Rate integration hemispherical resonator gyro angular rate output method
By combining a phase-locked loop and a PI controller, the traveling wave frequency of the rate integral hemispherical resonator gyroscope is tracked in real time, solving the problem of high noise in standing wave azimuth angle measurement and improving the output accuracy and overall performance of the gyroscope.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN INST OF TECH
- Filing Date
- 2023-08-18
- Publication Date
- 2026-06-26
AI Technical Summary
In existing rate integral hemispherical resonator gyroscope angular rate output methods, the measurement noise of the standing wave azimuth angle is large, resulting in poor gyroscope output accuracy.
A phase-locked loop (PLL) circuit is used to obtain reference signals for the forward and reverse traveling waves. The signals are then demodulated using a low-pass filter. A combination of sine and cosine signals is used to obtain the secondary demodulated signal. The phase difference is calculated and a PI controller is used for closed-loop control to achieve real-time tracking of the traveling wave frequency and obtain the angular rate measurement value of the gyroscope's sensitive axis.
It effectively suppresses gyroscope output noise, improves gyroscope output accuracy, enhances zero-bias stability and scaling factor linearity, and simplifies computational complexity.
Smart Images
Figure CN117110643B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of inertial technology. Background Technology
[0002] A hemispherical resonator gyroscope is a novel type of inertial sensor. Its operating principle is based on the Korotkoff effect, enabling precise measurement of angular rate or angular position. The technology of force-balanced hemispherical resonator gyroscopes is relatively mature. In this operating mode, the standing wave of the resonator is controlled to a fixed position through a rate control loop. The magnitude of the control force reflects the angular rate input sensed by the gyroscope. However, the measurement range of the force-balanced hemispherical resonator gyroscope is significantly limited by the magnitude of the control force. The rate-integral hemispherical resonator gyroscope is a research hotspot in the field of hemispherical resonator gyroscopes. Compared with the relatively mature force-balanced hemispherical resonator gyroscope, it has a larger angular rate measurement range. Furthermore, its structure and control method are simpler. With the development of related technologies, the accuracy of rate-integral hemispherical resonator gyroscopes is constantly improving, thus gaining wider applications. The existing control scheme for rate integral hemispherical resonator gyroscopes mainly consists of an amplitude control loop, an orthogonal control loop, and a frequency control loop. These three control loops respectively realize the vibration energy replenishment, frequency difference suppression, and frequency tracking of the hemispherical resonator. Compared with the force-balanced hemispherical resonator gyroscope, the lack of a rate control loop allows the standing wave of the oscillator in the rate integral hemispherical resonator gyroscope to be in a free precession state, thereby obtaining a larger angular rate measurement range.
[0003] Depending on the specific implementation method of the rate integral hemispherical resonator gyroscope control scheme, the gyroscope angular rate output scheme also varies. Currently, the common control method uses the oscillator standing wave as the controlled object. In this implementation scheme, the amplitude of the oscillator standing wave is maintained by the control loop to suppress the amplitude of the orthogonal wave, and the azimuth angle of the oscillator standing wave is calculated by the detection electrode. The gyroscope angular rate output is then obtained through time difference. However, this method amplifies the measurement noise of the standing wave azimuth angle due to time difference, affecting the output accuracy of the gyroscope. Summary of the Invention
[0004] This invention addresses the problems of high measurement noise in the standing wave azimuth angle and poor output accuracy of existing rate integral hemispherical resonator gyroscope control methods by providing a rate integral hemispherical resonator angular rate output method.
[0005] The rate integral hemispherical resonator angular rate output control method of the present invention includes:
[0006] Step 1: Obtain the natural operating frequency of the rate integral hemispherical resonator gyroscope to be controlled; use the natural operating frequency as the initial value of the forward and reverse traveling wave frequencies, and use a phase-locked loop (PLL) circuit to calculate and obtain the reference signals for the forward and reverse traveling waves.
[0007] Step 2: Acquire two sets of electrode detection signals when the rate integral hemispherical resonator gyroscope is working normally; use the reference signals of the forward traveling wave and the reverse traveling wave as demodulation reference signals, and use a low-pass filter to demodulate the electrode detection signals once to obtain the first demodulation amount of the gyroscope output angular rate;
[0008] Step 3: Use the primary demodulation of the gyroscope output angular rate to perform a sine-cosine corresponding combination to obtain the secondary demodulation of the gyroscope angular rate output;
[0009] Step 4: Using the gyroscope angular rate to output the secondary demodulation quantity, calculate the phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals described in Step 1.
[0010] Step 5: Use the phase difference as the input of the PI controller to calculate the current forward and reverse traveling wave reference signals. Use this reference signal as the demodulation reference signal for the next moment and return to step 2 until the rate integral hemispherical resonator gyroscope acquisition work is completed. At the same time, use the frequency of the forward and reverse traveling wave reference signals at the current moment to calculate the angular rate measurement value Ω′ of the sensitive axis of the rate integral hemispherical resonator gyroscope.
[0011] Furthermore, in this invention, in step one, the reference signals for the forward and reverse traveling waves are:
[0012]
[0013]
[0014] Where, p c ,p s ,n c ,n s These are, respectively, the forward traveling wave cosine reference signal, the forward traveling wave sine reference signal, the reverse traveling wave cosine reference signal, and the reverse traveling wave sine reference signal; ω′ p ,ω n ′ represents the frequencies of the forward and reverse traveling waves generated by the phase-locked loop of the digital controller, respectively. The phase of the reference signal generated by the phase-locked loop, ω′ p ,ω n The initial value of each of the '' is ω0.
[0015] Furthermore, in this invention, in step two, the two sets of electrode detection signals acquired when the rate integral hemispherical resonator gyroscope is operating normally are:
[0016]
[0017] Among them, U X and U YThe two sets of electrode detection signals represent the rate integral of the hemispherical resonator gyroscope during normal operation. G is the signal gain of the detection circuit, a is the amplitude of the hemispherical resonator oscillation, k is the precession factor of the hemispherical resonator gyroscope, Ω is the input angular rate of the sensitive axis of the hemispherical resonator gyroscope, t is the gyroscope operating time, θ0 is the initial standing wave azimuth angle of the hemispherical resonator oscillation, and ω0 is the natural frequency of the hemispherical resonator gyroscope. This represents the initial time phase of the hemispherical resonant gyroscope.
[0018] Furthermore, in this invention, in step two, a low-pass filter is used to demodulate the electrode detection signal once, and the demodulated value of the gyroscope output angular rate obtained is:
[0019]
[0020]
[0021] in,
[0022]
[0023] Among them, U X_pc U X_ps U X_nc U X_ns U Y_pc U Y_ps U Y_nc U Y_ns These represent the first-order demodulation of the sine and cosine of the forward traveling wave and the first-order demodulation of the cosine of the reverse traveling wave, respectively, when the rate integral hemispherical resonator gyroscope is operating normally, detected by the two sets of electrodes.
[0024] Furthermore, in step three of this invention, the secondary demodulation of the gyroscope's output angular rate is obtained by combining sine and cosine values using the primary demodulation value of the gyroscope's output angular rate:
[0025]
[0026] H is the sum of the first-order demodulation of the sine and cosine of the forward traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; I is the difference between the first-order demodulation of the sine and cosine of the forward traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; J is the difference between the first-order demodulation of the cosine and sine of the reverse traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; and K is the sum of the first-order demodulation of the sine and cosine of the reverse traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally.
[0027] Furthermore, in this invention, in step four, the phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals is calculated as follows:
[0028]
[0029] These are the phase differences between the forward and reverse traveling waves of the two sets of electrode detection signals and the reference signals of the forward and reverse traveling waves, respectively.
[0030] Furthermore, in this invention, in step five, the method for calculating the forward and reverse traveling wave reference signals at the current moment using the phase difference is as follows:
[0031] The phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals. As input to the PI controller, the frequencies of the forward and reverse traveling wave reference signals are obtained. Using the frequencies of the reference signals, the frequency of the reference signals is used as input to the signal generator to obtain the forward and reverse traveling wave reference signals at the current moment.
[0032] Furthermore, in this invention, in step five, the frequencies of the forward and reverse traveling wave reference signals at the current moment are:
[0033]
[0034] Where, k p k is the gain of the proportional element of the PI controller. i Let be the integral gain of the PI controller, i represent time, and m = 0, 1, 2, ..., i.
[0035] Furthermore, in this invention, in step five, the calculated angular rate measurement value Ω′ of the rate integral hemispherical resonant gyroscope's sensitive axis is:
[0036]
[0037] The rate integral hemispherical resonator gyroscope angular rate output method proposed in this application equates the standing wave of the hemispherical resonator to a set of forward and reverse traveling waves with the same amplitude but opposite directions. A phase-locked loop function is implemented using a digital control circuit to complete the frequency tracking of the forward and reverse traveling waves. The measured value of the angular rate input of the sensitive axis of the rate integral hemispherical resonator gyroscope, i.e., the angular rate output of the gyroscope, is calculated by the frequency difference between the forward and reverse traveling waves. This method can effectively suppress gyroscope output noise and improve gyroscope output accuracy.
[0038] This application effectively solves the problems of excessive angular rate output noise and decreased calculation accuracy caused by the original rate integral hemispherical resonator gyroscope angular rate output scheme, which requires first calculating the azimuth angle of the hemispherical resonator through electrode detection signals and then calculating the angular rate through differential calculation. This application simplifies the calculation complexity of the rate integral hemispherical resonator angular rate output, improves the angular rate output accuracy of the gyroscope, and further enhances the zero-bias stability and scaling factor linearity of the gyroscope. Ultimately, it aims to improve the overall performance of the rate integral hemispherical resonator gyroscope, providing strong support for the widespread application of gyroscopes. Attached Figure Description
[0039] Figure 1 This is a flowchart of the method described in this invention. Detailed Implementation
[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.
[0041] Specific implementation method one: Refer to Figure 1 This embodiment specifically describes the rate integral hemispherical resonant gyroscope angular rate output control method, which includes:
[0042] Step 1: Obtain the natural operating frequency of the rate integral hemispherical resonator gyroscope to be controlled; use the natural operating frequency as the initial value of the forward and reverse traveling wave frequencies, and use a phase-locked loop (PLL) circuit to calculate and obtain the reference signals for the forward and reverse traveling waves.
[0043] Step 2: Acquire two sets of electrode detection signals when the rate integral hemispherical resonator gyroscope is working normally; use the reference signals of the forward traveling wave and the reverse traveling wave as demodulation reference signals, and use a low-pass filter to demodulate the electrode detection signals once to obtain the first demodulation amount of the gyroscope output angular rate;
[0044] Step 3: Use the primary demodulation of the gyroscope output angular rate to perform a sine-cosine corresponding combination to obtain the secondary demodulation of the gyroscope angular rate output;
[0045] Step 4: Using the gyroscope angular rate to output the secondary demodulation quantity, calculate the phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals described in Step 1.
[0046] Step 5: Use the phase difference as the input to the PI controller to calculate the current forward and reverse traveling wave reference signals. Use this reference signal as the demodulation reference signal for the next moment and return to step 2 until the rate integral hemispherical resonator gyroscope acquisition work is completed. At the same time, use the frequency of the forward and reverse traveling wave reference signals at the current moment to calculate the angular rate measurement value of the sensitive axis of the rate integral hemispherical resonator gyroscope.
[0047] Furthermore, in this invention, in step one, the reference signals for the forward and reverse traveling waves are:
[0048]
[0049] Where, p c ,p s ,n c ,n s These are, respectively, the forward traveling wave cosine reference signal, the forward traveling wave sine reference signal, the reverse traveling wave cosine reference signal, and the reverse traveling wave sine reference signal; ω′ p ,ω n ′ represents the frequencies of the forward and reverse traveling waves generated by the phase-locked loop of the digital controller, respectively. The phase of the reference signal generated by the phase-locked loop, ω′ p ,ω n The initial value of each of the '' is ω0.
[0050] Furthermore, in this invention, in step two, the two sets of electrode detection signals acquired when the rate integral hemispherical resonator gyroscope is operating normally are:
[0051]
[0052] Among them, U X and U Y The two sets of electrode detection signals represent the rate integral of the hemispherical resonator gyroscope during normal operation. G is the signal gain of the detection circuit, a is the amplitude of the hemispherical resonator oscillation, k is the precession factor of the hemispherical resonator gyroscope, Ω is the input angular rate of the sensitive axis of the hemispherical resonator gyroscope, t is the gyroscope operating time, θ0 is the initial standing wave azimuth angle of the hemispherical resonator oscillation, and ω0 is the natural frequency of the hemispherical resonator gyroscope. This represents the initial time phase of the hemispherical resonant gyroscope.
[0053] Furthermore, in this invention, in step two, a low-pass filter is used to demodulate the electrode detection signal once, and the demodulated value of the gyroscope output angular rate obtained is:
[0054]
[0055]
[0056] in,
[0057]
[0058] Among them, U X_pc U X_ps U X_nc U X_ns U Y_pc U Y_ps U Y_nc U Y_ns These represent the first-order demodulation of the sine and cosine of the forward traveling wave and the first-order demodulation of the cosine of the reverse traveling wave, respectively, when the rate integral hemispherical resonator gyroscope is operating normally, detected by the two sets of electrodes.
[0059] Furthermore, in step three of this invention, the secondary demodulation of the gyroscope's output angular rate is obtained by combining sine and cosine values using the primary demodulation value of the gyroscope's output angular rate:
[0060]
[0061] H is the sum of the first-order demodulation of the sine and cosine of the forward traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; I is the difference between the first-order demodulation of the sine and cosine of the forward traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; J is the difference between the first-order demodulation of the cosine and sine of the reverse traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; and K is the sum of the first-order demodulation of the sine and cosine of the reverse traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally.
[0062] Furthermore, in this invention, in step four, the phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals is calculated as follows:
[0063]
[0064] These are the phase differences between the forward and reverse traveling waves of the two sets of electrode detection signals and the reference signals of the forward and reverse traveling waves, respectively.
[0065] Furthermore, in this invention, in step five, the method for calculating the forward and reverse traveling wave reference signals at the current moment using the phase difference is as follows:
[0066] The phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals. As input to the PI controller, the frequencies of the forward and reverse traveling wave reference signals are obtained. Using the frequencies of the reference signals, the frequency of the reference signals is used as input to the signal generator to obtain the forward and reverse traveling wave reference signals at the current moment.
[0067] Furthermore, in this invention, in step five, the frequencies of the forward and reverse traveling wave reference signals at the previous moment are:
[0068]
[0069] Where, k p k is the gain of the proportional element of the PI controller. i Let be the integral gain of the PI controller, i represent time, and m = 0, 1, 2, ..., i.
[0070] Furthermore, in this invention, in step five, the calculated angular rate measurement value Ω′ of the rate integral hemispherical resonant gyroscope's sensitive axis is:
[0071]
[0072] This application addresses the limitations of traditional rate-integral hemispherical resonator gyroscope (RIR) angular rate output methods, which rely on hemispherical resonator azimuth angle differential calculations and suffer from high noise levels. A novel RIR angular rate output method based on traveling wave frequency tracking is proposed. This method first equates the hemispherical resonator azimuth wave to a set of traveling waves with the same amplitude but opposite directions. Based on a digital control circuit, a PI controller and a direct signal generator are implemented to achieve the function of a phase-locked loop (PLL). The method presents a demodulation method for the gyroscope's detection voltage signal based on traveling wave information, acquiring key phase information from the demodulated signal and using this as the control error input for the PLL. This enables real-time closed-loop tracking of the traveling wave frequency. Furthermore, the gyroscope's sensitive axis angular rate input measurement value is obtained based on the traveling wave frequency, improving the gyroscope's angular rate output accuracy and ultimately enhancing the overall performance of the RIR gyroscope. Specific implementation examples:
[0074] Reference Figure 1 This embodiment is specifically described, including the following steps:
[0075] S1: Power on and preheat the rate integral hemispherical resonator gyroscope to bring it into normal working condition;
[0076] S2: Utilize a digital control circuit to acquire the two sets of electrode detection signals U during normal operation of the rate integral hemispherical resonator gyroscope. X and U Y ;
[0077] S3: The standing wave of a hemispherical harmonic oscillator can be decomposed into a set of traveling waves with the same amplitude but opposite directions. A digital control circuit is used to track the frequencies of the forward and reverse traveling waves in real time. In the digital control circuit, the frequencies of the forward and reverse traveling waves are ω′. p ,ωn The initial value of each ' is set to ω0;
[0078] S4: Implement the phase-locked loop function using a digital control circuit and generate two sets of signals p corresponding to the forward and reverse traveling waves. c ,p s ,n c ,n s Used as a demodulation reference signal;
[0079] S5: Using the two sets of generated reference signals, the electrode detection signal U is detected in the digital control circuit. X and U Y Demodulation is performed, and a low-pass filter is implemented through digital control circuitry to remove high-frequency components from the signal, thereby obtaining the primary demodulated value U of the gyroscope angular rate output. X_pc U X_ps U X_nc U X_ns U Y_pc U Y_ps U Y_nc U Y_ns ;
[0080] S6: In the digital control circuit, the primary demodulation quantity of the gyroscope angular rate output is combined and calculated to obtain the secondary demodulation quantity H, I, J, K of the gyroscope angular rate output;
[0081] S7: Further, based on the secondary demodulation quantity output by the gyroscope angular rate, the required demodulated signal phase is obtained.
[0082] S8: Demodulate signal phase As the input error quantity of the PI controller in the digital control circuit, and based on the output quantity of the PI controller, the real-time tracking of the forward and reverse traveling waves of the hemispherical harmonic oscillator can be achieved, and new forward and reverse traveling wave frequencies ω′ can be generated. p ,ω n Accordingly, according to the new forward and reverse traveling wave frequencies ω′ p ,ω n Repeat steps five through eight to achieve closed-loop real-time tracking of the forward and reverse traveling waves of the hemispherical harmonic oscillator; simultaneously execute step nine.
[0083] S9: Based on ω′ p ,ω n The frequencies ω′ of the forward and reverse traveling waves generated by the digital controller phase-locked loop p ,ω n 'Calculate and output the rate integral hemispherical resonant gyroscope sensitive axis angular rate input measurement value Ω'.
[0084] In summary, the angular rate output of the rate integral hemispherical resonator gyroscope was realized.
[0085] This application addresses the problem that the original rate integral hemispherical resonator gyroscope angular rate output method is greatly affected by noise and calculation accuracy. It proposes a rate integral hemispherical resonator gyroscope angular rate output method based on traveling wave frequency tracking. The key points of this invention are as follows:
[0086] 1. Based on the equivalent decomposition of the standing wave of the hemispherical harmonic oscillator, this application decomposes the vibration signal of the hemispherical harmonic oscillator into a set of traveling wave signals with the same amplitude but opposite directions. The frequency information of the traveling wave signals contains the rate integral of the hemispherical harmonic gyroscope's sensitive axis input angular rate information, as shown in the following formula.
[0087]
[0088] 2. This application uses a set of traveling wave signals with the same amplitude but opposite direction as the reference signal for signal demodulation, and gives a demodulation method that can obtain the angular rate output demodulation quantity. Its mathematical expressions are shown in Equations (4), (5) and (6).
[0089] 3. Based on the demodulation of the angular rate output, this application provides a corresponding data processing method to obtain the key information in equation (7). The processing method is shown in equation (8) and equation (9). Innovatively, the result is used as the error quantity required in the closed-loop control circuit of the phase-locked loop in the digital control circuit, thereby realizing the closed-loop real-time tracking of the forward and reverse traveling wave frequencies of the hemispherical resonator.
[0090] 4. This application presents the relationship between the forward and reverse traveling wave frequencies of the hemispherical resonator and the measured angular rate of the gyroscope's sensitive axis, as shown in Equation (10). This enables the angular rate output of the rate integral hemispherical resonator gyroscope. This method is easy to implement and can effectively improve the gyroscope's output accuracy, zero-bias stability, scaling factor linearity, and other performance indicators.
[0091] In summary, this application can effectively improve the angular rate output accuracy of rate integral hemispherical resonator gyroscopes, and further improve the performance indicators such as zero-bias stability and scaling factor linearity of the gyroscope. It plays a prominent role in the development of rate integral hemispherical resonator gyroscopes, and the effectiveness of this method is of great significance for the widespread application of rate integral hemispherical resonator gyroscopes.
[0092] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.
Claims
1. A method for outputting the angular rate of a rate-integral hemispherical resonant gyroscope, characterized in that, include: Step 1: Obtain the natural operating frequency of the rate integral hemispherical resonator gyroscope to be controlled; use the natural operating frequency as the initial value of the forward and reverse traveling wave frequencies, and use a phase-locked loop (PLL) circuit to calculate and obtain the reference signals for the forward and reverse traveling waves. Step 2: Acquire two sets of electrode detection signals when the rate integral hemispherical resonator gyroscope is working normally; use the reference signals of the forward traveling wave and the reverse traveling wave as demodulation reference signals, and use a low-pass filter to demodulate the electrode detection signals once to obtain the first demodulation amount of the gyroscope output angular rate; Step 3: Use the primary demodulation of the gyroscope output angular rate to perform a sine-cosine corresponding combination to obtain the secondary demodulation of the gyroscope angular rate output; Step 4: Using the gyroscope angular rate to output the secondary demodulation quantity, calculate the phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals described in Step 1. Step 5: Use the phase difference as the input to the PI controller to calculate the current forward and reverse traveling wave reference signals. Use this reference signal as the demodulation reference signal for the next moment and return to step 2 until the rate integral hemispherical resonator gyroscope acquisition work is completed. At the same time, use the frequency of the forward and reverse traveling wave reference signals at the current moment to calculate the angular rate measurement value of the sensitive axis of the rate integral hemispherical resonator gyroscope.
2. The rate integral hemispherical resonator angular rate output method according to claim 1, characterized in that, In step one, the reference signals for the forward and reverse traveling waves are: Where, p c ,p s ,n c ,n s These are, respectively, the forward traveling wave cosine reference signal, the forward traveling wave sine reference signal, the reverse traveling wave cosine reference signal, and the reverse traveling wave sine reference signal; ω′ p ,ω n ′ represents the frequencies of the forward and reverse traveling waves generated by the phase-locked loop of the digital controller, respectively. The phase of the reference signal generated by the phase-locked loop, ω′ p ,ω n The initial value of each of the '' is ω0.
3. The rate integral hemispherical resonant gyroscope angular rate output method according to claim 2, characterized in that, In step two, the two sets of electrode detection signals collected when the rate integral hemispherical resonator gyroscope is operating normally are: Among them, U X and U Y The two sets of electrode detection signals represent the rate integral of the hemispherical resonator gyroscope during normal operation. G is the signal gain of the detection circuit, a is the amplitude of the hemispherical resonator oscillation, k is the precession factor of the hemispherical resonator gyroscope, Ω is the input angular rate of the sensitive axis of the hemispherical resonator gyroscope, t is the gyroscope operating time, θ0 is the initial standing wave azimuth angle of the hemispherical resonator oscillation, and ω0 is the natural frequency of the hemispherical resonator gyroscope. This represents the initial time phase of the hemispherical resonant gyroscope.
4. The rate integral hemispherical resonator angular rate output method according to claim 3, characterized in that, In step two, a low-pass filter is used to demodulate the electrode detection signal once, and the demodulated value of the gyroscope output angular rate is obtained as follows: in, Among them, U X_pc U X_ps U X_nc U X_ns U Y_pc U Y_ps U Y_nc U Y_ns These represent the first-order demodulation of the sine and cosine of the forward traveling wave and the first-order demodulation of the cosine of the reverse traveling wave, respectively, when the rate integral hemispherical resonator gyroscope is operating normally, detected by the two sets of electrodes.
5. The rate integral hemispherical resonator angular rate output method according to claim 4, characterized in that, In step three, the sine and cosine corresponding combinations of the primary demodulation value of the gyroscope output angular rate are used to obtain the secondary demodulation value of the gyroscope output angular rate: H is the sum of the first-order demodulation of the sine and cosine of the forward traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; I is the difference between the first-order demodulation of the sine and cosine of the forward traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; J is the difference between the first-order demodulation of the cosine and sine of the reverse traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally; and K is the sum of the first-order demodulation of the sine and cosine of the reverse traveling wave of the two sets of electrode detection signals when the rate integral hemispherical resonator is operating normally.
6. The rate integral hemispherical resonator angular rate output method according to claim 5, characterized in that, In step four, the phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals is calculated as follows: These are the phase differences between the forward and reverse traveling waves of the two sets of electrode detection signals and the reference signals of the forward and reverse traveling waves, respectively.
7. The rate integral hemispherical resonator angular rate output method according to claim 6, characterized in that, In step five, the method for calculating the forward and reverse traveling wave reference signals at the current moment using the aforementioned phase difference is as follows: The phase difference between the forward and reverse traveling waves of the two sets of electrode detection signals and the forward and reverse traveling wave reference signals. As input to the PI controller, the frequencies of the forward and reverse traveling wave reference signals are obtained. Using the frequencies of the reference signals, the frequency of the reference signals is used as input to the signal generator to obtain the forward and reverse traveling wave reference signals at the current moment.
8. The rate integral hemispherical resonant gyroscope angular rate output method according to claim 7, characterized in that, In step five, the frequencies of the forward and reverse traveling wave reference signals at the current moment are: Where, k p k is the gain of the proportional element of the PI controller. i Let be the integral gain of the PI controller, i represent time, and m = 0, 1, 2, ..., i.
9. The rate integral hemispherical resonator angular rate output method according to claim 8, characterized in that, In step five, the calculated rate integral hemispherical resonant gyroscope sensitive axis angular rate measurement Ω′ is: