A method, system and device for measuring angular velocity of a hemispherical resonant gyroscope

Abstract

The present invention relates to the field of gyroscope control and detection technology, and in particular to a method, system and device for measuring the angular velocity of a hemispherical resonant gyroscope. A control model of a hemispherical resonant gyroscope is established; the gyroscope is stationary on a test plane, a control voltage is applied to an excitation electrode, and the output of the gyroscope is measured to make it in a normal working state; a control force is applied to the angle control loop of the hemispherical resonant gyroscope to make the vibration mode angular periodic motion, and the hemispherical resonant gyroscope is in a rotational modulation state; a disturbance is applied to the amplitude control loop according to a force scale model to obtain a real-time force scale estimate; based on the real-time force scale estimate, a real-time external angular velocity input is obtained. The present invention detects the force scale of the relevant control loop in real time, eliminates the applied angular velocity input, and can then track external angle changes, thereby achieving the technical effect of improving the accuracy of the resonant gyroscope.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscope control and detection, and in particular to a method, system and device for measuring the angular velocity of a hemispherical resonant gyroscope. Background Art

[0002] The development of inertial technology has placed higher and deeper requirements on inertial navigation systems, and tends to adopt inertial navigation systems with longer life, higher reliability, lower power consumption and lighter weight. The hemispherical resonant gyroscope with simple structure, small size, light weight, low cost, strong radiation resistance, long life and high reliability is consistent with the development direction of inertial navigation systems. It is a new type of high-precision gyroscope with great development prospects and has a wide range of applications in inertial technology engineering.

[0003] The drift of the hemispherical resonant gyroscope is related to the angle of the standing wave vibration mode of the resonator and is periodic. Therefore, integrating the angle over the entire period can average out most of the drift of the hemispherical resonant gyroscope. That is, by applying a precession control signal, the standing wave vibration mode of the gyroscope resonator is actively driven to precess continuously, so that the gyroscope drift presents periodic changes, and the integral within the entire period is approximately zero, thereby reducing the accumulation of system errors over time. When actively driving the standing wave vibration mode to rotate, the additional precession velocity of the standing wave vibration mode will also be sensitive to the gyroscope. When calculating the external input angular velocity, this part of the precession velocity needs to be accurately deducted. When deducting the additional precession velocity, the conversion scale of the applied voltage signal to the precession signal is involved. This conversion scale is called the force scale. The scale may change slowly over time and there is an initial error. The force scale error will affect the accuracy of extracting the external input angular velocity. 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 real-time angular velocity measurement method, system and device of hemispherical resonance to achieve the reduction of force application error.

[0005] The present invention provides a real-time angular velocity measurement method of hemispherical resonance, comprising the following steps:

[0006] S1: Establish a control model of the hemispherical resonant gyroscope and obtain the angular velocity detection loop equation and the amplitude control loop equation;

[0007] S2: placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to the excitation electrode so that the hemispherical resonant gyroscope is in a normal working state;

[0008] S3: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode;

[0009] S4: applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimate according to the amplitude control loop equation;

[0010] S5: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

[0011] According to a real-time angular velocity measurement method of hemispherical resonance provided by the present invention, a method for establishing a force scaling model of hemispherical resonance includes:

[0012] S11: The differential equation of hemispherical resonant motion is:

[0013]

[0014] in, is the Blaine coefficient; is the angular velocity input; For orthogonal detection of vibration Axis displacement; For orthogonal detection of vibration Axis displacement; is the average axial damping of the resonator; The axial damping of the resonator is uneven; is the resonant gyro frequency; It is expressed as the frequency splitting of the resonator; is the angle between the vibration damping axis and the electrode axis; is the angle between the vibration frequency axis and the electrode axis; For the resonance edge quadrature detection Axis control force; The resonance is detected along the quadrature Axis control force; for The second derivative with respect to time; for The first derivative with respect to time; for The first derivative with respect to time; for The second derivative with respect to time; for The first derivative with respect to time;

[0015] The solution of the hemispherical harmonic motion differential equation is:

[0016]

[0017] in, is the actual description of the oscillator vibration, for The first derivative with respect to time is is the ideal vibration angular velocity, is the deviation between the ideal vibration angular velocity and the actual vibration angular velocity, As the main wave belly, is the orthogonal wave antinode, is the formation angle;

[0018] Solving the error equations:

[0019]

[0020] in, is the amplitude control of the hemispherical resonance system, For the angle control of the hemispherical resonant system, is the force scale, Main wave antinode The first derivative with respect to time is For the formation angle The first derivative with respect to time;

[0021] S12: According to the error equation group described in step S11, simplify the error equation group to obtain the angular velocity control loop equation:

[0022]

[0023] When the hemispherical resonant gyroscope performs periodic motion, it is further simplified to the angular velocity detection loop equation:

[0024] ;

[0025] S13: According to the error equation group and the angular velocity control loop, an amplitude control loop equation is obtained:

[0026] .

[0027] According to a real-time angular velocity measurement method of hemispherical resonance provided by the present invention, step S11 comprises:

[0028] S111: Solving the differential equation of hemispherical resonant motion The first-order derivative of The second derivative of The first-order derivative of Substitute the second-order derivative of into the left side of the differential equation of hemispherical resonant motion, ignoring infinitesimals, and obtain:

[0029]

[0030] in, is the first parameter, is the second parameter, is the third parameter, is the fourth parameter, For time;

[0031] ;

[0032] S112: , , , and Substituting into the right side of the differential equation of hemispherical harmonic motion, we get:

[0033]

[0034] in, is the frequency control signal of the hemispherical resonance system, is the orthogonal control signal of the hemispherical resonance system;

[0035] S113: Combining the left side of the hemispherical resonant motion differential equation and the right side of the hemispherical resonant motion differential equation to obtain the error equation group.

[0036] According to a real-time angular velocity measurement method of hemispherical resonance provided by the present invention, obtaining the real-time force scale estimation in step S4 includes the following steps:

[0037] S41: discretize the amplitude control loop equation to obtain a discretized amplitude control loop equation:

[0038]

[0039] in, For the Sampling time The corresponding amplitude control of the hemispherical resonance system is is the sampling sequence number, For the Sampling time Corresponding The first derivative with respect to time is The ratio of

[0040] S42: Convert the discrete amplitude control loop equation into a matrix form, and obtain the observation equation:

[0041]

[0042] in, is the observation matrix, is the observation parameter matrix, is the state quantity, White noise, For the Sampling time The corresponding observed value is For the Sampling time The corresponding observed parameter values;

[0043] S43: Real-time measurement of amplitude control of hemispherical resonance system ;

[0044] S44: Calculate the state quantity using the recursive least squares method, and calculate the real-time force scale estimate based on the state quantity.

[0045] According to a real-time angular velocity measurement method of hemispherical resonance provided by the present invention, step S44 comprises:

[0046]

[0047] in, The sampling time is The estimation of the state quantity, The sampling time is The estimation of the state quantity, The sampling time is The covariance of The sampling time is The covariance of the state variables, The sampling time is The gain, is the transpose of the matrix, The sampling time is The corresponding observation value, The sampling time is The corresponding observed parameter values ​​are The sampling time is The state quantity ;

[0048] Calculating the real-time force scale estimate based on the estimate of the state quantity,

[0049]

[0050] in, For real-time force scale estimation, Represents vector modulus.

[0051] According to a real-time angular velocity measurement method of hemispherical resonance provided by the present invention, step S5 comprises:

[0052] Step S5 includes:

[0053] Calculate the real-time angular velocity based on the real-time force scale estimate

[0054]

[0055] in, For the time The real-time angular velocity.

[0056] The present invention also provides an angular velocity measurement system for a hemispherical resonant gyroscope, comprising:

[0057] Preparation module: establishing a control model of a hemispherical resonant gyroscope, obtaining an angular velocity detection loop equation and an amplitude control loop equation; placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to an excitation electrode so that the hemispherical resonant gyroscope is in a normal working state;

[0058] A disturbance applying module: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode; applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimation according to the amplitude control loop equation;

[0059] Detection module: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

[0060] The present invention also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of a real-time angular velocity measurement method of hemispherical resonance as described in any one of the above are implemented.

[0061] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0062] The present invention provides a real-time angular velocity measurement method, system and device for hemispherical resonance, which can accurately eliminate the applied angular velocity input by real-time detecting the force scale of the relevant control loop, thereby being able to track external angle changes with higher accuracy, improve the accuracy of the resonant gyroscope, and accurately detect the real-time angular velocity of the hemispherical resonance system.

[0063] 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

[0064] 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.

[0065] Figure 1 The present invention is a schematic flow chart of a method for measuring the angular velocity of a hemispherical resonant gyroscope.

[0066] Figure 2 The invention provides a gyroscope rotation model of a method for measuring the angular velocity of a hemispherical resonant gyroscope. Figure 1 .

[0067] Figure 3 The invention provides a gyroscope rotation model of a method for measuring the angular velocity of a hemispherical resonant gyroscope. Figure 2 .

[0068] Figure 4 It is a gyro force scale detection result diagram of the angular velocity measurement method of a hemispherical resonant gyroscope provided by the present invention.

[0069] Figure 5 It is a gyro angular velocity result diagram of an angular velocity measurement method of a hemispherical resonant gyroscope provided by the present invention.

[0070] Figure 6 The present invention provides a structural block diagram of an angular velocity measurement system for a hemispherical resonant gyroscope.

[0071] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention.

[0072] Reference numerals:

[0073] 101, preparation module; 102, disturbance application module; 103, detection module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0074] 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.

[0075] 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.

[0076] Example

[0077] Combine the following Figures 1 to 7 Description of the Invention

[0078] The embodiment of the present invention provides a real-time angular velocity measurement method of hemispherical resonance, the process is as follows: Figure 1 As shown:

[0079] S1: Establish a control model of the hemispherical resonant gyroscope and obtain the angular velocity detection loop equation and the amplitude control loop equation;

[0080] S2: placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to the excitation electrode so that the hemispherical resonant gyroscope is in a normal working state;

[0081] S3: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode;

[0082] S4: applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimate according to the amplitude control loop equation;

[0083] S5: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

[0084] like Figure 2 and Figure 3 As shown in the figure, the self-vibration model of the hemispherical resonant gyroscope is equivalent to a second-order vibrating spring, and the particle motion trajectory is an ellipse. Figure 3 middle is the angle between the vibration damping axis and the electrode axis; is the angle between the vibration frequency axis and the electrode axis; is the antinode of the main wave, that is, the semi-major axis of the elliptical motion trajectory of the particle; is the antinode of the orthogonal wave, that is, the semi-minor axis of the elliptical motion trajectory of the particle; is the formation angle, which is the distance between the straight line connecting the particle position and the symmetry center and the electrode The angle of the axis.

[0085] S1: Establish the control model of the hemispherical resonant gyroscope and obtain the angular velocity detection loop equation and amplitude control loop equation, as shown below:

[0086] The differential equation of motion of the hemispherical resonant gyroscope is:

[0087]

[0088] in, is the Blaine coefficient; is the angular velocity input; For orthogonal detection of vibration Axis displacement; For orthogonal detection of vibration Axis displacement; is the average axial damping of the resonator; The axial damping of the resonator is uneven; is the resonant gyro frequency; It is expressed as the frequency splitting of the resonator; is the angle between the vibration damping axis and the electrode axis; is the angle between the vibration frequency axis and the electrode axis; For the resonance edge quadrature detection Axis control force; The resonance is detected along the quadrature Axis control force; for The second derivative with respect to time; for The first derivative with respect to time; for The first derivative with respect to time; for The second derivative with respect to time; for The first derivative with respect to time.

[0089] The above differential equation has a solution:

[0090]

[0091] in, is the actual description of the oscillator vibration, for The first derivative with respect to time is is the ideal vibration angular velocity, is the deviation between the ideal vibration angular velocity and the actual vibration angular velocity, As the main wave belly, is the orthogonal wave antinode, It is the formation angle.

[0092] based on The solution of differential equations by the average method The first-order derivative of The second derivative of The first-order derivative of Substituting the second-order derivative of into the left side of the differential equation of hemispherical harmonic motion and ignoring infinitesimals, we get:

[0093]

[0094] in, is the first parameter, is the second parameter, is the third parameter, is the fourth parameter, For time.

[0095]

[0096] Substituting the oscillator motion parameters and control signals into the right side of the hemispherical resonant motion differential equation, we get:

[0097]

[0098] Among them, the oscillator motion parameters include: is the amplitude control of the hemispherical resonance system, For the angle control of the hemispherical resonant system, is the frequency control signal of the hemispherical resonance system, is the orthogonal control signal of the hemispherical resonance system; the resonator control signal includes: For the force scale.

[0099] Combining the left side of the hemispherical resonant motion differential equation and the right side of the hemispherical resonant motion differential equation, the error equation group is obtained:

[0100]

[0101] in, Main wave antinode The first derivative with respect to time is For the formation angle The first derivative with respect to time. and It is irrelevant to the embodiment of the present invention, so the last two equations of the error equation group are discarded. The error equation group can simplify the angle control loop to obtain the angular velocity control loop equation:

[0102]

[0103] In particular, when the hemispherical resonant system performs periodic motion, The integral of is zero, which can be further simplified to the angular velocity detection loop equation:

[0104]

[0105] In actual situations, the control voltage needs to be converted into a control signal. The scale of the control voltage to the control signal is related to the absolute gain of the electrode and the circuit. The scale error of the control voltage to the control signal is called the force scale error. , It changes slowly with temperature and time.

[0106]

[0107] Accurately deducting the actively applied modal modulation angular velocity is the key to achieving modal rotation modulation. The modal modulation signal applied by the gyroscope is a voltage signal. If the scale of the voltage signal to the angular velocity is known, the actively applied modulated angular velocity can be deducted. From the error equation group, it can be seen that the angle tracking loop and the amplitude control loop have the same force scale. Therefore, the amplitude feedback loop can be detected and controlled, and the scale detection can be performed in real time. It can track the external angle changes with higher accuracy. The amplitude control loop obtains the amplitude control loop equation:

[0108]

[0109] S2: placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to the excitation electrode so that the hemispherical resonant gyroscope is in a normal working state.

[0110] S3: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode.

[0111] S4: applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimation according to the amplitude control loop equation.

[0112] S41: discretize the amplitude control loop equation to obtain a discretized amplitude control loop equation:

[0113]

[0114] in, For the Sampling time The corresponding amplitude control of the hemispherical resonance system is is the sampling sequence number, For the Sampling time Corresponding The first derivative with respect to time is The ratio of

[0115] S42: Convert the discrete amplitude control loop equation into a matrix form, and obtain the observation equation:

[0116]

[0117] in, is the observation matrix, is the observation parameter matrix, is the state quantity, White noise, For the Sampling time The corresponding observed value is For the Sampling time The corresponding observed parameter value.

[0118] S43: Real-time measurement of amplitude control of hemispherical resonance system .

[0119] S44: Calculate the state quantity using the recursive least squares method, and calculate the real-time force scale estimate based on the state quantity.

[0120] Step S44 includes:

[0121]

[0122] in, The sampling time is The estimation of the state quantity, The sampling time is The estimation of the state quantity, The sampling time is The covariance of The sampling time is The covariance of the state variables, The sampling time is The gain, is the transpose of the matrix, The sampling time is The corresponding observation value, The sampling time is The corresponding observed parameter values ​​are The sampling time is The state quantity .

[0123] , , , , , , Both The matrix of .

[0124] According to the estimation of the state quantity , calculate the real-time force scale estimate,

[0125]

[0126] in, For real-time force scale estimation, Represents vector modulus. Images such as Figure 4 shown.

[0127] S5: Calculate the real-time angular velocity based on the real-time force scale estimation

[0128]

[0129] in, For the time The real-time angular velocity. Images such as Figure 5 shown.

[0130] like Figure 6 As shown, a device for suppressing a force scale error of a hemispherical resonance provided by the present invention is described below. The device for suppressing a force scale error of a hemispherical resonance described below and the real-time angular velocity measurement method of a hemispherical resonance described above can be referred to each other, including:

[0131] Preparation module 101: Establishing a control model of a hemispherical resonant gyroscope, obtaining an angular velocity detection loop equation and an amplitude control loop equation; placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to an excitation electrode so that the hemispherical resonant gyroscope is in a normal working state;

[0132] The disturbance applying module 102 applies a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode; applies a disturbance to the amplitude control loop, and obtains a real-time force scale estimation according to the amplitude control loop equation;

[0133] Detection module 103: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

[0134] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a real-time angular velocity measurement method of hemispherical resonance, the method comprising:

[0135] S1: Establish a control model of the hemispherical resonant gyroscope and obtain the angular velocity detection loop equation and the amplitude control loop equation;

[0136] S2: placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to the excitation electrode so that the hemispherical resonant gyroscope is in a normal working state;

[0137] S3: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode;

[0138] S4: applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimate according to the amplitude control loop equation;

[0139] S5: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

[0140] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0141] 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 method for measuring the angular velocity of a hemispherical resonant gyroscope, characterized in that: The following steps are involved: S1: Establish a control model of the hemispherical resonant gyroscope to obtain the angular velocity detection loop equation and the amplitude control loop equation, including: S11: The hemispherical resonant motion differential equation is: in, is the Blaine coefficient; is the angular velocity input; For orthogonal detection of vibration Axis displacement; For orthogonal detection of vibration Axis displacement; is the average axial damping of the resonator; The axial damping of the resonator is uneven; is the resonant gyro frequency; It is expressed as the frequency splitting of the resonator; is the angle between the vibration damping axis and the electrode axis; is the angle between the vibration frequency axis and the electrode axis; For the resonance edge quadrature detection Axis control force; The resonance is detected along the quadrature Axis control force; for The second derivative with respect to time; for The first derivative with respect to time; for The first derivative with respect to time; for The second derivative with respect to time; for The first derivative with respect to time; The solution of the hemispherical harmonic motion differential equation is: in, is the actual description of the oscillator vibration, for The first derivative with respect to time is is the ideal vibration angular velocity, is the deviation between the ideal vibration angular velocity and the actual vibration angular velocity, As the main wave belly, is the orthogonal wave antinode, is the formation angle; Solving the error equations: in, is the amplitude control of the hemispherical resonance system, For the angle control of the hemispherical resonant system, is the force scale, Main wave antinode The first derivative with respect to time is For the formation angle The first derivative with respect to time; S12: According to the error equation group described in step S11, simplify the error equation group to obtain the angular velocity control loop equation: When the hemispherical resonant gyroscope performs periodic motion, it is further simplified to the angular velocity detection loop equation: ； S13: According to the error equation group and the angular velocity control loop, an amplitude control loop equation is obtained: ； S2: placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to the excitation electrode so that the hemispherical resonant gyroscope is in a normal working state; S3: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode; S4: applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimate according to the amplitude control loop equation; S5: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

2. The method for measuring the angular velocity of a hemispherical resonant gyroscope according to claim 1, characterized in that: Step S11 includes: S111: Solving the differential equation of hemispherical resonant motion The first-order derivative of The second derivative of The first-order derivative of Substitute the second-order derivative of into the left side of the differential equation of hemispherical resonant motion, ignoring infinitesimals, and obtain: in, is the first parameter, is the second parameter, is the third parameter, is the fourth parameter, For time; ； S112: , , , and Substituting into the right side of the differential equation of hemispherical harmonic motion, we get: in, is the frequency control signal of the hemispherical resonance system, is the orthogonal control signal of the hemispherical resonance system; S113: Combining the left side of the hemispherical resonant motion differential equation and the right side of the hemispherical resonant motion differential equation to obtain the error equation group.

3. The method for measuring the angular velocity of a hemispherical resonant gyroscope according to claim 1, characterized in that: Step S4 includes the following steps: S41: discretize the amplitude control loop equation to obtain a discretized amplitude control loop equation: in, For the Sampling time The corresponding amplitude control of the hemispherical resonance system is is the sampling sequence number, For the Sampling time Corresponding The first derivative with respect to time is The ratio of S42: Convert the discrete amplitude control loop equation into a matrix form, and obtain the observation equation: in, is the observation matrix, is the observation parameter matrix, is the state quantity, White noise, For the Sampling time The corresponding observed value is For the Sampling time The corresponding observed parameter values; S43: Real-time measurement of amplitude control of hemispherical resonance system ; S44: Calculate the state quantity using the recursive least squares method, and calculate the real-time force scale estimate based on the state quantity.

4. The method for measuring the angular velocity of a hemispherical resonant gyroscope according to claim 3, characterized in that: Step S44 includes: in, The sampling time is The estimation of the state quantity, The sampling time is The estimation of the state quantity, The sampling time is The covariance of The sampling time is The covariance of the state variables, The sampling time is The gain, is the transpose of the matrix, The sampling time is The corresponding observation value, The sampling time is The corresponding observed parameter values ​​are The sampling time is The state quantity ; Calculating the real-time force scale estimate based on the estimate of the state quantity, in, For real-time force scale estimation, Represents vector modulus.

5. The method for measuring the angular velocity of a hemispherical resonant gyroscope according to claim 4, characterized in that: Step S5 includes: Calculate the real-time angular velocity based on the real-time force scale estimate in, For the time The real-time angular velocity.

6. A hemispherical resonator gyroscope angular velocity measurement system, used to perform the hemispherical resonator gyroscope angular velocity measurement method as claimed in any one of claims 1 to 5, characterized in that The force scale can be accurately estimated to improve the measurement accuracy of the HRG in rotation modulation mode, including: Preparation module: establishing a control model of a hemispherical resonant gyroscope, obtaining an angular velocity detection loop equation and an amplitude control loop equation; placing the hemispherical resonant gyroscope on a test plane, and applying a control voltage to an excitation electrode so that the hemispherical resonant gyroscope is in a normal working state; A disturbance applying module: applying a control force to the angle control loop of the hemispherical resonant gyroscope, so that the formation angle of the hemispherical resonant gyroscope moves periodically and is in a rotation modulation mode; applying a disturbance to the amplitude control loop, and obtaining a real-time force scale estimation according to the amplitude control loop equation; Detection module: Substitute the real-time force scale estimate into the angular velocity detection loop equation to calculate and obtain the real-time angular velocity.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for measuring the angular velocity of a hemispherical resonant gyroscope as claimed in any one of claims 1 to 5 are implemented.

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