Phase shift identification method for hemispherical gyroscope drive detection circuit, electronic device and computer-readable storage medium

Abstract

The present invention discloses a method for identifying the phase shift of a hemispherical gyroscope drive detection circuit, an electronic device and a computer-readable storage medium. The method comprises: controlling the DAC output end of the hemispherical resonant gyroscope main control chip to be connected to the input end of the preamplifier detection circuit, calculating the drive signal in real time and transmitting it to the drive electrode, and collecting the detection signal of the detection electrode in real time, according to all the detection signals of the detection electrode collected when the hemispherical resonant gyroscope is in the detection circuit phase shift identification state, and calculating the detection circuit phase shift identification parameters by modulation and demodulation algorithm, and then solving the phase shift angle of the detection circuit; controlling the drive amplifier circuit output end to be connected to the input end of the preamplifier detection circuit, using the same method to calculate the drive circuit phase shift identification parameters, and solving the phase shift angle of the drive circuit. The present invention realizes the separation and identification of the drive and detection circuit phase shifts, so as to reduce the influence of the circuit phase shift on the zero drift of the resonator, and greatly improve the zero bias stability of the hemispherical gyroscope.

Description

Technical Field

[0001] The present invention relates to the technical field of hemispherical resonant gyroscopes, and in particular to a phase shift identification method for a hemispherical gyroscope drive detection circuit, an electronic device and a computer-readable storage medium. Background Art

[0002] The hemispherical resonant gyroscope is an inertial sensitive device with the advantages of small size, light weight, simple structure and long life. The hemispherical gyroscope generates an AC drive signal by the main control chip, which is sent to the electrode through the amplifier circuit to cause the resonator to vibrate. After the resonator vibrates, the distance between the lip edge and the electrode changes, causing the capacitance to change. The detection circuit detects the change in capacitance and sends it to the main control chip through the preamplifier circuit, generating a new drive signal through the control loop.

[0003] The driving amplifier circuit will cause the signal output from the main control chip to the gyro electrode to phase shift, and the detection signal will also change phase after passing through the amplifier circuit. The phase change will directly cause the amplitude control force and orthogonal control force of the driving resonator to couple with each other, resulting in additional tangential force on the resonator, causing the resonator to drift, and directly affecting the zero-bias stability of the gyro. Summary of the invention

[0004] In view of the problems in the background technology, the present invention proposes a phase shift identification method for a hemispherical gyroscope drive detection circuit to reduce the influence of the circuit phase shift on the zero drift of the resonator and significantly improve the zero bias stability of the hemispherical gyroscope.

[0005] The present invention adopts the following technical solutions:

[0006] A method for identifying phase shift of a hemispherical gyroscope drive detection circuit comprises the following steps:

[0007] S1: Control the DAC output of the hemispherical resonant gyroscope main control chip to be connected to the input of the preamplifier detection circuit, and disconnect the output of the driving amplifier circuit from the input of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in the detection circuit phase shift identification state.

[0008] The driving signal is calculated in real time and transmitted to the driving electrode, and the detection signal of the detection electrode is collected in real time. The detection circuit phase shift identification parameters are calculated based on all the detection signals of the detection electrode collected when the hemispherical resonant gyroscope is in the detection circuit phase shift identification state and the modulation and demodulation algorithm. , and then solve the phase shift angle of the detection circuit according to formula (1):

[0009] (1),

[0010] in is the phase shift angle of the X detection electrode of the detection circuit, is the phase shift angle of the Y detection electrode of the detection circuit;

[0011] S2: Control the DAC output of the hemispherical resonant gyroscope main control chip to disconnect from the input of the preamplifier detection circuit, and connect the output of the drive amplifier circuit to the input of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in the phase shift identification state of the drive circuit.

[0012] The driving signal is calculated in real time and transmitted to the driving electrode, and the detection signal of the detection electrode is collected in real time. The phase shift identification parameters of the driving circuit are obtained according to all the detection signals of the detection electrode collected when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit and the modulation and demodulation algorithm. , according to formula (2), the phase shift angle of the driving circuit is solved:

[0013] (2),

[0014] in, is the phase shift angle of the X driving electrode of the driving circuit, is the phase shift angle of the Y driving electrode of the driving circuit.

[0015] Preferably, when the hemispherical resonant gyroscope is in the detection circuit phase shift identification state, the driving signal is calculated in real time according to formula (3):

[0016] (3),

[0017] in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, and is a constant, For time.

[0018] Preferably, when the hemispherical resonant gyroscope is in the driving circuit phase shift identification state, the driving signal is calculated in real time according to formula (4):

[0019] (4),

[0020] in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, It is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit.

[0021] Preferably, the value range is (0.9-1.1) times the resonant frequency of the hemispherical resonant gyroscope. The value range is 1 / 3-2 / 3 of the maximum output range of the drive circuit.

[0022] Preferably, the detection circuit phase shift identification parameter is obtained by calculating all detection signals of the detection electrode collected when the hemispherical resonant gyro is in the detection circuit phase shift identification state and the modulation and demodulation algorithm. , specifically including the following steps:

[0023] According to formula (5), the detection signal collected in real time when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit is decomposed as follows:

[0024] (5),

[0025] in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit;

[0026] Then all Detection signal and reference signal Multiply and low-pass filter to get ,

[0027] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0028] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0029] All Detection signal and reference signal Multiply and low-pass filter to get .

[0030] Preferably, the phase shift identification parameter of the driving circuit is obtained by calculating all the detection signals of the detection electrodes collected when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit and the modulation and demodulation algorithm. , specifically including the following steps:

[0031] According to formula (6), the detection signal collected in real time when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit is decomposed as follows:

[0032] (6),

[0033] in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit;

[0034] Then all Detection signal and reference signal Multiply and low-pass filter to get ,

[0035] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0036] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0037] All Detection signal and reference signal Multiply and low-pass filter to get .

[0038] Preferably, before step S1, the method further includes: connecting the DAC output terminal of the hemispherical resonant gyroscope main control chip and the output terminal of the driving amplifier circuit to the input terminal of the preamplifier detection circuit through an analog switch respectively.

[0039] The analog switch is used to control the on-off between the DAC output end of the hemispherical resonant gyroscope main control chip and the input end of the preamplifier detection circuit, as well as the on-off between the output end of the driving amplifier circuit and the input end of the preamplifier detection circuit.

[0040] Specifically, the analog switch can control the DAC output end of the hemispherical resonant gyroscope main control chip to be connected to the input end of the preamplifier detection circuit, and the drive amplifier circuit output end is disconnected from the preamplifier detection circuit input end, so that the hemispherical resonant gyroscope is in a detection circuit phase shift identification state;

[0041] The analog switch can also control the DAC output end of the hemispherical resonant gyroscope main control chip to be disconnected from the input end of the preamplifier detection circuit, and the output end of the driving amplifier circuit is connected to the input end of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in a driving circuit phase shift identification state;

[0042] The analog switch can also control the DAC output end and the driving amplifier circuit output end to be disconnected from the preamplifier detection circuit input end, so that the hemispherical resonant gyroscope enters a normal working state.

[0043] As a general inventive concept, the present invention also provides an electronic device, the electronic device comprising:

[0044] Memory for storing computer programs;

[0045] A processor is used to implement the steps of the above-mentioned hemispherical gyroscope drive detection circuit phase shift identification method when executing the computer program.

[0046] As a general inventive concept, the present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned hemispherical gyroscope drive detection circuit phase shift identification method are implemented.

[0047] Compared with the prior art, the advantages of the present invention are:

[0048] The signal phase shift caused by the circuit is a major cause of the zero-bias drift of the resonator, which directly affects its angular sensitivity accuracy. Therefore, the present invention proposes a phase shift identification method for a hemispherical gyroscope drive detection circuit. By designing an analog switch to separate the drive amplifier circuit and the DAC drive signal, the drive and detection circuits are used to self-loop and detect the drive signal. At the same time, through the output and collection of the two signals, the phase shift of the drive and detection circuits is separated and identified, so as to reduce the influence of the circuit phase shift on the zero drift of the resonator and greatly improve the zero-bias stability of the hemispherical gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to make the present invention more easily understood, the present invention will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. These drawings only depict typical embodiments of the present invention and should not be considered as limiting the scope of protection of the present invention.

[0050] Figure 1 Schematic diagram of the drift of the control force of the resonator caused by the phase shift of the driving circuit.

[0051] Figure 2 This is a schematic diagram of the hemispherical meter electrode drive and detection signals.

[0052] Figure 3 Block diagram of the hardware system designed for the method of the present invention.

[0053] Figure 4 This is a flow chart of the drive detection phase shift identification method of the present invention. DETAILED DESCRIPTION

[0054] The following describes the implementation modes of the present invention with reference to the accompanying drawings so that those skilled in the art can better understand the present invention and implement it. However, the enumerated embodiments are not intended to limit the present invention. In the absence of conflict, the following embodiments and the technical features in the embodiments may be combined with each other, wherein the same components are represented by the same figure marks.

[0055] The invention provides a phase shift identification method for a hemispherical gyroscope circuit drive detection circuit. Figure 1 is the Lissajous diagram of the oscillator vibration, which is The vibration mode azimuth makes two antinode vibrations. The main control chip modulates and demodulates the detection signal and inputs it into the main control loop to calculate the frequency of the generated drive signal. , amplitude control value and orthogonal control value , and then the DDS synthesizes and generates a driving signal which is output to the amplifier circuit. After the signal is amplified, it is sent to the driving electrode. Due to the phase shift of the circuit, the amplitude control force and orthogonal control force of the driving signal drift. and After synthesis, it will generate a force that drives the resonator to rotate, causing the resonator to produce zero drift.

[0056] The frequency calculated by the main control chip , amplitude control value and orthogonal control value , the driving signal generated by DDS is output to the amplifier circuit, and the driving signal model is:

[0057] ,

[0058] In this model is the X electrode driving signal, is the Y electrode driving signal, is the resonant frequency of the resonator calculated by the phase-locked control loop, is the vibration mode azimuth, is the time, the driving signal is output to the amplifier circuit through the DDS module DAC chip. Due to the components such as the capacitor and operational amplifier in the amplifier circuit, there will be a time delay in the output signal from the DAC chip to the resonator electrode. The time delay model is:

[0059] ,

[0060] in, This causes a delay in the X electrode drive circuit. This causes a time delay for the Y electrode driving circuit. The final signal voltage output from the electrode to the resonator is:

[0061] ,

[0062] Obviously, the phase shift causes and Coupling occurs, generating a tangential force that drives the vibration mode angle to rotate, causing zero drift.

[0063] According to the resonance theory, the phase difference between the lip vibration and the driving signal at the position of the hemispherical gyroscope driving electrode is 90 degrees, such as Figure 2The middle lip edge A is 90 degrees out of phase with the driving electrode X; the upper lip edge vibration at the detection electrode position is 90 degrees out of phase with the detection electrode collection signal, such as Figure 2 The middle lip edge B differs from the detection electrode X by 90 degrees in phase angle; for the vibration of the resonator, the lip edge corresponding to the driving X electrode differs from the lip edge corresponding to the detection X electrode by 180 degrees, such as Figure 2 The electrodes at the middle lip edge A and lip edge B differ by 180 degrees. Therefore, the signal at the driving electrode differs by 360 degrees from the signal at the detection electrode, that is, they maintain the same phase.

[0064] The signal model generated by the change of gyro capacitance is:

[0065] ,

[0066] in, is the detection signal collected by the X detection electrode, It is the detection signal collected by the Y detection electrode. After the preamplifier circuit, a time delay is generated. The time delay model is:

[0067] ,

[0068] in, This causes a delay in the X electrode detection circuit. The delay is caused by the Y electrode detection circuit. Expand the above formula to get:

[0069] ,

[0070] It can be seen from the model that after the driving and detection delays are coupled, the detection signal will produce an offset in the calculation of the azimuth and orthogonal errors, resulting in control demodulation errors.

[0071] in, To combine the reference signal with the detection signal The parameters obtained by multiplication demodulation are calculated by the modulation and demodulation algorithm.

[0072] The simplified model of the detection signal is as follows:

[0073] ,

[0074] The reference signal is defined as:

[0075] ,

[0076] X detection signal and signal Multiply and low-pass filter to get ;

[0077] X detection signal and signal Multiply and low-pass filter to get ;

[0078] Y detection signal and signal Multiply and low-pass filter to get ;

[0079] Y detection signal and signal Multiply and low-pass filter to get .

[0080] like Figure 4 As shown, the present invention proposes a method for identifying driving phase shift and detection phase shift, such as Figure 3 As shown, the DAC output and the output after the amplifier circuit are directly connected to the preamplifier detection circuit, and an analog switch is added in the middle. When the normal resonator vibration control is performed, the analog switch is in the open state; when the detection phase shift identification is performed, the analog switch S1 is closed and S2 is open; when the drive circuit phase shift identification is performed, the analog switch S1 is open and S2 is closed.

[0081] When performing phase shift identification of the detection circuit, the output signal of the drive circuit is set as follows, where the frequency is the resonant frequency of the hemispherical gyroscope, It is half of the maximum output range.

[0082] ,

[0083] in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, It is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit.

[0084] The signal passes through the preamplifier circuit, which generates a delay. The ADC collects the signal as follows:

[0085] ,

[0086] in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit.

[0087] The simplified model is:

[0088] ,

[0089] in, , , , .

[0090] In the absence of delay, the demodulated value of the signal should only exist and item, and is 0, due to the existence of circuit delay, and Not 0, that is, the phase shift angle caused by the delay is:

[0091] ,

[0092] By calling the modulation and demodulation algorithm in the hemispherical resonant gyroscope main control chip, we can get , and then the detection phase shift angle can be calculated by the above formula.

[0093] When performing phase shift identification of the drive amplifier circuit, the output signal of the drive circuit is set as follows, where the frequency is 5000Hz, It is half of the maximum output range.

[0094] ,

[0095] in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, It is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit.

[0096] The signal passes through the preamplifier circuit, which generates a delay. The ADC collects the signal as follows:

[0097] ,

[0098] The simplified model is:

[0099] ,

[0100] in, , , , .

[0101] In the absence of delay, the demodulated value of the signal should only exist and Due to the existence of circuit delay, and Not 0, that is, the phase shift angle caused by the delay is:

[0102] ,

[0103] By calling the modulation and demodulation algorithm in the hemispherical resonant gyroscope main control chip, we can get By combining the detection phase shift and the driving phase shift calculation results, the circuit phase shift can be identified.

[0104] The following takes a hemispherical resonant gyroscope as an example to illustrate the implementation process of the phase shift identification method of the hemispherical gyroscope circuit drive detection circuit of the present invention:

[0105] The DAC output of the hemispherical resonant gyroscope main control chip and the output of the driving amplifier circuit are connected to the input of the preamplifier detection circuit through analog switches.

[0106] S1: Control the DAC output of the hemispherical resonant gyroscope main control chip to be connected to the input of the preamplifier detection circuit, and disconnect the output of the driving amplifier circuit from the input of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in the detection circuit phase shift identification state.

[0107] According to formula (3), the driving signal is calculated in real time and transmitted to the driving electrode, and the detection signal of the detection electrode is collected in real time;

[0108] (3),

[0109] in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, and f and is a constant, and f is the resonant frequency of the hemispherical resonant gyroscope, which is 5126 Hz in this embodiment. The value is half of the maximum output range of the drive circuit, which is 5V in this embodiment;

[0110] The detection circuit phase shift identification parameters are obtained based on all detection signals collected when the hemispherical resonant gyro is in the detection circuit phase shift identification state and the modulation and demodulation algorithm. Specifically, the detection signal collected in real time when the hemispherical resonant gyro is in the phase shift identification state of the driving circuit is first decomposed according to formula (5).

[0111] (5),

[0112] in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit;

[0113] Then all Detection signal and reference signal Multiply and low-pass filter to get ,

[0114] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0115] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0116] All Detection signal and reference signal Multiply and low-pass filter to get .

[0117] in, .

[0118] This embodiment takes the average value of 10 seconds and obtains

[0119] .

[0120] Then, according to formula (1), the phase shift angle of the detection circuit is solved:

[0121] ,

[0122] in, is the phase shift angle of the X detection electrode of the detection circuit, is the phase shift angle of the Y detection electrode of the detection circuit.

[0123] S2: Control the DAC output of the hemispherical resonant gyroscope main control chip to disconnect from the input of the preamplifier detection circuit, and connect the output of the drive amplifier circuit to the input of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in the phase shift identification state of the drive circuit.

[0124] According to formula (4), the driving signal is calculated in real time and transmitted to the driving electrode, and the detection signal of the detection electrode is collected in real time;

[0125] (4),

[0126] in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the driving circuit, and f and is a constant, and f is the resonant frequency of the hemispherical resonant gyroscope, which is 5126 Hz in this embodiment. The value is half of the maximum output range of the drive circuit, which is 5V in this embodiment;

[0127] The phase shift identification parameters of the driving circuit are obtained by calculating all the detection signals of the detection electrodes when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit and the modulation and demodulation algorithm. , as follows:

[0128] According to formula (6), the detection signal collected in real time when the hemispherical resonant gyro is in the phase shift identification state of the driving circuit is decomposed into:

[0129] (6),

[0130] in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit;

[0131] All Detection signal and reference signal Multiply and low-pass filter to get ,

[0132] All Detection signal and reference signal Multiply and low-pass filter to get ;

[0133] All Detection signal and reference signal Multiply and low-pass filter to get ;

[0134] All Detection signal and reference signal Multiply and low-pass filter to get .

[0135] in, .

[0136] This embodiment takes a 10-second average value and obtains

[0137] .

[0138] According to formula (2), the phase shift angle of the driving circuit is solved:

[0139] (2),

[0140] in, is the phase shift angle of the X driving electrode of the driving circuit, is the phase shift angle of the Y driving electrode of the driving circuit.

[0141] The embodiments described above are only preferred specific implementations of the present invention. This specification uses the phrases "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" to refer to one or more of the same or different embodiments according to the present disclosure. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for identifying phase shift of a hemispherical gyroscope drive detection circuit, characterized in that: The following steps are involved: S1: Control the DAC output of the hemispherical resonant gyroscope main control chip to be connected to the input of the preamplifier detection circuit, and disconnect the output of the driving amplifier circuit from the input of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in the detection circuit phase shift identification state. The driving signal is calculated in real time and transmitted to the driving electrode, and the detection signal of the detection electrode is collected in real time. The detection circuit phase shift identification parameters are calculated based on all the detection signals of the detection electrode collected when the hemispherical resonant gyroscope is in the detection circuit phase shift identification state and the modulation and demodulation algorithm. , and then solve the phase shift angle of the detection circuit according to formula (1): （1）， in is the phase shift angle of the X detection electrode of the detection circuit, is the phase shift angle of the Y detection electrode of the detection circuit; S2: Control the DAC output of the hemispherical resonant gyroscope main control chip to disconnect from the input of the preamplifier detection circuit, and connect the output of the drive amplifier circuit to the input of the preamplifier detection circuit, so that the hemispherical resonant gyroscope is in the phase shift identification state of the drive circuit. The driving signal is calculated in real time and transmitted to the driving electrode, and the detection signal of the detection electrode is collected in real time. The phase shift identification parameters of the driving circuit are obtained according to all the detection signals of the detection electrode collected when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit and the modulation and demodulation algorithm. , according to formula (2), the phase shift angle of the driving circuit is solved: （2）， in, is the phase shift angle of the X driving electrode of the driving circuit, is the phase shift angle of the Y driving electrode of the driving circuit.

2. The phase shift identification method of the hemispherical gyroscope drive detection circuit according to claim 1, characterized in that: When the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit, the driving signal is calculated in real time according to formula (3): （3）， in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyro is in the phase shift identification state of the detection circuit, and is a constant, For time.

3. The phase shift identification method of the hemispherical gyroscope drive detection circuit according to claim 2, characterized in that: When the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, the driving signal is calculated in real time according to formula (4): （4）， in, is the driving signal transmitted to the X driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, It is the driving signal transmitted to the Y driving electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit.

4. The phase shift identification method of the hemispherical gyroscope drive detection circuit according to claim 3, characterized in that: The value range is (0.9-1.1) times the resonant frequency of the hemispherical resonant gyroscope. The value range is 1 / 3-2 / 3 of the maximum output range of the drive circuit.

5. The method for identifying phase shift of a hemispherical gyroscope drive detection circuit according to any one of claims 1 to 4, characterized in that: The detection circuit phase shift identification parameters are obtained by calculating all detection signals of the detection electrode collected when the hemispherical resonant gyro is in the detection circuit phase shift identification state and the modulation and demodulation algorithm. , specifically including the following steps: According to formula (5), the detection signal collected in real time when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit is decomposed as follows: （5）， in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the detection circuit; Then all Detection signal and reference signal Multiply and low-pass filter to get , All Detection signal and reference signal Multiply and low-pass filter to get , All Detection signal and reference signal Multiply and low-pass filter to get , All Detection signal and reference signal Multiply and low-pass filter to get .

6. The method for identifying phase shift of a hemispherical gyroscope drive detection circuit according to claim 5, characterized in that: The phase shift identification parameters of the driving circuit are obtained by calculating all the detection signals of the detection electrodes collected when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, and the modulation and demodulation algorithm. , specifically including the following steps: According to formula (6), the detection signal collected in real time when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit is decomposed as follows: （6）， in, is the detection signal collected by the X detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit, It is the detection signal collected by the Y detection electrode when the hemispherical resonant gyroscope is in the phase shift identification state of the driving circuit; Then all Detection signal and reference signal Multiply and low-pass filter to get , All Detection signal and reference signal Multiply and low-pass filter to get , All Detection signal and reference signal Multiply and low-pass filter to get , All Detection signal and reference signal Multiply and low-pass filter to get .

7. The method for identifying phase shift of a hemispherical gyroscope drive detection circuit according to any one of claims 1 to 4, characterized in that: Before step S1, the method further includes: connecting the DAC output terminal of the hemispherical resonant gyroscope main control chip and the output terminal of the driving amplifier circuit to the input terminal of the preamplifier detection circuit through an analog switch respectively. The analog switch is used to control the on-off between the DAC output end of the hemispherical resonant gyroscope main control chip and the input end of the preamplifier detection circuit, as well as the on-off between the output end of the driving amplifier circuit and the input end of the preamplifier detection circuit.

8. An electronic device, characterized in that: The electronic device comprises: Memory for storing computer programs; A processor, configured to implement the steps of the method for identifying the phase shift of a hemispherical gyroscope drive detection circuit as claimed in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for identifying the phase shift of a hemispherical gyroscope drive detection circuit as claimed in any one of claims 1 to 6 are implemented.

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