Methods, apparatus, equipment, and media for determining the precession coefficient of axisymmetric vibrating gyroscopes.

Abstract

This application discloses a method, apparatus, device, and medium for determining the precession coefficient of an axisymmetric gyroscope, belonging to the field of gyroscope technology. The method includes: controlling the precession of two identical first and second axisymmetric gyroscopes in full-angle mode; determining the mode shape angles of the first and second axisymmetric gyroscopes during precession; and determining the precession coefficients of the first and second axisymmetric gyroscopes based on the precession difference and the mode shape angles during precession. This method can determine the precession coefficients of both the first and second axisymmetric gyroscopes.

Description

Technical Field

[0001] This invention relates to the field of gyroscope technology, and in particular to a method, apparatus, device, and medium for determining the precession coefficient of an axisymmetric gyroscope. Background Technology

[0002] An axisymmetric gyroscope is a precision instrument used to measure angular changes and is widely used in aviation, aerospace, marine, automotive, and robotics fields. An axisymmetric gyroscope has two operating modes: force-balanced mode and full-angle mode. Because the full-angle mode has advantages over the force-balanced mode, such as a better scaling factor and a larger measurement range, axisymmetric gyroscopes often need to operate in full-angle mode.

[0003] When an axisymmetric gyroscope operates in full-angle mode, the symmetry requirement for the harmonic oscillator is high. However, due to manufacturing limitations, it is impossible for the harmonic oscillator of an axisymmetric gyroscope to achieve perfect symmetry. If the harmonic oscillator in the axisymmetric gyroscope exhibits asymmetry, it will cause different degrees of drift in the harmonic mode shape at different angular positions, and this drift is complementary along the circumferential direction (i.e., if the harmonic mode shape of the axisymmetric gyroscope has a drift of 'd' at angle 'a', then the harmonic mode shape of the axisymmetric gyroscope will have a drift of '-d' at angle 'a+180'). Based on this characteristic of axisymmetric gyroscopes, a virtual precession full-angle mode can be proposed. In the virtual precession full-angle mode, by applying a precession force to the axisymmetric gyroscope and allowing the harmonic mode shape in the axisymmetric gyroscope to precess at a certain rate while traversing all angles, the drift error of the axisymmetric gyroscope can be canceled out.

[0004] However, in practical applications, the precession generated by an axisymmetric gyroscope after applying precession force is not stable. This is because the precession coefficient of the axisymmetric gyroscope changes slowly over time, which is the main factor causing long-term drift in axisymmetric gyroscopes operating under virtual precession. Therefore, determining the precession coefficient of the axisymmetric gyroscope during precession to eliminate the error caused by the change in the precession coefficient is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

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

[0006] To address the aforementioned technical problems, this invention provides a method for determining the precession coefficient of an axisymmetric vibrating gyroscope, comprising:

[0007] In full-angle mode, control the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes.

[0008] Determine the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession;

[0009] The precession difference between the first and second axisymmetric gyroscopes is used, and the precession coefficients of the first and second axisymmetric gyroscopes are determined based on their mode shape angles during precession. Preferably, both the first and second axisymmetric gyroscopes are hemispherical resonator gyroscopes, micro-hemispherical resonator gyroscopes, or cylindrical shell gyroscopes.

[0010] Preferably, determining the mode shape angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession includes:

[0011] The mode angles of the first and second axisymmetric gyroscopes during precession are determined using electrodes provided on the first and second axisymmetric gyroscopes, respectively.

[0012] Preferably, controlling the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes in full-angle mode includes:

[0013] In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes according to a first preset timing sequence and a second preset timing sequence, so that the mode shape angle of the harmonic oscillator generated by the first axisymmetric gyroscope and the second axisymmetric gyroscope changes with time to present a triangular waveform with a period of T, and the triangular waveform generated by the first axisymmetric gyroscope leads the triangular waveform generated by the second axisymmetric gyroscope by 1 / 4 period.

[0014] Preferably, the step of utilizing the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope, and determining the precession coefficients corresponding to the first axisymmetric gyroscope and the second axisymmetric gyroscope based on the mode shape angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession, includes:

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

[0016] Preferably, the step of utilizing the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope, and determining the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope at each T / 2 based on the mode shape angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during the precession process, includes:

[0017] The rate of change of the first axisymmetric gyroscope during the precession process from the initial time to T / 4 and from T / 4 to T / 2 is determined to obtain the first rate of change and the second rate of change. The rate of change of the second axisymmetric gyroscope during the precession process from the initial time to T / 4 and from T / 4 to T / 2 is determined to obtain the third rate of change and the fourth rate of change.

[0018] The difference between the first rate of change and the third rate of change is calculated to obtain the first difference, and the difference between the second rate of change and the fourth rate of change is calculated to obtain the second difference.

[0019] The precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope from the initial time to T / 2 are determined based on the first difference and the second difference.

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

[0021] To address the aforementioned technical problems, the present invention also provides a device for determining the precession coefficient of an axisymmetric vibrating gyroscope, comprising:

[0022] Precession control module, used to control the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes in full-angle mode;

[0023] An angle determination module is used to determine the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession.

[0024] The precession coefficient determination module is used to determine the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope by utilizing the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope and based on the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during the precession process.

[0025] To address the aforementioned technical problems, the present invention also provides an electronic device, comprising:

[0026] Memory, used to store computer programs;

[0027] A processor, used to execute the computer program, implements the steps of a method for determining the precession coefficient of an axisymmetric vibrating gyroscope as disclosed above.

[0028] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a method for determining the precession coefficient of an axisymmetric vibrating gyroscope as disclosed above.

[0029] Beneficial Effects: In the method for determining the precession coefficient of an axisymmetric gyroscope provided by this invention, firstly, two identical first and second axisymmetric gyroscopes are controlled to precess in full-angle mode, and the mode shape angles of the first and second axisymmetric gyroscopes during precession are determined. Then, the precession difference between the first and second axisymmetric gyroscopes is used, and the precession coefficients corresponding to the first and second axisymmetric gyroscopes are determined based on the mode shape angles during precession. In this method, it is equivalent to performing differential processing on the two axisymmetric gyroscopes to achieve real-time measurement of their precession coefficients, and thereby calculating the precession coefficients of the axisymmetric gyroscopes. Correspondingly, the calibration device, equipment, and medium for virtual precession of an axisymmetric gyroscope provided by this invention also have the aforementioned beneficial effects. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 A flowchart illustrating a method for determining the precession coefficient of an axisymmetric vibrating gyroscope, provided in an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of two intrinsic vibration modes of an axisymmetric gyroscope;

[0033] Figure 3 This is a schematic diagram of the rotation of the harmonic oscillator in an axisymmetric gyroscope.

[0034] Figure 4 This is a schematic diagram showing the change of the resonance angle of the harmonic oscillator over time when the direction of the fixed virtual precession force is changed.

[0035] Figure 5 This is a schematic diagram showing the change of the resonance angle of the harmonic oscillator over time when the direction of the fixed virtual precession force is changed.

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

[0037] Figure 7 This is a structural diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1 , Figure 1 A flowchart illustrating a method for determining the precession coefficient of an axisymmetric vibrating gyroscope, provided in an embodiment of the present invention, is included.

[0040] Step S11: Control the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes in full-angle mode;

[0041] Step S12: Determine the mode shape angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession;

[0042] Step S13: Utilize the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope, and determine the precession coefficients corresponding to the first axisymmetric gyroscope and the second axisymmetric gyroscope based on the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during the precession process.

[0043] Please see Figure 2 , Figure 2This diagram illustrates the two intrinsic modes of an axisymmetric gyroscope. Any vibration state of the harmonic oscillator in an axisymmetric gyroscope can be represented as the superposition of the first and second intrinsic modes. An axisymmetric gyroscope primarily operates in two modes: force-balanced mode and full-angle mode. When the axisymmetric gyroscope operates in force-balanced mode, if it rotates, an external force needs to be applied to maintain the mode shape of the harmonic oscillator at a specific angle. The magnitude of the applied external force can be used to calculate the angular velocity of the axisymmetric gyroscope.

[0044] When the axisymmetric gyroscope is in full-angle mode, the mode shape direction of the axisymmetric gyroscope is free relative to the harmonic oscillator. See also... Figure 3 , Figure 3 This is a schematic diagram showing the rotation of the harmonic oscillator in an axisymmetric gyroscope. When the harmonic oscillator in the axisymmetric gyroscope rotates 90 degrees... Figure 3 When the reference point in the image is rotated by 90 degrees, the mode shape of the harmonic oscillator will precess 27 degrees in the opposite direction relative to the harmonic oscillator due to inertial effects. The ratio of these two precessions (27 degrees to 90 degrees) is the calibration factor. An axisymmetric gyroscope has a very stable calibration factor in full-angle mode. Based on this characteristic of the axisymmetric gyroscope in full-angle mode, the angle of rotation of the axisymmetric gyroscope relative to the external environment can be determined.

[0045] A key characteristic of the drift in an axisymmetric gyroscope is that its drift at different mode angles resembles a sinusoidal oscillation. In other words, the drift of the harmonic oscillator in an axisymmetric gyroscope varies at different mode angles; the drift can be positive or negative, large or small. If the probability of the harmonic oscillator being at each mode angle is equal, then the axisymmetric gyroscope can achieve self-compensation of drift over a relatively long period.

[0046] To enable the harmonic oscillator in an axisymmetric gyroscope to traverse different mode angles, the oscillator can be "pushed" along the circumferential angle by electrode force. This method can achieve self-compensation for the periodic drift caused by the asymmetry of the axisymmetric gyroscope. However, this setup introduces another very important error factor: the precession force drift. The precession force is an unstable variable, affected and disturbed by many factors such as temperature and Q-factor (quality factor) changes.

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

[0048] To achieve this, the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes can be controlled in full-angle mode, and the mode shape angles of the first-axisymmetric and second-axisymmetric gyroscopes during precession can be determined. The identical model of the first-axisymmetric and second-axisymmetric gyroscopes means that their size, dimensions, and attribute parameters are consistent.

[0049] In this case, by utilizing the precession difference between the first and second axisymmetric gyroscopes and based on the mode angles of the first and second axisymmetric gyroscopes during precession, the angles generated by the virtual precession of the first and second axisymmetric gyroscopes can be calculated. The angles generated by the virtual precession of the first and second axisymmetric gyroscopes are determined by their respective precession coefficients. Therefore, the precession coefficients of the first and second axisymmetric gyroscopes can be determined based on their virtual precession angles.

[0050] It should be noted that, in this embodiment, the purpose of using dual-gyroscope precession differential is to eliminate the change in mode angle 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 explains and optimizes the technical solution. As a preferred implementation, both the first axisymmetric gyroscope and the second axisymmetric gyroscope are hemispherical resonant gyroscopes, micro-hemispherical resonant gyroscopes, or cylindrical shell gyroscopes.

[0052] Specifically, in this embodiment, both the first axisymmetric gyroscope and the second axisymmetric gyroscope can be set as a hemispherical resonator gyroscope (HRG), a microhemispherical resonator gyroscope (μHRG), or a cylindrical shell gyroscope.

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

[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 embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, the above steps: determining the mode shape angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession include:

[0056] The mode angles of the first and second axisymmetric gyroscopes during precession are determined using electrodes set on the first and second axisymmetric gyroscopes, respectively.

[0057] In general, axisymmetric gyroscopes are equipped with several electrodes. The vibration changes generated by the axisymmetric gyroscope during its motion can be detected by the electrodes. The mode shape angle of the axisymmetric gyroscope during its precession can then be determined by the vibration changes detected by the electrodes.

[0058] Based on the aforementioned measurement principle of the mode shape angle of an axisymmetric gyroscope, the mode shape angles of the first and second axisymmetric gyroscopes during precession can be determined using electrodes mounted on them, respectively. Compared to using other measuring devices to detect the mode shape angles of the first and second axisymmetric gyroscopes during precession, this method not only reduces the cost required for mode shape angle detection but also improves the convenience of mode shape angle detection.

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

[0060] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, the above steps: controlling the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes in full-angle mode, include:

[0061] In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes according to the first preset timing sequence and the second preset timing sequence, so that the mode angle of the harmonic oscillator generated by the first axisymmetric gyroscope and the second axisymmetric gyroscope changes with time to present a triangular waveform with a period of T, and the triangular waveform generated by the first axisymmetric gyroscope leads the triangular waveform generated by the second axisymmetric gyroscope by 1 / 4 period.

[0062] In this embodiment, in order to determine the precession coefficients of the first and second axisymmetric gyroscopes by utilizing the precession difference between the first and second axisymmetric gyroscopes, the two identical first and second axisymmetric gyroscopes are controlled to precess in full-angle mode using a fixed virtual precession force with variable direction according to a first preset timing sequence and a second preset timing sequence. This results in the mode shape angle of the harmonic oscillator generated by the first and second axisymmetric gyroscopes due to the fixed virtual precession force changing with time, respectively exhibiting a triangular waveform with a period of T. Furthermore, the triangular waveform generated by the first axisymmetric gyroscope leads the triangular waveform generated by the second axisymmetric gyroscope by 1 / 4 of a period.

[0063] Please see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram illustrating the change of the resonant angle of the harmonic oscillator over time in a first-axisymmetric gyroscope due to a fixed virtual precession force but a change in its direction. Figure 5 This is a schematic diagram illustrating the time-varying resonant angle of a harmonic oscillator produced by a second axisymmetric gyroscope with a fixed virtual precession force but a changed direction of force. Figure 4 and Figure 5 In the diagram, the horizontal axis represents time t, and the vertical axis represents the resonance angle of the harmonic oscillator caused by the fixed virtual precession force, denoted by Φ. From... Figure 4 and Figure 5As can be seen, the resonance angles of the harmonic oscillators generated by the fixed virtual precession force of the first axisymmetric gyroscope and the second axisymmetric gyroscope overlap for half of the time within adjacent T / 2. Through this control method, the first axisymmetric gyroscope and the second axisymmetric gyroscope can be precessed in the same direction and in opposite directions.

[0064] In a preferred embodiment, the above steps include: utilizing the precession difference between the first and second axisymmetric gyroscopes, and determining the precession coefficients of the first and second axisymmetric gyroscopes based on their mode shape angles during precession, including:

[0065] The precession difference between the first and second axisymmetric gyroscopes is used, and the precession coefficients of the first and second axisymmetric gyroscopes at each T / 2 are determined based on the mode angles of the first and second axisymmetric gyroscopes during the precession process.

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

[0067] Once the precession coefficients of the first and second axisymmetric gyroscopes at each T / 2 are determined, the precession coefficients of the first and second axisymmetric gyroscopes at all times can be determined.

[0068] In a preferred embodiment, the above steps include: utilizing the precession difference between the first and second axisymmetric gyroscopes, and determining the precession coefficients of the first and second axisymmetric gyroscopes at each T / 2 based on the mode shape angles during the precession process, including:

[0069] The rates of change of the first axisymmetric gyroscope during the precession process from the initial moment to T / 4 and from T / 4 to T / 2 are determined to obtain the first rate of change and the second rate of change. The rates of change of the second axisymmetric gyroscope during the precession process from the initial moment to T / 4 and from T / 4 to T / 2 are determined to obtain the third rate of change and the fourth rate of change.

[0070] Find the difference between the first rate of change and the third rate of change to obtain the first difference; and find the difference between the second rate of change and the fourth rate of change to obtain the second difference.

[0071] The precession coefficients of the first and second axisymmetric gyroscopes from the initial time to T / 2 are determined based on the first and second differences.

[0072] Since the precession coefficient of an axisymmetric gyroscope is a slowly changing quantity, and the time interval T / 2 is relatively short, it can be assumed that the precession coefficients of both the first and second axisymmetric gyroscopes remain constant from the initial moment to T / 2. The initial moment refers to the moment when both the first and second axisymmetric gyroscopes begin their motion, i.e., ... Figure 4 and Figure 5 Zero time (0) on the horizontal axis.

[0073] Please combine Figure 4 and Figure 5 Assume that the precession coefficients of the first axisymmetric gyroscope from the initial time to T / 4 and from T / 4 to T / 2 are both R. 01 Then, the mode angles of the first axisymmetric gyroscope from the initial moment to T / 4 and from T / 4 to T / 2 can both be expressed as: Ω(t) - ∫R 01 dt, where Ω(t) represents the angle caused by the rotation of the first axisymmetric gyroscope relative to the external environment, ∫R 01 dt represents the angle of virtual precession. For Ω(t) - ∫R 01 By differentiating dt, we can determine the rate of change of the first axisymmetric gyroscope during its precession from the initial moment to T / 4 and from T / 4 to T / 2, thus obtaining the first and second rates of change. Since the rate of change due to precession after subtracting the rate of change caused by relative rotation is equal, both the first and second rates of change can be expressed as: Ω´(t)-R 01 .

[0074] Assume that the precession coefficients of the second axisymmetric gyroscope from the initial time to T / 4 and from T / 4 to T / 2 are both R. 11 Then, the mode angles of the second axisymmetric gyroscope from the initial moment 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 gyroscope relative to the external environment, ∫R 11 dt represents the angle of virtual precession. For Ω(t) + ∫R 11 dt and Ω(t)-∫R 11 By differentiating dt and dt respectively, we can determine the rates of change of the second axisymmetric gyroscope during its precession from the initial time to T / 4 and from T / 4 to T / 2, thus obtaining the third and fourth rates of change. The third rate of change can then be expressed as Ω´(t)+R. 11The fourth rate of change can be expressed as Ω´(t)-R 11 .

[0075] By performing a differential operation on two axisymmetric gyroscopes, the influence of the harmonic oscillator mode precession caused by the relative rotation of the two axisymmetric gyroscopes with respect to the external environment can be eliminated, and the first rate of change Ω´(t)-R 01 and the third rate of change Ω´(t)+R 11 By taking the difference, we can obtain 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 taking the difference, we can obtain 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 through experimental measurement, the simultaneous equations are: ω0 = -R 01 -R 11 and ω1=-R 01 +R 11 This allows us to determine the precession coefficient R of the first axisymmetric gyroscope from the initial moment to T / 2. 01 And the precession coefficient R of the second axisymmetric gyroscope from the initial time to T / 2. 11 .

[0077] Assume that the precession coefficients of the first and second axisymmetric gyroscopes from T / 4 to 3T / 4 are R... 02 and R 12 Then, following the same method described above, the precession coefficient R of the second axisymmetric gyroscope from T / 4 to 3T / 4 can be determined. 02 and R 12 Similarly, the precession coefficients of the first and second axisymmetric gyroscopes at various T / 2 values ​​can be calculated using the same method. It should be noted that in this calculation method, the precession coefficients at 4 / T overlap in two adjacent calculations; that is, two precession coefficient values ​​are calculated for the overlapping portion.

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

[0079] Please see Figure 6 , Figure 6 This is a structural diagram of a device for determining the precession coefficient of an axisymmetric gyroscope according to an embodiment of the present invention. The device includes:

[0080] Precession control module 21 is used to control the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes in full-angle mode;

[0081] Angle determination module 22 is used to determine the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession.

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

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

[0084] The electrode detection submodule is used to determine the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession using the electrodes set on the first axisymmetric gyroscope and the second axisymmetric gyroscope, respectively.

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

[0086] The precession control submodule is used to control the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes in full-angle mode according to a first preset timing sequence and a second preset timing sequence with a fixed virtual precession force of variable direction. This causes the mode shape angle of the harmonic oscillator generated by the first axisymmetric gyroscope and the second axisymmetric gyroscope due to the fixed virtual precession force to change with time, respectively presenting a triangular waveform with a period of T. The triangular waveform generated by the first axisymmetric gyroscope leads the triangular waveform generated by the second axisymmetric gyroscope by 1 / 4 of a period.

[0087] Precession coefficient determination module 23 includes:

[0088] The precession coefficient determination submodule is used to determine the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope at each T / 2 by utilizing the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope and based on the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during the precession process.

[0089] The precession coefficient determination submodule includes:

[0090] The rate of change calculation unit is used to determine the rate of change of the first axisymmetric gyroscope during the precession process from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain the first rate of change and the second rate of change; and to determine the rate of change of the second axisymmetric gyroscope during the precession process from the initial time to T / 4 and from T / 4 to T / 2, respectively, to obtain the third rate of change and the fourth rate of change.

[0091] The difference calculation unit is used to calculate the difference between the first rate of change and the third rate of change to obtain a first difference, and to calculate the difference between the second rate of change and the fourth rate of change to obtain a second difference;

[0092] The coefficient calculation unit is used to determine the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope from the initial time to T / 2 based on the first difference and the second difference.

[0093] The device for determining the precession coefficient of an axisymmetric gyroscope provided in this embodiment of the invention has the beneficial effects of the disclosed method for determining the precession coefficient of an axisymmetric gyroscope.

[0094] Please see Figure 7 , Figure 7 This is a structural diagram of an electronic device provided in an embodiment of the present invention. The electronic device includes:

[0095] Memory 31 is used to store computer programs;

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

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

[0098] Accordingly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a method for determining the precession coefficient of an axisymmetric vibrating gyroscope as disclosed above.

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

[0100] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0101] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] The foregoing has provided a detailed description of the method, apparatus, device, and medium for determining the precession coefficient of an axisymmetric vibrating gyroscope. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for determining the precession coefficient of an axisymmetric vibrating gyroscope, characterized in that, include: In full-angle mode, control the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes. Determine the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession; The precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope is used, and the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope are determined based on the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during the precession process. The control of the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes in full-angle mode includes: In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes according to a first preset timing sequence and a second preset timing sequence, so that the mode shape angle of the harmonic oscillator generated by the first axisymmetric gyroscope and the second axisymmetric gyroscope changes with time to present a triangular waveform with a period of T, and the triangular waveform generated by the first axisymmetric gyroscope leads the triangular waveform generated by the second axisymmetric gyroscope by 1 / 4 period.

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

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

4. The method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 1, characterized in that, The method of utilizing the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope, and determining the precession coefficients corresponding to the first axisymmetric gyroscope and the second axisymmetric gyroscope based on the mode shape angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession, includes: The precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope is used, and the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope are determined according to the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope at each T / 4.

5. The method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 4, characterized in that, The precession difference between the first and second axisymmetric gyroscopes is used, and the precession coefficients of the first and second axisymmetric gyroscopes at each T / 2 are determined based on the mode shape angles of the first and second axisymmetric gyroscopes during precession, including: The rate of change of the mode shape angle of the first axisymmetric gyroscope during the precession from the initial moment to T / 4 and from T / 4 to T / 2 is determined to obtain the first rate of change and the second rate of change. The rate of change of the mode shape angle of the second axisymmetric gyroscope during the precession from the initial moment to T / 4 and from T / 4 to T / 2 is determined to obtain the third rate of change and the fourth rate of change. The difference between the first rate of change and the third rate of change is calculated to obtain the first difference, and the difference between the second rate of change and the fourth rate of change is calculated to obtain the second difference. The precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope from the initial time to T / 2 are determined based on the first difference and the second difference.

6. The method for determining the precession coefficient of an axisymmetric vibrating gyroscope according to claim 5, characterized in that, The precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope are both fixed from the initial time to T / 2.

7. A device for determining the precession coefficient of an axisymmetric vibrating gyroscope, characterized in that, include: Precession control module, used to control the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes in full-angle mode; An angle determination module is used to determine the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during precession. The precession coefficient determination module is used to determine the precession coefficients of the first axisymmetric gyroscope and the second axisymmetric gyroscope by utilizing the precession difference between the first axisymmetric gyroscope and the second axisymmetric gyroscope and based on the mode angles of the first axisymmetric gyroscope and the second axisymmetric gyroscope during the precession process. The control of the precession of two identical first-axisymmetric and second-axisymmetric gyroscopes in full-angle mode includes: In full-angle mode, a fixed virtual precession force with variable direction is used to control the precession of two identical first axisymmetric gyroscopes and second axisymmetric gyroscopes according to a first preset timing sequence and a second preset timing sequence, so that the mode shape angle of the harmonic oscillator generated by the first axisymmetric gyroscope and the second axisymmetric gyroscope changes with time to present a triangular waveform with a period of T, and the triangular waveform generated by the first axisymmetric gyroscope leads the triangular waveform generated by the second axisymmetric gyroscope by 1 / 4 period.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of a method for determining the precession coefficient of an axisymmetric vibrating gyroscope as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of a method for determining the precession coefficient of an axisymmetric vibrating gyroscope as described in any one of claims 1 to 6.

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