self-excitation technology that can replace the analog turntable to test the HRG, which makes up for the monotony of the analog turntable test signal. The self-excitation technology can be used to generate an arbitrary input signal using a signal generator to implement error excitation on the HRG, and output it in the form of a two-axis displacement signal. The two-axis displacement signal is processed using a control algorithm to obtain a slow-variable signal with useful information such as the in-phase and quadrature quantities of each axis, which contains the internal error of the resonator and the error introduced by the detection drive electrode.

[0077] Furthermore, a force-balance mode control system is implemented through the coordinated use of four control algorithms. The frequency tracking algorithm achieves an accuracy of 0.1 ppm, ensuring the precise operation of the demodulation and modulation algorithms. The antinode amplitude PI control algorithm achieves an accuracy of less than 100 ppm, ensuring the dynamic conservation of the oscillator's vibration energy. The orthogonal amplitude PI control algorithm achieves an accuracy of 50 ppm, effectively suppressing the impact of errors such as frequency splitting on the accuracy of the HRG sensitive angular velocity. The 45-electrode axis force balance PI control algorithm achieves an accuracy of 10 ppm, effectively suppressing the oscillator's precession trend caused by the Coriolis force.

[0078] Self-excitation can meet the HRG's large measurement range and arbitrary bandwidth requirements, as well as simulate the randomness of any form of test signal environment in real-world situations, maximizing the performance of the HRG and laying the foundation for targeted, high-precision control circuit design. Self-excitation breaks through the complete signal closed-loop technology and accuracy assurance issues of the control circuit under force balance mode. Breakthroughs have been made in the signal flow and processing work in the detection electrodes, control algorithms, and drive electrodes. The indicators for evaluating the HRG self-excitation control circuit design designed by this invention, such as the suppression of various error quantities, have met the navigation accuracy requirements of inertial devices, improving the accuracy of the HRG's sensitivity to external angular velocity.

[0079] The present invention also discloses a method for generating a hemispherical resonant gyroscope force balance mode calibration electrical signal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for generating the hemispherical resonant gyroscope force balance mode calibration electrical signal is implemented.

[0080] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices are based on the same concept as the embodiment of the method of the present invention. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0081] The device can be a computing device such as a desktop computer, laptop, PDA, radar, or cloud server. The device may include, but is not limited to, a processor and memory. Those skilled in the art will appreciate that the device may include more or fewer components, or a combination of certain components, or different components, such as input / output devices, network access devices, etc.

[0082] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0083] In some embodiments, the memory may be an internal storage unit of the extraction device, such as a hard disk or memory of the extraction device. In other embodiments, the memory may also be an external storage device of the extraction device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card, etc. equipped on the extraction device. Furthermore, the memory may also include both an internal storage unit of the extraction device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory may also be used to temporarily store data that has been output or is to be output.

Claims

1. A method for generating a calibration signal for a hemispherical resonant gyroscope force balance mode, characterized in that: The following steps are involved: Obtain input voltage signal; Converting the input voltage signal into initial displacement information of the resonator vibration; Iteratively calculating the initial displacement information until an iteration termination condition is met, thereby obtaining final displacement information; Calculating an error of the hemispherical resonant gyroscope based on the initial displacement information and the final displacement information; The iterative calculation includes: Calculate the antinode axis signal, node axis signal, frequency difference solution signal and y-axis orthogonal amplitude slow variable of the hemispherical resonant gyroscope according to the displacement information of the previous moment; Generate an amplitude control force slow variable according to the antinode axis signal, generate an orthogonal control force slow variable according to the node axis signal, generate a Coriolis effect suppression force slow variable according to the y-axis orthogonal amplitude slow variable, and generate a reference frequency signal according to the frequency difference solution signal; Calculating the x-axis driving force and the y-axis driving force according to the amplitude control force slow variable, the orthogonal control force slow variable, the Coriolis effect suppression force slow variable and the reference frequency signal; The displacement information at the current moment is generated according to the x-axis driving force and the y-axis driving force.

2. The method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode according to claim 1, wherein: The calculation of the antinode axis signal, node axis signal, frequency difference solution signal and y-axis orthogonal amplitude slow variable of the hemispherical resonant gyroscope based on the displacement information of the previous moment includes: Obtaining an in-phase demodulation reference signal and a quadrature demodulation reference signal at a previous moment; The displacement information of the previous moment, the in-phase demodulation reference signal and the orthogonal demodulation reference signal of the previous moment are used as input information for low-pass filtering to obtain the x-axis in-phase amplitude slow variable , y-axis in-phase amplitude slow variable , x-axis orthogonal amplitude slow variable Orthogonal amplitude slow variable to y axis ; The antinode axis signal, node axis signal and frequency difference solution signal are calculated by the following formula: ， in, is the antinode axis signal, is the nodal axis signal, and the frequency difference solution signal is .

3. The method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode according to claim 2, wherein: Generating a reference frequency signal according to the frequency difference solution signal includes: generating a phase difference according to the frequency difference solution signal; The phase difference is suppressed based on a PI control algorithm to generate a reference frequency signal.

4. The method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode according to claim 3, wherein: Calculating the x-axis driving force and the y-axis driving force according to the amplitude control force slow variable, the orthogonal control force slow variable, the Coriolis effect suppression force slow variable and the reference frequency signal includes: ， in, is the x-axis driving force, is the y-axis driving force, is the amplitude control force slow variable, is the reference frequency of the previous moment, is the slow variable of Coriolis effect inhibition, is the slow variable of the orthogonal control force.

5. The method for generating a calibration electrical signal for a hemispherical resonant gyroscope force balance mode according to claim 4, wherein: Generating the displacement information at the current moment according to the x-axis driving force and the y-axis driving force includes: ， in, is the radial acceleration of the oscillator along the x-axis, is the large damping coefficient corresponding to the large damping axis of the hemispherical resonant gyroscope, is the small damping coefficient corresponding to the small damping axis of the hemispherical resonant gyroscope, is the radial velocity of the oscillator along the x-axis, is the azimuth angle between the small damping axis and the x-axis, is the large stiffness coefficient corresponding to the large stiffness axis of the hemispherical resonant gyroscope, is the small stiffness coefficient corresponding to the small stiffness axis of the hemispherical resonator gyroscope, x is the radial displacement of the resonator corresponding to the x-axis, is the azimuth angle between the maximum stiffness axis and the x-axis, is the radial acceleration of the oscillator along the y-axis, is the radial velocity of the oscillator along the y-axis, is the radial displacement of the resonator corresponding to the y-axis, is the in-phase amplitude of the x-axis, is the precession factor of the oscillator vibration mode and is a constant, is the input virtual angular velocity value.

6. A method for generating an electrical signal for calibrating a hemispherical resonant gyroscope force balance mode, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the method for generating a hemispherical resonant gyroscope force balance mode calibration electrical signal according to any one of claims 1 to 5 is implemented.

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