Gyroscope monitoring method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of gyroscope monitoring, in particular to a gyroscope monitoring method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring monitoring data of the gyroscope; calculating a steady-state response gain index of the gyroscope based on the drive mode steady-state response gain and the detection mode steady-state response gain; based on frequency stability data, calculating to obtain a circular frequency difference corresponding to angular velocity input after geometric scale factor correction, a circular frequency difference introduced by a Langmuir flow effect of an activated medium, a null drift introduced by a flow effect of a non-activated medium and a null drift introduced by a forward and reverse traveling wave loss difference; calculating to obtain a frequency stability index of the gyroscope based on the circular frequency difference and the null drift; and calculating an operation stability coefficient of the gyroscope based on the steady-state response gain index and the frequency stability index, and generating an early warning signal based on the operation stability coefficient. The gyroscope monitoring efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscope monitoring, and in particular to a gyroscope monitoring method, device, electronic equipment and storage medium. Background Art

[0002] As an important angular velocity sensor, the gyroscope can accurately monitor the state of motion by measuring the change in the angular velocity of an object around a certain axis. In recent years, gyroscope technology has been continuously upgraded and has shown great application potential in aerospace, autonomous driving, consumer electronics, medical health and other fields.

[0003] In the prior art, the evaluation of the operating stability of the gyroscope is often easily interfered by environmental noise, resulting in deviations in the measurement data and low accuracy and stability of the monitoring results.

[0004] Therefore, there is an urgent need for a gyroscope monitoring method, device, electronic device and storage medium to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a gyroscope monitoring method, device, electronic device and storage medium to solve the technical problems of low monitoring accuracy and stability in existing solutions for gyroscope monitoring.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] In one aspect, a gyroscope monitoring method is provided, the method comprising:

[0008] Acquiring monitoring data of a gyroscope, wherein the monitoring data of the gyroscope includes steady-state response gain data and frequency stability data;

[0009] A driving modal steady-state response gain and a detection modal steady-state response gain of the gyroscope are calculated based on the steady-state response gain data, and a steady-state response gain index of the gyroscope is calculated based on the driving modal steady-state response gain and the detection modal steady-state response gain;

[0010] Based on the frequency stability data, the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium and the zero drift introduced by the difference in forward and reverse traveling wave losses are calculated, and the frequency stability index of the gyroscope is calculated based on the circular frequency difference and the zero drift;

[0011] The operation stability coefficient of the gyroscope is calculated based on the steady-state response gain index and the frequency stability index, and a warning signal is generated based on the operation stability coefficient.

[0012] Further, calculating the driving mode steady-state response gain and the detection mode steady-state response gain of the gyroscope based on the steady-state response gain data includes the following process:

[0013] The excitation force signal F of the driving mode of the gyroscope is obtained based on the steady-state response gain data L (t) = A L sinω0t, where A L is the amplitude of the driving force, ω0 is the frequency of the driving force;

[0014] Obtaining the gyroscope's resonator mass m and gyroscope resonant frequency ω based on steady-state response gain data d ;

[0015] A L ,ω0,m andω d Substitute into the calculation formula of the driving modal steady-state response gain of the gyroscope to calculate the driving modal steady-state response gain q1(t) of the gyroscope. The calculation formula is as follows:

[0016]

[0017] Where Q1 is the quality factor of the driving mode,

[0018] A L ,ω0,m andω d Substitute the detection modal steady-state response gain calculation formula of the gyroscope to calculate the detection modal steady-state response gain q2(t) of the gyroscope. The calculation formula is as follows:

[0019]

[0020] Where Q1 represents the quality factor of the detected mode, Ω represents the input angular velocity,

[0021] Further, the steady-state response gain index of the gyroscope is calculated based on the driving modal steady-state response gain and the detection modal steady-state response gain, including the following process:

[0022] The steady-state response gain function is obtained by adding the driving modal steady-state response gain q1(t) and the detection modal steady-state response gain q2(t). L The action time period of (t) is recorded as the integration period of the steady-state response gain function, and the integral value is obtained and recorded as the steady-state response gain index.

[0023] Furthermore, the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium and the zero drift introduced by the forward and reverse traveling wave loss difference are calculated based on the frequency stability data, including the following process:

[0024] Based on the frequency stability data, the circular frequency difference Δω corresponding to the angular velocity input after correction by the geometric scale factor is calculated. A :

[0025]

[0026] Among them, A s represents the scale factor correction term, A r represents the area of ​​the gyroscope cavity, L represents the length of the gyroscope cavity, and Ω represents the input angular velocity;

[0027] The circular frequency difference Δω introduced by the Langmuir flow effect of the activated medium is calculated based on the frequency stability data J :

[0028] Δω J =-A S 2k1V;

[0029] Among them, k1 represents the wave number, and V represents the directional flow velocity of gas particles;

[0030] The zero drift Δω introduced by the flow effect of the inactive medium is calculated based on the frequency stability data lJ :

[0031]

[0032] Where n represents the refractive index of the medium, Ω1 represents the angular velocity caused by the flow of the cavity medium;

[0033] The zero drift Δω introduced by the difference in forward and reverse traveling wave loss is calculated based on the frequency stability data rJ :

[0034]

[0035] Where p represents the mean of the self-repulsion coefficients of the forward and reverse traveling waves, τ represents the mean of the mutual repulsion coefficients of the forward and reverse traveling waves, β represents the mean of the self-saturation coefficients of the forward and reverse traveling waves, and θ represents the mean of the self-saturation coefficients of the forward and reverse traveling waves.

[0036] Furthermore, the frequency stability index of the gyroscope is calculated based on the circular frequency difference and the zero drift, including the following process:

[0037] The circular frequency difference Δω A , circular frequency difference Δω J , zero drift ΔωlJ and zero drift Δω rJ The sum of the values ​​is recorded as the frequency stability index of the gyroscope.

[0038] Further, calculating the operation stability coefficient of the gyroscope based on the steady-state response gain index and the frequency stability index, and generating a warning signal based on the operation stability coefficient includes the following process:

[0039] Substitute the steady-state response gain index and frequency stability index into the gyroscope's operational stability coefficient calculation formula to calculate the gyroscope's operational stability coefficient WDX, which is as follows:

[0040]

[0041] Among them, WDZ represents the steady-state response gain index, WDY represents the frequency stability index, α, is the weight coefficient;

[0042] The load operation stability coefficient threshold is used to determine whether the operation stability coefficient WDX exceeds the load operation stability coefficient threshold. If so, no warning signal is generated; if not, a warning signal is generated.

[0043] In another aspect, a gyroscope monitoring device comprises:

[0044] A monitoring data acquisition module, used to acquire monitoring data of the gyroscope, wherein the monitoring data of the gyroscope includes steady-state response gain data and frequency stability data;

[0045] A steady-state response gain index calculation module, used to calculate the driving mode steady-state response gain and the detection mode steady-state response gain of the gyroscope based on the steady-state response gain data, and to calculate the steady-state response gain index of the gyroscope based on the driving mode steady-state response gain and the detection mode steady-state response gain;

[0046] A frequency stability index calculation module is used to calculate the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium, and the zero drift introduced by the difference in forward and reverse traveling wave losses based on the frequency stability data, and calculate the frequency stability index of the gyroscope based on the circular frequency difference and the zero drift;

[0047] The early warning module is used to calculate the operation stability coefficient of the gyroscope based on the steady-state response gain index and the frequency stability index, and generate an early warning signal based on the operation stability coefficient.

[0048] On the other hand, an electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any one of the gyroscope monitoring methods described above.

[0049] Finally, a storage medium is provided, wherein the storage medium stores computer instructions, wherein the computer instructions enable a computer to execute any one of the gyroscope monitoring methods described above.

[0050] Compared with the existing solutions, the present invention achieves the following beneficial effects:

[0051] Improve monitoring accuracy: By obtaining the steady-state response gain data and frequency stability data of the gyroscope, the operating status of the gyroscope can be more comprehensively understood, thereby improving the monitoring precision and accuracy.

[0052] Timely detection of abnormalities: By calculating the steady-state response gain index and frequency stability index, the abnormalities or failures that may occur in the gyroscope during operation can be discovered in time, providing strong support for equipment maintenance and management.

[0053] Improve early warning capability: The early warning signal generated based on the operating stability coefficient can provide early warning of possible problems in the operating status of the gyroscope, thereby avoiding potential safety hazards and losses.

[0054] Optimize equipment performance: Through in-depth analysis and processing of gyroscope monitoring data, data support and reference can be provided for equipment performance optimization and improvement. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0056] Figure 1 is a flow chart of a gyroscope monitoring method according to an embodiment of the present invention;

[0057] Figure 2 is a flow chart of another gyroscope monitoring method according to an embodiment of the present invention;

[0058] Figure 3 It is a structural block diagram of a gyroscope monitoring device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] In addition, the described features, structures or characteristics may be combined in one or more example embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the example embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, steps, etc. may be adopted. In other cases, well-known structures, methods, implementations or operations are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0061] This embodiment provides a gyroscope monitoring method. Figure 1 is a flow chart of a gyroscope monitoring method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0062] S101: Acquire monitoring data of a gyroscope, wherein the monitoring data of the gyroscope includes steady-state response gain data and frequency stability data;

[0063] S102: Calculating a driving modal steady-state response gain and a detection modal steady-state response gain of the gyroscope based on the steady-state response gain data, and calculating a steady-state response gain index of the gyroscope based on the driving modal steady-state response gain and the detection modal steady-state response gain;

[0064] S103: based on the frequency stability data, the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium, and the zero drift introduced by the difference in forward and reverse traveling wave losses are calculated, and the frequency stability index of the gyroscope is calculated based on the circular frequency difference and the zero drift;

[0065] S104: Calculate the operation stability coefficient of the gyroscope based on the steady-state response gain index and the frequency stability index, and generate a warning signal based on the operation stability coefficient.

[0066] In summary, the present invention can obtain the steady-state response gain data and frequency stability data of the gyroscope to more comprehensively understand the operating status of the gyroscope, thereby improving the monitoring precision and accuracy; by calculating the steady-state response gain index and the frequency stability index, it can timely discover the abnormalities or failures that may occur in the operation of the gyroscope, providing strong support for the maintenance and management of the equipment; the early warning signal generated based on the operation stability coefficient can warn in advance of possible problems in the operating status of the gyroscope, thereby avoiding potential safety hazards and losses.

[0067] In some embodiments, calculating the driving mode steady-state response gain and the detection mode steady-state response gain of the gyroscope based on the steady-state response gain data includes the following process:

[0068] The excitation force signal F of the driving mode of the gyroscope is obtained based on the steady-state response gain data L (t) = A L sinω0t, where A L is the amplitude of the driving force, ω0 is the frequency of the driving force;

[0069] Obtaining the gyroscope's resonator mass m and gyroscope resonant frequency ω based on steady-state response gain data d ;

[0070] A L ,ω0,m andω d Substitute into the calculation formula of the driving modal steady-state response gain of the gyroscope to calculate the driving modal steady-state response gain q1(t) of the gyroscope. The calculation formula is as follows:

[0071]

[0072] Where Q1 is the quality factor of the driving mode,

[0073] A L ,ω0,m andω d Substitute the detection modal steady-state response gain calculation formula of the gyroscope to calculate the detection modal steady-state response gain q2(t) of the gyroscope. The calculation formula is as follows:

[0074]

[0075] Where Q1 represents the quality factor of the detected mode, Ω represents the input angular velocity,

[0076]

[0077] In some embodiments, calculating the steady-state response gain index of the gyroscope based on the driving modal steady-state response gain and the detection modal steady-state response gain includes the following process:

[0078] The steady-state response gain function is obtained by adding the driving modal steady-state response gain q1(t) and the detection modal steady-state response gain q2(t). L The action time period of (t) is recorded as the integration period of the steady-state response gain function, and the integral value is obtained and recorded as the steady-state response gain index.

[0079] In some embodiments, the calculation based on the frequency stability data to obtain the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium, and the zero drift introduced by the forward and reverse traveling wave loss difference includes the following process:

[0080] Based on the frequency stability data, the circular frequency difference Δω corresponding to the angular velocity input after correction by the geometric scale factor is calculated. A :

[0081]

[0082] Among them, A S represents the scale factor correction term, A r represents the area of ​​the gyroscope cavity, L represents the length of the gyroscope cavity, and Ω represents the input angular velocity;

[0083] The circular frequency difference Δω introduced by the Langmuir flow effect of the activated medium is calculated based on the frequency stability data J :

[0084] Δω J =-A S 2k1V;

[0085] Among them, k1 represents the wave number, and V represents the directional flow velocity of gas particles;

[0086] The zero drift Δω introduced by the flow effect of the inactive medium is calculated based on the frequency stability data lJ :

[0087]

[0088] Where n represents the refractive index of the medium, Ω1 represents the angular velocity caused by the flow of the cavity medium;

[0089] The zero drift Δω introduced by the difference in forward and reverse traveling wave loss is calculated based on the frequency stability data rJ :

[0090]

[0091] Wherein, ρ represents the mean of the self-repulsion coefficients of the forward and reverse traveling waves, τ represents the mean of the mutual repulsion coefficients of the forward and reverse traveling waves, β represents the mean of the self-saturation coefficients of the forward and reverse traveling waves, and θ represents the mean of the self-saturation coefficients of the forward and reverse traveling waves.

[0092] In some embodiments, calculating the frequency stability index of the gyroscope based on the circular frequency difference and the zero drift includes the following process:

[0093] The circular frequency difference Δω A , circular frequency difference Δω J , zero drift Δω lJ and zero drift Δω rJ The sum of the values ​​is recorded as the frequency stability index of the gyroscope.

[0094] In some embodiments, Figure 2 is a flow chart of another gyroscope monitoring method according to an embodiment of the present invention. Figure 2 As shown, the operation stability coefficient of the gyroscope is calculated based on the steady-state response gain index and the frequency stability index, and the early warning signal is generated based on the operation stability coefficient, including the following steps:

[0095] S201: Substituting the steady-state response gain index and the frequency stability index into the gyroscope operation stability coefficient calculation formula to calculate the gyroscope operation stability coefficient WDX, which is as follows:

[0096]

[0097] Among them, WDZ represents the steady-state response gain index, WDY represents the frequency stability index, α, is the weight coefficient;

[0098] S202: Loading the operation stability coefficient threshold, determining whether the operation stability coefficient WDX exceeds the loading operation stability coefficient threshold, if so, not generating a warning signal, if not, generating a warning signal.

[0099] on the other hand, Figure 3 is a structural block diagram of a gyroscope monitoring device according to an embodiment of the present invention, such as Figure 3 As shown, the device comprises:

[0100] A monitoring data acquisition module, used to acquire monitoring data of the gyroscope, wherein the monitoring data of the gyroscope includes steady-state response gain data and frequency stability data;

[0101] A steady-state response gain index calculation module, used to calculate the driving mode steady-state response gain and the detection mode steady-state response gain of the gyroscope based on the steady-state response gain data, and to calculate the steady-state response gain index of the gyroscope based on the driving mode steady-state response gain and the detection mode steady-state response gain;

[0102] A frequency stability index calculation module is used to calculate the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium, and the zero drift introduced by the difference in forward and reverse traveling wave losses based on the frequency stability data, and calculate the frequency stability index of the gyroscope based on the circular frequency difference and the zero drift;

[0103] The early warning module is used to calculate the operation stability coefficient of the gyroscope based on the steady-state response gain index and the frequency stability index, and generate an early warning signal based on the operation stability coefficient.

[0104] On the other hand, the present invention further provides an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the gyroscope monitoring methods.

[0105] Finally, the present invention also provides a storage medium, which stores computer instructions, and the computer instructions enable a computer to execute any gyroscope monitoring method.

[0106] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0107] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0109] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only some logical function divisions. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0110] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0111] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A gyroscope monitoring method, characterized in that: Methods include: Acquiring monitoring data of a gyroscope, wherein the monitoring data of the gyroscope includes steady-state response gain data and frequency stability data; A driving modal steady-state response gain and a detection modal steady-state response gain of the gyroscope are calculated based on the steady-state response gain data, and a steady-state response gain index of the gyroscope is calculated based on the driving modal steady-state response gain and the detection modal steady-state response gain; Based on the frequency stability data, the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium and the zero drift introduced by the difference in forward and reverse traveling wave losses are calculated, and the frequency stability index of the gyroscope is calculated based on the circular frequency difference and the zero drift; The operation stability coefficient of the gyroscope is calculated based on the steady-state response gain index and the frequency stability index, and a warning signal is generated based on the operation stability coefficient.

2. A gyroscope monitoring method according to claim 1, characterized in that: The calculation of the driving mode steady-state response gain and the detection mode steady-state response gain of the gyroscope based on the steady-state response gain data includes the following process: The excitation force signal F of the driving mode of the gyroscope is obtained based on the steady-state response gain data L (t) = A L sinω0t, where A L is the amplitude of the driving force, ω0 is the frequency of the driving force; Obtaining the gyroscope's resonator mass m and gyroscope resonant frequency ω based on steady-state response gain data d ; A L ,ω0,m andω d Substitute into the calculation formula of the driving modal steady-state response gain of the gyroscope to calculate the driving modal steady-state response gain q1(t) of the gyroscope. The calculation formula is as follows: Where Q1 is the quality factor of the driving mode, A L ,ω0,m andω d Substitute the detection modal steady-state response gain calculation formula of the gyroscope to calculate the detection modal steady-state response gain q2(t) of the gyroscope. The calculation formula is as follows: Where Q1 represents the quality factor of the detected mode, Ω represents the input angular velocity, 3. A gyroscope monitoring method according to claim 2, characterized in that: The steady-state response gain index of the gyroscope is calculated based on the steady-state response gain of the driving mode and the steady-state response gain of the detection mode, including the following process: The steady-state response gain function is obtained by adding the driving modal steady-state response gain q1(t) and the detection modal steady-state response gain q2(t). L The action time period of (t) is recorded as the integration period of the steady-state response gain function, and the integral value is obtained and recorded as the steady-state response gain index.

4. A gyroscope monitoring method according to claim 1, characterized in that: Based on the frequency stability data, the circular frequency difference corresponding to the angular velocity input after the geometric scale factor correction, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium and the zero drift introduced by the forward and reverse traveling wave loss difference are calculated, including the following process: Based on the frequency stability data, the circular frequency difference Δω corresponding to the angular velocity input after correction by the geometric scale factor is calculated. A : Among them, A S represents the scale factor correction term, A r represents the area of ​​the gyroscope cavity, L represents the length of the gyroscope cavity, and Ω represents the input angular velocity; The circular frequency difference Δω introduced by the Langmuir flow effect of the activated medium is calculated based on the frequency stability data J : Give J =-A S 2k1V; Among them, k1 represents the wave number, and V represents the directional flow velocity of gas particles; The zero drift Δω introduced by the flow effect of the inactive medium is calculated based on the frequency stability data lJ : Where n represents the refractive index of the medium, Ω1 represents the angular velocity caused by the flow of the cavity medium; The zero drift Δω introduced by the difference in forward and reverse traveling wave loss is calculated based on the frequency stability data rJ : Wherein, ρ represents the mean of the self-repulsion coefficients of the forward and reverse traveling waves, τ represents the mean of the mutual repulsion coefficients of the forward and reverse traveling waves, β represents the mean of the self-saturation coefficients of the forward and reverse traveling waves, and θ represents the mean of the self-saturation coefficients of the forward and reverse traveling waves.

5. A gyroscope monitoring method according to claim 4, characterized in that: The frequency stability index of the gyroscope is calculated based on the circular frequency difference and zero drift, which includes the following process: The circular frequency difference Δω A , circular frequency difference Δω J , zero drift Δω lJ and zero drift Δω rJ The sum of the values ​​is recorded as the frequency stability index of the gyroscope.

6. A gyroscope monitoring method according to claim 1, characterized in that: The operation stability coefficient of the gyroscope is calculated based on the steady-state response gain index and the frequency stability index, and the early warning signal is generated based on the operation stability coefficient, including the following processes: Substitute the steady-state response gain index and frequency stability index into the gyroscope's operational stability coefficient calculation formula to calculate the gyroscope's operational stability coefficient WDX, which is as follows: Among them, WDZ represents the steady-state response gain index, WDY represents the frequency stability index, and α and θ are weight coefficients; The load operation stability coefficient threshold is used to determine whether the operation stability coefficient WDX exceeds the load operation stability coefficient threshold. If so, no warning signal is generated; if not, a warning signal is generated.

7. A gyroscope monitoring device, applicable to a gyroscope monitoring method according to any one of claims 1 to 6, characterized in that: The device includes: A monitoring data acquisition module, used to acquire monitoring data of the gyroscope, wherein the monitoring data of the gyroscope includes steady-state response gain data and frequency stability data; A steady-state response gain index calculation module, used to calculate the driving mode steady-state response gain and the detection mode steady-state response gain of the gyroscope based on the steady-state response gain data, and to calculate the steady-state response gain index of the gyroscope based on the driving mode steady-state response gain and the detection mode steady-state response gain; A frequency stability index calculation module is used to calculate the circular frequency difference corresponding to the angular velocity input after correction by the geometric scale factor, the circular frequency difference introduced by the Langmuir flow effect of the active medium, the zero drift introduced by the flow effect of the inactive medium, and the zero drift introduced by the difference in forward and reverse traveling wave losses based on the frequency stability data, and calculate the frequency stability index of the gyroscope based on the circular frequency difference and the zero drift; The early warning module is used to calculate the operation stability coefficient of the gyroscope based on the steady-state response gain index and the frequency stability index, and generate an early warning signal based on the operation stability coefficient.

8. An electronic device, comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute a gyroscope monitoring method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and the computer instructions enable a computer to execute a gyroscope monitoring method as claimed in any one of claims 1 to 6.

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