Method, device and equipment for determining precession coefficient of axisymmetric vibrating gyroscope and medium

Abstract

The invention discloses a method, a device and equipment for determining precession coefficients of axisymmetric vibrating gyroscopes and a medium, and belongs to the technical field of gyroscopes, the method comprises the following steps: controlling precession of a first axisymmetric vibrating gyroscope and a second axisymmetric vibrating gyroscope with the same model in a full-angle mode; determining vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope in the precession process; and determining precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope by utilizing the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope in the precession process. Through the method, the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope can be determined.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscopes, and in particular to a method, device, equipment and medium for determining a precession coefficient of an axisymmetric vibration gyroscope. Background Art

[0002] Axisymmetric vibrating gyroscopes are precision instruments used to measure angle changes and are widely used in aviation, aerospace, navigation, automobiles, robotics and other fields. Axisymmetric vibrating gyroscopes have two working modes, one is force balance mode and the other is full-angle mode. Compared with the force balance mode, the full-angle mode has the advantages of good scaling factor and large measurement range. Therefore, axisymmetric vibrating gyroscopes often need to work in full-angle mode.

[0003] When the axisymmetric vibrating gyroscope operates in the full-angle mode, the symmetry of the resonator in the axisymmetric vibrating gyroscope is required to be high. However, due to the limitation of the processing technology, the resonator of the axisymmetric vibrating gyroscope cannot achieve the ideal condition of perfect symmetry. If the resonator in the axisymmetric vibrating gyroscope is asymmetric, it will cause the vibration mode of the resonator of the axisymmetric vibrating gyroscope to drift to different degrees at different angular positions, and this drift is complementary along the circumferential direction (that is, if the vibration mode of the resonator of the axisymmetric vibrating gyroscope has a drift of d at angle a, then the vibration mode of the resonator of the axisymmetric vibrating gyroscope has a drift of -d at angle a+180). Based on this property characteristic of the axisymmetric vibrating gyroscope, a full-angle mode of virtual precession can be proposed. In the full-angle mode of virtual precession, by applying a precession force to the axisymmetric vibrating gyroscope and allowing the vibration mode of the resonator in the axisymmetric vibrating gyroscope to precess at a certain rate while traversing all angles, the front and rear drift errors of the axisymmetric vibrating gyroscope can be offset.

[0004] However, in practical applications, after a precession force is applied to the axisymmetric vibrating gyroscope, the precession generated by the axisymmetric vibrating gyroscope is not stable because the precession coefficient of the axisymmetric vibrating gyroscope changes slowly over time, which is the main factor causing the long-term drift of the axisymmetric vibrating gyroscope working under a virtual precession state. It can be seen that how to determine the precession coefficient of the axisymmetric vibrating gyroscope during the precession process to eliminate the error caused by the change of the precession coefficient of the axisymmetric vibrating gyroscope is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for determining the precession coefficient of an axisymmetric vibrating gyroscope, so as to solve the technical problem that the precession coefficient of an axisymmetric vibrating gyroscope cannot be calculated in the prior art. The specific scheme is as follows:

[0006] In order to solve the above technical problems, the present invention provides a method for determining the precession coefficient of an axisymmetric vibrating gyroscope, comprising:

[0007] Controlling the precession of two first and second axisymmetric vibrating gyros of the same model in full-angle mode;

[0008] determining the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during precession;

[0009] The precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope are determined by using the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and according to the mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession. Preferably, the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope are both hemispherical resonant gyroscopes, micro-hemispherical resonant gyroscopes, or cylindrical shell vibrating gyroscopes.

[0010] Preferably, the determining of the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process comprises:

[0011] The vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process are determined by using electrodes arranged on the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively.

[0012] Preferably, controlling the precession of a first axisymmetric vibrating gyroscope and a second axisymmetric vibrating gyroscope of the same model in the full-angle mode comprises:

[0013] In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope of the same model according to a first preset timing and a second preset timing, so that the vibration mode angles of the resonators of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope generated by the fixed virtual precession force respectively present a triangular waveform with a period of T as a function of time, and the triangular waveform generated by the first axisymmetric vibrating gyroscope is 1 / 4 period ahead of the triangular waveform generated by the second axisymmetric vibrating gyroscope.

[0014] Preferably, the method of utilizing the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determining the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes:

[0015] The precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope is utilized, and the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 are determined according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession.

[0016] Preferably, the method of utilizing the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determining the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes:

[0017] Determine the change rates of the first axisymmetric vibrating gyroscope during the precession from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain a first change rate and a second change rate, and determine the change rates of the second axisymmetric vibrating gyroscope during the precession from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain a third change rate and a fourth change rate;

[0018] Calculating a difference between the first change rate and the third change rate to obtain a first difference, and calculating a difference between the second change rate and the fourth change rate to obtain a second difference;

[0019] The precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope corresponding to the initial time to T / 2 are determined according to the first difference and the second difference.

[0020] Preferably, the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope corresponding to the initial moment to T / 4 are both fixed.

[0021] In order to solve the above technical problems, the present invention further provides a device for determining the precession coefficient of an axisymmetric vibrating gyroscope, comprising:

[0022] A precession control module, used for controlling the precession of a first axisymmetric vibrating gyro and a second axisymmetric vibrating gyro of the same model in a full-angle mode;

[0023] An angle determination module, used to determine the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process;

[0024] A precession coefficient determination module is used to use the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determine the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process.

[0025] In order to solve the above technical problem, the present invention further provides an electronic device, comprising:

[0026] Memory for storing computer programs;

[0027] A processor is used to implement the steps of the method for determining the precession coefficient of an axisymmetric vibrating gyroscope as disclosed above when executing the computer program.

[0028] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining the precession coefficient of an axisymmetric vibrating gyroscope as disclosed above are implemented.

[0029] Beneficial effect: In the method for determining the precession coefficient of an axisymmetric vibrating gyroscope provided by the present invention, first, the precession of two axisymmetric vibrating gyroscopes of the same model, the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope, is controlled in full-angle mode, and the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession are determined; then, the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope is used, and the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope are determined according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession. In this method, it is equivalent to performing differential processing on the two axisymmetric vibrating gyroscopes to realize the real-time measurement of the precession coefficients of the two axisymmetric vibrating gyroscopes, and thereby calculating the precession coefficients of the axisymmetric vibrating gyroscopes. Correspondingly, a calibration device, equipment and medium for virtual precession of an axisymmetric vibrating gyroscope provided by the present invention also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 A flow chart of a method for determining a precession coefficient of an axisymmetric vibrating gyroscope provided by an embodiment of the present invention;

[0032] Figure 2 Schematic diagram of two intrinsic vibration modes of an axisymmetric vibrating gyroscope;

[0033] Figure 3 It is a schematic diagram of the rotation of the resonator in the axisymmetric vibrating gyroscope;

[0034] Figure 4 It is a schematic diagram of the change of the resonance angle of the resonator with time due to the first axisymmetric vibrating gyroscope being fixed with the virtual precession force but changing the action direction;

[0035] Figure 5 It is a schematic diagram of the change of the resonance angle of the resonator with time due to the fixed virtual precession force but the change of the action direction of the second axisymmetric vibrating gyroscope;

[0036] Figure 6 A structural diagram of a device for determining the precession coefficient of an axisymmetric vibrating gyroscope provided by an embodiment of the present invention;

[0037] Figure 7 A structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1 , Figure 1 A flow chart of a method for determining a precession coefficient of an axisymmetric vibrating gyroscope provided in an embodiment of the present invention, the method comprising:

[0040] Step S11: controlling the precession of a first axisymmetric vibrating gyroscope and a second axisymmetric vibrating gyroscope of the same model in a full-angle mode;

[0041] Step S12: determining the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process;

[0042] Step S13: using the precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope, and determining the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process.

[0043] See also Figure 2 , Figure 2It is a schematic diagram of two intrinsic vibration modes of an axisymmetric vibrating gyroscope. Any vibration state of the resonator in the axisymmetric vibrating gyroscope can be expressed as the superposition of the first intrinsic vibration mode and the second intrinsic vibration mode. There are two main working modes of the axisymmetric vibrating gyroscope, one is the force balance mode and the other is the full-angle mode. When the axisymmetric vibrating gyroscope works in the force balance mode, if the axisymmetric vibrating gyroscope rotates, an external force needs to be applied so that the vibration mode of the resonator in the axisymmetric vibrating gyroscope is maintained at a specific angle. The magnitude of the angular velocity of the axisymmetric vibrating gyroscope can be inversely calculated according to the magnitude of the applied external force.

[0044] When the axisymmetric vibrating gyro is in full-angle mode, the vibration mode orientation of the axisymmetric vibrating gyro is free relative to the resonator. Figure 3 , Figure 3 This is a schematic diagram of the resonator in an axisymmetric vibrating gyroscope rotating. Figure 3 The reference point in the image is rotated 90 degrees), the vibration mode of the oscillator will precess 27 degrees in the opposite direction relative to the oscillator due to inertial effect. The ratio of the two (27 degrees to 90 degrees) is the calibration factor. The axisymmetric vibrating gyroscope has a very stable calibration factor in full-angle mode. Based on this property of the axisymmetric vibrating gyroscope in full-angle mode, the angle of rotation of the axisymmetric vibrating gyroscope relative to the outside world can be determined.

[0045] The drift of an axisymmetric vibrating gyroscope has an important characteristic, that is, the drift of an axisymmetric vibrating gyroscope at different vibration angles is similar to a sinusoidal wave function as the vibration angle changes. In other words, the drift of the resonator in the axisymmetric vibrating gyroscope at different vibration angles is different. The drift of the axisymmetric vibrating gyroscope at different vibration angles is sometimes in the positive direction, sometimes in the reverse direction, sometimes large, and sometimes small. For the resonator in the axisymmetric vibrating gyroscope, if the probability of the resonator being at different vibration angles is equal, then the axisymmetric vibrating gyroscope can achieve self-compensation of drift over a long period of time.

[0046] In order to allow the resonator in the axisymmetric vibrating gyroscope to traverse different vibration angles, the electrode force can be used to "push" the resonator to precess along the circumferential angle. This method can achieve self-compensation for the periodic drift caused by the asymmetry of the axisymmetric vibrating gyroscope. However, under this setting, another very important error factor will be introduced, that is, the drift of the precession force. Among them, the precession force is an unstable variable, which will be affected and disturbed by many factors such as temperature and Q value (Quality Factor) changes.

[0047] Since the vibration mode angle of the axisymmetric vibration gyroscope that we usually measure is the sum of the angle caused by the rotation of the axisymmetric vibration gyroscope relative to the outside world and the angle of virtual precession, if we can measure the precession rate of the axisymmetric vibration gyroscope during the precession process (the precession rate is equal to the precession force applied to the axisymmetric vibration gyroscope divided by the precession coefficient) and remove the angle change caused by the rotation of the axisymmetric vibration gyroscope relative to the outside world, we can eliminate the error caused by the change of the precession coefficient and also eliminate the influence on the axisymmetric vibration gyroscope.

[0048] In order to achieve this purpose, firstly, the precession of two first axisymmetric vibrating gyroscopes and second axisymmetric vibrating gyroscopes of the same model can be controlled in full-angle mode, and the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process can be determined. The first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope having the same model means that the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope have the same size, dimensions, attribute parameters and other characteristics.

[0049] In this case, the angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope caused by the virtual precession can be calculated by using the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process, and the angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope caused by the virtual precession are determined by the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope. Therefore, the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope can be determined according to the angles of the virtual precession of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope.

[0050] It should be noted that, in this embodiment, the purpose of using the dual gyro precession difference is to eliminate the vibration mode angle change caused by the rotation of the axisymmetric vibrating gyroscope relative to the outside world, thereby realizing real-time precession coefficient compensation of the axisymmetric vibrating gyroscope during operation.

[0051] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation, the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope are both hemispherical resonant gyroscopes or micro-hemispherical resonant gyroscopes or cylindrical shell vibrating gyroscopes.

[0052] Specifically, in this embodiment, the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope may be configured as a hemispherical resonator gyroscope (HRG), a micro hemispherical resonator gyroscope (μHRG) or a cylindrical shell vibrating gyroscope (Cylindrical Shell Gyroscope).

[0053] Because these gyroscopes are the more common types of gyroscopes in daily life, and the above gyroscopes are all axisymmetric gyroscopes, when the first axisymmetric vibration gyroscope and the second axisymmetric vibration gyroscope are set as hemispherical resonant gyroscopes, micro-hemispherical resonant gyroscopes or cylindrical shell vibration gyroscopes, the universality of the technical solution provided in the present application in practical applications can be further improved.

[0054] Obviously, the technical solution provided in this embodiment can improve the universality of the technical solution provided in this application in practical applications.

[0055] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation mode, the above step of determining the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes:

[0056] The vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process are determined by using electrodes arranged on the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively.

[0057] In general, an axisymmetric vibrating gyroscope is provided with several electrodes. The electrodes on the axisymmetric vibrating gyroscope can be used to detect the vibration changes produced by the axisymmetric vibrating gyroscope during the movement. At this time, the vibration changes produced by the axisymmetric vibrating gyroscope during the movement detected by the electrodes can be used to determine the vibration mode angle of the axisymmetric vibrating gyroscope during the precession process.

[0058] Based on the above measurement principle of the vibration mode angle of the axisymmetric vibrating gyroscope, the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process can be determined by using the electrodes arranged on the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively. Compared with using other measuring devices to detect the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process, not only can the cost investment required for detecting the vibration mode angle be reduced, but also the convenience of detecting the vibration mode angle can be improved.

[0059] Obviously, through the technical solution provided in this embodiment, the convenience in detecting the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope can be further improved.

[0060] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation mode, the above step of controlling the precession of two first axisymmetric vibrating gyroscopes and second axisymmetric vibrating gyroscopes of the same model in full-angle mode includes:

[0061] In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of a first axisymmetric vibrating gyroscope and a second axisymmetric vibrating gyroscope of the same model according to a first preset timing and a second preset timing, so that the vibration mode angles of the resonators generated by the fixed virtual precession force of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively present a triangular waveform with a period of T as a function of time, and the triangular waveform generated by the first axisymmetric vibrating gyroscope is 1 / 4 period ahead of the triangular waveform generated by the second axisymmetric vibrating gyroscope.

[0062] In the present embodiment, in order to determine the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope by using the precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope, the precession of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope of the same model are controlled in full-angle mode according to the first preset timing and the second preset timing respectively by using a fixed virtual precession force with variable direction, so that the vibration mode angles of the resonators of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope generated by the fixed virtual precession force respectively present a triangular waveform with a period of T as a function of time, and the triangular waveform generated by the first axisymmetric vibrating gyroscope is 1 / 4 period ahead of the triangular waveform generated by the second axisymmetric vibrating gyroscope.

[0063] See also Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the change of the resonance angle of the resonator with time due to the fixed virtual precession force but changing the direction of action of the first axisymmetric vibrating gyroscope. Figure 5 This is a schematic diagram of the change of the resonance angle of the resonator over time due to the fixed virtual precession force but changing the direction of action of the second axisymmetric vibrating gyroscope. Figure 4 and Figure 5 In the figure, the horizontal axis represents time t, and the vertical axis represents the resonant angle of the oscillator due to the fixed virtual precession force, which is represented by Φ. Figure 4 and Figure 5It can be seen from the figure that the resonance angles of the resonators generated by the fixed virtual precession force of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope overlap half of the time in the adjacent T / 2. Through this control method, the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope can precess in the same direction and in the opposite direction one after another.

[0064] As a preferred implementation manner, the above step of using the precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determining the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes:

[0065] The precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 are determined according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession.

[0066] Since the precession coefficient of the axisymmetric vibrating gyroscope is a quantity that changes slowly with time, in this embodiment, in order to more accurately eliminate the drift caused by the change of the precession coefficient, the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 are calculated.

[0067] After the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 are determined, the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at all times can be determined.

[0068] As a preferred implementation manner, the above step: utilizing the precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope, and determining the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process, comprises:

[0069] Determine the change rates of the first axisymmetric vibrating gyroscope during the precession from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain a first change rate and a second change rate, and determine the change rates of the second axisymmetric vibrating gyroscope during the precession from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain a third change rate and a fourth change rate;

[0070] Calculating the difference between the first change rate and the third change rate to obtain a first difference, and calculating the difference between the second change rate and the fourth change rate to obtain a second difference;

[0071] The precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope corresponding to the initial time to T / 2 are determined according to the first difference and the second difference.

[0072] Since the precession coefficient of the axisymmetric vibrating gyroscope is a slowly changing quantity, and the time T / 2 is relatively short, it can be considered that the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope from the initial time to T / 2 are both fixed. The initial time refers to the time when the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope start to move, which is Figure 4 and Figure 5 The horizontal axis is time zero (0).

[0073] Please combine Figure 4 and Figure 5 , assuming that the precession coefficients of the first axisymmetric vibrating gyroscope from the initial time to T / 4 and from T / 4 to T / 2 are both R 01 , then the vibration mode angles of the first axisymmetric vibrating gyroscope from the initial time to T / 4 and from T / 4 to T / 2 can be expressed as: Ω(t)-∫R 01 dt, where Ω(t) represents the angle caused by the first axisymmetric vibrating gyroscope rotating relative to the outside world, ∫R 01 dt represents the angle of virtual precession. 01 By taking the derivative of dt, we can determine the change rate of the first axisymmetric vibrating gyroscope during the precession process from the initial moment to T / 4 and from T / 4 to T / 2, and obtain the first change rate and the second change rate. At this time, the change rate caused by the precession force after deducting the change rate caused by the relative external rotation is equal, and the first change rate and the second change rate can be expressed as: Ω´(t)-R 01 .

[0074] Assume that the precession coefficients of the second axisymmetric vibrating gyroscope from the initial time to T / 4 and from T / 4 to T / 2 are both R 11 , then the vibration mode angles of the second axisymmetric vibrating gyroscope from the initial time to T / 4 and from T / 4 to T / 2 can be expressed as: Ω(t)+∫R 11 dt and Ω(t)-∫R 11 dt, where Ω(t) represents the angle caused by the rotation of the second axisymmetric vibrating gyroscope relative to the outside world, ∫R 11 dt represents the angle of virtual precession. 11 dt and Ω(t)-∫R 11 dt, respectively, the rate of change of the second axisymmetric vibrating gyroscope during the precession from the initial moment to T / 4 and from T / 4 to T / 2 can be determined, and the third rate of change and the fourth rate of change can be obtained. At this time, the third rate of change can be expressed as Ω´(t)+R 11, the fourth rate of change can be expressed as Ω´(t)-R 11 .

[0075] By performing the differential operation on the two axisymmetric vibrating gyroscopes, the influence of the vibration mode precession of the resonator caused by the relative rotation of the two axisymmetric vibrating gyroscopes to the outside world can be eliminated. 01 and the third rate of change Ω´(t)+R 11 By subtracting, we can get the first difference: ω0=Ω´(t)-R 01 -[Ω´(t)+R 11 ]=-R 01 -R 11 . The second rate of change Ω´(t)-R 01 and the fourth rate of change Ω´(t)-R 11 By subtracting, we can get the second difference ω1=Ω´(t)-R 01 -[Ω´(t)-R 11 ]=-R 01 +R 11 .

[0076] Since the first difference ω0 and the second difference ω1 can be obtained by experimental measurement, the simultaneous equations are: ω0=-R 01 -R 11 and ω1=-R 01 +R 11 The precession coefficient R corresponding to the first axisymmetric vibrating gyroscope from the initial time to T / 2 can be determined. 01 , and the precession coefficient R corresponding to the second axisymmetric vibrating gyroscope from the initial time to T / 2 11 .

[0077] Assume that the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope from T / 4 to 3T / 4 are R 02 and R 12 , then the precession coefficient R corresponding to the second axisymmetric vibrating gyroscope from T / 4 to 3T / 4 can be determined by the same method as above 02 and R 12 By analogy, the same method can be used to solve the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2. It should be noted that under this calculation method, the precession coefficients corresponding to 4 / T in two adjacent calculations overlap, that is, the precession coefficient values ​​are calculated twice in the overlapping part.

[0078] Obviously, through the technical solution provided in this embodiment, the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 can be accurately and reliably calculated.

[0079] See also Figure 6 , Figure 6 A structural diagram of a device for determining a precession coefficient of an axisymmetric vibrating gyroscope provided in an embodiment of the present invention, the device comprising:

[0080] A precession control module 21 is used to control the precession of a first axisymmetric vibrating gyroscope and a second axisymmetric vibrating gyroscope of the same model in a full-angle mode;

[0081] An angle determination module 22, used to determine the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process;

[0082] The precession coefficient determination module 23 is used to determine the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process by using the precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope.

[0083] Preferably, the precession control module 21 includes:

[0084] The electrode detection submodule is used to determine the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process by using the electrodes arranged on the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively.

[0085] Preferably, the precession control module 21 includes:

[0086] A precession control submodule is used to control the precession of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope of the same model according to a first preset timing and a second preset timing respectively with a fixed virtual precession force with variable direction in a full-angle mode, so that the vibration mode angles of the resonators generated by the fixed virtual precession force of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively present a triangular waveform with a period of T as a function of time, and the triangular waveform generated by the first axisymmetric vibrating gyroscope leads the triangular waveform generated by the second axisymmetric vibrating gyroscope by 1 / 4 period.

[0087] The precession coefficient determination module 23 comprises:

[0088] The precession coefficient determination submodule is used to utilize the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope, and determine the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process.

[0089] The precession coefficient determination submodule includes:

[0090] a change rate obtaining unit, for respectively determining the change rates of the first axisymmetric vibrating gyroscope during the precession from the initial moment to T / 4 and from T / 4 to T / 2, to obtain a first change rate and a second change rate, and respectively determining the change rates of the second axisymmetric vibrating gyroscope during the precession from the initial moment to T / 4 and from T / 4 to T / 2, to obtain a third change rate and a fourth change rate;

[0091] a difference obtaining unit, configured to obtain a difference between the first change rate and the third change rate to obtain a first difference, and to obtain a difference between the second change rate and the fourth change rate to obtain a second difference;

[0092] The coefficient obtaining unit is used to determine the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope corresponding to the period from the initial time to T / 2 according to the first difference and the second difference.

[0093] An apparatus for determining a precession coefficient of an axisymmetric vibrating gyroscope provided in an embodiment of the present invention has the beneficial effects of a disclosed method for determining a precession coefficient of an axisymmetric vibrating gyroscope.

[0094] See also Figure 7 , Figure 7 A structural diagram of an electronic device provided by an embodiment of the present invention, the electronic device comprising:

[0095] A memory 31, used for storing computer programs;

[0096] The processor 32 is used to implement the steps of the method for determining the precession coefficient of an axisymmetric vibrating gyroscope as disclosed above when executing the computer program.

[0097] An electronic device provided by an embodiment of the present invention has the beneficial effects of the aforementioned method for determining the precession coefficient of an axisymmetric vibrating gyroscope.

[0098] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for determining the precession coefficient of an axially symmetric vibration gyroscope as disclosed above are implemented.

[0099] A computer-readable storage medium provided in an embodiment of the present invention has the beneficial effects of the aforementioned method for determining the precession coefficient of an axisymmetric vibrating gyroscope.

[0100] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0101] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including 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, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0102] The above is a detailed introduction to the method, device, equipment and medium for determining the precession coefficient of an axisymmetric vibrating gyroscope provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, 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 invention.

Claims

1. A method for determining the precession coefficient of an axisymmetric vibrating gyroscope, characterized in that: include: Controlling the precession of two first and second axisymmetric vibrating gyros of the same model in full-angle mode; determining the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during precession; The precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope are determined by using the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession.

2. The method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 1, characterized in that: The first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope are both hemispherical resonant gyroscopes, micro-hemispherical resonant gyroscopes, or cylindrical shell vibrating gyroscopes.

3. The method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 1, characterized in that: The determining of the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes: The vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process are determined by using electrodes arranged on the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope respectively.

4. A method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to any one of claims 1 to 3, characterized in that: The method of controlling the precession of a first axisymmetric vibrating gyroscope and a second axisymmetric vibrating gyroscope of the same model in a full-angle mode comprises: In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope of the same model according to a first preset timing and a second preset timing, so that the vibration mode angles of the resonators of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope generated by the fixed virtual precession force respectively present a triangular waveform with a period of T as a function of time, and the triangular waveform generated by the first axisymmetric vibrating gyroscope is 1 / 4 period ahead of the triangular waveform generated by the second axisymmetric vibrating gyroscope.

5. A method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 4, characterized in that: The method of utilizing the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determining the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes: The precession difference between the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope is utilized, and the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 4 are determined according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession.

6. A method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 5, characterized in that: The method of using the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determining the precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope at each T / 2 according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process includes: Determine the change rates of the first axisymmetric vibrating gyroscope during the precession from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain a first change rate and a second change rate, and determine the change rates of the second axisymmetric vibrating gyroscope during the precession from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain a third change rate and a fourth change rate; Calculating a difference between the first change rate and the third change rate to obtain a first difference, and calculating a difference between the second change rate and the fourth change rate to obtain a second difference; The precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope corresponding to the initial time to T / 2 are determined according to the first difference and the second difference.

7. A method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 6, characterized in that: The precession coefficients of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope corresponding to the initial time to T / 2 are both fixed and unchanged.

8. A device for determining the precession coefficient of an axisymmetric vibrating gyroscope, characterized in that: include: A precession control module, used for controlling the precession of a first axisymmetric vibrating gyro and a second axisymmetric vibrating gyro of the same model in a full-angle mode; An angle determination module, used to determine the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process; A precession coefficient determination module is used to use the precession difference of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope and determine the precession coefficients corresponding to the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope according to the vibration mode angles of the first axisymmetric vibrating gyroscope and the second axisymmetric vibrating gyroscope during the precession process.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of a method for determining a precession coefficient of an axisymmetric vibrating gyroscope as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to any one of claims 1 to 7 are implemented.

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