Hemispherical resonator gyroscope virtual precession calibration method and system based on decay time constant

Abstract

The application discloses a method and system for calibrating virtual precession of a hemispherical resonator gyro based on a decay time constant, and belongs to the technical field of inertia.The application is used to solve the problem that the virtual precession speed of the hemispherical resonator gyro is difficult to be compensated in real time with the change of the ambient temperature.The method is characterized in that the resonant frequency and the decay time constant of the hemispherical resonator at different temperatures are accurately calibrated, and then the fitting method is used to perform function fitting on the calibration data.Through the process, the correlation model of the resonant frequency and the decay time constant of the resonator is obtained.Subsequently, the application monitors the ambient temperature in real time, and adjusts the virtual precession control force in real time based on the calibration model and the decay time constant, so that the precession speed is stable.The application is applied to the starting and calibration process of the hemispherical resonator gyro.

Description

TECHNICAL FIELD

[0001] The present application relates to a virtual precession calibration process of an axisymmetric vibration gyroscope, and belongs to the technical field of inertial technology. BACKGROUND

[0002] With the rapid development of navigation technology, the demand for inertial sensors with high precision, low power consumption and long service life is increasing. The hemispherical resonator gyroscope is concerned for its simple structure, high reliability and long service life. The resonant frequency and decay time constant of the hemispherical resonator will change regularly with the change of temperature. The new generation of rate integrating hemispherical resonator gyroscope uses virtual coriolis force to control the standing wave to rotate at a constant speed under the condition of no external rate input, thereby completing the self-calibration of the assembly error, scale factor and gyroscope bias of the hemispherical resonator gyroscope, and further reducing the threshold of the gyroscope. However, the hemispherical resonator gyroscope needs to complete the thermal balance of the resonator circumference for several hours or even dozens of hours after being powered on. Before the thermal balance is completed, there is a problem that the virtual precession speed of the hemispherical resonator gyroscope is difficult to compensate in real time under the change of ambient temperature. Therefore, the existing technology can only use virtual precession to realize the above calibration process after waiting for a long time for the completion of thermal balance.

[0003] In summary, before the hemispherical resonator gyroscope is powered on and the resonator reaches the circumferential thermal balance, the virtual precession speed of the resonator will fluctuate with the change of ambient temperature, thereby limiting the performance of the gyroscope and failing to compensate the virtual precession speed in real time. Therefore, there is an urgent need for a new precession calibration method to meet the long-term stability requirements of the gyroscope in a variable temperature environment. SUMMARY

[0004] In view of the problem that the virtual precession speed of the hemispherical resonator gyroscope changes with the change of ambient temperature and is difficult to compensate in real time, the present application provides a virtual precession calibration method and system for a hemispherical resonator gyroscope based on decay time constant.

[0005] Based on one aspect of the present application, a virtual precession calibration method for a hemispherical resonator gyroscope based on decay time constant, the method comprising the following steps:

[0006] Step 1, placing the hemispherical resonator gyroscope and its matching control circuit in a temperature box and powering on the gyroscope;

[0007] Step 2, setting the temperature of the temperature box to the lowest temperature T0 of the actual use of the gyroscope, and maintaining at least 4 hours at this temperature;

[0008] Then use the host computer to record the resonant frequency ω0, amplitude control voltage V a0 and virtual precession control voltage V w0 of the resonator at this temperature;

[0009] Step 3, turn off the amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope, and keep the phase-locked loop circuit working;

[0010] The amplitude decay at the lowest temperature T0 is recorded by the host computer, and the decay time constant τ0 of the resonator in the initial temperature control test stage is obtained;

[0011] Step 4, increase the set temperature of the temperature box by ΔT to enter the next temperature control test stage, and maintain for at least 4 hours, then record the resonant frequency ω k at this temperature by the host computer;

[0012] Step 5, turn off the amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope, and keep the phase-locked loop circuit working;

[0013] The amplitude decay at this temperature is recorded by the host computer, and the decay time constant τ k of the resonator in the kth temperature control test stage is obtained;

[0014] Step 6, determine whether the set temperature of the temperature box reaches the upper limit T max of the hemispherical resonator gyroscope usage temperature, if not, let k=k+1 and jump to step 4, if yes, jump to step 7;

[0015] Step 7, according to the resonant frequency and decay time constant of the resonator at different temperatures collected by the host computer, use a non-linear least squares algorithm to fit a cubic or higher order polynomial to obtain a resonant frequency-decay time constant relationship model;

[0016] Step 8, adjust the virtual precession control voltage according to the resonant frequency-decay time constant relationship model obtained in step 7, and then keep the virtual precession speed stable.

[0017] Preferably, ΔT=0.5-1 degree in step 4, and ΔT is used to divide the temperature control test stages, in the initial temperature control test stage when k=0, the temperature of the temperature box is set to the lowest temperature T0 when the gyroscope is actually used, and in different temperature control test stages when k=1, 2, …, the temperature of the temperature box is set to increase by ΔT, and the corresponding temperature of each stage is T k .

[0018] Preferably, the functional relationship between the resonator decay time constant and the data sampling time is:

[0019]

[0020] where t i is the data sampling time, i=0, 1, 2… is the data sampling serial number, a r (i) is the current time t iTheoretical value of the lower amplitude, τ k , k = 0, 1, 2... is the decay time constant of the resonator in the kth temperature control test stage, a k is the initial amplitude of the resonator in the kth temperature control test stage.

[0021] Preferably, the decay time constant τ k of the resonator in the kth temperature control test stage, k = 0, 1, 2..., the initial amplitude a k The identification process is as follows:

[0022] A1, set i = 0, the identified parameter a k (i), τ k (i) Initial value: a k (0) = 0, τ k (0) = 0.

[0023] A2, calculate the amplitude error r(i) at the current time t i :

[0024] r(i) = a' r (i) - a r (i)

[0025] Wherein, a' r (i) is the actual amplitude at the current time t i ;

[0026] A3, calculate the Jacobian matrix J i (i) at the current time t r :

[0027]

[0028] A4, calculate the parameter increment at the current time t i :

[0029]

[0030] Wherein, Δa k (i) is the amplitude increment of the next time compared with the current time, Δτ k (i) is the decay time constant increment of the next time compared with the current time.

[0031] A5, update the parameter vector at the next time:

[0032]

[0033] Wherein, a k (i+1), τ k (i+1) is the amplitude and time decay constant at the next time t i+1 .

[0034] A6, judge whether there is still amplitude attenuation data input, if there is data input, then i = i + 1, and jump to step A2. Otherwise, complete the fitting to obtain the kth temperature control test phase parameter vector a k and the identification of τ k .

[0035] Preferably, in step 7, according to the resonant frequency ω k and the decay time constant τ k of the resonator at different temperatures collected by the upper computer, a cubic polynomial or higher polynomial is used to fit them using a nonlinear least squares algorithm, and the resonant frequency and the decay time constant satisfy the functional relationship:

[0036]

[0037] In the formula, τ r (k) is the theoretical value of the resonator decay time constant at the current temperature T k ;

[0038] b j is the jth term coefficient of the function, j = 0, 1, …, n, and n is the fitting order of the function.

[0039] Preferably, the resonant frequency ω k and the decay time constant τ k of the resonator at different temperatures are input one by one, and the process of identifying the jth term coefficient b j of the function is as follows:

[0040] B1, set the initial value b j (0) = 0 of the identified parameter b j (k) when k = 0;

[0041] B2, calculate the decay time constant error m(k) at the current temperature T k :

[0042] m(k) = τ k - τ r (k)

[0043] B3, calculate the Jacobian matrix J k (k) at the current temperature T m :

[0044]

[0045] B4, calculate the parameter increment at the current temperature T k :

[0046] [Δb j (k)] = [Jm (k) T J m (k)] -1 J m (k) T m(k)

[0047] wherein: Δb j (k) is the coefficient increment of the next temperature over the current temperature;

[0048] B5, updating the parameter vector for the next temperature:

[0049] [b j (k+1)] = [b j (k)] + [Δb j (k)]

[0050] b j (k+1) is the coefficient at the next temperature T k+1 ;

[0051] B6, judging whether there is still data input, if there is data input, then let k = k + 1, and jump to step B2. Otherwise, complete the fitting to obtain the identification of the parameter vector b j .

[0052] Preferably, the virtual precession control voltage in step 8 is adjusted as follows:

[0053]

[0054] wherein V w0 is the virtual precession control voltage recorded in the initial temperature control test phase, V a0 is the amplitude control voltage recorded in the initial temperature control test phase, τ0 is the decay time constant fitted in the initial temperature control test phase,

[0055] τ is the current decay time constant, which is obtained by inputting the resonant frequency ω measured by the current system into the resonant frequency-decay time constant relationship model fitted to obtain the corresponding decay time constant;

[0056] V a is the current amplitude control output voltage, which is obtained as follows:

[0057]

[0058] wherein K is the control gain, and a is the amplitude measured by the current system.

[0059] Preferably, the virtual precession control loop adopts open-loop control, and the virtual precession speed Ω w is represented as:

[0060]

[0061] virtual precession speed Ω w follow-up virtual precession output voltage V w stable rotation.

[0062] According to another aspect of the present application, a half-sphere resonator gyro virtual precession calibration system based on a decay time constant is used to implement the half-sphere resonator gyro virtual precession calibration method based on a decay time constant, and the calibration system comprises a temperature box, a half-sphere resonator gyro, a gyro supporting circuit board and an upper computer; the half-sphere resonator gyro and the gyro supporting circuit board are arranged in the temperature box.

[0063] The temperature box is used to adjust the working temperature of the half-sphere resonator gyro.

[0064] The gyro supporting circuit board of the half-sphere resonator is used to implement amplitude control, quadrature control and virtual precession control of the gyro, and transmit resonant frequency, amplitude decay and virtual precession speed information to the upper computer through a serial port.

[0065] The upper computer is used to receive resonant frequency, amplitude decay and virtual precession speed information transmitted by the gyro supporting circuit board of the half-sphere resonator, and fit the collected resonant frequency and amplitude decay information, so as to obtain the relationship between the resonant frequency and the decay time constant at different temperatures, and burn the fitting result into the gyro supporting circuit board of the half-sphere resonator.

[0066] The present application has the following beneficial effects: the present application calibrates the vibration frequency and the decay time constant of the half-sphere resonator at different temperatures, uses a fitting method to perform function fitting on the calibrated vibration frequency and the decay time constant, and uses the decay time constant to perform real-time adjustment on the virtual precession control force, so that the virtual precession speed of the gyro is not affected by the environment temperature, and the gyro can be quickly started under a variable temperature condition.

[0067] The present application solves the problem that the virtual precession speed of the gyro is difficult to be calibrated in real time with the change of the environment temperature, and improves the stability of the precession speed in a long-time running under a variable temperature environment. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 is a flow chart of the half-sphere resonator gyro virtual precession calibration method based on a decay time constant according to the present application;

[0069] Figure 2 is a block diagram of the half-sphere resonator gyro virtual precession calibration system based on a decay time constant according to the present application. DETAILED DESCRIPTION

[0070] With reference to the drawings and specific embodiments, the present application will be further described, but the present application is not limited by the drawings and specific embodiments.

[0071] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0072] With reference to the drawings and specific embodiments, the present application will be further described, but the present application is not limited by the drawings and specific embodiments.

[0073] Specific embodiment one: the present application will be described below in combination with Figure 1 The present embodiment describes a virtual precession calibration method for a hemispherical resonator gyro based on a decay time constant, which comprises the following steps:

[0074] Step 1, place the hemispherical resonator gyro and its matching control circuit in a temperature box and power on the gyro;

[0075] Step 2, set the temperature of the temperature box to the lowest temperature T0 of the actual use of the gyro, and maintain at least 4 hours at this temperature;

[0076] Then use the host computer to record the resonant frequency ω0, amplitude control voltage V a0 and virtual precession control voltage V w0 of the resonator at this temperature;

[0077] Step 3, turn off the amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyro, and keep the phase-locked loop circuit working;

[0078] Use the host computer to record the amplitude decay at the lowest temperature T0, and then obtain the decay time constant τ0 of the resonator in the initial temperature control test stage;

[0079] Step 4, increase the set temperature of the temperature box by ΔT to enter the next temperature control test stage, and maintain at least 4 hours, then record the resonant frequency ω k at this temperature by the host computer;

[0080] ΔT=0.5-1 degree, ΔT is used to divide the temperature control test stages, in the initial temperature control test stage of k=0, the temperature of the temperature box is set to the lowest temperature T0 of the actual use of the gyro, in different temperature control test stages of k=1, 2…, the temperature of the temperature box is set to increase ΔT in turn, and the corresponding temperature of each stage is T k .

[0081] Step 5, turn off the amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope, and keep the phase-locked loop circuit working;

[0082] The amplitude decay at this temperature is recorded by the host computer, and the decay time constant τ of the resonator in the kth temperature control test stage is obtained k ;

[0083] The decay time constant of the resonator in the initial temperature control test stage and the k=1,2… temperature control test stage, and the initial amplitude are obtained by the same method, and are combined as a k , τ k , k=0,1,2...

[0084] The functional relationship between the decay time constant of the resonator and the data sampling time is:

[0085]

[0086] Where t i is the data sampling time, i=0,1,2... is the data sampling serial number, a r (i) is the theoretical value of the amplitude at the current time t i , τ k , k=0,1,2... is the decay time constant of the resonator in the kth temperature control test stage, and a k is the initial amplitude of the resonator in the kth temperature control test stage.

[0087] 4. The virtual precession calibration method for the hemispherical resonator gyroscope based on the decay time constant according to claim 3, wherein the decay time constant τ k , k=0,1,2... of the resonator in the kth temperature control test stage, and the initial amplitude a k The identification process is:

[0088] A1, set i=0 when the identified parameters a k (i) and τ k (i) are initialized: a k (0)=0, τ k (0)=0;

[0089] A2, calculate the amplitude error r(i) at the current time t i :

[0090] r(i)=a' r (i)-a r (i)

[0091] Where a' r (i) is the actual amplitude at the current time t i ;

[0092] A3, calculate the current time t i under the Jacobian matrix J r (i):

[0093]

[0094] A4, calculate the parameter increment at the current time t i under:

[0095]

[0096] where Δa k (i) is the amplitude increment at the next time relative to the current time, Δτ k (i) is the decay time constant increment at the next time relative to the current time;

[0097] A5, update the parameter vector at the next time:

[0098]

[0099] where a k (i+1), τ k (i+1) is the amplitude and time decay constant at the next time t i+1 ;

[0100] A6, determine whether there is still amplitude decay data input, if there is data input, let i=i+1, and jump to step A2. Otherwise, complete the fitting to obtain the parameter vector a k and τ k of the kth temperature control test stage.

[0101] When k=0, a0 and τ0 are fitted, and similarly, when k=1, a1 and τ1 are fitted, when k=2, a2 and τ2 are fitted, and so on. At the same time, the resonant frequency ω k of each temperature control test stage is recorded, preparing for subsequent model construction.

[0102] Step 6, determine whether the set temperature of the oven reaches the upper limit T max of the hemispherical resonator gyroscope usage temperature, if not, let k=k+1 and jump to step 4, if yes, jump to step 7;

[0103] Step 7, according to the resonant frequency and decay time constant of the resonator at different temperatures collected by the upper computer, use a cubic or higher polynomial to fit the resonant frequency-decay time constant relationship model using a nonlinear least squares algorithm;

[0104] The resonant frequency and decay time constant satisfy the functional relationship:

[0105]

[0106] where τ r (k) is the current temperature T k The theoretical value of the decay time constant of the lower harmonic oscillator;

[0107] b j is the jth order coefficient of the function, j=0,1,…,n, n is the fitting order of the function.

[0108] The resonant frequency ω k of the harmonic oscillator at different temperatures and the decay time constant τ k , k=0,1,2… are input one by one, and the jth order coefficient b j of the function is identified.

[0109] B1, set k=0, the identified parameter b j (k) initial value b j (0)=0;

[0110] B2, calculate the decay time constant error m(k) at the current temperature T k :

[0111] m(k)=τ k -τ r (k)

[0112] B3, calculate the Jacobian matrix J k (k) at the current temperature T m :

[0113]

[0114] B4, calculate the parameter increment at the current temperature T k :

[0115] [Δb j (k)]=[J m (k) T J m (k)] -1 J m (k) T m(k)

[0116] where Δb j (k) is the coefficient increment of the next temperature relative to the current temperature;

[0117] B5, update the parameter vector at the next temperature:

[0118] [b j (k+1)]=[b j (k)]+[Δb j (k)]

[0119] b j (k+1) is the next temperature T k+1 coefficient under the temperature T

[0120] B6, judge whether there is still data input, if there is data input, make k=k+1, and jump to step B2. j Otherwise, complete the fitting to obtain the identification of the parameter vector b

[0121] Step 8, adjust the virtual precession control voltage according to the resonance frequency-attenuation time constant relationship model obtained in step 7, and further maintain the stability of the virtual precession speed.

[0122] The resonance frequency-attenuation time constant relationship model is obtained, that is, the calibration work of the hemispherical resonator gyro in the variable temperature environment can be realized. When the temperature changes, the resonance frequency and the attenuation time constant will change. The present application uses the model to reflect this change, so that the virtual precession speed can be stably rotated by adjusting the virtual precession control voltage, and the self-calibration of the assembly error, scale factor and gyro bias of the hemispherical resonator gyro can be completed.

[0123] The virtual precession control voltage is adjusted according to the following formula:

[0124]

[0125] In the formula, V w0 is the virtual precession control voltage recorded in the initial temperature control test stage, V a0 is the amplitude control voltage recorded in the initial temperature control test stage, τ0 is the attenuation time constant fitted in the initial temperature control test stage,

[0126] τ is the current attenuation time constant, and the acquisition method is: input the resonance frequency ω measured by the current system into the resonance frequency-attenuation time constant relationship model fitted to obtain the corresponding attenuation time constant.

[0127] V a is the current amplitude control output voltage, which is obtained according to the following formula:

[0128]

[0129] In the formula, K is the control gain, and a is the current system measurement amplitude.

[0130] The virtual precession control loop adopts open-loop control, and the virtual precession speed Ω w is represented as:

[0131]

[0132] The virtual precession speed Ωw the output voltage V w stabilize rotation.

[0133] Specific implementation two: the following will be described in conjunction with Figure 2 The present embodiment is based on the decay time constant of the half-harmonic resonator gyroscope virtual precession calibration system described in the present application, which is realized by the method described in embodiment one. The calibration system includes a temperature box, a half-harmonic resonator gyroscope, a gyroscope supporting circuit board, and an upper computer. The half-harmonic resonator gyroscope and the gyroscope supporting circuit board are placed in the temperature box.

[0134] The temperature box is used to adjust the working temperature of the half-harmonic resonator gyroscope.

[0135] The half-harmonic resonator gyroscope supporting circuit board is used to realize the amplitude control, orthogonal control, and virtual precession control of the gyroscope, and to transmit the resonant frequency, amplitude decay, and virtual precession speed information to the upper computer through the serial port.

[0136] The upper computer is used to receive the resonant frequency, amplitude decay, and virtual precession speed information sent by the half-harmonic resonator gyroscope supporting circuit board. The resonant frequency and amplitude decay information collected are fitted to obtain the relationship between the resonant frequency and the decay time constant at different temperatures, and the fitting result is written into the half-harmonic resonator gyroscope supporting circuit board.

[0137] Although the present application is described herein with reference to specific embodiments, it should be understood that these examples are merely illustrative of the principles and applications of the present application. It should therefore be understood that numerous modifications can be made to the exemplary embodiments, and that other arrangements can be devised without departing from the spirit and scope of the application as defined by the appended claims. It should be understood that the different dependent claims and features described herein can be combined with each other in ways other than those described in the original claims. It should also be understood that features described in connection with individual embodiments can be used in other described embodiments.

Claims

1. A method for calibrating a virtual precession of a hemispherical resonator gyro based on a decay time constant, characterized in that, The method comprises the following steps: Step 1, place the hemispherical resonator gyroscope and its supporting control circuit in a temperature box and power on the gyroscope; Step 2, set the temperature of the temperature box to the lowest temperature T0 of the actual use of the gyroscope, and maintain at least for 4 hours; Then use the host computer record this temperature under the resonant frequency of the resonator ω0, amplitude control voltage V a0 And virtual precession control voltage V w0 ; Step 3, turn off the amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope, and keep the phase-locked loop circuit working; Use the host computer to record the amplitude attenuation at the lowest temperature T0, and then obtain the decay time constant τ0 of the resonator in the initial temperature control test stage; Step 4, increase the temperature setting of the oven by ΔT into the next temperature test phase, and maintain for at least 4 hours, then record the resonant frequency ω at this temperature by the host computer k ; Step 5, turn off the amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope, and keep the phase-locked loop circuit working; The amplitude attenuation at this temperature is recorded by the host computer, and the decay time constant τ of the resonator in the kth temperature control test stage is obtained k ; Step 6, judge whether the set temperature of the oven reaches the upper limit T of the using temperature of the hemispherical resonator gyroscope or not max If not, let k=k+1 and jump to step 4, if yes, jump to step 7; Step 7, according to the resonant frequency and decay time constant of the resonator at different temperatures collected by the host computer, use a non-linear least squares algorithm to fit a cubic or higher polynomial to obtain a resonant frequency-decay time constant relationship model; Step 8, adjust the virtual precession control voltage according to the resonant frequency-decay time constant relationship model obtained in step 7, and then keep the virtual precession speed stable.

2. The method according to claim 1, wherein, The ΔT of step 4 is 0.5-1 degree, and the temperature control test stage is divided by ΔT. In the initial temperature control test stage of k=0, the temperature of the temperature box is set to the lowest temperature T0 of the actual use of the gyroscope, and in different temperature control test stages of k=1, 2, …, the temperature setting of the temperature box is increased by ΔT in turn, and the corresponding temperature of each stage is T k .

3. The virtual precession calibration method for a hemispherical resonant gyroscope based on the decay time constant according to claim 2, characterized in that, The functional relationship between the resonator decay time constant and the data sampling time is: where t i is the data sampling time, i = 0, 1, 2,... is the data sampling sequence number, a r (i) is the current time t i is the theoretical value of the lower amplitude, τ k , k = 0, 1, 2,... is the kth temperature control test stage resonator decay time constant, a k is the initial amplitude of the kth temperature control test stage resonator.

4. The method according to claim 3, wherein the method further comprises: decay time constant τ of the resonator of the kth temperature control test phase k k = 0, 1, 2,..., initial amplitude a k The recognition process of the above equation is: A1, the recognized parameter a when i = 0 is set k (i), τ k (i) initial value: a k (0) = 0, τ k (0) = 0; A2, calculate the current time t i the amplitude error r(i) under the r(i) = a' r (i) - a r (i) where a' is the actual amplitude at the current time t r (i) is the actual amplitude at the current time t i ; A3, calculate the current time t i the Jacobian matrix J r (i): A4, calculate the current time t i under the parameter increment: where Δa k (i) is the amplitude increment from the current time to the next time, Δτ k (i) is the decay time constant increment from the current time to the next time. A5, update the parameter vector at the next time: where a k (i+1), τ k (i+1) is the amplitude and time decay constant at the next time t i+1 i+1. A6, judge whether there is still amplitude attenuation data input, if there is data input, let i=i+1, and jump to step A2; otherwise complete the fitting to obtain the parameter vector a of the kth temperature control test stage k and τ k identification.

5. The method of claim 1, wherein the method further comprises: In step 7, the resonant frequency ω of the resonator at different temperatures collected by the host computer k and the decay time constant τ k The resonant frequency and the decay time constant satisfy the function relationship: where τ r (k) is the current temperature T k theoretical value of the lower resonator decay time constant; b j are the coefficients of the jth order term of the function, j = 0, 1,..., n, n being the fitting order of the function.

6. The method according to claim 5, wherein the method further comprises: The resonant frequency ω of the harmonic oscillator at different temperatures k with the decay time constant τ k , k = 0, 1, 2... one by one, the coefficient b of the j-th term of the function is calculated j The process of identification is as follows: B1, the recognized parameter b when k = 0 is set j the initial value b of (k) j (0) = 0; B2, calculate the current temperature T k the error m(k) of the decay time constant under the current temperature T m(k) = τ k -τ r (k) B3, calculate the current temperature T k the Jacobian matrix J m (k): B4, calculate the current temperature T k the parameter increment: [Δb j (k)] = [J m (k) T J m (k)] = [J -1 J m (k) T m(k) where: Δb j (k) is the coefficient increment for the next temperature over the current temperature; B5, update the parameter vector at the next temperature: [b j (k+1)] = [b j (k)] + [Δb j (k)] b j (k+1) is the coefficient at the next temperature T k+1 under B6, judge whether there is data input, if there is data input, let k=k+1, and jump to step B2; Otherwise complete the fit to obtain the parameter vector b j of the recognition.

7. The method according to claim 5, wherein the step of calculating the virtual precession angle is performed by the following equation: ###0001### where, T is the virtual precession angle, T is the decay time constant, and n is the order of the mode. The virtual precession control voltage in step 8 is adjusted as follows: where V w0 is the virtual precession control voltage recorded in the initial temperature control test phase, V a0 is the amplitude control voltage recorded in the initial temperature control test phase, τ0is the decay time constant obtained from the fit in the initial temperature control test phase, τ is the current decay time constant, which is obtained by inputting the current system measured resonant frequency ω into the fitted resonant frequency-decay time constant relationship model to obtain the corresponding decay time constant; V a is the current amplitude control output voltage, obtained as follows: In the formula, K is the control gain, and a is the current system measured amplitude.

8. The method according to claim 7, wherein the step of calculating the virtual precession angle is performed by the following equation: ###0002### where, T is the virtual precession angle, T is the decay time constant, and n is the order of the mode. The virtual precession control loop adopts open-loop control, and the virtual precession speed Ω w is represented as: virtual precession speed Ω w follow virtual precession output voltage V w stable rotation.

9. A system for calibrating a virtual precession of a HRSG based on a decay time constant, the system being used to implement the method for calibrating a virtual precession of a HRSG based on a decay time constant according to any one of claims 1 to 8, characterized in that, The calibration system comprises a temperature box, a hemispherical resonator gyroscope, a gyroscope supporting circuit board and a host computer; the hemispherical resonator gyroscope and the gyroscope supporting circuit board are placed in the temperature box; The temperature box is used to adjust the working temperature of the hemispherical resonator gyroscope; The hemispherical resonator gyroscope supporting circuit board is used to realize the amplitude control, quadrature control and virtual precession control of the gyroscope, and transmit the resonant frequency, amplitude attenuation and virtual precession speed information to the host computer through the serial port; The host computer is used to receive the resonant frequency, amplitude attenuation and virtual precession speed information sent by the hemispherical resonator gyroscope supporting circuit board; and fit the collected resonant frequency and amplitude attenuation information, so as to obtain the relationship between the resonant frequency and the decay time constant at different temperatures, and burn the fitting result into the hemispherical resonator gyroscope supporting circuit board.

Images