Calibration method for X / Y channel phase delay error of all-angle hemispherical resonator gyroscope

Abstract

The invention relates to a calibration method for X / Y channel phase delay errors of an all-angle hemispherical resonator gyroscope, and belongs to the technical field of inertial device error calibration, and the calibration method comprises the following steps: S1, based on an average method, establishing an all-angle hemispherical resonator gyroscope nonlinear error model containing the X / Y channel phase delay errors; s2, performing parameter calibration on the all-angle hemispherical gyroscope nonlinear error model containing the X / Y channel phase delay error based on a moving phase to obtain a calibrated X / Y channel phase delay error; and S3, compensating the output of the full-angle hemispherical resonator gyroscope by using the calibrated X / Y channel phase delay error. The parameter identification work can be carried out offline, the problem of calculation of a large amount of real-time data is avoided, the calibration result is high in reliability, high in universality and simple to operate, the full-angle hemispherical resonator gyroscope is high in precision and good in practicability after compensation, and the problems that in the prior art, the calibration result is not reliable, and the precision is poor after compensation are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial device error calibration, and in particular relates to a calibration method for an X / Y channel phase delay error of a full-angle hemispherical resonant gyroscope. Background Art

[0002] There are two working modes for hemispherical resonant gyroscopes, namely force rebalancing mode and full-angle mode. Compared with the force rebalancing mode, the full-angle mode has the advantages of direct angular output, stable proportional factor, and wide dynamic range, and is currently the mainstream working mode of hemispherical resonant gyroscopes. However, the full-angle hemispherical resonant gyroscope has strict requirements on the symmetry of the resonator. In the design of the resonator, the prior art mainly focuses on compensating for the defects caused by the asymmetric stiffness and asymmetric damping of the gyroscope. For example, the invention patent with publication number CN113587954A provides a compensation control method and system for the uneven damping of a full-angle hemispherical resonant gyroscope, and the invention patent with publication number CN115824263A discloses a damping adjustment method and system based on a hemispherical resonant gyroscope.

[0003] In addition to the asymmetric errors of damping and stiffness, the asymmetric defects caused by various circuit factors of the full-angle hemispherical resonant gyroscope also have a huge impact on the hemispherical resonant gyroscope, which needs to be calibrated and compensated. For example, the invention patent with publication number CN115077564A provides a method for identifying and compensating the imbalance error of the detection channel of a hemispherical resonant gyroscope, the invention patent with publication number CN115876182A discloses a method for modeling the electrode error of a hemispherical resonant gyroscope, the invention patent with publication number CN114780903A provides a method for identifying the asymmetry of the drive gain of the X / Y path of a hemispherical resonant gyroscope and the electrode non-orthogonality error, and the invention patent with publication number CN117029882A discloses a calibration method for the asymmetric error of the detection gain of a full-angle hemispherical resonant gyroscope.

[0004] However, none of the above existing methods considers the phase delay error of the X / Y channel of the full-angle hemispherical resonant gyro. The phase delay error of the X / Y channel of the full-angle hemispherical resonant gyro comes from the phase delay of the front-end analog amplifier circuit, which will cause additional gyro drift. Therefore, the existing full-angle hemispherical gyro asymmetric error calibration method has the problem of not considering the phase delay error of the X / Y channel, resulting in unreliable calibration results and poor accuracy after compensation. Summary of the invention

[0005] In view of the deficiencies in the prior art, an object of the present invention is to provide a method for calibrating the phase delay error of the X / Y channels of a full-angle hemispherical resonant gyroscope, so as to solve or improve the defects in the prior art.

[0006] To achieve the above object, the present invention adopts the following technical solution: a calibration method for the phase delay error of the X / Y channel of a full-angle hemispherical resonant gyroscope, comprising the following steps: S1. Based on the averaging method, a full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is established; S2. Based on the moving phase, calibrate the parameters of the full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error to obtain a calibrated X / Y channel phase delay error; S3. Compensate the output of the full-angle hemispherical resonant gyroscope by using the calibrated X / Y channel phase delay error.

[0007] Preferably, in step S1, based on the averaging method, a full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is established, specifically: In formula (1), is the angular rate output error of the gyroscope, is the gyro angular rate output error caused by the frequency difference, is the gyro angular rate output error caused by damping, is the gyro angular rate output error caused by phase delay; ω is the gyro resonant frequency, μ2 is the frequency splitting factor of the Y channel, is the X channel phase delay, is the phase delay of the Y channel, Q is the quality factor of the gyro, γ1 is the damping asymmetry factor of the X channel, γ2 is the damping asymmetry factor of the Y channel, θ is the gyro mode angle, a is the major axis of the elliptical orbit element of the gyro, B(θ) is the orthogonal control loop PID output of the gyro, and P(θ) is the standing wave position control loop PDI output of the gyro.

[0008] Preferably, in step S2, based on the moving phase, the full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is calibrated to obtain the calibrated X / Y channel phase delay error, and the specific method includes: S21, the hemispherical gyroscope works in the force balance mode, and the gyroscope mode angle θ is set to 0°, so the nonlinear error model of the full-angle hemispherical gyroscope including the X / Y channel phase delay error is simplified to: When the reference phase of the X / Y channel demodulation module is the initial value, record the output error of the gyro The original output record of the controller is B(θ| 0° )0 and P(θ| 0° )0; where B(θ| 0°)0 is the PID output of the orthogonal control loop of the gyro when the gyro mode angle θ is 0° and the reference phase is the initial value, P(θ| 0° )0 is the PDI output of the gyro standing wave position control loop when the gyro mode angle θ is 0° and the reference phase is the initial value; the recorded B(θ| 0° )0 and P(θ| 0° )0 is substituted into formula (2), and we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 0° )1 and P(θ| 0° )1; where B(θ| 0° )1 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 0° )1 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The standing wave position control loop PDI output of the gyro; the recorded B(θ| 0° )1 and P(θ| 0° )1 data into formula (2), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 0° )2 and P(θ| 0° )2; where B(θ| 0° )2 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 0° )2 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The standing wave position control loop PDI output of the gyro; the recorded B(θ| 0° )2 and P(θ| 0° )2 data into formula (2), we get: S22, the hemispherical gyroscope works in the force balance mode, and the gyro mode angle θ is set to 90°, so the nonlinear error model of the full-angle hemispherical gyroscope including the X / Y channel phase delay error is simplified to: When the reference phase of the X / Y channel demodulation module is the initial value, record the output error of the gyro The original output record of the controller is B(θ| 90° )0 and P(θ| 90° )0; where B(θ| 90° )0 is the PID output of the orthogonal control loop of the gyro when the gyro mode angle θ is 90° and the reference phase is the initial value, P(θ| 90° )0 is the PDI output of the gyro standing wave position control loop when the gyro mode angle θ is 90° and the reference phase is the initial value; the recorded B(θ| 90° )0 and P(θ| 90° )0 data into formula (6), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 90° )1 and P(θ| 90° )1; where B(θ| 90° )1 is the gyro mode angle θ is 90°, offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 90° )1 is the gyro mode angle θ is 90°, offset relative to the initial value The standing wave position control loop PDI output when B(θ| 90° )1 and P(θ| 90° )1 data into formula (6), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 90° )2 and P(θ| 90° )2, where is the gyro output error recorded in step S207, B(θ| 90° )2 is the orthogonal control loop PID output of the gyro recorded in step S208, P(θ| 90° )2 Step S208 records the standing wave position control loop PDI output, and substitutes the recorded data into formula (6) to obtain: S23, connect formula (3), formula (4), formula (5) in step S21 and formula (7), formula (8), formula (9) in step S22 to obtain a set of simultaneous equations: The equation group has 6 equations, and by solving them, we can get 6 unknown parameters: ω, μ2, Q, γ2; calibrate the six unknown parameters to obtain calibration parameters in, is the calibration result of the gyroscope’s resonant frequency, is the calibration result of the frequency splitting factor of the Y channel, is the calibration result of the X channel phase delay, is the calibration result of the Y channel phase delay, is the calibration result of the gyroscope’s quality factor, is the calibration result of the damping asymmetry factor of the Y channel.

[0009] Preferably, the relative initial value offset The value range is 1° to 5°.

[0010] Preferably, in step S3, the output of the full-angle hemispherical resonant gyroscope is compensated by using the calibrated X / Y channel phase delay error, and the specific method is: The hemispherical gyro works in the full-angle mode, and the calibrated X / Y channel phase delay error obtained in step S2 is used for the output compensation of the full-angle hemispherical resonant gyro. The compensated output is: in, is the output angular rate of the full-angle hemispherical resonant gyro after supplementation, It is the output angular rate of the full-angle hemispherical resonant gyro before supplementation.

[0011] Compared with the prior art, the present invention has the following beneficial effects: a calibration method for the phase delay error of the X / Y channel of a full-angle hemispherical resonant gyroscope provided by the present invention first establishes a full-angle hemispherical gyroscope nonlinear error model containing the X / Y channel phase delay error based on the averaging method, then performs parameter calibration on the full-angle hemispherical gyroscope nonlinear error model containing the X / Y channel phase delay error based on the moving phase, obtains the calibrated X / Y channel phase delay error, and finally uses the calibrated X / Y channel phase delay error for the output compensation of the full-angle hemispherical resonant gyroscope. Wherein, in step S2, in the force balance mode, the phases of the sine and cosine of the artificially equally spaced moving reference signals are calculated, and the output of the gyroscope under different reference phases in the force balance mode can be solved to calculate the X / Y channel phase delay error, thereby realizing the decoupling identification of the X / Y channel phase delay error and other error parameters. At the same time, the parameter identification work can be performed offline, avoiding the problem of a large amount of real-time data calculation, and the calibration result has high reliability, strong versatility, simple operation, high accuracy after compensation of the full-angle hemispherical resonant gyroscope, and good practicality. The invention solves the problem that the existing full-angle hemispherical gyroscope asymmetric error calibration method does not consider the X / Y channel phase delay error, resulting in unreliable calibration results and poor accuracy after compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on the drawings in the following description without paying any creative work.

[0013] Figure 1 The present invention is a flowchart of a method for calibrating a phase delay error of a full-angle hemispherical resonant gyroscope X / Y channel according to an embodiment of the present invention.

[0014] Figure 2 It is a schematic diagram of the results of the Allan variance analysis of a full-angle hemispherical resonant gyroscope before compensation and after compensation using the method of the present invention in the experimental example of the present invention.

[0015] Figure 3 It is a schematic diagram of the results of nonlinear analysis of the scale factor of a full-angle hemispherical resonant gyroscope before compensation and after compensation using the method of the present invention in the experimental example of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in 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. In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are specifically cited and described in detail with the drawings.

[0017] like Figure 1 As shown, an embodiment of the present invention provides a method for calibrating the phase delay error of the X / Y channel of a full-angle hemispherical resonant gyroscope, comprising the following steps: S1. Based on the averaging method, a full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is established; S2. Based on the moving phase, calibrate the parameters of the full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error to obtain a calibrated X / Y channel phase delay error; S3. Compensate the output of the full-angle hemispherical resonant gyroscope by using the calibrated X / Y channel phase delay error.

[0018] In this embodiment, in step S1, based on the averaging method, a full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is established, specifically: In formula (1), is the angular rate output error of the gyroscope, is the gyro angular rate output error caused by the frequency difference, is the gyro angular rate output error caused by damping, is the gyro angular rate output error caused by phase delay; Where ω is the resonant frequency of the gyroscope, μ2 is the frequency splitting factor of the Y channel, is the X channel phase delay, is the phase delay of the Y channel, Q is the quality factor of the gyro, γ1 is the damping asymmetry factor of the X channel, γ2 is the damping asymmetry factor of the Y channel, θ is the gyro mode angle, a is the major axis of the elliptical orbit element of the gyro, B(θ) is the orthogonal control loop PID output of the gyro, and P(θ) is the standing wave position control loop PDI output of the gyro.

[0019] In this embodiment, in step S2, based on the moving phase, the full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is calibrated to obtain the calibrated X / Y channel phase delay error, and the specific method includes: S21, the hemispherical gyroscope works in the force balance mode, and the gyroscope mode angle θ is set to 0°, so the nonlinear error model of the full-angle hemispherical gyroscope including the X / Y channel phase delay error is simplified to: When the reference phase of the X / Y channel demodulation module is the initial value, record the output error of the gyro The original output record of the controller is B(θ| 0° )0 and P(θ| 0° )0; where B(θ| 0° )0 is the PID output of the orthogonal control loop of the gyro when the gyro mode angle θ is 0° and the reference phase is the initial value, P(θ| 0° )0 is the PDI output of the gyro standing wave position control loop when the gyro mode angle θ is 0° and the reference phase is the initial value; the recorded B(θ| 0° )0 and P(θ| 0° )0 is substituted into formula (2), and we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 0° )1 and P(θ| 0° )1; where B(θ| 0° )1 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 0° )1 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The standing wave position control loop PDI output of the gyro; the recorded B(θ| 0° )1 and P(θ| 0° )1 data into formula (2), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 0° )2 and P(θ| 0° )2; where B(θ|0° )2 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 0° )2 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The standing wave position control loop PDI output of the gyro; the recorded B(θ| 0° )2 and P(θ| 0° )2 data into formula (2), we get: S22, the hemispherical gyroscope works in the force balance mode, and the gyro mode angle θ is set to 90°, so the nonlinear error model of the full-angle hemispherical gyroscope including the X / Y channel phase delay error is simplified to: When the reference phase of the X / Y channel demodulation module is the initial value, record the output error of the gyro The original output record of the controller is B(θ| 90° )0 and P(θ| 90° )0; where B(θ| 90° )0 is the PID output of the orthogonal control loop of the gyro when the gyro mode angle θ is 90° and the reference phase is the initial value, P(θ| 90° )0 is the PDI output of the gyro standing wave position control loop when the gyro mode angle θ is 90° and the reference phase is the initial value; the recorded B(θ| 90° )0 and P(θ| 90° )0 data into formula (6), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 90° )1 and P(θ| 90° )1; where B(θ| 90° )1 is the gyro mode angle θ is 90°, offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 90° )1 is the gyro mode angle θ is 90°, offset relative to the initial value The standing wave position control loop PDI output when B(θ| 90° )1 and P(θ| 90° )1 data into formula (6), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 90° )2 and P(θ| 90° )2, where is the gyro output error recorded in step S207, B(θ| 90° )2 is the orthogonal control loop PID output of the gyro recorded in step S208, P(θ| 90° )2 Step S208 records the standing wave position control loop PDI output, and substitutes the recorded data into formula (6) to obtain: S23, connect formula (3), formula (4), formula (5) in step S21 and formula (7), formula (8), formula (9) in step S22 to obtain a set of simultaneous equations: The equation group has 6 equations, and by solving them, we can get 6 unknown parameters: ω, μ2, Q, γ2; calibrate the six unknown parameters to obtain calibration parameters in, is the calibration result of the gyroscope’s resonant frequency, is the calibration result of the frequency splitting factor of the Y channel, is the calibration result of the X channel phase delay, is the calibration result of the Y channel phase delay, is the calibration result of the gyroscope’s quality factor, is the calibration result of the damping asymmetry factor of the Y channel.

[0020] In this embodiment, the relative initial value offset The value range of is preferably but not limited to 1° to 5°.

[0021] In step S2 of this embodiment, for the packaged hemispherical gyroscope, the X / Y channel phase delay error and cannot be directly measured and compensated. Therefore, it is necessary to use the output of the gyroscope as an observation value to estimate the X / Y channel phase delay error and. However, in the full-angle mode, due to the coupling relationship between the X / Y channel phase delay error and and each loop, the calculated gyro mode angle and the major axis of the elliptical orbit element are difficult to be directly processed as measurement variables. It is difficult to identify the asymmetric phase error based on the complex model of the hemispherical resonant gyroscope in the full-angle mode; the working characteristics of the force balance mode avoid these problems, and the error model of the force balance mode still conforms to the error model constructed in step S1. In the force balance mode, the modal vibration shape of the gyroscope remains in a non-precession state under the action of the standing wave position control loop PDI output, and the mode angle remains unchanged. Since the mode angle is not changes, and its disturbance damping of the amplitude control loop remains unchanged; therefore, step S2 proposes an X / Y channel phase delay error calibration method based on the moving phase based on the error model constructed in step S1. This method works in the force balance mode, and artificially moves the sine and cosine phases of the reference signal at equal intervals. By solving the output of the gyroscope under different reference phases in the force balance mode, the X / Y channel phase delay error and can be calculated. This method realizes the decoupling identification of the X / Y channel phase delay error and other error parameters. At the same time, the parameter identification work can be carried out offline, avoiding the problem of large-scale real-time data calculation.

[0022] In this embodiment, in step S3, the output of the full-angle hemispherical resonant gyroscope is compensated by using the calibrated X / Y channel phase delay error, and the specific method is: The hemispherical gyro works in the full-angle mode, and the calibrated X / Y channel phase delay error obtained in step S2 is used for the output compensation of the full-angle hemispherical resonant gyro. The compensated output is: in, is the output angular rate of the full-angle hemispherical resonant gyro after supplementation, It is the output angular rate of the full-angle hemispherical resonant gyro before supplementation.

[0023] The method of the present invention first establishes a full-angle hemispherical gyroscope nonlinear error model including an X / Y channel phase delay error based on an average method, then performs parameter calibration on the full-angle hemispherical gyroscope nonlinear error model including an X / Y channel phase delay error based on a moving phase, obtains a calibrated X / Y channel phase delay error, and finally uses the calibrated X / Y channel phase delay error for output compensation of a full-angle hemispherical resonant gyroscope. Wherein, in step S2, under a force balance mode, the phases of the sine and cosine of an artificially equally spaced moving reference signal are calculated, and the output of the gyroscope under different reference phases under the force balance mode can be solved to calculate the X / Y channel phase delay error, thereby realizing the decoupling identification of the X / Y channel phase delay error and other error parameters. At the same time, the parameter identification work can be performed offline, thus avoiding the problem of a large amount of real-time data calculation, and the calibration result has high reliability, strong versatility, simple operation, high accuracy after compensation of a full-angle hemispherical resonant gyroscope, and good practicality. The present invention solves the problem that the existing full-angle hemispherical gyroscope asymmetric error calibration method does not consider the X / Y channel phase delay error, resulting in unreliable calibration results and poor accuracy after compensation.

[0024] Experimental example: In order to verify the correctness of the present invention, the X / Y channel phase delay error of a full-angle hemispherical resonant gyroscope was calibrated and compensated according to the method provided by the present invention. The value is 2°. The calibration results obtained by using the method provided by the present invention are shown in Table 1.

[0025] Table 1 Calibration results of a full-angle hemispherical resonant gyroscope obtained by the method provided by the present invention:

[0026] The calibration results are used to compensate the error of the full-angle hemispherical resonant gyroscope. Figure 2 As shown in FIG. 1 , the Allen variance analysis of the uncompensated and compensated full-angle hemispherical resonant gyroscope shows that the gyro's zero bias drops from 0.71° / h before compensation to 0.41° / h after compensation, and the zero bias accuracy of the compensated full-angle hemispherical resonant gyroscope is improved by 42%; Figure 3As shown, the uncompensated and compensated full-angle hemispherical resonant gyroscope was tested under the conditions of ±0.1° / s, ±0.2° / s, ±0.5° / s, ±1° / s, ±2° / s, ±5° / s, ±10° / s, ±20° / s, ±50° / s, ±100° / s, and ±150° / s, and all output rates were linearly fitted, and the nonlinearity of the scale factor was calculated. The nonlinearity of the scale factor was reduced from 235ppm before compensation to 82ppm after compensation, and the nonlinearity accuracy of the scale factor of the compensated full-angle hemispherical resonant gyroscope was improved by 65%. Therefore, by using the method provided by the present invention, the detection gain asymmetry error of the full-angle hemispherical resonant gyroscope was calibrated and compensated, the zero bias accuracy was improved by 42%, and the nonlinearity accuracy of the scale factor was improved by 65%, which verified the correctness and effectiveness of the method proposed by the present invention.

[0027] Parts of the present invention that are not disclosed in detail belong to the common knowledge in the art.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calibration method for the phase delay error of the X / Y channel of a full-angle hemispherical resonant gyroscope, characterized in that: The steps include: S1. Based on the averaging method, a full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is established; S2. Based on the moving phase, calibrate the parameters of the full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error to obtain a calibrated X / Y channel phase delay error; S3. Compensate the output of the full-angle hemispherical resonant gyroscope by using the calibrated X / Y channel phase delay error.

2. The calibration method of the X / Y channel phase delay error of the full-angle hemispherical resonant gyroscope according to claim 1 is characterized in that: In step S1, based on the averaging method, a full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is established, specifically: In formula (1), is the angular rate output error of the gyroscope, is the gyro angular rate output error caused by the frequency difference, is the gyro angular rate output error caused by damping, is the gyro angular rate output error caused by phase delay; ω is the gyro resonant frequency, μ2 is the frequency splitting factor of the Y channel, is the X channel phase delay, is the phase delay of the Y channel, Q is the quality factor of the gyro, γ1 is the damping asymmetry factor of the X channel, γ2 is the damping asymmetry factor of the Y channel, θ is the gyro mode angle, a is the major axis of the elliptical orbit element of the gyro, B(θ) is the orthogonal control loop PID output of the gyro, and P(θ) is the standing wave position control loop PDI output of the gyro.

3. The calibration method of the phase delay error of the X / Y channel of the full-angle hemispherical resonant gyroscope according to claim 2 is characterized in that: In step S2, based on the moving phase, the full-angle hemispherical gyroscope nonlinear error model including the X / Y channel phase delay error is calibrated to obtain the calibrated X / Y channel phase delay error. The specific method includes: S21, the hemispherical gyroscope works in the force balance mode, and the gyroscope mode angle θ is set to 0°, so the nonlinear error model of the full-angle hemispherical gyroscope including the X / Y channel phase delay error is simplified to: When the reference phase of the X / Y channel demodulation module is the initial value, record the output error of the gyro The original output record of the controller is B(θ| 0° )0 and P(θ| 0° )0; where B(θ| 0° )0 is the PID output of the orthogonal control loop of the gyro when the gyro mode angle θ is 0° and the reference phase is the initial value, P(θ| 0° )0 is the PDI output of the gyro standing wave position control loop when the gyro mode angle θ is 0° and the reference phase is the initial value; the recorded B(θ| 0° )0 and P(θ| 0° )0 is substituted into formula (2), and we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 0° )1 and P(θ| 0° )1; where B(θ| 0° )1 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 0° )1 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The standing wave position control loop PDI output of the gyro; the recorded B(θ| 0° )1 and P(θ| 0° )1 data into formula (2), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 0° )2 and P(θ| 0° )2; where B(θ| 0° )2 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 0° )2 is the gyro mode angle θ is 0°, and the reference phase is offset relative to the initial value The standing wave position control loop PDI output of the gyro; the recorded B(θ| 0° )2 and P(θ| 0° )2 data into formula (2), we get: S22, the hemispherical gyroscope works in the force balance mode, and the gyro mode angle θ is set to 90°, so the nonlinear error model of the full-angle hemispherical gyroscope including the X / Y channel phase delay error is simplified to: When the reference phase of the X / Y channel demodulation module is the initial value, record the output error of the gyro The original output record of the controller is B(θ| 90° )0 and P(θ| 90° )0; where B(θ| 90° )0 is the PID output of the orthogonal control loop of the gyro when the gyro mode angle θ is 90° and the reference phase is the initial value, P(θ| 90° )0 is the PDI output of the gyro standing wave position control loop when the gyro mode angle θ is 90° and the reference phase is the initial value; the recorded B(θ| 90° )0 and P(θ| 90° )0 data into formula (6), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 90° )1 and P(θ| 90° )1; where B(θ| 90° )1 is the gyro mode angle θ is 90°, offset relative to the initial value The PID output of the gyro's orthogonal control loop is P(θ| 90° )1 is the gyro mode angle θ is 90°, offset relative to the initial value The standing wave position control loop PDI output when B(θ| 90° )1 and P(θ| 90° )1 data into formula (6), we get: The reference phase of the X / Y channel demodulation module is offset relative to the initial value When The original output record of the controller is B(θ| 90° )2 and P(θ| 90° )2, where is the gyro output error recorded in step S207, B(θ| 90° )2 is the orthogonal control loop PID output of the gyro recorded in step S208, P(θ| 90° )2 Step S208 records the standing wave position control loop PDI output, and substitutes the recorded data into formula (6) to obtain: S23, connect formula (3), formula (4), formula (5) in step S21 and formula (7), formula (8), formula (9) in step S22 to obtain a set of simultaneous equations: The equation group has 6 equations, and by solving them, we can get 6 unknown parameters: ω, μ2, Q, γ2; calibrate the six unknown parameters to obtain calibration parameters in, is the calibration result of the gyroscope’s resonant frequency, is the calibration result of the frequency splitting factor of the Y channel, is the calibration result of the X channel phase delay, is the calibration result of the Y channel phase delay, is the calibration result of the gyroscope’s quality factor, is the calibration result of the damping asymmetry factor of the Y channel.

4. The calibration method of the phase delay error of the X / Y channel of the full-angle hemispherical resonant gyroscope according to claim 3 is characterized in that: The relative initial value offset The value range is 1° to 5°.

5. The method for calibrating the phase delay error of the X / Y channel of the full-angle hemispherical resonant gyroscope according to claim 3, characterized in that: In step S3, the output of the full-angle hemispherical resonant gyroscope is compensated by using the calibrated X / Y channel phase delay error. The specific method is as follows: The hemispherical gyro works in the full-angle mode, and the calibrated X / Y channel phase delay error obtained in step S2 is used for the output compensation of the full-angle hemispherical resonant gyro. The compensated output is: in, is the output angular rate of the full-angle hemispherical resonant gyro after supplementation, It is the output angular rate of the full-angle hemispherical resonant gyro before supplementation.

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