Quartz tuning fork gyroscope angular velocity compensation method and quartz tuning fork gyroscope

Abstract

The invention provides a quartz tuning fork gyroscope angular velocity compensation method and a quartz tuning fork gyroscope, and relates to the technical field of inertial sensors, the method comprises the following steps: collecting zero offset data and AGC data in a test temperature interval of the quartz tuning fork gyroscope; dividing the AGC data into a plurality of fitting intervals; for each fitting interval, performing unary linear fitting on the AGC data and the zero offset data, and establishing an AGC-zero offset compensation model; using an AGC-zero offset compensation model to calculate compensated zero offset data; and compensating the angular velocity of the quartz tuning fork gyroscope by using the compensated zero offset data. According to the quartz tuning fork gyroscope angular velocity compensation method provided by the invention, under the condition that a temperature sensor does not need to be added, relatively small zero offset data can still be obtained, the zero offset data shows better stability, hysteresis errors and drifting phenomena of the quartz tuning fork gyroscope can be effectively inhibited, and the accuracy of the angular velocity compensation of the quartz tuning fork gyroscope is improved. And the full-temperature zero offset performance of the quartz tuning fork gyroscope is improved.

Description

Technical Field

[0001] The invention relates to the technical field of inertial sensors, in particular to a quartz tuning fork gyroscope angular velocity compensation method and a quartz tuning fork gyroscope. Background Art

[0002] As an excellent inertial sensitive element, the main function of the gyroscope is to accurately measure the rotational angular velocity of an object relative to the inertial space. As the core component of the attitude control and inertial navigation system, the gyroscope plays a pivotal role in aviation, missile guidance, satellite control and aerospace. The quartz tuning fork gyroscope is an inertial sensor that has developed and matured on the basis of the early tuning fork vibration gyroscope and piezoelectric crystal gyroscope. The quartz tuning fork gyroscope is an angular velocity sensor based on the vibration principle, using a quartz tuning fork as a sensitive device to sense the angular velocity.

[0003] Zero bias is the deviation between the output value and the ideal zero point of the sensor when there is no input signal. It is one of the most important performance indicators in the research of inertial sensors and the core and difficulty of gyroscope sensor technology research. The zero bias error of the gyroscope almost determines the error diffusion rate of the inertial sensor when it works independently for a long time. The influence of ambient temperature on the gyroscope sensor cannot be ignored. The full-temperature zero bias index measures the fluctuation range of the zero bias error of the sensor within the rated operating temperature range.

[0004] Therefore, the zero bias compensation of the gyroscope is one of the important means to improve the accuracy of the gyroscope. When the structure and circuit of the gyroscope do not change, improving the accuracy of the gyroscope through compensation algorithm has always been one of the important goals of gyroscope research. Summary of the invention

[0005] The invention discloses a quartz tuning fork gyroscope angular velocity compensation method and a quartz tuning fork gyroscope. The method comprises: collecting zero bias data and AGC data within a test temperature range of the quartz tuning fork gyroscope; dividing the AGC data into a plurality of fitting ranges; for each fitting range, performing a univariate linear fitting on the AGC data and the zero bias data to establish an AGC-zero bias compensation model; calculating the compensated zero bias data using the AGC-zero bias compensation model; and compensating the angular velocity of the quartz tuning fork gyroscope using the compensated zero bias data.

[0006] According to the quartz tuning fork gyroscope angular velocity compensation method of an embodiment of the present invention, the AGC-zero bias compensation model established by univariate linear fitting is:

[0007] in, is the zero bias data after compensation, is the collected zero bias data, AGC is the automatic control gain factor, is the constant term coefficient of the zero bias compensation fitting of the quartz tuning fork gyroscope, Fit the first-order coefficients of the quartz tuning fork gyroscope zero bias compensation.

[0008] According to the quartz tuning fork gyroscope angular velocity compensation method of the embodiment of the present invention, zero bias data and AGC data are collected from low to high temperature.

[0009] According to the quartz tuning fork gyroscope angular velocity compensation method of the embodiment of the present invention, the endpoint data, coefficients and and coefficient Burn-in quartz tuning fork gyroscope.

[0010] The present invention provides a quartz tuning fork gyroscope, which performs angular velocity compensation. The quartz tuning fork gyroscope comprises: an acquisition module, which acquires zero bias data and AGC data within a test temperature interval of the quartz tuning fork gyroscope; a division module, which divides the AGC data into a plurality of fitting intervals; a modeling module, which performs a univariate linear fitting on the AGC data and the zero bias data for each fitting interval, and establishes an AGC-zero bias compensation model; a calculation module, which calculates the compensated zero bias data using the AGC-zero bias compensation model; and a compensation module, which compensates the angular velocity of the quartz tuning fork gyroscope using the compensated zero bias data.

[0011] According to the quartz tuning fork gyroscope of the embodiment of the present invention, the AGC-zero bias compensation model established by univariate linear fitting is:

[0012] in, is the zero bias data after compensation, is the collected zero bias data, AGC is the automatic control gain factor, is the constant term coefficient of the zero bias compensation fitting of the quartz tuning fork gyroscope, Fit the first-order coefficients of the quartz tuning fork gyroscope zero bias compensation.

[0013] The present invention provides a quartz tuning fork gyroscope, which comprises a driving circuit, and the driving circuit executes the above quartz tuning fork gyroscope angular velocity compensation method.

[0014] The present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned quartz tuning fork gyroscope angular velocity compensation method is implemented.

[0015] The present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned quartz tuning fork gyroscope angular velocity compensation method is implemented.

[0016] According to the quartz tuning fork gyroscope angular velocity compensation method and the quartz tuning fork gyroscope of the present invention, smaller zero bias data can still be obtained without adding a temperature sensor, and the zero bias data shows better stability, and the hysteresis error and tail swing phenomenon of the quartz tuning fork gyroscope can be effectively suppressed, thereby improving the full-temperature zero bias performance of the quartz tuning fork gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 The diagram is a schematic diagram showing a sensitive structure in a quartz tuning fork gyroscope, that is, a quartz tuning fork structure.

[0019] Figure 2 One of the temperature-bias curves of the quartz tuning fork gyroscope before temperature compensation is shown.

[0020] Figure 3 One of the temperature-bias curves of the temperature-compensated quartz tuning fork gyroscope is shown.

[0021] Figure 4 The second temperature-bias curve of the quartz tuning fork gyroscope before temperature compensation is shown.

[0022] Figure 5 The second temperature-bias curve of the quartz tuning fork gyroscope after temperature compensation is shown.

[0023] Figure 6 The temperature-AGC curve of a quartz tuning fork gyroscope is shown.

[0024] Figure 7 The AGC-bias curve of the quartz tuning fork gyroscope before AGC-bias compensation is shown.

[0025] Figure 8 is a flow chart of a zero bias compensation method for a quartz tuning fork gyroscope according to an embodiment of the present invention.

[0026] Fig. 9 The offline result curve of the zero bias-temperature of the quartz tuning fork gyroscope before AGC-zero bias compensation is shown.

[0027] Fig.10 An offline result curve of zero bias-temperature after AGC-zero bias compensation of a quartz tuning fork gyroscope according to an embodiment of the present invention is shown.

[0028] Fig.11 The third temperature-bias curve of the quartz tuning fork gyroscope before temperature compensation is shown.

[0029] Fig.12 The third temperature-bias curve of the quartz tuning fork gyroscope after temperature compensation is shown.

[0030] Fig.13 The temperature-bias curve of the quartz tuning fork gyroscope before AGC-bias compensation is shown.

[0031] Fig.14 FIG. 4 shows a temperature-bias curve of a quartz tuning fork gyroscope after AGC-bias compensation according to an embodiment of the present invention.

[0032] Fig.15 The results of the full-temperature bias variation of the AGC-bias compensation model and the temperature compensation model of the single-axis quartz tuning fork gyroscope are shown.

[0033] Fig.16 The results of the full-temperature bias standard deviation of the AGC-bias compensated and temperature compensated single-axis quartz tuning fork gyroscope are shown.

[0034] Fig.17 Shown are the static stability results of the AGC-bias compensation and temperature compensation of a quartz tuning fork gyroscope.

[0035] Fig.18 The structure of a quartz tuning fork gyroscope according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Figure 1 Schematic diagram showing a sensitive structure in a quartz tuning fork gyroscope - a quartz tuning fork structure. Figure 1As shown in the figure, the quartz tuning fork of the quartz tuning fork gyroscope can be divided into a driving fork finger and a detection fork finger, and electrodes are plated on the driving fork finger and the detection fork finger. The driving fork finger and the detection fork finger are coupled through the cantilever in the middle. When the quartz tuning fork gyroscope is working normally, a constant frequency and equal amplitude alternating voltage signal will be applied to its driving electrode. Due to the inverse piezoelectric effect of the quartz material, the two driving fork fingers will be subjected to strain forces of the same magnitude and opposite directions. The driving fork fingers vibrate mechanically under the action of the strain force. When there is an angular velocity input in the axial direction of the detection axis of the driving fork finger, under the action of the Coriolis force, the detection axis of the driving fork finger will be subjected to the force and forced to vibrate along the detection axis at the driving frequency. The force is coupled to the detection fork finger through the cantilever, and the magnitude of the Coriolis force in the fork finger is measured to check the accuracy of the angular velocity.

[0038] The driving circuit in the quartz tuning fork gyroscope is used to drive the closed-loop control of the fork fingers, so that the driven fork fingers always oscillate stably at their series resonant frequency, and their oscillation amplitude remains unchanged or changes only slightly. The difference is that the full analog quartz gyroscope driving circuit adopts an automatic oscillation plus automatic gain control (AGC) scheme, while the digital quartz gyroscope uses a digital phase-locked loop and a digital automatic gain control driving closed-loop control scheme.

[0039] Self-oscillation or digital phase-locked loop will make the drive circuit generate an excitation voltage signal with a frequency equal to the series resonant frequency of the drive fork fingers, and the mechanical oscillation frequency of the drive fork fingers is always the resonant frequency. Automatic gain control will allow the drive circuit to automatically fine-tune the amplitude of the excitation signal, so that the amplitude of the drive fork finger response signal is almost stable over the full temperature range. Therefore, the digital phase-locked loop frequency can be considered as the series resonant frequency of the drive fork fingers, and AGC reflects the actual amplitude information of the excitation signal.

[0040] The quartz tuning fork gyroscope is an angular velocity sensor based on the Coriolis force principle. It uses the piezoelectric effect and inverse piezoelectric effect of quartz crystal to achieve the conversion between mechanical and electrical quantities. The quartz tuning fork gyroscope generally adopts a double tuning fork structure including a driving fork finger and a detecting fork finger. That is, when working normally, the dynamics of the two tuning forks follow the second-order vibration differential equation.

[0041] When the driving force on the driving fork finger for: ; Formula 1 In formula 1, Indicates driving force The amplitude of Indicates time, is the driving resonant frequency.

[0042] Then the steady-state solution of the displacement signal x(t) driving the interdigital finger is: ; Formula 2 In formula 2, is the tuning fork vibration damping coefficient, is the driving resonant frequency.

[0043] When there is an angular velocity perpendicular to the direction of motion of the driving fork finger : ; Formula 3 In formula 3, represents the magnitude of the angular velocity, represents the angular frequency; According to the Coriolis force principle, the Coriolis force : ; Formula 4 In formula 4, M is the equivalent oscillating mass, is a constant related to the structural parameters; The Coriolis force is coupled to the driving fork through the cantilever beam, causing the driving fork to vibrate under forced vibration. The steady-state solution of the displacement signal y(t) of the driving fork is: ; Formula 5 In formula 5, is a constant related to the structural parameters, After the signal is demodulated in the same direction, it can be low-pass filtered to obtain a DC output that is proportional to the input angular velocity.

[0044] Temperature changes will cause changes in the damping coefficient, stiffness and other parameters of the quartz material, and the natural frequency of the quartz interdigital will also change.

[0045] At present, the bias compensation method of quartz tuning fork gyroscope mostly adopts temperature compensation scheme. Quartz tuning fork gyroscope will integrate temperature sensor to realize temperature measurement function. In bias compensation, the temperature data and bias data within the rated working range of the quartz tuning fork gyroscope are first measured, and then the bias data is fitted according to the temperature data. Alternatively, the temperature data is divided into intervals, and the temperature data of the interval is used to fit the corresponding bias data in different intervals, and finally the temperature-bias compensation parameters are obtained. The quartz tuning fork gyroscope will compensate the original bias data according to the real-time measured temperature data and the bias compensation parameters, and finally output the temperature-compensated angular velocity data.

[0046] Although the above temperature compensation method can effectively reduce the zero bias of the gyroscope, it has the following shortcomings. First, the temperature compensation method usually requires the addition of a temperature sensor to collect temperature data. Although the temperature sensor is generally close to the quartz watch movement, it still cannot accurately measure the true temperature of the quartz tuning fork inside the watch movement, which may introduce additional compensation errors and affect the compensation effect. Second, some gyroscope products themselves have tail swing. The tail swing phenomenon is caused by the instability of the zero bias data. If the zero bias data is stable, the gyroscope will not have a tail swing phenomenon. The temperature compensation method cannot effectively compensate for the tail swing. Among them, Figure 2 One of the temperature-bias curves of the quartz tuning fork gyroscope before temperature compensation is shown. Figure 3 Figure 1 shows one of the temperature-bias curves of a quartz tuning fork gyroscope after temperature compensation. Figure 3 It can be seen that the quartz tuning fork gyroscope still has obvious tail swing after temperature compensation. Third, gyroscopes generally have hysteresis, that is, the temperature-zero bias of the gyroscope's heating section and cooling section do not coincide, and the temperature compensation method cannot effectively compensate for the hysteresis error. Among them, Figure 4 The second temperature-bias curve of the quartz tuning fork gyroscope before temperature compensation is shown. Figure 5 The second temperature-bias curve of the quartz tuning fork gyroscope after temperature compensation is shown. Figure 5 It can be seen that the quartz tuning fork gyroscope still has obvious hysteresis error after temperature compensation. The tail swing and hysteresis phenomenon will directly affect the stability, zero bias change and other full-temperature zero bias indicators of the quartz tuning fork gyroscope.

[0047] In view of this, the present invention proposes a novel AGC-bias compensation model, which suppresses the hysteresis error and tail swing phenomenon of the quartz tuning fork gyroscope to improve the full-temperature bias performance of the quartz tuning fork gyroscope.

[0048] The AGC data reflects the driving vibration state of the tuning fork itself and has nothing to do with the angular velocity. The hysteresis information of the AGC can also reflect the temperature variation difference of the zero bias data due to heating and cooling, and the gyro zero bias is related to the temperature variation difference of heating and cooling. Through actual temperature cycle tests, it is found that the AGC data will have hysteresis and tail swing with the temperature. Figure 6 As shown, Figure 6 The temperature-AGC curve of the quartz tuning fork gyroscope is shown. Therefore, the hysteresis characteristics of the AGC data with temperature can be used to compensate the zero bias of the gyroscope to suppress the hysteresis error and tail swing of the gyroscope over the full temperature, thereby providing the full temperature zero bias index of the gyroscope.

[0049] in addition, Figure 7 FIG. 1 shows the AGC-bias curve of the quartz tuning fork gyroscope before AGC-bias compensation. It can be seen that the AGC-bias curve before compensation is relatively linear and smooth.

[0050] refer to Figure 8 An embodiment of the present invention provides a quartz tuning fork gyroscope angular velocity compensation method, specifically comprising: step S710, collecting zero bias data and AGC data within a test temperature range of the quartz tuning fork gyroscope; step S720, dividing the collected AGC data into multiple fitting intervals; step S730, for each fitting interval, performing a univariate linear fitting on the AGC data and the zero bias data to establish an AGC-zero bias compensation model; step S740, calculating the compensated zero bias data using the AGC-zero bias compensation model; and step S750, compensating the angular velocity of the quartz tuning fork gyroscope using the compensated zero bias data.

[0051] In step S710, according to an embodiment of the present invention, a test temperature interval of -45°C to 80°C is adopted, and a test temperature interval of -40°C to 80°C may also be adopted. It is understandable that the test temperature interval may adopt different temperature intervals. Depending on the temperature of the actual working environment of the quartz tuning fork gyroscope, the test temperature interval of the quartz tuning fork gyroscope may be designed to be the temperature range of the actual working environment of the quartz tuning fork gyroscope.

[0052] In addition, in step S710, according to an embodiment of the present invention, zero bias data and AGC data are collected from low to high temperature, that is, zero bias data and AGC data in a temperature rise interval are collected.

[0053] In step S720, according to an embodiment of the present invention, the collected AGC data may be divided into 142 fitting intervals. It is understandable that the collected AGC data may also be divided into other numbers of fitting intervals. The more the number of the divided fitting intervals, the higher the accuracy of the compensated zero bias data obtained by the final fitting.

[0054] In step S730, a univariate linear fit is performed on the AGC data and the zero bias data in a multi-point segmented manner. The compensation model of each fitting interval is as follows: ; Formula 6 in, is the zero bias data after compensation, is the collected zero bias data, AGC is the automatic control gain factor, is the constant term coefficient of the zero bias compensation fitting of the quartz tuning fork gyroscope, Fit the first-order coefficients of the quartz tuning fork gyroscope zero bias compensation.

[0055] In step S740, the compensated zero bias data is calculated using the above AGC-zero bias compensation model .

[0056] In step S750, the compensated zero bias data is used To compensate the angular velocity of the quartz tuning fork gyroscope, thereby obtaining the compensated angular velocity, thereby significantly improving the accuracy of the angular velocity measured by the quartz tuning fork gyroscope.

[0057] According to the AGC-zero bias compensation model of the present invention, the AGC-zero bias compensation model is established by using MATLAB software by utilizing the AGC data and zero bias data collected by the temperature cycle test, and the model is verified offline.

[0058] Fig. 9 The offline result curve of the zero bias-temperature of the quartz tuning fork gyroscope before AGC-zero bias compensation is shown. Fig.10 FIG. 4 shows an offline result curve of zero bias-temperature after AGC-zero bias compensation of a quartz tuning fork gyroscope according to an embodiment of the present invention. Fig. 9 It can be seen that when the temperature of the quartz tuning fork gyroscope is -45°C, the bias data before AGC-bias compensation is about 0.97 degrees / second (hereinafter referred to as ° / s), and when the temperature of the quartz tuning fork gyroscope is 80°C, the bias data before AGC-bias compensation is about 1.1° / s. As the temperature of the quartz tuning fork gyroscope increases, the bias data before AGC-bias compensation gradually increases. Fig.10 It can be seen that when the temperature of the quartz tuning fork gyroscope is in the range of -45℃ to 80℃, the zero bias data after AGC-zero bias compensation is about -3 10 -3 ° / s to 3 10 -3 Therefore, in the same test temperature range, compared with the bias data of the quartz tuning fork gyroscope before compensation, the bias data of the quartz tuning fork gyroscope after AGC-bias compensation is obviously closer to zero and shows better stability.

[0059] The following compares the bias data obtained by using the AGC-bias compensation model of the quartz tuning fork gyroscope according to the embodiment of the present invention with the bias data obtained by using the temperature compensation model of the quartz tuning fork gyroscope.

[0060] First, the AGC data is divided into 142 segments, and the AGC segment points, i.e., the endpoint data of the fitting interval and the quartz tuning fork gyroscope zero bias compensation fitting constant coefficient of the AGC-zero bias compensation model are calculated. And the first-order coefficient of the quartz tuning fork gyroscope zero bias compensation fitting Burned into a quartz tuning fork gyroscope.

[0061] Secondly, a 5V DC voltage is used to power the quartz tuning fork gyroscope of the AGC-zero bias compensation model and the quartz tuning fork gyroscope of the temperature compensation model. The temperature is cycled twice within the operating temperature range of -40℃-80℃, and the compensated zero bias data of the quartz tuning fork gyroscope of the AGC-zero bias compensation model and the quartz tuning fork gyroscope of the temperature compensation model are collected in the heating section from low temperature to high temperature.

[0062] Fig.11 The third temperature-bias curve of the quartz tuning fork gyroscope before temperature compensation is shown. Fig.12 The third temperature-bias curve of the quartz tuning fork gyroscope after temperature compensation is shown. Fig.13 The temperature-bias curve of the quartz tuning fork gyroscope before AGC-bias compensation is shown. Fig.14 The temperature-bias curve of the quartz tuning fork gyroscope after AGC-bias compensation is shown.

[0063] Depend on Fig.11 It can be seen that in the test temperature range of -40℃ to 80℃, the zero bias data before temperature compensation is between about 1.585° / s and 1.63° / s. In the test temperature range of about -40℃ to 15℃, the zero bias data before temperature compensation increases with the increase of temperature, but in the operating temperature range of about 15℃ to 80℃, the zero bias data before temperature compensation decreases with the increase of temperature. Fig.12 It can be seen that in the test temperature range of -40℃-80℃, the zero bias data after temperature compensation is about -7 10 -3 ° / s to 3 10 -3 Therefore, in the same test temperature range of -40℃-80℃, compared with the zero bias data of the quartz tuning fork gyroscope before temperature compensation, the zero bias data of the quartz tuning fork gyroscope after temperature compensation is obviously closer to zero and shows better stability.

[0064] Depend on Fig.13 It can be seen that in the test temperature range of -40℃ to 80℃, the zero bias data before AGC-bias compensation is between about 1.585° / s and 1.63° / s. In the test temperature range of about -40℃ to 15℃, the zero bias data before AGC-bias compensation increases with the increase of temperature, but in the operating temperature range of about 15℃ to 80℃, the zero bias data before AGC-bias compensation decreases with the increase of temperature. Fig.14 It can be seen that in the operating temperature range of about -40℃-80℃, the zero bias data after AGC-zero bias compensation is about -3 10 -3° / s to 2 10 -3 Therefore, in the same test temperature range of -40℃-80℃, compared with the zero bias data of the quartz tuning fork gyroscope before AGC-zero bias compensation, the zero bias data of the quartz tuning fork gyroscope after AGC-zero bias compensation is obviously closer to zero and shows better stability.

[0065] Further, according to the attached Fig.12 and 14 It can be seen that in the test temperature range of -40℃-80℃, the zero bias data after temperature compensation is about -7 10 -3 ° / s to 3 10 -3 ° / s, while the zero bias data after AGC-zero bias compensation is about -3 10 -3 ° / s to 2 10 -3 Therefore, in the same temperature range of -40℃-80℃, compared with the zero bias data of the quartz tuning fork gyroscope after temperature compensation, the zero bias data of the quartz tuning fork gyroscope after AGC-zero bias compensation is significantly smaller, closer to zero, and shows better stability.

[0066] The overall structure of the single-axis quartz tuning fork gyroscope is relatively small, and it is powered by 5V±0.2V. It uses a wire output to transmit data and supply power. The definition of the signal represented by the wire is different depending on the color of the wire.

[0067] The following will verify the AGC-zero bias compensation model in a small batch (for example, 15 samples) and compare the measured performance of the temperature compensation model and the AGC-zero bias compensation model.

[0068] A 5V DC voltage is used to power the quartz tuning fork gyroscope of the AGC-zero bias compensation model and the quartz tuning fork gyroscope of the temperature compensation model. The temperature is cycled twice in the operating temperature range of -45℃-80℃, and the full-temperature zero bias change and full-temperature zero bias standard deviation of the AGC-zero bias compensation model and temperature compensation model of the single-axis quartz tuning fork gyroscope are collected in the heating section from low temperature to high temperature.

[0069] Fig.15 The results of the full-temperature bias variation of the AGC-bias compensation model and the temperature compensation model of the single-axis quartz tuning fork gyroscope are shown. Fig.16 The results of the full-temperature bias standard deviation of the AGC-bias compensation model and the temperature compensation model of the single-axis quartz tuning fork gyroscope are shown.

[0070] Depend on Fig.15 It can be seen that among all the 15 single-axis quartz tuning fork gyroscopes, only the bias changes (degrees / hour, abbreviated as "° / h" in the figure) of the second and fourth single-axis quartz tuning fork gyroscopes after AGC-bias compensation are greater than the bias change after temperature compensation, and only the bias change of the 15th single-axis quartz tuning fork gyroscope after AGC-bias compensation is approximately equal to the bias change after temperature compensation, and the bias changes of the remaining 12 single-axis quartz tuning fork gyroscopes after AGC-bias compensation are all smaller than the bias change after temperature compensation.

[0071] Depend on Fig.16 It can be seen that among all 15 single-axis quartz tuning fork gyroscopes, only the second and twelfth single-axis quartz tuning fork gyroscopes have bias changes after AGC-bias compensation that are greater than the bias change after temperature compensation, and only the tenth single-axis quartz tuning fork gyroscope has bias change after AGC-bias compensation that is approximately equal to the bias change after temperature compensation, and the bias changes of the remaining 12 single-axis quartz tuning fork gyroscopes after AGC-bias compensation are all smaller than the bias change after temperature compensation.

[0072] From the above, it can be seen that among all 15 single-axis quartz tuning fork gyroscopes, the bias change and bias standard deviation change after AGC-bias compensation of the vast majority of single-axis quartz tuning fork gyroscopes (for example, 12) are smaller than the bias change and bias standard deviation after temperature compensation. Therefore, compared with the quartz tuning fork gyroscope using the temperature compensation model, the bias data of the quartz tuning fork gyroscope using the AGC-bias compensation model is closer to zero and shows better stability, and thus the bias index is significantly optimized.

[0073] Furthermore, the AGC-bias compensation model will be verified in a small batch (for example, 15 samples) and the performance of the temperature compensation model of the quartz tuning fork gyroscope and the AGC-bias compensation model under static test conditions will be compared.

[0074] A 5V DC voltage is used to power the quartz tuning fork gyroscope using the AGC-zero bias compensation model and the quartz tuning fork gyroscope using the temperature compensation model. At the test operating temperature of 25°C, the zero bias data of the AGC-zero bias compensation and temperature compensation of the quartz tuning fork gyroscope are collected within 3000s after each power-on.

[0075] Fig.17 Shown are the static stability results of the AGC-bias compensation and temperature compensation of a quartz tuning fork gyroscope.

[0076] Depend on Fig.17It can be seen that among all 15 quartz tuning fork gyroscopes, only the bias data of the 9th quartz tuning fork gyroscope after AGC-bias compensation is greater than the bias data after temperature compensation, and the bias data of the remaining 14 quartz tuning fork gyroscopes after AGC-bias compensation are all smaller than the bias data after temperature compensation. Fig.17 The curve of the bias data after AGC-bias compensation is obviously less volatile and more stable than the curve of the bias data after temperature compensation. Therefore, under static test conditions, compared with the quartz tuning fork gyroscope using the temperature compensation model, the bias data of the quartz tuning fork gyroscope using the AGC-bias compensation model is smaller, closer to zero and more stable.

[0077] Fig.18 The structure of the quartz tuning fork gyroscope according to an embodiment of the present invention is shown. The quartz tuning fork gyroscope 1400 can perform angular velocity compensation, and includes: an acquisition module 1401, which acquires zero bias data and AGC data within the test temperature range of the quartz tuning fork gyroscope; a division module 1402, which divides the AGC data into multiple fitting intervals; a modeling module 1403, which performs a univariate linear fitting on the AGC data and the zero bias data for each fitting interval, and establishes an AGC-zero bias compensation model; a calculation module 1404, which calculates the compensated zero bias data using the AGC-zero bias compensation model; and a compensation module 1405, which compensates the angular velocity of the quartz tuning fork gyroscope using the compensated zero bias data.

[0078] The acquisition module 1401 can acquire zero bias data and AGC data in the test temperature range of -45°C to 80°C, or can acquire zero bias data and AGC data in the test temperature range of -40°C to 80°C. It is understandable that the acquisition module 1401 can acquire zero bias data and AGC data in different test temperature ranges.

[0079] The acquisition module 1401 may acquire zero bias data and AGC data according to the temperature from low to high, that is, acquire zero bias data and AGC data in a temperature rise interval.

[0080] The division module 1402 can divide the collected AGC data into 142 fitting intervals. It is understandable that the division module 1402 can also divide the collected AGC data into other numbers of fitting intervals. The more the number of the divided fitting intervals, the higher the accuracy of the compensated zero bias data obtained by the final fitting.

[0081] The modeling module 1403 can perform a univariate linear fit on the AGC data and the zero bias data in a multi-point segmented manner. The compensation model of each fitting interval is as follows: ; Formula 6 in, is the zero bias data after compensation, is the collected zero bias data, AGC is the automatic control gain factor, is the constant term coefficient of the zero bias compensation fitting of the quartz tuning fork gyroscope, Fit the first-order coefficients of the quartz tuning fork gyroscope zero bias compensation.

[0082] The calculation module 1404 can use the above AGC-bias compensation model to calculate the compensated bias data .

[0083] The compensation module 1405 can use the compensated zero bias data To compensate the angular velocity of the quartz tuning fork gyroscope, thereby obtaining the compensated angular velocity, thereby significantly improving the accuracy of the angular velocity measured by the quartz tuning fork gyroscope.

[0084] The present invention also discloses a quartz tuning fork gyroscope, which comprises a driving circuit, and the driving circuit can execute the above steps of the quartz tuning fork gyroscope angular velocity compensation method according to the present invention.

[0085] The present invention also discloses an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above steps of the quartz tuning fork gyroscope angular velocity compensation method according to the present invention are executed.

[0086] The present invention also discloses a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above steps of the quartz tuning fork gyroscope angular velocity compensation method according to the present invention are executed.

[0087] According to the quartz tuning fork gyroscope angular velocity compensation method of the present invention, smaller zero bias data can still be obtained without adding a temperature sensor, and the zero bias data exhibits better stability, and can effectively suppress the hysteresis error and tail swing phenomenon of the quartz tuning fork gyroscope, thereby improving the full-temperature zero bias performance of the quartz tuning fork gyroscope.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the present invention.

Claims

1. A quartz tuning fork gyroscope angular velocity compensation method, characterized in that: include: Collecting zero bias data and AGC data of the quartz tuning fork gyroscope within a test temperature range; Dividing the AGC data into a plurality of fitting intervals; For each fitting interval, performing a univariate linear fitting on the AGC data and the zero bias data to establish an AGC-zero bias compensation model; Calculating compensated zero bias data using the AGC-zero bias compensation model; as well as The compensated zero bias data is used to compensate for the angular velocity of the quartz tuning fork gyroscope.

2. The quartz tuning fork gyroscope angular velocity compensation method according to claim 1, characterized in that: The AGC-bias compensation model established by the univariate linear fitting is: ； in, is the zero bias data after compensation, is the collected zero bias data, AGC is the automatic control gain factor, is the constant term coefficient of the zero bias compensation fitting of the quartz tuning fork gyroscope, Fit the first-order coefficients of the quartz tuning fork gyroscope zero bias compensation.

3. The quartz tuning fork gyroscope angular velocity compensation method according to claim 1, characterized in that: The zero bias data and the AGC data are collected from low to high temperature.

4. The quartz tuning fork gyroscope angular velocity compensation method according to claim 2, characterized in that: The method further comprises: and coefficient Burn in the quartz tuning fork gyroscope.

5. A quartz tuning fork gyroscope, wherein the quartz tuning fork gyroscope performs angular velocity compensation, characterized in that: include: An acquisition module, used to: acquire zero bias data and AGC data of the quartz tuning fork gyroscope within a test temperature range; A division module, used to: divide the AGC data into a plurality of fitting intervals; A modeling module, used for: for each fitting interval, performing a univariate linear fitting on the AGC data and the zero bias data to establish an AGC-zero bias compensation model; A calculation module, used to calculate compensated zero bias data using the AGC-zero bias compensation model; as well as The compensation module is used to compensate the angular velocity of the quartz tuning fork gyroscope by using the compensated zero bias data.

6. The quartz tuning fork gyroscope according to claim 5, characterized in that: The AGC-bias compensation model established by the univariate linear fitting is: ； in, is the zero bias data after compensation, is the collected zero bias data, AGC is the automatic control gain factor, is the constant term coefficient of the zero bias compensation fitting of the quartz tuning fork gyroscope, Fit the first-order coefficients of the quartz tuning fork gyroscope zero bias compensation.

7. A quartz tuning fork gyroscope, characterized in that: The invention comprises a driving circuit, wherein the driving circuit executes the quartz tuning fork gyroscope angular velocity compensation method according to any one of claims 1 to 4.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the quartz tuning fork gyroscope angular velocity compensation method according to any one of claims 1 to 4 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the quartz tuning fork gyroscope angular velocity compensation method according to any one of claims 1 to 4 is implemented.

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