Hemispherical resonator gyroscope detection error online calibration method

Abstract

This invention relates to an online calibration method for the detection error of a hemispherical resonator gyroscope, belonging to the field of inertial technology. This invention solves the problems of traditional offline calibration of hemispherical resonator gyroscope detection errors, which cannot overcome the influence of external factors on the hemispherical resonator gyroscope and cannot provide real-time compensation for X / Y channel gain errors and misalignment angles in the hemispherical resonator gyroscope detection circuit. This invention utilizes a cosine reference signal V generated by a phase-locked loop. c and sinusoidal reference signal V s The vibration signals detected by the X and Y channels of the preprocessed hemispherical resonant gyroscope are demodulated in real time to obtain C. x C y S x and S y Using the X / Y channel gain ratio k yx and the misalignment angle α relative to C x C y S x and S y Compensation will be made, based on the compensated C. x C y S x and S y The X-channel and Y-channel control quantities are generated and applied to the X and Y channel excitation electrodes of the hemispherical resonator gyroscope, respectively, thereby completing the online self-calibration of the hemispherical resonator gyroscope's detection error. This is primarily used for online calibration of hemispherical resonator gyroscopes.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inertia. It is applied to the detection error self-calibration of axisymmetric vibration gyroscopes such as hemispherical resonator gyroscopes and cylindrical shell vibration gyroscopes. BACKGROUND

[0002] The hemispherical resonator gyroscope is a classic Coriolis vibration gyroscope. Due to its high precision, long service life, natural radiation resistance and other characteristics, it has become a commonly used gyroscope in sea, land, air and space.

[0003] The core element of the hemispherical resonator gyroscope is a high-quality factor of fused quartz, which is fixed on an electrode base. The resonator after coating and the electrode on the electrode base together form a capacitor, thereby realizing the control and detection of the gyroscope. However, due to factors such as resonator assembly level, electrode etching error, and circuit error, the detection gains of the X / Y channels of the gyroscope are inconsistent, and the X / Y channel detection signals are non-orthogonal, which further leads to the non-linearity of the scale factor of the gyroscope output.

[0004] Currently, there are some online compensation methods for the gain error of the detection channel, such as CN 114964199 "A hemispherical resonator gyroscope electrode gain self-compensation system and its implementation method" and CN 112146637 "A full-angle mode circuit gain error self-compensation system for a micro-electromechanical gyroscope". Although these methods can realize online identification and compensation of gain error, they do not solve the identification and compensation of misalignment angle in the detection loop.

[0005] Most of the gyroscope detection error compensation schemes are based on offline calibration, such as the detection error identification and compensation method proposed in CN 114858191A "A full-angle hemispherical resonator gyroscope detection electrode error calibration method". It fixes the gyroscope on a turntable, controls the turntable to rotate at different speeds and different angles to calibrate the gain error and misalignment angle of the gyroscope, and compensates it in the detection loop. However, with changes in environmental temperature and aging of electronic components, the resonator will deform and the circuit performance will change, which will affect the gain error and misalignment angle of the detection loop, resulting in errors between the detection error and the offline calibration, further degrading the performance of the gyroscope. Therefore, the traditional offline calibration method cannot overcome the influence of external factors, and it is urgent to adopt a detection error online calibration method to meet the long-term stable operation requirements of the gyroscope in a variable temperature environment. SUMMARY

[0006] The application aims at solving the problem that the detection error calibration of the traditional hemispherical resonator gyroscope is offline, unable to overcome the influence of external factors on the hemispherical resonator gyroscope, and unable to compensate the X / Y channel gain error and misalignment angle of the hemispherical resonator gyroscope detection loop in real time, and provides a hemispherical resonator gyroscope detection error online calibration method.

[0007] The hemispherical resonator gyroscope detection error online calibration method comprises the following steps:

[0008] The hemispherical resonator gyroscope is powered on and starts, and the cosine reference signal V c and the sine reference signal V s generated by the phase-locked loop are used to respectively demodulate the vibration signals detected by the X and Y channels of the preprocessed hemispherical resonator gyroscope in real time, so as to obtain the X channel cosine signal C x , the Y channel cosine signal C y , the X channel sine signal S x and the Y channel sine signal S y .

[0009] The X / Y channel gain ratio k yx and the misalignment angle α are used to compensate C x , C y , S x and S y , and the X channel control quantity and the Y channel control quantity are generated according to the compensated C x , C y , S x and S y , and are respectively applied to the X and Y channel excitation electrodes of the hemispherical resonator gyroscope, so as to complete the online self-calibration of the hemispherical resonator gyroscope detection error.

[0010] The X / Y channel gain ratio k yx and the misalignment angle α are updated every preset time interval, and the updating mode is as follows: the X / Y channel gain ratio k yx is estimated according to the value of C y when C x passes zero from negative to positive and the value of C y when C x passes zero from positive to negative in the period corresponding to the preset time interval; and the misalignment angle α is estimated according to the maximum value of C x and the value of C x when C y takes the maximum value in the period corresponding to the preset time interval.

[0011] Preferably, the vibration signals detected by the X and Y channels of the hemispherical resonator gyroscope are as follows:

[0012]

[0013] where x is the vibration signal detected by the X channel, y is the vibration signal detected by the Y channel, a is the amplitude of the primary standing wave, q is the amplitude of the quadrature wave, ω is the vibration frequency of the resonator, k x is the detection gain of the X channel, k y is the detection gain of the Y channel, t is time, and θ is the azimuth angle of the primary standing wave.

[0014] Preferably, the X / Y channel gain ratio k yx is estimated by:

[0015] The maximum value of C y at the time when the C x passes zero from negative to positive is recorded within the period corresponding to the preset time interval.

[0016] The maximum value of C x at the time when the C y passes zero from positive to negative is recorded within the period corresponding to the preset time interval.

[0017] The X / Y channel gain ratio k y is estimated according to the value of C x at the time when the C x passes zero from negative to positive and the value of C y at the time when the C yx passes zero from positive to negative, wherein,

[0018] where k y is the detection gain of the Y channel, k x is the detection gain of the X channel, a is the amplitude of the primary standing wave, and is the phase lock deviation.

[0019] Preferably, the implementation of estimating the misalignment angle α is as follows:

[0020] The maximum value of C x is recorded within the period corresponding to the preset time interval.

[0021] The value of C y at the time when the C x takes the maximum value is recorded within the period corresponding to the preset time interval.

[0022] where k x is the detection gain of the X channel, a is the amplitude of the primary standing wave, and is the phase lock deviation.

[0023] The misalignment angle α is obtained according to C x-max and C x-1 .

[0024] Preferably, the implementation of the X channel control quantity and the Y channel control quantity is as follows:

[0025] According to the compensated C x , C y , S x and S y , a gyro amplitude control quantity E, a quadrature control quantity Q and a phase-locked loop control quantity L are generated;

[0026] The phase-locked loop control quantity L is used to adjust the phase-locked deviation of the phase-locked loop, thereby generating a cosine reference signal V c and a sine reference signal V s of the same frequency and phase;

[0027] The gyro amplitude control quantity E and the quadrature control quantity Q are subjected to PI regulation, thereby obtaining a regulated gyro amplitude control quantity E out and a regulated quadrature control quantity Q out ;

[0028] V c and V s are used to process E out , Q out and W, thereby obtaining an amplitude control voltage V E , a quadrature control voltage V Q and a virtual precession control voltage V W ; W is a given virtual precession control quantity;

[0029] V E , V Q and V W are projected to the X / Y mode, thereby obtaining an X channel control quantity V x and a Y channel control quantity V y ; wherein,

[0030]

[0031] θ is the azimuth angle of the main standing wave.

[0032] Preferably, V E = E out V s , V Q = Q out V c and V W = W V s .

[0033] Preferably,

[0034] E = C x 2 + Sx 2 +C y 2 +S y 2

[0035] =k x 2 (a 2 cos 2 2θ+q 2 sin 2 2θ)+k y 2 [a 2 sin 2 (2θ-2α)+q 2 cos 2 [(2θ-2α)];

[0036]

[0037]

[0038] Where a is the amplitude of the main standing wave, q is the amplitude of the orthogonal wave, ω is the vibration frequency of the harmonic oscillator, and k is the amplitude of the main standing wave. x k is the detection gain of the X channel. y Let θ be the detection gain of the Y channel, t be time, and θ be the azimuth angle of the main standing wave. This is the phase-locked loop deviation.

[0039] Preferably, the cosine reference signal V generated by the phase-locked loop is... c and sinusoidal reference signal V s The implementation method is as follows:

[0040] According to the compensated C x C y S x and S y Generate phase-locked loop control quantity L;

[0041] The phase-locked loop (PLL) control quantity L is used to adjust the phase-locked loop's (PLL) phase-locked loop (PLL) deviation, thereby generating a cosine reference signal V that is in phase and at the same frequency. c and sinusoidal reference signal V s .

[0042] Preferably, the preprocessing method for the vibration signals detected by the X and Y channels of the hemispherical resonant gyroscope is as follows:

[0043] The vibration signals detected by the X and Y channels of the hemispherical resonant gyroscope are first amplified and then converted from analog to digital.

[0044] Preferably, the demodulated X-channel cosine signal C x Y-channel cosine signal Cy X channel sinusoidal signal S x and Y channel sinusoidal signal S y The expression is:

[0045]

[0046] wherein a is the amplitude of the main standing wave, q is the amplitude of the quadrature wave, ω is the vibration frequency of the resonator, k x is the detection gain of the X channel, k y is the detection gain of the Y channel, t is time, θ is the azimuth angle of the main standing wave, is the phase-locked deviation.

[0047] Advantages of the present application:

[0048] The online calibration method for detection error of the hemispherical resonator gyro can perform online self-calibration of the detection error of the hemispherical resonator gyro at preset time intervals, overcomes the influence of changes in external environmental temperature and aging of electronic components on the hemispherical resonator gyro, solves the problem that the detection error of the gyro is difficult to be calibrated in real time due to external factors, and improves the stability of the hemispherical resonator gyro detection loop in a variable temperature environment for a long time.

[0049] Compared with the off-line program used in the prior art to identify the gain error and misalignment angle of the detection channel, the method proposed in the present application can realize real-time self-calibration of the detection error in the process of stable operation of the gyro, can effectively eliminate the influence of changes in environmental temperature and aging of components on the performance of the gyro detection loop. The method of the present application significantly improves the stability of the hemispherical resonator gyro detection loop in a variable temperature environment for a long time, and does not need to use a turntable, a host computer and other external detection equipment in the test process. Only the hemispherical resonator gyro supporting control circuit is needed to realize the self-calibration process, so the method has strong practicability and wide application. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is the principle diagram of the online calibration method for detection error of the hemispherical resonator gyro described in the present application.

[0051] Figure 2 is the flowchart for updating the X / Y channel gain ratio k yx and the misalignment angle α. DETAILED DESCRIPTION

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0054] Specific implementation method one: See Figure 1 This embodiment describes an online calibration method for hemispherical resonant gyroscope detection errors. The calibration method includes:

[0055] The hemispherical resonant gyroscope is powered on and started using a cosine reference signal V generated by a phase-locked loop. c and sinusoidal reference signal V s The vibration signals detected by the X and Y channels of the preprocessed hemispherical resonant gyroscope are demodulated in real time to obtain the cosine signal C of the X channel. x Y-channel cosine signal C y X-channel sine wave signal S x and the Y-channel sine signal S y ;

[0056] Using the X / Y channel gain ratio k yx and the misalignment angle α relative to C x C y S x and S y Compensation will be made, based on the compensated C. x C y S x and S y The X-channel control quantity and Y-channel control quantity are generated and applied to the X and Y channel excitation electrodes of the hemispherical resonant gyroscope respectively, thereby completing the online self-calibration of the detection error of the hemispherical resonant gyroscope;

[0057] The X / Y channel gain ratio k is adjusted at each preset time interval. yx The misalignment angle α is updated, and the update method is: based on C within the time period corresponding to the preset time interval. y C when it crosses zero from negative to positive x The value and C x C when it crosses zero from positive to negative y Value, estimate the X / Y channel gain ratio k yx ; and also according to the time period corresponding to the preset time interval C x The maximum value and C y When taking the maximum value, Cx The value of is used to estimate the misalignment angle α.

[0058] For details, see Figure 2 The detection error estimation module can be used to estimate k. yx Update C and α, and adjust C using the detection error compensation module. x C y S x and S y Compensation will be provided.

[0059] Furthermore, the preprocessing method for the vibration signals detected by the X and Y channels of the hemispherical resonator gyroscope can be achieved by first amplifying the vibration signals detected by the X and Y channels of the hemispherical resonator gyroscope through a pre-buffer amplifier circuit, and then performing analog-to-digital conversion through an analog-to-digital converter.

[0060] The vibration signals detected by the X and Y channels of the hemispherical resonant gyroscope are as follows:

[0061]

[0062] Where x is the vibration signal detected by the X channel, y is the vibration signal detected by the Y channel, a is the amplitude of the main standing wave, q is the amplitude of the orthogonal wave, ω is the vibration frequency of the harmonic oscillator, and k is the vibration frequency of the harmonic oscillator. x k is the detection gain of the X channel. y θ represents the detection gain of the Y channel, t represents time, and θ represents the azimuth angle of the main standing wave.

[0063] Furthermore, the demodulated X-channel cosine signal C x Y-channel cosine signal C y X-channel sine wave signal S x and the Y-channel sine signal S y The expression is:

[0064]

[0065] Where a is the amplitude of the main standing wave, q is the amplitude of the orthogonal wave, ω is the vibration frequency of the harmonic oscillator, and k is the amplitude of the main standing wave. x k is the detection gain of the X channel. y Let θ be the detection gain of the Y channel, t be time, and θ be the azimuth angle of the main standing wave. This is the phase-locked loop deviation.

[0066] Furthermore, estimate the X / Y channel gain ratio k. yx The implementation methods include:

[0067] Record C within the time period corresponding to the preset time interval. y C when it crosses zero from negative to positive x The value at this time

[0068] Record C within the time period corresponding to the preset time interval. x C when it crosses zero from positive to negative y The value at this time

[0069] According to C y C when it crosses zero from negative to positive x The value and C x C when it crosses zero from positive to negative y The value is used to estimate the X / Y channel gain ratio k. yx ,in,

[0070] Where, k y k represents the detection gain of the Y channel. x Let be the detection gain of the X channel, and 'a' be the amplitude of the main standing wave. This is the phase-locked loop deviation.

[0071] Furthermore, the estimation of the misalignment angle α is achieved as follows:

[0072] Record C within the time period corresponding to the preset time interval. x The maximum value C x-max At this time, C x maximum value

[0073] Record C within the time period corresponding to the preset time interval. y When taking the maximum value, C x The value C x-1 At this time, the azimuth angle of the main standing wave is θ = (45 + α)°.

[0074] Where, k x Let be the detection gain of the X channel, and 'a' be the amplitude of the main standing wave. This is the phase-locked loop error, also known as the phase deviation.

[0075] According to C x-max and C x-1 The misalignment angle is obtained.

[0076] Furthermore, the method for generating the X-channel control quantity and the Y-channel control quantity is as follows:

[0077] According to the compensated C x C y S x and S y Generate the gyroscope amplitude control quantity E, the quadrature control quantity Q, and the phase-locked loop control quantity L; specifically,

[0078] E=Cx 2 +S x 2 +C y 2 +S y 2

[0079] =k x 2 (a 2 cos 2 2θ+q 2 sin 2 2θ)+k y 2 [a 2 sin 2 (2θ-2α)+q 2 cos 2 (2θ-2α)];

[0080]

[0081]

[0082] wherein x is the vibration signal detected by the X channel, y is the vibration signal detected by the Y channel, a is the amplitude of the main standing wave, q is the amplitude of the quadrature wave, ω is the vibration frequency of the resonator, k x is the detection gain of the X channel, k y is the detection gain of the Y channel, t is time, θ is the azimuth angle of the main standing wave, is the phase-locked deviation.

[0083] The phase-locked deviation of the phase-locked loop is adjusted by using the phase-locked loop control quantity L, and then the cosine reference signal V c and the sine reference signal V s of the same frequency and phase are generated; the gyro amplitude control quantity E and the quadrature control quantity Q are PI adjusted to obtain the adjusted gyro amplitude control quantity E out and the quadrature control quantity Q out ;

[0084] V c and V s , the amplitude control voltage V E , the quadrature control voltage V Q and the virtual precession control voltage V W are obtained by processing E out , Q out and W; W is a given virtual precession control quantity;

[0085] wherein V E =E out V s , VQ = Q out V c , V W = WV s ;

[0086] V E , V Q , V W Projecting to X / Y mode, X channel control quantity V x and Y channel control quantity V y are obtained; wherein,

[0087]

[0088] In the preferred embodiment, E is the control quantity for controlling the amplitude of the gyroscope, so that the vibration amplitude of the resonator is maintained at the target value, i.e., a is a constant; Q is the control quantity for orthogonal control, so that the orthogonal wave antinode of the resonator is maintained at 0, i.e., q = 0; L is the control quantity for phase-locked loop, so that the phase difference between the reference signal and the vibration signal is 0, i.e.,

[0089] Specific implementation method two: a hemispherical resonator gyroscope detection error online self-calibration system, comprising a storage device, a processor and a computer program stored in the storage device and executable on the processor, wherein the processor executes the computer program to realize the hemispherical resonator gyroscope detection error online self-calibration system.

[0090] Verification test:

[0091] Step 1, change the detection gain and misalignment angle of the hemispherical resonator gyroscope to simulate the influence of environmental changes on the detection error parameters, wherein k x = 5.015 V / um, k y = 5 V / um, and a = 0.28°.

[0092] Step 2, power on the gyroscope, and use the reference signal V c and V s generated by the phase-locked loop to demodulate the detection signals of the X / Y channels, respectively, to obtain C x , C y , S x , S y , and then combine them twice to obtain the gyroscope control parameters E, Q and L. Use E as the control quantity for controlling the amplitude of the gyroscope, so that the vibration amplitude of the resonator is maintained at 1 um, i.e., E = 25 V; use Q as the control quantity for orthogonal control, so that the orthogonal wave antinode of the resonator is maintained at 0, i.e., q = 0; and use L as the control quantity for phase-locked loop, so that the phase difference between the reference signal and the vibration signal is 0, i.e., and use the virtual precession loop to control the standing wave to rotate at a speed of 3° / s.

[0093] Step 3: After the hemispherical resonator gyroscope is powered on, the X / Y channel gain ratio k is calculated at 5-minute intervals. yx Update the misalignment angle α;

[0094] Step 4, record C x C at zero y The size of C, and C y C at zero x The size of the value, estimate the X / Y channel gain ratio k yx ;

[0095] Virtual precession is used in the control to make the resonator rotate at a constant speed without an input angular rate. Due to the effects of gyroscope amplitude control, quadrature control, and the phase-locked loop, C... x C y The amplitude q and phase difference of the orthogonal wave in The product of is small, so C can be used. x C y Rewritten as:

[0096]

[0097] Furthermore, the electrode gain error k is obtained by using the slow variable signal in the simulation model. y / k x The estimation process is as follows:

[0098] S41: Record the slow variable signal C of the simulation model x C at zero y Size.

[0099] When C x When it crosses zero, C is at this time y The size is C y =5.0134.

[0100] S42: Record the slow variable C of the simulation model y C at zero x Size.

[0101] When C y When it crosses zero, C is at this time x The size is C x = -4.9979.

[0102] S43: Using the parameter C obtained from S41 and S42 y and parameter C x Further, the X / Y channel gain ratio k was obtained. yx :

[0103]

[0104] Step 5, record the maximum value of the slow variable signal C x , and the size of C y when C x is maximum, estimate the misalignment angle a;

[0105] S51: record the maximum value of the slow variable signal C x C x-max = 4.9987.

[0106] S52: when the slow variable signal C y takes the maximum value, the value of C x C x-1 = -0.0489.

[0107] S53: further obtain the misalignment angle a of the X / Y detection channel by using the parameter C x-max and the parameter C x-1 obtained in S51 and S52.

[0108]

[0109] It can be seen from the calibration results that the recognition results of the gain error and the misalignment angle are very close to the set values, and the relative error is within 1%, proving that the method has high calibration accuracy.

[0110] Although the present application is described herein with reference to particular embodiments, it is to be understood that these examples are merely illustrative of the principles and applications of the present application. It is therefore to be understood that numerous modifications can be made to the illustrative embodiments and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It is to be understood that different combinations of the features described herein can be made with different dependent claims and features described herein. It is also to be understood that features described in connection with individual embodiments can be used in other described embodiments.

Claims

1. A method for on-line calibration of detection errors of a hemispherical resonator gyroscope, characterized in that, The calibration method comprises: The hemispherical resonator gyroscope is started by power supply, and cosine reference signals V c and sine reference signals V s are generated by using a phase-locked loop. The vibration signals detected by the X and Y channels of the pretreated hemispherical resonator gyroscope are respectively demodulated in real time to obtain X channel cosine signals C x , Y channel cosine signals C y , X channel sine signals S x and Y channel sine signals S y . Compensation of X / Y channel gain ratio k yx and misalignment angle a on C x , C y , S x and S y , compensation of C x , C y , S x and S y after compensation, X channel control amount and Y channel control amount are generated and applied to the X and Y channel excitation electrodes of the hemispherical resonator gyro, thus completing the online self-calibration of the detection error of the hemispherical resonator gyro; updating the X / Y channel gain ratio k and the misalignment angle a in the following way: estimating the X / Y channel gain ratio k according to the value of C yx at the time when the C y value crosses zero from negative to positive, and estimating the misalignment angle a according to the maximum value of C x in the time period corresponding to the preset time interval, and the value of C x at the time when the C y value crosses zero from positive to negative. yx ; and simultaneously estimating the misalignment angle a according to the maximum value of C x in the time period corresponding to the preset time interval, and the value of C y when C x takes the maximum value.

2. The method according to claim 1, wherein, The vibration signals detected by the X and Y channels of the hemispherical resonator gyroscope are respectively: where x is the vibration signal detected by the X channel, y is the vibration signal detected by the Y channel, a is the amplitude of the primary standing wave, q is the amplitude of the quadrature wave, ω is the vibration frequency of the resonator, k x is the detection gain of the X channel, k y is the detection gain of the Y channel, t is time, and θ is the azimuth angle of the primary standing wave.

3. The method according to claim 1, wherein the detection error of the hemispherical resonator gyroscope is calibrated on line. Estimating the X / Y channel gain ratio k yx Implementations include: C is recorded at the period corresponding to the preset time interval y C at the negative-to-positive zero crossing x value of C at the time C is recorded at the period corresponding to the preset time interval x C at the positive to negative zero crossing y value of C at the time According to C y the value of C x at the zero-crossing from negative to positive x the value of C y at the zero-crossing from positive to negative, the X / Y channel gain ratio k yx wherein where k y is the detection gain for the Y channel, k x is the detection gain for the X channel, a is the amplitude of the primary standing wave, is the phase-locked deviation.

4. The on-line calibration method of detection error for hemispherical resonator gyroscope according to claim 1, characterized in that, The implementation of estimating the misalignment angle a is: C is recorded in a period corresponding to a preset time interval x the maximum value of C is recorded in a period corresponding to a preset time interval y C is taken as the maximum value x The value of C Wherein, k x is the detection gain of the X channel, a is the amplitude of the main standing wave, is the phase-locked deviation; According to C x-max and C x-1 , the misalignment angle 5. The on-line calibration method of detection error for hemispherical resonator gyroscope according to claim 1, characterized in that, The implementation of generating the X-channel control quantity and the Y-channel control quantity is: The compensated C x , C y , S x , and S y generate a gyro amplitude control E, a quadrature control Q, and a phase-locked loop control L. The phase-locked loop control quantity L is used to adjust the phase-locked deviation of the phase-locked loop, and then the cosine reference signal V c and the sine reference signal V s are generated. The PI regulation is performed on the gyro amplitude control quantity E and the quadrature control quantity Q to obtain the regulated gyro amplitude control quantity E out and the quadrature control quantity Q out ; V c and V s , E out , Q out and W are processed to obtain amplitude control voltage V E , quadrature control voltage V Q and virtual precession control voltage V W ; W is a given virtual precession control amount; To V E , V Q , V W Project to X / Y modality, get X channel control V x and Y channel control V y ; Wherein, θ is the azimuth angle of the main standing wave.

6. The on-line calibration method for detecting errors of hemispherical resonator gyroscopes according to claim 5, characterized in that, V E = E out V s , V Q = Q out V c , V W = WV s .

7. The hemispherical resonator gyroscope detection error online calibration method according to claim 5, characterized in that, E = C x 2 + S x 2 + C y 2 + S y 2 = k x 2 (a 2 cos 2 2θ+q 2 sin 2 2θ)+k y 2 [a 2 sin 2 (2θ-2α)+q 2 cos 2 (2θ-2α)] where a is the amplitude of the primary standing wave, q is the amplitude of the quadrature wave, ω is the resonator's oscillation frequency, k x is the detection gain for the X channel, k y is the detection gain for the Y channel, t is time, θ is the azimuth angle of the primary standing wave, is the phase-locked deviation.

8. The method according to claim 1, wherein the detection error of the hemispherical resonator gyroscope is calibrated on line. The implementation of the phase-locked loop generated cosine reference signal V c and sine reference signal V s is: The compensated C x , C y , S x and S y generate a phase-locked loop control quantity L; The phase-locked loop control quantity L is used to adjust the phase-locked deviation of the phase-locked loop, and then the cosine reference signal V c and the sine reference signal V s are generated.

9. The method according to claim 1, wherein the detection error of the hemispherical resonator gyroscope is calibrated on line. The implementation of pre-processing the vibration signals detected by the X and Y channels of the hemispherical resonator gyroscope is: The vibration signals detected by the X and Y channels of the hemispherical resonator gyroscope are first amplified and then subjected to analog-to-digital conversion.

10. The method of claim 1, wherein, The expression of the X channel cosine signal C obtained by demodulation is x The expression of the Y channel cosine signal C obtained by demodulation is y The expression of the X channel sine signal S is x The expression of the Y channel sine signal S is y ​ where a is the amplitude of the primary standing wave, q is the amplitude of the quadrature wave, ω is the resonator's oscillation frequency, k x is the detection gain for the X channel, k y is the detection gain for the Y channel, t is time, θ is the azimuth angle of the primary standing wave, is the phase-locked deviation.

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