High-performance hemispherical resonator gyroscope measuring system

Abstract

The invention relates to the field of high-precision gyroscope equipment, in particular to a high-performance hemispherical resonator gyroscope measuring system. The system comprises: a measurement module, wherein the measurement module measures the measurement angular velocity of an object to be measured through a hemispherical resonator gyroscope; the temperature monitoring module comprises a temperature sensor, and the temperature monitoring module is used for monitoring the shell temperature of the sealed shell; the temperature monitoring module is electrically connected with the temperature conversion module, and the temperature conversion module is used for converting the shell temperature into the oscillator temperature of the harmonic oscillator; and an output correction module, the measurement module and the temperature conversion module are electrically connected with the output correction module, and the output correction module can correct the measured angular velocity according to the oscillator temperature to obtain and output the corrected angular velocity of the measured object. The influence of temperature change on output data of the hemispherical resonator gyroscope can be balanced by means of compensation, so that the measurement precision of the hemispherical resonator gyroscope is improved.

Description

Technical Field

[0001] The invention relates to the field of high-precision gyroscope equipment, and in particular to a high-performance hemispherical resonator gyroscope measurement system. Background Art

[0002] Hemispherical Resonator Gyro (HRG) is a high-precision gyroscope with inertial navigation performance. It relies on a hemispherical resonator to accurately measure angular velocity and angle changes. However, during the operation of the hemispherical resonator gyroscope, the change in the ambient temperature of the hemispherical resonator gyroscope will cause the temperature of the resonator to change, which in turn causes the Young's modulus, density, radius, Poisson's ratio and other parameters of the resonator to change, affecting the gyroscope output accuracy.

[0003] Usually, the oscillator temperature of the resonator is monitored, and then the angular velocity measured by the hemispherical resonator gyroscope is corrected by the oscillator temperature to improve the measurement accuracy of the hemispherical resonator gyroscope. However, for high-performance hemispherical resonator gyroscopes, the resonator is usually sealed and packaged in a sealed housing, which is compact and has a small internal space. In order to improve the stability of the resonant frequency and the measurement accuracy, the sealed housing is usually evacuated to a low pressure or vacuum to reduce the influence of air resistance on the resonant motion. In this regard, if a temperature sensor is set inside the sealed housing of the hemispherical resonator gyroscope, the assembly difficulty of the hemispherical resonator gyroscope will be increased. In addition, even if the temperature sensor is installed inside the sealed housing, if the distance between the temperature sensor and the resonator is far away, when the temperature outside the sealed housing changes, the sealed housing presents a certain temperature gradient, and the temperature value fed back by the temperature sensor cannot accurately reflect the temperature of the resonator; if the distance between the temperature sensor and the resonator is close, although the temperature of the resonator can be monitored more accurately, it is easy to affect the resonant motion due to being close to the resonator, and even contact the resonator during the vibration of the resonator.

[0004] Therefore, it is urgent to propose a high-performance hemispherical resonator gyroscope measurement system to balance the influence of temperature changes on the output data of the hemispherical resonator gyroscope through compensation, thereby improving the measurement accuracy of the hemispherical resonator gyroscope. Summary of the invention

[0005] The purpose of the present invention is to provide a high-performance hemispherical resonator gyroscope measurement system, which can at least partially overcome the above-mentioned technical problems, balance the influence of temperature changes on the output data of the hemispherical resonator gyroscope by means of compensation, thereby improving the measurement accuracy of the hemispherical resonator gyroscope, and can monitor the temperature of the resonator without changing the original assembly structure of the hemispherical resonator gyroscope and thereby increasing the difficulty of assembly.

[0006] The present invention provides a high-performance hemispherical resonator gyroscope measurement system, comprising: a measurement module, the measurement module comprising a hemispherical resonator gyroscope, the resonator of the hemispherical resonator gyroscope being encapsulated in a sealed shell, the sealed shell being installed on a measurement object, the measurement module measuring the measurement angular velocity of the measurement object through the hemispherical resonator gyroscope; a temperature monitoring module, the temperature monitoring module comprising a temperature sensor, the temperature sensor being arranged on the outer surface of the sealed shell, the temperature monitoring module being used to monitor the shell temperature of the sealed shell; a temperature conversion module, the temperature monitoring module being electrically connected to the temperature conversion module, the temperature conversion module being used to convert the shell temperature into the oscillator temperature of the resonator; and an output correction module, the measurement module and the temperature conversion module being electrically connected to the output correction module, the output correction module being able to correct the measurement angular velocity according to the oscillator temperature, obtain the corrected angular velocity of the measurement object and output it.

[0007] Furthermore, the sealed shell is composed of a cylindrical base and a hemispherical shell top cover, the open side of the cylindrical base and the open side of the hemispherical shell top cover are sealed and connected facing each other; the resonator is installed on the cylindrical base, the lip edge of the resonator is flush with the open side of the cylindrical base and the shell of the resonator and the hemispherical shell top cover are concentric; the inside of the sealed shell is evacuated.

[0008] Furthermore, the temperature conversion module converts the housing temperature into the oscillator temperature in the following manner: , in, T Z ( t n ) is the n The oscillator temperature at the time step, Δt is the time step, σ is the Stefan-Boltzmann constant, A Z is the effective heat radiation area of ​​the resonator, m Z is the mass of the oscillator, c Z is the specific heat capacity of the oscillator, ε K is the emissivity of the sealed shell, A K is the effective heat radiation area of ​​the sealed shell, ε Z is the radiance of the oscillator, T C ( t n ) is then The shell temperature at each time step.

[0009] Furthermore, a plurality of heat-conducting ridges are arranged on the outer surface of the sealed shell, a plurality of outwardly extending legs are also arranged on the outer surface of the sealed shell, and a mounting portion is arranged at the end of the legs; the hemispherical resonator gyroscope is mounted on the measurement object through the mounting portion, so that a gap exists between the sealed shell and the measurement object.

[0010] Furthermore, a plurality of circumferentially evenly distributed bosses are fixedly provided on the measurement object, a mounting platform is provided at one end of the boss away from the measurement object, a card slot is provided on the side of the mounting platform facing the measurement object, and the width of the card slot gradually increases in the direction from the bottom of the card slot to the opening of the card slot; an elastic body is also provided on the measurement object, the elastic body is located inside the ring-shaped area of ​​each of the bosses, and one end of the elastic body is fixedly connected to the measurement object; each of the mounting parts corresponds to each of the mounting platforms one by one, and a tenon corresponding to the card slot is provided on the mounting part; when the sealing shell is installed on the measurement object, each of the tenons is correspondingly engaged in each of the card slots, and the other end of the elastic body abuts against each of the mounting parts and pushes the mounting part away from the measurement object.

[0011] Furthermore, there are a plurality of temperature sensors, and each of the temperature sensors is evenly arranged on the outer surface of the sealed shell, and the shell temperature is an average of temperature values ​​monitored by each of the temperature sensors.

[0012] Furthermore, the output correction module corrects the measured angular velocity in the following manner: The mapping relationship among the vibrator temperature, the measured angular velocity and the angular velocity deviation is obtained through a temperature chamber test; the current vibrator temperature and the measured angular velocity are substituted into the mapping relationship to obtain the current angular velocity deviation; and the current correction angular velocity is obtained according to the current angular velocity deviation and the measured angular velocity.

[0013] Furthermore, the incubator used in the incubator test includes an insulation chamber and a turntable located inside the insulation chamber, and the turntable can rotate at a preset speed; the incubator test includes: The sealed shell of the hemispherical resonator gyroscope is installed on the turntable, the insulation chamber is adjusted to a first preset temperature and kept warm for a preset time, so that the oscillator temperature is equal to the first preset temperature; the turntable is rotated and the rotation speed of the turntable is gradually increased, the measurement angular velocity of the turntable is measured by the measurement module, and the rotation speed of the turntable and the measurement angular velocity corresponding to the rotation speed are recorded in real time; according to the rotation speed of the mounting platform and the measurement angular velocity, the relationship between the measurement angular velocity and the angular velocity deviation at the first preset temperature is obtained.

[0014] Furthermore, within the operating temperature range of the hemispherical resonator gyroscope, multiple test temperatures are determined with a preset temperature gradient. Through the above-mentioned temperature chamber test, the relationship between the measured angular velocity and the angular velocity deviation corresponding to the multiple test temperatures is obtained, and a mapping relationship of oscillator temperature-measured angular velocity-angular velocity deviation is constructed.

[0015] Furthermore, the corrected angular velocity of the measured object is obtained according to the following method: The mapping relationship between the oscillator temperature, the measured angular velocity and the angular velocity deviation of the hemispherical resonator gyroscope is obtained through the temperature box test; the sealed housing of the hemispherical resonator gyroscope is installed on the measurement object, and the measured angular velocity and the oscillator temperature of the measurement object are obtained; when the oscillator temperature is equal to one of the test temperatures, the angular velocity deviation is determined according to the relationship between the measured angular velocity and the angular velocity deviation at the test temperature, and the corrected angular velocity of the measurement object is obtained; when the oscillator temperature is not equal to any test temperature, the angular velocity deviation corresponding to each test temperature under the measured angular velocity is obtained, and the angular velocity deviation corresponding to each temperature point within the operating temperature range of the hemispherical resonator gyroscope is fitted, and the corrected angular velocity of the measurement object is obtained.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The high-performance hemispherical resonator gyroscope measurement system provided by the embodiment of the present disclosure makes the oscillator temperature equal to the shell temperature at the initial moment, and on this basis, ΔtThe time step is the shell temperature of the current time step and the oscillator temperature of the current time step can be converted into the oscillator temperature of the next time step. Since the shell temperature is monitored in real time by the temperature monitoring module, the shell temperature of each time step can be converted into the corresponding oscillator temperature by the above method, and then the measured angular velocity can be corrected according to the oscillator temperature by the output correction module, thereby realizing temperature compensation, so that the angular velocity measurement result output by the hemispherical resonator gyroscope is more accurate; and the high-performance hemispherical resonator gyroscope measurement system realizes the monitoring of the temperature of the resonator by monitoring the temperature of the sealed shell, that is, no additional components are added inside the packaging structure of the hemispherical resonator gyroscope, thereby not increasing the difficulty of assembling the hemispherical resonator gyroscope, and not bringing potential influence on the vibration of the resonator; 2. The high-performance hemispherical resonator gyroscope measurement system provided by the embodiment of the present disclosure can make the temperature of the sealed shell more uniform by setting the heat-conducting convex ribs, so that the actual heat conduction process between the sealed shell and the resonator is more consistent with the heat conduction process set in the aforementioned process of converting the shell temperature into the oscillator temperature, so that the converted oscillator temperature is more accurate; in addition, the heat-conducting convex ribs can increase the structural strength of the sealed shell, so that the sealed shell itself can be thinner, which is also conducive to reducing the difference between the outer surface temperature and the inner surface temperature of the sealed shell, so that the sealed shell temperature monitored by the temperature monitoring module on the outer surface of the sealed shell is equal to the temperature of the inner surface of the sealed shell, which can make the converted oscillator temperature more accurate; 3. The high-performance hemispherical resonator gyroscope measurement system provided by the embodiment of the present disclosure obtains the mapping relationship between the oscillator temperature-measured angular velocity-angular velocity deviation of the hemispherical resonator gyroscope through a temperature chamber test, and then can know the corresponding angular velocity deviation when the oscillator temperature and the measured angular velocity are known among the three, and then add the angular velocity deviation and the measured angular velocity to obtain the corrected angular velocity of the measured object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 It is a structural block diagram of the high-performance hemispherical resonator gyroscope measurement system according to an embodiment of the present invention; Figure 2 It is a schematic diagram of a three-dimensional structure in which a hemispherical resonator gyroscope of the high-performance hemispherical resonator gyroscope measurement system according to an embodiment of the present invention is installed on a measurement object; Figure 3 A schematic diagram of the installation process of the hemispherical resonator gyroscope installed on a measurement object according to an embodiment of the present invention; Figure 4 Based on Figure 1 A longitudinal section view is shown, wherein the section plane passes through the axis of the resonator; Figure 5 Based on Figure 1 Another longitudinal sectional view is shown, wherein the sectional plane passes through the cross-sectional slot. In the figure, the right side image is a partial enlarged view of the corresponding area of ​​the left side image.

[0018] Marks and corresponding parts names in the attached drawings: 1-resonator; 2-sealed shell; 21-cylindrical base; 211-support; 212-mounting seat; 22-hemispherical shell top cover; 23-heat-conducting convex ridge; 24-support foot; 25-mounting part; 251-tenon; 3-measurement object; 31-boss; 32-mounting platform; 33-slot; 34-elastic body. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation modes and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the present invention is already in the actual development and use stage.

[0020] The hemispherical resonator gyroscope is a high-precision gyroscope that relies on a hemispherical resonator to accurately measure angular velocity and angle changes. However, during the operation of the hemispherical resonator gyroscope, changes in the ambient temperature of the hemispherical resonator gyroscope will cause changes in the temperature of the resonator, which in turn causes changes in the Young's modulus, density, radius, Poisson's ratio and other parameters of the resonator, affecting the gyroscope output accuracy.

[0021] In order to ensure the accuracy of the hemispherical resonator gyroscope, a temperature stabilization method is usually adopted, by adding a temperature control system outside the gyroscope, so that the hemispherical resonator gyroscope works in a constant temperature environment. However, the setting of the temperature control system will make the hemispherical resonator gyroscope structure complicated and increase its volume, which is not conducive to its miniaturized design requirements; for this reason, the present invention provides a high-performance hemispherical resonator gyroscope measurement system, which adopts a temperature compensation method to compensate the output data of the hemispherical resonator gyroscope, thereby balancing the influence of temperature changes on the output data of the hemispherical resonator gyroscope, and achieving the purpose of improving the measurement accuracy of the hemispherical resonator gyroscope.

[0022] Embodiment 1: like Figure 1 As shown, this embodiment provides a high-performance hemispherical resonator gyroscope measurement system, and the high-performance hemispherical resonator gyroscope measurement system includes: A measuring module, wherein the measuring module comprises a hemispherical resonator gyroscope, wherein a resonator 1 of the hemispherical resonator gyroscope is encapsulated inside a sealed housing 2, wherein the sealed housing 2 is mounted on a measuring object 3, and the measuring module measures an angular velocity of the measuring object 3 through the hemispherical resonator gyroscope; A temperature monitoring module, the temperature monitoring module comprising a temperature sensor, the temperature sensor being arranged on the outer surface of the sealed housing 2, the temperature monitoring module being used to monitor the housing temperature of the sealed housing 2; a temperature conversion module, the temperature monitoring module and the temperature conversion module are electrically connected, and the temperature conversion module is used to convert the shell temperature into the oscillator temperature of the resonator 1; and, The output correction module, the measuring module and the temperature conversion module are both electrically connected to the output correction module, and the output correction module can correct the measured angular velocity according to the vibrator temperature, obtain the corrected angular velocity of the measured object 3 and output it.

[0023] Preferably, the interior of the sealed housing 2 is evacuated.

[0024] Specifically, the temperature conversion module converts the housing temperature into the oscillator temperature in the following manner: , in, T Z ( t n ) is the n The oscillator temperature at the time step, Δt is the time step, σ is the Stefan-Boltzmann constant, A Z is the effective heat radiation area of ​​the resonator 1, m Z is the mass of the oscillator 1, c Z is the specific heat capacity of oscillator 1, ε K is the emissivity of the sealed housing 2, A K is the effective heat radiation area of ​​the sealed housing 2, ε Z is the radiance of oscillator 1, T C ( t n ) is the n The shell temperature at each time step.

[0025] Accordingly, by making the vibrator temperature at the initial moment equal to the shell temperature (for example, the hemispherical resonator gyroscope is stored in a heat preservation environment for a preset time, so that the vibrator temperature is equal to the temperature of the sealed shell 2, and then the hemispherical resonator gyroscope is installed on the measurement object 3), on this basis, with Δt as the time step, the shell temperature of the current time step and the vibrator temperature of the current time step are converted into the vibrator temperature of the next time step according to the above method. Since the shell temperature is monitored in real time by the temperature monitoring module, the shell temperature of each time step can be converted into the corresponding vibrator temperature by the above method, and then the measured angular velocity can be corrected according to the vibrator temperature by the output correction module, thereby achieving temperature compensation, so that the angular velocity measurement result output by the hemispherical resonator gyroscope is more accurate. In addition, the high-performance hemispherical resonator gyroscope measurement system monitors the temperature of the resonator 1 by monitoring the temperature of the sealed shell 2, that is, no additional components are added inside the packaging structure of the hemispherical resonator gyroscope, thereby not increasing the difficulty of assembling the hemispherical resonator gyroscope, and not bringing potential influence on the vibration of the resonator 1.

[0026] Preferably, if Figures 2 to 5 As shown, the sealed housing 2 is composed of a cylindrical base 21 and a hemispherical shell top cover 22, and the opening side of the cylindrical base 21 and the opening side of the hemispherical shell top cover 22 are sealed and connected to each other; it should be understood that a heat-conducting dressing, such as heat-conducting silica gel, is provided between the interfaces of the two sealed connections; The resonator 1 is mounted on the cylindrical base 21 , the lip edge of the resonator 1 is flush with the opening side of the cylindrical base 21 , and the shell of the resonator 1 is concentric with the hemispherical shell top cover 22 .

[0027] More specifically, if Figure 4 As shown, the cylindrical base 21 is open at one end and closed at the other end, a support 211 is provided on the plate surface of the closed side of the cylindrical base 21 facing the open side of the cylindrical base 21, and a mounting seat 212 is provided on the end surface of the support 211 facing the open side of the cylindrical base 21, and the shaft of the resonator 1 is installed in the mounting seat 212. Preferably, the support 211 is made of heat-insulating material.

[0028] Accordingly, the heat transfer between the sealed shell 2 and the resonator 1 is only heat radiation, which can greatly simplify the effective heat radiation area of ​​the resonator 1 and the effective heat radiation area of ​​the sealed shell 2 in the process of converting the shell temperature into the oscillator temperature.

[0029] It should be understood that in the above-mentioned high-performance hemispherical resonator gyroscope measurement system, since the process of converting the shell temperature into the vibrator temperature is "iteratively" performed, the error of the converted vibrator temperature will increase with the increase of the number of iterations. For this reason, the high-performance hemispherical resonator gyroscope measurement system provided by this embodiment needs to be "reset to zero" in a timely manner, that is, when the number of iterations is greater than the preset number of iterations (that is, when the error is large, the preset number of iterations is determined by experiments and will not be repeated), for example, by storing the hemispherical resonator gyroscope in a heat preservation environment for a preset time, the vibrator temperature is equal to the shell temperature, and then the iterative calculation is restarted, thereby avoiding the error of the converted vibrator temperature being too large, which is conducive to ensuring the accuracy of the output correction angular velocity. Preferably, in the above process, after the initial time step is selected, the time step is dynamically adjusted during the iterative calculation process. If the shell temperature change per unit time is greater than a first preset threshold, the time step is reduced to be less than the initial time step. If the shell temperature change per unit time is less than a second preset threshold, the time step is increased to be greater than the initial time step. If the shell temperature change per unit time is between the first preset threshold and the second preset threshold, the time step is maintained at the initial time step. Accordingly, by dynamically adjusting the time step, it is beneficial to balance the number of iterations and conversion accuracy.

[0030] Preferably, continue to refer to Figures 2 to 5 , a plurality of heat-conducting convex ridges 23 are arranged on the outer surface of the sealed housing 2 (that is, heat-conducting convex ridges are arranged on the outer surfaces of the cylindrical base 21 and the hemispherical shell top cover 22), and a plurality of outwardly extending supporting legs 24 are also arranged on the outer surface of the sealed housing 2 (the figure shows that the supporting legs 24 are arranged on the cylindrical base 21), and a mounting portion 25 is arranged at the end of the supporting legs 24; The hemispherical resonator gyroscope is mounted on the measurement object 3 through the mounting portion 25 , so that a gap exists between the sealed housing 2 and the measurement object 3 .

[0031] More preferably, these heat-conducting convex corrugations 23 include warp convex corrugations (i.e. Figure 2 The transverse heat-conducting convex ribs 23) and the weft convex ribs (i.e. Figure 2 The longitudinal heat-conducting ridges 23 in the middle).

[0032] Therefore, these heat-conducting ribs 23 can make the temperature of the sealed shell 2 more uniform, thereby making the actual heat conduction process between the sealed shell 2 and the resonator 1 more consistent with the heat conduction process set in the aforementioned process of converting the shell temperature into the oscillator temperature, thereby making the converted oscillator temperature more accurate; in addition, the heat-conducting ribs 23 can increase the structural strength of the sealed shell 2, thereby making the sealed shell 2 itself thinner, and also helping to reduce the difference between the outer surface temperature and the inner surface temperature of the sealed shell 2, thereby making the temperature of the sealed shell 2 monitored by the temperature monitoring module on the outer surface of the sealed shell 2 equal to the temperature of the inner surface of the sealed shell 2, which can make the converted oscillator temperature more accurate.

[0033] More preferably, a plurality of circumferentially evenly distributed bosses 31 are fixedly provided on the measurement object 3, a mounting platform 32 is provided at one end of the boss 31 away from the measurement object 3, a slot 33 is provided on the side of the mounting platform 32 facing the measurement object 3, and the width of the slot 33 gradually increases in the direction from the bottom of the slot 33 to the opening of the slot 33; An elastic body 34 is also provided on the measuring object 3. The elastic body 34 is located inside the annular shape of each boss 31, and one end of the elastic body 34 is fixedly connected to the measuring object 3. Each of the mounting portions 25 corresponds to each of the mounting platforms 32 , and a tenon 251 corresponding to the slot 33 is provided on the mounting portion 25 ; When the sealing housing 2 is mounted on the measurement object 3 , the tenons 251 are correspondingly engaged in the slots 33 , and the other end of the elastic body 34 abuts against the mounting portions 25 and pushes the mounting portions 25 away from the measurement object 3 .

[0034] Specifically, the elastic body 34 can be a spring, or an elastic pad, or an elastic washer. The elastic body 34 shown in the figure is an elastic washer.

[0035] Accordingly, when the hemispherical resonator gyroscope is installed on the measurement object 3, it is only necessary to displace the mounting portion 25 and the mounting platform 32 and press toward the elastic body 34 to shrink the elastic body 34, and then rotate the sealing housing 2 to align the tenon 251 with the slot 33, loosen the sealing housing 2, and complete the installation under the repulsive effect of the elastic body 34. That is, the hemispherical resonator gyroscope and the measurement object 3 can be quickly disassembled and assembled, and then the angular velocity monitoring window period caused by "zeroing" can be reduced by quickly replacing the hemispherical resonator gyroscope when the angular velocity of the measurement object 3 needs to be continuously monitored for a long time. By replacing the hemispherical resonator gyroscope, the high-performance hemispherical resonator gyroscope measurement system can be applied to the application scenario of long-term continuous monitoring of the angular velocity of the measurement object 3, and multiple iterations will not cause excessive errors in the oscillator temperature; in addition, the structural design of the slot 33 can not only play a role in guiding the tenon 251 when installing the hemispherical resonator gyroscope, but also ensure that in the process of monitoring the angular velocity of the measurement object 3, the hemispherical resonator gyroscope and the measurement object 3 will not rotate relative to each other (that is, in the event of a sudden change in the angular velocity of the measurement object 3, the annular mutual rotation along the bosses 31 will not occur, which is specifically achieved by the repulsive effect of the elastic body 34 and the positioning effect of the structure that "the width of the slot 33 gradually increases from the bottom of the slot 33 to the opening of the slot 33").

[0036] More preferably, there are multiple temperature sensors, and each of the temperature sensors is evenly arranged on the outer surface of the sealed shell 2, and the shell temperature is the average of the temperature values ​​monitored by each of the temperature sensors.

[0037] Accordingly, on the basis of setting the aforementioned heat-conducting ribs 23 to make the temperature of the sealed shell 2 uniform, by setting multiple temperature sensors on the outer surface of the sealed shell 2, and then taking the average of the temperature values ​​monitored by each sensor as the shell temperature, accidental errors can be further avoided, thereby ensuring the accuracy of the converted oscillator temperature.

[0038] Embodiment 2: This embodiment is based on Embodiment 1, except that, in this embodiment: The output correction module corrects the measured angular velocity in the following manner: The mapping relationship among the oscillator temperature, measured angular velocity and angular velocity deviation is obtained through the temperature box test; Substituting the current vibrator temperature and the measured angular velocity into the mapping relationship to obtain the current angular velocity deviation; The current corrected angular velocity is obtained according to the current angular velocity deviation and the measured angular velocity.

[0039] Specifically, the incubator used in the incubator test includes an insulation chamber and a turntable located inside the insulation chamber, and the turntable can rotate at a preset speed; The incubator test includes: The sealed housing 2 of the hemispherical resonator gyroscope is mounted on the turntable, and the insulation chamber is adjusted to a first preset temperature and kept warm for a preset time, so that the oscillator temperature is equal to the first preset temperature; Rotate the turntable and gradually increase the rotation speed of the turntable, measure the measurement angular velocity of the turntable by the measurement module, and record the rotation speed of the turntable and the measurement angular velocity corresponding to the rotation speed in real time; According to the rotation speed of the mounting table 32 and the measured angular velocity, the relationship between the measured angular velocity and the angular velocity deviation at the first preset temperature is obtained.

[0040] Furthermore, within the operating temperature range of the hemispherical resonator gyroscope, multiple test temperatures are determined with a preset temperature gradient. Through the above-mentioned temperature chamber test, the relationship between the measured angular velocity and the angular velocity deviation corresponding to the multiple test temperatures is obtained, and a mapping relationship of oscillator temperature-measured angular velocity-angular velocity deviation is constructed.

[0041] Specifically, the correction angular velocity of the measuring object 3 is obtained according to the following method: The mapping relationship between the oscillator temperature, the measured angular velocity and the angular velocity deviation of the hemispherical resonator gyroscope is obtained through the temperature box test; The sealed housing 2 of the hemispherical resonator gyroscope is mounted on the measurement object 3, thereby obtaining the measurement angular velocity and oscillator temperature of the measurement object 3; When the vibrator temperature is equal to one of the test temperatures, the angular velocity deviation is determined according to the relationship between the measured angular velocity and the angular velocity deviation at the test temperature, thereby obtaining the corrected angular velocity of the measurement object 3; When the oscillator temperature is not equal to any test temperature, the angular velocity deviation corresponding to each test temperature under the measured angular velocity is obtained, and then the angular velocity deviation corresponding to each temperature point within the operating temperature range of the hemispherical resonator gyroscope is fitted, and then the corrected angular velocity of the measured object 3 is obtained.

[0042] Accordingly, this embodiment obtains the mapping relationship of the vibrator temperature-measured angular velocity-angular velocity deviation of the hemispherical resonator gyroscope through the temperature box test (i.e., the three-dimensional corresponding relationship between the vibrator temperature-measured angular velocity-angular velocity deviation), and then, when the vibrator temperature and the measured angular velocity are known, the corresponding angular velocity deviation can be known, and then the angular velocity deviation and the measured angular velocity are added to obtain the corrected angular velocity of the measurement object 3. In the above process, by setting an appropriate preset temperature gradient, the time required for the test can be reduced, and the temperature gradient can be refined by fitting, so as to obtain a complete mapping relationship of the vibrator temperature-measured angular velocity-angular velocity deviation.

[0043] It should be understood that the above-mentioned "obtaining the angular velocity deviation corresponding to each test temperature under the measured angular velocity, and then fitting the angular velocity deviation corresponding to each temperature point within the operating temperature range of the hemispherical resonator gyroscope" can also be achieved through the interpolation method. The "fitting method" and "interpolation method" used in this process belong to the existing technology and will not be repeated here.

[0044] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high performance hemispherical resonator gyroscope measurement system, characterized in that: include: A measurement module, the measurement module comprising a hemispherical resonator gyroscope, the resonator (1) of the hemispherical resonator gyroscope being encapsulated inside a sealed housing (2), the sealed housing (2) being mounted on a measurement object (3), the measurement module measuring an angular velocity of the measurement object (3) through the hemispherical resonator gyroscope; A temperature monitoring module, the temperature monitoring module comprising a temperature sensor, the temperature sensor being arranged on the outer surface of the sealed housing (2), the temperature monitoring module being used to monitor the housing temperature of the sealed housing (2); a temperature conversion module, the temperature monitoring module and the temperature conversion module being electrically connected, the temperature conversion module being used to convert the shell temperature into the oscillator temperature of the resonator (1); and An output correction module, the measurement module and the temperature conversion module are both electrically connected to the output correction module, and the output correction module can correct the measured angular velocity according to the vibrator temperature to obtain and output the corrected angular velocity of the measurement object (3).

2. A high performance hemispherical resonator gyroscope measurement system according to claim 1, characterized in that: The sealed housing (2) is composed of a cylindrical base (21) and a hemispherical shell top cover (22), and the opening side of the cylindrical base (21) and the opening side of the hemispherical shell top cover (22) are sealed and connected facing each other; The resonator (1) is mounted on the cylindrical base (21), the lip edge of the resonator (1) is flush with the opening side of the cylindrical base (21), and the shell of the resonator (1) and the hemispherical shell top cover (22) are concentric; The interior of the sealed housing (2) is evacuated.

3. A high performance hemispherical resonator gyroscope measurement system according to claim 2, characterized in that: The temperature conversion module converts the housing temperature into the oscillator temperature in the following manner: ， in, T Z ( t n ) is the n The oscillator temperature at the time step, Δt is the time step, σ is the Stefan-Boltzmann constant, A Z is the effective heat radiation area of ​​the resonator (1), m Z is the mass of the oscillator (1), c Z is the specific heat capacity of the oscillator (1), ε K is the emissivity of the sealed housing (2), A K is the effective heat radiation area of ​​the sealed housing (2), ε Z is the radiative rate of the oscillator (1), T C ( t n ) is the n The shell temperature at each time step.

4. A high performance hemispherical resonator gyroscope measurement system according to claim 3, characterized in that: A plurality of heat-conducting convex ridges (23) are arranged on the outer surface of the sealed housing (2), a plurality of outwardly extending supporting legs (24) are also arranged on the outer surface of the sealed housing (2), and a mounting portion (25) is arranged at the end of the supporting legs (24); The hemispherical resonator gyroscope is mounted on the measurement object (3) via the mounting portion (25), so that a gap exists between the sealed housing (2) and the measurement object (3).

5. A high performance hemispherical resonator gyroscope measurement system according to claim 4, characterized in that: A plurality of circumferentially evenly distributed bosses (31) are fixedly arranged on the measurement object (3); a mounting platform (32) is arranged at one end of the boss (31) away from the measurement object (3); a clamping groove (33) is arranged on a side of the mounting platform (32) facing the measurement object (3); and the width of the clamping groove (33) gradually increases in a direction from the bottom of the clamping groove (33) to the opening of the clamping groove (33); An elastic body (34) is also provided on the measurement object (3), the elastic body (34) is located inside the annular shape of each boss (31), and one end of the elastic body (34) is fixedly connected to the measurement object (3); Each of the mounting portions (25) corresponds to each of the mounting platforms (32) in a one-to-one manner, and a tenon (251) corresponding to the clamping slot (33) is provided on the mounting portion (25); When the sealing housing (2) is mounted on the measurement object (3), each of the tenons (251) is correspondingly engaged in each of the engagement grooves (33), and the other end of the elastic body (34) abuts against each of the mounting portions (25) and pushes the mounting portions (25) in a direction away from the measurement object (3).

6. A high performance hemispherical resonator gyroscope measurement system according to claim 2, characterized in that: There are a plurality of temperature sensors, and each of the temperature sensors is evenly arranged on the outer surface of the sealed shell (2), and the shell temperature is the average value of the temperature values ​​monitored by each of the temperature sensors.

7. A high performance hemispherical resonator gyroscope measurement system according to claim 1, characterized in that: The output correction module corrects the measured angular velocity in the following manner: The mapping relationship among the oscillator temperature, measured angular velocity and angular velocity deviation is obtained through the temperature box test; Substituting the current vibrator temperature and the measured angular velocity into the mapping relationship to obtain the current angular velocity deviation; The current corrected angular velocity is obtained according to the current angular velocity deviation and the measured angular velocity.

8. A high performance hemispherical resonator gyroscope measurement system according to claim 7, characterized in that: The incubator used in the incubator test includes an insulation chamber and a turntable located inside the insulation chamber, and the turntable can rotate at a preset speed; The incubator test includes: The sealed housing (2) of the hemispherical resonator gyroscope is mounted on the turntable, and the insulation chamber is adjusted to a first preset temperature and maintained at a preset temperature for a preset time, so that the oscillator temperature is equal to the first preset temperature; Rotate the turntable and gradually increase the rotation speed of the turntable, measure the measurement angular velocity of the turntable by the measurement module, and record the rotation speed of the turntable and the measurement angular velocity corresponding to the rotation speed in real time; According to the rotation speed of the mounting platform (32) and the measured angular velocity, a relationship between the measured angular velocity and the angular velocity deviation at a first preset temperature is obtained.

9. A high performance hemispherical resonator gyroscope measurement system according to claim 8, characterized in that: Within the operating temperature range of the hemispherical resonator gyroscope, multiple test temperatures are determined with a preset temperature gradient. Through the above-mentioned temperature chamber test, the relationship between the measured angular velocity and the angular velocity deviation corresponding to the multiple test temperatures is obtained, and a mapping relationship of oscillator temperature-measured angular velocity-angular velocity deviation is constructed.

10. A high performance hemispherical resonator gyroscope measurement system according to claim 9, characterized in that: The corrected angular velocity of the measurement object (3) is obtained according to the following method: The mapping relationship between the oscillator temperature, the measured angular velocity and the angular velocity deviation of the hemispherical resonator gyroscope is obtained through the temperature box test; The sealed housing (2) of the hemispherical resonator gyroscope is mounted on a measurement object (3), thereby obtaining a measurement angular velocity and a oscillator temperature of the measurement object (3); When the vibrator temperature is equal to one of the test temperatures, the angular velocity deviation is determined according to the relationship between the measured angular velocity at the test temperature and the angular velocity deviation, thereby obtaining the corrected angular velocity of the measurement object (3); When the oscillator temperature is not equal to any test temperature, the angular velocity deviation corresponding to each test temperature under the measured angular velocity is obtained, and then the angular velocity deviation corresponding to each temperature point within the operating temperature range of the hemispherical resonator gyroscope is fitted, and then the corrected angular velocity of the measurement object (3) is obtained.

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