A hemispherical resonator gyro balance mode calibration method

Abstract

The application discloses a hemispherical resonator gyro balance mode calibration method, obtains x-axis voltage value and y-axis voltage value of a detection electrode, and respectively solves x-axis first displacement value and y-axis first displacement value of a resonator at the detection electrode; generates an antinode axis signal, a node axis signal, a precession angle solving signal and a frequency difference solving signal based on the x-axis first displacement value and the y-axis first displacement value and in-phase demodulation reference signals and quadrature demodulation reference signals at a previous moment; calculates x-axis driving force and y-axis driving force according to the antinode axis signal, the node axis signal, the precession angle solving signal and the frequency difference solving signal; calculates x-axis second displacement value and y-axis second displacement value based on the x-axis driving force and the y-axis driving force; and calibrates the hemispherical resonator gyro according to the x-axis first displacement value, the y-axis first displacement value, the x-axis second displacement value and the y-axis second displacement value; and greatly promotes the detection convenience and the self-calibration without disassembly of the hemispherical resonator gyro full-angle mode.

Description

Technical Field

[0001] This invention belongs to the field of hemispherical resonant gyroscope calibration technology, and particularly relates to a method for calibrating the balance mode of a hemispherical resonant gyroscope. Background Technology

[0002] The hemispherical resonator gyroscope is a new type of solid-state gyroscope characterized by high precision, high reliability, and long lifespan. It is a Gothic gyroscope that utilizes the radial vibration standing wave precession effect of the hemispherical shell lip to sense the rotation of the base. It boasts high measurement accuracy, superior stability and reliability, excellent resistance to shock vibration and temperature, and unique radiation protection during shutdown. With an expected lifespan of up to 15 years, it is a key component in the inertial measurement units and attitude stabilization control of satellites or spacecraft, offering unique advantages and broad prospects in space applications.

[0003] During testing of a hemispherical resonator in full-angle mode, a sufficiently large external angular velocity (generally greater than 10°) is required to effectively excite the internal circumferential non-uniform error of the hemispherical resonator in full-angle mode. However, the angular velocity generated by existing turntables is too small to meet the above excitation requirements, resulting in low testing accuracy of the hemispherical resonator in full-angle mode. Summary of the Invention

[0004] The purpose of this invention is to provide a calibration method for the balance mode of a hemispherical resonator gyroscope. By using a self-excitation method, a large dynamic range input excitation signal is provided for the full-angle mode of the hemispherical resonator gyroscope, replacing the signal input from the traditional external turntable. This greatly promotes the convenience of detection and self-calibration of the full-angle mode of the hemispherical resonator gyroscope without disassembly.

[0005] This invention adopts the following technical solution: a method for calibrating the balance mode of a hemispherical resonant gyroscope, comprising the following steps:

[0006] Obtain the x-axis voltage value and y-axis voltage value of the detection electrode, and calculate the first x-axis displacement value and the first y-axis displacement value of the resonator at the detection electrode respectively;

[0007] Based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, generate the antinode axis signal, the node axis signal, the precession angle solution signal and the frequency difference solution signal;

[0008] Calculate the x-axis driving force and y-axis driving force based on the antinode axis signal, node axis signal, precession angle solution signal, and frequency difference solution signal;

[0009] Calculate the second displacement value of the x-axis and the second displacement value of the y-axis based on the x-axis driving force and the y-axis driving force;

[0010] The hemispherical resonant gyroscope is calibrated based on the first displacement value of the x-axis, the first displacement value of the y-axis, the second displacement value of the x-axis, and the second displacement value of the y-axis.

[0011] Furthermore, the generation of the precession angle calculation signal based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, includes:

[0012] Based on the first displacement values ​​of the x-axis and y-axis, as well as the in-phase demodulation reference signal and quadrature demodulation reference signal from the previous moment, the in-phase amplitude slow variable S of the x-axis is generated. x y-axis in-phase amplitude slow variable S y The slow variable C with orthogonal amplitude along the x-axis x Slow variable C with amplitude orthogonal to the y-axis y ;

[0013] According to S x S y C x and C y The first precession angle signal S is calculated. θ Second precession angle signal C θ ;

[0014] According to the first precession angle signal S θ Second precession angle signal C θ The precession angle solution signal θ is obtained by solving.

[0015] Furthermore, based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, a slow variable S of the in-phase amplitude of the x-axis is generated. x y-axis in-phase amplitude slow variable S y The slow variable C with orthogonal amplitude along the x-axis x The slow variable C with orthogonal amplitude to the y-axis y include:

[0016]

[0017] Where x is the first displacement value along the x-axis, y is the first displacement value along the y-axis, and V s V is the in-phase demodulation reference signal from the previous moment. c The quadrature demodulation reference signal from the previous moment, LPF() is the frequency tracking algorithm in a hemispherical resonant gyroscope.

[0018] Furthermore, according to S x S y C x and C y The first precession angle signal S is calculated. θ Second precession angle signal C θ include:

[0019]

[0020] Furthermore, based on the first precession angle signal S θ Second precession angle signal C θ The calculated precession angle signal θ includes:

[0021]

[0022] Furthermore, the calculation of the x-axis driving force and y-axis driving force based on the antinode axis signal, node axis signal, precession angle solution signal, and frequency difference solution signal includes:

[0023]

[0024] Among them, F x F is the driving force along the x-axis. y F is the driving force along the y-axis. a The amplitude control force of the antinode axis signal E is a slow variable, θ is the precession angle solution signal, and ω is the amplitude control force. r The reference frequency for the previous moment is F, where t is time and F is the reference frequency for the previous moment. q The orthogonal control force of the node axis signal is a slow variable, K is the precession factor of the harmonic oscillator mode and is constant, Ω is a user-defined input angular velocity value, and C is a constant. x C is a slow variable with orthogonal amplitude along the x-axis. y It is a slow variable with orthogonal amplitude along the y-axis.

[0025] Furthermore, the calculation of the second displacement value along the x-axis and the second displacement value along the y-axis based on the x-axis driving force and the y-axis driving force includes:

[0026]

[0027] in, For the vibration damping of the harmonic oscillator, ω x ω is the high stiffness coefficient corresponding to the high stiffness axis of the hemispherical resonant gyroscope. y Let be the small stiffness coefficient corresponding to the small stiffness axis of the hemispherical resonant gyroscope, and let x′ be the second displacement value along the x-axis. Let x′ be the radial velocity. x′ represents the radial acceleration, and y′ represents the second displacement along the y-axis. Let y′ be the radial velocity. Let y′ be the radial acceleration.

[0028] Another technical solution of the present invention: a hemispherical resonator gyroscope balance mode calibration device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned hemispherical resonator gyroscope balance mode calibration method.

[0029] The beneficial effects of this invention are as follows: This invention performs error calibration on a hemispherical resonant gyroscope by applying an external excitation voltage signal, converting the excitation voltage signal into x-axis and y-axis driving forces, generating displacement value signals based on the x-axis and y-axis driving forces, and finally completing the calibration of the hemispherical resonant gyroscope by comparing the initial displacement value signal and the generated displacement value signal. This promotes the convenience of detecting the full-angle mode of the hemispherical resonant gyroscope and enables self-calibration without disassembly. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating a method for calibrating the balance mode of a hemispherical resonant gyroscope according to an embodiment of the present invention.

[0031] Figure 2 This is a schematic diagram of the hemispherical resonant gyroscope control system in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the reference signal calculation process in an embodiment of the present invention. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0034] This invention discloses a method for calibrating the balance mode of a hemispherical resonant gyroscope, such as... Figure 1 and Figure 2 As shown, the process includes the following steps: acquiring the x-axis and y-axis voltage values ​​of the detection electrodes, and calculating the first x-axis and first y-axis displacement values ​​of the resonator at the detection electrodes; generating antinode-axis signals, node-axis signals, precession angle calculation signals, and frequency difference calculation signals based on the first x-axis and first y-axis displacement values, as well as the in-phase demodulation reference signals and quadrature demodulation reference signals from the previous moment; calculating the x-axis driving force and y-axis driving force based on the antinode-axis signals, node-axis signals, precession angle calculation signals, and frequency difference calculation signals; calculating the second x-axis displacement value and second y-axis displacement value based on the x-axis driving force and y-axis driving force; and calibrating the hemispherical resonator gyroscope based on the first x-axis displacement value, the first y-axis displacement value, the second x-axis displacement value, and the second y-axis displacement value.

[0035] This invention performs error calibration on a hemispherical resonator gyroscope by applying an external excitation voltage signal. The excitation voltage signal is converted into x-axis and y-axis driving forces. Displacement signals are then generated based on these driving forces. Finally, the calibration of the hemispherical resonator gyroscope is completed by comparing the initial and generated displacement signals. This facilitates convenient detection of the full-angle mode of the hemispherical resonator gyroscope and enables self-calibration without disassembly. Specifically, in this embodiment, the x-axis refers to the electrode axis of the driving mode, and the y-axis refers to the electrode axis of the detection mode.

[0036] Specifically, the input voltage signal is first acquired through the detection electrodes of the hemispherical resonator gyroscope. The voltage signal and displacement signal have a one-to-one correspondence, meaning the displacement signal of the resonator is acquired in real time. During the oscillation of the resonator, the distance between the detection electrode and the surface of the resonator changes in real time, which means the capacitance value of the plate electrode is constantly changing. According to the formula... From Q = CU, we can obtain During the operation of the detection electrode, the number of charges on the electrode plates remains constant, and the distance d can be written as d = d0 + Δd. Here, C refers to the capacitance of the parallel plates 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 number of charges between the plates.

[0037] When the spacing d increases, the output voltage also increases accordingly, and vice versa. The two have a linear relationship. Therefore, the displacement information of the resonator vibration at the detection shaft can be quantitatively obtained by reading the voltage value.

[0038] After obtaining the displacement information, the voltage value extracted by the detection electrode is digitally encoded to convert the analog signal into a digital signal, which serves as the input to the demodulation algorithm. The output of the demodulation algorithm is used as the input to the multi-PI control algorithm and the frequency tracking algorithm, and the output of the multi-PI control algorithm and the frequency tracking algorithm is used as the input to the modulation algorithm. The second step is that after the signal passes through the modulation algorithm, it must complete the process of converting the digital signal into an analog signal, which generates the driving voltage acting on the driving electrode.

[0039] During the demodulation algorithm execution, the voltage values ​​read by the two-axis detection electrodes are multiplied by the two demodulation reference signals to obtain four mixed signals coupled with the slow variable and the second harmonic signal. Then, the second harmonic signal is filtered out from the mixed signal by the filtering algorithm, that is, the four slow variable signals are retained, namely the x-axis in-phase amplitude slow variable S. x y-axis in-phase amplitude slow variable S y The slow variable C with orthogonal amplitude along the x-axis x The slow variable C with orthogonal amplitude to the y-axis y .

[0040] In this embodiment of the invention, the x-axis in-phase amplitude slow variable S is generated based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment. x y-axis in-phase amplitude slow variable S y The slow variable C with orthogonal amplitude along the x-axis x The slow variable C with orthogonal amplitude to the y-axis y The specific formula is as follows:

[0041]

[0042] Where x is the first displacement value along the x-axis, y is the first displacement value along the y-axis, and V s V is the in-phase demodulation reference signal from the previous moment. c The quadrature demodulation reference signal from the previous moment, LPF() is the frequency tracking algorithm in a hemispherical resonant gyroscope.

[0043] Secondly, the four slow variable signals are processed using a combination operation algorithm, and the specific implementation formula is as follows:

[0044]

[0045] Where E is the antinode axis signal and Q is the node axis signal. and These are two frequency signals used to calculate the frequency difference solution signal, i.e., the frequency difference solution signal. S θ and C θ There are two precession angle signals, i.e., based on S x S y C x and C y The first precession angle signal S is calculated. θ Second precession angle signal C θ Then, based on the first precession angle signal S θ Second precession angle signal C θ The precession angle solution signal θ is obtained by solving.

[0046] Specifically, based on the first precession angle signal S θ Second precession angle signal C θ The calculated precession angle signal θ includes:

[0047]

[0048] The precession angle θ provides a reference for driving the modulation algorithm and is also output to the human-machine interface for the experimenter to read.

[0049] Simultaneously, two PI control algorithms are set up to process the two output signals E and Q of the demodulation algorithm. One is the antinode amplitude PI control algorithm, which keeps E at a constant value while generating the amplitude control force slow variable F. a The first method maintains the energy conservation of the harmonic oscillator; the second method is the orthogonal amplitude PI control algorithm, which suppresses Q while generating the slow variable F of the orthogonal control force. q This ensures that the resonator is not affected by harmful orthogonal signal interference caused by typical frequency splitting errors during operation.

[0050] Then, as Figure 3 As shown, a phase detector is used to... and The phase difference Δω between the two input signals is obtained by dividing the two signals and then calculating the arctangent trigonometric function. Next, the phase difference is suppressed by the PI control algorithm in the loop filter, and a reference frequency signal is generated. Finally, the reference frequency signal is integrated in real time by the voltage-controlled oscillator to obtain the real-time reference phase signal, which provides the necessary reference signal for the demodulation and modulation algorithms.

[0051] In this embodiment of the invention, since the input driving force of the HRG should be a driving signal oscillating at the resonant frequency, the useful portion of the control force provided by the control circuit must be processed in real time through the modulation reference signal provided by the phase-locked loop to generate a digital driving signal, thereby effectively intervening in the HRG mode shape. Specifically, these two signals are input to the driving voltage modulation module, describing the control force F required to be provided on the driving electrodes of the hemispherical resonant gyroscope. x and F y .

[0052] Specifically, the calculation of the x-axis driving force and y-axis driving force based on the antinode axis signal, node axis signal, precession angle solution signal, and frequency difference solution signal includes:

[0053]

[0054] Among them, F x F is the driving force along the x-axis. y F is the driving force along the y-axis. a The amplitude control force of the antinode axis signal E is a slow variable, θ is the precession angle solution signal, and ω is the amplitude control force. r The reference frequency for the previous moment is F, where t is time and F is the reference frequency for the previous moment. q The orthogonal control force of the node axis signal is a slow variable, K is the precession factor of the harmonic oscillator mode and is constant, Ω is a user-defined input angular velocity value, and C is a constant. x C is a slow variable with orthogonal amplitude along the x-axis. y It is a slow variable with orthogonal amplitude along the y-axis.

[0055] A hemispherical resonant gyroscope is a type of resonant gyroscope that senses external angular information by inducing the precession of standing waves through the Coriolis force. Therefore, the Coriolis force vector F is introduced in the above equation. k =-m·a k = -2m·Ω×v, this formula can be used as a heuristic formula for the self-excited Coriolis signal in full-angle operating mode, therefore it is incorporated into formula 4, where 4KΩC y ω r and -4KΩC x ω r The two terms are the input virtual Coriolis force self-excited electrical signals, where F k It is the Coriolis force vector, m is the detection quality of the driving mode or the detection mode, and a kΩ is the traction acceleration vector, Ω is the external input angular velocity vector sensed by the sensitive axis of the hemispherical resonant gyroscope, and v is the radial velocity vector of the resonator in the driving mode or the detection mode.

[0056] Since a hemispherical resonant gyroscope is a type of Coriolis resonant gyroscope, i.e. a solid-state wave gyroscope, it senses external angular information by causing standing wave precession through Coriolis force. Therefore, the above formula for calculating Coriolis force can better explain the working condition of a hemispherical resonant gyroscope, especially in the testing phase when a high-precision external turntable is used to excite the hemispherical resonant gyroscope to make the various hidden errors inside the hemispherical resonant gyroscope explicit.

[0057] according to and achievable In the operation of the driving electrode, the initial charge on the electrode plate is 0, and the distance d′ 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 simultaneously by the useful part of the real-time control force and the real-time distance d′. Therefore, the square root of the useful part of the control force, after being modulated by the reference signal at half the resonant frequency, needs to be multiplied by the distance d′ to obtain the digital driving signal V. x and V y Since the relationship between the electrostatic force applied to the gyroscope's excitation electrodes and the voltage is F = K... F V 2 Therefore, the digital drive signal voltage and electrostatic force can be converted using this formula.

[0058] When -F q sin(2θ) = 0 and F q When cos(2θ)=0, the two-axis driving force F of HRG x and F y It becomes:

[0059]

[0060] The two digital drive signals generated by the modulation algorithm are converted into analog signals, namely drive voltages. These drive voltages act on the drive electrodes to generate corresponding electrostatic forces that correct the resonator mode shape in real time. During operation of the driving electrodes, the initial voltage on the electrode plates is 0, and the spacing is d′. The actual electrostatic force F acting on the resonator is determined by both the driving voltage and the spacing d′ of the driving electrode plates. This completes the real-time control of the resonator's mode shape.

[0061] In this embodiment of the invention, calculating the second displacement value of the x-axis and the second displacement value of the y-axis based on the x-axis driving force and the y-axis driving force includes:

[0062]

[0063] in, For the vibration damping of the harmonic oscillator, ω x ω is the high stiffness coefficient corresponding to the high stiffness axis of the hemispherical resonant gyroscope. y Let be the small stiffness coefficient corresponding to the small stiffness axis of the hemispherical resonant gyroscope, and let x′ be the second displacement value along the x-axis. Let x′ be the radial velocity. x′ represents the radial acceleration, and y′ represents the second displacement along the y-axis. Let y′ be the radial velocity. Let y′ be the radial acceleration.

[0064] Speed ​​signals on both axes and The amplitude can be determined by the vibration amplitude A of each axis. i =max{|i|}, i = x, y and resonant frequency ω r Therefore, the amplitude of the two-axis virtual Coriolis signal is also determined to be... and The amplitude is used as a modulation signal and processed by the in-phase reference modulation signal carrier to generate a self-excited voltage signal, which is then input to the HRG excitation electrode. A virtual angular velocity signal is provided by a signal generator; this signal's effect on the HRG will be consistent with the effect of the actual turntable input, thus achieving the purpose of the self-excitation algorithm replacing the actual turntable input. The reference frequency signal ω provided by the frequency tracking algorithm is then used... r The two signals, namely the antinode amplitude signal E provided by the antinode amplitude PI control algorithm, serve as necessary elements for the generation of real-time virtual Coriolis force. The generated two-axis real-time virtual Coriolis force is embedded into the useful part of the real-time control force, thus completing the self-excitation input process.

[0065] In summary, inspired by the harmonic oscillator dynamics equations, a self-excitation technique was designed to replace the analog turntable for testing the HRG, overcoming the problem of monotonous test signals from the analog turntable. This self-excitation technique utilizes a signal generator to generate arbitrary input signals to excite the HRG, outputting them as two-axis displacement signals. A control algorithm processes these two-axis displacement signals to obtain slow-variable signals containing useful information such as in-phase and quadrature quantities of each axis, including internal harmonic oscillator errors and errors introduced by the detection drive electrodes. Simultaneously, the three control algorithms of this invention are used to implement a full-angle mode control system. 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 within 100 ppm, ensuring the dynamic conservation of the harmonic oscillator's vibration energy; the quadrature amplitude PI control algorithm achieves an accuracy of 50 ppm, effectively suppressing the influence of errors such as frequency fragmentation on the accuracy of the HRG's sensitive angular velocity; and the precession angle output accuracy reaches 10 ppm, effectively improving the accuracy of the hemispherical resonator gyroscope's sensitive angular velocity.

[0066] The present invention also discloses a hemispherical resonator gyroscope balance mode calibration device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned hemispherical resonator gyroscope balance mode calibration method.

[0067] It should be noted that the information interaction and execution process between the above-mentioned devices are based on the same concept as the method embodiments of the present invention. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0068] The device can be a computing device such as a desktop computer, laptop, handheld computer, radar, or cloud server. The device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that it may include more or fewer components, or a combination of certain components, or different components; for example, it may also include input / output devices, network access devices, etc.

[0069] The processor referred to can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0070] In some embodiments, the memory may be an internal storage unit of the extraction device, such as the hard drive or memory of the extraction device. In other embodiments, the memory may be an external storage device of the extraction device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the extraction device. Furthermore, the memory may include both internal storage units and external storage devices of the extraction device. The memory is used to store operating systems, applications, bootloaders, data, and other programs, such as the program code of the computer program. The memory can also be used to temporarily store data that has been output or will be output.

Claims

1. A method for calibrating the balance mode of a hemispherical resonant gyroscope, characterized in that, Includes the following steps: Obtain the x-axis voltage value and y-axis voltage value of the detection electrode, and calculate the first x-axis displacement value and the first y-axis displacement value of the resonator at the detection electrode respectively; Based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, the antinode axis signal, the node axis signal, the precession angle solution signal and the frequency difference solution signal are generated. The x-axis driving force and y-axis driving force are calculated based on the antinode axis signal, node axis signal, precession angle calculation signal, and frequency difference calculation signal. Calculate the second displacement value of the x-axis and the second displacement value of the y-axis based on the x-axis driving force and the y-axis driving force; The hemispherical resonant gyroscope is calibrated based on the first displacement value of the x-axis, the first displacement value of the y-axis, the second displacement value of the x-axis, and the second displacement value of the y-axis. The generation of the precession angle calculation signal based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, includes: Based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, a slow variable of the in-phase amplitude of the x-axis is generated. y-axis in-phase amplitude slow variable slow variable with orthogonal amplitude along the x-axis Orthogonal amplitude slow variable to the y-axis ; according to , , and The first precession angle signal was calculated. Second precession angle signal ; According to the first precession angle signal Second precession angle signal The precession angle solution signal is obtained by solving. ; The calculation of the x-axis driving force and y-axis driving force based on the antinode axis signal, node axis signal, precession angle calculation signal, and frequency difference calculation signal includes: ， in, The driving force along the x-axis. The driving force is the y-axis. Antinode axis signal The amplitude control force of the slow variable, For the precession angle calculation signal, The reference frequency for the previous moment. For time, The slow variable is the orthogonal control force of the node axis signal. It is the precession factor of the harmonic oscillator mode and is constant. To allow for custom input of angular velocity values, The x-axis is a slow-moving variable with orthogonal amplitude. The y-axis is a slow-moving variable with orthogonal amplitude. The calculation of the second displacement value of the x-axis and the second displacement value of the y-axis based on the x-axis driving force and the y-axis driving force includes: ， in, This serves as the vibration damping for the harmonic oscillator. This refers to the high stiffness coefficient corresponding to the high stiffness axis of the hemispherical resonant gyroscope. This refers to the small stiffness coefficient corresponding to the small stiffness axis of the hemispherical resonant gyroscope. This is the second displacement value along the x-axis. for The corresponding radial velocity, for The corresponding radial acceleration, This is the second displacement value along the y-axis. for The corresponding radial velocity, for The corresponding radial acceleration.

2. The method for calibrating the balance mode of a hemispherical resonant gyroscope as described in claim 1, characterized in that, Based on the first displacement value of the x-axis and the first displacement value of the y-axis, as well as the in-phase demodulation reference signal and the quadrature demodulation reference signal of the previous moment, a slow variable of the in-phase amplitude of the x-axis is generated. y-axis in-phase amplitude slow variable slow variable with orthogonal amplitude along the x-axis Orthogonal amplitude slow variable to the y-axis include: ， in, This is the first displacement value along the x-axis. This is the first displacement value along the y-axis. The in-phase demodulation reference signal from the previous moment. The quadrature demodulation reference signal from the previous moment, This is a frequency tracking algorithm for hemispherical resonant gyroscopes.

3. The method for calibrating the balance mode of a hemispherical resonant gyroscope as described in claim 2, characterized in that, according to , , and The first precession angle signal was calculated. Second precession angle signal include: 。 4. The method for calibrating the balance mode of a hemispherical resonant gyroscope as described in claim 3, characterized in that, According to the first precession angle signal Second precession angle signal The precession angle solution signal is obtained by solving. include: 。 5. A hemispherical resonator gyroscope balance mode calibration 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 a computer program, it implements the hemispherical resonator gyroscope balance mode calibration method according to any one of claims 1-4.

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