Hemispherical resonant gyroscope scale error compensation method, device, equipment and medium

Abstract

The present invention relates to the technical field of gyroscopes, and discloses a method, device, equipment and medium for compensating the scale error of a hemispherical resonant gyroscope. The method comprises: obtaining a target temperature value, and obtaining a target resonant frequency value according to the target temperature value; calculating a target electrode asymmetric error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient; calculating a target gyroscope scale factor according to the target electrode asymmetric error coefficient, and calculating a target gyroscope output angular velocity according to the target gyroscope scale factor. The scheme of this embodiment can reduce the scale error of the hemispherical resonant gyroscope and improve the gyroscope accuracy by performing temperature compensation correction on the gyroscope electrode asymmetric error.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscopes, and in particular to a method, device, equipment and medium for compensating a hemispherical resonant gyroscope scale error. Background Art

[0002] The hemispherical resonant gyroscope is a new type of high-precision gyroscope with great development prospects. Its advantages are small size, high precision, low power consumption, high reliability, short start-up time, simple mechanical component structure, wide operating temperature range, strong resistance to ionizing radiation, insensitivity to linear overload, good stability during power failure, and automated production during manufacturing. In addition, the hemispherical resonant gyroscope has a long service life and can work continuously for more than 15 years and maintain the required performance.

[0003] The hemispherical resonator gyroscope controls the resonator through at least a pair of electrodes spaced 45 degrees apart. The electrostatic force is applied to the resonator by the plate capacitor formed by the electrodes and the coating of the resonator. Due to process limitations, the two electrodes are usually not orthogonal, which affects the control accuracy of the hemispherical resonator gyroscope and produces gyro scale error. At present, the electrode asymmetry error is generally obtained by pre-offline calibration, but with changes in ambient temperature and other reasons, the electrode asymmetry error will change, which will cause additional errors in the gyro output, thereby affecting the gyro accuracy. Summary of the invention

[0004] The present invention provides a hemispherical resonant gyroscope scale error compensation method, device, equipment and medium, which can reduce the scale error of the hemispherical resonant gyroscope and improve the gyroscope precision.

[0005] According to one aspect of the present invention, a method for compensating a hemispherical resonant gyroscope scale error is provided, comprising:

[0006] Obtaining a target temperature value, and according to the target temperature value, obtaining a target resonant frequency value;

[0007] Calculating a target electrode asymmetric error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient;

[0008] A target gyro scale factor is calculated based on the target electrode asymmetric error coefficient, and a target gyro output angular velocity is calculated based on the target gyro scale factor.

[0009] According to another aspect of the present invention, there is provided a hemispherical resonant gyroscope scale error compensation device, comprising:

[0010] A resonance frequency value acquisition module, used to acquire a target temperature value, and acquire a target resonance frequency value according to the target temperature value;

[0011] An electrode asymmetry error coefficient calculation module, used to calculate a target electrode asymmetry error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient;

[0012] The gyro output angular velocity calculation module is used to calculate the target gyro scale factor according to the target electrode asymmetric error coefficient, and calculate the target gyro output angular velocity according to the target gyro scale factor.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the hemispherical resonant gyroscope scale error compensation method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program is used to enable a processor to implement the hemispherical resonant gyroscope scale error compensation method described in any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the hemispherical resonant gyroscope scale error compensation method according to any embodiment of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention obtains a target temperature value, and obtains a target resonant frequency value according to the target temperature value; calculates a target electrode asymmetric error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient; calculates a target gyro scale factor according to the target electrode asymmetric error coefficient, and calculates a target gyro output angular velocity according to the target gyro scale factor; and by performing temperature compensation correction on the gyro electrode asymmetric error, the scale error of the hemispherical resonant gyro can be reduced and the gyro accuracy can be improved.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 is a flow chart of a hemispherical resonant gyroscope scale error compensation method provided according to the first embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of a temperature cycle spectrum provided according to Embodiment 1 of the present invention;

[0024] Figure 3 2 is a schematic structural diagram of a hemispherical resonant gyroscope scale error compensation device provided according to Embodiment 2 of the present invention;

[0025] Figure 4 The invention is a schematic structural diagram of an electronic device for implementing the hemispherical resonant gyroscope scale error compensation method according to an embodiment of the invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 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 should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1A flowchart of a hemispherical resonant gyroscope scale error compensation method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where the scale error of a hemispherical resonant gyroscope is compensated based on electrode asymmetry correction. The method can be performed by a hemispherical resonant gyroscope scale error compensation device. The hemispherical resonant gyroscope scale error compensation device can be implemented in the form of hardware and / or software. Typically, the hemispherical resonant gyroscope scale error compensation device can be configured in an electronic device, such as a computer device or a server. Figure 1 As shown, the method includes:

[0030] S110, obtaining a target temperature value, and obtaining a target resonant frequency value according to the target temperature value.

[0031] It should be noted that in the control loop of the hemispherical resonant gyroscope, a frequency tracking loop is used to lock the resonant frequency of the resonator, so that the change of the resonant frequency can be collected. The change of the gyroscope resonant frequency is highly correlated with the change of temperature. Therefore, the gyroscope resonant frequency information can be used instead of temperature to perform temperature compensation on the error parameters.

[0032] Specifically, the correspondence between the temperature value and the resonant frequency value can be preset, and thus, according to the preset correspondence, the target resonant frequency value corresponding to the real-time target temperature value can be obtained. The target temperature value can be the temperature value currently required for temperature compensation of the electrode asymmetry error.

[0033] S120. Calculate a target electrode asymmetry error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient.

[0034] In this embodiment, the temperature compensation model of the electrode asymmetric error coefficient may adopt a polynomial model, for example, the highest term of the polynomial model may be 3, and the variable may be the resonant frequency. Then, a calibration test of the electrode asymmetric error coefficient may be performed in advance, and the electrode asymmetric error coefficient corresponding to different resonant frequency values ​​may be collected and obtained, and a polynomial fitting is performed on each electrode asymmetric error coefficient according to the polynomial model using a specified method to obtain each coefficient of the polynomial model, and then the set of each coefficient may be determined as the pre-calibrated temperature compensation coefficient.

[0035] Specifically, the target resonant frequency value may be introduced into the above-mentioned polynomial model, so as to calculate the target electrode asymmetry error coefficient according to the target resonant frequency value and each coefficient of the polynomial model.

[0036] S130. Calculate a target gyro scale factor according to the target electrode asymmetric error coefficient, and calculate a target gyro output angular velocity according to the target gyro scale factor.

[0037] Specifically, the gyro vibration mode angular position can be acquired, and according to the target electrode asymmetric error coefficient and the gyro vibration mode angular position, the preset mapping relationship table between the electrode asymmetric error coefficient, the gyro vibration mode angular position and the gyro scale factor can be searched to obtain the target gyro scale factor. Further, the current external input angular velocity (for example, the shell rotation angular velocity, the earth's rotation angular velocity, etc.) and the gyro drift value can be measured, and according to the current external input angular velocity, the gyro drift value and the target gyro scale factor, the preset mapping relationship table between the gyro scale factor, the external input angular velocity, the gyro drift value and the gyro output angular velocity can be searched to obtain the current target gyro output angular velocity.

[0038] Optionally, calculating the target gyro scale factor according to the target electrode asymmetric error coefficient may include:

[0039] A target gyro array angle measurement sequence is acquired, and a target gyro scale factor is calculated based on the target electrode asymmetric error coefficient and the target gyro array angle measurement sequence.

[0040] It should be noted that the hemispherical resonant gyroscope is a type of Coriolis vibratory gyroscope, which is sensitive to external angular velocity based on the Coriolis effect. The hemispherical resonant gyroscope has multiple vibration modes, and the precession coefficient of the vibration mode (the ratio of the vibration mode rotation angle to the rotation angle of the gyro sensitive axis) will decrease monotonically with the increase of the circumferential wave number n. In order to facilitate vibration mode detection, the second-order vibration mode with n=2 is generally selected. The second-order vibration mode is a four-antinode vibration, and the antinodes and nodes are 45 degrees apart in space. The motion equation of the hemispherical resonant gyroscope vibration mode is a second-order linear differential equation system. The two equations of the equation system describe the vibration of the resonator along the x-axis direction and the y-axis direction which is 45 degrees to the x-axis direction in space. The two equations are coupled through the external input angular velocity. When the ideal hemispherical resonant gyroscope works normally in the four-antinode motion under the second-order vibration mode, the amplitude of the vibration antinode point should remain constant, and the amplitude of the vibration node should be 0.

[0041] However, the manufacturing process of the resonator is subject to the limitations of the current technology, resulting in inconsistent stiffness, mass and damping of the resonator in the circumferential direction, leading to uneven damping and frequency cracking of the gyroscope. At the same time, in the actual operation of the gyroscope, there are not only non-ideal errors in the resonator, but also asymmetric errors in the signal control of the gyroscope through the electrode and the electrode design, which will lead to mutual coupling between the signals of the gyroscope control loop, resulting in additional output errors of the gyroscope.

[0042] For the above error sources, through the average method analysis, the gyro scale factor can be modeled as K+ΔK=-2(k0+Δk1×cos2θ+Δk2×sin2θ). Therefore, the target gyro scale factor K+ΔK can be calculated based on the formula, where ΔK=-2(Δk1×cos2θ+Δk2×sin2θ) represents the gyro scale factor error, [k0,Δk1,Δk2] represents the electrode asymmetric error coefficient, [1,cosθ,sinθ] represents the gyro array angle measurement sequence, θ represents the gyro vibration mode angular position, and K represents the ideal value of the gyro scale factor. The present embodiment does not specifically limit the method for measuring the gyro vibration mode angular position.

[0043] Optionally, calculating the target gyro output angular velocity according to the target gyro scale factor may include:

[0044] A target external input angular velocity and a target gyro drift value are obtained, and a target gyro output angular velocity is calculated based on the target gyro scale factor, the target external input angular velocity and the target gyro drift value.

[0045] In a specific example, the gyro output angular velocity of a hemispherical resonant gyroscope with electrode asymmetry error and resonator error can be modeled as ,in, represents the gyro output angular velocity, Ω represents the external input angular velocity, and B represents the gyro drift value. In this embodiment, the measurement method of the external input angular velocity and the gyro drift value may not be specifically limited.

[0046] The technical solution of the embodiment of the present invention obtains a target temperature value, and obtains a target resonant frequency value according to the target temperature value; calculates a target electrode asymmetric error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient; calculates a target gyro scale factor according to the target electrode asymmetric error coefficient, and calculates a target gyro output angular velocity according to the target gyro scale factor; and by performing temperature compensation correction on the gyro electrode asymmetric error, the scale error of the hemispherical resonant gyro can be reduced and the gyro accuracy can be improved.

[0047] In an optional implementation of this embodiment, before calculating the target electrode asymmetric error coefficient according to the target resonant frequency value and the pre-calibrated temperature compensation coefficient, the following may also be included:

[0048] By placing the hemispherical resonant gyroscope in a temperature box with a turntable and performing an electrode error coefficient calibration test at each temperature value according to a temperature cycle spectrum, multiple resonant frequency values ​​and corresponding electrode asymmetric error coefficients are obtained;

[0049] The electrode asymmetry error coefficient corresponding to each resonant frequency value is fitted with a polynomial by the least square method to obtain the temperature compensation coefficient.

[0050] In this embodiment, when conducting the calibration test of the electrode error coefficient, the hemispherical resonant gyroscope can be placed in a temperature box with a turntable, and the turntable axis is collinear with the gyroscope sensitive axis. Figure 2 As shown, set the temperature parameters Tmax = 60 degrees Celsius, Tmin = 10 degrees Celsius, ΔT = 5 degrees Celsius, t1 = 30 minutes, t2 = 40 minutes, and test cycle 2 times. Complete an electrode error coefficient calibration test at each temperature value, and record the resonant frequency value and the corresponding electrode asymmetric error coefficient.

[0051] Then, the least square method is used to perform polynomial fitting on the electrode asymmetric error coefficient-frequency sample. The least square method and polynomial model are specifically as follows: and k=k 01 +k 11 ×F+k 21 ×F 2 +k 31 ×F 3 Where F represents the gyro resonance frequency, k represents the current electrode asymmetric error coefficient, Represents the temperature compensation coefficient. By performing polynomial fitting on the recorded Δk1 and Δk2 respectively, the temperature compensation coefficients corresponding to each can be obtained. Thus, the pre-calibrated temperature compensation coefficient can be obtained.

[0052] Correspondingly, in practical applications, after obtaining the current resonant frequency value, it can be based on the formula k=k 01 +k 11 ×F+k 21 ×F 2 +k 31 ×F 3 , according to the current resonant frequency value F, and the temperature compensation coefficients corresponding to the pre-calibrated Δk1 and Δk2 respectively, the current Δk1 and Δk2 are calculated.

[0053] Optionally, according to the temperature cycle spectrum, an electrode error coefficient calibration test is performed at each temperature value to obtain multiple resonant frequency values ​​and corresponding electrode asymmetric error coefficients, which may include:

[0054] According to the temperature cycle spectrum, a current temperature value is obtained, and the temperature box is controlled to operate at the current temperature value;

[0055] Controlling the turntable to rotate forward and reverse at a preset angular velocity, and obtaining the forward output angular velocity and reverse output angular velocity corresponding to the hemispherical resonant gyroscope;

[0056] Calculating a current gyro scale factor according to the forward output angular velocity and the reverse output angular velocity, and performing polynomial fitting on the current gyro scale factor by a least square method to obtain a current electrode asymmetric error coefficient;

[0057] A current resonant frequency value corresponding to the current temperature value is acquired, and the current electrode asymmetry error coefficient is used as the electrode asymmetry error coefficient corresponding to the current resonant frequency value.

[0058] Specifically, each time the electrode error coefficient calibration test is performed, first, the temperature value that needs to be tested can be obtained according to the temperature cycle spectrum, and the temperature box can be adjusted to the current temperature value. Then, the turntable can be driven to rotate forward and reverse at a preset angular velocity (for example, clockwise is the positive direction and counterclockwise is the direction) to make the gyro resonator standing wave precess and stimulate the gyro scale error. Among them, when the turntable rotates forward, the forward output angular velocity of the hemispherical resonator is It can be expressed as When the turntable reverses, the reverse output angular velocity of the hemispherical resonant gyroscope is It can be expressed as , Ω1 and ω ie Represent the preset angular velocity and the angular velocity of the earth's rotation respectively.

[0059] Furthermore, the current gyro scale factor K+ΔK can be calculated based on the forward output angular velocity and the reverse output angular velocity and the above formula; then, the current gyro scale factor can be used to perform polynomial fitting on the electrode asymmetric error coefficient using the least squares method to obtain the current electrode asymmetric error coefficient. The model of the least squares method can be: , α represents the gyro measurement scale factor sequence, H=[1,cosθ,sinθ] represents the gyro array angle measurement sequence, Represents the electrode asymmetry error coefficient.

[0060] Finally, according to the correspondence between the preset temperature value and the resonant frequency value, the current resonant frequency value corresponding to the current temperature value can be obtained, and the correspondence between the current resonant frequency value and the current electrode asymmetric error coefficient can be generated to complete this electrode error coefficient calibration test.

[0061] Optionally, calculating the current gyro scale factor according to the forward output angular velocity and the reverse output angular velocity may include:

[0062] Calculate the angular velocity difference by subtracting the reverse output angular velocity from the forward output angular velocity;

[0063] A current gyro scale factor is calculated according to the angular velocity difference and the preset angular velocity.

[0064] Specifically, it can be based on the scale error equation , according to the forward output angular velocity, the reverse output angular velocity and the preset angular velocity Ω1, the current gyro scale factor K+ΔK is calculated.

[0065] In this embodiment, analysis data show that the gyro scale error varies with temperature before compensation, and can reach a maximum of 72ppm (Parts Per Million). After compensation using the technical solution of this embodiment, the gyro scale error is basically stable at 9ppm. After compensation, the scale error is reduced by 87.5%, which has certain engineering application value.

[0066] Embodiment 2

[0067] Figure 3 This is a schematic diagram of the structure of a hemispherical resonant gyroscope scale error compensation device provided in the second embodiment of the present invention. Figure 3 As shown, the device includes: a resonance frequency value acquisition module 210, an electrode asymmetric error coefficient calculation module 220 and a gyro output angular velocity calculation module 230; wherein,

[0068] The resonance frequency value acquisition module 210 is used to acquire a target temperature value, and acquire a target resonance frequency value according to the target temperature value;

[0069] An electrode asymmetry error coefficient calculation module 220, configured to calculate a target electrode asymmetry error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient;

[0070] The gyro output angular velocity calculation module 230 is used to calculate the target gyro scale factor according to the target electrode asymmetric error coefficient, and calculate the target gyro output angular velocity according to the target gyro scale factor.

[0071] The technical solution of the embodiment of the present invention obtains a target temperature value, and obtains a target resonant frequency value according to the target temperature value; calculates a target electrode asymmetric error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient; calculates a target gyro scale factor according to the target electrode asymmetric error coefficient, and calculates a target gyro output angular velocity according to the target gyro scale factor; and by performing temperature compensation correction on the gyro electrode asymmetric error, the scale error of the hemispherical resonant gyro can be reduced and the gyro accuracy can be improved.

[0072] Optionally, the hemispherical resonant gyro scale error compensation device further includes:

[0073] A coefficient calibration module is used to place the hemispherical resonant gyroscope in a temperature box with a turntable and perform an electrode error coefficient calibration test at each temperature value according to a temperature cycle spectrum to obtain multiple resonant frequency values ​​and corresponding electrode asymmetric error coefficients;

[0074] The coefficient fitting module is used to perform polynomial fitting on the electrode asymmetric error coefficient corresponding to each resonant frequency value by the least square method to obtain the temperature compensation coefficient.

[0075] Optionally, a coefficient calibration module is specifically used to obtain a current temperature value according to the temperature cycle spectrum, and control the temperature box to operate at the current temperature value;

[0076] Controlling the turntable to rotate forward and reverse at a preset angular velocity, and obtaining the forward output angular velocity and reverse output angular velocity corresponding to the hemispherical resonant gyroscope;

[0077] Calculating a current gyro scale factor according to the forward output angular velocity and the reverse output angular velocity, and performing polynomial fitting on the current gyro scale factor by a least square method to obtain a current electrode asymmetric error coefficient;

[0078] A current resonant frequency value corresponding to the current temperature value is acquired, and the current electrode asymmetry error coefficient is used as the electrode asymmetry error coefficient corresponding to the current resonant frequency value.

[0079] Optionally, a coefficient calibration module is specifically used to calculate an angular velocity difference by subtracting the reverse output angular velocity from the forward output angular velocity;

[0080] A current gyro scale factor is calculated according to the angular velocity difference and the preset angular velocity.

[0081] Optionally, the gyro output angular velocity calculation module 230 is specifically used to obtain a target gyro formation angle measurement sequence, and calculate a target gyro scale factor according to the target electrode asymmetric error coefficient and the target gyro formation angle measurement sequence.

[0082] Optionally, the gyro output angular velocity calculation module 230 is specifically used to obtain a target external input angular velocity and a target gyro drift value, and calculate a target gyro output angular velocity according to the target gyro scale factor, the target external input angular velocity and the target gyro drift value.

[0083] The hemispherical resonator gyroscope scale error compensation device provided in the embodiment of the present invention can execute the hemispherical resonator gyroscope scale error compensation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0084] Embodiment 3

[0085] Figure 4 A schematic diagram of the structure of an electronic device 30 that can be used to implement an embodiment of the present invention is shown. The electronic device 30 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 30 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0086] like Figure 4 As shown, the electronic device 30 includes at least one processor 31, and a memory connected to the at least one processor 31, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory 32 or the computer program loaded from the storage unit 38 to the random access memory 33. In the RAM 33, various programs and data required for the operation of the electronic device 30 can also be stored. The processor 31, the ROM 32 and the RAM 33 are connected to each other through a bus 34. The input / output (I / O) interface 35 is also connected to the bus 34.

[0087] A number of components in the electronic device 30 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the electronic device 30 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0088] The processor 31 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 31 include, but are not limited to, a central processing unit, a graphics processing unit, various dedicated artificial intelligence computing chips, various processors running machine learning model algorithms, digital signal processors, and any appropriate processors, controllers, microcontrollers, etc. The processor 31 executes the various methods and processes described above, such as a hemispherical resonant gyro scale error compensation method.

[0089] In some embodiments, the hemispherical resonant gyro scale error compensation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 38. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 30 via the ROM 32 and / or the communication unit 39. When the computer program is loaded into the RAM 33 and executed by the processor 31, one or more steps of the hemispherical resonant gyro scale error compensation method described above may be performed. Alternatively, in other embodiments, the processor 31 may be configured to perform the hemispherical resonant gyro scale error compensation method in any other appropriate manner (e.g., by means of firmware).

[0090] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays, application specific integrated circuits, application specific standard products, systems on a chip, load programmable logic devices, computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0092] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0093] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device 30 having: a display device (e.g., a cathode ray tube or a liquid crystal display) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device 30. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0094] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area networks, wide area networks, blockchain networks, and the Internet.

[0095] A computing system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other. The server may be a cloud server.

[0096] This embodiment may also include a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the hemispherical resonant gyroscope scale error compensation method provided by any embodiment of the present invention.

[0097] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0098] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for compensating a hemispherical resonant gyroscope scale error, characterized in that: include: Obtaining a target temperature value, and according to the target temperature value, obtaining a target resonant frequency value; Calculating a target electrode asymmetric error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient; A target gyro scale factor is calculated based on the target electrode asymmetric error coefficient, and a target gyro output angular velocity is calculated based on the target gyro scale factor.

2. The method according to claim 1, characterized in that Before calculating the target electrode asymmetric error coefficient according to the target resonant frequency value and the pre-calibrated temperature compensation coefficient, the method further includes: By placing the hemispherical resonant gyroscope in a temperature box with a turntable and performing an electrode error coefficient calibration test at each temperature value according to a temperature cycle spectrum, multiple resonant frequency values ​​and corresponding electrode asymmetric error coefficients are obtained; The electrode asymmetry error coefficient corresponding to each resonant frequency value is fitted with a polynomial by the least square method to obtain the temperature compensation coefficient.

3. The method according to claim 2, characterized in that According to the temperature cycle spectrum, the electrode error coefficient calibration test is carried out at each temperature value to obtain multiple resonant frequency values ​​and corresponding electrode asymmetric error coefficients, including: According to the temperature cycle spectrum, a current temperature value is obtained, and the temperature box is controlled to operate at the current temperature value; Controlling the turntable to rotate forward and reverse at a preset angular velocity, and obtaining the forward output angular velocity and reverse output angular velocity corresponding to the hemispherical resonant gyroscope; Calculating a current gyro scale factor according to the forward output angular velocity and the reverse output angular velocity, and performing polynomial fitting on the current gyro scale factor by a least square method to obtain a current electrode asymmetric error coefficient; A current resonant frequency value corresponding to the current temperature value is acquired, and the current electrode asymmetry error coefficient is used as the electrode asymmetry error coefficient corresponding to the current resonant frequency value.

4. The method according to claim 3, characterized in that The current gyro scale factor is calculated according to the forward output angular velocity and the reverse output angular velocity, including: Calculate the angular velocity difference by subtracting the reverse output angular velocity from the forward output angular velocity; A current gyro scale factor is calculated according to the angular velocity difference and the preset angular velocity.

5. The method according to claim 1, characterized in that According to the target electrode asymmetric error coefficient, the target gyro scale factor is calculated, including: A target gyro array angle measurement sequence is acquired, and a target gyro scale factor is calculated based on the target electrode asymmetric error coefficient and the target gyro array angle measurement sequence.

6. The method according to claim 1, characterized in that Calculating the target gyro output angular velocity according to the target gyro scale factor includes: A target external input angular velocity and a target gyro drift value are obtained, and a target gyro output angular velocity is calculated based on the target gyro scale factor, the target external input angular velocity and the target gyro drift value.

7. A hemispherical resonant gyroscope scale error compensation device, characterized in that: include: A resonance frequency value acquisition module, used to acquire a target temperature value, and acquire a target resonance frequency value according to the target temperature value; An electrode asymmetry error coefficient calculation module, used to calculate a target electrode asymmetry error coefficient according to the target resonant frequency value and a pre-calibrated temperature compensation coefficient; The gyro output angular velocity calculation module is used to calculate the target gyro scale factor according to the target electrode asymmetric error coefficient, and calculate the target gyro output angular velocity according to the target gyro scale factor.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor, and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the hemispherical resonant gyroscope scale error compensation method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used to enable a processor to implement the hemispherical resonant gyroscope scale error compensation method according to any one of claims 1 to 6 when the computer program is executed.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the hemispherical resonant gyroscope scale error compensation method according to any one of claims 1 to 6.

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