A method and system for evaluating the performance of a rate integrating hemispherical resonator gyro

Abstract

The application discloses a kind of rate integration hemispherical resonator gyro performance evaluation method and system, it belongs to inertial technical field.The application solves the problem that the rotation speed of gyro virtual precession driven resonator standing wave is affected by environment temperature, which leads to the difficulty in accurately evaluating the limit performance of hemispherical resonator gyro with virtual precession control scheme.The technical scheme adopted by the application is as follows: step 1, fix the hemispherical resonator gyro on a single-axis turntable, make the gyro sensitive axis parallel to the turntable rotation axis, and start the hemispherical resonator gyro;step 2, after setting the given rotation speed of the turntable, drive the turntable to rotate;step 3, use a data acquisition host computer to record the output data of the hemispherical resonator gyro;step 4, remove the turntable error from the output data of the hemispherical resonator gyro to obtain the output data of the hemispherical resonator gyro after removing the turntable error;step 5, analyze the output data obtained in step 4 for gyro performance.The method of the application can be applied in the field of inertial technology.

Description

Technical Field

[0001] This invention belongs to the field of inertial technology, specifically relating to a method and system for evaluating the performance of a rate integral hemispherical resonator gyroscope. Background Technology

[0002] The hemispherical resonator gyroscope (BRG) is a new generation of high-precision gyroscope developed from traditional mechanical rotor gyroscopes and optical gyroscopes. It is one of the mainstream high-precision inertial devices and has been widely used in aviation, aerospace, and marine fields. The working principle of a hemispherical resonator gyroscope is that when an external angular input is present, the standing wave of the resonator vibrates and precesses due to the Coriolis force, and the precession angle is proportional to the input angle. Virtual precession is the mainstream control scheme for full-angle mode hemispherical resonator gyroscopes. By actively driving the standing wave of the resonator to rotate at a constant angular velocity, the periodic error along the circumference of the resonator can be averaged. However, the rotational speed of the standing wave driven by virtual precession is affected by ambient temperature, making it difficult to accurately evaluate the limiting performance of the hemispherical resonator gyroscope using the virtual precession control scheme in a laboratory environment. Summary of the Invention

[0003] The purpose of this invention is to address the problem that the rotational speed of the standing wave of the resonator driven by the virtual precession of the gyroscope is affected by the ambient temperature, making it difficult to accurately evaluate the limiting performance of the hemispherical resonator gyroscope with the virtual precession control scheme. Therefore, this invention proposes a rate integral hemispherical resonator gyroscope performance evaluation method and system.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0005] According to one aspect of the present invention, a method for evaluating the performance of a rate integral hemispherical resonant gyroscope is provided, the method specifically comprising the following steps:

[0006] Step 1: Fix the hemispherical resonant gyroscope on a single-axis turntable, making the sensitive axis of the gyroscope parallel to the rotation axis of the turntable, and start the hemispherical resonant gyroscope;

[0007] Step 2: After setting the turntable's given rotational speed ω, drive the turntable to rotate;

[0008] Step 3: Use a data acquisition host computer to record the output data R(k) of the hemispherical resonant gyroscope at time k;

[0009] Step 4: Remove the turntable error from the output data R(k) of the hemispherical resonator gyroscope to obtain the output data R of the hemispherical resonator gyroscope after removing the turntable error. t (k);

[0010] Step 5: Process the output data R obtained in Step 4. t (k) Perform gyroscope performance analysis.

[0011] Further, the given rotation speed ω of the rotation platform is the ratio of the expected virtual precession rotation speed and the gyroscopic precession factor.

[0012] Further, the rotation platform error is:

[0013]

[0014] wherein E t (k) is the rotation platform error at time k, A i (k) is the amplitude of the i-th harmonic component at time k, (k) is the phase of the i-th harmonic component at time k, i = 1, 2, …, n, and n is the number of harmonic components.

[0015] Further, the identification method of the amplitude of the i-th harmonic component and the phase of the i-th harmonic component is:

[0016] Step S1, setting the initial value A i (0) = 0 of the amplitude of the i-th harmonic component and the initial value

[0017] Step S2, calculating the value function r(k-1) at the current time k-1:

[0018] r(k-1) = R(k-1) - E t (k-1)

[0019] wherein R(k-1) represents the output data of the hemispherical resonator gyro at time k-1, E t (k-1) is the rotation platform error at time k-1;

[0020] Step S3, calculating the Jacobian matrix J r (k-1) of the value function r(k-1) at the current time k-1:

[0021]

[0022] Step S4, calculating the increment of the identification parameter at the current time k-1 according to J r (k-1):

[0023]

[0024] wherein the superscript T represents the transpose of the matrix, the superscript -1 represents the inverse of the matrix, ΔA i (k-1) is the amplitude increment of the i-th harmonic component, (k-1) is the phase increment of the i-th harmonic component;

[0025] Step S5, updating the amplitude of the i-th harmonic component and the phase of the i-th harmonic component at the next time.

[0026]

[0027] wherein, A i (k-1) is the amplitude of the i-th harmonic component at the time of k-1, is the phase of the i-th harmonic component at the time of k-1;

[0028] Step S6, judging whether there is still data input, if there is data input, jumping to step S2, otherwise, ending the recognition process.

[0029] Further, the step 4 is specifically:

[0030] R t (k) = R(k) - E t (k)

[0031] wherein, R t (k) is the output data of the hemispherical resonator gyroscope after removing the turntable error at the time of k.

[0032] Further, in the step 5, the output data R t (k) obtained in the step 4 is analyzed by using the ALLAN variance method or the national military standard method.

[0033] Based on another aspect of the present application, a rate integration hemispherical resonator gyroscope performance evaluation system, the system comprises a single-axis turntable, a hemispherical resonator gyroscope, a data acquisition host computer, a turntable driving unit, a data processing unit and a data analysis unit, wherein:

[0034] The hemispherical resonator gyroscope is fixed on the single-axis turntable; the turntable driving unit is used to drive the rotation of the turntable;

[0035] The data acquisition host computer is used to record the output data of the hemispherical resonator gyroscope, and transmit the recorded output data of the hemispherical resonator gyroscope to the data processing unit;

[0036] The data processing unit is used to remove the turntable error from the received data, and transmit the data after removing the turntable error to the data analysis unit;

[0037] The data analysis unit is used to analyze the performance of the received data.

[0038] Further, the turntable error is:

[0039]

[0040] wherein, E t (k) is the turntable error at the time of k, A i(k) is the amplitude of the i-th harmonic component at k time, is the phase of the i-th harmonic component at k time, i = 1, 2, …, n, n is the number of harmonic components, and ω is the given rotation speed of the rotary table.

[0041] Further, the data analysis unit performs gyro performance analysis on the received data by using an ALLAN variance method or a national military standard method.

[0042] Further, the identification method of the amplitude of the i-th harmonic component and the phase of the i-th harmonic component is as follows:

[0043] Step S1, setting an initial value A i (0) = 0 of the i-th harmonic component phase

[0044] Step S2, calculating a value function r(k-1) at the current k-1 time:

[0045] r(k-1) = R(k-1) - E t (k-1)

[0046] wherein R(k-1) represents the output data of the hemispherical resonator gyro at k-1 time, E t (k-1) is the rotary table error at k-1 time;

[0047] Step S3, calculating a Jacobian matrix J r (k-1) of the value function r(k-1) at the current k-1 time:

[0048]

[0049] Step S4, calculating an increment of the identification parameter at the current k-1 time according to J r (k-1):

[0050]

[0051] wherein the upper index T represents the transpose of the matrix, the upper index -1 represents the inverse of the matrix, ΔA i (k-1) is the amplitude increment of the i-th harmonic component, is the phase increment of the i-th harmonic component;

[0052] Step S5, updating the amplitude of the i-th harmonic component and the phase of the i-th harmonic component at the next time:

[0053]

[0054] wherein A i (k-1) is the amplitude of the i-th harmonic component at k-1 time, It is the phase of the i-th harmonic component at time k-1;

[0055] Step S6: Determine if there is any more data input. If there is, proceed to step S2; otherwise, end the identification process.

[0056] The beneficial effects of this invention are:

[0057] This invention proposes a rate integral hemispherical resonator gyroscope performance evaluation method. By providing a constant angular velocity input through a single-axis turntable, the virtual precession of the standing wave of the resonator is simulated. The error introduced by the turntable is removed from the output data of the hemispherical resonator gyroscope to obtain the performance of the static base hemispherical resonator gyroscope under ideal conditions, that is, the limit performance of the hemispherical resonator gyroscope under the virtual precession control scheme. This can provide a basis for analyzing the error of the hemispherical resonator gyroscope and improving its performance. Attached Figure Description

[0058] Figure 1 This is a flowchart of a rate integral hemispherical resonator gyroscope performance evaluation method according to the present invention. Detailed Implementation

[0059] The present application will now be described in further detail with reference to specific embodiments and accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are all within the scope of protection of the present invention.

[0060] Specific Implementation Method 1: Combination Figure 1 This embodiment describes a method for evaluating the performance of a rate integral hemispherical resonator gyroscope, which specifically includes the following steps:

[0061] Step 1: Fix the hemispherical resonant gyroscope on a single-axis turntable, making the sensitive axis of the gyroscope parallel to the rotation axis of the turntable, and start the hemispherical resonant gyroscope;

[0062] Step 2: After setting the turntable's given rotational speed ω, drive the turntable to rotate;

[0063] Step 3: Use a data acquisition host computer to record the output data R(k) of the hemispherical resonant gyroscope at time k;

[0064] Step 4: Remove the turntable error from the output data R(k) of the hemispherical resonator gyroscope to obtain the output data R of the hemispherical resonator gyroscope after removing the turntable error. t (k);

[0065] Step 5: Process the output data R obtained in Step 4. t (k) Perform gyroscope performance analysis.

[0066] The embodiment simulates the virtual precession of the resonator standing wave by giving a constant angular velocity input to the single-axis turntable, obtains the limit performance of the virtual precession control scheme of the hemispherical resonator gyro after removing the turntable error, and can also be compared with the actual virtual precession to make the standing wave precession, thereby providing a basis for improving the performance of the hemispherical resonator gyro.

[0067] Specific implementation method two: the difference between the embodiment and the specific implementation method one is that the given rotation speed ω of the turntable is the ratio of the expected virtual precession rotation speed and the gyro precession factor.

[0068] The other steps and parameters are the same as those in the specific implementation method one.

[0069] Specific implementation method three: the difference between the embodiment and the specific implementation method one or two is that the turntable error is:

[0070]

[0071] wherein, E t (k) is the turntable error at time k, A i (k) is the amplitude of the i-th harmonic component at time k, is the phase of the i-th harmonic component at time k, i = 1, 2, …, n, and n is the number of harmonic components.

[0072] The other steps and parameters are the same as those in the specific implementation method one or two.

[0073] Specific implementation method four: the difference between the embodiment and one of the specific implementation methods one to three is that the identification method of the amplitude of the i-th harmonic component and the phase of the i-th harmonic component is:

[0074] Step S1, setting the initial value A i (0) = 0 of the amplitude of the i-th harmonic component and the initial value

[0075] Step S2, calculating the value function r(k-1) at the current time k-1:

[0076] r(k-1) = R(k-1) - E t (k-1)

[0077] wherein, R(k-1) represents the output data of the hemispherical resonator gyro at time k-1, E t (k-1) is the turntable error at time k-1;

[0078] Step S3, calculating the Jacobian matrix J r (k-1) of the value function r(k-1) at the current time k-1:

[0079]

[0080] Step S4, according to J r (k-1) calculating the increment of the recognition parameter at the current k-1 moment:

[0081]

[0082] wherein, the upper index T represents the transpose of the matrix, the upper index -1 represents the inverse of the matrix, ΔA i (k-1) is the amplitude increment of the i-th harmonic component, is the phase increment of the i-th harmonic component;

[0083] Step S5, updating the amplitude of the i-th harmonic component at the next moment and the phase of the i-th harmonic component:

[0084]

[0085] wherein, A i (k-1) is the amplitude of the i-th harmonic component at k-1 moment, is the phase of the i-th harmonic component at k-1 moment;

[0086] Step S6, judging whether there is data input, if there is data input, jumping to step S2, otherwise, ending the recognition process.

[0087] The other steps and parameters are the same as one of the first to third embodiments.

[0088] The fifth embodiment is different from one of the first to fourth embodiments in that the step 4 is specifically:

[0089] R t (k) = R(k) - E t (k)

[0090] wherein, R t (k) is the output data of the hemispherical resonator gyroscope at k moment after removing the error of the turntable, i.e. the output data R t containing only the error of the gyroscope itself.

[0091] Due to the mechanical error in the manufacturing process of the turntable, the rotational speed of the turntable has a periodic harmonic, which will eventually be reflected in the sensitive output of the gyroscope. It is necessary to remove this part of the error to reflect the performance of the gyroscope under the condition of the static base.

[0092] The other steps and parameters are the same as one of the first to fourth embodiments.

[0093] Specific implementation six: the difference between this embodiment and one of the specific implementations one to five is that in the step 5, the output data R obtained in the step 4 is processed to obtain the output data R t (k) is the ALLAN variance method or the national military standard method.

[0094] The other steps and parameters are the same as one of the specific implementations one to five.

[0095] Specific implementation seven, the difference between this embodiment and one of the specific implementations one to five is that the rate integration hemispherical resonator gyro performance evaluation system comprises a single-axis turntable, a hemispherical resonator gyro, a data acquisition host computer, a turntable driving unit, a data processing unit and a data analysis unit, wherein:

[0096] The hemispherical resonator gyro is fixed on the single-axis turntable; the turntable driving unit is used to drive the rotation of the turntable.

[0097] The data acquisition host computer is used to record the output data of the hemispherical resonator gyro, and transmit the recorded output data of the hemispherical resonator gyro to the data processing unit.

[0098] The data processing unit is used to remove the turntable error from the received data, and transmit the data after removing the turntable error to the data analysis unit.

[0099] The data analysis unit is used to perform gyro performance analysis on the received data.

[0100] Specific implementation eight: the difference between this embodiment and the specific implementation seven is that the turntable error is:

[0101]

[0102] Wherein, E t (k) is the turntable error at time k, A i (k) is the amplitude of the i-th harmonic component at time k, i = 1, 2, …, n, n is the number of harmonic components, and ω is the given rotation speed of the turntable. is the phase of the i-th harmonic component at time k, i = 1, 2, …, n, n is the number of harmonic components, and ω is the given rotation speed of the turntable.

[0103] The other steps and parameters are the same as the specific implementation seven.

[0104] Specific implementation nine: the difference between this embodiment and the specific implementation seven or eight is that the data analysis unit performs gyro performance analysis on the received data, using the ALLAN variance method or the national military standard method.

[0105] The other steps and parameters are the same as the specific implementation seven or eight.

[0106] Specific implementation ten: the difference between this implementation and one of the specific implementations seven to nine is that the identification method of the amplitude of the i-th harmonic component and the phase of the i-th harmonic component is:

[0107] Step S1, setting the initial value A of the amplitude of the i-th harmonic component i (0) = 0, the initial value of the phase of the i-th harmonic component

[0108] Step S2, calculating the value function r(k-1) at the current k-1 time:

[0109] r(k-1) = R(k-1) - E t (k-1)

[0110] Wherein, R(k-1) represents the output data of the hemispherical resonator gyro at k-1 time, E t (k-1) is the turntable error at k-1 time;

[0111] Step S3, calculating the Jacobian matrix J r (k-1) of the value function r(k-1) at the current k-1 time:

[0112]

[0113] Step S4, calculating the increment of the identification parameter at the current k-1 time according to J r (k-1):

[0114]

[0115] Wherein, the superscript T represents the transpose of the matrix, the superscript -1 represents the inverse of the matrix, ΔA i (k-1) is the amplitude increment of the i-th harmonic component, is the phase increment of the i-th harmonic component;

[0116] Step S5, updating the amplitude of the i-th harmonic component and the phase of the i-th harmonic component at the next time:

[0117]

[0118] Wherein, A i (k-1) is the amplitude of the i-th harmonic component at k-1 time, is the phase of the i-th harmonic component at k-1 time;

[0119] Step S6, judging whether there is data input, if there is data input, jumping to step S2, otherwise, ending the identification process.

[0120] The other steps and parameters are the same as one of the specific implementations seven to nine.

[0121] The method can evaluate the performance of the virtual precession control scheme of the hemispherical resonator gyro, and can compare the difference between the virtual precession stationary wave precession and the rotation speed stationary wave precession provided by the turntable, thereby providing a basis for improving the performance of the hemispherical resonator gyro.

[0122] The above calculation examples of the present application are only used to illustrate the calculation model and calculation process of the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art, and it is impossible to enumerate all the embodiments here. Any obvious changes or variations derived from the technical solutions of the present application are still within the protection scope of the present application.

Claims

1. A method for evaluating the performance of a rate integrating hemispherical resonator gyroscope, characterized by, The method specifically comprises the following steps: Step 1, fixing the hemispherical resonator gyroscope on a single-axis turntable, making the sensitive axis of the gyroscope parallel to the rotation axis of the turntable, and starting the hemispherical resonator gyroscope; Step 2, set the rotating table to a given rotating speed Then, drive the rotating table to rotate; Step 3, the output data of the hemispherical resonator gyroscope at the moment is recorded by the data acquisition host computer ;​ Step 4, processing the output data of the hemispherical resonator gyroscope The output data of the hemispherical resonator gyroscope after removing the error of the turntable is obtained by removing the error of the turntable ; The turntable error is: wherein is the turntable error at the moment of time, is the amplitude of the i-th harmonic component at the moment of time, is the phase of the i-th harmonic component at the moment of time, , is the number of the harmonic component; Step 5, output data from step 4 is processed Gyroscope performance analysis is performed.

2. The performance evaluation method of the rate integrating hemispherical resonator gyroscope according to claim 1, characterized in that, The turntable is given a rotation speed The ratio of the desired virtual precession rotation speed to the gyro precession factor.

3. The performance evaluation method of the rate integrating hemispherical resonator gyroscope according to claim 2, characterized in that, The identification method of the amplitude of the i-th harmonic component and the phase of the i-th harmonic component is: Step S1, setting initial value of amplitude of the i-th harmonic component , initial value of phase of the i-th harmonic component ; Step S2, calculate the value function of the current time instant : wherein, represent the output data of the hemispherical resonator gyro at the time instant, is the turntable error at the time instant. Step S3, calculating the value function At the current moment the Jacobian matrix : Step S4, according to the increment of the recognition parameter at the current moment of time: where the upper index T represents the transpose of a matrix, the upper index -1 represents the inverse of a matrix, is the amplitude increment of the i-th harmonic component, is the phase increment of the i-th harmonic component; Step S5, updating the amplitude of the i-th harmonic component and the phase of the i-th harmonic component at the next moment: wherein is the amplitude of the i-th harmonic component at time t, is the phase of the i-th harmonic component at time t. Step S6, judging whether there is data input, if there is data input, jumping to step S2, otherwise, ending the identification process.

4. The performance evaluation method of a rate integrating hemispherical resonator gyroscope according to claim 3, characterized in that, The step 4 is specifically: wherein is the output data of the hemispherical resonator gyroscope after removing the turntable error at the moment 5. The performance evaluation method of a rate integrating hemispherical resonator gyroscope according to claim 4, characterized in that, In step 5, the output data obtained in step 4 is subjected to The gyro performance analysis adopts the ALLAN variance method or the national military standard method.

6. A rate integrating hemispherical resonator gyroscope performance evaluation system, characterized in that, The system comprises a single-axis turntable, a hemispherical resonator gyroscope, a data acquisition host computer, a turntable driving unit, a data processing unit and a data analysis unit, wherein: The hemispherical resonator gyroscope is fixed on the single-axis turntable; the turntable driving unit is used to drive the rotation of the turntable; The data acquisition host computer is used to record the output data of the hemispherical resonator gyroscope, and transmit the recorded output data of the hemispherical resonator gyroscope to the data processing unit; The data processing unit is used to remove the turntable error from the received data, and transmit the data after removing the turntable error to the data analysis unit; The turntable error is: wherein is the turntable error at the time instant is the amplitude of the i-th harmonic component at the time instant is the phase of the i-th harmonic component at the time instant , is the number of the harmonic component is the given rotation speed of the turntable The data analysis unit is used to analyze the performance of the gyroscope on the received data.

7. The rate integrating hemispherical resonator gyroscope performance evaluation system of claim 6, wherein, The data analysis unit analyzes the performance of the gyroscope on the received data by using the ALLAN variance method or the national military standard method.

8. The rate integrating hemispherical resonator gyroscope performance evaluation system of claim 7, wherein, The identification method of the amplitude of the i-th harmonic component and the phase of the i-th harmonic component is: Step S1, setting initial value of amplitude of the i-th harmonic component , initial value of phase of the i-th harmonic component ; Step S2, calculate the value function of the current time instant : wherein, representing the output data of the hemispherical resonator gyro at the time instant, is the turntable error at the time instant; Step S3, calculating the value function At the current moment Jacobian matrix : Step S4, according to the increment of the recognition parameter at the current moment of time: where the upper index T represents the transpose of a matrix, the upper index -1 represents the inverse of a matrix, is the amplitude increment of the i-th harmonic component, is the phase increment of the i-th harmonic component; Step S5, updating the amplitude of the i-th harmonic component and the phase of the i-th harmonic component at the next moment: wherein is the amplitude of the i-th harmonic component at time t, is the phase of the i-th harmonic component at time t. Step S6, judging whether there is data input, if there is data input, jumping to step S2, otherwise, ending the identification process.

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