A rate-integrating gyroscope measurement and control method and device based on virtual rotation of detection axis

Abstract

The present application belongs to the field of gyroscope technology and relates to a rate-integrating gyroscope measurement and control method and device based on the virtual rotation of the detection axis. The method includes: obtaining two original carrier signals and obtaining two modulated carrier signals based on their rotation superposition angles; applying the two modulated carrier signals to two orthogonal axes of the gyroscope respectively, and collecting the vibration signal of the gyroscope to obtain the original representation of the vibration signal; demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and the original representation of the vibration signal to obtain a reference variable; constructing a control variable based on the reference variable, and controlling the carrier rotation superposition angle of the gyroscope in a normal resonant state based on the control variable to obtain the output angle of the gyroscope. This method realizes the tracking and detection of the gyroscope angle in the rate-integrating mode, and can combine the advantages of the rate gyroscope and the rate-integrating gyroscope.

Description

Technical Field

[0001] The present application relates to the technical field of gyroscopes, and in particular to a rate-integrating gyroscope measurement and control method and device based on virtual rotation of a detection axis. Background Art

[0002] The gyroscope is an important inertial sensor for measuring angles or angular velocity. It is a core component in motion control, attitude monitoring, navigation and guidance, and other fields. Its performance directly determines the accuracy of inertial navigation and attitude control systems, and plays an important role in industrial and defense applications.

[0003] Among them, the vibratory gyroscopes based on the Coriolis effect mainly include rate gyroscopes and rate integrating gyroscopes.

[0004] A rate gyroscope is a gyroscope that measures angular velocity. After being controlled by force balance, it has the advantages of high measurement accuracy and low noise. However, its bandwidth, measurement range, and scale factor stability are difficult to achieve a high level.

[0005] The rate integrating gyroscope is a gyroscope that directly outputs angles. It has the advantages of high bandwidth, large range, and good scale factor stability. However, its measurement accuracy and noise performance are difficult to reach the level of rate gyroscopes. Summary of the Invention

[0006] Based on this, it is necessary to provide a rate-integrating gyro measurement and control method and device based on the virtual rotation of the detection axis to address the above technical problems, which realizes the tracking and detection of the gyro angle in the rate-integrating mode and can be compatible with the advantages of the rate gyro and the rate-integrating gyro.

[0007] A rate-integrating gyro measurement and control method based on virtual rotation of a detection axis comprises:

[0008] Obtain two original carrier signals, and obtain two modulated carrier signals according to the rotation superposition angles of the original carrier signals;

[0009] Applying two modulated carrier signals to two orthogonal axes of the gyroscope respectively, and collecting the vibration signal of the gyroscope to obtain the original representation of the vibration signal;

[0010] Demodulating the vibration signal according to a vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and an original representation of the vibration signal to obtain a reference variable;

[0011] constructing a control variable according to the reference variable, and controlling the gyroscope in a normal resonant state according to the control variable;

[0012] According to the control variable, the carrier rotation superposition angle of the gyroscope in a normal resonant state is controlled so that the detection axis virtual rotation angle tracks the gyroscope vibration mode angle in real time to obtain the output angle of the gyroscope.

[0013] In one embodiment, the vibration signal is demodulated according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and the original representation of the vibration signal to obtain the reference variable, which includes:

[0014] The gyroscope is abstracted as a second-order resonant system, the vibration equation of the gyroscope is established, and the general solution of the vibration equation is obtained;

[0015] Obtaining a demodulated representation of the vibration signal based on a general solution of the vibration equation, the modulated carrier signal, and an original representation of the vibration signal;

[0016] The vibration signal is demodulated according to the demodulated representation of the vibration signal and the original carrier signal to obtain a reference variable.

[0017] In one embodiment, obtaining two original carrier signals includes:

[0018] Get two sinusoidal or square wave signals with different frequencies but the same amplitude as the original carrier signals.

[0019] In one embodiment, two original carrier signals are acquired, and two modulated carrier signals are obtained according to the rotation superposition angles of the original carrier signals, including:

[0020]

[0021] Where, E1 and E2 are two modulated carrier signals, E a and E b are two original carrier signals, and ε is the rotation superposition angle of the original carrier signals.

[0022] In one embodiment, two modulated carrier signals are applied to two orthogonal axes of a gyroscope, and a vibration signal of the gyroscope is collected to obtain an original representation of the vibration signal, including:

[0023]

[0024] Where V is the original representation of the vibration signal.

[0025] In one embodiment, the gyroscope is abstracted as a second-order resonant system, a vibration equation of the gyroscope is established, and a general solution of the vibration equation is obtained, including:

[0026] Abstract the gyroscope as a second-order resonant system and establish the vibration equation of the gyroscope:

[0027]

[0028] The general solution of the vibration equation is obtained:

[0029]

[0030] Where x is the displacement of the gyroscope's oscillator in the x-direction, y is the displacement of the gyroscope's oscillator in the y-direction, ω is the resonant frequency of the gyroscope's oscillator, t is time, a is the major axis of the gyroscope's elliptical trajectory, and θ is the angle of the gyroscope's elliptical trajectory relative to the coordinate system. is the phase of the gyroscope's resonator moving along the elliptical trajectory, and q is the minor axis of the gyroscope's elliptical trajectory.

[0031] In one embodiment, obtaining a demodulated representation of the vibration signal based on the general solution of the vibration equation, the modulated carrier signal, and the original representation of the vibration signal includes:

[0032]

[0033] Where V′ is the demodulated representation of the vibration signal.

[0034] In one embodiment, demodulating the vibration signal according to the demodulated representation of the vibration signal and the original carrier signal to obtain a reference variable includes:

[0035]

[0036]

[0037]

[0038]

[0039]

[0040] Where c x 、s x 、c y 、s y is the reference variable, and φ is the reference phase.

[0041] In one embodiment, constructing a control variable according to the reference variable, and controlling the gyroscope in a normal resonant state according to the control variable includes:

[0042] E=c x 2 +s x 2 +c y 2 +s y2

[0043] Q=2(c x s y -c y s x )

[0044] L=2(c x s x +c y s y )

[0045] Where E, Q, and L are control variables.

[0046] According to the control variable, the carrier rotation superposition angle of the gyroscope in the normal resonant state is controlled so that the detection axis virtual rotation angle tracks the gyroscope vibration mode angle in real time. The output angle of the gyroscope is obtained by:

[0047] According to the control variables E, Q, L, the carrier rotation superposition angle ε is controlled to track θ, so that the reference variable c y is 0, and the output angle of the gyroscope is ε.

[0048] A rate-integrating gyro measurement and control device based on virtual rotation of a detection axis comprises:

[0049] The gyro structure is used to utilize the Coriolis precession effect to sense external angular velocity input, is excited in a resonant state when the gyro system is operating normally, and converts the angular velocity input into a detectable vibration signal;

[0050] A detection axis virtual rotation module is used to obtain two original carrier signals and obtain two modulated carrier signals according to the rotation superposition angle of the original carrier signals;

[0051] A signal acquisition module, configured to apply two modulated carrier signals to two orthogonal axes of the gyroscope, respectively, and acquire a vibration signal of the gyroscope to obtain an original representation of the vibration signal;

[0052] a signal demodulation module, configured to demodulate the vibration signal according to a vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and an original representation of the vibration signal to obtain a reference variable;

[0053] a vibration control module, configured to construct a control variable according to the reference variable, and control the gyroscope to be in a normal resonant state according to the control variable;

[0054] A detection axis virtual rotation tracking module is used to control the carrier rotation superposition angle of the gyroscope in a normal resonant state according to the control variable to obtain the output angle of the gyroscope;

[0055] Among them, one end of the gyro structure is connected to one end of the signal acquisition module, and the other end is connected to one end of the detection axis virtual rotation module; the other end of the signal acquisition module is connected to the other end of the gyro structure through the signal demodulation module and the vibration control module in sequence; the other end of the signal demodulation module is also connected to the other end of the detection axis virtual rotation module through the detection axis virtual rotation tracking module.

[0056] The aforementioned rate-integrating gyro measurement and control method and device based on virtual rotation of the detection axis achieves virtual rotation of the detection axis by applying two rotating superimposed carrier waves, which then track the gyro's vibration mode angle in real time. The gyro's output angle is then the virtual rotation angle of the detection axis, enabling gyro angle tracking in rate-integration mode. This method offers the advantages of a rate-integrating gyro, including high bandwidth, a wide measurement range, and good scale factor stability. Furthermore, through closed-loop control of detection axis tracking, it reduces gyro noise and improves measurement accuracy, combining the advantages of both rate and rate-integrating gyros. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 1 is a flow chart of a rate-integrating gyro measurement and control method based on virtual rotation of a detection axis in one embodiment;

[0058] Figure 2 A schematic diagram of the physical principle of detecting an axis tracking mode in one embodiment;

[0059] Figure 3 A schematic diagram of an elliptical trajectory of gyroscope vibration in one embodiment;

[0060] Figure 4 A schematic diagram of a detection axis tracking mode in one embodiment;

[0061] Figure 5 The figure is a structural block diagram of a rate-integrating gyro measurement and control device based on virtual rotation of a detection axis in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application without creative work are within the scope of protection of this application.

[0063] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0064] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "multiple groups" means at least two groups, such as two groups, three groups, and so on, unless otherwise specifically defined.

[0065] In this application, unless otherwise specified or limited, the terms "connect," "fix," etc. should be understood in a broad sense. For example, "fix" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0066] In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0067] This application provides a rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis, such as Figure 1 As shown, in one embodiment, it includes:

[0068] Step 102: Acquire two original carrier signals, and obtain two modulated carrier signals according to the rotation and superposition angles of the original carrier signals.

[0069] Specifically:

[0070] Obtain two sine or square wave signals with different frequencies but the same amplitude as the original carrier signals. It should be noted that the frequencies of the two original carrier signals differ greatly and their values ​​are much higher than the operating frequency of the gyroscope. For example, E a =500K=0.5MHz, E b =1000K=1MHz, the resonant frequency of the gyroscope is 8000Hz.

[0071] According to the rotation and superposition angle of the original carrier signal, two modulated carrier signals are obtained:

[0072]

[0073] Where, E1 and E2 are two modulated carrier signals, E a and E b are two original carrier signals, and ε is the rotation and superposition angle of the original carrier signals, that is, the carrier rotation and superposition angle.

[0074] In this step, the detection signal of the gyroscope is modulated by applying two carrier signals E1 and E2 on the orthogonal axes x and y respectively.

[0075] Step 104 : applying two modulated carrier signals to two orthogonal axes of the gyroscope respectively, and collecting the vibration signal of the gyroscope to obtain the original representation of the vibration signal.

[0076] Specifically:

[0077] The vibration signal of the gyroscope is collected, which includes the superposition of the vibration signals of the two orthogonal axes of the gyroscope:

[0078]

[0079] Where V is the original representation of the vibration signal.

[0080] Step 106 : demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and the original representation of the vibration signal to obtain a reference variable.

[0081] Specifically:

[0082] The gyroscope is abstracted as a second-order resonant system, the vibration equation of the gyroscope is established, and the general solution of the vibration equation is obtained; based on the general solution of the vibration equation, the modulated carrier signal and the original representation of the vibration signal, the demodulated representation of the vibration signal is obtained; based on the demodulated representation of the vibration signal and the original carrier signal, the vibration signal is demodulated to obtain the reference variable.

[0083] More specifically:

[0084] The gyroscope is abstracted as a second-order resonant system, and the stiffness and damping unevenness are ignored. Without applying external control force, the vibration equation of the gyroscope is established:

[0085]

[0086] The general solution of the vibration equation is expressed as:

[0087]

[0088] Where x is the displacement of the gyroscope's resonator in the x-direction, y is the displacement of the gyroscope's resonator in the y-direction, ω is the resonant frequency of the gyroscope's resonator (the two directions are symmetrical and the resonant frequencies are consistent), t is time, a is the major axis of the gyroscope's elliptical trajectory, and θ is the angle between the major axis of the gyroscope's elliptical trajectory and the coordinate system, i.e., the gyroscope vibration mode angle. is the phase of the gyroscope's resonator moving along the elliptical trajectory, that is, the phase of the detected displacement, and q is the minor axis of the gyroscope's elliptical trajectory.

[0089] According to the general solution of the vibration equation, the modulated carrier signal and the original representation of the vibration signal, Equations (1) and (3) are substituted into Equation (2) to obtain the demodulated representation of the vibration signal:

[0090]

[0091] Where V′ is the demodulated representation of the vibration signal.

[0092] The vibration signal is demodulated based on the demodulated representation of the vibration signal, the original carrier signal, and the in-phase reference signal (a signal in phase with the sinusoidal signal generated by the gyroscope vibration) and the orthogonal reference signal (a signal orthogonal to the sinusoidal signal generated by the gyroscope vibration) of the gyroscope resonance signal to obtain the reference variable:

[0093]

[0094]

[0095]

[0096]

[0097]

[0098] Where c x 、s x 、c y 、s y is the reference variable, and φ is the reference phase, i.e. the driving phase.

[0099] Step 108 : constructing a control variable according to the reference variable, and controlling the gyroscope to be in a normal resonant state according to the control variable.

[0100] Specifically:

[0101] E=c x 2 +s x 2 +c y 2 +s y2

[0102] Q=2(c x s y -c y s x )

[0103] L=2(c x s x +c y s y )

[0104] Where E, Q, and L are control variables.

[0105] In this step, vibration control is performed to control the gyroscope in a normal resonant state, including: the energy control loop uses a controller to control the amplitude of the drive signal, controlling E at a constant value to ensure that the gyroscope vibrates with a constant amplitude; the orthogonal control loop uses a controller to control the orthogonal force, suppressing Q to 0, ensuring that the vibration trajectory of the gyroscope is a straight line; the resonance control loop uses a controller to control L to 0, ensuring that the gyroscope is in a resonant state.

[0106] Step 110 , controlling the carrier rotation superposition angle of the gyroscope in a normal resonant state according to the control variable, so that the detection axis virtual rotation angle tracks the gyroscope vibration mode angle in real time, and obtaining the output angle of the gyroscope.

[0107] Specifically:

[0108] According to the control variables E, Q, and L, the controller is used to control the size of the virtual rotation angle ε of the detection axis, that is, to control the carrier rotation superposition angle ε of the gyroscope in the normal resonant state to track θ, so that the reference variable cy is 0. At this time, ε=θ, which means that the detection axis coincides with the vibration mode angle θ of the gyroscope in real time. The virtual rotation angle ε of the detection axis is the output angle of the gyroscope.

[0109] It should be noted that ε represents both the carrier rotation superposition angle and the detection axis virtual rotation angle. For the method, it is achieved through the rotation superposition of the carrier, and for the effect, it realizes the virtual rotation of the detection axis.

[0110] In this embodiment, if Figure 2 As shown in the figure, the detection axis tracking mode uses the precession effect of the gyro vibration to detect the input angle. The vibration mode of the resonant structure is the synthesis of the two modes, mode X and mode Y. At the initial moment, the vibration mode is at the starting position and the position of the vibration mode remains unchanged. When the gyro rotates, the vibration mode will precess relative to the shell under the action of the Coriolis force. When the shell rotates counterclockwise around the central axis by an angle When the vibration mode rotates relative to the resonant structure, the precession angle θ is proportional to the input angle. is proportional to, and there is (κ is the proportionality coefficient, and κ<1).

[0111] The gyro system is abstracted as a second-order resonant system, and the vibration equation of the gyro is established. Its general solution is a static elliptical trajectory, such as Figure 3 As shown. a and F q As driving force,

[0112] Normal rate integration mode measures the ratio of the major axis amplitudes (the ratio of the major axis amplitude components along the x and y axes) to obtain the value of tanθ, which is then used to calculate the angle θ. Therefore, the measurement noise of the major axis amplitude components along the x and y axes directly affects the gyro output angle noise.

[0113] In this application, if Figure 4 As shown, F a and F q is the driving force, x′ and y′ are virtual detection axes (after the carrier is superimposed, a virtual detection axis is generated to track θ, and the angle output is no longer calculated by the ratio of the amplitudes, but by the rotation superposition angle of the carrier). The angle θ is tracked by controlling the virtual rotation angle ε of the detection axis, so that c y is 0, that is, ε=θ, and the gyroscope output is ε.

[0114] During normal operation:

[0115]

[0116] Where a x is the component of the major axis in the x direction, a y is the component of the long axis in the y direction, which is obtained by measuring and calculating the measurement system. Its noise level depends on the measurement noise. However, no matter how large the measurement noise of a is, c will only be y That is, the error input of the controller in the virtual rotation tracking module is 0, so the measurement noise is insensitive to the angle output noise.

[0117] The above-mentioned rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis realizes the virtual rotation of the detection axis by applying two rotating superimposed carrier signals (i.e., the rotation superposition of two different carrier signals) on the two orthogonal axes of the gyroscope for modulation and demodulation, and makes it track the gyro vibration mode angle in real time. The controller controls the rotation superposition angle ε of the two carrier signals so that ε = θ, that is, c yWhen the value is 0, the gyro output angle is the virtual rotation angle of the detection axis, achieving closed-loop tracking of the gyro angle in rate integration mode. This method combines the advantages of the rate integration mode gyro, including high bandwidth, large measurement range, and good scale factor stability. Furthermore, through closed-loop control of detection axis tracking, it achieves virtual rotation and tracking of the detection axis, reducing gyro noise and improving measurement accuracy, combining the advantages of both rate gyros and rate integrating gyros.

[0118] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0119] The present application also provides a rate-integrating gyro measurement and control device based on the virtual rotation of the detection axis, such as Figure 5 As shown, in one embodiment, it includes: a gyro structure, a detection axis virtual rotation module, a signal acquisition module, a signal demodulation module, a vibration control module and a detection axis virtual rotation tracking module, wherein:

[0120] The gyro structure is used to utilize the Coriolis precession effect to sense external angular velocity input, is excited in a resonant state when the gyro system is operating normally, and converts the angular velocity input into a detectable vibration signal;

[0121] The detection axis virtual rotation module is used to obtain two original carrier signals and obtain two modulated carrier signals according to the rotation superposition angle of the original carrier signals;

[0122] A signal acquisition module is used to apply two modulated carrier signals to two orthogonal axes of the gyroscope, collect the vibration signal of the gyroscope, and obtain the original representation of the vibration signal;

[0123] A signal demodulation module is used to demodulate the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal and the original representation of the vibration signal to obtain a reference variable;

[0124] a vibration control module, for constructing a control variable according to a reference variable, and controlling the gyroscope in a normal resonant state according to the control variable;

[0125] The detection axis virtual rotation tracking module is used to control the carrier rotation superposition angle of the gyroscope in the normal resonant state according to the control variable to obtain the output angle of the gyroscope;

[0126] Among them, one end of the gyro structure is connected to one end of the signal acquisition module, and the other end is connected to one end of the detection axis virtual rotation module; the other end of the signal acquisition module is connected to the other end of the gyro structure through the signal demodulation module and the vibration control module in turn; the other end of the signal demodulation module is also connected to the other end of the detection axis virtual rotation module through the detection axis virtual rotation tracking module.

[0127] Regarding the specific limitations of the rate-integrating gyro measurement and control device based on the virtual rotation of the detection axis, please refer to the limitations of the rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis above, which will not be repeated here. Each module in the above-mentioned device can be implemented in whole or in part by software, hardware, and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0128] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A rate-integrating gyro measurement and control method based on virtual rotation of the detection axis, characterized in that: include: Obtain two original carrier signals, and obtain two modulated carrier signals according to the rotation superposition angles of the original carrier signals; Applying two modulated carrier signals to two orthogonal axes of the gyroscope respectively, and collecting the vibration signal of the gyroscope to obtain the original representation of the vibration signal; Demodulating the vibration signal to obtain a reference variable according to a vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and an original representation of the vibration signal; demodulating the vibration signal to obtain a reference variable according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and an original representation of the vibration signal includes: obtaining a demodulated representation of the vibration signal according to a general solution of the vibration equation, the modulated carrier signal, and an original representation of the vibration signal; Demodulating the vibration signal according to the demodulated representation of the vibration signal and the original carrier signal to obtain a reference variable; constructing a control variable according to the reference variable, and controlling the gyroscope in a normal resonant state according to the control variable; According to the control variable, the carrier rotation superposition angle of the gyroscope in a normal resonant state is controlled so that the detection axis virtual rotation angle tracks the gyroscope vibration mode angle in real time to obtain the output angle of the gyroscope.

2. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 1, characterized in that: According to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and the original representation of the vibration signal, the vibration signal is demodulated to obtain reference variables including: The gyroscope is abstracted as a second-order resonant system, the vibration equation of the gyroscope is established, and the general solution of the vibration equation is obtained.

3. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 2, characterized in that: Obtaining two original carrier signals includes: Get two sinusoidal or square wave signals with different frequencies but the same amplitude as the original carrier signals.

4. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 2 or 3, characterized in that: Acquire two original carrier signals and obtain two modulated carrier signals according to the rotation superposition angle of the original carrier signals, including: Where, and are two-way modulated carrier signals, and are two original carrier signals, is the rotation and superposition angle of the original carrier signal.

5. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 4, characterized in that: Two modulated carrier signals are applied to two orthogonal axes of the gyroscope respectively, and the vibration signal of the gyroscope is collected to obtain the original representation of the vibration signal, including: Where, is the original representation of the vibration signal.

6. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 5, characterized in that: The gyroscope is abstracted as a second-order resonant system, the vibration equation of the gyroscope is established, and the general solution of the vibration equation is obtained, including: Abstract the gyroscope as a second-order resonant system and establish the vibration equation of the gyroscope: The general solution of the vibration equation is obtained: Where, The gyroscope's resonator is Directional displacement, The gyroscope's resonator is Directional displacement, is the resonant frequency of the gyroscope's resonator, For time, is the major axis of the gyroscope's elliptical trajectory, is the angle of the gyroscope’s elliptical trajectory relative to the coordinate system, is the phase of the gyroscope's resonator moving along the elliptical trajectory, is the minor axis of the gyroscope's elliptical trajectory.

7. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 6, characterized in that: Obtaining a demodulated representation of the vibration signal according to the general solution of the vibration equation, the modulated carrier signal, and the original representation of the vibration signal, including: Where, It is the demodulated representation of the vibration signal.

8. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 7, characterized in that: Demodulating the vibration signal according to the demodulated representation of the vibration signal and the original carrier signal to obtain a reference variable includes: Where, 、 、 、 is the reference variable, is the reference phase.

9. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 8, characterized in that: Constructing a control variable according to the reference variable, and controlling the gyroscope in a normal resonant state according to the control variable, comprising: Where, 、 、 is the control variable.

10. The rate-integrating gyro measurement and control method based on the virtual rotation of the detection axis according to claim 8, characterized in that: According to the control variable, the carrier rotation superposition angle of the gyroscope in a normal resonant state is controlled so that the detection axis virtual rotation angle tracks the gyroscope vibration mode angle in real time to obtain the output angle of the gyroscope, including: According to the control variables 、 、 , control the carrier rotation superposition angle track , making the reference variable is 0, then the output angle of the gyroscope is .

11. A rate-integrating gyro measurement and control device based on virtual rotation of the detection axis, characterized in that: include: The gyro structure is used to utilize the Coriolis precession effect to sense external angular velocity input, is excited in a resonant state when the gyro system is operating normally, and converts the angular velocity input into a detectable vibration signal; A detection axis virtual rotation module is used to obtain two original carrier signals and obtain two modulated carrier signals according to the rotation superposition angle of the original carrier signals; A signal acquisition module, configured to apply two modulated carrier signals to two orthogonal axes of the gyroscope, respectively, and acquire a vibration signal of the gyroscope to obtain an original representation of the vibration signal; a signal demodulation module, configured to demodulate the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and the original representation of the vibration signal to obtain a reference variable; demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal, and the original representation of the vibration signal to obtain a reference variable, comprising: obtaining a demodulated representation of the vibration signal according to a general solution of the vibration equation, the modulated carrier signal, and the original representation of the vibration signal; and demodulating the vibration signal according to the demodulated representation of the vibration signal and the original carrier signal to obtain a reference variable; a vibration control module, configured to construct a control variable according to the reference variable, and control the gyroscope to be in a normal resonant state according to the control variable; A detection axis virtual rotation tracking module is used to control the carrier rotation superposition angle of the gyroscope in a normal resonant state according to the control variable to obtain the output angle of the gyroscope; Among them, one end of the gyro structure is connected to one end of the signal acquisition module, and the other end is connected to one end of the detection axis virtual rotation module; the other end of the signal acquisition module is connected to the other end of the gyro structure through the signal demodulation module and the vibration control module in sequence; the other end of the signal demodulation module is also connected to the other end of the detection axis virtual rotation module through the detection axis virtual rotation tracking module.

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