A dual-processor hierarchical architecture for an inertial navigation resonant gyroscope

Abstract

The present invention relates to the technical field of resonant gyroscopes, and provides a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope, including a multi-core processor, in which a first processor includes a sequentially connected operation physical layer, an operation logic layer, and an operation decision layer, the operation physical layer receives data and transmits it to the operation logic layer, the operation logic layer obtains operation input data and inputs it into the operation decision layer, the operation decision layer obtains initial operation data and transmits it back to the operation logic layer and the operation physical layer for packaging and output; the second processor includes a sequentially connected control physical layer, a control logic layer, and a control decision layer, the control physical layer receives gyroscope control data and transmits it to the control logic layer, the control logic layer obtains control input data and inputs it into the control decision layer, the control decision layer obtains initial control data and transmits it back to the control logic layer and the control physical layer for packaging and output. The present invention can improve the operation speed and reliability of the inertial navigation resonant gyroscope.

Description

Technical Field

[0001] The present invention relates to the technical field of resonant gyroscopes, and in particular to a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope. Background Art

[0002] The inertial navigation resonant gyro provides real-time position, speed, attitude and other information for ships sailing at sea, and is an important part of the ship's navigation system. The resonant gyro inertial navigation is designed based on the resonant gyro, accelerometer, gyro control unit, navigation solution unit, etc., which can meet the actual use requirements such as small size, light weight, and low power consumption. The inertial navigation system includes a computing part and a control part. The computing part and the control part work closely together to complete functions such as signal acquisition, data processing, navigation solution, component control and information communication.

[0003] Limited by the performance of single-core processors in the early years, the calculation and command processing of the computing part and the control part of the inertial navigation resonant gyroscope are usually performed in the same processor, which easily leads to a heavy burden on the processor and a long calculation time. When the amount of data calculation of the inertial navigation resonant gyroscope is large, the processor's solution frequency is also low, which is difficult to meet the needs. In addition, since the computing part and the control part are both calculated in the same processor, it is difficult to timely troubleshoot the source of the fault and error when a fault or error occurs. The existing inertial navigation resonant gyroscope based on multi-core processors has also failed to give full play to the advantages of multi-core processors. In the process of multi-core calculation, the control and computing tasks are still decomposed into multiple small tasks. Multiple small tasks are interrelated and cooperate with each other. Once a problem occurs, the computing and control functions will all fail. 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 dual-processor hierarchical architecture of an inertial navigation resonant gyroscope to achieve high reliability and high real-time inertial navigation resonant gyroscope control and data calculation processing.

[0005] The present invention provides a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope, comprising a multi-core processor, a shared memory and a serial port, wherein the multi-core processor comprises a first processor and a second processor, wherein the second processor comprises a control physical layer, a control logic layer and a control decision layer connected in sequence; wherein the control physical layer receives gyroscope control data and transmits it to the control logic layer, the control logic layer performs control input processing on the gyroscope control data to obtain control input data and inputs the control input data to the control decision layer, the control decision layer performs control data calculation on the control input data to obtain initial control data and transmits the data back to the control logic layer, the control logic layer performs control output processing and fusion on the initial control data to obtain target control data, transmits the data back to the control physical layer and packages the data to obtain a target control parameter package, and the target control parameter package is output to the shared memory;

[0006] The first processor includes a computing physical layer, a computing logic layer and a computing decision layer connected in sequence; wherein the computing physical layer receives the target control parameter package and the serial port parameters from the shared memory and the serial port and transmits them to the computing logic layer, the computing logic layer performs computing input processing on the target control parameter package and the serial port parameters, obtains computing input data and inputs it into the computing decision layer, the computing decision layer performs data computing processing on the computing input data, obtains initial computing data and transmits it back to the computing logic layer, the computing logic layer performs computing output processing on the initial computing data, obtains target computing data and transmits it back to the computing physical layer for packaging and output.

[0007] According to a dual-processor layered architecture of an inertial navigation resonant gyroscope provided by the present invention, the data operation processing includes coarse alignment, fine alignment and navigation data solution. In the operation decision layer, the operation input data is subjected to the coarse alignment, the fine alignment and the navigation data solution in sequence to obtain the initial operation data; wherein, initial attitude information is obtained through the coarse alignment, and the fine alignment is achieved by performing Kalman filtering on the initial attitude information.

[0008] According to a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope provided by the present invention, the control data operation includes frequency error solution, phase error solution, orthogonal control error solution and speed error solution. In the control decision layer, the frequency error solution, the phase error solution, the orthogonal control error solution and the speed error solution are performed on the operation input data in sequence to obtain the initial control data; wherein, the orthogonal control error solution is implemented by Fourier transform.

[0009] According to a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope provided by the present invention, the serial port parameters include gyroscope parameters and accelerometer parameters, and the gyroscope control data include gyroscope control parameters and accelerometer control parameters.

[0010] According to a dual-processor hierarchical architecture of an inertial resonant gyroscope provided by the present invention, the operation input processing includes target control parameter conversion, gyroscope parameter validity judgment and accelerometer parameter validity judgment. In the operation logic layer, the target control parameter package is subjected to the target control parameter conversion to obtain error parameters, the error parameters are respectively fused with the gyroscope parameters and the accelerometer parameters to obtain gyroscope operating parameters and accelerometer operating parameters, the gyroscope operating parameters are subjected to the gyroscope parameter validity judgment to obtain valid gyroscope operating parameters, the accelerometer operating parameters are subjected to the accelerometer parameter validity judgment to obtain valid accelerometer operating parameters, the valid gyroscope operating parameters are fused with the valid accelerometer operating parameters to obtain the operation input data.

[0011] According to a dual-processor layered architecture of an inertial resonant gyroscope provided by the present invention, the control input processing includes gyroscope data filtering and noise reduction and accelerometer data filtering and noise reduction. In the operation logic layer, the gyroscope control parameters are subjected to the gyroscope data filtering and noise reduction to obtain low-noise gyroscope control parameters, and the accelerometer control parameters are subjected to the accelerometer data filtering and noise reduction to obtain low-noise accelerometer control parameters, and the low-noise gyroscope control parameters are used as the control input data.

[0012] According to a dual-processor layered architecture of an inertial resonant gyroscope provided by the present invention, the operation output processing includes unit conversion and error compensation. In the operation logic layer, the unit conversion and the error compensation are performed on the initial operation data in sequence to obtain the target operation data.

[0013] According to a dual-processor hierarchical architecture of an inertial resonant gyroscope provided by the present invention, the control output processing includes unit conversion and signal compilation. In the control logic layer, the initial control data is merged with the low-noise accelerometer control parameters to obtain intermediate control data, and the intermediate control data is sequentially subjected to the unit conversion and the signal compilation to obtain the target control data.

[0014] According to a dual-processor layered architecture of an inertial navigation resonant gyroscope provided by the present invention, the computational physical layer obtains component information of the inertial navigation resonant gyroscope and transmits it to the computational logic layer, the computational logic layer performs unit conversion and error compensation on the component information in sequence to obtain target component data, and the target component data is transmitted back to the computational physical layer and packaged to output a target control parameter package.

[0015] According to a dual-processor hierarchical architecture of an inertial resonant gyroscope provided by the present invention, the shared memory includes a monitoring module. When the monitoring module monitors that the target control parameter package is abnormal, the shared memory stops receiving the target control parameter package and overwrites the abnormal target control parameter package with the target control parameter package at the previous moment.

[0016] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0017] The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope provided by the present invention divides all functions and requirements of the inertial navigation resonant gyroscope into two parts, namely, operation and control, by using a hardware platform with a dual-core processor, thereby minimizing the dependency between the two parts. One of the processors mainly implements tasks such as data processing and navigation solution, while the other processor mainly implements tasks such as error solution and component control. The two processors operate in parallel, thereby meeting the requirements of the inertial navigation resonant gyroscope for large amount of operation, high solution frequency and high real-time performance.

[0018] Compared with the traditional multi-core processor that decomposes the task into multiple subtasks to complete collaboratively, there is less interaction between the two processors, and they are highly independent of each other, which can improve the maintainability and scalability of the system. When problems occur in the control process, the operation process can be maintained by using the previous target control parameter package. In each processor, each operation and operation is carried out in sequence in each layer, which effectively improves the reliability, maintainability and scalability of the system.

[0019] 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

[0020] 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.

[0021] Figure 1 It is a structural schematic diagram of a dual-processor layered architecture of an inertial navigation resonant gyroscope provided by the present invention.

[0022] Figure 2 It is a schematic diagram of the operation process of the first processor of the dual-processor hierarchical architecture of an inertial navigation resonant gyroscope provided by the present invention.

[0023] Figure 3It is a schematic diagram of the control process of the second processor of the dual-processor hierarchical architecture of an inertial navigation resonant gyroscope provided by the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0027] 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 embodiment 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, without contradiction.

[0028] Combine the following Figures 1 to 3 The present invention describes a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope. Figure 1It is a structural diagram of a dual-processor hierarchical architecture of an inertial navigation resonant gyroscope provided by the present invention. The present invention needs to be implemented based on a multi-core processor. The multi-core processor selected here is Xilinx's Zynq-7000, which includes two independent ARM processors, which can provide sufficient processing power for the present invention and meet the requirements of the present invention for the processor. One of the two independent ARM processors is used as the first processor and the other is used as the second processor. Unlike the traditional multi-core processor that decomposes the task into multiple subtasks and performs collaborative parallel operations, the operation process and control process of the present application are performed independently in the two processors. In the first processor, a sequentially connected operation physical layer, an operation logic layer and an operation decision layer are constructed, and in the second processor, a sequentially connected control physical layer, a control logic layer and a control decision layer are constructed. In addition, the present invention also includes a shared memory and a serial port, and the shared memory includes a monitoring module.

[0029] In addition, the present invention also provides a common library including a mathematical library and a model library. The mathematical library of the common library contains mathematical operations commonly used in the operation and control process of the inertial navigation resonant gyroscope, such as matrix operations, quaternion operations, three-dimensional vector operations, etc.; the model library of the common library contains algorithm models commonly used in the operation and control process of the inertial navigation resonant gyroscope, such as high-pass filter models, low-pass filter models, Kalman filter models, etc. The common library is connected to the control physical layer, the control logic layer, the control decision layer, the operation physical layer, the operation logic layer and the operation decision layer respectively. When each layer needs to use the algorithm model or perform mathematical operations, it can be directly retrieved from the common library, so there is no need to directly place the more complex algorithm models and mathematical operations in each layer, thereby improving the maintainability and simplicity of the system.

[0030] Figure 2 It is a schematic diagram of the operation process of the first processor. In the first processor, the operation physical layer receives the uniformly named serial port parameters through the serial port and reads the shared memory data to realize the reception of the target control parameter package and the serial port parameters, thereby completing the reception of the operation physical layer.

[0031] Then the computational physical layer transmits the target control parameter package and the serial port parameters to the computational logic layer, thereby completing the input of the computational logic layer, and performing computational input processing in the computational logic layer. The computational input processing includes the target control parameter conversion, the gyro parameter validity judgment, and the accelerometer parameter validity judgment performed in sequence. The target control parameter conversion is to first call the target control parameter conversion model in the public library, and perform target control parameter conversion on the target control parameter package, that is, to split the error data in the target control parameter package to obtain error parameters, namely, gyro error parameters and accelerometer error parameters. The serial port parameters include gyro parameters and accelerometer parameters. The gyro parameters and gyro error parameters are fused to obtain gyro operating parameters. The accelerometer parameters and accelerometer error parameters are fused to obtain accelerometer operating parameters. The gyro operating parameters include the angular momentum, temperature, and inclination of the inertial navigation resonant gyro. The accelerometer operating parameters include the acceleration value and acceleration direction of the accelerometer.

[0032] Then, the validity of the gyro operating parameters is judged by calling the gyro parameter validity judgment model in the public library, and the validity of the accelerometer operating parameters is judged by calling the accelerometer parameter validity judgment model in the public library, and the valid gyro operating parameters and the valid accelerometer operating parameters are respectively obtained. In this embodiment, the method for judging the validity is to judge whether the parameters in the gyro operating parameters and the accelerometer operating parameters are within the specified threshold value. The operation input processing can effectively eliminate the abnormal values ​​in the gyro operating parameters and the accelerometer operating parameters, thereby avoiding the abnormal values ​​from affecting the results of the target operation data and the stability of the gyro. In addition, the valid gyro operating parameters and the valid accelerometer operating parameters can also be sampled and compensated. The sample compensation can indirectly increase the sampling frequency through interpolation, thereby improving the accuracy of the navigation solution. Finally, the valid gyro operating parameters and the valid accelerometer operating parameters are fused to obtain the operation input data and input the operation input data into the operation decision layer.

[0033] In the operation decision layer, the operation input data is processed by data operation, that is, firstly, coarse alignment is performed, and the coarse alignment is performed by calling the coarse alignment model in the public library. In this embodiment, the duration of coarse alignment is 1 minute. The initial attitude information can be obtained through coarse alignment to realize the conversion from the carrier coordinate system to the navigation coordinate system. Then, the initial attitude information is finely aligned for 4 minutes. The fine alignment is to perform Kalman filtering on the initial attitude information. The fine alignment is performed by calling the fine alignment model in the public library. Finally, the navigation data is solved by calling the navigation update model in the public library to solve the navigation data of the initial attitude information after fine alignment, so as to complete the data operation processing and obtain the navigation data including the attitude, position and speed of the carrier, thereby obtaining the initial operation data. In the process of solving the navigation data, the speed parameter in the gyro operating parameter is updated according to the acceleration data in the accelerometer operating parameter, and the position information is determined by integrating the speed parameter; the initial attitude information after fine alignment is integrated and the coordinate system is transformed by the angle information in the gyro operating parameter to obtain the attitude information. The operation decision layer transmits the initial operation data back to the operation logic layer, and then completes the reception of the operation logic layer.

[0034] In the operation logic layer, the initial operation data is processed for operation output, that is, the initial output data is sequentially converted into units and error compensated to obtain the target operation data; the unit conversion is performed by calling the unit conversion model in the public library, which can unify the units of the data for easy reading and use, and the error compensation is performed based on experience by calling the error compensation model in the public library. Finally, the target operation data is transmitted back to the operation physical layer and the checksum, file header, etc. are added according to the protocol, and the data is packaged and output after unified naming.

[0035] In addition, the computational physical layer can also read the component information of the inertial navigation resonant gyroscope from the serial port and transmit it to the computational logic layer. The component information includes the temperature and voltage of the inertial navigation resonant gyroscope, the voltage and current of the accelerometer, etc. The computational logic layer performs unit conversion and error compensation on the component information in sequence to obtain the target component data. The target component data is transmitted back to the computational physical layer and the checksum, file header, etc. are added according to the protocol. After unified naming, it is packaged and output, thereby completing the output of the computational physical layer.

[0036] Figure 3The figure is a schematic diagram of the operation process of the second processor. In the second processor, the control physical layer receives the gyro control data by collecting the control data of the sensors of the inertial navigation resonant gyro and the accelerometer, thereby completing the control physical layer reception. The gyro control data includes gyro control parameters and accelerometer control parameters. The gyro control parameters include the control parameters of the inertial navigation resonant gyro, such as the gyro vibration signal, axial mass distribution function, main vibration amplitude, auxiliary vibration amplitude, reference signal, etc. of the inertial navigation resonant gyro; the accelerometer control parameters include the control parameters and signals of the accelerometer, such as the control pulse signal of the accelerometer, the frequency and amplitude of the control pulse signal, etc.

[0037] Then the control physical layer transmits the gyro control data to the control logic layer, thereby completing the input of the control logic layer, and performing control input processing in the control logic layer. The control input processing includes gyro data filtering and denoising and accelerometer data filtering and denoising in sequence, that is, by calling the gyro data filtering and denoising model in the public library, the gyro control parameters are high-pass filtered and low-pass filtered, and by calling the accelerometer data filtering and denoising model in the public library, the accelerometer control parameters are high-pass filtered and low-pass filtered, respectively, to obtain low-noise gyro control parameters and low-noise accelerometer control parameters. Filtering can effectively improve the signal-to-noise ratio of the gyro control parameters and the accelerometer control parameters, and avoid noise interference. Finally, the low-noise gyro control parameters are input into the control decision layer as control input data to complete the control decision layer input.

[0038] In the control decision layer, control data operation is performed on the control input data, that is, first, the frequency error is solved for the control input data. The frequency error solution is implemented by calling the frequency error solution model in the public library, so that the phase difference between the gyro vibration signal in the control input data and the reference signal is used as the frequency control error signal; then, the phase error is solved for the control input data. The phase error solution is implemented by calling the phase error solution model in the public library to respectively calculate the difference between the square of the main vibration amplitude and the square of the auxiliary vibration amplitude of the inertial navigation resonant gyro and the set value, so as to obtain the amplitude control error signal; then, the control input data is positively correlated with the control input data, and the frequency error is solved by calling the frequency error solution model in the public library, so as to obtain the amplitude control error signal. Orthogonal control error solution, the implementation method of orthogonal control error solution is to call the orthogonal control error solution model in the public library to use the 4th harmonic signal of the Fourier transform result of the axial mass distribution function of the inertial resonant gyroscope as the orthogonal control error signal; finally, the speed error solution is performed on the control input data, and the speed error solution is implemented by calling the speed error solution model in the public library to calculate the difference between the Coriolis force in the control input data and the precession control force of the inertial resonant gyroscope, and the speed control error signal is solved according to the difference between the Coriolis force and the precession control force of the inertial resonant gyroscope, and the speed error can be solved through the speed control error signal. The initial control data can be obtained by fusing the amplitude control error signal, the frequency control error signal, the orthogonal control error signal and the speed control error signal. The control decision layer transmits the initial control data back to the control logic layer, thereby completing the control logic layer reception.

[0039] In the control logic layer, the initial control data is merged with the low-noise accelerometer control parameters, that is, the data is merged to obtain the intermediate control data. The intermediate control data is processed for control output, that is, unit conversion and signal compilation are performed in sequence to obtain the target control data, wherein the unit conversion is performed by calling the unit conversion model in the public library, and the unit conversion model can unify the units of the data for easy reading; the signal compilation is performed by calling the signal compilation model in the public library, and the signal compilation can convert the intermediate control data into error data, which includes error parameters. Finally, the target operation data is transmitted back to the operation physical layer and the checksum, file header, etc. are added according to the protocol. After unified naming, the target operation data packet is packaged and output to the shared memory, thereby completing the control physical layer output.

[0040] In addition, the monitoring module in the shared memory can monitor the target control parameter package output by the second processor. When the monitoring module monitors that the data of the target control parameter package is abnormal, that is, the data of the target control parameter package exceeds the normal value, the shared memory stops receiving the target control parameter package and uses the target control parameter package of the previous moment to cover the abnormal target control parameter package, so that the target control parameter package obtained by the first processor is the normal target control parameter package of the previous moment, so as to ensure the normal operation of the operation part. Since 80% of the causes of failures in the operation and control system of the inertial navigation resonant gyroscope can be attributed to failures in the control part, using the normal target control parameter package to cover the abnormal target control parameter package can effectively improve the reliability of the operation and control system of the inertial navigation resonant gyroscope.

[0041] The present invention divides all functions and requirements of the inertial navigation resonant gyroscope into two parts, namely, operation and control, and performs them independently on two processors, thereby meeting the requirements of the inertial navigation resonant gyroscope, namely, large amount of operation, high solution frequency and high real-time performance, and can also inherit a large amount of existing codes and effectively improve the reliability, maintainability and scalability of the system when a fault occurs in the control process.

[0042] 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 dual-processor hierarchical architecture for an inertial navigation resonant gyroscope, characterized in that: The invention comprises a multi-core processor, a shared memory and a serial port, wherein the multi-core processor comprises a first processor and a second processor, wherein the second processor comprises a control physical layer, a control logic layer and a control decision layer connected in sequence; wherein the control physical layer receives gyro control data and transmits it to the control logic layer, the control logic layer performs control input processing on the gyro control data to obtain control input data and inputs the control input data to the control decision layer, the control decision layer performs control data operation on the control input data to obtain initial control data and transmits the control data back to the control logic layer, the control logic layer performs control output processing and fusion on the initial control data to obtain target control data, transmits the data back to the control physical layer and packages the data to obtain a target control parameter package, and the target control parameter package is output to the shared memory; The first processor includes a computational physical layer, a computational logic layer, and a computational decision layer connected in sequence; wherein the computational physical layer receives the target control parameter package and the serial port parameters from the shared memory and the serial port, and transmits them to the computational logic layer; the computational logic layer performs computational input processing on the target control parameter package and the serial port parameters, obtains computational input data, and inputs the data into the computational decision layer; the computational decision layer performs data computation processing on the computational input data, obtains initial computational data, and transmits the data back to the computational logic layer; the computational logic layer performs computational output processing on the initial computational data, obtains target computational data, and transmits the data back to the computational physical layer for packaging and output; wherein the serial port parameters include gyroscope parameters and accelerometer parameters, and the gyroscope control data Including gyro control parameters and accelerometer control parameters; the operation input processing includes target control parameter conversion, gyro parameter validity judgment and accelerometer parameter validity judgment, in the operation logic layer, the target control parameter package is converted to obtain error parameters, the error parameters are respectively fused with the gyro parameters and the accelerometer parameters to obtain gyro operating parameters and accelerometer operating parameters, the gyro operating parameters are judged for validity to obtain valid gyro operating parameters, the accelerometer operating parameters are judged for validity to obtain valid accelerometer operating parameters, the valid gyro operating parameters are fused with the valid accelerometer operating parameters to obtain the operation input data; The control input processing includes gyro data filtering and noise reduction and accelerometer data filtering and noise reduction. In the control logic layer, the gyro control parameters are subjected to gyro data filtering and noise reduction to obtain low-noise gyro control parameters, and the accelerometer control parameters are subjected to accelerometer data filtering and noise reduction to obtain low-noise accelerometer control parameters, and the low-noise gyro control parameters are used as the control input data.

2. The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope according to claim 1, characterized in that: The data operation processing includes coarse alignment, fine alignment and navigation data solution. In the operation decision layer, the operation input data is subjected to the coarse alignment, fine alignment and navigation data solution in sequence to obtain the initial operation data; wherein, initial posture information is obtained through the coarse alignment, and the fine alignment is achieved by performing Kalman filtering on the initial posture information.

3. The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope according to claim 1, characterized in that: The control data operation includes frequency error solution, phase error solution, orthogonal control error solution and speed error solution. In the control decision layer, the frequency error solution, the phase error solution, the orthogonal control error solution and the speed error solution are performed on the operation input data in sequence to obtain the initial control data; wherein, the orthogonal control error solution is realized by Fourier transform.

4. The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope according to claim 1, characterized in that: The operation output processing includes unit conversion and error compensation. In the operation logic layer, the unit conversion and the error compensation are performed on the initial operation data in sequence to obtain the target operation data.

5. The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope according to claim 1, characterized in that: The control output processing includes unit transformation and signal compilation. In the control logic layer, the initial control data is merged with the low-noise accelerometer control parameters to obtain intermediate control data. The intermediate control data is sequentially subjected to the unit transformation and the signal compilation to obtain the target control data.

6. The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope according to claim 1, characterized in that: The computational physical layer obtains the component information of the inertial resonant gyroscope and transmits it to the computational logic layer. The computational logic layer performs unit conversion and error compensation on the component information in sequence to obtain target component data. The target component data is transmitted back to the computational physical layer and packaged for output.

7. The dual-processor hierarchical architecture of an inertial navigation resonant gyroscope according to claim 1, characterized in that: The shared memory includes a monitoring module. When the monitoring module detects that the target control parameter packet is abnormal, the shared memory stops receiving the target control parameter packet and overwrites the abnormal target control parameter packet with the target control parameter packet at a previous moment.

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