Standing wave angle calibration method of hemispherical resonator gyroscope

Abstract

The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a standing wave angle calibration method of a hemispherical resonator gyroscope, and aims to solve the problem that the measurement precision is reduced due to the fact that the hemispherical resonator gyroscope possibly has the problems of standing wave mode drift, signal noise increase, system parameter change and the like in long-term operation. Comprising the following steps: S1, system preparation; s2, measuring an initial state; s3, excitation and response analysis; s4, signal processing and standing wave detection; s5, calibrating and adjusting; s6, calibrating and verifying; the device further comprises an excitation cover, a harmonic oscillator, a base and a control unit. A plurality of ultrasonic sensors are arranged around the outer side of the harmonic oscillator at equal intervals. A proper ultrasonic sensor is selected, it is ensured that the sensor can accurately detect a vibration mode without interfering normal operation of a system, it is ensured that electrical connection between the ultrasonic sensor and a data acquisition system is stable, accurate measurement data are obtained, and calibration adjustment is continuously conducted according to vibration signals generated by a harmonic oscillator until errors are eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of hemispherical resonant gyroscopes, and in particular to a standing wave angle calibration method for a hemispherical resonant gyroscope. Background Art

[0002] Hemispherical resonator gyroscope (HRG) is a high-precision angular velocity sensor widely used in aerospace, navigation, and inertial measurement. The working principle of HRG is based on the standing wave pattern generated by the resonator, and its accuracy directly affects the accuracy of angular velocity measurement. In force balance mode, the system maintains the stability of the standing wave pattern through feedback control. However, the existing HRG may experience problems such as standing wave pattern drift, signal noise increase, and system parameter changes due to environmental changes, device aging, external disturbances, temperature, and environment in long-term operation. These problems will lead to a decrease in measurement accuracy. Therefore, it is particularly important to study and develop an effective standing wave angle calibration method. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the existing hemispherical resonant gyroscope may have problems such as standing wave mode drift, signal noise increase and system parameter changes during long-term operation, resulting in a decrease in measurement accuracy. The purpose of the present invention is to provide a standing wave angle calibration method for a hemispherical resonant gyroscope, which improves the measurement accuracy of the hemispherical resonant gyroscope by setting a sensor and enhances the system stability.

[0004] The present invention is achieved through the following technical solutions: A method for calibrating a standing wave angle of a hemispherical resonant gyroscope comprises the following steps: S1. System preparation; S2, initial state measurement; S3, stimulus and response analysis; S4, signal processing and standing wave detection; S5, calibration adjustment; S6. Calibration verification; S7. Record and save; It also includes a hemispherical resonant gyroscope body, which includes an excitation cover, a resonator, a base and a control unit. The resonator is sleeved inside the excitation cover, and the resonator is respectively connected to the excitation cover and the base through support rods. A plurality of ultrasonic sensors are equidistantly arranged around the outside of the resonator, a bracket is arranged on the base, and the ultrasonic sensor is arranged on the bracket, and there is a gap between the ultrasonic sensor and the resonator.

[0005] In the above technical solution, a suitable ultrasonic sensor is selected and installed on the bracket outside the resonator to ensure that the sensor can accurately detect the vibration mode without interfering with the normal operation of the system, ensure that the electrical connection between the ultrasonic sensor and the data acquisition system is stable, the sensor is set correctly, obtain accurate measurement data, and continuously perform calibration and adjustment according to the vibration signal generated by the resonator until the error is eliminated.

[0006] In some optional technical solutions, the S1 includes: S11, installing the ultrasonic sensor, and installing the ultrasonic sensor on the bracket of the base along the circumference of the resonator; S12, assembling the hemispherical resonant gyroscope body, connecting and fixing the excitation cover and the base through the support rod of the resonator; S13, start the hemispherical resonant gyroscope body and set the working parameters of the ultrasonic sensor; S14. Preliminary calibration: Use a known standard vibration source or reference signal to perform preliminary calibration on the ultrasonic sensor and system to verify the measurement accuracy and response characteristics of the system.

[0007] The above technical solutions lay the foundation for the calibration process, ensuring that all equipment and system settings are in optimal conditions and reducing measurement errors and interference.

[0008] In some optional technical solutions, S2 includes: S21, exciting the resonator, starting the excitation system of the hemispherical resonator body, exciting the resonator at a stable frequency, causing it to generate a stable standing wave on the surface, and waiting for the vibration mode of the resonator to reach a stable state and take shape; S22, ultrasonic sensor measurement, said S22 also includes S221 and S222; S221, signal acquisition, using an ultrasonic sensor to measure the standing wave on the surface of the resonator, so that the ultrasonic sensor captures the surface vibration data of the resonator, including the amplitude, frequency and spatial distribution of the standing wave; S222, multi-point measurement, several ultrasonic sensors perform measurements simultaneously to obtain a complete standing wave pattern image; S23, data recording and processing, recording the collected vibration data; S24, determining the reference mode, determining the standing wave mode under the current excitation condition through data processing and analysis, and continuing to record the mode as the reference mode; S25, stability verification, repeat the initial state measurement several times, and ensure that there is no external interference or internal problems affecting the results during the measurement process.

[0009] In the above technical solution, the standing wave mode baseline data of the system in the absence of external excitation is obtained as a reference for subsequent calibration and adjustment, the vibration characteristics of the system in a natural state are recorded, the inherent standing wave mode of the resonator is determined, and the main characteristics of the standing wave mode are extracted.

[0010] In some optional technical solutions, S3 includes: S31, setting the excitation conditions, adjusting the frequency of the excitation system according to the natural frequency of the resonator, exploring the response of different vibration modes, controlling the amplitude of the excitation voltage or current, keeping it within the linear response range, and avoiding interference from nonlinear effects; S32, response measurement, said S32 also includes S321 and S322; S321, ultrasonic sensor data acquisition, the ultrasonic sensor continuously monitors the surface vibration response of the resonator, records the amplitude, phase and frequency characteristics, and focuses on measuring the changes in the standing wave pattern, including the location of nodes and anti-nodes and the changes in amplitude; S322, Frequency response curve: Draw the frequency response curve of the resonator to show how the amplitude or phase changes with the excitation frequency; S33, data analysis and modeling, confirm the resonant frequency of the resonator and the stability of the standing wave mode through the frequency response curve, calculate the effective mass and damping ratio of the resonator and the quality factor of the resonator using the measured data; Resonator resonant frequency: , Damping ratio: , Quality Factor: , in, f 0 represents the free vibration frequency, i.e. the resonance frequency, m represents the effective mass of the oscillator, k Represents the equivalent stiffness. By analyzing the structure and material of the resonator, the equivalent stiffness is calculated. c represents the damping ratio of the resonator, c represents the damping coefficient, which is obtained according to the excitation condition of S3. Q represents the quality factor of the resonator; S34, standing wave angle analysis, by analyzing the vibration mode of the resonator, determining the angular distribution of the standing wave, and calibrating the measurement accuracy of the system according to the change of the standing wave angle; S35, calibration and adjustment, according to the analysis results, adjust the system, including the excitation conditions and ultrasonic sensor settings, to optimize the measurement accuracy of the standing wave angle. After the adjustment, measure and verify again to make the adjusted system able to stably and accurately measure the standing wave angle.

[0011] In the above technical scheme, an external excitation signal is applied to excite the resonant mode of the system, the response characteristics of the system are analyzed, the characteristics of the standing wave mode are determined, a control signal is applied to the resonator, the frequency and amplitude of the excitation are gradually adjusted, the resonant frequency of the system and the corresponding vibration mode are found, and an ultrasonic sensor is used to record the vibration data under excitation, the frequency response function of the system is analyzed, and the frequency, amplitude and phase information of the standing wave are determined.

[0012] In some optional technical solutions, S4 includes: S41, signal filtering, using filtering to eliminate the frequency components of noise from the signal collected by the ultrasonic sensor, retaining the main frequency bands related to the standing wave, and applying signal smoothing algorithms to reduce the instantaneous fluctuations of the signal, making the waveform easier to analyze; S42, extraction of standing wave features, extracting the main frequency components in the signal through fast Fourier transform analysis technology, determining the resonant frequency and harmonic components of the standing wave, analyzing the phase and amplitude changes of the signal, and identifying the nodes and anti-nodes of the standing wave; S43, standing wave pattern recognition, matching the extracted signal features with the preset standing wave pattern, confirming the current vibration mode, and calculating the angle of the standing wave based on the positions of the nodes and anti-nodes; S44, data fusion and verification, fusing the data of several ultrasonic sensors to improve the accuracy and resolution of signal detection, and verifying the accuracy of the detection results by comparing with known calibration data or theoretical models; S45, outputting the calculated standing wave angle information to the control system or display interface, and storing all processed data and test results for subsequent analysis and system maintenance.

[0013] In the above technical solution, the measured data is processed and analyzed to extract the specific characteristics of the standing wave pattern, especially the angular position of the standing wave, and the collected data is filtered and smoothed to remove noise and irrelevant frequency components to ensure the clarity and accuracy of the signal.

[0014] In some optional technical solutions, the filtering formula in S41 is: , in, f is the signal frequency, f c is the center frequency of the filter, n is the order of the filter; The fast Fourier transform formula in S42 is: , The phase angle calculation formula is: , in, Φ(f) Indicates frequency f The phase angle at X(f) represents the frequency domain signal, x(t) is a time domain signal; The S43 realizes standing wave pattern recognition through spherical harmonics: , in, i represents the polar angle, which is the angle measured downward from the north pole of the sphere. F represents the azimuth, that is, the angle around the polar axis on the sphere, A 0 represents the amplitude, n and m is the mode number; The S43 fuses the data of several ultrasonic sensors by weighted averaging: , in, i i Indicates i The standing wave angle detected by an ultrasonic sensor, oh represents the corresponding weight, N Indicates the number of ultrasonic sensors, It represents the weighted average of the standing wave angles measured by all ultrasonic sensors.

[0015] In the above technical solution, the processed signal is analyzed to identify the nodes and anti-nodes of the standing wave and calculate the angular position of the standing wave. i and f , determine the spatial distribution of the standing wave patterns.

[0016] In some optional technical solutions, the S5 includes: S51, adjusting system parameters, wherein S51 further includes S511 and S512; S511, adjusting the excitation frequency, adjusting the frequency of the excitation signal according to the signal processing result of S4: , S512, damping adjustment, adjusting the damping characteristics of the system to optimize the clarity of the standing wave pattern; , in, g Represents the damping ratio.

[0017] In the above technical solution, the excitation parameters and mechanical structure of the system are adjusted according to the standing wave detection results, the standing wave mode of the system is optimized, and the frequency and amplitude of the excitation signal are adjusted to ensure that the resonator remains in the ideal standing wave mode.

[0018] In some optional technical solutions, a three-dimensional coordinate adjustment sensor is also provided on the base, and the three-dimensional coordinate adjustment sensor is connected to the ultrasonic sensor; The S5 further includes: S52. According to the data analysis results of S51, the position of the ultrasonic sensor is fine-tuned by adjusting the sensor through three-dimensional coordinates to obtain the best signal quality: New Position=Old Position+∆Position , in, ΔPosition Indicates the adjustment amount of the sensor position, Old Position Indicates the original position of the ultrasonic sensor before position adjustment, the three-dimensional coordinate representation is (x0, y0, z0). New Position Indicates the new position of the ultrasonic sensor after adjustment, and the three-dimensional coordinates are expressed as (x1, y1, z1).

[0019] In the above technical solution, if a measurement error or a weak signal is detected, the position and direction of the ultrasonic sensor are fine-tuned to obtain the best measurement effect.

[0020] In some optional technical solutions, S6 includes: S61, data collection and analysis, after the adjustment is completed according to step S5, data is collected again to verify the effect of the adjustment, so that the measured standing wave angle is consistent with the theoretical value or the expected value, and the final standing wave angle is calculated according to the standing wave characteristics extracted in step S42. The calculation method of the standing wave angle is: , in, i n Indicates the node position extracted from the signal, i n+1 It represents the anti-node position extracted from the signal, represents the standing wave angle; S62, result verification, compare the calibrated standing wave angle with the theoretical value or standard value, continue to repeatedly adjust the system parameters when there is a deviation, and verify the stability and accuracy of the results through multiple test points. Finally, record the final calibration parameters, measurement results and adjustment process.

[0021] In the above technical solution, after adjustment, the standing wave mode of the system is re-measured to check the adjustment effect, and to verify whether the adjusted system achieves the expected calibration accuracy and ensure the long-term stability of the system.

[0022] In some optional technical solutions, the S7 includes: S71, recording calibration parameters, including excitation frequency, damping coefficient, final position of the ultrasonic sensor, and setting parameters; S72, recording measurement data, including original signal data, filtered signal data and standing wave angle data; S73, recording the calibration results, saving the final calibration results, including the measurement results of each standing wave angle, the adjusted system parameters and the verification results, and recording the comparison results with the theoretical values ​​or standard values; S74. Save data and documents, store all recorded data, including all steps of the calibration process, adjustment and verification results, formulas and calculation methods used.

[0023] In the above technical solution, the original data, the processed signal data and the final calibration result are saved to ensure data integrity.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects: By setting up several ultrasonic sensors to accurately calibrate the standing wave angle of the hemispherical resonator gyroscope, the tiny vibration changes on the surface of the resonator can be accurately measured, improving the accuracy of the standing wave angle measurement and the overall measurement accuracy of the system. At the same time, the non-contact measurement method avoids the interference and wear that may be caused by mechanical contact, protects the mechanical structure of the system, and ensures its stable operation. In addition, the real-time data analysis and adjustment capabilities enable the system to quickly respond to changes in the standing wave pattern and perform dynamic calibration, thereby maintaining optimal performance in different environments and working conditions. The setting of multiple ultrasonic sensors can perform multiple measurements and calibration verifications to enhance the long-term stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 is a calibration flow chart of the present invention; Figure 2 is a cross-sectional view of the hemispherical resonant gyroscope body of the present invention; Figure 3 Schematic diagram of the process of step S3 in the present invention; Figure 4 It is a schematic diagram of the process of step S4 in the present invention.

[0026] The reference numerals represent: 1. Excitation cover; 2. Resonator; 3. Base; 4. Ultrasonic sensor. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation modes and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the present invention is already in the actual development and use stage.

[0028] like Figure 1 and Figure 2 As shown, this embodiment provides a method for calibrating a standing wave angle of a hemispherical resonant gyroscope, comprising the following steps: S1. System preparation; S2, initial state measurement; S3, stimulus and response analysis; S4, signal processing and standing wave detection; S5, calibration adjustment; S6. Calibration verification; S7. Record and save; It also includes a hemispherical resonant gyroscope body, which includes an excitation cover 1, a resonator 2, a base 3 and a control unit. The resonator 2 is mounted inside the excitation cover 1, and the resonator 2 is respectively connected to the excitation cover 1 and the base 3 through support rods. A number of ultrasonic sensors 4 are equidistantly arranged around the outside of the resonator 2, a bracket is arranged on the base 3, and the ultrasonic sensor 4 is arranged on the bracket, and there is a gap between the ultrasonic sensor 4 and the resonator 2.

[0029] S1 includes: S11, installing the ultrasonic sensor 4, and installing the ultrasonic sensor 4 on the bracket of the base 3 along the 2 sides of the resonator; S12, assembling the hemispherical resonant gyroscope body, connecting and fixing the excitation cover 1 and the base 3 through the support rod of the resonator 2; S13, start the hemispherical resonant gyroscope body and set the working parameters of the ultrasonic sensor 4; S14, preliminary calibration, using a known standard vibration source or reference signal, perform preliminary calibration on the ultrasonic sensor 4 sensor and system to verify the measurement accuracy and response characteristics of the system.

[0030] Specifically, the hemispherical resonator gyroscope body includes an excitation cover 1, a resonator 2, a base 3 and a control unit. The resonator 2 is provided with a support rod. The installation method is consistent with the existing hemispherical resonator gyroscope. The excitation cover 1 covers the resonator 2. The control unit is arranged on the base 3. The base 3 is provided with a bracket. The bracket is provided with a plurality of ultrasonic sensors 4, and the ultrasonic sensors 4 do not contact the resonator 2. Preferably, according to the vibration frequency of the resonator 2, an ultrasonic sensor 4 with a frequency range of tens to hundreds of kilohertz is selected to cover the vibration frequency of the resonator 2, so that the sensitivity and resolution of the ultrasonic sensor 4 can detect tiny vibration changes. The bracket should be made of a lightweight material with a low interference rate.

[0031] S2 includes: S21, exciting the resonator 2, starting the excitation system of the hemispherical resonator gyroscope body, exciting the resonator 2 at a stable frequency, so that a stable standing wave is generated on the surface, and the vibration mode of the resonator 2 reaches a stable state and is formed; S22, ultrasonic sensor 4 measurement, S22 includes S221 and S222; S221, signal acquisition, using the ultrasonic sensor 4 to measure the standing wave on the surface of the resonator 2, so that the ultrasonic sensor 4 captures the surface vibration data of the resonator 2, including the amplitude, frequency and spatial distribution of the standing wave; S222, multi-point measurement, a plurality of ultrasonic sensors 4 perform measurement simultaneously to obtain a complete standing wave pattern image; S23, data recording and processing, recording the collected vibration data; S24, determining the reference mode, determining the standing wave mode under the current excitation condition through data processing and analysis, and continuing to record the mode as the reference mode; S25, stability verification, repeat the initial state measurement several times, and ensure that there is no external interference or internal problems affecting the results during the measurement process.

[0032] Specifically, when there is no external excitation of the hemispherical resonant gyroscope system, the excitation system of the hemispherical resonant gyroscope body is started. When the resonator 2 reaches a stable state, the collected standing wave pattern data will be used as a calibration reference. It should be noted that the measurement process should be carried out in a quiet and stable environment to reduce the impact of environmental noise and temperature changes on the data. Finally, the initially collected data is analyzed to determine the basic characteristics of the standing wave pattern, such as node position, anti-node position, vibration frequency, phase and amplitude, etc.

[0033] like Figure 3 As shown, S3 includes: S31, setting the excitation condition, adjusting the frequency of the excitation system according to the natural frequency of the resonator 2, exploring the response of different vibration modes, controlling the amplitude of the excitation voltage or current, keeping it within the linear response range, and avoiding interference from nonlinear effects; S32, response measurement, S32 includes S321 and S322; S321, ultrasonic sensor 4 data acquisition, the ultrasonic sensor 4 continuously monitors the surface vibration response of the resonator 2, records the amplitude, phase and frequency characteristics, and focuses on measuring the changes in the standing wave mode, including the positions of nodes and anti-nodes and the changes in amplitude; S322, frequency response curve: draw the frequency response curve of the resonator 2 to show how the amplitude or phase changes with the excitation frequency; S33, data analysis and modeling, confirming the resonance frequency of the resonator 2 and the stability of the standing wave mode through the frequency response curve, and calculating the effective mass and damping ratio of the resonator 2 and the quality factor of the resonator 2 using the measurement data; Resonator 2 resonant frequency: , Damping ratio: , Quality Factor: , in, f 0 represents the free vibration frequency, i.e. the resonance frequency, m represents the effective mass of oscillator 2, k Represents the equivalent stiffness. By analyzing the structure and material of the resonator 2, the equivalent stiffness is calculated. c represents the damping ratio of resonator 2, c represents the damping coefficient, which is obtained according to the excitation condition of S3. Q represents the quality factor of resonator 2; S34, standing wave angle analysis, by analyzing the vibration mode of the resonator 2, determining the angular distribution of the standing wave, and calibrating the measurement accuracy of the system according to the change of the standing wave angle; S35, calibration and adjustment, according to the analysis results, the system is adjusted, including the excitation conditions and the settings of the ultrasonic sensor 4, to optimize the measurement accuracy of the standing wave angle. After the adjustment, measurement and verification are performed again, so that the adjusted system can stably and accurately measure the standing wave angle.

[0034] Specifically, under the action of the excitation signal, the ultrasonic sensor 4 is used to record the surface vibration mode of the resonator 2 to ensure the synchronization and continuity of data acquisition, and the analysis tool is used to analyze the data to extract the vibration frequency function, damping coefficient and equivalent stiffness of the standing wave mode, and record the amplitude and phase response of each excitation.

[0035] like Figure 4 As shown, S4 includes: S41, signal filtering, using filtering to eliminate the frequency components of noise from the signal collected by the ultrasonic sensor 4, retaining the main frequency band related to the standing wave, and applying a signal smoothing algorithm to reduce the instantaneous fluctuation of the signal, making the waveform easier to analyze; S42, extraction of standing wave features, extracting the main frequency components in the signal through fast Fourier transform analysis technology, determining the resonant frequency and harmonic components of the standing wave, analyzing the phase and amplitude changes of the signal, and identifying the nodes and anti-nodes of the standing wave; S43, standing wave pattern recognition, matching the extracted signal features with the preset standing wave pattern, confirming the current vibration mode, and calculating the angle of the standing wave based on the positions of the nodes and anti-nodes; S44, data fusion and verification, fusing the data of several ultrasonic sensors 4 to improve the accuracy and resolution of signal detection, and verifying the accuracy of the detection results by comparing with known calibration data or theoretical models; S45, outputting the calculated standing wave angle information to the control system or display interface, and storing all processed data and test results for subsequent analysis and system maintenance.

[0036] The filtering formula in S41 is: , in, f is the signal frequency, f c is the center frequency of the filter, n is the order of the filter; The fast Fourier transform formula in S42 is: , The phase angle calculation formula is: , in, Φ(f) Indicates frequency f The phase angle at X(f) represents the frequency domain signal, x(t) is a time domain signal; S43 uses spherical harmonics to identify standing wave patterns: , in, i represents the polar angle, which is the angle measured downward from the north pole of the sphere. F represents the azimuth, that is, the angle around the polar axis on the sphere, A 0 represents the amplitude, n andm is the mode number; S43 fuses the data of several ultrasonic sensors 4 by weighted averaging method: , in, i i Indicates i The standing wave angle detected by the ultrasonic sensor 4, oh represents the corresponding weight, N represents the number of ultrasonic sensors 4, It represents the weighted average of the standing wave angles measured by all ultrasonic sensors.

[0037] Specifically, in step S41, the collected original signal is filtered to remove high-frequency noise and low-frequency drift, retaining the main frequency components of the standing wave pattern, and further processing technology can be used using signal smoothing technology to ensure the clarity and accuracy of the signal. Then, according to S42 and S43, the filtered signal is analyzed to identify the node and anti-node positions of the standing wave pattern. The angular position of the standing wave pattern is calculated through phase and amplitude data. i and F Finally, Fourier transform and other methods are used to calculate the phase information of the standing wave, determine the spatial distribution characteristics of the standing wave, and realize phase calculation.

[0038] S5 includes: S51, adjusting system parameters, S514 includes S511 and S522; S511, excitation frequency adjustment, according to the signal processing result of S4, adjust the frequency of the excitation signal: , S512, damping adjustment, adjusting the damping characteristics of the system to optimize the clarity of the standing wave pattern; , Here, ζ represents the damping ratio.

[0039] A three-dimensional coordinate adjustment sensor is also provided on the base 3, and the three-dimensional coordinate adjustment sensor is connected to the ultrasonic sensor 4; The S5 also includes: S52, according to the data analysis result of S51, fine-tune the position of the ultrasonic sensor 4 by adjusting the sensor through the three-dimensional coordinates to obtain the best signal quality: New Position=Old Position+∆Position , in, ΔPosition Indicates the adjustment amount of the sensor position, Old Position It indicates that before the position adjustment, the three-dimensional coordinate representation is (x0, y0, z0), the original position of the ultrasonic sensor 4, New PositionIt indicates the new position of the ultrasonic sensor 4 after adjustment, and the three-dimensional coordinates are expressed as (x1, y1, z1).

[0040] Specifically, according to the detection results of the standing wave pattern, the frequency and amplitude of the excitation signal are fine-tuned to ensure that the standing wave pattern reaches an ideal stable state. If it is detected that the damping coefficient of the system is too high or too low, the configuration of the damping element is adjusted (such as adding or reducing damping fluid) to achieve the best vibration attenuation characteristics. According to the detection accuracy of the standing wave pattern, the position of the sensor is fine-tuned to ensure that it can accurately capture the changes in the standing wave pattern at the best position, and the direction and distance of the ultrasonic sensor 4 are adjusted to maximize the signal strength and stability.

[0041] S6 includes: S61, data collection and analysis, after the adjustment is completed according to step S5, data is collected again to verify the effect of the adjustment, so that the measured standing wave angle is consistent with the theoretical value or the expected value, and the final standing wave angle is calculated according to the standing wave characteristics extracted in step S42. The calculation method of the standing wave angle is: , in, i n Indicates the node position extracted from the signal, i n+1 It represents the anti-node position extracted from the signal, represents the standing wave angle; S62, result verification, compare the calibrated standing wave angle with the theoretical value or standard value, continue to repeatedly adjust the system parameters when there is a deviation, and verify the stability and accuracy of the results through multiple test points. Finally, record the final calibration parameters, measurement results and adjustment process.

[0042] Specifically, after completing the adjustment of the ultrasonic sensor 4, collect the vibration data of the resonator 2 again to verify whether the standing wave mode of the system achieves the expected accuracy and stability, compare the newly collected data with the initial benchmark data in detail, analyze the adjusted system characteristics and measurement accuracy, and ensure that the error is within an acceptable range. Calculate the measurement error, including angle error, frequency error and amplitude error, analyze the source of the error, and determine improvement measures. Perform multiple measurements and analyze the long-term stability and repeatability of the system.

[0043] S7 includes: S71, recording calibration parameters, including excitation frequency, damping coefficient, final position of ultrasonic sensor 4 and setting parameters; S72, recording measurement data, including original signal data, filtered signal data and standing wave angle data; S73, recording the calibration results, saving the final calibration results, including the measurement results of each standing wave angle, the adjusted system parameters and the verification results, and recording the comparison results with the theoretical values ​​or standard values; S74. Save data and documents, store all recorded data, including all steps of the calibration process, adjustment and verification results, formulas and calculation methods used.

[0044] Specifically, all data from the entire calibration process is saved, including the original signal, the processed signal, and the final standing wave angle value, to ensure data integrity and traceability.

[0045] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for calibrating a standing wave angle of a hemispherical resonant gyroscope, characterized in that: The following steps are involved: S1. System preparation; S2, initial state measurement; S3, stimulus and response analysis; S4, signal processing and standing wave detection; S5, calibration adjustment; S6. Calibration verification; S7. Record and save; The invention also comprises a hemispherical resonant gyroscope body, the hemispherical resonant gyroscope body comprising an excitation cover (1), a resonator (2), a base (3) and a control unit, the resonator (2) being sleeved inside the excitation cover (1), the resonator (2) being connected to the excitation cover (1) and the base (3) respectively via support rods, a plurality of ultrasonic sensors (4) being arranged equidistantly around the outer side of the resonator (2), a bracket being arranged on the base (3), the ultrasonic sensor (4) being arranged on the bracket, and a gap being present between the ultrasonic sensor (4) and the resonator (2).

2. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 1, characterized in that: The S1 includes: S11, installing the ultrasonic sensor (4), and installing the ultrasonic sensor (4) on the bracket of the base (3) along the circumference of the resonator (2); S12, assembling the hemispherical resonant gyroscope body, and connecting and fixing the excitation cover (1) and the base (3) via the support rod of the resonator (2); S13, starting the hemispherical resonant gyroscope body and setting the working parameters of the ultrasonic sensor (4); S14. Preliminary calibration: Use a known standard vibration source or reference signal to perform preliminary calibration on the ultrasonic sensor (4) sensor and system to verify the measurement accuracy and response characteristics of the system.

3. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 2, characterized in that: The S2 includes: S21, exciting the resonator (2), starting the excitation system of the hemispherical resonator gyroscope body, exciting the resonator (2) at a stable frequency, causing it to generate a stable standing wave on the surface, and waiting for the vibration mode of the resonator (2) to reach a stable state and take shape; S22, measuring with an ultrasonic sensor (4), wherein S2 further comprises S221 and S222; S221, signal acquisition, using an ultrasonic sensor (4) to measure standing waves on the surface of the resonator (2), so that the ultrasonic sensor (4) captures surface vibration data of the resonator (2), including amplitude, frequency and spatial distribution of the standing waves; S222, multi-point measurement, a plurality of ultrasonic sensors (4) perform measurement simultaneously to obtain a complete standing wave pattern image; S23, data recording and processing, recording the collected vibration data; S24, determining the reference mode, determining the standing wave mode under the current excitation condition through data processing and analysis, and continuing to record the mode as the reference mode; S25, stability verification, repeat the initial state measurement several times, and ensure that there is no external interference or internal problems affecting the results during the measurement process.

4. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 2, characterized in that: The S3 includes: S31, setting the excitation conditions, adjusting the frequency of the excitation system according to the natural frequency of the resonator (2), exploring the responses of different vibration modes, controlling the amplitude of the excitation voltage or current, keeping it within the linear response range, and avoiding interference from nonlinear effects; S32, response measurement, said S32 also includes S321 and S322; S321, ultrasonic sensor (4) data acquisition, the ultrasonic sensor (4) continuously monitors the surface vibration response of the resonator (2), records the amplitude, phase and frequency characteristics, and focuses on measuring the changes in the standing wave pattern, including the positions of nodes and anti-nodes and the changes in amplitude; S322, frequency response curve: draw the frequency response curve of the resonator (2) to show how the amplitude or phase changes with the excitation frequency; S33, data analysis and modeling, confirming the resonant frequency of the resonator (2) and the stability of the standing wave mode through the frequency response curve, and calculating the effective mass and damping ratio of the resonator (2) and the quality factor of the resonator (2) using the measured data; Resonator (2) Resonant frequency: ， Damping ratio: ， Quality Factor: ， in, f 0 represents the free vibration frequency, that is, the resonance frequency, m represents the effective mass of the oscillator (2), k Represents the equivalent stiffness. By analyzing the structure and material of the resonator (2), the equivalent stiffness is calculated. γ represents the damping ratio of the resonator (2), c represents the damping coefficient, which is obtained according to the excitation condition of S3. Q represents the quality factor of the oscillator (2); S34, standing wave angle analysis, by analyzing the vibration mode of the resonator (2), determining the angular distribution of the standing wave, and calibrating the measurement accuracy of the system according to the change of the standing wave angle; S35, calibration and adjustment, according to the analysis results, the system is adjusted, including the excitation conditions and the ultrasonic sensor (4) settings, to optimize the measurement accuracy of the standing wave angle. After the adjustment, measurement and verification are performed again, so that the adjusted system can stably and accurately measure the standing wave angle.

5. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 3, characterized in that: The S4 includes: S41, signal filtering, using filtering to eliminate the frequency components of noise from the signal collected by the ultrasonic sensor (4), retaining the main frequency band related to the standing wave, and applying a signal smoothing algorithm to reduce the instantaneous fluctuation of the signal, making the waveform easier to analyze; S42, extraction of standing wave features, extracting the main frequency components in the signal through fast Fourier transform analysis technology, determining the resonant frequency and harmonic components of the standing wave, analyzing the phase and amplitude changes of the signal, and identifying the nodes and anti-nodes of the standing wave; S43, standing wave pattern recognition, matching the extracted signal features with the preset standing wave pattern, confirming the current vibration mode, and calculating the angle of the standing wave based on the positions of the nodes and anti-nodes; S44, data fusion and verification, fusing the data of several ultrasonic sensors (4) to improve the accuracy and resolution of signal detection, and verifying the accuracy of the detection results by comparing with known calibration data or theoretical models; S45, outputting the calculated standing wave angle information to the control system or display interface, and storing all processed data and test results for subsequent analysis and system maintenance.

6. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 5, characterized in that: The filtering formula in S41 is: ， in, f is the signal frequency, f c is the center frequency of the filter, n is the order of the filter; The fast Fourier transform formula in S42 is: ， The phase angle calculation formula is: ， in, Φ(f) Indicates frequency f The phase angle at X(f) represents the frequency domain signal, x(t) is a time domain signal; The S43 realizes standing wave pattern recognition through spherical harmonics: ， in, θ represents the polar angle, which is the angle measured downward from the north pole of the sphere. Φ represents the azimuth, that is, the angle around the polar axis on the sphere, A 0 represents the amplitude, n and m is the mode number; The S43 fuses the data of several ultrasonic sensors (4) by weighted averaging method: ， in, θ i Indicates i The standing wave angle detected by the ultrasonic sensor (4), ωi represents the corresponding weight, N Indicates the number of ultrasonic sensors (4), It represents the weighted average of the standing wave angles measured by all ultrasonic sensors.

7. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 5, characterized in that: The S5 comprises: S51, adjusting system parameters, wherein S51 further includes S511 and S512; S511, adjusting the excitation frequency, adjusting the frequency of the excitation signal according to the signal processing result of S4: ， S512, damping adjustment, adjusting the damping characteristics of the system to optimize the clarity of the standing wave pattern; ， in, ζ Represents the damping ratio.

8. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 7, characterized in that: The base (3) is also provided with a three-dimensional coordinate adjustment sensor, and the three-dimensional coordinate adjustment sensor is connected to the ultrasonic sensor (4); The S5 further includes: S52. Based on the data analysis results of S51, the position of the ultrasonic sensor (4) is fine-tuned by adjusting the sensor in three-dimensional coordinates to obtain the best signal quality: New Position=Old Position+ΔPosition ， in, ∆Position Indicates the adjustment amount of the sensor position, Old Position It indicates the original position of the ultrasonic sensor (4) before the position adjustment, represented by the three-dimensional coordinates (x0, y0, z0). New Position It indicates the new position of the ultrasonic sensor (4) after adjustment, and the three-dimensional coordinates are expressed as (x1, y1, z1).

9. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 8, characterized in that: The S6 includes: S61, data collection and analysis, after the adjustment is completed according to step S5, data is collected again to verify the effect of the adjustment, so that the measured standing wave angle is consistent with the theoretical value or the expected value, and the final standing wave angle is calculated according to the standing wave characteristics extracted in step S42. The calculation method of the standing wave angle is: ， in, θ n Indicates the node position extracted from the signal, θ n+1 It represents the anti-node position extracted from the signal, represents the standing wave angle; S62, result verification, compare the calibrated standing wave angle with the theoretical value or standard value, continue to repeatedly adjust the system parameters when there is a deviation, and verify the stability and accuracy of the results through multiple test points. Finally, record the final calibration parameters, measurement results and adjustment process.

10. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 9, characterized in that: The S7 includes: S71, recording calibration parameters, including excitation frequency, damping coefficient, final position of the ultrasonic sensor (4) and setting parameters; S72, recording measurement data, including original signal data, filtered signal data and standing wave angle data; S73, recording the calibration results, saving the final calibration results, including the measurement results of each standing wave angle, the adjusted system parameters and the verification results, and recording the comparison results with the theoretical values ​​or standard values; S74. Save data and documents, store all recorded data, including all steps of the calibration process, adjustment and verification results, formulas and calculation methods used.

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