Rotation modulation method and system of hemispherical resonant gyro inertial navigation system with multi-gyro redundancy

Abstract

The present invention relates to the technical field of inertial navigation systems, and provides a method and system for rotation modulation of a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy, the method comprising: placing two gyros in parallel on any coordinate axis in a three-axis orthogonal coordinate system of the inertial navigation system; obtaining the rotation modulation scaling factors of the two parallel gyros by initial calibration compensation and periodically applying reverse control instructions; periodically applying reverse control instructions to the two parallel gyros, calculating the angular velocity mean of the two parallel gyros, and iteratively estimating the rotation modulation scaling factor errors of the two parallel gyros; updating the rotation modulation scaling factors of the two parallel gyros by inputting the rotation modulation scaling factor errors of the two parallel gyros into a rotation modulation controller; calculating the angular velocities of the two parallel gyros and outputting the angular velocities of the two parallel gyros. The present invention estimates the error of the rotation modulation scaling factor through multi-gyro redundancy, and improves the accuracy of rotation modulation.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation systems, and in particular to a rotation modulation method and system for a multi-gyro redundant hemispherical resonant gyro inertial navigation system. Background Art

[0002] The hemispherical resonant gyroscope is a new type of high-precision gyroscope with great development prospects. Its advantages are: small size, high precision, low power consumption, high reliability, short start-up time, simple mechanical component structure, wide operating temperature range, strong resistance to ionizing radiation, insensitive to linear overload, good stability during power failure, and automated production can be achieved during the manufacturing of the hemispherical resonant gyroscope. In addition, the hemispherical resonant gyroscope has a long lifespan. Relevant data show that the hemispherical resonant gyroscope can work continuously for more than 15 years and maintain the required performance. Therefore, it is recognized as the gyroscope with the longest lifespan.

[0003] Due to manufacturing process defects, the resonator of the hemispherical resonator gyroscope will produce anisotropy of damping and frequency splitting in one cycle, causing the drift of the hemispherical resonator gyroscope to change periodically with the position of the standing wave vibration mode. Hemispherical resonant rotation modulation technology refers to actively driving the standing wave vibration mode to continuously precess, thereby modulating the periodic drift that changes with the standing wave vibration mode. The control command for actively driving the standing wave vibration mode precession is usually in the form of voltage, and the control effect is the standing wave precession angular velocity. The conversion constant from voltage to standing wave precession angular velocity is called the rotation modulation scale factor. The standing wave vibration mode precession generated by applying the control command is not the external angular motion that the gyroscope is sensitive to, so it needs to be additionally deducted. The rotation modulation scale factor is generally obtained by pre-offline calibration, but with the change of ambient temperature, device aging and other reasons, the rotation modulation scale factor will change slowly, which will cause additional errors in the gyroscope output, thereby affecting the navigation accuracy of the inertial navigation. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a rotation modulation method and system for a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy, which estimates the error of the rotation modulation scale factor through multi-gyro redundancy and improves the accuracy of rotation modulation.

[0005] The present invention provides a rotation modulation method of a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy, comprising:

[0006] S1: In the three-axis orthogonal coordinate system of the inertial navigation system, two gyroscopes are placed parallel to any coordinate axis;

[0007] S2: Obtain the modulation scaling factors of the two parallel gyroscopes by initial calibration compensation and periodically applying reverse control commands;

[0008] S3: periodically applying reverse control instructions to the two parallel gyroscopes, calculating the average angular velocities of the two parallel gyroscopes according to the rotation modulation scale factor, and iteratively estimating the rotation modulation scale factor errors of the two parallel gyroscopes according to the average angular velocities of the two parallel gyroscopes;

[0009] S4: updating the rotation modulation scale factors of the two parallel gyros by inputting the rotation modulation scale factor errors of the two parallel gyros into the rotation modulation controller;

[0010] S5: The rotation modulation controller calculates the angular velocities of the two parallel gyros according to the updated rotation modulation scaling factors of the two parallel gyros and outputs the angular velocities of the two parallel gyros.

[0011] A rotation modulation method for a multi-gyro redundant hemispherical resonant gyro inertial navigation system provided by the present invention also includes placing two gyroscopes in parallel on the X-axis, the Y-axis and the Z-axis in the three-axis orthogonal coordinate system of the inertial navigation system, and performing rotation modulation scale factor error estimation on the two parallel gyroscopes on the X-axis, the two parallel gyroscopes on the Y-axis and the two parallel gyroscopes on the Z-axis respectively.

[0012] According to a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation method provided by the present invention, the rotation modulation scaling factor is further included in the rotation modulation scaling factor error. The mean and The rotation modulation scale factor error within the time period is determined, and the calculation expression is:

[0013]

[0014] in, is the rotation modulation scale factor, is the rotation modulation scale factor error in The mean value within a time period, For Rotational modulation scale factor error over time period.

[0015] According to a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation method provided by the present invention, the step S3 includes:

[0016] S31: estimating a rotation modulation scale factor error of a third time period by using the rotation modulation scale factor of the first time period and the rotation modulation scale factor of the second time period;

[0017] S32: Calculating a rotation modulation scale factor for a third time period according to the rotation modulation scale factor error for the third time period;

[0018] S33: estimating a rotation modulation scale factor error of a fourth time period by using the rotation modulation scale factor of the second time period and the rotation modulation scale factor of the third time period;

[0019] S34: Use S32 and S33 to iteratively calculate the rotation modulation scale factor error of the subsequent time period until the control cycle ends.

[0020] According to a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation method provided by the present invention, the step S31 includes, in the rotation modulation mode,

[0021] S311: calculating the average angular velocity of the first time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the first time period, and calculating the difference between the average angular velocity of the first time period output by the two parallel gyroscopes;

[0022] S312: calculating the average angular velocity of the second time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the second time period, and calculating the difference between the average angular velocity of the second time period output by the two parallel gyroscopes;

[0023] S313: Obtain a rotation modulation scale factor error in a third time period according to a difference between the average values ​​of the angular velocities output by the two parallel gyroscopes in the first time period and a difference between the average values ​​of the angular velocities output by the two parallel gyroscopes in the second time period.

[0024] According to a rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system provided by the present invention, the step S33 includes: in the rotation modulation mode,

[0025] S331: calculating the average angular velocity of the second time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the second time period, and calculating the difference between the average angular velocity of the second time period output by the two parallel gyroscopes;

[0026] S332: calculating the average angular velocity of the third time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the third time period, and calculating the difference between the average angular velocity of the third time period output by the two parallel gyroscopes;

[0027] S333: Obtain a rotation modulation scale factor error in a fourth time period by calculating a difference between the average angular velocities of the second time period output by the two parallel gyroscopes and a difference between the average angular velocities of the third time period output by the two parallel gyroscopes.

[0028] According to a rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system provided by the present invention, the method further includes periodically applying a reverse control instruction to at least one of the two parallel gyros.

[0029] According to a rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system provided by the present invention, the reverse control instruction is controlled by a rotation modulation controller.

[0030] The present invention also provides a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation system, which is used to perform a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation method, comprising:

[0031] A gyro setting module, wherein the gyro setting module is used to place two gyros in parallel on any coordinate axis in a three-axis orthogonal coordinate system of an inertial navigation system;

[0032] An acquisition module, wherein the acquisition module obtains the modulation scaling factors of the two parallel gyroscopes by initial calibration compensation and periodically applying reverse control instructions;

[0033] An estimation module, wherein the estimation module is used to periodically apply reverse control instructions to the two parallel gyroscopes, calculate the angular velocity mean of the two parallel gyroscopes according to the rotation modulation scale factor, and iteratively estimate the rotation modulation scale factor error of the two parallel gyroscopes according to the angular velocity mean of the two parallel gyroscopes;

[0034] An updating module, wherein the updating module is used to update the rotation modulation scaling factors of the two parallel gyroscopes by inputting the rotation modulation scaling factor errors of the two parallel gyroscopes into the rotation modulation controller;

[0035] The angular velocity output module is used for the rotation modulation controller to calculate the angular velocities of the two parallel gyros according to the updated rotation modulation scaling factors of the two parallel gyros and output the angular velocities of the two parallel gyros.

[0036] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0037] The invention provides a rotation modulation method for a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy, which estimates the error of the rotation modulation scale factor through multi-gyro redundancy and improves the precision of the rotation modulation.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 The present invention provides a flowchart of a rotation modulation method for a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy.

[0041] Figure 2 The invention discloses a schematic diagram of gyroscope installation of a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy and a rotation modulation method of the hemispherical resonant gyro inertial navigation system.

[0042] Figure 3 The present invention provides a schematic diagram of a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation method in which two parallel gyro control instructions are both periodic reverse control instructions.

[0043] Figure 4 The present invention provides a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation method, in which the control instruction of one gyro is periodically reversed, while the control instruction of the other gyro remains unchanged.

[0044] Figure 5 The present invention provides a structural block diagram of a rotation modulation system of a hemispherical resonant gyro inertial navigation system with multi-gyro redundancy.

[0045] Reference numerals:

[0046] 201, gyroscope setting module; 202, acquisition module; 203, estimation module; 204, update module; 205, angular velocity output module. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0048] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0050] Combine the following Figures 1 to 5 The present invention describes a rotation modulation method and system of a multi-gyro redundant hemispherical resonant gyro inertial navigation system.

[0051] like Figure 1 As shown, a rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system comprises:

[0052] S1: In the three-axis orthogonal coordinate system of the inertial navigation system, two gyroscopes are placed parallel to any coordinate axis;

[0053] In some embodiments of the present invention, the inertial navigation adopts a six-gyro structure, and the inertial group has three-axis orthogonal coordinate system axes X, Y, and Z. Two gyros are placed in parallel on any coordinate axis. Figure 2 As shown, gyroscopes GX1 and GX2 are placed in parallel on the X-axis, gyroscopes GY1 and GY2 are placed in parallel on the Y-axis, and gyroscopes GZ1 and GZ2 are placed in parallel on the Z-axis. The installation error angle can be compensated by prior calibration, so the two gyroscopes on each axis can be completely parallel.

[0054] S2: Obtain the modulation scaling factors of the two parallel gyroscopes by initial calibration compensation and periodically applying reverse control commands;

[0055] In some embodiments of the present invention, the modulation scaling factors of the two parallel gyroscopes can be obtained by initial calibration compensation and periodically applying reverse control instructions.

[0056] S3: periodically applying reverse control instructions to the two parallel gyroscopes, calculating the average angular velocities of the two parallel gyroscopes according to the rotation modulation scale factor, and iteratively estimating the rotation modulation scale factor errors of the two parallel gyroscopes according to the average angular velocities of the two parallel gyroscopes;

[0057] S31: estimating a rotation modulation scale factor error of a third time period by using the rotation modulation scale factor of the first time period and the rotation modulation scale factor of the second time period;

[0058] In rotary modulation mode,

[0059] S311: calculating the average angular velocity of the first time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the first time period, and calculating the difference between the average angular velocity of the first time period output by the two parallel gyroscopes;

[0060] S312: calculating the average angular velocity of the second time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the second time period, and calculating the difference between the average angular velocity of the second time period output by the two parallel gyroscopes;

[0061] S313: Obtain a rotation modulation scale factor error in a third time period according to a difference between the average values ​​of the angular velocities output by the two parallel gyroscopes in the first time period and a difference between the average values ​​of the angular velocities output by the two parallel gyroscopes in the second time period.

[0062] S32: Calculating a rotation modulation scale factor for a third time period according to the rotation modulation scale factor error for the third time period;

[0063] S33: estimating a rotation modulation scale factor error of a fourth time period by using the rotation modulation scale factor of the second time period and the rotation modulation scale factor of the third time period;

[0064] In rotary modulation mode,

[0065] S331: calculating the average angular velocity of the second time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the second time period, and calculating the difference between the average angular velocity of the second time period output by the two parallel gyroscopes;

[0066] S332: calculating the average angular velocity of the third time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the third time period, and calculating the difference between the average angular velocity of the third time period output by the two parallel gyroscopes;

[0067] S333: Obtain a rotation modulation scale factor error in a fourth time period by calculating a difference between the average angular velocities of the second time period output by the two parallel gyroscopes and a difference between the average angular velocities of the third time period output by the two parallel gyroscopes.

[0068] S34: Use S32 and S33 to iteratively calculate the rotation modulation scale factor error of the subsequent time period until the control cycle ends.

[0069] Calculating a rotation modulation scale factor for a fourth time period according to the rotation modulation scale factor error for a fourth time period;

[0070] estimating a rotation modulation scale factor error of a fifth time period by using the rotation modulation scale factor of the third time period and the rotation modulation scale factor of the fourth time period;

[0071] Calculating a rotation modulation scale factor for the fifth time period according to the rotation modulation scale factor error for the fifth time period;

[0072] estimating a rotation modulation scale factor error of a sixth time period by using the rotation modulation scale factor of the fourth time period and the rotation modulation scale factor of the fifth time period;

[0073] Iterate in sequence until the control cycle ends.

[0074] In some embodiments of the present invention, the two parallel gyroscopes GY1 and GY2 of the Y axis and the two parallel gyroscopes GZ1 and GZ2 of the Z axis are estimated using the same method.

[0075] S4: updating the rotation modulation scale factors of the two parallel gyros by inputting the rotation modulation scale factor errors of the two parallel gyros into the rotation modulation controller;

[0076] S5: The rotation modulation controller calculates the angular velocities of the two parallel gyros according to the updated rotation modulation scaling factors of the two parallel gyros and outputs the angular velocities of the two parallel gyros.

[0077] Embodiment 1:

[0078] Take the two gyros GX1 and GX2 on the X axis as an example. Gyro GX1 applies control instructions , gyro GX2 applies control instructions , the output of GX1 and GX2 in rotary modulation mode is:

[0079]

[0080] in, For The average angular velocity output by GX1 during the time period, For The average angular velocity output by GX2 during the time period, For The average angular velocity of the external input within the time period, is the rotation modulation scale factor error of gyro GX1 The mean value within a time period, is the rotation modulation scale factor error of gyro GX2 Mean value within a time period;

[0081] exist Rotation modulation scale factor within the time period According to the rotation modulation scale factor error in The mean value in the time period and in Rotation modulation scale factor error in time period OK, in Rotation modulation scale factor within the time period The calculation expression is:

[0082]

[0083] By periodically applying reverse control commands, the rotation modulation scale factor error is calculated , , obtained by offline calibration GX1 Rotation modulation scale factor error in time period , GX2 in Rotation modulation scale factor within the time period .

[0084] like Figure 3 As shown, the control instructions of the two gyroscopes are periodically reversed, which can eliminate part of the common mode error.

[0085] exist During the time period, gyro GX1 applies control instructions , gyro GX2 applies control instructions , the output angular velocity mean calculation expression is:

[0086]

[0087] in, For The average angular velocity output by GX1 during the time period, For The average angular velocity output by GX2 during the time period, For The average angular velocity of the external input within the time period, is the rotation modulation scale factor error of gyro GX1 The mean value within a time period, is the rotation modulation scale factor error of gyro GX2 The mean value within a time period,

[0088] exist During the time period, gyro GX1 applies control instructions , gyro GX2 applies control instructions , the output angular velocity mean calculation expression is:

[0089]

[0090] in, For The average angular velocity output by GX1 during the time period, For The average angular velocity output by GX2 during the time period, For The average angular velocity of the external input during the time period, For GX1 The rotation modulation scale factor error in the time period, For GX1 The rotation modulation scale factor within the time period, For GX2 The rotation modulation scale factor error in the time period, For GX2 The rotation modulation scale factor over the time period.

[0091] Will During the time period, the average angular velocity output by gyro GX1 is subtracted from the average angular velocity output by gyro GX2. During the time period, the mean angular velocity output by gyro GX1 is subtracted from the mean angular velocity output by gyro GX2 to obtain a binary linear equation:

[0092]

[0093] in, is the rotation modulation scale factor error of gyro GX1 The mean value within a time period, is the rotation modulation scale factor error of gyro GX2 Mean value within a time period;

[0094] Solve the above equation:

[0095]

[0096] Will As Gyro GX1 in Rotational modulation scale factor error over time ,Will As Gyro GX2 in Rotational modulation scale factor error over time , thus obtaining:

[0097]

[0098] exist During the time period, gyro GX1 applies control instructions , gyro GX2 applies control instructions , the output angular velocity mean calculation expression is:

[0099]

[0100] in, For The average angular velocity output by GX1 during the time period, For The average angular velocity output by GX2 during the time period, For The average angular velocity of the external input during the time period, For GX1 The rotation modulation scale factor within the time period, For GX1 Rotational modulation scaling factor within time period;

[0101] The same applies The rotation modulation scale factor and Estimation of rotational modulation scale factor over time The rotation modulation scale factor error over the time period is obtained:

[0102]

[0103] in, For GX1 The rotation modulation scale factor error in the time period, For GX2 Rotation modulation scale factor error within time period;

[0104] exist During the time period, gyro GX1 applies control instructions , gyro GX2 applies control instructions , the output angular velocity mean calculation expression is:

[0105]

[0106] in, For The average angular velocity output by GX1 during the time period, For The average angular velocity output by GX2 during the time period, For The average angular velocity of the external input during the time period, is the rotation modulation scale factor error of gyro GX1 The mean value within a time period, is the rotation modulation scale factor error of gyro GX2 Mean value within a time period;

[0107] The same applies The rotation modulation scale factor and Estimation of rotational modulation scale factor over time Rotational modulation scale factor error within the time period;

[0108]

[0109] in, For GX1 The rotation modulation scale factor error in the time period, For GX1 The rotation modulation scale factor error in the time period,

[0110] exist During the time period, gyro GX1 applies control instructions , gyro GX2 applies control instructions , the output angular velocity mean calculation expression is

[0111]

[0112] in, For The average angular velocity output by GX1 during the time period, For The average angular velocity output by GX2 during the time period, For The average angular velocity of the external input during the time period, is the rotation modulation scale factor error of gyro GX1 The mean value within a time period, is the rotation modulation scale factor error of gyro GX2 Mean value within a time period;

[0113] ~ Complete a large cycle of the two gyro control instructions of this embodiment, The control instructions are applied and same.

[0114] In this example, the two parallel gyroscopes GY1 and GY2 of the Y axis and the two parallel gyroscopes GZ1 and GZ2 of the Z axis perform the same operations and calculations as above.

[0115] Embodiment 2:

[0116] Take the two gyroscopes GX1 and GX2 on the X-axis as an example. Figure 4 As shown, the control instruction of gyroscope GX1 is periodically reversed, and the control instruction of gyroscope GX2 remains unchanged. The calculation process is the same as that of embodiment 1 and will not be repeated here.

[0117] The benefit of this embodiment is that it is simpler to implement and avoids additional errors caused by switching between the two gyro outputs.

[0118] The six gyro outputs of the hemispherical resonant gyro inertial group GX1, GX2, GY1, GY2, GZ1, and GZ2 are used. The three parallel groups of gyro respectively estimate the rotation modulation scale factor error, and the estimated rotation modulation scale factor error is sent to the rotation modulation controller to update the rotation modulation scale factor. The rotation modulation controller calculates the three-axis angular velocity output according to the updated rotation modulation scale factor and applies rotation modulation control instructions to the gyro.

[0119] like Figure 5 As shown, a multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation system comprises:

[0120] The gyro setting module 201 places two gyros in parallel on any coordinate axis in the three-axis orthogonal coordinate system of the inertial navigation system;

[0121] The acquisition module 202 obtains the modulation scaling factors of the two parallel gyroscopes by initial calibration compensation and periodically applying reverse control instructions;

[0122] The estimation module 203 is used to periodically apply reverse control instructions to the two parallel gyroscopes, calculate the angular velocity mean of the two parallel gyroscopes according to the rotation modulation scaling factor, and iteratively estimate the rotation modulation scaling factor error of the two parallel gyroscopes according to the angular velocity mean of the two parallel gyroscopes;

[0123] The updating module 204 is used to update the rotation modulation scaling factors of the two parallel gyros by inputting the rotation modulation scaling factor errors of the two parallel gyros into the rotation modulation controller;

[0124] The angular velocity output module 205 is used for the rotation modulation controller to calculate the angular velocities of the two parallel gyros according to the updated rotation modulation scaling factors of the two parallel gyros and output the angular velocities of the two parallel gyros.

[0125] Through the coordinated work of the above modules, two gyros are placed in parallel on any coordinate axis in the three-axis orthogonal coordinate system of the inertial navigation system through the gyro setting module 201, and the two parallel gyro rotation modulation scaling factors are obtained through the acquisition module 202 through initial calibration compensation and periodic application of reverse control instructions. The estimation module 203 periodically applies reverse control instructions to the two parallel gyros, and the angular velocity mean of the two parallel gyros is calculated according to the rotation modulation scaling factor, and the rotation modulation scaling factor error of the two parallel gyros is iteratively estimated according to the angular velocity mean of the two parallel gyros; the rotation modulation scaling factor error of the two parallel gyros is input into the rotation modulation controller through the update module 204, and the rotation modulation scaling factor of the two parallel gyros is updated; the rotation modulation scaling factor of the two parallel gyros is calculated by the rotation modulation controller through the angular velocity output module 205 according to the updated rotation modulation scaling factor of the two parallel gyros and outputs the angular velocity of the two parallel gyros.

[0126] The present invention estimates the error of the rotation modulation scale factor through multi-gyro redundancy, thereby improving the accuracy of the rotation modulation.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotation modulation method for a multi-gyro redundant hemispherical resonant gyro inertial navigation system, characterized in that: include: S1: In the three-axis orthogonal coordinate system of the inertial navigation system, two gyroscopes are placed parallel to any coordinate axis; S2: Obtain the modulation scaling factors of the two parallel gyroscopes by initial calibration compensation and periodically applying reverse control commands; S3: periodically applying reverse control instructions to the two parallel gyroscopes, calculating the average angular velocities of the two parallel gyroscopes according to the rotation modulation scale factor, and iteratively estimating the rotation modulation scale factor errors of the two parallel gyroscopes according to the average angular velocities of the two parallel gyroscopes; S4: updating the rotation modulation scale factors of the two parallel gyros by inputting the rotation modulation scale factor errors of the two parallel gyros into the rotation modulation controller; S5: The rotation modulation controller calculates the angular velocities of the two parallel gyros according to the updated rotation modulation scaling factors of the two parallel gyros and outputs the angular velocities of the two parallel gyros.

2. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: In the three-axis orthogonal coordinate system of the inertial navigation system, two gyroscopes are placed parallel to the X-axis, Y-axis and Z-axis, and the rotation modulation scale factor error estimation is performed on the two parallel gyroscopes of the X-axis, the two parallel gyroscopes of the Y-axis and the two parallel gyroscopes of the Z-axis respectively.

3. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: The rotation modulation scale factor is calculated based on the rotation modulation scale factor error in The mean and The rotation modulation scale factor error within the time period is determined, and the calculation expression is: in, is the rotation modulation scale factor, is the rotation modulation scale factor error in The mean value within a time period, For Rotational modulation scale factor error over time period.

4. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: The S3 step includes: S31: estimating a rotation modulation scale factor error of a third time period by using the rotation modulation scale factor of the first time period and the rotation modulation scale factor of the second time period; S32: Calculating a rotation modulation scale factor for a third time period according to the rotation modulation scale factor error for the third time period; S33: estimating a rotation modulation scale factor error of a fourth time period by using the rotation modulation scale factor of the second time period and the rotation modulation scale factor of the third time period; S34: Use S32 and S33 to iteratively calculate the rotation modulation scale factor error of the subsequent time period until the control cycle ends.

5. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: The step S31 includes, in the rotation modulation mode, S311: calculating the average angular velocity of the first time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the first time period, and calculating the difference between the average angular velocity of the first time period output by the two parallel gyroscopes; S312: calculating the average angular velocity of the second time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the second time period, and calculating the difference between the average angular velocity of the second time period output by the two parallel gyroscopes; S313: Obtain a rotation modulation scale factor error in a third time period according to a difference between the average values ​​of the angular velocities output by the two parallel gyroscopes in the first time period and a difference between the average values ​​of the angular velocities output by the two parallel gyroscopes in the second time period.

6. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: The step S33 includes, in the rotation modulation mode, S331: calculating the average angular velocity of the second time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the second time period, and calculating the difference between the average angular velocity of the second time period output by the two parallel gyroscopes; S332: calculating the average angular velocity of the third time period output by the two parallel gyroscopes according to the rotation modulation scaling factor of the third time period, and calculating the difference between the average angular velocity of the third time period output by the two parallel gyroscopes; S333: Obtain a rotation modulation scale factor error in a fourth time period by calculating a difference between the average angular velocities of the second time period output by the two parallel gyroscopes and a difference between the average angular velocities of the third time period output by the two parallel gyroscopes.

7. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: At least one of the two parallel gyroscopes periodically applies a reverse control command.

8. The rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system according to claim 1, characterized in that: The reverse control command is controlled by a rotary modulation controller.

9. A multi-gyro redundant hemispherical resonant gyro inertial navigation system rotation modulation system, characterized in that: A method for performing a rotation modulation method of a multi-gyro redundant hemispherical resonant gyro inertial navigation system as claimed in any one of claims 1 to 8, comprising: A gyro setting module, wherein the gyro setting module is used to place two gyros in parallel on any coordinate axis in a three-axis orthogonal coordinate system of an inertial navigation system; An acquisition module, wherein the acquisition module obtains the modulation scaling factors of the two parallel gyroscopes by initial calibration compensation and periodically applying reverse control instructions; An estimation module, wherein the estimation module is used to periodically apply reverse control instructions to the two parallel gyroscopes, calculate the angular velocity mean of the two parallel gyroscopes according to the rotation modulation scale factor, and iteratively estimate the rotation modulation scale factor error of the two parallel gyroscopes according to the angular velocity mean of the two parallel gyroscopes; An updating module, wherein the updating module is used to update the rotation modulation scaling factors of the two parallel gyroscopes by inputting the rotation modulation scaling factor errors of the two parallel gyroscopes into the rotation modulation controller; The angular velocity output module is used for the rotation modulation controller to calculate the angular velocities of the two parallel gyros according to the updated rotation modulation scaling factors of the two parallel gyros and output the angular velocities of the two parallel gyros.

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