Excitation circuit and system of hemispherical resonator gyroscope

Abstract

The invention discloses an excitation circuit and system of a hemispherical resonator gyro, and relates to the technical field of hemispherical resonator gyroscopes, the excitation circuit comprises a sampling circuit, a controller, a digital-to-analog conversion circuit and a signal amplification circuit, the sampling circuit is connected with the controller and the hemispherical resonator gyro, and the digital-to-analog conversion circuit is connected with the signal amplification circuit. The vibration sensor is used for collecting vibration signals of a hemispherical resonator of the hemispherical resonator gyroscope and outputting the vibration signals to the controller, the controller is connected with the digital-to-analog conversion circuit and used for generating digital excitation signals according to the vibration signals and outputting the digital excitation signals to the digital-to-analog conversion circuit, and the digital-to-analog conversion circuit is connected with the signal amplification circuit. The signal conversion circuit is connected with the hemispherical resonator gyroscope and used for converting the digital excitation signal into an analog excitation signal and outputting the analog excitation signal to the signal amplification circuit, and the signal amplification circuit is connected with the hemispherical resonator gyroscope and used for amplifying the analog excitation signal and outputting the analog excitation signal to a capacitor electrode of the hemispherical resonator gyroscope, so that the accuracy of the excitation signal is improved, and the hemispherical resonator keeps stable vibration in a four-wave amplitude vibration mode.

Description

Technical Field

[0001] The present invention relates to the technical field of hemispherical resonant gyroscopes, and in particular to an excitation circuit and system of a hemispherical resonant gyroscope. Background Art

[0002] Currently, most hemispherical resonator gyroscopes are composed of a two-piece structure: a hemispherical resonator and an electrode base. The hemispherical resonator is the core component for sensing the external rotation angle. It is a hemispherical elastomer, a sensitive rotation component, and the main part of the gyroscope. It is hemispherical in shape and usually has a central support rod. The support rod is integrally processed with the hemispherical shell. The hemispherical resonator is connected to the excitation cover and the electrode base through the support rod. The electrode base is mainly used for the natural vibration mode excitation of the hemispherical resonator and the extraction of vibration signals. The hemispherical resonator and the electrode base together constitute a complete hemispherical resonator gyroscope system.

[0003] In the prior art, when the vibration waveform of the hemispherical resonator decays over time, the hemispherical resonator is excited by an excitation cover. However, it is difficult for the existing excitation cover to accurately apply electrostatic force to the hemispherical resonator to keep it vibrating stably. Summary of the invention

[0004] The embodiment of the present invention provides an excitation circuit and system for a hemispherical resonant gyroscope, so as to solve the technical problem in the related art that the existing excitation cover is difficult to accurately apply electrostatic force to the hemispherical resonator to keep it vibrating stably.

[0005] In a first aspect, an excitation circuit for a hemispherical resonant gyroscope is provided, comprising:

[0006] Sampling circuit, controller, digital-to-analog conversion circuit and signal amplification circuit;

[0007] The sampling circuit is connected to the controller and the hemispherical resonant gyroscope, and is used to collect the vibration signal of the hemispherical resonator of the hemispherical resonant gyroscope and output it to the controller;

[0008] The controller is connected to the digital-to-analog conversion circuit, and is used to generate a digital excitation signal according to the vibration signal and output the digital excitation signal to the digital-to-analog conversion circuit;

[0009] The digital-to-analog conversion circuit is connected to the signal amplification circuit and is used to convert the digital excitation signal into an analog excitation signal and output it to the signal amplification circuit;

[0010] The signal amplifying circuit is connected to the hemispherical resonant gyroscope and is used for amplifying the analog excitation signal and outputting the amplified signal to the capacitive electrode of the hemispherical resonant gyroscope.

[0011] In some embodiments, the signal amplification circuit includes:

[0012] A first amplifying unit, the first amplifying unit is connected to the digital-to-analog conversion circuit and is used to amplify the analog excitation signal output by the digital-to-analog conversion circuit for the first time;

[0013] The second amplifying unit is connected to the first amplifying unit and is used to amplify the analog excitation signal output by the first amplifying unit for the second time.

[0014] In some embodiments, the first amplification unit includes:

[0015] A first operational amplifier U1, wherein a non-inverting terminal of the first operational amplifier U1 is connected to the digital-to-analog conversion circuit, and an output terminal of the first operational amplifier U1 is connected to the second amplification unit;

[0016] a seventh resistor R7, wherein a first end of the seventh resistor R7 is connected to the inverting end of the first operational amplifier U1, and a second end of the first resistor R1 is grounded;

[0017] An eighth resistor R8, wherein a first end of the eighth resistor R8 is connected to a first end of the seventh resistor R7 and an inverting end of the first operational amplifier U1, and a second end of the eighth resistor R8 is connected to an output end of the first operational amplifier U1.

[0018] In some embodiments, the model of the first operational amplifier U1 is OPA828.

[0019] In some embodiments, the second amplification unit includes:

[0020] A first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a second operational amplifier U2, a capacitor C1 and a transistor Q1, wherein a first end of the first resistor R1 is connected to an output end of the first operational amplifier U1, a second end of the first resistor R1 is connected to an inverting end of the second operational amplifier U2, a first end of the capacitor C1 is connected to an inverting end of the second operational amplifier U2, a second end of the capacitor C1 is connected to an output end of the second operational amplifier U2, a first end of the second resistor R2 is connected to an output end of the second operational amplifier U2, a second end of the second resistor R2 is connected to a base of the transistor Q1, an emitter of the transistor Q1 is grounded, a collector of the transistor Q1 is respectively connected to a first end of the fourth resistor R4, a first end of the fifth resistor R5 and a first end of the sixth resistor R6, a second end of the fourth resistor R4 is connected to a first end of the third resistor R3, a second end of the third resistor R3 is grounded, a second end of the fifth resistor R5 is connected to a DC high voltage power supply, and a second end of the sixth resistor R6 is an output end.

[0021] In some embodiments, the model of the second operational amplifier U2 is OP77.

[0022] In some embodiments, the digital-to-analog conversion circuit is a DAC11001B digital-to-analog converter.

[0023] In some embodiments, the controller is a programmable system-on-chip Zynq-7020.

[0024] In some embodiments, the output port of the controller is connected to the input port of the digital-to-analog conversion circuit, and a voltage divider resistor is provided between each output port of the controller and the corresponding input port of the digital-to-analog conversion circuit.

[0025] In a second aspect, an excitation system for a hemispherical resonant gyroscope is provided, comprising the excitation circuit for the hemispherical resonant gyroscope described above.

[0026] The beneficial effects brought about by the technical solution provided by the present invention include:

[0027] The embodiment of the present invention provides an excitation circuit and system for a hemispherical resonant gyroscope. The excitation circuit of the hemispherical resonant gyroscope includes a sampling circuit, a controller, a digital-to-analog conversion circuit, and a signal amplification circuit. The sampling circuit is connected to the controller and the hemispherical resonant gyroscope to collect a vibration signal of a hemispherical resonator of the hemispherical resonant gyroscope and output it to the controller. The controller is connected to the digital-to-analog conversion circuit to generate a digital excitation signal according to the vibration signal and output it to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is connected to the signal amplification circuit to convert the digital excitation signal into an analog excitation signal. The excitation signal is output to the signal amplifying circuit, and the signal amplifying circuit is connected to the hemispherical resonant gyroscope, and is used to amplify the analog excitation signal and output it to the capacitive electrode of the hemispherical resonant gyroscope. The current vibration signal of the hemispherical resonator and its attenuation can be obtained at any time through the sampling circuit. The controller can accurately calculate the digital excitation signal that excites the hemispherical resonator, and apply it to the capacitive electrode of the hemispherical resonant gyroscope after conversion and amplification by the digital-to-analog conversion circuit and the signal amplifying circuit, thereby improving the accuracy of the excitation signal and allowing the hemispherical resonator to maintain stable vibration with a four-amplitude vibration mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1A block diagram of an excitation circuit of a hemispherical resonant gyroscope provided by an embodiment of the present invention;

[0030] Figure 2 An overall schematic diagram of an excitation circuit of a hemispherical resonant gyroscope provided by an embodiment of the present invention;

[0031] Figure 3 A specific schematic diagram of an excitation circuit for a hemispherical resonant gyroscope provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0033] The embodiment of the present invention provides an excitation circuit and system for a hemispherical resonant gyroscope, which can solve the technical problem in the related art that it is difficult for the existing excitation cover to accurately apply electrostatic force to the hemispherical resonator to keep it vibrating stably.

[0034] Figure 1 An excitation circuit for a hemispherical resonant gyroscope provided by an embodiment of the present invention comprises: a sampling circuit, a controller, a digital-to-analog conversion circuit and a signal amplification circuit, wherein the sampling circuit is connected with the controller and the hemispherical resonant gyroscope, and is used for collecting a vibration signal of a hemispherical resonator of the hemispherical resonant gyroscope and outputting it to the controller, the controller is connected with the digital-to-analog conversion circuit, and is used for generating a digital excitation signal according to the vibration signal and outputting it to the digital-to-analog conversion circuit, the digital-to-analog conversion circuit is connected with the signal amplification circuit, and is used for converting the digital excitation signal into an analog excitation signal and outputting it to the signal amplification circuit, and the signal amplification circuit is connected with the hemispherical resonant gyroscope, and is used for amplifying the analog excitation signal and outputting it to a capacitive electrode of the hemispherical resonant gyroscope.

[0035] The excitation circuit of the hemispherical resonant gyroscope provided in the embodiment of the present invention is provided with a sampling circuit, a controller, a digital-to-analog conversion circuit and a signal amplifying circuit. The sampling circuit is connected with the controller and the hemispherical resonant gyroscope, and is used to collect the vibration signal of the hemispherical resonator of the hemispherical resonant gyroscope and output it to the controller. The controller is connected with the digital-to-analog conversion circuit, and is used to generate a digital excitation signal according to the vibration signal and output it to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is connected with the signal amplifying circuit, and is used to convert the digital excitation signal into an analog excitation signal and output it to the signal amplifying circuit. The signal amplifying circuit is connected with the hemispherical resonant gyroscope, and is used to amplify the analog excitation signal and output it to the capacitive electrode of the hemispherical resonant gyroscope. The current vibration signal of the hemispherical resonator and its attenuation can be obtained at any time through the sampling circuit. The controller can accurately calculate the digital excitation signal to excite the hemispherical resonator, and apply it to the capacitive electrode of the hemispherical resonant gyroscope after conversion and amplification by the digital-to-analog conversion circuit and the signal amplifying circuit, thereby improving the accuracy of the excitation signal and making the hemispherical resonator maintain stable vibration with four-amplitude vibration modes.

[0036] As an optional implementation, in an embodiment of the invention, see Figure 2 and Figure 3 As shown, the signal amplification circuit includes: a first amplification unit and a second amplification unit, the first amplification unit is connected to the digital-to-analog conversion circuit, and is used to perform a first amplification on the analog excitation signal output by the digital-to-analog conversion circuit, and the second amplification unit is connected to the first amplification unit, and is used to perform a second amplification on the analog excitation signal output by the first amplification unit. By setting two cascaded operational amplifiers, a higher total gain can be achieved, and the frequency response of the entire circuit can be optimized, so that it has a flatter gain characteristic in the entire operating frequency range.

[0037] As an optional implementation, in an embodiment of the invention, see Figure 2 and Figure 3As shown, the first amplification unit includes: a first operational amplifier U1, a seventh resistor R7 and an eighth resistor R8, the in-phase end of the first operational amplifier U1 is connected to the digital-to-analog conversion circuit, the output end of the first operational amplifier U1 is connected to the second amplification unit, the first end of the seventh resistor R7 is connected to the inverting end of the first operational amplifier U1, the second end of the first resistor R1 is grounded, the first end of the eighth resistor R8 is connected to the first end of the seventh resistor R7 and the inverting end of the first operational amplifier U1, the second end of the eighth resistor R8 is connected to the output end of the first operational amplifier U1, the first operational amplifier U1 is a preamplifier, and its amplification gain is set to 2:1, which is used to amplify the analog excitation signal output by the digital-to-analog conversion circuit by twice and output it to the second amplification unit, if the controller collects the analog excitation signal of the hemispherical resonator according to the sampling circuit The vibration signal and its attenuation condition calculate that the digital excitation signal that excites the hemispherical resonator is a decimal digital quantity 131071, and the digital-to-analog conversion circuit converts the digital excitation signal 131071 into an analog excitation signal of positive 2.5V. The first operational amplifier U1, the seventh resistor R7 and the eighth resistor R8 amplify the analog excitation signal of positive 2.5V to positive 5V and then output it to the second amplification unit; if the controller calculates that the digital excitation signal that excites the hemispherical resonator is a decimal digital quantity 262142 according to the vibration signal and its attenuation condition of the hemispherical resonator collected by the sampling circuit, the digital-to-analog conversion circuit converts the digital excitation signal 262142 into an analog excitation signal of negative 2.5V, and the first operational amplifier U1, the seventh resistor R7 and the eighth resistor R8 amplify the analog excitation signal of negative 2.5V to negative 5V and then output it to the second amplification unit.

[0038] As an optional implementation, in an embodiment of the invention, see Figure 2 As shown, the model of the first operational amplifier U1 is OPA828. OPA828 has extremely low input bias voltage and offset current. These characteristics ensure the high precision and stability of the system. The low offset voltage and low temperature drift help to maintain the accuracy of the output signal under various temperature conditions. It also has the advantages of low noise, high speed performance, and a wide power supply voltage range.

[0039] As an optional implementation, in an embodiment of the invention, see Figure 2 and Figure 3As shown, the second amplifying unit includes: a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a second operational amplifier U2, a capacitor C1 and a transistor Q1, the first end of the first resistor R1 is connected to the output end of the first operational amplifier U1, the second end of the first resistor R1 is connected to the inverting end of the second operational amplifier U2, the first end of the capacitor C1 is connected to the inverting end of the second operational amplifier U2, the second end of the capacitor C1 is connected to the output end of the second operational amplifier U2, and the second resistor R 2 is connected to the output end of the second operational amplifier U2, the second end of the second resistor R2 is connected to the base of the transistor Q1, the emitter of the transistor Q1 is grounded, the collector of the transistor Q1 is respectively connected to the first end of the fourth resistor R4, the first end of the fifth resistor R5, and the first end of the sixth resistor R6, the second end of the fourth resistor R4 is connected to the first end of the third resistor R3, the second end of the third resistor R3 is grounded, the second end of the fifth resistor R5 is connected to the DC high voltage power supply 380V, and the second end of the sixth resistor R6 is an output end.

[0040] Specifically, when the output end of the first operational amplifier U1, that is, the inverting input end of the second operational amplifier U2, becomes smaller, the difference between the in-phase end U+ and the inverting end U- of the second operational amplifier U2 becomes larger, the output of the second operational amplifier U2 also becomes larger, the base current Ib of the transistor Q1 becomes larger, and Ie also becomes larger, then Vc and the output Vout decrease; when the output end of the first operational amplifier U1, that is, the inverting input end of the second operational amplifier U2, becomes larger, the difference between the in-phase end U+ and the inverting end U- of the second operational amplifier U2 becomes smaller, the output of the second operational amplifier U2 also becomes smaller, the base current Ib of the transistor Q1 becomes smaller, and Ie also becomes smaller, then Vc and the output Vout increase, at this time the amplification factor of the second amplification unit is (R3+R4) / R3, by adjusting the resistance values ​​of the third resistor R3 and the fourth resistor R4 So that its amplification gain is also 2:1; if the first operational amplifier U1, the seventh resistor R7 and the eighth resistor R8 amplify the analog excitation signal of positive 2.5V to positive 5V and then output it to the second operational amplifier U2, then the second operational amplifier U2 and the transistor Q1 amplify the analog excitation signal of positive 5V to positive 10V and then output it to the capacitor electrode of the hemispherical resonator; if the first operational amplifier U1, the seventh resistor R7 and the eighth resistor R8 amplify the analog excitation signal of negative 2.5V to negative 5V and then output it to the second operational amplifier U2, then the second operational amplifier U2 and the transistor Q1 amplify the analog excitation signal of negative 5V to negative 10V and then output it to the capacitor electrode of the hemispherical resonator, thereby improving the accuracy of the excitation signal applied to the hemispherical resonator, so that the hemispherical resonator maintains stable vibration with a four-wave amplitude vibration mode.

[0041] As an optional implementation, in an embodiment of the invention, see Figure 2 As shown, the model of the second operational amplifier U2 is OP77. OP77 has a high power supply rejection ratio, which can almost completely eliminate the error caused by power supply drift and improve the anti-interference ability of the system. The gain of the device is maintained at 10,000,000 or higher in the entire ±10V output range, and has excellent gain linearity. It can eliminate common system nonlinearities and provide excellent performance.

[0042] As an optional implementation, in an embodiment of the invention, see Figure 2As shown, the controller is a programmable system-on-chip chip Zynq-7020, which contains a dual-core ARM Cortex-A9 MPCore processor and runs at a speed of up to 855MHz. The FPGA part has 20K logic units and 220 DSP slices, 560KB block RAM, and rich I / O capabilities. Zynq-7020 uses a dual-core RAM Cortex-A9 MPCore processor to perform dedicated data and algorithm processing, and the FPGA only performs timing logic control and data scheduling, thereby simplifying the complexity of algorithm modification and improving computing efficiency and accuracy.

[0043] As an optional implementation, in an embodiment of the invention, see Figure 2 As shown, the digital-to-analog conversion circuit is a DAC11001B digital-to-analog converter. The DAC11001B has a 20-bit resolution and can provide high-precision analog output. Its monotonicity is 1LSB DNL (maximum value) and its integral linearity is 1LSB INL (maximum value), ensuring excellent linearity over the entire output range. In addition, the chip also has ultra-low noise, low interference, excellent THD performance and the highest update rate.

[0044] As an optional implementation, in an embodiment of the invention, see Figure 2 As shown, the output port of the controller is connected to the input port of the digital-to-analog conversion circuit, and a voltage divider resistor is provided between each output port of the controller and the corresponding input port of the digital-to-analog conversion circuit. The controller outputs the generated excitation digital signal to the digital-to-analog conversion circuit through multiple communication interfaces for digital-to-analog conversion, and a small-resistance voltage divider resistor is provided at each interface connection for impedance matching, reducing reflections and avoiding oscillations, reducing the steepness of the signal edge and thus reducing high-frequency noise. The voltage divider resistor is also used to limit current and protect the digital-to-analog conversion circuit.

[0045] An embodiment of the present invention further provides an excitation system for a hemispherical resonant gyroscope, comprising the excitation circuit of the hemispherical resonant gyroscope described above, wherein the excitation circuit of the hemispherical resonant gyroscope comprises: a sampling circuit, a controller, a digital-to-analog conversion circuit and a signal amplification circuit, wherein the sampling circuit is connected to the controller and the hemispherical resonant gyroscope, and is used to collect a vibration signal of a hemispherical resonator of the hemispherical resonant gyroscope and output it to the controller, wherein the controller is connected to the digital-to-analog conversion circuit, and is used to generate a digital excitation signal according to the vibration signal and output it to the digital-to-analog conversion circuit, wherein the digital-to-analog conversion circuit is connected to the signal amplification circuit, and is used to convert the digital excitation signal into an analog excitation signal and output it to the signal amplification circuit, and wherein the signal amplification circuit is connected to the hemispherical resonant gyroscope, and is used to amplify the analog excitation signal and output it to the capacitive electrode of the hemispherical resonant gyroscope.

[0046] The excitation system of the hemispherical resonant gyroscope provided by the embodiment of the present invention comprises an excitation circuit of the hemispherical resonant gyroscope provided with a sampling circuit, a controller, a digital-to-analog conversion circuit and a signal amplification circuit. The sampling circuit is connected with the controller and the hemispherical resonant gyroscope to collect the vibration signal of the hemispherical resonator of the hemispherical resonant gyroscope and output it to the controller. The controller is connected with the digital-to-analog conversion circuit to generate a digital excitation signal according to the vibration signal and output it to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is connected with the signal amplification circuit to convert the digital excitation signal into an analog excitation signal. The analog excitation signal is output to the signal amplifying circuit, which is connected to the hemispherical resonant gyroscope and is used to amplify the analog excitation signal and output it to the capacitive electrode of the hemispherical resonant gyroscope. The current vibration signal of the hemispherical resonator and its attenuation can be obtained at any time through the sampling circuit. The controller can accurately calculate the digital excitation signal that excites the hemispherical resonator, and apply it to the capacitive electrode of the hemispherical resonant gyroscope after conversion and amplification by the digital-to-analog conversion circuit and the signal amplifying circuit, thereby improving the accuracy of the excitation signal and allowing the hemispherical resonator to maintain stable vibration with a four-amplitude vibration mode.

[0047] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0048] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device 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 device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0049] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features of the present invention.

Claims

1. An excitation circuit for a hemispherical resonant gyroscope, characterized in that: include: Sampling circuit, controller, digital-to-analog conversion circuit and signal amplification circuit; The sampling circuit is connected to the controller and the hemispherical resonant gyroscope, and is used to collect the vibration signal of the hemispherical resonator of the hemispherical resonant gyroscope and output it to the controller; The controller is connected to the digital-to-analog conversion circuit, and is used to generate a digital excitation signal according to the vibration signal and output the digital excitation signal to the digital-to-analog conversion circuit; The digital-to-analog conversion circuit is connected to the signal amplification circuit and is used to convert the digital excitation signal into an analog excitation signal and output it to the signal amplification circuit; The signal amplifying circuit is connected to the hemispherical resonant gyroscope and is used for amplifying the analog excitation signal and outputting the amplified signal to the capacitive electrode of the hemispherical resonant gyroscope.

2. The excitation circuit of the hemispherical resonant gyroscope according to claim 1, characterized in that: The signal amplification circuit comprises: A first amplifying unit, the first amplifying unit is connected to the digital-to-analog conversion circuit and is used to amplify the analog excitation signal output by the digital-to-analog conversion circuit for the first time; The second amplifying unit is connected to the first amplifying unit and is used to amplify the analog excitation signal output by the first amplifying unit for the second time.

3. The excitation circuit of the hemispherical resonant gyroscope according to claim 2, characterized in that: The first amplification unit comprises: A first operational amplifier U1, wherein a non-inverting terminal of the first operational amplifier U1 is connected to the digital-to-analog conversion circuit, and an output terminal of the first operational amplifier U1 is connected to the second amplification unit; a seventh resistor R7, wherein a first end of the seventh resistor R7 is connected to the inverting end of the first operational amplifier U1, and a second end of the seventh resistor R7 is grounded; An eighth resistor R8, wherein a first end of the eighth resistor R8 is connected to a first end of the seventh resistor R7 and an inverting end of the first operational amplifier U1, and a second end of the eighth resistor R8 is connected to an output end of the first operational amplifier U1.

4. The excitation circuit of the hemispherical resonant gyroscope according to claim 3, characterized in that: The model of the first operational amplifier U1 is OPA828.

5. The excitation circuit of the hemispherical resonant gyroscope according to claim 3, characterized in that: The second amplification unit comprises: A first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a second operational amplifier U2, a capacitor C1 and a transistor Q1, wherein a first end of the first resistor R1 is connected to an output end of the first operational amplifier U1, a second end of the first resistor R1 is connected to an inverting end of the second operational amplifier U2, a first end of the capacitor C1 is connected to an inverting end of the second operational amplifier U2, a second end of the capacitor C1 is connected to an output end of the second operational amplifier U2, a first end of the second resistor R2 is connected to an output end of the second operational amplifier U2, a second end of the second resistor R2 is connected to a base of the transistor Q1, an emitter of the transistor Q1 is grounded, a collector of the transistor Q1 is respectively connected to a first end of the fourth resistor R4, a first end of the fifth resistor R5 and a first end of the sixth resistor R6, a second end of the fourth resistor R4 is connected to a first end of the third resistor R3, a second end of the third resistor R3 is grounded, a second end of the fifth resistor R5 is connected to a DC high voltage power supply, and a second end of the sixth resistor R6 is an output end.

6. The excitation circuit of the hemispherical resonant gyroscope according to claim 5, characterized in that: The model of the second operational amplifier U2 is OP77.

7. The excitation circuit of the hemispherical resonant gyroscope according to claim 1, characterized in that: The controller is a programmable system-on-chip chip Zynq-7020.

8. The excitation circuit of the hemispherical resonant gyroscope according to claim 1, characterized in that: The digital-to-analog conversion circuit is a DAC11001B digital-to-analog converter.

9. The excitation circuit of the hemispherical resonant gyroscope according to claim 1, characterized in that: The output port of the controller is connected to the input port of the digital-to-analog conversion circuit, and a voltage dividing resistor is provided between each output port of the controller and the corresponding input port of the digital-to-analog conversion circuit.

10. An excitation system for a hemispherical resonant gyroscope, characterized in that: An excitation circuit comprising the hemispherical resonant gyroscope according to any one of claims 1 to 9.

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