A method for identifying and compensating for unbalance error of a full-angle hemispherical gyro driving channel

Abstract

The application discloses a full-angle hemispherical resonator gyro driving channel imbalance error identification and compensation method, relates to an output compensation method of a hemispherical resonator gyro, and aims at the problem that in the prior art, a method is difficult to guarantee complete symmetry of a double-channel driving link, driving channel imbalance errors exist, and the control precision of the gyro is affected. The full-angle hemispherical resonator gyro driving channel imbalance error identification and compensation method actively drives a hemispherical resonator standing wave to rotate in a forward direction and a reverse direction at a specified speed, records gyro output angular velocity and angular position information, identifies driving channel imbalance errors through a least square method fitting according to a driving channel imbalance error model containing driving channel gain imbalance errors and driving channel misalignment angles, and realizes accurate compensation of the driving channel imbalance errors on the basis of identification results by adding a feedforward driver. Therefore, the control precision of the gyro is improved.

Description

Technical Field

[0001] This invention relates to an output compensation method for hemispherical resonant gyroscopes, specifically a method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope. Background Technology

[0002] A hemispherical resonator gyroscope is a novel type of solid-state wave gyroscope based on the Coriolis effect. Existing hemispherical resonator gyroscopes can be classified into force-balanced hemispherical resonator gyroscopes and full-angle hemispherical resonator gyroscopes according to their operating modes. Force-balanced hemispherical resonator gyroscopes control the azimuth angle of the hemispherical harmonic oscillator standing wave at a fixed position through a rate feedback loop. In this operating mode, the magnitude of the rate feedback loop control force directly reflects the external input angular rate that the gyroscope is sensitive to, thus achieving the purpose of angular position and angular rate measurement. Hemispherical resonator gyroscopes operating in force-balanced mode have high measurement accuracy, but their measurement range is limited by the magnitude of the rate feedback loop control force, which cannot meet the application requirements under high angular rate input conditions. Full-angle hemispherical resonator gyroscopes do not require a rate feedback loop to control the azimuth angle of the hemispherical harmonic oscillator standing wave. In the operating state, the hemispherical harmonic oscillator standing wave is in a free precession state, and the purpose of angular position and angular rate measurement is achieved by detecting the azimuth angle of the standing wave. With the development of technologies in gyroscope manufacturing and control, the measurement accuracy of full-angle hemispherical resonant gyroscopes has been significantly improved. At the same time, due to their large measurement range, they have received more attention than force-balanced hemispherical resonant gyroscopes.

[0003] Full-angle hemispherical resonator gyroscopes compensate for energy loss during resonator oscillation through amplitude control loops, suppress orthogonal drift caused by frequency fragmentation of the hemispherical resonator through quadrature control loops, and track the intrinsic resonator frequency through frequency control loops. The control quantities from these loops are ultimately applied to the gyroscope drive electrodes via the gyroscope drive channel, achieving high-precision and stable control of the gyroscope. Existing full-angle hemispherical resonator gyroscope drive schemes can be divided into single-channel and dual-channel schemes. In the single-channel scheme, a multiplexer uses the same signal link to apply the drive signal to the designated gyroscope electrodes according to a specific time sequence, achieving the purpose of driving the gyroscope. However, in this scheme, the signal delay of the drive signal causes undesirable drift in the resonator standing wave. Furthermore, the use of a multiplexer affects system reliability during signal link switching. The dual-channel drive scheme eliminates the need for a multiplexer. It applies the drive signal to the designated gyroscope electrodes through a symmetrical drive signal link to drive the gyroscope. However, this method cannot guarantee the complete symmetry of the dual-channel drive link, resulting in drive channel imbalance errors that affect the control accuracy of the gyroscope and its overall performance. Summary of the Invention

[0004] The purpose of this invention is to address the problem that existing methods cannot guarantee the complete symmetry of the dual-channel drive link, resulting in drive channel imbalance errors that affect the control accuracy of the gyroscope. This invention proposes a method for identifying and compensating for the imbalance error of the drive channel in a full-angle hemispherical gyroscope.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] A method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope includes the following steps:

[0007] Step 1: Apply a positive virtual rotational drive to the full-angle hemispherical resonant gyroscope and record the standing wave rotation angle position 2θ. p and the positive virtual rotational angular rate ω of the standing wave corresponding to that angular position. p ;

[0008] Step 2: Using the recorded standing wave rotation angle position 2θ p and the positive virtual rotational angular rate ω of the standing wave corresponding to that angular position. p By combining the least squares method, the gyroscope output angular rate function Ω with angular position as the independent variable is obtained when a positive virtual rotational driving force is applied. p (2θ);

[0009] Step 3: Apply a virtual rotational drive to the full-angle hemispherical resonant gyroscope with the same amplitude but opposite direction as in Step 1, and record the standing wave rotation angle position 2θ. n and the corresponding standing wave reverse virtual rotation angular rate ω at that angular position n ;

[0010] Step 4: Utilize the recorded standing wave rotation angle position 2θ n and the corresponding standing wave reverse virtual rotation angular rate ω at that angular position n By combining the least squares method, the gyroscope output angular rate function Ω with angular position as the independent variable is obtained when the reverse virtual rotational drive is applied. n (2θ);

[0011] Step 5: Place Ω p (2θ) and Ω n (2θ) Perform the difference to obtain Ω d (2θ);

[0012] Step Six: Obtain the Ω d (2θ) The least squares method is used to fit the gyroscope drive channel imbalance error-angular rate model to obtain the estimated value δ of the drive channel gain imbalance error. k And the estimated value of the misalignment angle of the drive channel, 2δθ:

[0013] The gyroscope drive channel imbalance error-angular rate model is expressed as follows:

[0014] ω d =ω p -ω n =Γ1cos4θ+Γ2sin4θ+Γ3

[0015]

[0016]

[0017]

[0018] Where, k ω G is the virtual rotational velocity gain of the hemispherical harmonic oscillator. X For the overall gain of the gyroscope drive channel X, U ω_p This is a positive virtual rotational driving force;

[0019] Step 7: Utilize the estimated value δ of the drive channel gain imbalance error k A feedforward driver model is constructed using the estimated misalignment angle 2δθ of the drive channel, and the error identification and compensation are completed using the feedforward driver model.

[0020] Furthermore, the feedforward driver model is represented as:

[0021]

[0022] Among them, U′ d_x and U′ d_y For the output after compensation of standing wave driving force, U d_x and U d_y This is the original output of the standing wave driving quantity.

[0023] Furthermore, the process of establishing the gyroscope drive channel imbalance error-angular rate model is as follows:

[0024] A positive virtual rotational drive is applied to the full-angle hemispherical resonator gyroscope to obtain the actual gyroscope amplitude drive applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel, as well as the actual virtual rotational drive applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel. Then, the gyroscope amplitude drive applied to the X and Y electrodes and the virtual rotational drive are combined to obtain the virtual rotational drive U actually applied to the vertical direction of the resonator standing wave. ⊥ ;

[0025] Based on the virtual rotational driving force U actually applied to the standing wave of the resonator in the vertical direction. ⊥ and the virtual rotational velocity gain k of the hemispherical harmonic oscillator ω The rotational angular velocity ω of the standing wave of the harmonic oscillator is obtained;

[0026] Based on the standing wave rotation angular rate ω of the harmonic oscillator, when the virtual rotational driving force is greater than 0, the positive virtual rotational velocity ω of the standing wave is obtained. p When the virtual rotational driving force is less than 0, the reverse virtual rotational velocity ω of the standing wave is obtained. n ;

[0027] The positive virtual rotational speed ω of the standing wave p and the reverse virtual rotational speed ω n By subtracting the values, we obtain the gyroscope drive channel imbalance error-angular rate model.

[0028] Furthermore, the actual gyroscope amplitude drive amount applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel is expressed as follows:

[0029]

[0030] Among them, U a G is the amplitude drive output of the amplitude control circuit of the full-angle hemispherical resonant gyroscope. X For the overall gain of the gyroscope drive channel X, U a_X and U a_Y These represent the driving quantities applied to the X and Y channel electrodes, respectively, and 2θ is the azimuth angle of the standing wave of the hemispherical harmonic oscillator.

[0031] Furthermore, the virtual rotational drive amount of the gyroscope actually applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel is expressed as follows:

[0032]

[0033] Among them, U ω U is the virtual rotational drive of the full-angle hemispherical resonant gyroscope. ω_X and U ω_Y These are the driving quantities applied to the X-channel and Y-channel electrodes, respectively, by the virtual rotational driving quantity of the resonator standing wave.

[0034] Furthermore, the virtual rotational driving force U actually applied to the standing wave of the resonator in the vertical direction... ⊥ Represented as:

[0035]

[0036] Furthermore, the angular velocity ω of the standing wave of the harmonic oscillator is expressed as:

[0037]

[0038] Furthermore, the positive virtual rotational angular rate ω of the standing wave p Represented as:

[0039]

[0040] Furthermore, the standing wave reverse virtual rotation angular rate ω n Represented as:

[0041]

[0042] The beneficial effects of this invention are:

[0043] The proposed method for identifying and compensating for the unbalanced drive channel error of a full-angle hemispherical resonator gyroscope involves actively driving the standing wave of the hemispherical resonator to rotate in both directions at a specified speed, and recording the gyroscope's output angular rate and angular position information. Based on a drive channel unbalanced error model that includes the drive channel gain unbalanced error and the drive channel misalignment angle, the method uses least squares fitting to achieve rapid and accurate identification of the drive channel unbalanced error. Using the identification results as a basis, a feedforward driver is added to achieve precise compensation for the drive channel unbalanced error, thereby improving the gyroscope's control accuracy.

[0044] This application effectively solves the problem of the impact of gyroscope drive channel imbalance error on gyroscope drive and detection accuracy in a dual-channel drive scheme for a full-angle hemispherical resonator gyroscope. This application effectively suppresses circumferential fluctuations in the gyroscope's output angular rate, thereby improving the gyroscope's zero-bias stability and scaling factor linearity. Simultaneously, this application simplifies the selection of components for the full-angle hemispherical resonator gyroscope drive circuit, which is beneficial for the mass production and widespread application of gyroscopes. Attached Figure Description

[0045] Figure 1 Schematic diagram of the driving quantity of a full-angle hemispherical resonant gyroscope;

[0046] Figure 2 A schematic diagram of the misalignment angle of the drive channel of a full-angle hemispherical resonant gyroscope;

[0047] Figure 3 This is a schematic diagram of the standing wave of a full-angle hemispherical resonant gyroscope resonator. Detailed Implementation

[0048] It should be noted that, where there is no conflict, the various embodiments disclosed in this application can be combined with each other.

[0049] Specific implementation method one: Refer to Figure 1 This embodiment specifically describes a method for identifying and compensating for imbalance errors in a full-angle hemispherical gyroscope drive channel, comprising the following steps:

[0050] Step 1: Apply a positive virtual rotational drive to the full-angle hemispherical resonant gyroscope and record the standing wave rotation angle position 2θ. p and the positive virtual rotational angular rate ω of the standing wave corresponding to that angular position. p ;

[0051] Step 2: Using the recorded standing wave rotation angle position 2θ p and the positive virtual rotational angular rate ω of the standing wave corresponding to that angular position. p By combining the least squares method, the gyroscope output angular rate function Ω with angular position as the independent variable is obtained when a positive virtual rotational driving force is applied. p (2θ);

[0052] Step 3: Apply a virtual rotational drive to the full-angle hemispherical resonant gyroscope with the same amplitude but opposite direction as in Step 1, and record the standing wave rotation angle position 2θ. n and the corresponding standing wave reverse virtual rotation angular rate ω at that angular position n ;

[0053] Step 4: Utilize the recorded standing wave rotation angle position 2θ n and the corresponding standing wave reverse virtual rotation angular rate ω at that angular position n By combining the least squares method, the gyroscope output angular rate function Ω with angular position as the independent variable is obtained when the reverse virtual rotational drive is applied. n (2θ);

[0054] Step 5: Place Ω p (2θ) and Ω n (2θ) Perform the difference to obtain Ω d (2θ);

[0055] Step Six: Obtain the Ω d (2θ) The least squares method is used to fit the gyroscope drive channel imbalance error-angular rate model to obtain the estimated value δ of the drive channel gain imbalance error. k And the estimated value of the misalignment angle of the drive channel, 2δθ:

[0056] The gyroscope drive channel imbalance error-angular rate model is expressed as follows:

[0057] ω d =ω p -ω n =Γ1cos4θ+Γ2sin4θ+Γ3

[0058]

[0059]

[0060]

[0061] Where, k ω G is the virtual rotational velocity gain of the hemispherical harmonic oscillator. X For the overall gain of the gyroscope drive channel X, U ω_pThe virtual rotational driving force of the harmonic oscillator standing wave is opposite to the direction of the positive virtual rotational driving force.

[0062] Step 7: Utilize the estimated value δ of the drive channel gain imbalance error k A feedforward driver model is constructed using the estimated misalignment angle 2δθ of the drive channel, and the error identification and compensation are completed using the feedforward driver model.

[0063] This application aims to achieve accurate and rapid identification and compensation of the unavoidable drive channel imbalance error in a dual-channel drive scheme for a full-angle hemispherical resonator gyroscope, effectively improving the overall performance of the gyroscope. First, this application presents the general form of the gyroscope drive channel imbalance error. Based on this, it analyzes the mathematical relationship between the gyroscope drive imbalance error and the gyroscope's non-ideal angular rate output. Furthermore, it achieves rapid and accurate identification of the gyroscope drive imbalance error by virtually rotating the standing wave of the driving hemispherical harmonic oscillator. Finally, by adding a digital feedforward controller to the gyroscope loop, accurate compensation for the gyroscope drive channel imbalance error is achieved, thereby improving the gyroscope's zero-bias stability and scaling factor linearity, among other performance indicators.

[0064] This application simplifies the circuit component selection process, which is beneficial for the mass production of full-angle hemispherical resonant gyroscopes. At the same time, this method can effectively suppress the influence of electrode signal coupling, improve the driving accuracy of full-angle hemispherical resonant gyroscopes, and further improve the overall performance of full-angle hemispherical resonant gyroscopes.

[0065] The core idea of ​​this application is to first give the general form of the unbalance error of the driving channel in the dual-channel driving scheme of the full-angle hemispherical resonant gyroscope, and then establish a mathematical model between the controlled precession rate of the gyroscope and the unbalance error of the driving channel to achieve rapid and accurate identification of the unbalance error of the driving channel. Based on the identification results, a feedforward controller is added to the gyroscope control loop to achieve accurate compensation of the gyroscope driving unbalance error, thereby improving the overall accuracy of the full-angle hemispherical resonant gyroscope.

[0066] The driving force of a dual-channel drive scheme for a full-angle hemispherical resonant gyroscope can be divided into X-channel driving quantity U according to the relative positions of the applied electrodes. X and Y-channel drive quantity U Y ,like Figure 1 As shown.

[0067] In the dual-channel drive scheme of the full-angle hemispherical resonator gyroscope, the unbalance error of the drive channel is mainly manifested in two forms: drive channel gain imbalance error and drive channel misalignment angle.

[0068] Because in a dual-channel drive scheme, it is difficult to keep the electrical parameters of the drive channels exactly the same as the theoretical design values, which can lead to an imbalance error in the drive channel gain. The actual drive quantity applied to the gyroscope electrodes will be affected by U... X U Y Change to U X_1 and U Y_1 Its form is as follows:

[0069]

[0070] Among them, G X G Y The overall gain of the drive channel introduced for electrical parameters, δ k This refers to the gain imbalance error of the drive channel.

[0071] When a misalignment angle exists in the drive channel, the driving force applied to the electrode is no longer orthogonal. Using the X channel as a reference, the actual applied force changes from the XOY coordinate system to the XOY' coordinate system, such as... Figure 2 As shown

[0072] like Figure 2 As shown, 2δθ is the misalignment angle of the drive channel. At this time, the actual drive amount applied to the gyroscope electrode will be further determined by U. X_1 U Y_1 Change to U X_2 and U Y_2 Its form is as follows:

[0073]

[0074] When a full-angle hemispherical resonant gyroscope is working normally, the standing wave of the hemispherical harmonic oscillator is in a state of free precession or controlled precession. A schematic diagram of the standing wave of the harmonic oscillator is shown below. Figure 3 As shown:

[0075] 2θ is the azimuth angle of the standing wave of the hemispherical harmonic oscillator.

[0076] When the gyroscope is working normally, in order to compensate for the energy loss during the vibration of the hemispherical harmonic oscillator and maintain the constant amplitude of the hemispherical harmonic oscillator, the amplitude driving quantity U calculated by the amplitude control loop needs to be adjusted. a The electrodes are distributed to the corresponding electrodes of the X and Y channels according to the standing wave azimuth angle of the resonator, such as... Figure 3 As shown, the direction of the amplitude control input should be parallel to the direction of the standing wave of the hemispherical harmonic oscillator. Ideally, when there is no imbalance error in the gyroscope drive channel, the distributed gyroscope amplitude drive input applied to the X and Y channel electrodes should be the drive input U. a_X and U a_Y It can be represented as:

[0077]

[0078] At this point, the direction of the driving vector applied to the gyroscope electrode is parallel to the standing wave of the hemispherical harmonic oscillator.

[0079] Under actual gyroscope operating conditions, even with imbalance errors in the gyroscope drive channels, the actual drive quantity U applied to the X and Y channel electrodes is... a ′ _X and U a ′ _Y It can be represented as:

[0080]

[0081] At this point, the driving vector applied to the gyroscope electrodes can be decomposed into U, which is parallel to the standing wave of the hemispherical harmonic oscillator. / / _a and U perpendicular to the standing wave ⊥_a The representation is as follows:

[0082]

[0083] From the above equation, it can be seen that the gain imbalance error δ in the driving channel... k Under the influence of the misalignment angle 2δθ of the driving channel, the amplitude driving quantity will form a non-ideal driving quantity U in the direction perpendicular to the standing wave of the resonator. ⊥_a Its amplitude is driven by the amplitude control loop U. a The imbalance error of the driving channel is determined by the angular position and angular rate output accuracy of the full-angle hemispherical resonator. Formula (5) further illustrates the importance of identifying and compensating for the imbalance error of the driving channel of the full-angle hemispherical resonator.

[0084] Amplitude control loop drive quantity U a It is calculated in real time by the gyroscope amplitude control circuit. Its magnitude is affected by various factors such as the circumferential distribution of the quality factor of the hemispherical harmonic oscillator. Therefore, it is difficult to accurately identify the unbalance error of the gyroscope drive channel through formula (5).

[0085] This application addresses this problem by adding a virtual rotational driving quantity U of the hemispherical resonator wave to the existing amplitude, quadrature, and frequency control loops of the full-angle hemispherical resonator gyroscope. ω Its direction is perpendicular to the direction of the standing wave of the harmonic oscillator, and at the same time, the virtual rotation speed of the standing wave of the harmonic oscillator is proportional to this driving force.

[0086] Ideally, the virtual rotational drive of the resonator standing wave after distribution is applied to the drive amount U at the X-channel and Y-channel electrodes. ω_X and U ω_Y It can be represented as:

[0087]

[0088] In actual operation, the virtual rotational drive is also affected by the imbalance error of the gyroscope drive channel, and the actual drive amount U′ applied to the X and Y channel electrodes will also be affected. ω_X and U′ ω_Y for:

[0089]

[0090] At this point, the driving vector applied to the gyroscope electrodes can be decomposed into U, which is parallel to the standing wave of the hemispherical harmonic oscillator. / / _ω and U perpendicular to the standing wave ⊥_ω As shown below:

[0091]

[0092] From the above equation, it can be seen that the gain imbalance error δ in the driving channel... k Under the influence of the misalignment angle 2δθ of the driving channel, the virtual rotational driving amount of the standing wave actually applied to the vertical direction of the standing wave of the harmonic oscillator changes.

[0093] From equations (7) and (8), it can be seen that after applying the virtual rotational driving amount of the standing wave, the virtual rotational driving amount actually applied to the standing wave disposal direction of the resonator can be expressed as:

[0094]

[0095] In the above formula, the virtual rotational driving force U of the hemispherical harmonic oscillator standing wave is... ω The open-loop control quantity is positively correlated with the virtual rotational speed of the resonator standing wave under ideal conditions; the amplitude control loop drive quantity U a It is a closed-loop control quantity, and its magnitude is related to the azimuth angle of the resonator standing wave.

[0096] Furthermore, the rotational angular rate of the standing wave of the harmonic oscillator can be expressed as:

[0097]

[0098] Where, k ω This represents the virtual rotational velocity gain of the hemispherical harmonic oscillator.

[0099] Based on formula (9), this application proposes a method for identifying the imbalance error of the driving channel of a full-angle hemispherical resonator gyroscope based on the virtual rotation of the hemispherical resonator. A virtual rotation driving quantity U of the resonator standing wave with the same amplitude but opposite direction is applied to the full-angle hemispherical resonator gyroscope. ω_p and U ω_n , both U ω_p =-U ω_n The gyroscope output is the virtual rotational angular rate ω of the corresponding harmonic oscillator standing wave. p and ω n Its form is as follows:

[0100]

[0101] At this point, by differentiating the gyroscope output angular rates obtained when the standing wave of the driving hemispherical harmonic oscillator rotates in both directions, the difference component ω of the gyroscope output angular rate under virtual rotation can be obtained. d The relationship between the error and the drive channel imbalance is shown in the following formula:

[0102] ω d =ω p -ω n =k ω G X U ω_p (δ k cos4θ-2δθsin4θ+2+δ k (11)

[0103] Further analysis reveals:

[0104] ω d =ω p -ω n =Γ1cos4θ+Γ2sin4θ+Γ3 (12)

[0105] in,

[0106]

[0107] Under normal operating conditions of the full-angle hemispherical resonant gyroscope, apply virtual rotational driving force of the resonator standing wave with opposite direction and the same amplitude, record the gyroscope angular rate output and angular position output, and then use the least squares method according to equation (12) to accurately identify the unbalance error of the driving channel.

[0108] This application primarily addresses the problem of rapid and accurate identification and compensation for imbalance errors in the gyroscope drive channels caused by inconsistent electrical parameters in a dual-channel drive scheme for a full-angle hemispherical resonant gyroscope. The key points of this invention are as follows:

[0109] 1. Based on experimental results, this application presents a general form of the drive channel imbalance error, which includes the drive channel gain imbalance error and the drive channel misalignment angle, as shown in formula (2).

[0110] 2. Based on the general form of the imbalance error of the gyroscope drive channel, this application gives a mathematical model of the gyroscope rate drift caused by the imbalance error of the drive channel, as shown in formula (5), which verifies the necessity of error identification and compensation for improving gyroscope performance.

[0111] 3. This application further proposes a method for identifying the imbalance error of the gyroscope drive channel based on the virtual rotation of the hemispherical harmonic oscillator standing wave. This method drives the harmonic oscillator standing wave to rotate in both directions at a symmetrical speed and performs differential analysis on the test results, as shown in formula (11). This eliminates the circumferential anisotropic drift rate error of the harmonic oscillator standing wave caused by damping anisotropy and ensures the identification accuracy of the method.

[0112] 4. Based on the identification method, this application presents an error compensation method based on a feedforward driver, as shown in formula (14). This method is easy to implement, and the identification and compensation accuracy of the gyroscope drive channel can be further improved through iteration.

[0113] This application addresses the performance degradation of a full-angle hemispherical resonator gyroscope caused by inconsistencies in the electrical performance of its driving channels, leading to imbalance errors. A rapid and accurate error identification and compensation method is proposed. Firstly, based on a driving channel imbalance error model incorporating both dual-channel gain imbalance and driving channel misalignment angles, an error identification method based on virtual rotation of standing waves is proposed. This method effectively compensates for the gyroscope driving channel imbalance error through a feedforward controller. Simultaneously, this method effectively avoids the influence of hemispherical resonator damping anisotropy, improving the accuracy of gyroscope driving channel imbalance error identification and compensation, and further enhancing related performance indicators such as gyroscope zero-bias stability and scaling factor linearity.

[0114] In summary, this application can effectively suppress and eliminate the impact of gyroscope drive channel imbalance error caused by inconsistent electrical parameters between drive channels in the dual-channel drive scheme of full-angle hemispherical resonant gyroscope on the overall performance of the gyroscope. It plays a prominent role in the development of full-angle hemispherical resonant gyroscopes. The speed and accuracy of this compensation method are of great significance to the mass production and widespread application of full-angle hemispherical resonant gyroscopes.

[0115] It should be noted that the specific embodiments are merely explanations and illustrations of the technical solution of the present invention and should not be used to limit the scope of protection. Any modifications made in accordance with the claims and specification of the present invention that are only partial should still fall within the protection scope of the present invention.

Claims

1. A method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope, characterized in that... Includes the following steps: Step 1: Apply a positive virtual rotational drive to the full-angle hemispherical resonant gyroscope and record the standing wave rotation angle position 2θ. p and the positive virtual rotational angular rate ω of the standing wave corresponding to that angular position. p ; Step 2: Using the recorded standing wave rotation angle position 2θ p and the positive virtual rotational angular rate ω of the standing wave corresponding to that angular position. p By combining the least squares method, the gyroscope output angular rate function Ω with angular position as the independent variable is obtained when a positive virtual rotational driving force is applied. p (2θ); Step 3: Apply a virtual rotational drive to the full-angle hemispherical resonant gyroscope with the same amplitude but opposite direction as in Step 1, and record the standing wave rotation angle position 2θ. n and the corresponding standing wave reverse virtual rotation angular rate ω at that angular position n ; Step 4: Utilize the recorded standing wave rotation angle position 2θ n and the corresponding standing wave reverse virtual rotation angular rate ω at that angular position n By combining the least squares method, the gyroscope output angular rate function Ω with angular position as the independent variable is obtained when the reverse virtual rotational drive is applied. n (2θ); Step 5: Place Ω p (2θ) and Ω n (2θ) Perform the difference to obtain Ω d (2θ); Step Six: Obtain the Ω d (2θ) The least squares method is used to fit the gyroscope drive channel imbalance error-angular rate model to obtain the estimated value δ of the drive channel gain imbalance error. k And the estimated value of the misalignment angle of the drive channel, 2δθ: The gyroscope drive channel imbalance error-angular rate model is expressed as follows: oh d =ω p -oh n =Γ1cos4θ+Γ2sin4θ+Γ3 Where, k ω G is the virtual rotational velocity gain of the hemispherical harmonic oscillator. X For the overall gain of the gyroscope drive channel X, U ω_p This is a positive virtual rotational driving force; Step 7: Utilize the estimated value δ of the drive channel gain imbalance error k A feedforward driver model is constructed using the estimated misalignment angle 2δθ of the drive channel, and the error identification and compensation are completed using the feedforward driver model.

2. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 1, characterized in that... The feedforward driver model is represented as follows: Among them, U′ d_x and U′ d_y For the output after compensation of standing wave driving force, U d_x and U d_y This is the original output of the standing wave driving quantity.

3. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 2, characterized in that... The process of establishing the gyroscope drive channel imbalance error-angular rate model is as follows: A positive virtual rotational drive is applied to the full-angle hemispherical resonator gyroscope to obtain the actual gyroscope amplitude drive applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel, as well as the actual virtual rotational drive applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel. Then, the gyroscope amplitude drive applied to the X and Y electrodes and the virtual rotational drive are combined to obtain the virtual rotational drive U actually applied to the vertical direction of the resonator standing wave. ⊥ ; Based on the virtual rotational driving force U actually applied to the standing wave of the resonator in the vertical direction. ⊥ and the virtual rotational velocity gain k of the hemispherical harmonic oscillator ω The rotational angular velocity ω of the standing wave of the harmonic oscillator is obtained; Based on the standing wave rotation angular rate ω of the harmonic oscillator, when the virtual rotational driving force is greater than 0, the positive virtual rotational velocity ω of the standing wave is obtained. p When the virtual rotational driving force is less than 0, the reverse virtual rotational velocity ω of the standing wave is obtained. n ; The positive virtual rotational speed ω of the standing wave p and the virtual rotational velocity ω of the standing wave in the opposite direction n By subtracting the values, we obtain the gyroscope drive channel imbalance error-angular rate model.

4. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 3, characterized in that... The actual gyroscope amplitude drive amount applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel is expressed as follows: Among them, U a G is the amplitude drive output of the amplitude control circuit of the full-angle hemispherical resonant gyroscope. X For the overall gain of the gyroscope drive channel X, U a_X and U a_Y These represent the driving quantities applied to the X and Y channel electrodes, respectively, and 2θ is the azimuth angle of the standing wave of the hemispherical harmonic oscillator.

5. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 4, characterized in that... The virtual rotational drive amount of the gyroscope actually applied to the X and Y electrodes when there is an imbalance error in the gyroscope drive channel is expressed as follows: Among them, U ω U is the virtual rotational drive of the full-angle hemispherical resonant gyroscope. ω_X and U ω_Y These are the driving quantities applied to the X-channel and Y-channel electrodes, respectively, by the virtual rotational driving quantity of the resonator standing wave.

6. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 5, characterized in that... The virtual rotational driving force U actually applied to the standing wave of the resonator in the vertical direction ⊥ Represented as:

7. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 6, characterized in that... The angular velocity ω of the standing wave of the harmonic oscillator is expressed as:

8. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 7, characterized in that... The positive virtual rotational angular rate ω of the standing wave p Represented as:

9. The method for identifying and compensating for imbalance errors in the drive channel of a full-angle hemispherical gyroscope according to claim 8, characterized in that... The standing wave reverse virtual rotation angular rate ω n Represented as:

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