A method for measuring drift of hemispherical resonant gyroscope without alignment

Abstract

The present invention relates to the technical field of hemispherical resonant gyroscopes, and in particular to an alignment-free hemispherical resonant gyroscope drift test method, including a static test method and a dynamic test method, which are used to characterize the stability and repeatability of the hemispherical resonant gyroscope; the static test method includes: connecting the hemispherical resonant gyroscope to a test circuit, and controlling the hemispherical resonant gyroscope to work in a force feedback mode; adjusting the rotational driving force applied to the hemispherical resonant gyroscope through the test circuit, and controlling the hemispherical resonant gyroscope to rotate, so as to test the output drift value of the hemispherical resonant gyroscope. The present invention provides an alignment-free hemispherical resonant gyroscope drift test method, which avoids axis adjustment test and can improve the drift measurement accuracy of the hemispherical resonant gyroscope.

Description

Technical Field

[0001] The invention relates to the technical field of hemispherical resonant gyroscopes, and in particular to an alignment-free hemispherical resonant gyroscope drift test method. Background Art

[0002] The hemispherical resonant gyroscope has two working modes: force feedback mode and full-angle mode.

[0003] In the force feedback mode, the standing wave of the gyro resonator is controlled at a fixed position. When the gyro carrier rotates, the standing wave on the resonator begins to precess relative to the external shell. At this time, the force feedback control loop applies feedback force to the resonator to excite it, so that the standing wave overcomes the Coriolis force and keeps consistent with the shell in real time, maintaining a non-precession state. The theoretical rotational angular velocity of the carrier can be calculated based on the magnitude of the applied feedback force. In this mode, the gyro output characteristics are similar to those of an optical gyroscope, and the optical gyroscope drift test method and standard can be used.

[0004] In full-angle mode, the standing wave of the gyro resonator precesses freely, and the resonant gyroscope can be used as a rate integrating gyroscope, that is, an angular position gyroscope. When the gyro carrier rotates, the standing wave precesses, which is called the Coriolis effect. By detecting the standing wave position in real time on the capacitive detection plates at 45 degrees to each other to obtain the precession angle, the rotation angle or angular rate of the gyroscope's external carrier can be obtained. The error characteristics of the full-angle mode hemispherical resonant gyroscope are different from those of traditional optical gyroscopes. The drift components of the full-angle gyroscope are mainly composed of constant drift and damping uneven drift (the vibration mode has different corresponding drifts at different angular positions). Therefore, in the full-angle mode gyroscope test, how to objectively and accurately test the damping uneven drift level is crucial.

[0005] The commonly used test method at present is, for example, the method of the patent with application publication number CN117330107A. The test method of this patent requires that the gyroscope be installed vertically on the turntable surface through the tooling during the test. The turntable is adjusted to a horizontal reference, and the gyroscope vibration mode is driven to traverse one circle by controlling the turntable to rotate to different angular positions in sequence to test the stability level of the gyroscope. This method is simple and intuitive, but it requires the gyroscope sensitive axis and the turntable axis to be aligned. The work of aligning the gyroscope sensitive axis and the turntable axis is difficult, and the adjustment period is long. If they are not aligned, the test accuracy is very low. When the turntable rotates one circle, the gyroscope sensitive axis makes a conical trajectory in space, and the reference reference changes in real time, causing test errors. Assuming that the deviation between the gyroscope sensitive axis and the turntable axis is 0.1°, then in a specific embodiment,

[0006]

[0007] It can be seen that an installation deviation of 0.1° will cause a gyro test error of about 0.04 , so for navigation level 0.01 Gyro and even higher precision gyro testing requires axis adjustment operation. Summary of the invention

[0008] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides an alignment-free hemispherical resonant gyroscope drift test method, which avoids axis adjustment test and can improve the drift measurement accuracy of the hemispherical resonant gyroscope.

[0009] The invention provides an alignment-free hemispherical resonant gyroscope drift test method, which comprises a static test method and a dynamic test method, and is used for characterizing the stability and repeatability of the hemispherical resonant gyroscope.

[0010] A further improvement of the alignment-free hemispherical resonant gyro drift test method of the present invention is that the static test method comprises:

[0011] Connecting the hemispherical resonant gyroscope to the test circuit and controlling the hemispherical resonant gyroscope to work in a force feedback mode;

[0012] The test circuit adjusts the rotational driving force applied to the hemispherical resonant gyroscope , controlling the hemispherical resonant gyroscope to rotate to test the output drift value of the hemispherical resonant gyroscope;

[0013] The rotational driving force and the output drift value The relationship is,

[0014]

[0015] in, is the vibration mode angle of the hemispherical resonant gyroscope, is the vibration mode angular velocity of the hemispherical resonant gyroscope, is the scaling factor, is the external angular velocity of the hemispherical resonant gyroscope, is the vibration amplitude of the antinode point of the hemispherical resonant gyroscope, is the vibration amplitude of the nodal point of the hemispherical resonant gyroscope, is the circumferential damping unevenness of the hemispherical resonant gyroscope, is the frequency decomposition degree of the hemispherical resonant gyroscope in the circumferential direction, is the damping axis deflection angle, is the stiffness axis deflection angle, is the output drift value of the hemispherical resonant gyroscope.

[0016] A further improvement of the alignment-free hemispherical resonant gyroscope drift test method of the present invention is that the test circuit includes a first detection electrode, a second detection electrode, a first excitation electrode, a second excitation electrode and a full-angle signal resolution module, and the hemispherical resonant gyroscope is connected to the first detection electrode, the second detection electrode, the first excitation electrode and the second excitation electrode;

[0017] The test circuit detects a vibration signal of the hemispherical resonant gyroscope through the first detection electrode and the second detection electrode;

[0018] Then the full-angle signal calculation module of the test circuit outputs a reference signal according to the vibration signal, and the test circuit obtains a DC signal amount according to the reference signal, and then the full-angle signal calculation module calculates the DC signal amount to obtain basic parameters, and the basic parameters are ,in, Indicates the voltage signal corresponding to the amplitude of the amplitude point, Represents the voltage signal corresponding to the wave node amplitude, represents the phase difference between the reference signal and the vibration signal, represents the vibration mode angle of the hemispherical resonant gyroscope;

[0019] The test circuit is based on Adjusting the full-angle signal solving module;

[0020] The test circuit is based on Output rotational driving force The corresponding control voltage is distributed to the first excitation electrode and the second excitation electrode to drive the hemispherical resonant gyroscope to rotate.

[0021] A further improvement of the alignment-free hemispherical resonant gyro drift test method of the present invention is that the test circuit also includes a vibration mode virtual precession control loop and a PID controller;

[0022] The test circuit will After being input into the vibration mode virtual precession control loop, it is controlled by the PID controller and then outputs the rotational driving force. The corresponding control voltage;

[0023] Active application of the rotational drive force by the test circuit The hemispherical resonant gyro is driven to precess according to the vibration mode, so that the vibration mode angle of the hemispherical resonant gyro changes, thereby stimulating the damping uneven drift error of the hemispherical resonant gyro, and the rotational driving force is deducted from the output data of the hemispherical resonant gyro. Then, the output drift value of the hemispherical resonant gyroscope is obtained.

[0024] A further improvement of the alignment-free hemispherical resonant gyro drift test method of the present invention is that the dynamic test method comprises:

[0025] S1, fixing the hemispherical resonator gyroscope on a turntable mounting surface, with the input axis of the hemispherical resonator gyroscope pointing vertically upward;

[0026] S2, setting the sampling interval time and test time of the output measurement of the hemispherical resonant gyroscope;

[0027] S3, after the hemispherical resonant gyro is started, the vibration angle is actively adjusted to the initial vibration angle at the initial moment , and output the standing wave azimuth and angular velocity at the same time;

[0028] S4, testing the output data of the hemispherical resonant gyroscope at time T, calculating the average value of several output data according to the set time period, and recording The average value is The sample sequence is a subsample sequence, and the sample values ​​in the sample sequence are , The value is a positive integer;

[0029] S5, repeat step S4 y times to obtain N sample sequences, N = y + 1, y is a positive integer;

[0030] S6, calculating and obtaining the zero bias stability of the hemispherical resonant gyroscope,

[0031]

[0032] in, For the Bias stability of sub-hemispherical resonant gyroscope, in units of ; is the scale factor of the HRG, For the The sample mean of the subsample sequence, is the bias stability of the hemispherical resonant gyroscope;

[0033] The zero bias repeatability of the hemispherical resonant gyroscope is calculated.

[0034]

[0035] in, is the zero bias repeatability of the hemispherical resonant gyro, in units of , is the average output of the hemispherical resonant gyroscope, in units of .

[0036] A further improvement of the alignment-free hemispherical resonant gyro drift testing method of the present invention is that there are 7 sample sequences.

[0037] A further improvement of the alignment-free hemispherical resonant gyroscope drift test method of the present invention is that before each repetition of step S4, the turntable and the hemispherical resonant gyroscope are powered off and cooled for a set time.

[0038] A further improvement of the alignment-free hemispherical resonant gyro drift test method of the present invention is that when the average value of a plurality of output data is calculated according to a set time period, the method further comprises:

[0039] Delete the set segment data at the beginning and end of the set time period, and then calculate the average value of the remaining data.

[0040] A further improvement of the alignment-free hemispherical resonant gyro drift test method of the present invention is that, before step S4, it also includes:

[0041] The hemispherical resonant gyroscope is switched to a force feedback mode, the vibration mode of the hemispherical resonant gyroscope is controlled to virtually precess one circle, and the output data of the hemispherical resonant gyroscope at the Tth moment is tested.

[0042] A further improvement of the alignment-free hemispherical resonant gyro drift test method of the present invention is that, before step S4, it also includes:

[0043] Control the turntable to , The value is a natural number, and the output data of the hemispherical resonant gyroscope at the Tth moment is tested at each position of the turntable.

[0044] The alignment-free hemispherical resonant gyroscope drift test method of the present invention can avoid axis adjustment test and improve the drift measurement accuracy of the hemispherical resonant gyroscope; the repeatability and stability of the hemispherical resonant gyroscope can be characterized by the data such as the vibration mode angle, wave node vibration amplitude, output drift value, zero bias stability, zero bias repeatability and the like of the hemispherical resonant gyroscope output obtained by testing in a static test method or a dynamic test method; the static test method does not require a turntable, that is, the hemispherical resonant gyroscope vibration mode standing wave is actively controlled by the internal control loop of the hemispherical resonant gyroscope to perform virtual "rotation" for testing in a static state, and the gyroscope is stationary during the test, and no test error caused by misalignment with the turntable axis is generated; the dynamic test method uses a turntable to perform a test by turning and stopping every 360 degrees, and because the turntable rotates a full circle to return to the initial position, the error caused by axis misalignment is avoided.

[0045] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 The present invention is a flowchart of the alignment-free hemispherical resonant gyroscope drift testing method.

[0048] Figure 2 It is a principle diagram of a static test method in the alignment-free hemispherical resonant gyro drift test method provided by the present invention.

[0049] Figure 3 It is a drift test diagram of a hemispherical resonant gyroscope in the alignment-free hemispherical resonant gyroscope drift test method provided by the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0051] Combine the following Figure 1 The present invention describes an alignment-free hemispherical resonant gyroscope drift test method, which includes a static test method and a dynamic test method, and is used to characterize the stability and repeatability of the hemispherical resonant gyroscope. By accurately testing the output drift value, zero bias stability and zero bias repeatability of the hemispherical resonant gyroscope, the accuracy of the hemispherical resonant gyroscope can be accurately grasped, thereby characterizing the accuracy of the hemispherical resonant gyroscope after being applied to corresponding equipment.

[0052] In a preferred implementation case of the alignment-free hemispherical resonant gyro drift test method of the present invention, the static test method includes:

[0053] Connecting the hemispherical resonant gyroscope to the test circuit and controlling the hemispherical resonant gyroscope to work in a force feedback mode;

[0054] The test circuit is used to adjust the rotational drive force applied to the hemispherical resonant gyroscope , controlling the hemispherical resonant gyroscope to rotate to test the output drift value of the hemispherical resonant gyroscope;

[0055] Rotational driving force and output drift value The relationship is,

[0056]

[0057] in, is the vibration mode angle of the hemispherical resonant gyroscope, is the vibration mode angular velocity of the hemispherical resonant gyroscope, is the scaling factor, is the external angular velocity of the hemispherical resonant gyroscope, is the vibration amplitude of the antinode point of the hemispherical resonant gyroscope, is the vibration amplitude of the nodal point of the hemispherical resonant gyroscope, is the circumferential damping unevenness of the hemispherical resonant gyroscope, is the frequency decomposition degree of the hemispherical resonant gyroscope in the circumferential direction, is the damping axis deflection angle, is the stiffness axis deflection angle, is the output drift value of the hemispherical resonant gyroscope.

[0058] Specifically, Figure 2 and Figure 3 As shown, the test circuit includes a first detection electrode ea, a second detection electrode eq, a first excitation electrode A, a second excitation electrode Q and a full-angle signal resolution module, and the hemispherical resonant gyroscope is connected to the first detection electrode, the second detection electrode, the first excitation electrode and the second excitation electrode;

[0059] The test circuit detects and obtains a vibration signal of the hemispherical resonant gyroscope through the first detection electrode and the second detection electrode;

[0060] Then the full-angle signal calculation module of the test circuit outputs a reference signal according to the vibration signal ( and ), the test circuit obtains the DC signal quantity based on the reference signal ( , , , ), and then the full-angle signal calculation module calculates the DC signal to obtain the basic parameters. The basic parameters are ,in, Indicates the voltage signal corresponding to the amplitude of the amplitude point, Represents the voltage signal corresponding to the wave node amplitude, represents the phase difference between the reference signal and the vibration signal, represents the vibration mode angle of the hemispherical resonant gyroscope;

[0061] Test circuit according to Adjust the full-angle signal solution module;

[0062] Test circuit according to Output rotational driving force The corresponding control voltage is distributed to the first excitation electrode and the second excitation electrode to drive the hemispherical resonant gyroscope to rotate.

[0063] Specifically, the test circuit also includes a vibration mode virtual precession control loop and a PID controller;

[0064] The test circuit will After being input into the vibration mode virtual precession control loop, it is controlled by the PID controller and then outputs the rotational driving force. The corresponding control voltage;

[0065] Active application of rotational drive force via test circuit The hemispherical resonant gyro is driven to precess according to the vibration mode, so that the vibration mode angle of the hemispherical resonant gyro changes, thereby stimulating the damping uneven drift error of the hemispherical resonant gyro, and the rotational driving force is deducted from the output data of the hemispherical resonant gyro. Then, the output drift value of the hemispherical resonant gyroscope is obtained.

[0066] Preferably, the hemispherical resonant gyroscope vibration mode precession is driven by active force application, so that changes, which in turn stimulates the damping uneven drift error. The drift of the hemispherical resonant gyro changes with the vibration mode precession, and is deducted from the output data of the hemispherical resonant gyro. After that, the gyro output drift value can be obtained, that is, .

[0067] Preferably, if Figure 3 As shown, in the static test method, the hemispherical resonant gyroscope will show Figure 3 The drift curve of the hemispherical resonant gyroscope is shown in Figure 1. The wavy graph indicates that the hemispherical resonant gyroscope has drift. The drift performance of the hemispherical resonant gyroscope can be characterized through this image.

[0068] Furthermore, if Figure 1 and Figure 3 As shown, the dynamic test method includes:

[0069] S1, fix the hemispherical resonator gyroscope on the mounting surface of the turntable, with the input axis of the hemispherical resonator gyroscope pointing vertically upward;

[0070] S2, setting the sampling interval and test time of the output measurement of the hemispherical resonant gyroscope;

[0071] S3, after the hemispherical resonant gyro is started, the vibration angle is actively adjusted to the initial vibration angle at the initial moment , and output the standing wave azimuth and angular velocity at the same time;

[0072] S4, test the output data of the hemispherical resonant gyroscope at time T, calculate the average value of several output data according to the set time period, and record The average value is The sample sequence is a subsample sequence, and the sample values ​​in the sample sequence are , The value is a positive integer;

[0073] S5, repeat step S4 y times to obtain N sample sequences, N = y + 1, y is a positive integer;

[0074] S6, calculate the zero bias stability of the hemispherical resonant gyro,

[0075]

[0076] in, For the Bias stability of sub-hemispherical resonant gyroscope, in units of ; is the scale factor of the HRG, For the The sample mean of the subsample sequence, is the bias stability of the hemispherical resonant gyroscope;

[0077] The zero bias repeatability of the hemispherical resonant gyroscope is calculated.

[0078]

[0079] in, is the zero bias repeatability of the hemispherical resonant gyro, in units of , is the average output of the hemispherical resonant gyroscope, in units of .

[0080] In a specific implementation case, step S4 is repeated 6 times, and a total of 7 sample sequences are obtained.

[0081] It should be noted that those skilled in the art can select sample sequences according to actual needs, and this application does not impose any specific limitation on the number of sample sequences.

[0082] Specifically, before each repetition of step S4, the turntable and the hemispherical resonant gyroscope are powered off and cooled for a set time, so that the turntable and the hemispherical resonant gyroscope can be fully cooled to avoid the influence of residual charge and instrument temperature change on the accuracy of the result, thereby improving the accuracy of the measurement data.

[0083] Specifically, when calculating the average value of a number of output data according to a set time period, it also includes: deleting the set segment data at the beginning and end of the set time period, and then calculating the average value of the remaining data, deleting the set segment data at the beginning and end, avoiding the influence of the data at both ends on the average value, and reducing the measurement error.

[0084] Preferably, in a specific implementation case, the time period is set to 100s.

[0085] It should be noted that those skilled in the art can make corresponding settings for the set time period and the set segment data of the start and end parts to be deleted according to the output data situation.

[0086] Specifically, before step S4, the method further includes: switching the hemispherical resonant gyroscope to a force feedback mode, controlling the hemispherical resonant gyroscope vibration mode to virtually precess one circle, and testing the output data of the hemispherical resonant gyroscope at the Tth moment.

[0087] Specifically, before step S4, the process further includes: controlling the turntable to turn to , The value is a natural number, and the output data of the hemispherical resonant gyroscope at the Tth moment is tested at each position of the turntable.

[0088] Preferably, the turntable is controlled to rotate 360°, 720°, 1080°, etc. in sequence, and the influence of the installation deflection angle between the sensitive axis of the hemispherical resonant gyroscope and the rotating axis of the turntable is eliminated by returning the turntable to the initial position after each rotation. Since the external rotation angle and the position of the internal standing wave vibration mode of the hemispherical resonant gyroscope have a proportional relationship of 0.27, in this case, the turntable can still traverse the positions of all points along the lip of the hemispherical resonant gyroscope in one rotation. The specific examples of the vibration mode angle changes of the hemispherical resonant gyroscope are as follows: First week: ; Week 2: By controlling the full-cycle rotation of the turntable, the installation deviation is eliminated, and the standing wave vibration mode of the hemispherical resonant gyroscope can still traverse the full cycle of the hemispherical resonant gyroscope, and the traversal interval can truly reflect the zero-bias stability level of the hemispherical resonant gyroscope. This method is simple to operate, efficient, does not require axis adjustment, has high test accuracy, and is suitable for large-scale hemispherical resonant gyroscope testing.

[0089] Preferably, when obtaining the output data, the working mode of the hemispherical resonant gyroscope is fully considered and corresponding adjustments are made in a targeted manner, so as to improve the feedback accuracy of the output data on the actual calibration situation.

[0090] Preferably, if Figure 3 As shown, in the dynamic test method, the hemispherical resonant gyroscope will show Figure 3 The drift curve of the hemispherical resonant gyroscope is shown in Figure 1. The wavy graph indicates that the hemispherical resonant gyroscope has drift. The drift level of the hemispherical resonant gyroscope can be characterized by this image. Combined with the calculated zero bias stability and zero bias repeatability, the drift performance of the hemispherical resonant gyroscope can be more comprehensively characterized.

[0091] Specifically, the turntable, the test circuit and the hemispherical resonant gyroscope are all connected to the human-computer interaction system, which obtains various variables in the static test method and the dynamic test method and automatically generates the following Figure 3 The drift curve shown and the calculated output drift value, zero bias stability and zero bias repeatability can intuitively display the drift performance of the hemispherical resonant gyroscope.

[0092] The alignment-free hemispherical resonant gyroscope drift test method of the present invention can avoid axis adjustment test and improve the drift measurement accuracy of the hemispherical resonant gyroscope; the repeatability and stability of the hemispherical resonant gyroscope can be characterized by the data such as the vibration mode angle, wave node vibration amplitude, output drift value, zero bias stability, zero bias repeatability and the like of the hemispherical resonant gyroscope output obtained by testing in a static test method or a dynamic test method; the static test method does not require a turntable, that is, the hemispherical resonant gyroscope vibration mode standing wave is actively controlled by the internal control loop of the hemispherical resonant gyroscope to perform virtual "rotation" for testing in a static state, and the gyroscope is stationary during the test, and no test error caused by misalignment with the turntable axis is generated; the dynamic test method uses a turntable to perform a test by turning and stopping every 360 degrees, and because the turntable rotates a full circle to return to the initial position, the error caused by axis misalignment is avoided.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for testing drift of a hemispherical resonant gyroscope without alignment, characterized in that: Including static test method and dynamic test method to characterize the stability and repeatability of the hemispherical resonant gyroscope; The static testing method includes: Connecting the hemispherical resonant gyroscope to the test circuit and controlling the hemispherical resonant gyroscope to work in a force feedback mode; The test circuit adjusts the rotational driving force applied to the hemispherical resonant gyroscope , controlling the hemispherical resonant gyroscope to rotate to test the output drift value of the hemispherical resonant gyroscope; The rotational driving force and the output drift value The relationship is, in, is the vibration mode angle of the hemispherical resonant gyroscope, is the vibration mode angular velocity of the hemispherical resonant gyroscope, is the scaling factor, is the external angular velocity of the hemispherical resonant gyroscope, is the vibration amplitude of the antinode point of the hemispherical resonant gyroscope, is the vibration amplitude of the nodal point of the hemispherical resonant gyroscope, is the circumferential damping unevenness of the hemispherical resonant gyroscope, is the frequency decomposition degree of the hemispherical resonant gyroscope in the circumferential direction, is the damping axis deflection angle, is the stiffness axis deflection angle, is the output drift value of the hemispherical resonant gyroscope; The test circuit comprises a first detection electrode, a second detection electrode, a first excitation electrode, a second excitation electrode and a full-angle signal calculation module, and the hemispherical resonant gyroscope is connected to the first detection electrode, the second detection electrode, the first excitation electrode and the second excitation electrode; The test circuit detects a vibration signal of the hemispherical resonant gyroscope through the first detection electrode and the second detection electrode; Then the full-angle signal calculation module of the test circuit outputs a reference signal according to the vibration signal, and the test circuit obtains a DC signal amount according to the reference signal, and then the full-angle signal calculation module calculates the DC signal amount to obtain basic parameters, and the basic parameters are ,in, Indicates the voltage signal corresponding to the amplitude of the antinode point, Represents the voltage signal corresponding to the wave node amplitude, represents the phase difference between the reference signal and the vibration signal, represents the vibration mode angle of the hemispherical resonant gyroscope; The test circuit is based on Adjusting the full-angle signal solving module; The test circuit is based on Output rotational driving force The corresponding control voltage is distributed to the first excitation electrode and the second excitation electrode to drive the hemispherical resonant gyroscope to rotate; The test circuit also includes a vibration mode virtual precession control loop and a PID controller; The test circuit will After being input into the vibration mode virtual precession control loop, it is controlled by the PID controller and then outputs the rotational driving force. The corresponding control voltage; Active application of the rotational drive force by the test circuit The hemispherical resonant gyro is driven to precess according to the vibration mode, so that the vibration mode angle of the hemispherical resonant gyro changes, thereby stimulating the damping uneven drift error of the hemispherical resonant gyro, and the rotational driving force is deducted from the output data of the hemispherical resonant gyro. Then, the output drift value of the hemispherical resonant gyroscope is obtained; The dynamic testing method includes: S1, fixing the hemispherical resonator gyroscope on a turntable mounting surface, with the input axis of the hemispherical resonator gyroscope pointing vertically upward; S2, setting the sampling interval time and test time of the output measurement of the hemispherical resonant gyroscope; S3, after the hemispherical resonant gyro is started, the vibration angle is actively adjusted to the initial vibration angle at the initial moment , and output the standing wave azimuth and angular velocity at the same time; S4, control the turntable to , The value is a natural number. The output data of the hemispherical resonant gyroscope at the Tth moment is tested at each position of the turntable. Alternatively, the hemispherical resonant gyroscope is switched to the force feedback mode, the vibration mode of the hemispherical resonant gyroscope is controlled to virtually precess one circle, and the output data of the hemispherical resonant gyroscope at the Tth moment is tested; the average value of the output data is calculated according to the set time period and recorded. The average value is The sample sequence, the sample value in the sample sequence , The value is a positive integer; S5, repeat step S4 y times to obtain N sample sequences, N = y + 1, y is a positive integer; S6, calculating and obtaining the zero bias stability of the hemispherical resonant gyroscope, in, For the Bias stability of sub-hemispherical resonant gyroscope, in units of ; is the scale factor of the HRG, For the The sample mean of the subsample sequence, is the bias stability of the hemispherical resonant gyroscope; The zero bias repeatability of the hemispherical resonant gyroscope is calculated. in, is the zero bias repeatability of the hemispherical resonant gyro, in units of , is the average output of the hemispherical resonant gyroscope, in units of .

2. The alignment-free hemispherical resonant gyro drift test method according to claim 1, characterized in that: There are 7 sample sequences.

3. The alignment-free hemispherical resonant gyro drift test method according to claim 1, characterized in that: Before each repetition of step S4, the turntable and the hemispherical resonant gyroscope are powered off and cooled for a set time.

4. The alignment-free hemispherical resonant gyro drift test method according to claim 1, characterized in that: When the average value of several output data is calculated according to the set time period, it also includes: Delete the set segment data at the beginning and end of the set time period, and then calculate the average value of the remaining data.

Images