Gyroscope decay time constant measurement method, device, storage medium and electronic equipment

Abstract

The present application provides a gyroscope decay time constant measurement method, device, storage medium and electronic device, which can determine the vibration gyroscope to be measured; control the vibration gyroscope in full-angle mode to obtain the amplitude control force of the vibration gyroscope; according to the preset virtual precession control force, control the vibration mode of the resonator of the vibration gyroscope to precess in the full-angle mode to obtain the precession rate of the vibration mode of the resonator; based on the amplitude control force, the virtual precession control force and the precession rate, obtain the decay time constant of the vibration gyroscope. By using the method provided in the embodiment of the present application, an accurate decay time constant can be obtained without energy decay of the resonator.

Description

Technical Field

[0001] The present application relates to the field of measurement technology, and in particular to a gyroscope attenuation time constant measurement method, device, storage medium and electronic device. Background Art

[0002] In the field of high-precision technology such as inertial navigation, attitude control and stable platforms, the performance of the vibrating gyroscope as a core sensor device directly determines the stability and accuracy of the system. The vibrating gyroscope provides the necessary attitude information for the system by measuring the angular rate or angle of rotation of the carrier around a certain axis. Among them, the time decay coefficient (or decay time constant) is one of the important indicators to measure the performance of the vibrating gyroscope. It reflects the energy dissipation rate of the vibrating gyroscope resonator during the free decay process, which is of great significance for evaluating the response speed, stability and long-term accuracy of the vibrating gyroscope.

[0003] At present, a time decay coefficient measurement method widely used in the industry is based on the analysis of the dynamic characteristics of the oscillator. This method first drives the oscillator of the vibrating gyroscope to a preset specific amplitude value through external excitation means, and then releases the control to allow the oscillator to enter a free decay state. During the free decay process, the change in the vibration amplitude of the oscillator is continuously monitored by a high-precision sensor, and the decay curve that changes with time is recorded. Subsequently, mathematical tools are used to fit the collected decay curve with an exponential function, and the decay time constant is extracted from the fitting result as a measure of the time decay coefficient.

[0004] However, although this method can theoretically obtain the time decay coefficient more accurately, it has significant deficiencies in practical applications. Specifically, this method requires the resonator to undergo a complete process from excitation to free decay during the measurement process, which means that the resonator must release its vibration energy to achieve the measurement purpose. In this process, the vibration energy decay of the resonator not only increases the measurement time, but more importantly, for the gyroscope in working state, the working state of the vibrating gyroscope needs to be interrupted, and the frequent vibration energy decay will cause additional stress burden on its internal mechanical structure, accelerate wear, and thus affect the long-term stability and service life of the vibrating gyroscope. Summary of the invention

[0005] The technical problem to be solved by this application is to provide a gyroscope decay time constant measurement method, device, storage medium and electronic device, which can obtain an accurate decay time constant without energy decay of the resonator. The specific scheme is as follows:

[0006] A method for measuring a gyro decay time constant, comprising:

[0007] determining a vibrating gyroscope to be measured;

[0008] Controlling the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope;

[0009] According to a preset virtual precession control force, controlling the vibration mode of the resonator of the vibrating gyroscope to precess in the full-angle mode, and obtaining the precession rate of the vibration mode of the resonator;

[0010] Based on the amplitude control force, the virtual precession control force, and the precession rate, a decay time constant of the vibrating gyroscope is obtained.

[0011] In the above method, optionally, controlling the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope includes:

[0012] Controlling the vibrating gyroscope to be in full-angle mode;

[0013] In the full-angle mode, the vibration amplitude of the resonator of the vibration gyroscope is controlled to reach a preset vibration amplitude setting value to obtain the amplitude control force of the vibration gyroscope.

[0014] Optionally, the method of controlling the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value to obtain the amplitude control force of the vibration gyroscope includes:

[0015] Acquiring the current vibration amplitude of the resonator of the vibrating gyroscope;

[0016] Determining a current candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value;

[0017] Applying the candidate amplitude control force to the vibration gyroscope, and detecting whether the vibration amplitude of the resonator after applying the candidate amplitude control force is within the fluctuation range corresponding to the vibration amplitude setting value;

[0018] In the case where it is detected that the vibration amplitude of the resonator is not within the fluctuation range, returning to the step of determining the candidate amplitude control force of the vibration gyroscope according to the difference between the current vibration amplitude and the vibration amplitude setting value;

[0019] In the case where it is detected that the vibration amplitude of the resonator is within the fluctuation range, the current candidate amplitude control force of the vibration gyroscope is used as the amplitude control force of the vibration gyroscope.

[0020] In the above method, optionally, obtaining the decay time constant of the vibrating gyroscope based on the amplitude control force, the virtual precession control force and the precession rate comprises:

[0021] determining a product between the amplitude control force and the precession rate;

[0022] The virtual precession control force is divided by the product to obtain a decay time constant of the vibrating gyroscope.

[0023] The above method, optionally, after obtaining the decay time constant of the vibrating gyroscope, further comprises:

[0024] The decay time constant of the vibrating gyroscope is output.

[0025] A gyro decay time constant measuring device, comprising:

[0026] A determination unit, used for determining a vibrating gyroscope to be measured;

[0027] A first control unit, used for controlling the vibration gyroscope to be in a full-angle mode to obtain an amplitude control force of the vibration gyroscope;

[0028] A second control unit is used to control the vibration mode of the resonator of the vibration gyroscope to precess in the full-angle mode according to a preset virtual precession control force, and obtain the precession rate of the vibration mode of the resonator;

[0029] An execution unit is used to obtain a decay time constant of the vibration gyroscope based on the amplitude control force, the virtual precession control force and the precession rate.

[0030] In the above device, optionally, the first control unit includes:

[0031] A first control subunit, used for controlling the vibration gyroscope to be in a full-angle mode;

[0032] The second control subunit is used to control the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value in the full-angle mode to obtain the amplitude control force of the resonator of the vibration gyroscope.

[0033] In the above device, optionally, the second control subunit includes:

[0034] An acquisition module, used for acquiring the current vibration amplitude of the resonator of the vibration gyroscope;

[0035] A determination module, used for determining a current candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value;

[0036] A first execution module is used to apply the candidate amplitude control force to the vibration gyroscope, and detect whether the vibration amplitude of the resonator after applying the candidate amplitude control force is within the fluctuation range corresponding to the vibration amplitude setting value;

[0037] a second execution module, configured to re-trigger the determination module to determine a candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value when detecting that the vibration amplitude of the resonator is not within the fluctuation range;

[0038] The third execution module is used to use the current candidate amplitude control force of the vibration gyroscope as the amplitude control force of the vibration gyroscope when it is detected that the vibration amplitude of the resonator is within the fluctuation range.

[0039] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned gyro decay time constant measurement method.

[0040] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors to perform the above-mentioned gyro decay time constant measurement method.

[0041] Based on the above-mentioned implementation of the present application, a gyroscope decay time constant measurement method, device, storage medium and electronic device are provided, the method comprising: determining a vibrating gyroscope to be measured; controlling the vibrating gyroscope in a full-angle mode to obtain an amplitude control force of the vibrating gyroscope; according to a preset virtual precession control force, controlling the vibration mode of the resonator of the vibrating gyroscope to precess in the full-angle mode to obtain the precession rate of the vibration mode of the resonator; based on the amplitude control force, the virtual precession control force and the precession rate, obtaining the decay time constant of the vibrating gyroscope. By using the method provided in the embodiment of the present application, an accurate decay time constant can be obtained without energy decay of the resonator. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in 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 only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0043] Figure 1 A method flow chart of a gyro decay time constant measurement method provided in this application;

[0044] Figure 2 A flow chart of a process for obtaining an amplitude control force of a vibrating gyroscope provided by the present application;

[0045] Figure 3A flowchart of another process for obtaining the amplitude control force of a vibrating gyroscope provided by the present application;

[0046] Figure 4 A structural example diagram of a vibrating gyroscope model provided in this application;

[0047] Figure 5 A schematic diagram of the structure of a gyro decay time constant measuring device provided in the present application;

[0048] Figure 6 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0051] The present application embodiment provides a method for measuring a gyro decay time constant. The method can be applied to electronic devices, and the electronic devices can be computers, tablets, smart phones, smart wearable devices, etc. The method flow chart of the method is as follows: Figure 1 As shown, specifically including:

[0052] S101: Determine the vibration gyroscope to be measured.

[0053] In this embodiment, the vibrating gyroscope may be a full-angle vibrating gyroscope.

[0054] S102: Control the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope.

[0055] In this embodiment, the amplitude control force of the vibration gyroscope may be the amplitude control force corresponding to the vibration gyroscope when the vibration amplitude is at a preset setting value.

[0056] Optionally, when the vibration gyroscope is in full-angle mode, the initial amplitude control force can be zero. By continuously adjusting the initial amplitude control force so that the vibration amplitude of the vibration gyroscope is within the error range corresponding to a preset vibration amplitude setting value, the force that makes the vibration amplitude of the vibration gyroscope within the fluctuation range corresponding to the vibration amplitude setting value is used as the amplitude control force of the vibration gyroscope.

[0057] In an embodiment of the present invention, based on the above solution, optionally, the process of controlling the vibration gyroscope in the full-angle mode to obtain the amplitude control force of the vibration gyroscope is as follows: Figure 2 As shown, including:

[0058] S201: Control the vibration gyroscope to be in full-angle mode.

[0059] S202: In the full-angle mode, controlling the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value to obtain an amplitude control force of the vibration gyroscope.

[0060] In this embodiment, the initial amplitude control force of the vibration gyroscope can be continuously adjusted by a PI controller so that the vibration amplitude of the resonator controlling the vibration gyroscope tends to a preset vibration amplitude setting value, until the vibration amplitude reaches the preset vibration amplitude setting value, and the output of the PI controller at this time is used as the amplitude control force of the vibration gyroscope.

[0061] In an embodiment provided by the present invention, based on the above solution, optionally, the process of controlling the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value in S202 to obtain the amplitude control force of the vibration gyroscope is as follows: Figure 3 As shown, including:

[0062] S301: Acquire the current vibration amplitude of the resonator of the vibration gyroscope.

[0063] S302: Determine a current candidate amplitude control force of the vibration gyroscope according to a difference between the current vibration amplitude and the vibration amplitude setting value.

[0064] In this embodiment, the difference between the current vibration amplitude and the vibration amplitude setting value can be input into a preset PI controller to obtain an output result of the PI controller, and the output result is the current candidate amplitude control force of the vibration gyroscope.

[0065] S303: Apply the candidate amplitude control force to the vibration gyroscope.

[0066] S304: Detect whether the vibration amplitude of the resonator after applying the candidate amplitude control force is within the fluctuation range corresponding to the vibration amplitude setting value. If not, execute S302; if yes, execute S305.

[0067] Optionally, the fluctuation range can be determined based on the vibration amplitude setting value and the fluctuation error. For example, the lower limit of the fluctuation range is the difference between the vibration amplitude setting value and the fluctuation error, and the upper limit of the fluctuation range is the sum of the vibration amplitude setting value and the fluctuation error.

[0068] S305: Using the current candidate amplitude control force of the vibration gyroscope as the amplitude control force of the vibration gyroscope.

[0069] In this embodiment, the force that makes the vibration amplitude of the vibration gyroscope fall within the fluctuation range can be used as the amplitude control force of the vibration gyroscope.

[0070] S103: According to a preset virtual precession control force, the vibration mode of the resonator of the vibrating gyroscope is controlled to precess in the full-angle mode, and the precession rate of the vibration mode of the resonator is obtained.

[0071] In this embodiment, after the vibration mode of the resonator is controlled to precess according to the virtual precession control force, the precession rate of the vibration mode of the resonator can be measured, and the precession rate can be specifically the precession angular rate .

[0072] S104: Obtaining a decay time constant of the vibration gyroscope based on the amplitude control force, the virtual precession control force, and the precession rate.

[0073] Optionally, based on the amplitude control force, the virtual precession control force and the precession rate, the decay time constant of the vibration gyroscope is obtained, including: determining the product between the amplitude control force and the precession rate; dividing the virtual precession control force by the product to obtain the decay time constant of the vibration gyroscope.

[0074] By using the method provided in the embodiment of the present application, an accurate decay time constant can be obtained without performing energy decay on the resonator.

[0075] In an embodiment provided by the present invention, based on the above solution, optionally, after obtaining the decay time constant of the vibrating gyroscope, the method further includes:

[0076] The decay time constant of the vibrating gyroscope is output.

[0077] In this embodiment, the decay time constant of the vibration gyroscope can be output and displayed on a preset display interface; the decay time constant of the vibration gyroscope can also be sent to a preset terminal.

[0078] See also Figure 4 , is a dynamic model of a vibrating gyroscope provided in an embodiment of the present application. The dynamic equation of the vibrating gyroscope can be expressed as:

[0079]

[0080]

[0081] Among them, x and y are the vibration displacements of the two degrees of freedom, are the eigenfrequency of the two degrees of freedom, is the decay time constant of the two-degree-of-freedom vibration, m is the effective value, and The external control force applied to the two degrees of freedom, virtual precession full angle mode (using a specific control force Control the vibration mode of the resonator at an angular rate The two degrees of freedom can be expressed as:

[0082]

[0083]

[0084] in, is the vibration amplitude of the oscillator vibration mode, is the angular rate of precession of the oscillator vibration mode, in this case:

[0085]

[0086]

[0087] In the full-angle precession control solution provided in this embodiment, the amplitude control force applied is and virtual precession control force , is applied in the following form:

[0088]

[0089]

[0090] Based on the above relationship, the amplitude control force and precession control force are obtained as follows (only the absolute value is concerned, and the negative sign has no effect):

[0091]

[0092]

[0093] Comparing the amplitude control force and the precession control force, we get:

[0094]

[0095] In this embodiment, the full-angle gyro is controlled to perform virtual precession. During the control process, for a given control amplitude , the force required is ( The size of the virtual force is determined by the damping size. The actual observed precession rate is .in , and It can be obtained based on measurement. From the above formula, we can get the size of τ, that is, we can measure the damping.

[0096] In other words, When the vibration amplitude of the resonator can reach a specific value, the output value of the PI controller can be obtained in the control; can be a precession force of a certain magnitude, and is given The precession rate measured under the precession force. Then the size of τ is determined by the above method. In this embodiment, during the operation of the gyroscope (the external speed relative to the virtual precession rate The damping inhomogeneity and frequency splitting have little effect on τ and can be ignored.

[0097] Optionally, the vibrating gyro can be controlled in full-angle mode. Initially 0, a specific force control value is applied through the PI controller , causing the vibration mode of the oscillator to precess; measuring the precession rate of the vibration mode of the oscillator, the precession angular rate is obtained as ; then according to , and The decay time constant τ is calculated as follows:

[0098]

[0099] and Figure 1 Corresponding to the method described above, the embodiment of the present application further provides a gyro decay time constant measuring device for measuring Figure 1 The specific implementation of the method in the embodiment of the present invention is shown in the structural diagram of the device. Figure 5 As shown, including:

[0100] A determination unit 501, used to determine a vibrating gyroscope to be measured;

[0101] A first control unit 502 is used to control the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope;

[0102] A second control unit 503 is used to control the vibration mode of the resonator of the vibrating gyroscope to precess in the full-angle mode according to a preset virtual precession control force, and obtain the precession rate of the vibration mode of the resonator;

[0103] The execution unit 504 is configured to obtain a decay time constant of the vibrating gyroscope based on the amplitude control force, the virtual precession control force, and the precession rate.

[0104] In an embodiment provided in the application, based on the above solution, optionally, the first control unit includes:

[0105] A first control subunit, used for controlling the vibration gyroscope to be in a full-angle mode;

[0106] The second control subunit is used to control the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value in the full-angle mode to obtain the amplitude control force of the resonator of the vibration gyroscope.

[0107] In an embodiment provided in the application, based on the above solution, optionally, the second control subunit includes:

[0108] An acquisition module, used for acquiring the current vibration amplitude of the resonator of the vibration gyroscope;

[0109] A determination module, used for determining a current candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value;

[0110] A first execution module is used to apply the candidate amplitude control force to the vibration gyroscope, and detect whether the vibration amplitude of the resonator after applying the candidate amplitude control force is within the fluctuation range corresponding to the vibration amplitude setting value;

[0111] a second execution module, configured to re-trigger the determination module to determine a candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value when detecting that the vibration amplitude of the resonator is not within the fluctuation range;

[0112] The third execution module is used to use the current candidate amplitude control force of the vibration gyroscope as the amplitude control force of the vibration gyroscope when it is detected that the vibration amplitude of the resonator is within the fluctuation range.

[0113] In an embodiment provided by the application, based on the above solution, optionally, the execution unit includes:

[0114] a determination subunit, configured to determine the product between the amplitude control force and the precession rate;

[0115] The calculation subunit is used to divide the virtual precession control force by the product to obtain the decay time constant of the vibrating gyroscope.

[0116] In an embodiment provided by the application, based on the above solution, optionally, it also includes:

[0117] The output unit is used to output the decay time constant of the vibration gyroscope.

[0118] The specific principles and execution processes of each unit and module in the gyro decay time constant measurement device disclosed in the above-mentioned embodiment of the present application are the same as the gyro decay time constant measurement method disclosed in the above-mentioned embodiment of the present application. Please refer to the corresponding parts of the gyro decay time constant measurement method provided in the above-mentioned embodiment of the present application, and will not be repeated here.

[0119] An embodiment of the present application further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned gyro decay time constant measurement method.

[0120] The present application also provides an electronic device, whose structural diagram is as follows: Figure 6 As shown, it specifically includes a memory 601 and one or more instructions 602, wherein the one or more instructions 602 are stored in the memory 601 and are configured to be executed by one or more processors 603 to perform the following operations:

[0121] determining a vibrating gyroscope to be measured;

[0122] Controlling the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope;

[0123] According to a preset virtual precession control force, controlling the vibration mode of the resonator of the vibrating gyroscope to precess in the full-angle mode, and obtaining the precession rate of the vibration mode of the resonator;

[0124] Based on the amplitude control force, the virtual precession control force, and the precession rate, a decay time constant of the vibrating gyroscope is obtained.

[0125] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0126] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0127] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0128] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0129] The above is a detailed introduction to a gyro attenuation time constant measurement method provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for measuring a gyro decay time constant, characterized in that: include: determining a vibrating gyroscope to be measured; Controlling the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope; According to a preset virtual precession control force, controlling the vibration mode of the resonator of the vibrating gyroscope to precess in the full-angle mode, and obtaining the precession rate of the vibration mode of the resonator; determining a product between the amplitude control force and the precession rate; The virtual precession control force is divided by the product to obtain a decay time constant of the vibrating gyroscope.

2. The method according to claim 1, characterized in that The step of controlling the vibration gyroscope in a full-angle mode to obtain an amplitude control force of the vibration gyroscope comprises: Controlling the vibrating gyroscope to be in full-angle mode; In the full-angle mode, the vibration amplitude of the resonator of the vibration gyroscope is controlled to reach a preset vibration amplitude setting value to obtain the amplitude control force of the vibration gyroscope.

3. The method according to claim 2, characterized in that The step of controlling the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value to obtain the amplitude control force of the vibration gyroscope comprises: Acquiring the current vibration amplitude of the resonator of the vibrating gyroscope; Determining a current candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value; Applying the candidate amplitude control force to the vibration gyroscope, and detecting whether the vibration amplitude of the resonator after applying the candidate amplitude control force is within the fluctuation range corresponding to the vibration amplitude setting value; In the case where it is detected that the vibration amplitude of the resonator is not within the fluctuation range, returning to the step of determining the candidate amplitude control force of the vibration gyroscope according to the difference between the current vibration amplitude and the vibration amplitude setting value; In the case where it is detected that the vibration amplitude of the resonator is within the fluctuation range, the current candidate amplitude control force of the vibration gyroscope is used as the amplitude control force of the vibration gyroscope.

4. The method according to claim 1, characterized in that After obtaining the decay time constant of the vibrating gyroscope, the method further includes: The decay time constant of the vibrating gyroscope is output.

5. A gyro decay time constant measuring device, characterized in that: include: A determination unit, used for determining a vibrating gyroscope to be measured; A first control unit, used for controlling the vibration gyroscope to be in a full-angle mode to obtain an amplitude control force of the vibration gyroscope; A second control unit is used to control the vibration mode of the resonator of the vibration gyroscope to precess in the full-angle mode according to a preset virtual precession control force, and obtain the precession rate of the vibration mode of the resonator; The execution unit is used to determine the product between the amplitude control force and the precession rate; and divide the virtual precession control force by the product to obtain the decay time constant of the vibrating gyroscope.

6. The device according to claim 5, characterized in that The first control unit comprises: A first control subunit, used for controlling the vibration gyroscope to be in a full-angle mode; The second control subunit is used to control the vibration amplitude of the resonator of the vibration gyroscope to reach a preset vibration amplitude setting value in the full-angle mode to obtain the amplitude control force of the resonator of the vibration gyroscope.

7. The device according to claim 6, characterized in that The second control subunit comprises: An acquisition module, used for acquiring the current vibration amplitude of the resonator of the vibration gyroscope; A determination module, used for determining a current candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value; A first execution module is used to apply the candidate amplitude control force to the vibration gyroscope, and detect whether the vibration amplitude of the resonator after the candidate amplitude control force is applied is within the fluctuation range corresponding to the vibration amplitude setting value; a second execution module, configured to re-trigger the determination module to determine a candidate amplitude control force of the vibration gyroscope according to a difference between a current vibration amplitude and the vibration amplitude setting value when detecting that the vibration amplitude of the resonator is not within the fluctuation range; The third execution module is used to use the current candidate amplitude control force of the vibration gyroscope as the amplitude control force of the vibration gyroscope when it is detected that the vibration amplitude of the resonator is within the fluctuation range.

8. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the gyro decay time constant measurement method according to any one of claims 1 to 4.

9. An electronic device, characterized in that: The device comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the gyro decay time constant measurement method as claimed in any one of claims 1 to 4.

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