Servo turntable for performance test of hemispherical resonator gyro and test method thereof

Abstract

The application discloses a servo turntable for testing performance of a hemispherical resonator gyro and a testing method thereof, and aims at solving the problems of traditional gyro performance testing technology, such as time-consuming, laborious, narrow adaptation, and incapability of simultaneously and conveniently testing performances of various hemispherical resonator gyros. The servo turntable comprises a turntable base, a rotary table body, a motor, a circular grating, a digital servo controller, a measurement and control computer, and a power supply. The turntable base is provided with a rotatable rotary shaft. The rotary table body is fixedly installed in the middle of the rotary shaft and is used for installing a gyro to be tested. The stator of the motor is fixedly connected with the turntable base, and the rotor of the motor is fixedly connected with one end of the rotary shaft and is used for driving the rotary shaft, the rotary table body and the gyro to be tested to rotate. The circular grating is installed at the other end of the rotary shaft and is used for measuring the rotation angle information of the gyro to be tested. The digital servo controller is installed on the turntable base and is connected with the circular grating, the motor, the measurement and control computer, the power supply and the gyro to be tested. The power supply is used for power supply.

Description

Technical Field

[0001] This invention relates to servo turntables, and more specifically to a servo turntable and its testing method for testing the performance of hemispherical resonant gyroscopes. Background Technology

[0002] Hemispherical resonator gyroscopes, with their simple structure, high reliability, ultra-long lifespan, and high precision potential, have become a new generation of gyroscopes with broad application prospects. Hemispherical resonator gyroscopes are divided into three categories: force-balanced hemispherical resonator gyroscopes, full-angle hemispherical resonator gyroscopes, and hybrid hemispherical resonator gyroscopes. The force-balanced hemispherical resonator gyroscope is equivalent to an angular rate gyroscope, the hybrid hemispherical resonator gyroscope is equivalent to an integral gyroscope, and the full-angle hemispherical resonator gyroscope can operate in both angular rate gyroscope and integral gyroscope modes. The main performance indicators of each type of gyroscope include zero-point and its drift, scaling factor and its linearity. Because the transmission characteristics of different types of hemispherical resonator gyroscopes differ, different testing equipment and measurement methods are required to measure the performance indicators of each type.

[0003] Currently, performance testing of angular rate gyroscopes requires high-precision position and rate turntables, and manual assembly and disassembly of the gyroscope and control of the turntable are also necessary during testing. For integral gyroscopes, a dedicated gyroscope servo circuit board is required to make the output characteristics of the integral gyroscope equivalent to those of an angular rate gyroscope, and then the performance of the integral gyroscope is tested using the same methods as for angular rate gyroscopes. These traditional gyroscope performance testing techniques are time-consuming, labor-intensive, and have limited applicability, making it impossible to conveniently and quickly test the performance of various hemispherical resonator gyroscopes simultaneously. Summary of the Invention

[0004] The purpose of this invention is to provide a servo turntable and its testing method for testing the performance of hemispherical resonant gyroscopes, so as to solve the technical problems of traditional gyroscope performance testing technology being time-consuming, labor-intensive, and having a narrow range of applications, and being unable to conveniently and quickly test the performance of various types of hemispherical resonant gyroscopes at the same time.

[0005] To achieve the above objectives, the present invention provides a servo turntable for testing the performance of a hemispherical resonant gyroscope, which is characterized by including a turntable base, a rotary table body, a motor, a circular grating, a digital servo controller, a measurement and control computer, and a power supply.

[0006] The turntable base is equipped with a rotatable rotary shaft;

[0007] The rotary table body is fixedly installed in the middle of the rotary shaft for mounting the gyroscope to be tested;

[0008] The stator of the motor is fixedly connected to the turntable base, and its rotor is fixedly connected to one end of the rotary shaft, which is used to drive the rotary shaft, the turntable body and the gyroscope to be tested to rotate.

[0009] The circular grating is installed at the other end of the rotation axis and is used to measure the rotation angle information of the gyroscope under test;

[0010] The digital servo controller is mounted on the turntable base and is connected to the circular grating, motor, measurement and control computer, power supply and the gyroscope under test. It is used to receive the rotation angle information measured by the circular grating and the output information of the gyroscope under test, and send them to the measurement and control computer for display, recording and analysis. At the same time, it receives the instructions sent by the measurement and control computer to control the rotation of the motor.

[0011] The power source is used for supplying power.

[0012] Furthermore, the digital servo controller includes a data processing unit and an H-bridge power amplifier module connected to the data processing unit;

[0013] The output of the H-bridge power amplifier module is connected to the motor.

[0014] The data processing unit includes a DSP, as well as an FPGA and a FLASH memory connected to the DSP;

[0015] The FPGA receives the output information of the gyroscope under test and the rotation angle information measured by the circular grating through the communication interface;

[0016] The DSP includes a gyroscope information processing module, a rotation angle information processing module, a data communication module, a working mode scheduling module, a rate rotation mode control calculation module, a precise rotation mode control calculation module, and an inertial stability mode control calculation module.

[0017] The gyroscope information processing module is used to perform digital filtering preprocessing on the received output information of the gyroscope under test, and then transmit it to the measurement and control computer through the data communication module;

[0018] The corner information processing module is used to perform digital filtering preprocessing on the received circular grating corner information, and then transmit it to the measurement and control computer through the data communication module;

[0019] The data communication module receives and interprets the instructions from the measurement and control computer and sends them to the working mode scheduling module. On the other hand, it sends the rotation angle information and the output information of the gyroscope under test to the measurement and control computer for display, recording and analysis.

[0020] The working mode scheduling module activates the rate rotation mode control calculation module, the precise rotation mode control calculation module, or the inertial stability mode control calculation module according to the received instructions, and transmits the target information, rotation angle information, and gyroscope information carried by the instructions to the rate rotation mode control calculation module, the precise rotation mode control calculation module, or the inertial stability mode control calculation module.

[0021] The speed rotation mode control calculation module, the precise rotation mode control calculation module, and the inertial stability mode control calculation module are respectively used to complete digital control calculation, generate torque commands, and output them to the H-bridge power amplifier module to drive the motor.

[0022] The FLASH memory is used to store the gyroscope information processing module, the rotation angle information processing module, the data communication module, the working mode scheduling module, the rate rotation mode control calculation module, the precise rotation mode control calculation module, and the inertial stability mode control calculation module.

[0023] Furthermore, the motor is a DC torque motor.

[0024] Furthermore, the DSP is a TMS320C6713.

[0025] Furthermore, the FPGA also includes a programmable PWM wave generator;

[0026] The output of the programmable PWM wave generator is connected to the input of the H-bridge power amplifier module. It is used to generate a PWM wave according to the torque command and drive the DC torque motor after being amplified by the H-bridge power amplifier.

[0027] Furthermore, the communication interface includes a Biss interface and an RS422 serial port;

[0028] The FPGA is connected to the circular grating via the Biss interface and to the gyroscope under test via the RS422 serial port.

[0029] Furthermore, the DSP is connected to the FLASH memory and the FPGA via the EMIF data bus.

[0030] Meanwhile, the present invention also provides a testing method for the servo turntable used for testing the performance of a hemispherical resonant gyroscope, the method being particularly characterized by including the following steps:

[0031] Step 1: Install the gyroscope to be tested onto the rotary table;

[0032] Step 2: The measurement and control computer sends a preset command to the digital servo controller to control the rotation of the rotary table. At the same time, the measurement and control computer receives the rotation angle information output by the circular grating and the output information of the gyroscope under test, and calculates the scaling factor and linearity of the gyroscope under test, or calculates the zero position and drift of the gyroscope under test, in combination with the rotation information of the rotary table.

[0033] Further, in step 1, the gyroscope under test is a force-balanced hemispherical resonant gyroscope or a full-angle hemispherical resonant gyroscope in angular rate mode, and when measuring the scaling factor and linearity of the gyroscope under test, the force-balanced hemispherical resonant gyroscope or the full-angle hemispherical resonant gyroscope is mounted on the rotary table in an orientation in which its gyroscope input axis is parallel to the rotation axis.

[0034] In step 2, the measurement and control computer sends an instruction to the working mode scheduling module to activate the rate rotation mode control calculation module;

[0035] Alternatively, in step 1, the gyroscope under test is a force-balanced hemispherical resonant gyroscope or a full-angle hemispherical resonant gyroscope in angular rate mode, and when measuring the zero position and drift of the gyroscope under test, the force-balanced hemispherical resonant gyroscope or the full-angle hemispherical resonant gyroscope is mounted on the rotary table in an orientation where its gyroscope input axis is perpendicular to the rotation axis.

[0036] In step 2, the measurement and control computer sends an instruction to the working mode scheduling module to activate the precise transposition mode control calculation module;

[0037] Alternatively, in step 1, the gyroscope under test is a hybrid hemispherical resonator or an integral mode full-angle hemispherical resonator, and when measuring the zero position and drift of the gyroscope under test, the hybrid hemispherical resonator or full-angle hemispherical resonator is mounted on the rotary table in an orientation where its gyroscope input axis is parallel to the rotation axis.

[0038] In step 2, the measurement and control computer sends an instruction to the working mode scheduling module to activate the inertial stable mode control solution module.

[0039] The beneficial effects of this invention are:

[0040] 1. This invention provides a single-axis, multi-mode precision servo turntable, employing a digital automatic control scheme, which offers advantages such as high measurement accuracy, ease of operation, flexible use, and time and labor savings. Practical tests show that the servo turntable provided by this invention can conveniently and quickly perform performance testing on force-balanced hemispherical resonator gyroscopes, full-angle hemispherical resonator gyroscopes, and hybrid hemispherical resonator gyroscopes.

[0041] 2. This invention provides an angle measuring component that uses a circular grating as the rotation angle of a rotary table, which has the advantages of high measurement accuracy and resolution, low noise, ability to measure absolute angular position, and digital output; and a DC torque motor that uses a DC torque motor as the driving component for the rotation of the rotary table, which has the advantages of simple control, good linearity of input-output transmission characteristics, direct drive of load without transmission mechanism, and maturity and reliability. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of a servo turntable embodiment of the present invention for testing the performance of a hemispherical resonant gyroscope;

[0043] Figure 2 This is a block diagram illustrating the working principle of the digital servo controller in an embodiment of the present invention;

[0044] Figure 3 This is a hardware block diagram of the digital servo controller in an embodiment of the present invention;

[0045] Figure 4 This is a block diagram illustrating the working principle of the rate rotation mode control calculation module in this embodiment of the invention.

[0046] Figure 5 This is a block diagram illustrating the working principle of the precise transposition mode control calculation module in this embodiment of the invention.

[0047] Figure 6 This is a block diagram illustrating the working principle of the inertial stability mode control calculation module in this embodiment of the invention.

[0048] Icon labels:

[0049] 1-Turntable base, 11-Rotation axis, 2-Turntable body, 3-Motor, 4-Circular grating, 5-Digital servo controller, 6-Measurement and control computer, 7-Power supply, 8-Gyroscope under test. Detailed Implementation

[0050] This invention provides a single-axis, multi-working-mode, digitally servo-controlled precision servo turntable. This servo turntable can be used to conveniently and quickly perform performance testing on force-balanced hemispherical resonator gyroscopes, full-angle hemispherical resonator gyroscopes, and hybrid hemispherical resonator gyroscopes.

[0051] like Figure 1 As shown, the hardware components of this invention are as follows: A rotary shaft 11 capable of single-axis rotation is mounted on a turntable base 1. A turntable body 2 is fixedly mounted in the middle of the rotary shaft 11. An angle measuring component, a circular grating 4, is mounted at one end of the rotary shaft 11, and a torque applying component, a DC torque motor 3, is mounted at the other end. A gyroscope 8 to be tested is mounted on the turntable body 2. A digital servo controller 5 is mounted on the turntable base 1. Through the wiring harness laid inside the turntable base 1, the digital servo controller 5 can receive the output information from the circular grating 4 and the gyroscope 8 to be tested, and can also control the electromagnetic torque output by the DC torque motor 3. Through an external cable, the digital servo controller 5 can communicate with a measurement and control computer 6, receive instructions from the measurement and control computer 6, and send gyroscope data, turntable rotation angle, and other information. A power supply 7 is used to power the turntable system.

[0052] The working principle of this invention is as follows: Figure 2As shown, since the digital servo controller 5 is the core component of the servo turntable for control scheduling and calculation, data acquisition and communication, and motor drive, the working principle will be explained below with the digital servo controller 5 as the core. The digital servo controller 5 is an integrated control unit combining hardware and software. The hardware of the digital servo controller 5 includes a DSP, an FPGA and FLASH memory connected to the DSP, and an H-bridge power amplifier module; the FPGA receives the output information of the gyroscope 8 under test and the rotation angle information measured by the circular grating 4 through the gyroscope interface (i.e., RS422 serial port) and the circular grating interface (i.e., Biss interface); the DSP is the hardware platform for running the digital servo controller software, the gyroscope interface receives the output information of the gyroscope 8 under test, the circular grating interface receives the rotation angle information measured by the circular grating 4 of the turntable body 2, and the output of the H-bridge power amplifier module is connected to the motor 3; the FLASH memory is used for software; the torque command output by the software controls the DC torque motor to output electromagnetic torque after passing through the H-bridge power amplifier module. The digital servo controller 5 software is designed according to the modular principle. The software includes a gyroscope information processing module, a rotation angle information processing module, a data communication module, a working mode scheduling module, a rate rotation mode control calculation module, a precise rotation mode control calculation module, and an inertial stability mode control calculation module. The gyroscope information processing module and the angle information processing module perform digital filtering preprocessing on the acquired angle information and the output information of the gyroscope 8 under test. The data communication module receives and interprets instructions from the control computer 6, and simultaneously sends the acquired angle information and the output information of the gyroscope 8 under test to the control computer 6 for display, recording, and analysis. It also sends these to the working mode scheduling module for turntable servo control. The working mode scheduling module activates the corresponding control calculation module (i.e., the rate rotation mode control calculation module, the precise rotation mode control calculation module, or the inertial stability mode control calculation module) according to the received instructions, and transmits the instruction target information, angle information, and the output information of the gyroscope 8 under test to the activated control calculation module via a software switch. The rate rotation mode control calculation module, the precise rotation mode control calculation module, or the inertial stability mode control calculation module completes the digital control calculation of the servo turntable according to the corresponding working mode, generates torque instructions, and outputs them to the H-bridge power amplifier module. The digital servo controller 5 hardware and software are configured according to... Figure 2 The working principle shown constitutes the digital automatic control loop for the corresponding working mode of the servo turntable.

[0053] The servo turntable of this invention has three working modes: rate rotation, precise indexing, and inertial stabilization. These three modes allow for the testing of various performance characteristics of different hemispherical resonator gyroscopes: the rate rotation mode (when the rate rotation mode control calculation module is activated) can be used to test the scaling factor and linearity of force-balanced or full-angle hemispherical resonator gyroscopes (angular rate mode); the precise indexing mode (when the precise indexing mode control calculation module is activated) can test the zero position and drift of force-balanced or full-angle hemispherical resonator gyroscopes (angular rate mode), and the scaling factor and linearity of hybrid or full-angle hemispherical resonator gyroscopes (integral mode); and the inertial stabilization mode (when the inertial stabilization mode control calculation module is activated) can test the zero position and drift of hybrid or full-angle hemispherical resonator gyroscopes (integral mode).

[0054] The circular grating 4, used as the angle measuring component for the rotary table 2, offers advantages such as high measurement accuracy and resolution, low noise, the ability to measure absolute angular position, and digital output. The DC torque motor, used as the drive component for the rotation of the rotary table 2, boasts advantages such as simple control, good linearity in input-output transmission characteristics, direct load drive without a transmission mechanism, and mature and reliable operation. Considering overall performance, the circular grating 4 and the DC torque motor are ideal components for constructing a medium-to-low speed servo rotary table.

[0055] The Digital Servo Controller 5 is custom-developed for this application scenario. The hardware block diagram of the Digital Servo Controller 5 is shown below. Figure 3 As shown. The CPU of the digital servo controller is a TMS320C6713 DSP; the peripherals required for the digital servo controller include a Biss interface, an RS422 serial port, and a programmable PWM wave generator, which are implemented by FPGA programming; the DSP realizes data reading and writing with the FLASH memory and FPGA chip through the EMIF data bus; the PWM wave is amplified by the H-bridge power amplifier module to become the drive signal of the DC torque motor.

[0056] To accommodate testing of different types of hemispherical resonator gyroscopes, this embodiment features a servo turntable with three operating modes: rate rotation, precise indexing, and inertial stabilization. The differences between these three modes lie in the control target and feedback quantity, leading to different designs for the corresponding control loop correction stages. The working principle of the rate rotation mode is as follows: Figure 4 As shown, the control objective of the rate rotation mode is to make the rotary table 2 rotate at a uniform speed according to the commanded rate, providing rotational excitation at various speeds for the gyroscope 8 to be tested mounted on the rotary table 2. The working principle of the precise indexing mode is as follows: Figure 5As shown, the precise rotation mode control objective is to precisely rotate the rotary table 2 to the commanded angle position and lock it, providing precise input axis orientation rotation control for the gyroscope 8 under test, or providing precise angular displacement excitation for the gyroscope 8 mounted on the rotary table 2. The working principle of the inertial stabilization mode is as follows: Figure 6 As shown, the goal of the inertial stabilization mode control is to keep the standing wave angle of the hemispherical resonant gyroscope at the set operating point, providing an inertial measurement reference for measuring the zero position and drift of the gyroscope under test in the integral gyroscope mode.

[0057] The following describes the method for testing the performance of various hemispherical resonant gyroscopes using different operating modes of the servo turntable developed in this invention.

[0058] (1) Rate Rotation Working Mode. Method for measuring the scaling factor and linearity of a force-balanced hemispherical resonator gyroscope or a full-angle hemispherical resonator gyroscope (angular rate mode): The gyroscope 8 to be tested is mounted on the rotary table 2 with the input axis of the gyroscope 8 parallel to the rotation axis 11. The servo turntable rotates the rotary table 2 at the set speed, and at the same time outputs the angular rate information of the gyroscope to be tested and the rotation information of the turntable. By analyzing these data, the scaling factor and linearity of the angular rate gyroscope can be estimated.

[0059] (2) Precise Rotation Working Mode. Method for measuring the zero position and drift of a force-balanced hemispherical resonator gyroscope or a full-angle hemispherical resonator gyroscope (angular rate mode): The gyroscope 8 to be tested is mounted on the rotary table 2 with its input axis perpendicular to the rotation axis 11. The servo turntable rotates the table 2 and locks it according to the set azimuth angle and locking time after reaching the target position. Simultaneously, it outputs the angular rate information of the gyroscope and the turntable azimuth angle information. By analyzing and processing the gyroscope output at various specific azimuth positions, the zero position and drift of the angular rate gyroscope can be estimated. Method for measuring the scaling factor and linearity of a hybrid hemispherical resonator gyroscope or a full-angle hemispherical resonator gyroscope (integral mode): The gyroscope 8 to be tested is mounted on the rotary table 2 with its input axis parallel to the rotation axis 11. The servo turntable rotates according to the set angular displacement. Simultaneously, it outputs the standing wave angle information of the gyroscope and the turntable rotation angle information. By analyzing these data, the scaling factor and linearity of the integral gyroscope can be estimated.

[0060] (3) Inertial Stable Working Mode. Method for measuring the zero position and drift of a hybrid hemispherical resonator gyroscope or a full-angle hemispherical resonator gyroscope (integral mode): Install the gyroscope on the rotary table with the gyroscope input axis parallel to the table's rotation axis. The servo turntable enters the inertial stable working mode. At this time, the gyroscope standing wave angle remains unchanged at the working point. The gyroscope and the table are isolated from the ground speed component and interference torque. The change in the turntable's rotation angle corresponds to the gyroscope's zero position and drift. By recording and analyzing the change data of the turntable's rotation angle, the zero position and drift of the integral gyroscope can be estimated.

Claims

1. A servo turntable for testing the performance of a hemispherical resonant gyroscope, characterized in that: It includes a turntable base (1), a turntable body (2), a motor (3), a circular grating (4), a digital servo controller (5), a measurement and control computer (6), and a power supply (7); The turntable base (1) is provided with a rotatable rotary shaft (11). The rotary table body (2) is fixedly installed in the middle of the rotary shaft (11) for mounting the gyroscope (8) to be tested. The stator of the motor (3) is fixedly connected to the turntable base (1), and its rotor is fixedly connected to one end of the rotary shaft (11) to drive the rotary shaft (11), the turntable body (2) and the gyroscope (8) to be tested to rotate. The circular grating (4) is installed at the other end of the rotation axis (11) and is used to measure the rotation angle information of the gyroscope (8) under test; The digital servo controller (5) is mounted on the turntable base (1) and connected to the circular grating (4), motor (3), measurement and control computer (6), power supply (7), and the gyroscope (8) under test. It is used to receive the rotation angle information measured by the circular grating (4) and the output information of the gyroscope (8) under test, and send them to the measurement and control computer (6) for display, recording and analysis. At the same time, it receives the instructions sent by the measurement and control computer (6) to control the rotation of the motor (3). The digital servo controller (5) includes a data processing unit and an H-bridge power amplifier module connected to the data processing unit. The output end of the H-bridge power amplifier module is connected to the motor (3). The processing unit includes a DSP, an FPGA and a FLASH memory connected to the DSP; the FPGA receives the output information of the gyroscope under test (8) and the rotation angle information measured by the circular grating (4) through a communication interface; the DSP includes a gyroscope information processing module, a rotation angle information processing module, a data communication module, a working mode scheduling module, a rate rotation mode control calculation module, a precise rotation mode control calculation module and an inertial stability mode control calculation module; the gyroscope information processing module is used to perform digital filtering preprocessing on the received output information of the gyroscope under test (8) and then transmit it to the measurement and control computer (6) through the data communication module; the rotation angle The information processing module is used to perform digital filtering preprocessing on the received circular grating (4) rotation information, and then transmit it to the measurement and control computer (6) through the data communication module. The data communication module receives and interprets the instructions of the measurement and control computer (6) and sends them to the working mode scheduling module. On the other hand, it sends the rotation information and the output information of the gyroscope (8) under test to the measurement and control computer (6) for display, recording and analysis. The working mode scheduling module activates the rate rotation mode control calculation module, the precise rotation mode control calculation module or the inertial stability mode control calculation module according to the received instructions, and transmits the target information and rotation information carried by the instructions to the measurement and control computer (6) for display, recording and analysis. The gyroscope information is transmitted to the rate rotation mode control calculation module, the precise rotation mode control calculation module, or the inertial stability mode control calculation module; the rate rotation mode control calculation module, the precise rotation mode control calculation module, and the inertial stability mode control calculation module are respectively used to complete digital control calculation, generate torque commands and output them to the H-bridge power amplifier module to drive the motor (3); the FLASH memory is used to store the gyroscope information processing module, the rotation angle information processing module, the data communication module, the working mode scheduling module, the rate rotation mode control calculation module, the precise rotation mode control calculation module and the inertial stability mode control calculation module; The power supply (7) is used to supply power.

2. The servo turntable for testing the performance of a hemispherical resonator gyroscope according to claim 1, characterized in that: The motor (3) is a DC torque motor.

3. The servo turntable for testing the performance of a hemispherical resonant gyroscope according to claim 1, characterized in that: The DSP used is a TMS320C6713.

4. The servo turntable for testing the performance of a hemispherical resonant gyroscope according to claim 3, characterized in that: The FPGA also includes a programmable PWM wave generator; The output of the programmable PWM wave generator is connected to the input of the H-bridge power amplifier module. It is used to generate a PWM wave according to the torque command and drive the DC torque motor after being amplified by the H-bridge power amplifier.

5. The servo turntable for testing the performance of a hemispherical resonator gyroscope according to claim 4, characterized in that: The communication interface includes a Biss interface and an RS422 serial port; The FPGA is connected to the circular grating (4) via the Biss interface and to the gyroscope (8) under test via the RS422 serial port.

6. The servo turntable for testing the performance of a hemispherical resonator gyroscope according to claim 5, characterized in that: The DSP is connected to the FLASH memory and FPGA via the EMIF data bus.

7. A test method for a servo turntable for testing the performance of a hemispherical resonant gyroscope as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Install the gyroscope (8) to be tested onto the rotary table (2); Step 2: The measurement and control computer (6) sends a preset command to the digital servo controller (5) to control the rotation of the rotary table (2). At the same time, the measurement and control computer (6) receives the rotation angle information output by the circular grating (4) and the output information of the gyroscope (8) under test. It calculates the scaling factor and linearity of the gyroscope (8) under test by combining the rotation information of the rotary table (2), or calculates the zero position and drift of the gyroscope (8) under test. In step 1, the gyroscope to be tested (8) is a force-balanced hemispherical resonant gyroscope or a full-angle hemispherical resonant gyroscope in angular rate mode. When measuring the scaling factor and linearity of the gyroscope to be tested (8), the force-balanced hemispherical resonant gyroscope or the full-angle hemispherical resonant gyroscope is installed on the rotary table (2) in the orientation where its gyroscope input axis is parallel to the rotation axis (11). In step 2, the measurement and control computer (6) sends an instruction to the working mode scheduling module to activate the rate rotation mode control calculation module; Alternatively, in step 1, the gyroscope to be tested (8) is a force-balanced hemispherical resonant gyroscope or a full-angle hemispherical resonant gyroscope in angular rate mode, and when measuring the zero position and drift of the gyroscope to be tested (8), the force-balanced hemispherical resonant gyroscope or the full-angle hemispherical resonant gyroscope is mounted on the rotary table body (2) in the orientation that its gyroscope input axis is perpendicular to the rotation axis (11). In step 2, the measurement and control computer (6) sends an instruction to the working mode scheduling module to activate the precise transposition mode control calculation module; Alternatively, in step 1, the gyroscope to be tested (8) is a hybrid hemispherical resonant gyroscope or an integral mode full-angle hemispherical resonant gyroscope, and when measuring the zero position and drift of the gyroscope to be tested (8), the hybrid hemispherical resonant gyroscope or the full-angle hemispherical resonant gyroscope is installed on the rotary table body (2) in the orientation that its gyroscope input axis is parallel to the rotation axis (11). In step 2, the measurement and control computer (6) sends an instruction to the working mode scheduling module to activate the inertial stable mode control solution module.

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