Hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation method and system

Abstract

The application discloses a method and system for compensating for phase inconsistency errors of detection channel signals of a hemispherical resonator gyro, and belongs to the technical field of hemispherical resonator gyro detection. In order to solve the problem of inaccurate measurement and control precision of the hemispherical resonator gyro caused by phase inconsistency of the detection channel of the hemispherical resonator gyro, the application simultaneously connects a sine signal generated by a signal generator into x and y two-channel buffer circuits of a gyro control circuit, and then converts the sine signal into a digital signal; each signal in two groups of reference signals generated based on a frequency control loop is set as a signal with a different initial phase, and is recorded as a replacement reference signal; multiplication demodulation is performed on the x and y two-channel signals which have been converted into the digital signal and the replacement reference signal, and then first demodulation quantities Cx, Cy, Sx and Sy are obtained after the multiplication demodulation is performed via a low-pass filter, and a phase difference after the two-channel demodulation is identified; and the identified phase difference is compensated for by modifying initial phases of the two groups of reference signals generated by the frequency control loop.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hemispherical resonator gyroscope detection, and particularly relates to a hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation method and system. BACKGROUND

[0002] As a new generation of inertial navigation device, the hemispherical resonator gyroscope has the advantages of simple structure, high measurement accuracy, low failure rate and long service life, and has been widely used in the fields of aviation, aerospace and navigation.

[0003] The hemispherical resonator gyroscope represents the input angle of the outside world by measuring the stationary wave azimuth angle of the freely precessing hemispherical resonator vibration. The hemispherical resonator gyroscope composed of a hemispherical resonator with high quality factor and a flat plate electrode can achieve extremely high measurement accuracy. By using two detection signals on the sensitive flat plate electrode, the angle measurement can be realized by demodulation and control. However, the buffer analog circuit in the front end of the ADC in the actual circuit cannot guarantee that the two detection signals have the same phase delay. The inconsistency of the phase of the two signals will cause errors in the demodulated measurement angle and the control quantity, and thus affect the accuracy of the gyroscope. It is very important to compensate the phase of the rate integration hemispherical resonator gyroscope circuit detection channel through digital circuit to improve the accuracy of the gyroscope. SUMMARY

[0004] The purpose of the application is to solve the problem of inaccurate measurement and control accuracy of the hemispherical resonator gyroscope caused by the inconsistency of the phase of the hemispherical resonator gyroscope detection channel, and to propose a hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation method and system.

[0005] A hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation method, comprising the following steps:

[0006] Step 1: a signal generator is used to generate a sinusoidal signal with a frequency of ω, which is connected to the x and y channel buffer circuits of the gyroscope control circuit, and the two signal outputs are converted into digital signals through ADC; each signal in the two groups of reference signals generated based on the frequency control loop is set as a signal with different initial phase, denoted as a replacement reference signal; the x and y two signals converted into digital signals are multiplied with the replacement reference signal for demodulation, and then a low-pass filter is used to obtain the first demodulation quantity Cx, Cy, Sx and Sy:

[0007]

[0008] Wherein, A1 and A2 are the amplitude of the sinusoidal signal converted into digital signals through the x and y channel ADC circuits, and φ1 and φ2 are the amplitude of the sinusoidal signal converted into digital signals through the x and y channel ADC circuits; t represents time; 、 is one of the two groups of reference signals corresponding to the signals with different initial phases set as 、 is one of the two groups of reference signals corresponding to the signals with different initial phases set as; φ r is a reference signal 、 phase of is the initial phase corresponding to the signal pair set as for each group of signals in the two groups of reference signals, which is also the phase to be compensated;

[0009] Step 2, based on the demodulation quantities Cx, Cy, Sx, Sy, identify the phase difference after the two channels ;

[0010] Step 3, compensate for the phase difference identified in step 2 by modifying the initial phases of the two groups of reference signals generated by the frequency control loop;

[0011] Step 4, observe Cx, Cy, Sx, Sy after compensation in step 3, repeat steps 2 and 3 for iterative compensation until Cx=Cy=0 is satisfied.

[0012] Further, the digital signals converted from the x, y channel buffer circuit signals after ADC are as follows:

[0013]

[0014] where ω is the frequency of the input sinusoidal signal.

[0015] Further, the two groups of reference signals generated by the frequency control loop are .

[0016] Further, the replacement reference signals are as follows:

[0017]

[0018] .

[0019] Further, step 2 identifies the phase difference after the two channels .

[0020] A hemispherical resonator gyro detection channel signal phase inconsistency error compensation system, the system comprises:

[0021] The replacement reference signal generation unit sets each of the two groups of reference signals generated by the frequency control loop as a signal with a different initial phase, i.e., a replacement reference signal.

[0022] The multiplication demodulation unit performs multiplication demodulation on the x and y signals that have been converted into digital signals and the replacement reference signal, and obtains the first demodulation quantities Cx, Cy, Sx, and Sy via a low-pass filter.

[0023]

[0024] wherein A1 and A2 are the amplitudes of the sine signals converted into digital signals via the x and y channel ADC circuits, and φ1 and φ2 are the phases of the sine signals converted into digital signals via the x and y channel ADC circuits; t represents time. The two groups of reference signals are set as signals with different initial phases, respectively. The two groups of reference signals are set as signals with different initial phases, respectively. The two groups of reference signals are set as signals with different initial phases, respectively. The two groups of reference signals are set as signals with different initial phases, respectively. r The two groups of reference signals are set as signals with different initial phases, respectively. The two groups of reference signals are set as signals with different initial phases, respectively. The two groups of reference signals are set as signals with different initial phases, respectively.

[0025] The phase difference identification unit identifies the phase difference after the two-channel demodulation based on the first demodulation quantities Cx, Cy, Sx, and Sy.

[0026] The phase difference compensation unit compensates for the identified phase difference by modifying the initial phases of the two groups of reference signals generated by the frequency control loop.

[0027] The compensation observation unit observes Cx, Cy, Sx, and Sy after the compensation by the phase difference compensation unit, and determines whether Cx=Cy=0 is satisfied. If not, the signal is sent to the phase difference identification unit for continuous identification, and the phase difference is continuously compensated for by the phase difference compensation unit until Cx=Cy=0 is satisfied.

[0028] Further, the x and y signals that have been converted into digital signals are as follows:

[0029]

[0030] wherein ω is the frequency of the input sine signal.

[0031] ​​​​Further, the two groups of reference signals generated by the frequency control loop are .

[0032] Further, the replacement reference signals are as follows:

[0033]

[0034] .

[0035] Further, the phase difference recognition unit recognizes the phase difference after the two-channel transmission .

[0036] Advantages

[0037] Experiments are conducted using the present application, and the compensated Cx and Cy are stable near zero, the phase difference of the x and y channels of the control circuit of the hemispherical resonator gyroscope is reduced from the original 0.5362° to 0.0032°, and the compensation effect is obvious. The control precision and angle detection precision of the hemispherical resonator gyroscope are improved, the problem of inconsistent phase of signals after transmission through two detection channels caused by the buffer circuit in the circuit part of the hemispherical resonator gyroscope is effectively solved, and the overall performance of the hemispherical resonator gyroscope is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a control principle diagram of a rate integrating hemispherical resonator gyroscope.

[0039] Figure 2 is a phase error compensation principle block diagram of a rate integrating hemispherical resonator gyroscope circuit.

[0040] Figure 3 is an effect diagram of error compensation of the signal phase of the detection channel of the hemispherical resonator gyroscope using the present application. DETAILED DESCRIPTION

[0041] Specific implementation one: combining Figure 1 and Figure 2 explain the present embodiment,

[0042] The hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation method described in the present embodiment includes the following steps:

[0043] Step 1, a signal generator is used to generate a sinusoidal signal with a frequency of ω, the signal is simultaneously connected to the x and y channel buffer circuits of the gyroscope control circuit, and the two signal outputs are respectively converted into digital signals through ADC; the input signals of the x and y channels and the two groups of reference signals generated by the frequency control loop are multiplied and demodulated by the FPGA, and then the first demodulation amount Cx, Cy, Sx, and Sy are obtained after low-pass filtering.

[0044] Further, the step 1 described using signal generator to generate a frequency of ω sine signal, the signal is connected to the x, y two channels of the gyro control circuit buffer circuit, two signal output respectively via ADC conversion into digital signal; by FPGA to collect x, y two channel input signal and frequency control loop to produce two groups of reference signal multiplication demodulation via low pass filter after obtaining the first demodulation Cx, Cy, Sx, Sy process as follows:

[0045] Identification principle:

[0046] The hemispherical resonator gyro control loop as shown in Figure 1 Because the actual circuit buffer circuit is difficult to keep the parameters of components consistent, resulting in signal through x, y two channels after the phase delay and amplification gain is inconsistent, further resulting in hemispherical resonator gyro control and angle solution error, affect the performance of hemispherical resonator gyro. Because the signal directly output by the gyro exists frequency splitting, can not be used for the identification of inconsistent phase, using high precision signal generator to simulate the sine signal generated by the gyro dial, at this time, the digital signal converted by x, y two channel buffer circuit signal after ADC can be expressed as:

[0047] (1)

[0048] Wherein, A1, A2 respectively as the sine signal via x, y two channel ADC circuit after conversion into digital signal amplitude, ω is the frequency of input sine signal, φ1, φ2 is the sine signal via x, y two channel ADC circuit after conversion into digital signal amplitude; t represents time.

[0049] The reference signal of frequency control loop is generated by the NCO in the FPGA of digital circuit part, its form is as follows:

[0050] (2)

[0051] Wherein, ω is the frequency of reference signal, its value is equal to the frequency of input sine signal; φ r The phase of reference signal is controlled by frequency control loop.

[0052] The x, y two channel signals converted into digital signal are multiplied by the reference signal respectively, and the multiplied signal is filtered by low pass filter with a much lower cutoff frequency than ω, the demodulation signal can be obtained as follows:

[0053] (3)

[0054] Because the phase of reference signal φ r Is controlled by frequency control loop, so:

[0055] (4)

[0056] and:

[0057] (5)

[0058] Since φ1≠φ2, we have:

[0059] (6)

[0060] When the input signal amplitude is fixed, the size of Cx and Cy can represent the phase difference of the two input signals. The error of the first demodulation amount Cx, Cy, Sx, Sy caused by the inconsistent phase delay between the detection channels x and y can be compensated by using two groups of reference signals with different phases, thereby ensuring the accuracy of subsequent standing wave direction detection and control.

[0061] The process of obtaining the first demodulation amount Cx, Cy, Sx, Sy in the identification and compensation process:

[0062] The demodulation reference signal is replaced by two groups of signals with different initial phases as shown in Figure 2

[0063] (7)

[0064] (8)

[0065] wherein, is the initial phase of each group of signals in the two groups of reference signals, which is also the phase to be compensated.

[0066] The first demodulation amount after the original signal is multiplied by the replaced reference signal (7), (8) and low-pass filtered is:

[0067] (9)

[0068] Step 2, based on the first demodulation amount Cx, Cy, Sx, Sy, identify the phase difference after passing through the two channels :

[0069] (10)

[0070] Step 3, compensate for the phase difference identified in step 2 by modifying the initial phase of the two groups of reference signals generated by the frequency control loop;

[0071] ​Step 4, the Cx, Cy, Sx, Sy compensated in step 3 are observed, when the phase is completely compensated, Cx=Cy=0 should be met, therefore, steps 2 and 3 need to be repeated for iterative compensation until Cx=Cy=0 is met.

[0072] In the process of repeating steps 2 and 3 for iterative compensation until Cx=Cy=0 is met, the compensation Cx=Cy=0 can be achieved, that is, Cx=Cy=0 is achieved.

[0073] (11)

[0074] The phase compensated by the reference signal is the phase difference of the x and y detection channels:

[0075] (12).

[0076] The error compensation of the signal phase of the detection channel of the hemispherical resonator gyroscope is adopted, and the effect is as Figure 3 shown, Cx and Cy after compensation are stable near zero, the phase difference of the x and y channels of the hemispherical resonator gyroscope control circuit is reduced from 0.5362° to 0.0032°, and the compensation effect is obvious. The control accuracy and angle detection accuracy of the hemispherical resonator gyroscope are improved, which can effectively solve the problem of inconsistent phase of signals transmitted through two detection channels due to the buffer circuit of the hemispherical resonator gyroscope circuit part, and further improve the overall performance of the hemispherical resonator gyroscope. Specific implementation method two:

[0078] The embodiment is a hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation system, the system of the embodiment is a system for imbalance error identification and compensation set on the basis of the existing hemispherical resonator gyroscope digital control circuit, which can be considered as a software system or system plug-in in the control unit on the basis of the existing hemispherical resonator gyroscope digital control circuit, or it can be considered as a software system module added by the application on the basis of the existing hemispherical resonator gyroscope digital control circuit, and the system comprises:

[0079] The replacement reference signal generation unit: each signal in the two groups of reference signals generated by the frequency control loop is set as a signal with different initial phase, that is, a replacement reference signal;

[0080] The two groups of reference signals generated by the frequency control loop are as follows:

[0081]

[0082] The replacement reference signal is as follows:

[0083]

[0084]

[0085] Multiplication demodulation unit: multiply the x, y two-way signals converted into digital signals with the replacement reference signals, and obtain the first demodulation quantities Cx, Cy, Sx, Sy after low-pass filter:

[0086]

[0087] Wherein, A1, A2 are the amplitude of the sine signal converted into digital signals via the x, y two-channel ADC circuit, φ1, φ2 are the amplitude of the sine signal converted into digital signals via the x, y two-channel ADC circuit; t represents time; 、 One of the two groups of reference signals Corresponding to the signal with different initial phases 、 One of the two groups of reference signals Corresponding to the signal with different initial phases; φ r The phase of the reference signal 、 ; Each group of signals in the two groups of reference signals is set to the initial phase corresponding to the signal pair with different initial phases, which is also the phase to be compensated;

[0088] The x, y two-way signals converted into digital signals are as follows:

[0089]

[0090] Wherein, ω is the frequency of the input sine signal.

[0091] Phase difference identification unit: based on the first demodulation quantities Cx, Cy, Sx, Sy, identify the phase difference after the two-way channel ; Identify the phase difference after the two-way channel ;

[0092] Phase difference compensation unit: compensate the phase difference identified in step 2 by modifying the initial phase of the two groups of reference signals generated by the frequency control loop;

[0093] Compensation observation unit: observe Cx, Cy, Sx, Sy after compensation by the phase difference compensation unit, and determine whether Cx=Cy=0 is satisfied. If not, send a signal to the phase difference identification unit for continuous identification, and then continue compensation through the phase difference compensation unit until the compensation satisfies Cx=Cy=0.

[0094] The above calculation examples of the present application are only used to illustrate the calculation model and calculation process of the present application, and are not used to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art, and all the embodiments cannot be exhausted here. Any obvious changes or variations derived from the technical solutions of the present application are still within the protection scope of the present application.

Claims

1. A method for compensating for phase inconsistency error in the detection channel signal of a hemispherical resonant gyroscope, characterized in that, Includes the following steps: Step 1: Generate a sinusoidal signal with frequency ω using a signal generator. Simultaneously input this signal into the x and y channel buffer circuits of the gyroscope control circuit. The two signal outputs are converted into digital signals by an ADC. Each of the two sets of reference signals generated by the frequency control loop is set to have a different initial phase, denoted as the replacement reference signal. The x and y signals, now converted to digital signals, are multiplied and demodulated with the replacement reference signal. After passing through a low-pass filter, the demodulated values ​​Cx, Cy, Sx, and Sy are obtained. Where A1 and A2 are the amplitudes of the sine wave signal converted into digital signals after passing through the x and y channel ADC circuits, respectively, and φ1 and φ2 are the amplitudes of the sine wave signal converted into digital signals after passing through the x and y channel ADC circuits. , One of the two sets of reference signals The corresponding signals are set to have different initial phases. , One of the two sets of reference signals The corresponding signals are set to have different initial phases; φ r Reference signal , The phase; Each of the two sets of reference signals is set to an initial phase corresponding to a signal with a different initial phase, which is also the phase to be compensated. Step 2: Based on the demodulated values ​​Cx, Cy, Sx, and Sy, identify the phase difference after passing through the two channels. ; Step 3: Compensate for the phase difference identified in Step 2 by modifying the initial phase of the two sets of reference signals generated by the frequency control loop; Step 4: Observe Cx, Cy, Sx, Sy after compensation in Step 3, and repeat Step 2 and Step 3 for iterative compensation until the compensation satisfies Cx=Cy=0.

2. The method for compensating for phase inconsistency error in the detection channel signal of a hemispherical resonant gyroscope according to claim 1, characterized in that, The digital signals converted from the x and y channel buffer circuit signals by the ADC are as follows: Where ω is the frequency of the input sine signal, and t represents time.

3. The method for compensating for phase inconsistency error in the detection channel signal of a hemispherical resonant gyroscope according to claim 2, characterized in that, The two sets of reference signals generated by the frequency control loop are .

4. The method for compensating for phase inconsistency error in the detection channel signal of a hemispherical resonant gyroscope according to claim 3, characterized in that, The replacement reference signal is as follows: 。 5. A method for compensating for phase inconsistency error in the detection channel signal of a hemispherical resonant gyroscope according to any one of claims 1 to 4, characterized in that, Step 2: Identify the phase difference after passing through the two channels. .

6. A system for compensating for phase inconsistency error in the detection channel signal of a hemispherical resonant gyroscope, characterized in that, The system includes: Replacement reference signal generation unit: Each of the two sets of reference signals generated by the frequency control loop is set to a signal with a different initial phase, i.e., the replacement reference signal; Multiplication and Demodulation Unit: This unit performs multiplication and demodulation on the x and y signals (already converted to digital signals) and the substituted reference signal. The resulting demodulated values ​​are then passed through a low-pass filter to obtain the first demodulated values ​​Cx, Cy, Sx, and Sy. Where A1 and A2 are the amplitudes of the sine wave signal converted into digital signals after passing through the x and y channel ADC circuits, respectively, and φ1 and φ2 are the amplitudes of the sine wave signal converted into digital signals after passing through the x and y channel ADC circuits. , One of the two sets of reference signals The corresponding signals are set to have different initial phases. , One of the two sets of reference signals The corresponding signals are set to have different initial phases; φ r Reference signal , The phase; Each of the two sets of reference signals is set to an initial phase corresponding to a signal with a different initial phase, which is also the phase to be compensated. Phase difference identification unit: Based on the demodulated values ​​Cx, Cy, Sx, and Sy, it identifies the phase difference after passing through two channels. ; Phase difference compensation unit: compensates for the identified phase difference by modifying the initial phase of the two sets of reference signals generated by the frequency control loop; Compensation observation unit: Observes Cx, Cy, Sx, Sy after compensation by the phase difference compensation unit and determines whether Cx=Cy=0 is satisfied. If not, it sends a signal to the phase difference identification unit for further identification, and then continues to compensate through the phase difference compensation unit until the compensation satisfies Cx=Cy=0.

7. The hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation system according to claim 6, characterized in that, The x and y signals, which have been converted into digital signals, are as follows: Where ω is the frequency of the input sine signal, and t represents time.

8. The hemispherical resonant gyroscope detection channel signal phase inconsistency error compensation system according to claim 7, characterized in that, The two sets of reference signals generated by the frequency control loop are .

9. The hemispherical resonant gyroscope detection channel signal phase inconsistency error compensation system according to claim 8, characterized in that, The replacement reference signal is as follows: 。 10. A hemispherical resonator gyroscope detection channel signal phase inconsistency error compensation system according to any one of claims 6 to 9, characterized in that, The phase difference identification unit identifies the phase difference after passing through the two channels. .

Images