Damping mismatch compensation method and system for full angle mode gyro based on standing wave pseudo-precession

Abstract

The present application aims at the angle drift error of the full angle mode micro hemispherical resonator gyro caused by the asymmetric damping, and provides a full angle mode gyro damping mismatch compensation method and system based on standing wave pseudo precession. In the standing wave pseudo precession mode, when the full angle mode micro hemispherical resonator gyro works normally, the energy loop control variable signal after stabilization is demodulated, the corresponding damping mismatch error parameters are obtained through two demodulation signals, the damping mismatch error online real-time compensation is realized by using the damping mismatch error parameters to construct the compensation force, the influence of the anisotropy of the damping of the micro hemispherical resonator gyro is eliminated, the rate threshold is reduced, the angle error is reduced, and the angle measurement precision of the full angle gyro is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of micro-hemispherical resonator gyroscopes, and in particular to a method and system for damping mismatch compensation of a full angle mode gyroscope based on standing wave pseudo-precession. BACKGROUND

[0002] Inertial navigation system has the characteristics of complete independence, not relying on external information, not being interfered by external environment, etc., and thus is widely applied in the fields of unmanned aerial vehicle, unmanned vehicle autonomous navigation, ship and cruise missile, and plays an important role in national defense and national economy. Gyroscope is one of the core devices of inertial navigation system, and can be used for measuring angular velocity or angle of a carrier.

[0003] Micro-hemispherical resonator gyroscope is an inertial sensor device for measuring angular velocity or angle of a carrier based on Coriolis effect, and is widely applied in the fields of inertial navigation, robot and aerospace, etc. due to its small size, low cost and batch production. In the force balance mode, the range and measurement bandwidth of the micro-hemispherical resonator gyroscope cannot meet the use requirements of large dynamic, and the full angle mode micro-hemispherical resonator gyroscope with large range and high bandwidth has become an important development direction at present. However, the full angle mode has high requirements on the circumferential symmetry of the micro-hemispherical resonator, and the damping asymmetry and stiffness asymmetry of the full angle mode micro-hemispherical resonator gyroscope will introduce angle error (drift) and rate threshold problem, and further affect the output precision of the standing wave precession angle of the full angle mode micro-hemispherical resonator gyroscope. The stiffness asymmetry of the micro-hemispherical resonator can be solved by frequency tuning and quadrature error control, while the damping asymmetry of the micro-hemispherical resonator will cause the angle lock effect (rate "dead zone") of the full angle mode micro-hemispherical resonator gyroscope under low speed input, and still exist angle drift error caused by damping mismatch under high speed input. In order to solve the rate threshold and angle drift problems caused by damping mismatch, the present application provides a method and system for compensating the damping mismatch of the micro-hemispherical resonator. SUMMARY

[0004] The present application provides a method and system for compensating the damping mismatch of the full angle mode gyroscope based on standing wave pseudo-precession, which eliminates the angle drift error of the full angle mode micro-hemispherical resonator gyroscope caused by damping asymmetry.

[0005] To achieve the above object, the present application adopts the following technical scheme:

[0006] A method for compensating the damping mismatch of the full angle mode gyroscope based on standing wave pseudo-precession, comprising the following steps:

[0007] Step 1, constructing the full angle mode motion equation of the micro-hemispherical resonator gyroscope;

[0008] Step 2, a basic control loop of the full angle mode micro hemispherical resonator gyroscope is designed by using a full angle mode motion equation of the micro hemispherical resonator gyroscope, the basic control loop comprising an energy maintaining loop, a quadrature error suppressing loop and a frequency tracking loop; the energy maintaining loop outputs an energy control signal;

[0009] Step 3, a standing wave precession angle is estimated, and a range of the standing wave precession angle is extended by a correction angle function;

[0010] Step 4, an initial pseudo precession force is set, the gyroscope is driven to precess by the initial pseudo precession force, and a standing wave precession angle transfer equation containing the standing wave precession angle is established on the basis of the pseudo precession and superposition of the standing wave precession caused by the Coriolis effect of the external input angular velocity, so as to calculate and obtain a final total standing wave precession angle;

[0011] Step 5, the energy control signal and the total standing wave precession angle are introduced into an adaptive filter to identify a damping mismatch error parameter on line;

[0012] Step 6, a damping compensation force is constructed by using the damping mismatch error parameter, a total force is constituted on the basis of the damping compensation force and superposition of the initial pseudo precession force, and the total force is used to eliminate the damping mismatch error of the gyroscope.

[0013] To optimize the above technical solution, the following specific measures are taken:

[0014] Further, in step 1, the full angle mode motion equation of the micro hemispherical resonator gyroscope is specifically as follows:

[0015]

[0016]

[0017]

[0018] In the formula, τ is a damping decay time constant of the resonator, Δ(1 / τ) is a damping mismatch error, Δω is a frequency split of the resonator, ω is an average resonant frequency of the resonator, θ is a standing wave precession angle, θ ω is an azimuth angle of a frequency principal axis of the resonator, θ τ is an azimuth angle of a damping principal axis of the resonator, E is a vibration energy of the standing wave of the resonator, represents a first derivative of the vibration energy, Q is a quadrature error signal, represents a first derivative of the quadrature error, f as is an energy control signal, represents a force required for maintaining the energy amplitude of the standing wave of the resonator to a reference amplitude E0, f qc is a force required for suppressing the quadrature error Q to zero, δφ is a phase error, represents a first derivative of the phase signal, represents the first derivative of the phase error.

[0019] Further, in step 2, the energy maintaining loop maintains the amplitude of the energy E of the resonator standing wave to a reference amplitude E0, the quadrature error signal Q is suppressed to 0 in real time by the quadrature error signal suppressing loop, and the phase error amount δφ is suppressed to 0 by the frequency tracking loop, so that the resonator vibration is always in a resonant state.

[0020] Further, step 3 is specifically: the standing wave precession angle θ of the full-angle mode micro-hemisphere resonator gyroscope is estimated by using the following formula:

[0021]

[0022] In the formula, S and R are parameter information representing the precession angle function;

[0023] The range of the standing wave precession angle θ is extended by modifying the angle function as follows:

[0024]

[0025] In the formula, c x , s x , c y , s y are four slowly varying variable signals demodulated from the resonator standing wave vibration displacement in the x-axis direction and the resonator standing wave vibration displacement in the y-axis direction, specifically, c x and s x represent the cosine component and the sine component of the x-axis displacement variation signal respectively, c y and s y represent the cosine component and the sine component of the y-axis displacement variation signal respectively.

[0026] Further, step 4 is specifically:

[0027] Setting an initial pseudo-precession force Driving the gyro standing wave pseudo-precession with the initial pseudo-precession force , and superimposing the standing wave precession caused by the Coriolis effect of the external input angular velocity Ω on the basis of the pseudo-precession, and expressing it by using the standing wave precession angle transfer equation as:

[0028]

[0029] In the formula, ω is the mode precession angular velocity, θ is the standing wave precession angle, κ is the angular gain, Ω is the external input angular velocity, is the initial pseudo-precession force;

[0030] According to the standing wave precession angle transfer equation, the final total standing wave precession angle θ is calculated and obtained.

[0031] Further, step 5 is specifically:

[0032] Step 5.1, introducing the energy control signal and the total standing wave precession angle into the adaptive filter, and using the adaptive filter to construct a damping mismatch error parameter and θ τ of an online identification model:

[0033]

[0034]

[0035] wherein m1, m2 and m3 are adaptive filter weight coefficients, u1, u2 and u3 are input variables, i is the iteration number,

[0036] Step 5.2, constructing a weight coefficient vector m = [m1 m2 m3] of the identification model T and an input variable vector u = [u1 u2 u3] T of the adaptive filter estimated output Thus, the parameter iteration equation is obtained:

[0037]

[0038] wherein i is the iteration number; e fas (i) is the estimation error; λ is the convergence factor, is the energy control signal estimated by the adaptive filter at the i-th iteration; f as (i) is the energy control signal input by the adaptive filter at the i-th iteration, m n (i) (n = 1, 2, 3) is the adaptive filter weight coefficient, m n (i+1) is the adaptive filter weight coefficient of the next iteration;

[0039] Step 5.3, iteratively updating the parameter iteration equation, when tends to 0, then m1(i), m2(i) and m3(i) in the parameter iteration equation have all converged, and at this time:

[0040]

[0041] The damping mismatch error parameter is estimated online from the above formula:

[0042]

[0043] wherein, and θ τ is the damping mismatch error parameter, θ τis the azimuth angle of the damping principal axis of the resonator, τ is the damping decay time constant of the resonator, ω is the average resonance frequency of the resonator, and E is the energy of the standing wave of the resonator.

[0044] Further, the step 6 is specifically:

[0045] with the damping mismatch error parameter and θ τ constructing a damping compensation force

[0046]

[0047] superimposing the initial pseudo-rotation acting force on the basis of the damping compensation force to obtain a total acting force

[0048]

[0049] driving and controlling the gyroscope by using the total acting force to eliminate the damping mismatch error of the gyroscope.

[0050] The application further provides a full-angle mode gyroscope damping mismatch compensation system based on standing wave pseudo-rotation, which comprises a micro hemispherical resonator gyroscope head, a front-end C / V conversion circuit, a demodulation filter circuit, an ADC conversion circuit, a DAC conversion circuit, an FPGA digital processing platform and a power supply circuit.

[0051] The micro hemispherical resonator gyroscope head comprises positive x+ and negative x- corresponding to the x mode and positive y+ and negative y- corresponding to the y mode, and is used for detecting the vibration displacement of the two modes.

[0052] The FPGA digital processing platform comprises an energy maintaining loop, a quadrature error suppressing loop, a frequency tracking loop, a modulation decomposition module, a damping mismatch online compensation module and an elliptical parameter calculation module; the damping mismatch online compensation module comprises an adaptive filter.

[0053] The energy maintaining loop maintains the amplitude of the energy E of the resonator standing wave to a reference amplitude E0, the quadrature error suppressing loop suppresses the quadrature error signal Q in real time to 0, and the frequency tracking loop suppresses the phase error amount δφ to 0 so that the resonator vibration is always in a resonance state.

[0054] The front-end C / V conversion circuit converts the two-way displacement change signals of the x mode detection axis and the y mode detection axis picked up by the micro hemispherical resonator detection electrode into voltage change signals.

[0055] The demodulation filter circuit demodulates the converted two-way voltage signals into c x , s x , cy and s y Four types of slow-varying signals, among which c x and s x Let c represent the cosine and sine components of the x-axis displacement signal, respectively. y and s y These represent the cosine and sine components of the y-axis displacement change signal, respectively.

[0056] The ADC conversion circuit will convert the aforementioned c x s x c y and s y Four types of slow-variable signals are converted into digital signals;

[0057] The ellipse parameter calculation module will calculate c. x s x c y s y Substituting the four slowly varying signals into the elliptic parametric equations yields the energy E, orthogonal error signal Q, phase error signal L, and precession angle θ of the harmonic oscillator standing wave. The energy E, orthogonal error signal Q, and phase error signal L are then introduced into the energy maintenance loop, orthogonal suppression loop, and frequency tracking loop, respectively, to obtain the energy control signal f. as The force f required to suppress the orthogonal error signal Q to zero qc The average resonant frequency ω of the harmonic oscillator;

[0058] The damping mismatch online compensation module will use the energy control signal f as The total standing wave precession angle θ is introduced into the adaptive filter module to identify the damping mismatch error parameters online. and θ τ Then, a damping compensation force is constructed from the damping mismatch error parameters, and an initial pseudo-precession force is superimposed on the damping compensation force. Constituting the total force

[0059] The modulation decomposition module converts the energy control signal f as The force f required to suppress the orthogonal error signal Q to zero qc Total force The x-mode and y-mode driving signals are generated by modulation and decomposition respectively, and then converted by a DAC circuit to convert the x-mode driving signal f. x The driving signal f of the y mode is applied to the driving electrode corresponding to the x mode. y The driving electrode is applied to the driving electrode corresponding to the y-mode; the driving electrode includes the positive electrode d corresponding to the x-mode. x + and negative electrode d x - and the positive electrode corresponding to the y-mode d y+ and negative electrode d y ; the cross stiffness tuning voltage and the frequency tuning voltage are used to suppress frequency split to match the frequency of the micro hemispherical resonator gyro, and the alternating voltage converted by the DAC conversion circuit is synthesized, and then is applied to the driving electrodes of the x mode and y mode through the high voltage amplification circuit, so that the electrostatic force generated drives and controls the micro hemispherical resonator gyro.

[0060] The beneficial effects of the present application are: the damping mismatch information is used to construct a compensation force to realize online real-time compensation of the damping mismatch error, eliminate the influence of the damping anisotropy of the micro hemispherical resonator gyro, reduce the rate threshold, reduce the angle error, and improve the angle measurement accuracy of the full angle gyroscope. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 The full angle gyro damping mismatch error online compensation system structure diagram. DETAILED DESCRIPTION

[0062] The present application will now be further described in detail in conjunction with the accompanying drawings.

[0063] In an embodiment, the present application provides a full angle mode gyro damping mismatch compensation method based on standing wave pseudo precession, which comprises the following steps:

[0064] Step 1. Obtain the full angle mode motion equation of the micro hemispherical resonator gyro: the basic motion equation shown in the following formula is derived by using the "average method" proposed by Lynch:

[0065]

[0066]

[0067]

[0068] In the above formula, τ is the damping decay time constant of the resonator, Δ(1 / τ) is the damping mismatch (asymmetry) error, Δω is the frequency split of the resonator, ω is the average resonant frequency of the resonator, θ is the precession angle of the standing wave, θ ω is the azimuth angle of the resonator frequency principal axis, θ τ is the azimuth angle of the resonator damping principal axis, E is the vibration energy signal of the resonator standing wave (mode), represents the first derivative of the vibration energy, Q is the quadrature error signal, represents the first derivative of the quadrature error, f as is the force required to maintain the amplitude E to the reference E0, f qc is the force required to suppress the quadrature error Q to zero, δφ is the phase error, represents the first derivative of the phase signal, denotes the first derivative of the phase error, f as is set to 0.

[0069] Step 2. Design the full angle mode micro hemispherical resonator gyroscope basic control loop and estimate the standing wave precession angle: using the full angle mode basic motion equation, the three basic control loops required by the full angle mode function of the micro hemispherical resonator gyroscope are designed (i.e. energy maintenance loop, quadrature error suppression loop, frequency tracking loop). The energy maintenance loop is to keep the amplitude of the standing wave vibration of the resonator to a certain fixed value, the quadrature error suppression loop is to suppress the quadrature error signal Q to 0 in real time, and the frequency tracking loop makes the resonator vibration always in the resonant state. When the full angle micro hemispherical resonator gyroscope works in a stable state, the energy maintenance loop makes the energy amplitude E of the micro hemispherical resonator gyroscope maintain to E0, the quadrature error suppression loop suppresses the quadrature error signal Q to 0, and the frequency tracking loop suppresses the phase error amount δφ to 0. Through the above three basic control loops, the full angle function of the micro hemispherical resonator gyroscope can be realized, and then the precession angle of the full angle mode micro hemispherical resonator gyroscope can be estimated by the following formula:

[0070]

[0071] In the formula, S, R are parameter information representing the precession angle function, because tan -1 The output range of the function is [-π, π], so the range of θ is [-π / 2, π / 2], which does not cover the entire [-π, π] range of θ. Therefore, in practice, the range of the precession angle θ is extended by the following modified angle function (when the full angle mode micro hemispherical resonator gyroscope is in a stable state, the quadrature error signal Q is suppressed to 0):

[0072]

[0073] In the formula, c x , s x , c y , s y are four slowly varying variable signals obtained by in-phase and quadrature demodulation of the resonator standing wave vibration displacement in the x-axis direction and the resonator standing wave vibration displacement in the y-axis direction, specifically, c x and s x represent the cosine component and the sine component of the x-axis displacement change signal respectively, c y and s y represent the cosine component and the sine component of the y-axis displacement change signal respectively.

[0074] Step 3. Drive the gyro standing wave pseudo-precession with the force f qs The initial pseudo-precession force f is set to f The mode of the resonator (standing wave) is made to perform pseudo (virtual) precession, and the standing wave precession (true precession or physical precession) caused by the external angular velocity through the Coriolis effect is superimposed, and is expressed by the standing wave precession angle transfer equation as follows:

[0075]

[0076] In the formula, is the mode precession angular velocity, θ is the standing wave precession angle, κ is the angular gain, Ω is the external input angular velocity, is the force required to set the initial speed of the standing wave pseudo precession (in the conventional full angle mode, since the full angle mode allows the resonator to freely precess, f qs = 0 is set as the initial force ).

[0077] The final total standing wave precession angle θ is calculated according to the standing wave precession angle transfer equation.

[0078] The true precession angle can be obtained by removing the pseudo precession angle from the final standing wave precession angle. The standing wave pseudo precession mode can make the resonator standing wave walk out of the speed dead zone caused by the damping mismatch error, and can still make the standing wave precession without a speed turntable, providing conditions for adaptive filtering identification parameters.

[0079] Step 4. Online identification of damping mismatch error parameters: According to the energy control equation, when the energy E of the resonator standing wave is maintained as a constant value E0 under the action of the controller, there should be Then there should be:

[0080]

[0081] Then the damping mismatch error parameter information as and θ τ can be identified (demodulated) online using the adaptive filtering method from the control variable f .

[0082] The specific implementation steps for online identification of damping mismatch information are as follows:

[0083] (1) Construct an adaptive filtering online identification model: when the full angle micro-hemispherical resonator gyro standing wave pseudo precession is made by the force f qs , the online identification model of and θ τ is constructed by using an adaptive filter as follows:

[0084]

[0085]

[0086] where m1, m2, m3 are the weight coefficients (parameters to be estimated) of the identification model, and u1, u2, u3 are the input variables.

[0087] (2) Construct the parameter iteration equation:

[0088] The vector m = [m1 m2 m3] can be constructed. T u = [u1 u2 u3] T Then it should be From which we can get:

[0089]

[0090] where i is the iteration number; is the estimation error; λ is the convergence factor (update step size); is the estimated energy control signal at the i-th iteration of the adaptive filter; f as (i) is the input energy control signal at the i-th iteration of the adaptive filter, m n (i) (n = 1, 2, 3) is the weight coefficient of the adaptive filter; m n (i+1) is the weight coefficient of the adaptive filter at the next iteration.

[0091] (3) Online estimate the damping mismatch parameters

[0092] When tends to 0, then m1(i), m2(i) and m3(i) in the iteration equation above can be considered to have converged, and at this time we should have:

[0093]

[0094] From the above formula, the damping mismatch information can be estimated online:

[0095]

[0096] Step 5. Construct the damping mismatch error compensation force: Using the damping mismatch parameter information estimated online by the adaptive filter above, the damping compensation force can be further constructed

[0097]

[0098] Substitute the constructed damping compensation force into the transfer equation of the micro-hemisphere resonator gyroscopic standing wave precession angle, and when the full-angle mode gyro is working normally (Q ≈ 0, E = E0), the standing wave precession angle transfer equation after damping mismatch error compensation should be:

[0099]

[0100] Based on the above analysis, it can be known that the compensation force constructed... After compensation, the angle drift error caused by damping mismatch can be suppressed.

[0101] To overcome the rate "dead zone" (threshold) effect introduced by damping mismatch error, the standing wave pseudo-precession method described in step 3 can be used, i.e., applying a constant force. This drives the standing wave away from the rate dead zone, enabling the online damping mismatch error parameter identification module described in step 4 to function normally under low-speed conditions. Under the pseudo-precession mode of the standing wave, the total force can be determined. Further changes are as follows:

[0102]

[0103] In the formula, To achieve the initial force for pseudo-precession of the standing wave, the total force Initial force due to pseudo-precession With damping compensation force term Together they constitute.

[0104] The total force in the above equation, consisting of the pseudo-precession initial force and the damping compensation force, is... Substituting into the transfer equation for the precession angle of the gyroscope standing wave, we can obtain the total precession angular velocity output of the standing wave, including the pseudo-precession:

[0105]

[0106] In the formula, θ is the initial angular velocity (constant) that causes the gyroscope's standing wave precession due to pseudo (virtual) rotation. t Let θ be the actual precession angle of the standing wave caused by the externally input rotational angular velocity. The above equation shows that the change in the gyroscope's standing wave precession angle θ depends only on the externally input angular velocity Ω, and no longer on the damping mismatch parameter. and θ τ This demonstrates that the proposed solution eliminates the influence of damping mismatch error on the precession angle of the gyroscope standing wave.

[0107] Furthermore, the true precession angle of the standing wave (the angle of precession caused by the external input angular velocity) can be obtained by subtracting the pseudo precession angle from the total precession angle, i.e., the true precession angle of the standing wave after damping mismatch error compensation: θ t =θ-∫Ω vir dt=θ-θ vir .

[0108] In another embodiment, the present invention proposes a full-angle mode gyroscope damping mismatch compensation system based on standing wave pseudo-precession, the structure of which is as follows: Figure 1As shown, including micro-hemisphere resonant gyro head, front-end C / V conversion circuit, demodulation filter circuit, ADC conversion circuit, DAC conversion circuit, FPGA digital processing platform and power supply circuit;

[0109] The micro-hemisphere resonant gyro head contains positive x+ and negative x- corresponding to x mode, and positive y+ and negative y- corresponding to y mode, for detecting vibration displacement of two modes;

[0110] The FPGA digital processing platform includes energy maintenance loop, quadrature error suppression loop, frequency tracking loop, modulation decomposition module, damping mismatch online compensation module and elliptical parameter calculation module; the damping mismatch online compensation module includes adaptive filter;

[0111] The energy maintenance loop maintains the amplitude of the energy E of the resonator standing wave to the reference amplitude E0, the quadrature error suppression loop suppresses the quadrature error signal Q in real time to 0, and the frequency tracking loop suppresses the phase error amount δφ to 0 so that the resonator vibration is always in the resonant state;

[0112] The front-end C / V conversion circuit converts the two-way displacement change signals of the x mode detection axis and the y mode detection axis picked up by the micro-hemisphere resonator detection electrode into voltage change signals;

[0113] The demodulation filter circuit demodulates the converted two-way voltage signals into four slowly varying variable signals of c x , s x , c y and s y , wherein c x and s x represent the cosine component and the sine component of the x-axis displacement change signal, respectively, and c y and s y represent the cosine component and the sine component of the y-axis displacement change signal, respectively;

[0114] The ADC conversion circuit converts the aforementioned four slowly varying variable signals of c x , s x , c y and s y into digital signals;

[0115] The elliptical parameter calculation module substitutes the four slowly varying variable signals of c x , s x , c y , s y into the elliptical parameter equation to obtain the energy E of the resonator standing wave, the quadrature error signal Q, the phase error signal L and the precession angle θ, and introduce the energy E of the resonator standing wave, the quadrature error signal Q and the phase error signal L into the energy maintenance loop, the quadrature error suppression loop and the frequency tracking loop, respectively, to obtain the energy control signal fas , the force f required to suppress the quadrature error signal Q to zero qc and the average resonance frequency of the resonator ω;

[0116] The damping mismatch online compensation module constructs the energy control signal f as and the total standing wave precession angle θ into the adaptive filter module to identify the damping mismatch error parameter online and θ τ , and the damping compensation force is constructed from the damping mismatch error parameter, and the initial pseudo-precession force is superimposed on the basis of the damping compensation force to form the total force

[0117] The modulation decomposition module constructs the energy control signal f as , the force f required to suppress the quadrature error signal Q to zero qc and the total force The drive signals of the x mode and the y mode are generated by modulation and decomposition, respectively, and after the DAC conversion circuit, the x mode drive signal f x is applied to the drive electrode corresponding to the x mode, and the y mode drive signal f y is applied to the drive electrode corresponding to the y mode; the drive electrode includes the positive electrode d x + and the negative electrode d x - corresponding to the x mode, and the positive electrode d y + and the negative electrode d y - corresponding to the y mode; the cross-stiffness tuning voltage and the frequency tuning voltage are used to suppress frequency splitting to match the frequency of the micro-hemispherical resonator gyroscope, and the alternating voltage obtained after digital-to-analog conversion by the DAC conversion circuit is synthesized, and then after the high-voltage amplification circuit, it is directly applied to the drive electrode of the x mode and the y mode, generating an electrostatic force to drive and control the micro-hemispherical resonator gyroscope.

[0118] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments, and any technical solution falling within the scope of the present application shall be within the protection scope of the present application. It should be noted that for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall be considered as the protection scope of the present application.

Claims

1. A method for compensating for damping mismatch in a full-angle mode gyroscope based on pseudo-precession of standing waves, characterized in that, Includes the following steps: Step 1: Construct the motion equations of the full-angle mode of the micro-hemispherical resonant gyroscope; Step 2: Design the basic control loop of the full-angle mode micro-hemispherical resonator gyroscope using the motion equation of the full-angle mode. The basic control loop includes an energy sustaining loop, an orthogonal suppression loop, and a frequency tracking loop; the energy sustaining loop outputs an energy control signal. Step 3: Estimate the precession angle of the standing wave and expand the range of the precession angle of the standing wave by correcting the angle function; Step 4: Set the initial pseudo-precession force, drive the gyroscope standing wave pseudo-precession with the initial pseudo-precession force, and superimpose the standing wave precession caused by the external input angular velocity through the Coriolis effect on the pseudo-precession, establish the standing wave precession angle transfer equation containing the standing wave precession angle, and calculate and obtain the final total standing wave precession angle. Step 5: Introduce the energy control signal and total standing wave precession angle into the adaptive filter to identify the damping mismatch error parameters online; Step 5 specifically involves: Step 5.1: Introduce the energy control signal and the total standing wave precession angle into the adaptive filter, and use the adaptive filter to construct the damping mismatch error parameters. and Online identification model: In the formula, , and These are the weight coefficients of the adaptive filter. , and For input variables, i For the number of iterations, Step 5.2: Construct the weight coefficient vector of the identification model. and the vector of input variables Adaptive filter estimates output quantity Thus, the parameter iteration equation is obtained: In the formula, i It is the number of iterations; To estimate the error; The convergence factor is It is the adaptive filter number i The energy control signal estimated in the next iteration; It is the adaptive filter number i The energy control signal input during the next iteration ( n =1, 2, 3) are the weight coefficients of the adaptive filter. These are the adaptive filter weights for the next iteration; Step 5.3: Iteratively update the parameter iteration equation, when When the parameter approaches 0, then in the iterative equation for the parameter... , and All have converged, and at this point we have: The damping mismatch error parameter can be estimated online using the above formula: In the formula, and This is the damping mismatch error parameter. Let be the azimuth angle of the principal axis of the harmonic oscillator damping. Let be the damping decay time constant of the harmonic oscillator. The average resonant frequency of the harmonic oscillator is... E The energy of the standing wave of the harmonic oscillator; Step 6: Construct a damping compensation force using the damping mismatch error parameter, and then superimpose the initial pseudo-precession force on the damping compensation force to form the total force. The damping mismatch error of the gyroscope is eliminated by using the total force.

2. The full-angle mode gyroscope damping mismatch compensation method based on standing wave pseudo-precession as described in claim 1, characterized in that, In step 1, the full-angle mode motion equation of the micro-hemispherical resonant gyroscope is specifically as follows: In the formula, Let be the damping decay time constant of the harmonic oscillator. It is a damping mismatch error. For frequency splitting of the harmonic oscillator, The average resonant frequency of the harmonic oscillator is... For the precession angle of the standing wave, Let be the azimuth angle of the principal axis of the harmonic oscillator frequency. Let be the azimuth angle of the principal axis of the harmonic oscillator damping. E The vibrational energy of the standing wave of the harmonic oscillator. The first derivative of the vibrational energy is represented. Q It is an orthogonal error signal. This represents the first derivative of the orthogonality error. This is an energy control signal, indicating that the energy amplitude of the harmonic oscillator standing wave will be maintained at a reference amplitude. E The force required to achieve 0 To reduce orthogonal error Q The force required to suppress to zero For phase error, This represents the first derivative of the phase signal. This represents the first derivative of the phase error. Set to 0.

3. The full-angle mode gyroscope damping mismatch compensation method based on standing wave pseudo-precession as described in claim 1, characterized in that, In step 2, the energy maintenance loop stores the energy of the resonator standing wave. E The amplitude remains at the baseline amplitude. E 0, the orthogonal suppression loop will convert the orthogonal error signal Q The real-time suppression is 0, and the frequency tracking loop will reduce the phase error. The suppression is set to 0, ensuring that the harmonic oscillator always remains in a resonant state.

4. The full-angle mode gyroscope damping mismatch compensation method based on standing wave pseudo-precession as described in claim 1, characterized in that, Step 3 specifically involves estimating the standing wave precession angle of the full-angle mode hemispherical resonator gyroscope using the following formula. : In the formula, S and R The parameter information is used to characterize the precession angle function; The precession angle of the standing wave is extended using the following correction angle function. Scope: In the formula, , , , for x The standing wave vibration displacement of the harmonic oscillator in the axial direction and y The standing wave vibration displacement of the harmonic oscillator in the axial direction is demodulated using four slowly variable signals, specifically: and They represent x The cosine and sine components of the axial displacement change signal. and They represent y The cosine and sine components of the axial displacement change signal.

5. The full-angle mode gyroscope damping mismatch compensation method based on standing wave pseudo-precession as described in claim 1, characterized in that, Step 4 is as follows: Set the initial pseudo-precession force. Using the initial pseudo-precession force The gyroscope is driven to perform pseudo-precession of the standing wave, and an externally input angular velocity is superimposed on the pseudo-precession. The precession of standing waves caused by the Coriolis effect can be expressed by the precession angle transfer equation as follows: In the formula, The mode precession angular velocity, For the precession angle of the standing wave, For angular gain, It is the external input angular velocity. Force is applied for the initial pseudo-precession. The final total standing wave precession angle is calculated based on the standing wave precession angle transfer equation. .

6. The full-angle mode gyroscope damping mismatch compensation method based on standing wave pseudo-precession as described in claim 1, characterized in that, Step 6 specifically involves: Damping mismatch error parameters and Construction of damping compensation force : Damping compensation force Based on the initial pseudo-precession force Total force : Utilizing total force Drive and control the gyroscope to eliminate the damping mismatch error of the gyroscope.

7. A full-angle mode gyroscope damping mismatch compensation system based on standing wave pseudo-precession according to claim 1, characterized in that, It includes a micro-hemispherical resonant gyroscope head, a front-end C / V conversion circuit, a demodulation and filtering circuit, an ADC conversion circuit, a DAC conversion circuit, an FPGA digital processing platform, and a power supply circuit; The micro-hemispherical resonant gyroscope head includes x Positive electrode corresponding to the mode x + and negative electrode x - and y Positive electrode corresponding to the mode y + and negative electrode y - Used to detect vibration displacement in two modes; The FPGA digital processing platform includes an energy sustaining loop, an orthogonal suppression loop, a frequency tracking loop, a modulation decomposition module, an online damping mismatch compensation module, and an elliptic parameter calculation module; the online damping mismatch compensation module includes an adaptive filter; The energy sustaining loop stores the energy of the resonator standing wave. E The amplitude remains at the baseline amplitude. E 0, the orthogonal suppression loop will convert the orthogonal error signal Q The real-time suppression is 0, and the frequency tracking loop will reduce the phase error. The suppression value is set to 0, ensuring that the harmonic oscillator always oscillates in a resonant state. The front-end C / V conversion circuit will pick up the signal from the detection electrode of the micro-hemispherical resonator. x Modal detection axis and y The two displacement change signals of the modal detection axis are converted into voltage change signals; The demodulation and filtering circuit demodulates the two converted voltage signals into... , , and Four types of slow-variety signals, among which, and They represent x The cosine and sine components of the axial displacement change signal. and They represent y The cosine and sine components of the axial displacement change signal; The ADC conversion circuit will convert the aforementioned , , and Four types of slow-variable signals are converted into digital signals; The elliptic parameter calculation module will , , , Substituting the four slowly changing signals into the elliptic parametric equation, we obtain the energy of the standing wave of the harmonic oscillator. E Orthogonal error signal Q Phase error signal L and precession angle The energy of the standing wave of the harmonic oscillator E Orthogonal error signal Q and phase error signal L Energy control signals are respectively introduced into the energy sustaining loop, the quadrature suppression loop, and the frequency tracking loop to obtain energy control signals. The orthogonal error signal Q Force required to suppress to zero and the average resonant frequency of the harmonic oscillator ; The damping mismatch online compensation module will use the energy control signal and the angle of precession of the total standing wave The damping mismatch error parameters are introduced into the adaptive filter module to identify them online. and Then, a damping compensation force is constructed from the damping mismatch error parameters, and an initial pseudo-precession force is superimposed on the damping compensation force. Constituting the total force ; The modulation decomposition module converts the energy control signal The orthogonal error signal Q Force required to suppress to zero Total force Generate by modulation and decomposition respectively x Modality and y The modal drive signal, after passing through the DAC conversion circuit, will be... x Modal drive signal f x Apply to x On the driving electrode corresponding to the mode, y Modal drive signal f y Apply to y On the driving electrode corresponding to the mode; the driving electrode includes x Positive electrode corresponding to the mode d x + and negative electrode d x -and y Positive electrode corresponding to the mode d y + and negative electrode d y -; Frequency fragmentation is suppressed by using cross-stiffness tuning voltage and frequency tuning voltage to achieve frequency matching with the micro-hemispherical resonant gyroscope, and then synthesized with the AC voltage obtained by digital-to-analog conversion by a DAC circuit, and then directly applied after passing through a high-voltage amplification circuit. x Modality and y The electrostatic force generated on the driving electrode of the mode drives and controls the micro-hemispherical resonant gyroscope.

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