Gyro signal correction system and method thereof, equipment, medium and computer product

Abstract

The invention relates to the technical field of fiber-optic gyroscopes, in particular to a gyroscope signal correction system, a gyroscope signal correction method, gyroscope signal correction equipment, a medium and a computer product. A fiber-optic gyroscope light path in the system is configured to split incident light of a light source into first Gaussian spectrum light waves and second Gaussian spectrum light waves; the first Gaussian spectrum light wave is converted into a first gyroscope digital signal through a first fiber-optic gyroscope circuit and is transmitted to a logic processing circuit, and the second Gaussian spectrum light wave is converted into a second gyroscope digital signal through a second fiber-optic gyroscope circuit and is transmitted to the logic processing circuit; the logic processing circuit is set to determine a first gyroscope angular rate according to the first gyroscope digital signal and a preset closed-loop gyroscope demodulation algorithm, determine a second gyroscope angular rate according to the second gyroscope digital signal and a preset open-loop gyroscope demodulation algorithm, and perform angular rate correction according to the first gyroscope angular rate and the second gyroscope angular rate; the final gyro angular rate is obtained. The invention aims to improve the navigation accuracy of the fiber-optic gyroscope.

Description

Technical Field

[0001] The present application relates to the technical field of fiber optic gyroscopes, and in particular to a gyroscope signal correction system and its method, equipment, medium and computer product. Background Art

[0002] With the continuous development of fiber optic gyro technology, fiber optic gyro is widely used in aerospace, ship navigation, inertial guidance and other fields. Users also put forward higher requirements for the accuracy of fiber optic gyro navigation.

[0003] However, in practical applications, fiber optic gyroscopes are constrained by complex environments such as strong vibrations, large shocks, and rotations, which causes the gyro angular velocity output by the fiber optic gyroscope to exhibit cross-fringe phenomena. That is, there is a large error between the gyro angular velocity output by the fiber optic gyroscope and the true angular velocity, which seriously affects the accuracy of fiber optic gyroscope navigation.

[0004] Therefore, how to improve the accuracy of fiber optic gyro navigation is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The main purpose of the present application is to provide a gyro signal correction system and its method, device, medium and computer product, aiming to improve the accuracy of fiber optic gyro navigation.

[0006] To achieve the above-mentioned object, the present application provides a gyro signal correction system, the gyro signal correction system comprising a fiber optic gyro optical path, a first fiber optic gyro circuit, a second fiber optic gyro circuit and a logic processing circuit; The fiber optic gyroscope optical path is configured to split the incident light of the light source into a first Gaussian spectrum light wave and a second Gaussian spectrum light wave, the first Gaussian spectrum light wave is converted into a first gyroscope digital signal by the first fiber optic gyroscope circuit and transmitted to the logic processing circuit, and the second Gaussian spectrum light wave is converted into a second gyroscope digital signal by the second fiber optic gyroscope circuit and transmitted to the logic processing circuit; The logic processing circuit is configured to determine a first gyro angular velocity based on the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and to determine a second gyro angular velocity based on the second gyro digital signal and a preset open-loop gyro demodulation algorithm, and to perform angular velocity correction based on the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity.

[0007] In one embodiment, the optical path of the fiber optic gyroscope includes a fiber optic loop module, a waveguide modulation module, a fiber optic ring, a fiber optic coupling module, a first filtering module, and a second filtering module; The light source is connected to the first end of the optical fiber ring module, the second end of the optical fiber ring module is connected to the first end of the waveguide modulation module, and the second end of the waveguide modulation module and the third end of the waveguide modulation module are connected to the optical fiber ring; The third end of the optical fiber loop module is connected to the input end of the optical fiber coupling module, and the output end of the optical fiber coupling module is connected to the input end of the first filtering module and the input end of the second filtering module respectively; The output end of the first filter module is connected to the signal input end of the first fiber optic gyroscope circuit, and the output end of the second filter module is connected to the signal input end of the second fiber optic gyroscope circuit.

[0008] In one embodiment, the logic processing circuit includes a programmable module and a digital-to-analog conversion module; The input end of the programmable module is electrically connected to the signal output end of the first fiber optic gyroscope circuit and the signal output end of the second fiber optic gyroscope circuit respectively, the feedback end of the programmable module is connected to the input end of the digital-to-analog conversion module, and the output end of the digital-to-analog conversion module is connected to the fourth end of the waveguide modulation module.

[0009] In one embodiment, the first fiber optic gyroscope circuit includes a first photoelectric detection module and a first analog-to-digital module, the optical interface of the first photoelectric detection module constitutes a signal input end of the first fiber optic gyroscope circuit and is connected to the optical path of the fiber optic gyroscope, the electrical interface of the first photoelectric detection module is connected to the input end of the first analog-to-digital module, and the output end of the first analog-to-digital module constitutes a signal output end of the first fiber optic gyroscope circuit and is connected to the logic processing circuit; The second fiber optic gyroscope circuit includes a second photoelectric detection module and a second analog-to-digital module. The optical interface of the second photoelectric detection module constitutes the signal input end of the second fiber optic gyroscope circuit and is connected to the optical path of the fiber optic gyroscope. The electrical interface of the second photoelectric detection module is connected to the input end of the second analog-to-digital module. The output end of the second analog-to-digital module constitutes the signal output end of the second fiber optic gyroscope circuit and is connected to the logic processing circuit.

[0010] In addition, the present application provides a gyro signal correction method, which is applied to any of the gyro signal correction systems described above, and the gyro signal correction method includes: Splitting incident light from a light source into a first Gaussian spectrum light wave and a second Gaussian spectrum light wave through a fiber optic gyroscope optical path; When the first fiber optic gyro circuit converts the first Gaussian spectrum light wave into a first gyro digital signal and transmits it to the logic processing circuit, the second fiber optic gyro circuit converts the second Gaussian spectrum light wave into a second gyro digital signal and transmits it to the logic processing circuit; After the logic processing circuit receives the first gyro digital signal sent by the first fiber optic gyro circuit and the second gyro digital signal sent by the second fiber optic gyro circuit, the first gyro angular velocity is determined according to the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and the second gyro angular velocity is determined according to the second gyro digital signal and a preset open-loop gyro demodulation algorithm, and angular velocity correction is performed according to the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity.

[0011] In one embodiment, the step of performing angular velocity correction according to the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity comprises: Determine the closed-loop single-stripe maximum angular velocity corresponding to the first photoelectric detection module and the open-loop single-stripe maximum angular velocity corresponding to the second photoelectric detection module, and determine the angular velocity absolute difference between the closed-loop single-stripe maximum angular velocity and the open-loop single-stripe maximum angular velocity; taking an absolute difference between the first gyro angular velocity and the second gyro angular velocity as an absolute difference to be measured, and detecting whether the absolute difference to be measured exceeds the angular velocity absolute difference; If the absolute difference to be measured does not exceed the angular velocity absolute difference, taking the first gyro angular velocity as the final gyro angular velocity; If the absolute difference to be measured exceeds the angular velocity absolute difference, an angular velocity difference between the first gyro angular velocity and the second gyro angular velocity is determined, and a final gyro angular velocity is determined according to the angular velocity difference and the angular velocity absolute difference.

[0012] In one embodiment, the step of determining the final gyro angular rate according to the angular rate difference and the angular rate absolute difference comprises: Performing a cross-fringe detection correction operation according to the angular velocity difference and the angular velocity absolute difference to obtain a final gyro angular velocity; The cross-fringe detection correction operation is set when When executing ;when When executing ; in, is a natural number greater than zero, represents the final gyro angular rate, represents the first gyro angular rate, represents the second gyro angular rate, represents the angular velocity difference, represents the absolute difference in angular velocity, represents the maximum angular velocity of the closed-loop single stripe.

[0013] In addition, the present application provides a gyroscope signal correction device, which includes a memory, a processor, and a gyroscope signal correction program stored in the memory and executable on the processor, and the processor implements the steps of any one of the above-mentioned gyroscope signal correction methods when executing the gyroscope signal correction program.

[0014] In addition, the present application provides a computer-readable storage medium, on which a gyro signal correction program is stored. When the gyro signal correction program is executed by a processor, the steps of any of the above-mentioned gyro signal correction methods are implemented.

[0015] In addition, the present application provides a computer product, characterized in that the computer product includes a computer program, the computer program contains computer program code means stored on a computer-readable medium or a carrier, and the computer program code means is configured to implement the steps of any of the above-mentioned gyroscope signal correction methods when executed by a computer or a processor.

[0016] The present application provides a gyro signal correction system, which realizes accurate correction of the output signal of the fiber optic gyro, so as to significantly improve the navigation accuracy of the fiber optic gyro in complex environments. The gyro signal correction system includes a fiber optic gyro optical path, a first fiber optic gyro circuit, a second fiber optic gyro circuit, and a logic processing circuit; specifically, the incident light of the light source is effectively split into two Gaussian spectrum light waves (i.e., the first Gaussian spectrum light wave and the second Gaussian spectrum light wave) through the fiber optic gyro optical path, and is processed by the first fiber optic gyro circuit and the second fiber optic gyro circuit respectively, and converted into the first gyro digital signal and the second gyro digital signal to be transmitted to the logic processing circuit. At this time, the logic processing circuit uses a closed-loop gyro demodulation algorithm and an open-loop gyro demodulation algorithm respectively according to the two gyro digital signals (i.e., the first gyro digital signal and the second gyro digital signal), and can accurately calculate two independent gyro angular rates (i.e., the first gyro angular rate and the second gyro angular rate); next, by comparing the first gyro angular rate and the second gyro angular rate for angular rate correction, the cross-stripe phenomenon caused by complex environmental factors such as strong vibration, large impact and rotation can be effectively identified and corrected, thereby outputting a final gyro angular rate that is closer to the true value, which significantly improves the navigation accuracy of the fiber optic gyroscope in complex dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural block diagram of a gyro signal correction system involved in an embodiment of the present application; Figure 2 It is a schematic diagram of the structure of the optical path of the fiber optic gyroscope involved in the embodiment of the present application; Figure 3 It is a specific structural block diagram of the gyro signal correction system involved in the embodiment of the present application; Figure 4 It is a schematic diagram of the flow chart involved in the gyro signal correction method of the present application; Figure 5 is a graph showing the relationship between the interference light intensity signal and the rotation angular velocity measured by the detectors of the closed-loop fiber optic gyroscope and the open-loop fiber optic gyroscope involved in the embodiment of the present application; Figure 6 This is a schematic diagram of the structure of the gyroscope signal correction device involved in the embodiment of the present application.

[0018] Explanation of the accompanying drawings: 100, fiber optic gyroscope optical path; 200, first fiber optic gyroscope circuit; 300, second fiber optic gyroscope circuit; 400, logic processing circuit; 101, fiber optic ring module; 102, waveguide modulation module; 103, fiber optic ring; 104, fiber optic coupling module; 105, first filtering module; 106, second filtering module; 201, first photoelectric detection module; 202, first analog-to-digital module; 301, second photoelectric detection module; 302, second analog-to-digital module; 401, programmable module; 402, digital-to-analog conversion module.

[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] The present application embodiment provides a gyro signal correction system, referring to Figure 1 As shown, Figure 1 It is a structural block diagram of the gyro signal correction system involved in the embodiment of the present application.

[0021] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0022] With the continuous development of fiber optic gyro technology, fiber optic gyro is widely used in aerospace, ship navigation, inertial guidance and other fields. Users also put forward higher requirements for the accuracy of fiber optic gyro navigation.

[0023] However, in practical applications, fiber optic gyroscopes are constrained by complex environments such as strong vibrations, large shocks, and rotations, which causes the gyro angular velocity output by the fiber optic gyroscope to exhibit cross-fringe phenomena. That is, there is a large error between the gyro angular velocity output by the fiber optic gyroscope and the true angular velocity, which seriously affects the accuracy of fiber optic gyroscope navigation.

[0024] Therefore, in order to solve the technical problem of poor navigation accuracy in existing fiber optic gyroscopes, the present application provides a gyroscope signal correction system and its method, device, medium and computer product.

[0025] Reference Figure 1 , Figure 1 It is a structural block diagram of a gyro signal correction system involved in an embodiment of the present application. The gyro signal correction system of the present application includes a fiber optic gyro optical path 100, a first fiber optic gyro circuit 200, a second fiber optic gyro circuit 300 and a logic processing circuit 400.

[0026] The fiber optic gyroscope optical path 100 is configured to split the incident light of the light source into a first Gaussian spectrum light wave and a second Gaussian spectrum light wave. The first Gaussian spectrum light wave is converted into a first gyroscope digital signal by the first fiber optic gyroscope circuit 200 and transmitted to the logic processing circuit 400. The second Gaussian spectrum light wave is converted into a second gyroscope digital signal by the second fiber optic gyroscope circuit 300 and transmitted to the logic processing circuit 400.

[0027] In this embodiment, refer to Figure 1 When a beam of incident light from a light source is projected onto the fiber optic gyroscope optical path 100, the fiber optic gyroscope optical path 100 performs a spectroscopic process on the incident light to separate the incident light into two independent Gaussian spectrum light waves (i.e., a first Gaussian spectrum light wave and a second Gaussian spectrum light wave); wherein the first Gaussian spectrum light wave is efficiently converted into a first gyroscope digital signal through the first fiber optic gyroscope circuit 200, and the second Gaussian spectrum light wave is converted into a second gyroscope digital signal through the second fiber optic gyroscope circuit 300, so as to provide scientific and reliable input data for the subsequent logic processing circuit 400, which is helpful to improve the performance and accuracy of the entire gyroscope signal correction system.

[0028] It should be noted that the light source can be understood as an ASE (Amplified Spontaneous Emission) flat spectrum light source, which is used to provide a stable and continuous incident light signal (also called incident light); the incident light can be understood as an ASE flat spectrum light wave. The gyro signal correction system can be a fiber optic gyroscope.

[0029] The logic processing circuit 400 is configured to determine a first gyro angular velocity based on the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and to determine a second gyro angular velocity based on the second gyro digital signal and a preset open-loop gyro demodulation algorithm, and to perform angular velocity correction based on the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity.

[0030] In this embodiment, after receiving the first gyro digital signal sent by the first fiber optic gyro circuit 200 and the second gyro digital signal sent by the second fiber optic gyro circuit 300, the logic processing circuit 400 can accurately calculate the first gyro angular velocity according to the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and can accurately calculate the second gyro angular velocity according to the second gyro digital signal and a preset open-loop gyro demodulation algorithm; next, by comparing the first gyro angular velocity and the second gyro angular velocity to perform angular velocity correction, the cross-stripe phenomenon caused by complex environmental factors such as strong vibration, large impact and rotation can be effectively identified and corrected, thereby outputting a final gyro angular velocity that is closer to the true value, which significantly improves the navigation accuracy of the fiber optic gyroscope in complex dynamic environments.

[0031] Further, in some feasible embodiments, referring to Figure 2 , Figure 2 It is a schematic diagram of the structure of the fiber optic gyroscope optical path 100 involved in the embodiment of the present application. The fiber optic gyroscope optical path 100 includes a fiber ring 103 row module 101, a waveguide modulation module 102, a fiber ring 103, a fiber coupling module 104, a first filter module 105 and a second filter module 106; the light source is connected to a first end of the fiber ring 103 row module 101, a second end of the fiber ring 103 row module 101 is connected to a first end of the waveguide modulation module 102, and a second end of the waveguide modulation module 102 and a third end of the waveguide modulation module 102 are connected to the fiber ring 103; the third end of the fiber ring 103 row module 101 is connected to an input end of the fiber coupling module 104, and an output end of the fiber coupling module 104 is respectively connected to an input end of the first filter module 105 and an input end of the second filter module 106; the output end of the first filter module 105 is connected to a signal input end of the first fiber optic gyroscope circuit 200, and the output end of the second filter module 106 is connected to a signal input end of the second fiber optic gyroscope circuit 300.

[0032] In this embodiment, refer to Figure 2After receiving the incident light (i.e., ASE flat spectrum light wave) from the light source through the first end of the fiber ring 103 row module 101, when the waveguide modulation module 102 accesses the ASE flat spectrum light wave through the second end of the fiber ring 103 row module 101 for phase modulation and then inputs it into the fiber ring 103, the flat spectrum signal light transmitted by the fiber ring 103 is transmitted to the third end of the fiber ring 103 row module 101 through the waveguide modulation module 102; at this time, the flat spectrum signal light transmitted by the third end of the fiber ring 103 row module 101 is split by the fiber coupling module 104 to separate the AS The E-flat spectrum light wave is split into two equal split light waves; next, one of the two split light waves is filtered by the first filtering module 105 to form a first Gaussian spectrum light wave with a central wavelength of 1530nm, and the other of the two split light waves is filtered by the second filtering module 106 to form a second Gaussian spectrum light wave with a central wavelength of 1560nm; next, the first Gaussian spectrum light wave is incident on the first fiber optic gyro circuit 200, and the second Gaussian spectrum light wave is incident on the second fiber optic gyro circuit 300, thereby realizing the dual-path detection processing of the gyro signal correction system.

[0033] It should be noted that the fiber ring 103 row module 101 can be understood as a fiber ring 103 row device, the waveguide modulation module 102 can be understood as a Y-waveguide modulator, the fiber coupling module 104 can be understood as a fiber coupler, the first filtering module 105 can be understood as a first Gaussian spectrum filter, and the second filtering module 106 can be understood as a second Gaussian spectrum filter. Exemplarily, the first Gaussian spectrum filter is configured to allow signal light with a central wavelength of 1530nm to pass through, and the second Gaussian spectrum filter is configured to allow signal light with a central wavelength of 1560nm to pass through, and the power of the first Gaussian spectrum light wave and the second Gaussian spectrum light wave are equal or the power of the first Gaussian spectrum light wave and the second Gaussian spectrum light wave are similar (that is, the power of the first Gaussian spectrum light wave and the second Gaussian spectrum light wave are both within the power allowable error range, and the power allowable error range can be customized according to user needs). The above is only a feasible implementation of the present application, and the present application does not impose any restrictions here.

[0034] Further, in some other feasible embodiments, referring to Figure 3 , Figure 3 It is a specific structural block diagram of the gyro signal correction system involved in the embodiment of the present application. The logic processing circuit 400 includes a programmable module 401 and a digital-to-analog conversion module 402; the input end of the programmable module 401 is electrically connected to the signal output end of the first fiber optic gyro circuit 200 and the signal output end of the second fiber optic gyro circuit 300, respectively, the feedback end of the programmable module 401 is connected to the input end of the digital-to-analog conversion module 402, and the output end of the digital-to-analog conversion module 402 is connected to the fourth end of the waveguide modulation module 102.

[0035] In this embodiment, after the programmable module 401 receives the first gyro digital signal sent by the first fiber optic gyro circuit 200, the first gyro digital signal is demodulated by a preset closed-loop gyro demodulation algorithm (i.e., a digital square wave modulated step wave feedback closed-loop gyro demodulation method), so that the first gyro angular velocity can be accurately obtained, and the demodulated step wave feedback signal and the square wave modulation signal are applied to the waveguide modulation module 102 through the digital-to-analog conversion module 402; in addition, after the programmable module 401 receives the second gyro digital signal sent by the second fiber optic gyro circuit 300, the second gyro digital signal is demodulated by a preset open-loop gyro demodulation algorithm (i.e., a digital open-loop gyro demodulation method), so that the second gyro angular velocity can be accurately obtained; next, the angular velocity correction is performed according to the first gyro angular velocity and the second gyro angular velocity, so that the cross-fringe phenomenon caused by complex environmental factors such as strong vibration, large impact and rotation can be effectively identified and corrected, thereby outputting a final gyro angular velocity that is closer to the true value, which significantly improves the navigation accuracy of the fiber optic gyro in a complex dynamic environment.

[0036] It should be noted that the programmable module 401 can be understood as an FPGA (Field-Programmable Gate Array); the digital-to-analog conversion module 402 can be understood as a DAC (Digital-to-Analog Converter).

[0037] Further, in some feasible embodiments, referring to Figure 3 The first fiber optic gyroscope circuit 200 includes a first photoelectric detection module 201 and a first analog-to-digital module 202. The optical interface of the first photoelectric detection module 201 constitutes the signal input end of the first fiber optic gyroscope circuit 200 and is connected to the fiber optic gyroscope optical path 100. The electrical interface of the first photoelectric detection module 201 is connected to the input end of the first analog-to-digital module 202. The output end of the first analog-to-digital module 202 constitutes the signal output end of the first fiber optic gyroscope circuit 200 and is connected to the logic processing circuit 400.

[0038] In the present embodiment, after the first photoelectric detection module 201 receives the first Gaussian spectrum light wave output by the first filtering module 105, it photoelectrically converts the first Gaussian spectrum light wave into a first gyro electrical signal and transmits it to the first analog-to-digital module 202, so that the first analog-to-digital module 202 converts the first gyro electrical signal into a first gyro digital signal and outputs it to the logic processing circuit 400, so as to provide an accurate and reliable first gyro digital signal for the closed-loop gyro demodulation operation of the logic processing circuit 400, thereby improving the accuracy of the logic processing circuit 400 in acquiring the first gyro angular velocity.

[0039] The second fiber optic gyroscope circuit 300 includes a second photoelectric detection module 301 and a second analog-to-digital module 302. The optical interface of the second photoelectric detection module 301 constitutes the signal input end of the second fiber optic gyroscope circuit 300 and is connected to the fiber optic gyroscope optical path 100. The electrical interface of the second photoelectric detection module 301 is connected to the input end of the second analog-to-digital module 302. The output end of the second analog-to-digital module 302 constitutes the signal output end of the second fiber optic gyroscope circuit 300 and is connected to the logic processing circuit 400.

[0040] In the present embodiment, after the second photoelectric detection module 301 receives the second Gaussian spectrum light wave output by the second filtering module 106, it photoelectrically converts the second Gaussian spectrum light wave into a second gyro electrical signal and transmits it to the second analog-to-digital module 302, so that the second analog-to-digital module 302 converts the second gyro electrical signal into a second gyro digital signal and outputs it to the logic processing circuit 400, so as to provide an accurate and reliable second gyro digital signal for the open-loop gyro demodulation operation of the logic processing circuit 400, thereby improving the accuracy of the logic processing circuit 400 in acquiring the second gyro angular velocity.

[0041] It should be noted that the first photodetection module 201 and the second photodetection module 301 are the same photodetector; the first analog-to-digital module 202 and the second analog-to-digital module 302 are the same ADC (Analog-to-digital converter).

[0042] In the specific example, refer to Figure 3 The ASE flat spectrum light wave emitted by the ASE flat spectrum light source is input into the optical fiber ring 103 through the optical fiber ring 103 transducer. The optical fiber coupler splits the flat spectrum signal light output by the optical fiber ring 103 transducer into two equal split light waves. The two split light waves pass through their respective Gaussian spectrum filters to form two Gaussian spectrum light waves with similar power and different wavelengths, which are respectively incident on their respective photoelectric detectors for photoelectric detection. Then, one closed-loop optical fiber gyroscope signal demodulation and one open-loop optical fiber gyroscope signal demodulation are respectively performed through FPGA, and cross-fringe judgment and angular velocity correction are performed on the two angular velocity signal demodulation values ​​(i.e., the first gyroscope angular velocity and the second gyroscope angular velocity), so that the cross-fringe phenomenon caused by complex environmental factors such as strong vibration, large impact and rotation can be effectively identified and corrected, thereby outputting a final gyroscope angular velocity that is closer to the true value, which significantly improves the navigation accuracy of the optical fiber gyroscope in a complex dynamic environment.

[0043] In another embodiment, in the fiber optic gyroscope optical path 100 of spectral unsplitting detection, the closed-loop fiber optic gyroscope and the open-loop fiber optic gyroscope are demodulated based on the same fiber optic ring 103. Therefore, the two gyroscopes have the advantage of the same demodulation accuracy and can refer to each other. This has the advantage of solving the cross-stripe problem of the fiber optic gyroscope with high precision without destroying the reciprocity of the optical path of the fiber optic ring 103. This can solve the problem of abnormal cross-stripe output of the fiber optic gyroscope when it is powered on and started under strong vibration, large impact, and rotation, and achieve the purpose of accurately outputting the true angular velocity value (i.e., the final gyroscope angular velocity).

[0044] In summary, the present application provides a gyro signal correction system, which realizes accurate correction of the output signal of the fiber optic gyro, so as to significantly improve the navigation accuracy of the fiber optic gyro in complex environments. The gyro signal correction system includes a fiber optic gyro optical path 100, a first fiber optic gyro circuit 200, a second fiber optic gyro circuit 300, and a logic processing circuit 400; specifically, the incident light of the light source is effectively split into two Gaussian spectrum light waves (i.e., the first Gaussian spectrum light wave and the second Gaussian spectrum light wave) through the fiber optic gyro optical path 100, and is processed by the first fiber optic gyro circuit 200 and the second fiber optic gyro circuit 300 respectively, and converted into the first gyro digital signal and the second gyro digital signal, which are transmitted to the logic processing circuit 400. At this time, the logic processing circuit 400 uses a closed-loop gyro demodulation algorithm and an open-loop gyro demodulation algorithm according to the two gyro digital signals (i.e., the first gyro digital signal and the second gyro digital signal), respectively, to accurately calculate two independent gyro angular rates (i.e., the first gyro angular rate and the second gyro angular rate); next, by comparing the first gyro angular rate and the second gyro angular rate to perform angular rate correction, the cross-stripe phenomenon caused by complex environmental factors such as strong vibration, large impact and rotation can be effectively identified and corrected, thereby outputting a final gyro angular rate that is closer to the true value, which significantly improves the navigation accuracy of the fiber optic gyroscope in complex dynamic environments.

[0045] Further, based on the first embodiment of the gyro signal correction system of the present application, a second embodiment of the gyro signal correction method of the present application is applied to the gyro signal correction system, referring to Figure 4 , Figure 4 This is a schematic diagram of the flow chart of the gyro signal correction method of the present application.

[0046] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, a database system, etc., or a device capable of realizing the above functions, such as a gyro signal correction device, etc. The following takes the gyro signal correction device as an example to illustrate this embodiment and the following embodiments.

[0047] The gyro signal correction method of the present application includes steps S10 to S30.

[0048] Step S10: Splitting the incident light from the light source into a first Gaussian spectrum light wave and a second Gaussian spectrum light wave through the fiber optic gyro optical path 100; Step S20: When the first fiber optic gyro circuit 200 converts the first Gaussian spectrum light wave into the first gyro digital signal and transmits it to the logic processing circuit 400, the second fiber optic gyro circuit 300 converts the second Gaussian spectrum light wave into the second gyro digital signal and transmits it to the logic processing circuit 400.

[0049] In this embodiment, refer to Figures 1 to 3 When a beam of incident light from a light source is projected onto the fiber optic gyroscope optical path 100, the fiber optic gyroscope optical path 100 performs a spectroscopic process on the incident light to separate the incident light into two independent Gaussian spectrum light waves (i.e., a first Gaussian spectrum light wave and a second Gaussian spectrum light wave); wherein the first Gaussian spectrum light wave is efficiently converted into a first gyroscope digital signal through the first fiber optic gyroscope circuit 200, and the second Gaussian spectrum light wave is converted into a second gyroscope digital signal through the second fiber optic gyroscope circuit 300, so as to provide scientific and reliable input data for the subsequent logic processing circuit 400, which is helpful to improve the performance and accuracy of the entire gyroscope signal correction system.

[0050] Step S30: After the logic processing circuit 400 receives the first gyro digital signal sent by the first fiber optic gyro circuit 200 and the second gyro digital signal sent by the second fiber optic gyro circuit 300, the first gyro angular velocity is determined according to the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and the second gyro angular velocity is determined according to the second gyro digital signal and a preset open-loop gyro demodulation algorithm, and angular velocity correction is performed according to the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity.

[0051] In this embodiment, refer to Figures 1 to 3 After receiving the first gyro digital signal sent by the first fiber optic gyro circuit 200 and the second gyro digital signal sent by the second fiber optic gyro circuit 300, the logic processing circuit 400 can accurately calculate the first gyro angular velocity according to the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and can accurately calculate the second gyro angular velocity according to the second gyro digital signal and a preset open-loop gyro demodulation algorithm; next, by comparing the first gyro angular velocity and the second gyro angular velocity to perform angular velocity correction, the cross-stripe phenomenon caused by complex environmental factors such as strong vibration, large impact and rotation can be effectively identified and corrected, thereby outputting a final gyro angular velocity that is closer to the true value, which significantly improves the navigation accuracy of the fiber optic gyroscope in complex dynamic environments.

[0052] Furthermore, in some other feasible embodiments, the above step S30: performing angular velocity correction according to the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity, also includes steps S301 to S304.

[0053] Step S301: Determine the closed-loop single-stripe maximum angular velocity corresponding to the first photodetection module 201 and the open-loop single-stripe maximum angular velocity corresponding to the second photodetection module 301, and determine the angular velocity absolute difference between the closed-loop single-stripe maximum angular velocity and the open-loop single-stripe maximum angular velocity.

[0054] In this embodiment, in the digital closed-loop fiber optic gyroscope, since the central wavelength of the first Gaussian spectrum light wave received by the first photoelectric detection module 201 is 1530 nm, the closed-loop single-stripe maximum angular velocity (also called the closed-loop fiber optic gyroscope single-stripe maximum angular velocity) corresponding to the first photoelectric detection module 201 can be accurately obtained according to the single-stripe range algorithm of the fiber optic gyroscope and the central wavelength of the first Gaussian spectrum light wave; in the digital open-loop fiber optic gyroscope, since the central wavelength of the second Gaussian spectrum light wave received by the second photoelectric detection module 301 is 1560 nm, the open-loop single-stripe maximum angular velocity (also called the open-loop fiber optic gyroscope single-stripe maximum angular velocity) corresponding to the second photoelectric detection module 301 can be accurately obtained according to the single-stripe range algorithm of the fiber optic gyroscope and the central wavelength of the second Gaussian spectrum light wave; next, according to the closed-loop single-stripe maximum angular velocity and the open-loop single-stripe maximum angular velocity, the angular velocity absolute difference between the closed-loop single-stripe maximum angular velocity and the open-loop single-stripe maximum angular velocity can be accurately calculated.

[0055] It should be noted that the single fringe range algorithm is ,in, is the length of the optical fiber ring 103, D is the diameter of the optical fiber ring 103, is the speed of light in a vacuum; when in a digital closed-loop fiber optic gyroscope, Indicates the maximum angular velocity of a closed-loop single fringe , represents the central wavelength of the first Gaussian spectrum light wave; when in a digital open-loop fiber gyroscope, Indicates the maximum angular velocity of an open-loop single fringe , represents the central wavelength of the second Gaussian spectrum light wave.

[0056] In a specific embodiment, in a digital closed-loop fiber optic gyroscope, the closed-loop single-fringe maximum angular velocity is calculated based on the single-fringe range algorithm and the central wavelength of the first Gaussian spectrum light wave. is 130.79º / s; in the digital open-loop fiber gyroscope, the open-loop single-fringe maximum angular velocity is calculated based on the single-fringe range algorithm and the central wavelength of the second Gaussian spectrum light wave. is 133.35º / s, according to the formula The maximum angular velocity difference of a single stripe between a digital closed-loop fiber optic gyroscope and a digital open-loop fiber optic gyroscope (i.e., the absolute difference in angular velocity) can be calculated. ,Should =2.56º / s.

[0057] According to the Sagnac effect, the two beams of light propagating in the clockwise and counterclockwise directions in the fiber ring 103 of the fiber optic gyroscope will generate a rotation angle velocity Proportional to the phase difference , phase difference and the angular rate of rotation The expression relationship formula is: , through the expression relationship formula conversion, Figure 5 The relationship between the interference light intensity signal and the rotation angular velocity measured by the detector of the closed-loop fiber optic gyroscope (central wavelength 1530nm) and the open-loop fiber optic gyroscope (central wavelength 1560nm) in this application is given; wherein, Figure 5 In represents the first gyro angular rate, Figure 5 In represents the second gyro angular rate, Figure 5 In represents the maximum angular velocity of a closed-loop single fringe, Figure 5 In Represents the maximum angular velocity of an open-loop single fringe.

[0058] Step S302: taking the absolute difference between the first gyro angular velocity and the second gyro angular velocity as the absolute difference to be measured, and detecting whether the absolute difference to be measured exceeds the angular velocity absolute difference; Step S303: If the absolute difference to be measured does not exceed the angular velocity absolute difference, taking the first gyro angular velocity as the final gyro angular velocity.

[0059] In this embodiment, refer to Figure 5 , the first gyro angular rate The second gyro angular rate The absolute difference between them is taken as the absolute difference to be measured, and it is detected whether the absolute difference to be measured exceeds the absolute difference of angular velocity, and it is immediately detected whether the absolute difference to be measured exceeds the absolute difference of angular velocity. ; If the absolute difference to be measured does not exceed the absolute difference of angular velocity , then the first gyro angular rate measured by the digital closed-loop fiber optic gyro is and the second gyro angular rate measured by the digital open-loop fiber optic gyro is similar, with a higher degree of credibility, so the first gyro angular rate Considered as the final gyro angular rate , which significantly improves the navigation accuracy of the fiber optic gyroscope in complex dynamic environments.

[0060] It should be noted that the first gyro angular rate It can be understood as the rotation angular rate of the digital closed-loop fiber optic gyroscope in a complex dynamic environment; the second gyroscope angular rate It can be understood as the rotation angular rate of the digital open-loop fiber optic gyroscope in a complex dynamic environment.

[0061] Step S304: if the absolute difference to be measured exceeds the angular velocity absolute difference, determining the angular velocity difference between the first gyro angular velocity and the second gyro angular velocity, and determining a final gyro angular velocity according to the angular velocity difference and the angular velocity absolute difference.

[0062] In this embodiment, if the absolute difference to be measured exceeds the absolute difference of the angular velocity , which means that the first gyro angular rate measured by the digital closed-loop fiber optic gyro and the second gyro angular rate measured by the digital open-loop fiber optic gyro There is a large difference; next, the angular velocity difference between the first gyro angular velocity and the second gyro angular velocity is calculated, and a more accurate final gyro angular velocity is determined based on the angular velocity difference and the angular velocity absolute difference, thereby improving the accuracy and robustness of the gyro signal correction system.

[0063] Furthermore, in some feasible embodiments, the above step S304: determining the final gyro angular velocity according to the angular velocity difference and the angular velocity absolute difference, further includes step S3041.

[0064] Step S3041: performing a cross-fringe detection correction operation according to the angular velocity difference and the angular velocity absolute difference to obtain a final gyro angular velocity; the cross-fringe detection correction operation is set to When executing ;when When executing ;in, is a natural number greater than zero, represents the final gyro angular rate, represents the first gyro angular rate, represents the second gyro angular rate, represents the angular velocity difference, represents the absolute difference in angular velocity, represents the maximum angular velocity of the closed-loop single stripe.

[0065] In this embodiment, in the digital square wave modulated step wave feedback closed loop fiber optic gyroscope, the loop will automatically feedback and lock the phase difference The phase difference of the 0th order fringe is 0, and the phase difference of the 1st order fringe is 2 Set the maximum angular velocity difference of a single fringe between the closed-loop FOG and the open-loop FOG .from Figure 5 It can be seen from the figure that when the closed-loop gyro is locked at the 0-level fringe, the gyro demodulation value difference corresponding to the angular velocity difference between the first gyro angular velocity and the second gyro angular velocity is in the range of {0, ± }, when the closed-loop gyro is locked in the 1st-level fringe, the gyro demodulation value difference corresponding to the angular velocity difference between the first gyro angular velocity and the second gyro angular velocity is {± , ±3 }, and so on, that is, when the closed-loop gyro is locked at the n-level stripe, the demodulation difference range of the two gyros is {±(2n-1) , ±(2n+1) Therefore, in the operation of the fiber optic gyroscope of the present application, the fringe level of the fiber optic gyroscope can be detected by determining the demodulation value difference between the closed-loop fiber optic gyroscope and the open-loop fiber optic gyroscope, and then the corresponding cross-fringe error correction can be performed.

[0066] In a specific embodiment, when < ≤3 When executing = +2 ; When -3 ≤ <- When executing = -2 ; When 3 < ≤5 When executing = +4 ; When -5 ≤ <-3 When executing = -4 ; When 5 < ≤7 When executing = +6 ; When -7 ≤ <-5 When executing = -6 ; And so on, determine the nth level stripe and correct the gyroscope output, when (2n-1) ≤ <(2n+1) When executing ; When -(2n+1) ≤ <-(2n-1) When executing .

[0067] In summary, the present application provides a gyro signal correction method using the same fiber optic gyro optical path 100, and simultaneously realizes a closed-loop fiber optic gyro and an open-loop fiber optic gyro with the same accuracy, and uses the demodulated values ​​of the two gyros for detection, judgment and correction output of the fiber optic gyroscope cross-fringe order, so as to achieve the purpose of accurately outputting the true angular velocity value, and is particularly suitable for fiber optic gyroscopes that are powered on and started under strong vibration, large impact and rotation conditions.

[0068] In addition, the present application also provides a gyro signal correction device. Figure 6 , Figure 6 The schematic diagram of the structure of the gyro signal correction device involved in the embodiment of the present application is shown in FIG. The device in the embodiment of the present application may be a device for locally running a gyro signal correction system.

[0069] The present application provides a gyro signal correction device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the gyro signal correction device method in the above-mentioned embodiment one.

[0070] Reference below Figure 6 , which shows a schematic diagram of the structure of a gyro signal correction device suitable for implementing the embodiment of the present application. The gyro signal correction device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The gyro signal correction device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0071] like Figure 6As shown, the gyro signal correction device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the gyro signal correction device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following devices can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the gyro signal correction device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a gyro signal correction device with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices can be implemented or provided instead.

[0072] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0073] The gyro signal correction device provided by the present application adopts the gyro signal correction device method in the above embodiment, which can solve the technical problem of low reliability of the gyro signal correction device. Compared with the prior art, the beneficial effects of the gyro signal correction device provided by the present application are the same as the beneficial effects of the gyro signal correction device method provided by the above embodiment, and other technical features in the gyro signal correction device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0074] In addition, the present application provides a computer-readable storage medium on which a gyro signal correction program is stored, and when the gyro signal correction program is executed by a processor, the steps of the above-mentioned gyro signal correction method are implemented.

[0075] In addition, the present application provides a computer product, which includes a computer program, which contains computer program code means stored on a computer-readable medium or a carrier, and the computer program code means is configured to implement the steps of the above-mentioned gyroscope signal correction method when executed by a computer or a processor.

[0076] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0077] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0078] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0079] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A gyro signal correction system, characterized in that: The gyro signal correction system includes a fiber optic gyro optical path, a first fiber optic gyro circuit, a second fiber optic gyro circuit and a logic processing circuit; The fiber optic gyroscope optical path is configured to split the incident light of the light source into a first Gaussian spectrum light wave and a second Gaussian spectrum light wave, the first Gaussian spectrum light wave is converted into a first gyroscope digital signal by the first fiber optic gyroscope circuit and transmitted to the logic processing circuit, and the second Gaussian spectrum light wave is converted into a second gyroscope digital signal by the second fiber optic gyroscope circuit and transmitted to the logic processing circuit; The logic processing circuit is configured to determine a first gyro angular velocity based on the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and to determine a second gyro angular velocity based on the second gyro digital signal and a preset open-loop gyro demodulation algorithm, and to perform angular velocity correction based on the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity.

2. The gyro signal correction system as claimed in claim 1, characterized in that: The optical path of the fiber optic gyroscope includes a fiber optic ring module, a waveguide modulation module, a fiber optic ring, a fiber optic coupling module, a first filtering module and a second filtering module; The light source is connected to the first end of the optical fiber ring module, the second end of the optical fiber ring module is connected to the first end of the waveguide modulation module, and the second end of the waveguide modulation module and the third end of the waveguide modulation module are connected to the optical fiber ring; The third end of the optical fiber loop module is connected to the input end of the optical fiber coupling module, and the output end of the optical fiber coupling module is connected to the input end of the first filtering module and the input end of the second filtering module respectively; The output end of the first filter module is connected to the signal input end of the first fiber optic gyroscope circuit, and the output end of the second filter module is connected to the signal input end of the second fiber optic gyroscope circuit.

3. The gyro signal correction system as claimed in claim 2, characterized in that: The logic processing circuit includes a programmable module and a digital-to-analog conversion module; The input end of the programmable module is electrically connected to the signal output end of the first fiber optic gyroscope circuit and the signal output end of the second fiber optic gyroscope circuit respectively, the feedback end of the programmable module is connected to the input end of the digital-to-analog conversion module, and the output end of the digital-to-analog conversion module is connected to the fourth end of the waveguide modulation module.

4. The gyro signal correction system as claimed in claim 1, characterized in that: The first fiber optic gyroscope circuit comprises a first photoelectric detection module and a first analog-to-digital module, wherein the optical interface of the first photoelectric detection module constitutes a signal input end of the first fiber optic gyroscope circuit and is connected to the optical path of the fiber optic gyroscope, the electrical interface of the first photoelectric detection module is connected to the input end of the first analog-to-digital module, and the output end of the first analog-to-digital module constitutes a signal output end of the first fiber optic gyroscope circuit and is connected to the logic processing circuit; The second fiber optic gyroscope circuit includes a second photoelectric detection module and a second analog-to-digital module. The optical interface of the second photoelectric detection module constitutes the signal input end of the second fiber optic gyroscope circuit and is connected to the optical path of the fiber optic gyroscope. The electrical interface of the second photoelectric detection module is connected to the input end of the second analog-to-digital module. The output end of the second analog-to-digital module constitutes the signal output end of the second fiber optic gyroscope circuit and is connected to the logic processing circuit.

5. A gyro signal correction method, characterized in that: The gyro signal correction method is applied to the gyro signal correction system according to any one of claims 1 to 4, and the gyro signal correction method comprises: Splitting incident light from a light source into a first Gaussian spectrum light wave and a second Gaussian spectrum light wave through a fiber optic gyroscope optical path; When the first fiber optic gyro circuit converts the first Gaussian spectrum light wave into a first gyro digital signal and transmits it to the logic processing circuit, the second fiber optic gyro circuit converts the second Gaussian spectrum light wave into a second gyro digital signal and transmits it to the logic processing circuit; After the logic processing circuit receives the first gyro digital signal sent by the first fiber optic gyro circuit and the second gyro digital signal sent by the second fiber optic gyro circuit, the first gyro angular velocity is determined according to the first gyro digital signal and a preset closed-loop gyro demodulation algorithm, and the second gyro angular velocity is determined according to the second gyro digital signal and a preset open-loop gyro demodulation algorithm, and angular velocity correction is performed according to the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity.

6. The gyro signal correction method as claimed in claim 5, characterized in that: The step of performing angular velocity correction according to the first gyro angular velocity and the second gyro angular velocity to obtain a final gyro angular velocity comprises: Determine the closed-loop single-stripe maximum angular velocity corresponding to the first photoelectric detection module and the open-loop single-stripe maximum angular velocity corresponding to the second photoelectric detection module, and determine the angular velocity absolute difference between the closed-loop single-stripe maximum angular velocity and the open-loop single-stripe maximum angular velocity; taking an absolute difference between the first gyro angular velocity and the second gyro angular velocity as an absolute difference to be measured, and detecting whether the absolute difference to be measured exceeds the angular velocity absolute difference; If the absolute difference to be measured does not exceed the angular velocity absolute difference, taking the first gyro angular velocity as the final gyro angular velocity; If the absolute difference to be measured exceeds the angular velocity absolute difference, an angular velocity difference between the first gyro angular velocity and the second gyro angular velocity is determined, and a final gyro angular velocity is determined according to the angular velocity difference and the angular velocity absolute difference.

7. The gyro signal correction method as claimed in claim 6, characterized in that: The step of determining the final gyro angular velocity according to the angular velocity difference and the angular velocity absolute difference comprises: Performing a cross-fringe detection correction operation according to the angular velocity difference and the angular velocity absolute difference to obtain a final gyro angular velocity; The cross-fringe detection correction operation is set to When executing ;when When executing ; in, is a natural number greater than zero, represents the final gyro angular rate, represents the first gyro angular rate, represents the second gyro angular rate, represents the angular velocity difference, represents the absolute difference in angular velocity, represents the maximum angular velocity of the closed-loop single stripe.

8. A gyro signal correction device, characterized in that: The gyro signal correction device includes a memory, a processor, and a gyro signal correction program stored in the memory and executable on the processor. When the processor executes the gyro signal correction program, the steps of the gyro signal correction method as claimed in any one of claims 5 to 7 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a gyro signal correction program, which, when executed by a processor, implements the steps of the gyro signal correction method according to any one of claims 5 to 7.

10. A computer product, characterized in that: The computer product comprises a computer program, which contains computer program code means stored on a computer-readable medium or a carrier wave, and the computer program code means is configured to implement the steps of the gyro signal correction method according to any one of claims 5 to 7 when executed by a computer or a processor.

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