Rotation matrix-based hemispherical resonator gyroscope orthogonal coupling noise compensation system and method

Abstract

The invention provides a hemispherical resonator gyroscope orthogonal coupling noise compensation system and a hemispherical resonator gyroscope orthogonal coupling noise compensation method based on a rotation matrix, aiming at the problem of hemispherical resonator gyroscope driving and detection orthogonal noise coupling. According to the invention, an orthogonal coupling noise source of a driving end and a detection end is theoretically analyzed, an error transfer function is deduced, and an orthogonal decoupling compensation unit is designed in a control system, so that orthogonal coupling noise compensation of the detection end is realized, the expression of the orthogonal coupling noise at the detection end is inhibited, the noise characteristic output by the gyroscope is improved, and the output noise of the gyroscope is improved. Therefore, the performance of the gyroscope is improved.

Description

Technical Field

[0001] The invention belongs to a resonant gyroscope control system and relates to an inertial instrument error compensation technology, and in particular to a hemispherical resonant gyroscope orthogonal coupling noise compensation system and method based on a rotation matrix. Background Art

[0002] A gyroscope is a device that uses sensitive elements to detect the angular motion of an object in inertial space. It plays a decisive role in the technical indicators of the inertial navigation system and has extremely wide applications in military and some civilian fields. According to the working principle of the gyroscope, it can be divided into mechanical rotor gyroscope, optical gyroscope and solid wave gyroscope. The solid wave gyroscope has attracted more and more attention due to its uniqueness and reliability. Among them, the hemisphere resonator gyroscope (HRG) has the advantages of a small number of parts, insensitivity to acceleration, and high resolution. It is currently the most accurate solid wave gyroscope and is favored by more and more fields.

[0003] The noise error sources that affect the hemispherical resonant gyroscope mainly include random noises such as electrode noise and mechanical thermal noise. The existence of these noise errors will affect the output noise characteristics of the gyroscope and restrict the accuracy of the hemispherical resonant gyroscope. Domestic and foreign scholars have studied the error mechanism of the resonant gyroscope from different angles. Although relevant literature has modeled and analyzed the noise characteristics of the gyroscope, in these models, most of them simply use mechanical thermal noise as input error to model the vibration of sensitive modes. There are few studies on the influence of orthogonal coupling noise at the drive and detection ends on the gyroscope output. The orthogonal coupling noise is transmitted to the control system through the gyroscope's electrodes, which not only increases the difficulty of control system design, but also seriously affects the accuracy of the gyroscope. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention proposes a hemispherical resonant gyroscope orthogonal coupling noise compensation system and method based on a rotation matrix, which can realize orthogonal coupling noise compensation for a driving end and a detecting end, suppress the expression of the coupling noise of the driving end at the detecting end, improve the noise characteristics of the gyroscope output, and thus enhance the performance of the gyroscope.

[0005] One of the above objects of the present invention is achieved by the following technical solution:

[0006] A hemispherical resonator gyroscope orthogonal coupling noise compensation system based on a rotation matrix, characterized by comprising:

[0007] A resonator and a base electrode, wherein the resonator and the base electrode together form a capacitor plate for releasing a vibration signal of the resonator;

[0008] A time-division signal detection unit, used for transmitting the vibration information of the resonator and the control information;

[0009] A first AD converter and a second AD converter, the two AD converters are used to convert the gyro vibration information from the analog quantity transmitted by the time-division signal detection unit into a digital voltage signal, and transmit it to the control system;

[0010] A signal modulation and demodulation unit is connected to the first AD converter and the second AD converter, and is used to extract the sine component and cosine component of the driving mode vibration signal and extract the sine component and cosine component of the sensitive mode, so as to realize the demodulation of the vibration signal and the modulation of the control information;

[0011] The state information calculation unit is connected to the signal demodulation unit. After the signal demodulation unit realizes the extraction of the sine component and cosine component of the X electrode vibration signal and the sine component and cosine component on the Y electrode after orthogonal decoupling, it is used to decouple the orthogonal coupling noise of the driving end by using the rotation matrix to obtain the real vibration information;

[0012] The orthogonal decoupling compensation unit is used to perform orthogonal rotation matrix decoupling on the vibration components of the sensitive mode to obtain the real motion information of the sensitive vibration mode;

[0013] The driving mode control unit is used to design a frequency sweeping circuit according to the phase information obtained by the state information solving unit to complete the tracking of the resonant frequency of the resonator; at the same time, an amplitude control circuit is designed according to the energy information obtained by the information solving unit to maintain its stable amplitude;

[0014] The sensitive mode control unit is used to synthesize the vibration information of the driving mode and the sensitive mode. In addition, the standing wave azimuth sampling sequence information obtained by state information solution is used to obtain the standing wave azimuth or angular velocity information through the signal processor;

[0015] A signal synthesis modulation unit is used to perform vector synthesis of a frequency stabilization control amount, an amplitude stabilization control amount, an orthogonal control amount, and a standing wave control amount according to the standing wave azimuth information;

[0016] The first DA converter and the second DA converter are used to convert the synthesized sensitive mode control information and the drive mode control information from digital voltage signals into analog signals, and transmit them to the base electrode to achieve closed-loop control of the state control information.

[0017] The second objective of the present invention is achieved by the following technical solutions:

[0018] A method for compensating orthogonal coupling noise of a hemispherical resonant gyroscope based on a rotation matrix comprises the following steps:

[0019] S10. In the time-division signal detection unit, based on the timing interval switching control, the vibration signal of the driving mode electrode end (i.e., the X electrode) and the vibration signal of the sensitive mode electrode end (i.e., the Y electrode) are obtained through the detection amplifier, and transmitted through the AD converter to convert the analog voltage signal into a digital voltage signal.

[0020] S20, the X electrode vibration signal after the AD converter enters the signal demodulation unit 1, and the sine component and cosine component of the digital voltage signal on the X electrode are obtained, and the sine component and cosine component of the digital voltage signal on the Y electrode after the AD converter are directly input into the decoupling compensation unit.

[0021] S30, in the decoupling compensation unit, the sine component and the cosine component included in the vibration signal on the Y electrode are simultaneously input to the decoupling compensation unit, the vibration component on the Y electrode after orthogonal decoupling is obtained, the orthogonal coupling noise introduced by the X electrode vibration signal is decoupled, and more realistic vibration information on the Y electrode is obtained.

[0022] S40, a state information solving unit, through which the sine component and cosine component of the X electrode vibration signal and the vibration component on the Y electrode after orthogonal decoupling are extracted, and the phase information and amplitude information required by the driving mode end control unit and the normal deviation information of the sensitive mode end control unit and the standing wave azimuth or angular velocity information are obtained after solving.

[0023] S50. By driving the mode and sensitive mode control units, according to the phase information and amplitude information of the state information solving unit, the controlled magnitude control quantity required for the corresponding generated frequency tracking loop is calculated, so that the frequencies of the excitation signal and the reference signal are kept consistent with the resonant frequency of the resonator, and the controlled quantity and control quantity required for the amplitude control loop are calculated, so that the resonator maintains a constant energy amplitude for vibration; according to the normal deviation information of the state information solving unit, the standing wave control quantity and the orthogonal controlled quantity and control quantity required for the sensitive mode control unit are calculated to compensate for the frequency splitting of the resonator.

[0024] S60, synthesizing and modulating the sequential square wave control signal according to the frequency tracking control amount, the amplitude control amount, the orthogonal control amount and the standing wave control amount through the signal modulation synthesis unit, thereby forming control information for the X electrode vibration signal and the Y electrode vibration signal.

[0025] S70, converting the modulated and synthesized timing control information into analog control information through a DA converter, and using force dispersion electrodes to act on the gyro electrodes to achieve closed-loop control of the state control information.

[0026] Moreover, in the step S30, the decoupling compensation unit establishes a linear model of orthogonal coupling noise by substituting the vibration equation containing the noise error into the motion equation as follows:

[0027]

[0028] Taking the orthogonal coupling noise as input, and the coupling noise of the in-phase component and orthogonal component of the gyro output signal as output, the orthogonal decoupling matrix of the demodulated gyro output information is realized, and the transmission rule is shown in the following formula:

[0029]

[0030] Then, by designing the orthogonal coupled noise matrix in the control system Thereby, orthogonal decoupling of the demodulated gyro output information is achieved.

[0031] Moreover, in the step S40, the state information solving unit calculates the phase information, vibration energy, normal deviation and standing wave azimuth of the driving mode and the sensitive mode through the second-order dynamic equation of the oscillator, and the calculation formula is:

[0032]

[0033] E=C x 2 +S x 2 +C y 2 +S y 2

[0034]

[0035] In the formula——C x , S x Vibration information after demodulation of the same direction reference signal, orthogonal reference signal and X-axis vibration signal

[0036] ——C y , S y Vibration information after demodulation of the same direction reference signal, orthogonal reference signal and Y-axis vibration signal

[0037] —— is the phase information, and E represents the gyro vibration energy, both of which are the controlled quantities required to drive the modal control unit.

[0038] Among them, the phase information is the controlled reference quantity required by the frequency tracking loop, the vibration energy is the controlled reference quantity of the amplitude control loop, Q represents the normal deviation of the elliptical trajectory, and θ represents the standing wave azimuth. Both are the controlled reference quantities of the sensitive mode control unit, among which the normal deviation is the controlled reference quantity required by the orthogonal control loop, and the standing wave azimuth is the controlled reference quantity of the standing wave control loop.

[0039] Moreover, in the step S60, the frequency control amount ω0 and the amplitude control amount C are modulated by the signal modulation unit according to the standing wave azimuth angle θ. a , orthogonal control quantity C q , standing wave control quantity C p For vector synthesis, the calculation formula is:

[0040]

[0041] Among them, V x (t) is the digital quantity of the driving signal of the X electrode;

[0042] V y (t) is the digital quantity of the driving signal of the Y electrode;

[0043] ω0 is the resonant frequency;

[0044] t is time.

[0045] The advantages and positive effects of the present invention are:

[0046] 1. The orthogonal coupling noise compensation method of the hemispherical resonant gyroscope based on the rotation matrix proposed in the present invention separates the coupling influence of the amplitude error and frequency error on the driving mode on the sensitive mode according to the influence of the mechanical movement of the resonant gyroscope control system and the resonator, analyzes the transfer characteristics of the orthogonal coupling noise, establishes an irrational vibration linear model containing orthogonal coupling noise, has a theoretical basis, and proposes an orthogonal decoupling noise compensation method;

[0047] 2. The orthogonal coupling noise compensation method for a hemispherical resonant gyroscope based on a rotation matrix proposed in the present invention realizes the orthogonal noise decoupling of the driving mode and the sensitive mode by designing an orthogonal decoupling unit for the electrode output signal at the sensitive mode end, reduces the driving mode noise interference coupled in the effective information at the gyroscope output end, and obtains more realistic sensitive mode vibration information through signal processing, thereby increasing the signal-to-noise ratio of the gyroscope output.

[0048] 3. The hemispherical resonant gyro orthogonal coupling noise compensation control system based on the rotation matrix proposed in the present invention realizes the application of the orthogonal decoupling algorithm by designing an orthogonal decoupling unit for the sensitive mode output end, and has good engineering applicability and compensability. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a block diagram of the hemispherical resonant gyro orthogonal coupling noise compensation system based on the rotation matrix of the present invention;

[0050] Figure 2 It is a schematic diagram of an orthogonal rotation decoupling algorithm in a hemispherical resonant gyroscope orthogonal coupling noise compensation method based on a rotation matrix of the present invention;

[0051] Figure 3 It is a schematic diagram of a sensitive mode modal control unit in a hemispherical resonant gyro orthogonal coupling noise compensation system based on a rotation matrix of the present invention;

[0052] Figure 4 It is a schematic diagram of a driving mode control unit in a hemispherical resonant gyroscope orthogonal coupling noise compensation system based on a rotation matrix of the present invention;

[0053] In the figure: 1. resonator, 2. base electrode, 3. time-division detection unit, 4. DA converter, 5. AD converter, 6. AD converter, 7. DA converter, 8. signal synthesis modulation unit, 9. signal demodulation unit, 10. state information solution unit, 11. decoupling compensation unit, 12. driving mode control unit, 13. detection mode control unit. DETAILED DESCRIPTION

[0054] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0055] A hemispherical resonator gyro orthogonal coupling noise compensation system based on rotation matrix, such as Figure 1 As shown, the invention points are: mainly including:

[0056] A resonator 1 and a base electrode 2 are core sensitive units of a hemispherical gyroscope. The resonator 1 and the base electrode 2 together form a capacitor plate. The resonator 1 is hemispherical. The vibration wave generated by the lip edge of the spherical shell under the action of the excitation force regularly changes the gap between the spherical shell and the base electrode, so that the capacitance between the plates changes accordingly, and the vibration signal of the resonator is released, which is transmitted to the control system through the time-division detection unit;

[0057] The time-division signal detection unit 3 is used for transmitting the vibration information and control information of the resonator. Specifically, the time-division detection unit 3 uses a program-controlled multi-way switch to divide the signal into a detection section, a drive section and a very short idle section, wherein the X electrode and the Y electrode are used for the channels of the detection and drive sections at the same time;

[0058] A first DA converter 4 and a second DA converter 7, the two DA converters are used to convert the synthesized sensitive mode control information and the drive mode control information from digital voltage signals into analog signals, and transmit them to the base electrode;

[0059] The first AD converter 5 and the second AD converter 6 are mainly used to convert the gyro vibration information from the analog quantity transmitted by the time-division signal detection unit into a digital voltage signal, and transmit it to the control system for state information resolution and decoupling control. Specifically, the first AD converter 5 and the second AD converter 6, under the control of sequential logic, convert the analog signal formed by the time-division signal detection unit of the vibration signal of the driving mode and the vibration signal of the detection mode into a digital voltage signal;

[0060] The signal synthesis modulation unit 8 is used to convert the frequency stabilization control amount ω0 and the amplitude stabilization control amount C a , orthogonal control quantity C q , standing wave control quantity C p Perform vector synthesis;

[0061] The signal modulation and demodulation unit 9 is connected to the first AD converter 5 and the second AD converter 6, and is used to extract the sine component and cosine component of the driving mode vibration signal and extract the sine component and cosine component of the sensitive mode, so as to realize the demodulation of the vibration signal and the modulation of the control information;

[0062] The state information solving unit 10 is connected to the signal demodulation unit 9. After the signal demodulation unit 9 realizes the extraction of the sine component and cosine component of the X electrode vibration signal and the sine component and cosine component on the Y electrode after orthogonal decoupling, it is used to decouple the orthogonal coupling noise of the driving end using the rotation matrix to obtain more realistic vibration information. Specifically, the phase information and amplitude information required by the driving mode end control unit and the normal deviation information and the standing wave azimuth or angular velocity information of the sensitive mode end control unit are obtained through solving;

[0063] The orthogonal decoupling compensation unit 11, such as Figure 2 As shown, it is used to perform orthogonal rotation matrix decoupling on the vibration components of the sensitive mode to obtain more realistic motion information of the sensitive vibration mode.

[0064] The driving mode control unit 12 is used to design a sweep frequency circuit according to the phase information obtained by the state information solving unit to complete the tracking of the resonant frequency of the resonator. In addition, since the amplitude of the resonator changes due to the influence of various factors such as energy loss during the vibration process of the resonator, an amplitude control circuit is designed according to the energy information obtained by the information solving unit to maintain its stable amplitude.

[0065] The sensitive mode control unit 13 is mainly used to control the sensitive mode and the driving mode. Specifically, the vibration information of the driving mode and the sensitive mode is synthesized, and its Lissajous figure is a straight line. If there is a phase difference between the vibration modes on the two axes, the Lissajous figure will change from a straight line to an ellipse. Therefore, under the condition of external rotation, the change size of the short axis of the ellipse is obtained by real-time solution, which reflects the degree of deviation of the gyro from the ideal normal mode and is used as the error signal of the orthogonal controller. In addition, the standing wave azimuth sampling sequence information obtained by state information solution is obtained through the signal processor to obtain the information reflecting the standing wave azimuth or angular velocity.

[0066] A method for compensating the orthogonal coupling noise of a hemispherical resonant gyroscope based on a rotation matrix is ​​implemented using the above compensation system. Figure 1-Figure 3 , comprising the following steps:

[0067] S10, in the time division signal detection unit, based on the timing interval switching control, the driving mode electrode end vibration signal (i.e., X electrode) and the sensitive mode electrode end vibration signal (i.e., Y electrode) are obtained through the detection amplifier, and transmitted through the AD converter to convert the analog voltage signal into a digital voltage signal;

[0068] S20, the X electrode vibration signal after passing through the two AD converters enters the signal demodulation unit to obtain the sine component and cosine component of the digital voltage signal on the X electrode; the sine component and cosine component of the digital voltage signal on the Y electrode after passing through the AD converter are directly input into the decoupling compensation unit;

[0069] S30, obtaining the sine component and cosine component on the Y electrode after orthogonal decoupling through the decoupling compensation unit for the sine component and cosine component included in the vibration signal on the Y electrode, thereby achieving decoupling of the orthogonal coupling noise introduced by the vibration signal of the X electrode and obtaining more realistic vibration information on the Y electrode;

[0070] S40, extracting the sine component and cosine component of the X electrode vibration signal and the sine component and cosine component on the Y electrode after orthogonal decoupling through the state information solving unit, and obtaining the phase information and amplitude information required by the driving mode end control unit and the normal deviation information of the sensitive mode end control unit and the standing wave azimuth or angular velocity information after solving;

[0071] S50, according to the phase information and amplitude information of the state information solving unit, the driving mode control unit calculates the controlled magnitude control amount required for the corresponding generated frequency tracking loop, so as to achieve the consistency between the frequency of the excitation signal and the reference signal and the resonant frequency of the resonator, and calculates the controlled amount and control amount required for the amplitude control loop, so as to achieve the resonator maintaining a constant energy amplitude for vibration; according to the normal deviation information of the state information solving unit, the sensitive mode control unit calculates the standing wave control amount and the orthogonal controlled amount and control amount required by the sensitive mode control unit, so as to achieve compensation for the frequency cracking of the resonator;

[0072] S60, synthesizing and modulating the sequential square wave control signal through a signal modulation synthesis unit according to the frequency tracking control amount, the amplitude control amount, the orthogonal control amount and the standing wave control amount, to form control information for the X electrode vibration signal and the Y electrode vibration signal;

[0073] S70, passing the modulated and synthesized timing control information through two DA converters, converting the digital control information into analog control information, and using the force dispersion electrode to act on the gyro electrode to achieve closed-loop control of the state control information.

[0074] In the above step S30, in the decoupling compensation unit, the error transfer function of the coupling noise interference can be obtained by using a non-ideal dynamic model containing orthogonal coupling noise and establishing an error transfer relationship. When the damping axis and the rigid axis of the resonator produce an azimuth error, the second-order vibration model of the gyroscope can describe the coupling dynamic characteristics: its expression is:

[0075]

[0076] In the formula, -x, y represent the displacement change of the particle motion in the X and Y axes;

[0077] —— Indicates the change in velocity of the particle moving in the X and Y axes;

[0078] —— Indicates the change in acceleration of the particle motion in the X and Y axes;

[0079] ——m represents the effective mass of the gyroscope;

[0080] ——c xy , k xy Indicates the non-uniform damping coefficient and non-uniform elastic coefficient of the gyroscope;

[0081] ——f x , α, Ω represent the driving force on the resonator, the angular gain and the external input angular velocity respectively;

[0082] ——c x , k x , cy , k y Respectively represent the damping and elastic coefficients in the gyro driving axis and detection axis;

[0083] Assuming that there is no coupled modal vibration, the vibration on the driving mode is shown in the following formula. From the analysis, it can be seen that the phase information of the driving mode will be used as a reference signal for signal modulation and demodulation of other loops:

[0084] x(t)=x a (t)cos(φ(t))

[0085] In the formula, x a , φ(t) represents the amplitude and phase change of the vibration in the X-axis direction;

[0086] Due to the influence of the mechanical movement of the control system and the resonator, the vibration in the azimuth of the driving mode will produce amplitude error and frequency error. However, the orthogonal control signal and the modulation and demodulation signal have the same noise characteristics. Therefore, it is very important to analyze the noise characteristics of the vibration signal in the azimuth of the driving mode. The vibration equation of the driving mode with noise error is shown as follows:

[0087]

[0088] In the formula, x a (t) and φ(t) represent the actual amplitude and actual resonant frequency of the main vibration, and are also the amplitude and frequency stabilization setting values ​​of the control system;

[0089] —— x N The ideal amplitude and amplitude noise representing the main vibration;

[0090] ——ω x ,ω N Indicates the ideal vibration frequency and frequency noise of the main vibration;

[0091] Among them, ω x =k x / m, and in actual work, it is consistent with the actual amplitude x a (t), the amplitude change in the driving mode azimuth is much greater than the amplitude noise. Therefore, the amplitude error has little effect on the gyro output signal. Therefore, the main research is the effect of the vibration frequency error in the driving mode azimuth on the orthogonal coupling noise interference of the gyro output.

[0092] When the hemispherical resonant gyroscope works in full-angle mode, the vibration change in the sensitive mode position is mainly affected by the Coriolis force and the orthogonal coupling force. The vibration in the sensitive mode position is modulated and demodulated by using the vibration reference signal in the driving mode, and the vibration form after orthogonal decomposition can be obtained, as shown in the following formula:

[0093] y(t)=y c (t)cos(φ(t))+y s (t)sin(φ(t))

[0094] In the formula, y c and s are the in-phase and quadrature components of the sensitive mode vibration.

[0095] Compared with the time variable, the amplitude and frequency of the gyro drive modal vibration change very little and can be considered as a slow variable. Therefore, the mean value analysis method is used to introduce slow variable parameters into the vibration equation to obtain the first and second derivatives of the sensitive modal vibration, as shown below:

[0096]

[0097] Ignoring the nonlinear terms and high-order components of slow variables, the decoupling compensation unit substitutes the vibration equation containing noise errors into the motion equation to establish a linear model of orthogonal coupling noise as follows:

[0098]

[0099] Performing Laplace transform on the above equation, we get the s-domain equation for coupled noise:

[0100]

[0101] By taking the orthogonal coupling noise as the input signal, the established linear model can characterize the vibration state in the sensitive mode orientation, and obtain the change of gyro output noise caused by the orthogonal coupling noise. Therefore, considering only the influence of low-order components and linear components, taking the frequency coupling noise of the driving mode as the input, and the coupling noise of the orthogonal component of the gyro output signal as the output, the error transfer function of coupling noise interference can be obtained, as shown in the following formula,

[0102]

[0103] In the decoupling compensation unit, the drive noise coupling error suppression algorithm can be established according to the derived error transfer function model, that is, in the output of the gyro of the control system, the error suppression matrix is ​​designed by analyzing the orthogonal coupling mechanism and the characteristics of the frequency error. The output transformation rule is as follows:

[0104]

[0105] in, The purpose is to decouple the rotation matrix and perform matrix rotation transformation on the modulated and demodulated gyro output information to compensate for the influence of the driving frequency error, which can greatly reduce the influence of the coupling error on the gyro output.

[0106] In the step S40, the state information solving unit calculates the phase information, vibration energy, normal deviation and standing wave azimuth of the driving mode and the sensitive mode through the second-order dynamic equation of the oscillator, and the calculation formula is:

[0107]

[0108] E=C x 2 +S x 2 +C y 2 +S y 2

[0109]

[0110] In the formula——C x , S x Vibration information after demodulation of the same direction reference signal, orthogonal reference signal and X-axis vibration signal

[0111] ——C y , S y Vibration information after demodulation of the same direction reference signal, orthogonal reference signal and Y-axis vibration signal

[0112] —— is the phase information, E represents the gyro vibration energy, both are the controlled quantities required by the driving mode control unit, among which the phase information is the controlled reference quantity required by the frequency tracking loop, the vibration energy is the controlled reference quantity of the amplitude control loop, Q represents the normal deviation of the elliptical trajectory, and θ represents the standing wave azimuth. Both are the controlled reference quantities of the sensitive mode control unit, among which the normal deviation is the controlled reference quantity required by the orthogonal control loop, and the standing wave azimuth is the controlled reference quantity of the standing wave control loop.

[0113] In the step S60, the signal modulation unit modulates the frequency control amount ω0 and the amplitude control amount C according to the standing wave azimuth angle θ. a , orthogonal control quantity C q , standing wave control quantity C p For vector synthesis, the calculation formula is:

[0114]

[0115] Where - V x (t) is the digital quantity of the driving signal of the X electrode;

[0116] ——V y (t) is the digital quantity of the driving signal of the Y electrode;

[0117] ——ω0 is the resonant frequency;

[0118] ——t is the time.

[0119] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A hemispherical resonator gyroscope orthogonal coupling noise compensation system based on rotation matrix, characterized in that: include: A resonator and a base electrode, wherein the resonator and the base electrode together form a capacitor plate for releasing a vibration signal of the resonator; A time-division signal detection unit, used for transmitting the vibration information of the resonator and the control information; A first AD converter and a second AD converter, the two AD converters are used to convert the gyro vibration information from the analog quantity transmitted by the time-division signal detection unit into a digital voltage signal, and transmit it to the control system; A signal modulation and demodulation unit is connected to the first AD converter and the second AD converter, and is used to extract the sine component and cosine component of the driving mode vibration signal and extract the sine component and cosine component of the sensitive mode, so as to realize the demodulation of the vibration signal and the modulation of the control information; The state information calculation unit is connected to the signal demodulation unit. After the signal demodulation unit realizes the extraction of the sine component and cosine component of the X electrode vibration signal and the sine component and cosine component on the Y electrode after orthogonal decoupling, it is used to decouple the orthogonal coupling noise of the driving end by using the rotation matrix to obtain the real vibration information; An orthogonal decoupling compensation unit is used to perform orthogonal rotation matrix decoupling on the vibration information of the sensitive mode to obtain the real motion information of the sensitive vibration mode; The driving mode control unit is used to design a frequency sweeping circuit according to the phase information obtained by the state information solving unit to complete the tracking of the resonant frequency of the resonator; at the same time, an amplitude control circuit is designed according to the energy information obtained by the information solving unit to maintain its stable amplitude; The sensitive mode control unit is used to synthesize the vibration information of the driving mode and the sensitive mode. In addition, the standing wave azimuth sampling sequence information obtained by state information solution is used to obtain the standing wave azimuth or angular velocity information through the signal processor; A signal synthesis modulation unit is used to perform vector synthesis of a frequency stabilization control amount, an amplitude stabilization control amount, an orthogonal control amount, and a standing wave control amount according to the standing wave azimuth information; The first DA converter and the second DA converter are used to convert the synthesized sensitive mode control information and the drive mode control information from digital voltage signals into analog signals, and transmit them to the base electrode to achieve closed-loop control of the state control information.

2. A method for compensating orthogonal coupling noise of a hemispherical resonant gyroscope based on a rotation matrix, characterized in that: The compensation method is based on the hemispherical resonator gyro orthogonal coupling noise compensation system based on the rotation matrix according to claim 1, and comprises the following steps: S10, in the time division signal detection unit, based on the timing interval switching control, the driving mode electrode end vibration signal (i.e., X electrode) and the sensitive mode electrode end vibration signal (i.e., Y electrode) are obtained through the detection amplifier, and transmitted through the AD converter to convert the analog voltage signal into a digital voltage signal; S20, the X electrode vibration signal after the AD converter enters the signal demodulation unit to obtain the sine component and cosine component of the digital voltage signal on the X electrode, and the digital voltage signal on the Y electrode after the AD converter is directly input into the decoupling compensation unit; S30, in the decoupling compensation unit, the sinusoidal component contained in the vibration signal on the Y electrode is input to the decoupling compensation unit, the sinusoidal component on the Y electrode after orthogonal decoupling is obtained, the orthogonal coupling noise introduced by the X electrode vibration signal is decoupled, and more realistic vibration information on the Y electrode is obtained; S40, a state information solving unit, through which the sine component and cosine component of the X electrode vibration signal and the sine component and cosine component on the Y electrode after orthogonal decoupling are extracted, and the phase information and amplitude information required by the driving mode end control unit and the normal deviation information of the sensitive mode end control unit and the standing wave azimuth or angular velocity information are obtained after solving; S50, by means of the driving mode and sensitive mode control unit, according to the phase information and amplitude information of the state information solving unit, the controlled magnitude control amount required for the corresponding generated frequency tracking loop is calculated, so that the frequencies of the excitation signal and the reference signal are kept consistent with the resonant frequency of the resonator, and the controlled amount and control amount required for the amplitude control loop are calculated, so that the resonator maintains a constant energy amplitude for vibration; According to the normal deviation information of the state information solving unit, the standing wave control quantity and the orthogonal controlled quantity and control quantity required by the sensitive mode control unit are calculated to compensate for the frequency decomposition of the resonator; S60, synthesizing and modulating the sequential square wave control signal according to the frequency tracking control amount, the amplitude control amount, the orthogonal control amount and the standing wave control amount through the signal modulation synthesis unit to form control information for the X electrode vibration signal and the Y electrode vibration signal; S70, converting the modulated and synthesized timing control information into analog control information through a DA converter, and using force dispersion electrodes to act on the gyro electrodes to achieve closed-loop control of the state control information.

3. The method for compensating orthogonal coupling noise of a hemispherical resonator gyroscope based on a rotation matrix according to claim 2, characterized in that: In the step S30, the decoupling compensation unit substitutes the vibration equation containing the noise error into the motion equation to establish a linear model of the orthogonal coupling noise as follows: Taking the orthogonal coupling noise as input, the coupling noise of the in-phase component and the orthogonal component of the gyro output signal as output, the error transmission law is shown in the following formula: Then, by designing the orthogonal coupled noise matrix in the control system This enables orthogonal decoupling of the demodulated gyro output information.

4. The method for compensating orthogonal coupling noise of a hemispherical resonator gyroscope based on a rotation matrix according to claim 2, characterized in that: In the step S40, the state information solving unit calculates the phase information, vibration energy, normal deviation and standing wave azimuth of the driving mode and the sensitive mode through the second-order dynamic equation of the oscillator, and the calculation formula is: Q=2(C x S y -C y S x ) E=C x 2 +S x 2 +C y 2 +S y 2 In the formula——C x , S x Vibration information after demodulation of the same direction reference signal, orthogonal reference signal and X-axis vibration signal ——C y , S y Vibration information after demodulation of the same direction reference signal, orthogonal reference signal and Y-axis vibration signal —— is the phase information, and E represents the gyro vibration energy, both of which are the controlled quantities required to drive the modal control unit. Among them, the phase information is the controlled reference quantity required by the frequency tracking loop, the vibration energy is the controlled reference quantity of the amplitude control loop, Q represents the normal deviation of the elliptical trajectory, and θ represents the standing wave azimuth. Both are the controlled reference quantities of the sensitive mode control unit, among which the normal deviation is the controlled reference quantity required by the orthogonal control loop, and the standing wave azimuth is the controlled reference quantity of the standing wave control loop.

5. The method for compensating orthogonal coupling noise of a hemispherical resonator gyroscope based on a rotation matrix according to claim 2, characterized in that: In the step S60, the signal modulation unit modulates the frequency control amount ω0 and the amplitude control amount C according to the standing wave azimuth angle θ. a , orthogonal control quantity C q , standing wave control quantity C p For vector synthesis, the calculation formula is: Among them, V x (t) is the digital quantity of the driving signal of the X electrode; V y (t) is the digital quantity of the driving signal of the Y electrode; ω0 is the resonant frequency; t is time.

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