A control method and system for a hemispherical resonant gyroscope with self-calibrated scaling factor.

Abstract

This invention discloses a hemispherical resonator gyroscope control system with self-calibration of scaling factor, comprising a gyroscope head, an X-channel detection circuit, a Y-channel detection circuit, a Y-channel analog-to-digital converter (ADC) circuit, an X-channel ADC circuit, an FPGA, an amplitude ADC circuit, an orthogonal ADC circuit, a force balance ADC circuit, an amplitude drive circuit, an orthogonal drive circuit, a force balance drive circuit, and an analog switch. The FPGA controls the force balance ADC circuit and the force balance drive circuit to periodically generate a force balance control signal and a calibration signal. After selection by the analog switch, the force balance control signal and the calibration signal are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal is converted into a digital quantity by the X-channel detection circuit and the X-channel ADC circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained, and this amplitude information is used to calibrate the scaling factor of the gyroscope. This invention has the advantages of high calibration accuracy and continuous angular velocity signal.

Description

Technical Field

[0001] This invention relates to a hemispherical resonant gyroscope control method and system, belonging to the field of inertial instruments. Background Technology

[0002] Existing hemispherical resonant gyroscopes generally suffer from zero-point drift, meaning the zero point is susceptible to temperature-induced drift characteristics, primarily due to temperature-induced scaling factor drift. There are two main solutions: one is to implement overall instrument temperature control to isolate the effects of temperature; the other is to compensate for temperature, i.e., installing multiple temperature probes within the instrument and using temperature data to perform polynomial compensation on the gyroscope's scaling factor. The first method requires an integrated temperature control system, the stability of which is highly dependent on the accuracy of the system, and is also costly. The second method requires additional measurement units and precise algorithm calibration based on temperature data; the compensation effect depends on the accuracy of the temperature measurement unit and the algorithm, making the system more complex. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: in view of the shortcomings of the prior art, the present invention provides a scaling factor self-calibration method and system for a hemispherical resonant gyroscope, which has the advantages of simple structure, high operability, high calibration accuracy, and continuous angular velocity signal.

[0004] The technical solution adopted in this invention is: a hemispherical resonant gyroscope control system with scale factor self-calibration, including a gyroscope head, an X-channel detection circuit, a Y-channel detection circuit, a Y-channel analog-to-digital conversion circuit, an X-channel analog-to-digital conversion circuit, an FPGA, an amplitude digital-to-analog conversion circuit, an orthogonal digital-to-analog conversion circuit, a force balance digital-to-analog conversion circuit, an amplitude drive circuit, an orthogonal drive circuit, a force balance drive circuit, and an analog switch;

[0005] The angular velocity of the gyroscope head is sensitively input and converted into displacement. The displacement is then converted into voltage signals by the X-channel and Y-channel detection circuits, respectively. These voltage signals are then converted into digital quantities by the X-channel and Y-channel analog-to-digital converters and sent to the FPGA. The digital quantities are then processed by frequency calculation, amplitude calculation, quadrature calculation, and force balance calculation to obtain the corresponding digital control signals. These digital signals are then sent to the amplitude digital-to-analog converter, quadrature digital-to-analog converter, and force balance digital-to-analog converter to convert the numerical values ​​of the control signals into voltage signals. These voltage signals are then applied to the corresponding plates of the gyroscope head by the amplitude drive circuit, quadrature drive circuit, and force balance drive circuit, forming a closed-loop control. The control signal obtained from the force balance calculation serves as the output angular velocity of the gyroscope.

[0006] The FPGA controls the force balance analog-to-digital converter circuit and the force balance drive circuit to generate force balance control signals and calibration signals periodically. After selection by an analog switch, the force balance control signals and calibration signals are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal is converted into a digital quantity by the X-channel detection circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained, and the scaling factor of the gyroscope is calibrated using the amplitude information.

[0007] Furthermore, the analog switch includes two analog switches.

[0008] The FPGA-controlled force balance analog-to-digital converter circuit and the first force balance drive sub-circuit generate a force balance control signal F- and a calibration signal CAL1 periodically. After selection by the second analog switch, the force balance control signal F- and the calibration signal CAL1 are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal CAL1 is converted into a digital quantity by the first X-channel detection sub-circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained.

[0009] Another channel of the FPGA-controlled force balance analog-to-digital converter circuit and the second force balance drive sub-circuit periodically generate a force balance control signal F+ and a calibration signal CAL2. After selection by the first analog switch, the force balance control signal F+ and the calibration signal CAL2 are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal CAL2 is converted into a digital quantity by the second X-channel detection sub-circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained.

[0010] Furthermore, when the calibration signal CAL1 is working, the force balance control signal F+ is working simultaneously; when the calibration signal CAL2 is working, the force balance control signal F- is working simultaneously.

[0011] A control method for a hemispherical resonant gyroscope with self-calibrated scaling factor includes:

[0012] The angular velocity of the sensitive input gyroscope is converted into displacement. The displacement is then converted into voltage signals by the X-channel detection circuit and the Y-channel detection circuit, respectively. The voltage is then converted into digital quantities by the X-channel analog-to-digital converter circuit and the Y-channel analog-to-digital converter circuit, respectively, and sent to the FPGA.

[0013] The digital quantity is processed by frequency calculation, amplitude calculation, quadrature calculation and force balance calculation to obtain the corresponding digital control signal. The digital quantity is then sent to the amplitude digital-to-analog converter circuit, the quadrature digital-to-analog converter circuit and the force balance digital-to-analog converter circuit respectively to convert the numerical quantity of the control signal into a voltage signal. The voltage signal is then passed through the amplitude drive circuit, the quadrature drive circuit and the force balance drive circuit respectively and applied to the corresponding plate of the gyroscope head to form a closed loop control. The control signal obtained by the force balance calculation is used as the output angular velocity of the gyroscope.

[0014] The FPGA controls the force balance analog-to-digital converter circuit and the force balance drive circuit to generate force balance control signals and calibration signals periodically. After selection by an analog switch, the force balance control signals and calibration signals are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal is converted into a digital quantity by the X-channel detection circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained, and the scaling factor of the gyroscope is calibrated.

[0015] Furthermore, the analog switch includes two analog switches.

[0016] Furthermore, the aforementioned method for controlling a hemispherical resonant gyroscope with self-calibration of scaling factor also includes:

[0017] The FPGA-controlled force balance analog-to-digital converter circuit and the first force balance drive sub-circuit generate a force balance control signal F- and a calibration signal CAL1 periodically. After selection by the second analog switch, the force balance control signal F- and the calibration signal CAL1 are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal CAL1 is converted into a digital quantity by the first X-channel detection sub-circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained.

[0018] Another channel of the FPGA-controlled force balance analog-to-digital converter circuit and the second force balance drive sub-circuit periodically generate a force balance control signal F+ and a calibration signal CAL2. After selection by the first analog switch, the force balance control signal F+ and the calibration signal CAL2 are applied to the drive plate and the detection plate of the gyroscope head, respectively. The calibration signal CAL2 is converted into a digital quantity by the second X-channel detection sub-circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained.

[0019] When calibration signal CAL1 is working, force balance control signal F+ is working simultaneously; when calibration signal CAL2 is working, force balance control signal F- is working simultaneously.

[0020] A computer-readable storage medium storing a computer program, characterized in that, when executed by a processor, the computer program implements the steps of the hemispherical resonant gyroscope control method with self-calibrated scaling factor.

[0021] A hemispherical resonator gyroscope control device with self-calibrated scaling factor includes 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 computer program, it implements the steps of the hemispherical resonator gyroscope control method with self-calibrated scaling factor.

[0022] The advantages of this invention compared to the prior art are:

[0023] (1) The calibration signal of the present invention is generated internally by the system and does not require an additional calibration signal to be introduced from an external system. It can calibrate the scale factor drift caused by the instability of the circuit coefficients. The system is simpler and more feasible.

[0024] (2) The present invention benefits from the switching of force balance control signal and calibration signal by analog switch. During the calibration process, the gyroscope can maintain the output of angular velocity signal, and the data will not be interrupted, which will not affect the output continuity of the gyroscope itself. Attached Figure Description

[0025] Figure 1 The overall block diagram of a hemispherical resonant gyroscope with self-calibration of scaling factor is shown.

[0026] Figure 2 This is a schematic diagram simulating switch switching;

[0027] Figure 3 This is a schematic diagram showing the switching between force balance control signals and calibration signals. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, a hemispherical resonant gyroscope control system with scaling factor self-calibration includes a hemispherical gyroscope head 1, an X-channel detection circuit 2, a Y-channel detection circuit 3, a Y-channel analog-to-digital converter circuit 4, an X-channel analog-to-digital converter circuit 5, a field-programmable gate array (FPGA) 6, an amplitude digital-to-analog converter circuit 7, an orthogonal digital-to-analog converter circuit 8, a force-balanced digital-to-analog converter circuit 9, an amplitude drive circuit 10, an orthogonal drive circuit 11, a force-balanced drive circuit 12, and an analog switch 13.

[0030] When an external angular velocity is input, the gyroscope 1 senses the input angular velocity and converts it into displacement. The X-channel detection circuit 2 and the Y-channel detection circuit 3 then convert the displacement into voltage, which is then converted into digital quantity by the X-channel analog-to-digital converter circuit 5 and the Y-channel analog-to-digital converter circuit 4 and sent to the FPGA. In step 6, frequency calculation by frequency calculation module 6-1 can track the vibration frequency of the resonator. This frequency is used as the demodulation and modulation frequency, which is the basis for amplitude calculation, orthogonal calculation, and force balance calculation. Amplitude calculation by amplitude calculation module 6-2 can obtain the amplitude control signal. Orthogonal calculation by orthogonal calculation module 6-3 can obtain the orthogonal control signal. Force balance calculation by force balance calculation module 6-4 can obtain the force balance control signal. The digital values ​​of the control signals are sent to amplitude digital-to-analog converter circuit 7, orthogonal digital-to-analog converter circuit 8, and force balance digital-to-analog converter circuit 9, respectively, to convert the numerical values ​​into voltages. Finally, the voltage driving capability is improved by amplitude driving circuit 10, orthogonal driving circuit 11, and force balance driving circuit 12, respectively, and the voltage is applied to the corresponding plates of the gyroscope head to form a closed-loop control. The control signal obtained by force balance calculation is used as the output of the gyroscope, which represents the output angular velocity of the gyroscope.

[0031] In force balance mode, the gyroscope input angular velocity and the gyroscope output have the following relationship:

[0032]

[0033] Where Ω is the input angular velocity, and D out Here, K is the output of the gyroscope, K is the precession factor, and A0 is the amplitude of the gyroscope (which can be determined by the amplitude target quantity D). set Let the relationship be A0 = D. set / k x k x (where ω is the amplitude conversion coefficient), ω0 is the resonant frequency of the gyroscope, and k is the amplitude conversion coefficient. F This is the force balance conversion coefficient;

[0034] Furthermore, from the above equation, we can see that the scaling factor of the gyroscope is...

[0035] Where, k x and k F These are circuit-related coefficients, which are inevitably affected by temperature, thus affecting the gyroscope's output.

[0036] like Figure 2 and Figure 1 As shown, FPGA 6 controls the force balance digital-to-analog converter circuit 9 and the first force balance drive sub-circuit 12-1 (i.e., Figure 2The force balance drive circuit 1) periodically generates a force balance control signal F- and a calibration signal CAL1. These signals are then applied to the drive plate and detection plate of the gyroscope head via the second analog switch 13-2. The calibration signal CAL1 is then transmitted through the first X-channel detection sub-circuit 3-1 (i.e.,...). Figure 2 The X-channel detection circuit 1) and X-channel analog-to-digital converter 5 convert the signal into a digital value, which is then sent to the FPGA 6. After digital demodulation, the amplitude information of the calibration signal can be obtained. This amplitude represents the force balance conversion coefficient k. F and amplitude conversion coefficient k x The product of these values ​​can be used to calibrate the gyroscope's scaling factor using an algorithm. The FPGA controls another channel of the force balance digital-to-analog converter circuit 9 and the second force balance drive sub-circuit 12-2 (i.e....). Figure 2 The force balance drive circuit 2) generates a force balance control signal F+ and a calibration signal CAL2 periodically. After selection by the first analog switch 13-1, the force balance control signal F+ and the calibration signal CAL2 are applied to the drive plate and the detection plate of the gyroscope head, respectively; the calibration signal CAL2 is then transmitted through the second X-channel detection sub-circuit 3-2 (i.e., Figure 2 The X-channel detection circuit 2) and the X-channel analog-to-digital converter circuit convert the signal into a digital value, which is then sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained, and this amplitude represents the force balance conversion coefficient k. F and amplitude conversion coefficient k x The product of these values ​​can be used to calibrate the scaling factor of the gyroscope using an algorithm.

[0037] like Figure 3 and Figure 2 As shown, to ensure continuous and uninterrupted angular velocity signal output during gyroscope calibration, when calibration signal CAL1 is active, the other channel of FPGA 6 controlling force balance digital-to-analog converter circuit 9 (easily implemented with a multi-channel DAC, such as AD5763) and the second force balance drive sub-circuit 12-2 simultaneously generate force balance control signal F+. That is, within this signal range, calibration signal CAL1 and force balance control signal F+ are in active state, as shown... Figure 3 As shown; similarly, when the calibration signal CAL2 is working, the force balance control signal F- is also working simultaneously, that is, within this signal range, both the calibration signal CAL2 and the force balance control signal F- are in working state, as shown. Figure 3 As shown, the amplitude information of the calibration signal CAL2 can be obtained through digital demodulation. This control strategy can ensure the continuous output of the angular velocity signal during the calibration process, and both the amplitude conversion coefficient and the force balance conversion coefficient can be calibrated, achieving the purpose of scale factor self-calibration.

[0038] Thanks to the analog switch, the force balance control signal and calibration signal are continuously output during system operation, so the angular velocity signal output can be maintained during calibration without data interruption.

[0039] A control method for a hemispherical resonant gyroscope with self-calibration of scaling factor includes the following steps:

[0040] The angular velocity of the sensitive input gyroscope is converted into displacement. The displacement is then converted into voltage signals by the X-channel detection circuit and the Y-channel detection circuit, respectively. The voltage is then converted into digital quantities by the X-channel analog-to-digital converter circuit and the Y-channel analog-to-digital converter circuit, respectively, and sent to the FPGA.

[0041] The digital quantity is processed by frequency calculation, amplitude calculation, quadrature calculation and force balance calculation to obtain the corresponding digital control signal. The digital quantity is then sent to the amplitude digital-to-analog converter circuit, the quadrature digital-to-analog converter circuit and the force balance digital-to-analog converter circuit respectively to convert the numerical quantity of the control signal into a voltage signal. The voltage signal is then passed through the amplitude drive circuit, the quadrature drive circuit and the force balance drive circuit respectively and applied to the corresponding plate of the gyroscope head to form a closed loop control. The control signal obtained by the force balance calculation is used as the output angular velocity of the gyroscope.

[0042] The FPGA controls the force balance digital-to-analog converter circuit and the first force balance drive sub-circuit to generate a force balance control signal F- and a calibration signal CAL1 periodically. After selection by a second analog switch, the force balance control signal F- and the calibration signal CAL1 are applied to the drive plate and detection plate of the gyroscope head, respectively. The calibration signal CAL1 is converted into a digital quantity by the first X-channel detection sub-circuit and the X-channel analog-to-digital converter circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained. The FPGA controls another channel of the force balance digital-to-analog converter circuit and the second force balance drive sub-circuit... The circuit generates a force balance control signal F+ and a calibration signal CAL2 periodically. After selection by the first analog switch, the force balance control signal F+ and the calibration signal CAL2 are applied to the driving plate and the detection plate of the gyroscope head, respectively. The calibration signal CAL2 is converted into a digital quantity by the second X-channel detection sub-circuit and the X-channel analog-to-digital conversion circuit and sent to the FPGA. After digital demodulation, the amplitude information of the calibration signal is obtained. When the calibration signal CAL1 is working, the force balance control signal F+ is working simultaneously; when the calibration signal CAL2 is working, the force balance control signal F- is working simultaneously.

[0043] A computer-readable storage medium storing a computer program, characterized in that, when executed by a processor, the computer program implements the steps of the hemispherical resonant gyroscope control method with self-calibrated scaling factor.

[0044] A hemispherical resonator gyroscope control device with self-calibrated scaling factor includes 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 computer program, it implements the steps of the hemispherical resonator gyroscope control method with self-calibrated scaling factor.

[0045] The parts of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A control system for a self-scaling hemispherical resonator gyro with a scale factor, characterized in that, The gyro meter head, X path detection circuit, Y path detection circuit, Y path analog-digital conversion circuit, X path analog-digital conversion circuit, FPGA, amplitude digital-analog conversion circuit, quadrature digital-analog conversion circuit, force balance digital-analog conversion circuit, amplitude drive circuit, quadrature drive circuit, force balance drive circuit and analog switch are included. The gyro meter head senses the input angular velocity, converts the angular velocity into displacement, converts the displacement into voltage signals by the X path detection circuit and Y path detection circuit respectively, converts the voltage into digital quantity by the X path analog-digital conversion circuit and Y path analog-digital conversion circuit respectively and sends the digital quantity into the FPGA; the digital quantity is subjected to frequency solution, amplitude solution, quadrature solution and force balance solution to obtain the digital quantity of corresponding control signals which are sent into the amplitude digital-analog conversion circuit, quadrature digital-analog conversion circuit and force balance digital-analog conversion circuit respectively, converts the digital quantity of control signals into voltage signals, the voltage signals are subjected to the amplitude drive circuit, quadrature drive circuit and force balance drive circuit respectively and are applied to the corresponding pole plate of the gyro meter head to form a closed loop control, wherein the control signal obtained by the force balance solution is the output angular velocity of the gyroscope; The analog switch includes two analog switches; The FPGA controls the force balance digital-analog conversion circuit and the first force balance drive sub-circuit to generate the force balance control signal F- and the calibration signal CAL1 according to the period, selects the force balance control signal F- and the calibration signal CAL1 through the second analog switch and applies the force balance control signal F- and the calibration signal CAL1 to the drive pole plate and the detection pole plate of the gyro meter head respectively; the calibration signal CAL1 is converted into digital quantity by the first X path detection sub-circuit and the X path analog-digital conversion circuit and is sent into the FPGA, and the amplitude information of the calibration signal is obtained by digital demodulation; The FPGA controls the other channel of the force balance digital-analog conversion circuit and the second force balance drive sub-circuit to generate the force balance control signal F+ and the calibration signal CAL2 according to the period, selects the force balance control signal F+ and the calibration signal CAL2 through the first analog switch and applies the force balance control signal F+ and the calibration signal CAL2 to the drive pole plate and the detection pole plate of the gyro meter head respectively; the calibration signal CAL2 is converted into digital quantity by the second X path detection sub-circuit and the X path analog-digital conversion circuit and is sent into the FPGA, and the amplitude information of the calibration signal is obtained by digital demodulation; When the calibration signal CAL1 works, the force balance control signal F+ works simultaneously; when the calibration signal CAL2 works, the force balance control signal F- works simultaneously.

2. A control method of a self-scaling hemispherical resonator gyro with a scale factor, characterized in that, The gyro meter head, X path detection circuit, Y path detection circuit, Y path analog-digital conversion circuit, X path analog-digital conversion circuit, FPGA, amplitude digital-analog conversion circuit, quadrature digital-analog conversion circuit, force balance digital-analog conversion circuit, amplitude drive circuit, quadrature drive circuit, force balance drive circuit and analog switch are included. ​ The digital quantity is frequency-resolved, amplitude-resolved, quadrature-resolved and force-balance-resolved to obtain the digital quantity of the corresponding control signal, which is respectively sent to an amplitude digital-analog conversion circuit, a quadrature digital-analog conversion circuit and a force-balance digital-analog conversion circuit to convert the digital quantity of the control signal into a voltage signal, and the voltage signal is respectively passed through an amplitude drive circuit, a quadrature drive circuit and a force-balance drive circuit and applied to the corresponding polar plate of the gyro head to form a closed loop control, wherein the control signal obtained by the force-balance resolution is used as the output angular velocity of the gyroscope; The analog switch comprises two analog switches; The control method of the self-calibrated hemispherical resonator gyro with a scale factor further comprises the following steps: The FPGA controls the force-balance digital-analog conversion circuit and the first force-balance drive sub-circuit to generate a force-balance control signal F- and a calibration signal CAL1 according to a period, and the force-balance control signal F- and the calibration signal CAL1 are respectively applied to the drive polar plate and the detection polar plate of the gyro head through the selection of the second analog switch; the calibration signal CAL1 is converted into a digital quantity by the first X-detection sub-circuit and the X-digital-analog conversion circuit and sent to the FPGA, and the amplitude information of the calibration signal is obtained through digital demodulation; The FPGA controls the other channel of the force-balance digital-analog conversion circuit and the second force-balance drive sub-circuit to generate a force-balance control signal F+ and a calibration signal CAL2 according to a period, and the force-balance control signal F+ and the calibration signal CAL2 are respectively applied to the drive polar plate and the detection polar plate of the gyro head through the selection of the first analog switch; the calibration signal CAL2 is converted into a digital quantity by the second X-detection sub-circuit and the X-digital-analog conversion circuit and sent to the FPGA, and the amplitude information of the calibration signal is obtained through digital demodulation; When the calibration signal CAL1 is working, the force-balance control signal F+ is simultaneously working; when the calibration signal CAL2 is working, the force-balance control signal F- is simultaneously working.

3. A computer-readable storage medium storing a computer program, the computer-readable storage medium being configured to store the computer program, wherein the computer program comprises program instructions configured to cause a computer to perform the method according to any one of claims 1 to 2. The computer program is executed by the processor to realize the steps of the method of claim 2.

4. A scale factor self-calibrating hemispherical resonator gyroscope control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: The processor executes the computer program to realize the steps of the method of claim 2.

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