Orthogonal coupling noise compensation system and method for hemispherical resonator gyro based on rotation matrix

Abstract

The application aims at the orthogonal coupling noise of driving and detecting end of hemispherical resonator gyro, and provides a hemispherical resonator gyro orthogonal coupling noise compensation system and method based on rotation matrix. The application analyzes the orthogonal coupling noise source of driving and detecting end through theory, deduces the error transfer function, designs the orthogonal decoupling compensation unit in the control system, realizes the orthogonal coupling noise compensation of the detecting end, suppresses the expression of the orthogonal coupling noise in the detecting end, improves the noise characteristics of the gyro output, and thus improves the performance of the gyro.

Description

Technical Field

[0001] This invention pertains to resonant gyroscope control systems and relates to inertial instrument error compensation technology, specifically to a hemispherical resonant gyroscope orthogonal coupling noise compensation system and method based on a rotation matrix. Background Technology

[0002] A gyroscope is a device that uses a sensitive element to detect the angular motion of an object in inertial space. It plays a decisive role in the technical specifications of inertial navigation systems and has extremely wide applications in military and some civilian fields. Based on their working principle, gyroscopes can be classified into mechanical rotor gyroscopes, optical gyroscopes, and solid-state wave gyroscopes. Solid-state wave gyroscopes are receiving increasing attention due to their unique characteristics and reliability. Among them, the hemisphere resonator gyroscope (HRG) has advantages such as fewer parts, insensitivity to acceleration, and high resolution, making it the most accurate solid-state wave gyroscope currently available and increasingly favored by various fields.

[0003] The main noise error sources affecting hemispherical resonant gyroscopes include random noise such as electrode noise and mechanical / thermal noise. The presence of these noise errors affects the output noise characteristics of the gyroscope and restricts its accuracy. Domestic and international scholars have studied the error mechanism of resonant gyroscopes from different perspectives. Although relevant literature has modeled and analyzed the noise characteristics of gyroscopes, most of these models simply use mechanical / thermal noise as the input error to model the vibration of the sensitive mode. Research on the impact of orthogonal coupling noise between the drive and detection ends on the gyroscope output is limited. Furthermore, this orthogonal coupling noise is transmitted to the control system through the gyroscope's electrodes, not only increasing the design difficulty of the control system but also severely affecting the gyroscope's accuracy. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes an orthogonal coupling noise compensation system and method for a hemispherical resonant gyroscope based on a rotation matrix. This system and method can achieve orthogonal coupling noise compensation for the driving and detection ends, suppress the expression of coupling noise from the driving end at the detection end, improve the noise characteristics of the gyroscope output, and thus enhance the performance of the gyroscope.

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

[0006] A hemispherical resonant gyroscope orthogonal coupling noise compensation system based on a rotation matrix, characterized in that it includes:

[0007] The resonator and the base electrode together form a capacitor plate for releasing the resonator vibration signal;

[0008] The time-division signal detection unit is used for transmitting harmonic oscillator vibration information and control information;

[0009] The first and second AD converters are used to convert the analog signal transmitted by the time-division signal detection unit into a digital voltage signal and transmit it to the control system.

[0010] The signal modulation and demodulation unit, connected to the first AD converter and the second AD converter, is used to extract the sine and cosine components of the driving mode vibration signal and the sine and cosine components 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 extracts the sine and cosine components of the X electrode vibration signal and the sine and cosine components of the Y electrode after orthogonal decoupling, it is used to decouple the orthogonal coupling noise of the drive end using a rotation matrix to obtain the real vibration information.

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

[0013] The drive mode control unit is used to design a sweeping loop to track the resonant frequency of the harmonic oscillator based on the phase information obtained by the state information calculation unit; at the same time, it designs an amplitude control loop to maintain a stable amplitude based on the energy information obtained by the information calculation unit.

[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 angle sampling sequence information obtained by the state information calculation is processed by the signal processor to obtain information reflecting the standing wave azimuth angle or angular rate.

[0015] The signal synthesis and modulation unit is used to vector synthesize the frequency stabilization control quantity, amplitude stabilization control quantity, quadrature control quantity, and standing wave control quantity based on 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 driving mode control information from digital voltage signals into analog signals and transmit them to the base electrodes to realize closed-loop control of the state control information.

[0017] The second objective of this invention is achieved through the following technical solution:

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

[0019] S10. In the time-division signal detection unit, based on the time interval switching control, the vibration signal of the driving mode electrode (i.e., X electrode) and the vibration signal of the sensitive mode electrode (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.

[0020] S20. The vibration signal of the X electrode after passing through the AD converter enters the signal demodulation unit 1 to obtain the sine and cosine components of the digital voltage signal on the X electrode. The sine and cosine components of the digital voltage signal on the Y electrode after passing through the AD converter are directly input to the decoupling compensation unit.

[0021] S30. In the decoupling compensation unit, the sine and cosine components of the vibration signal on the Y electrode are simultaneously input to the decoupling compensation unit to obtain the vibration components on the Y electrode after orthogonal decoupling, thereby realizing the 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.

[0022] S40, State Information Calculation Unit: Through the state information calculation unit, the sinusoidal and cosine components of the X electrode vibration signal and the vibration components on the Y electrode after orthogonal decoupling are extracted. After calculation, the phase information, amplitude information, normal deviation information of the sensitive mode end control unit, and standing wave azimuth or angular rate information required by the driving mode end control unit are obtained.

[0023] S50. By driving the mode and sensitive mode control unit, and based on the phase and amplitude information of the state information solution unit, the controlled quantity required for the corresponding frequency tracking loop is calculated to ensure that the frequencies of the excitation signal and reference signal are consistent with the resonant frequency of the resonator. The controlled quantity and control quantity required for the amplitude control loop are also calculated to ensure that the resonator maintains a constant energy amplitude for vibration. Based on the normal deviation information of the state information solution unit, the standing wave control quantity and orthogonal controlled quantity and control quantity required for the sensitive mode control unit are calculated to compensate for the frequency fragmentation of the resonator.

[0024] S60. Through the signal modulation and synthesis unit, the timing square wave control signal is synthesized and modulated according to the frequency tracking control quantity, amplitude control quantity, quadrature control quantity and standing wave control quantity, thereby forming control information for the X electrode vibration signal and the Y electrode vibration signal.

[0025] S70. The modulated and synthesized timing control information is converted into analog control information by a DA converter. The force-dispersing electrode is then applied to the gyroscope electrode to achieve closed-loop control of the state control information.

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

[0027]

[0028] Using orthogonal coupling noise as input and the coupling noise of the same-direction and orthogonal components of the gyroscope output signal as output, an orthogonal decoupling matrix is ​​implemented for the demodulated gyroscope output information. The transfer law is shown in the following equation:

[0029]

[0030] Then, by designing an orthogonal coupled noise matrix in the control system This enables orthogonal decoupling of the demodulated gyroscope output information.

[0031] Furthermore, in step S40, the state information calculation unit calculates the phase information, vibration energy, normal deviation, and standing wave azimuth angle of the driving mode and the sensitive mode using the second-order dynamic equation of the harmonic oscillator. The calculation formula is as follows:

[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 and the orthogonal reference signal with the X-axis vibration signal.

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

[0037] —— The phase information is represented by E, which represents the gyroscope vibration energy. Both are controlled variables required to drive the mode control unit.

[0038] Wherein, phase information is the controlled reference quantity required by the frequency tracking loop, 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 angle. Both are controlled reference quantities of the sensitive mode control unit, where the normal deviation is the controlled reference quantity required by the orthogonal control loop, and the standing wave azimuth angle is the controlled reference quantity of the standing wave control loop.

[0039] Furthermore, in step S60, the signal modulation unit modulates the frequency stabilization control quantity ω0 and the amplitude stabilization control quantity C according to the standing wave azimuth angle θ. a Orthogonal control quantity C q Standing wave control quantity C p Vector synthesis is performed, and the calculation formula is:

[0040]

[0041] Among them, V x (t) represents the digital value of the driving signal for the X electrode;

[0042] V y (t) represents the digital value of the driving signal for the Y electrode;

[0043] ω0 is the resonant frequency;

[0044] t represents time.

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

[0046] 1. The orthogonal coupling noise compensation method for hemispherical resonant gyroscope based on rotation matrix proposed in this invention separates the coupling effects of amplitude error and frequency error on sensitive mode on the driving mode according to the mechanical motion influence of the resonant gyroscope control system and the resonator, analyzes the transmission characteristics of 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 hemispherical resonant gyroscope based on rotation matrix proposed in this invention achieves orthogonal decoupling of driving mode and sensitive mode noise by designing an orthogonal decoupling unit for the electrode output signal at the sensitive mode end. This reduces the driving mode noise interference coupled into the effective information at the gyroscope output end. After signal processing, more realistic sensitive mode vibration information is obtained, thereby increasing the signal-to-noise ratio of the gyroscope output.

[0048] 3. The orthogonal coupling noise compensation control system for hemispherical resonant gyroscope based on rotation matrix proposed in this invention realizes the application of orthogonal decoupling algorithm by designing orthogonal decoupling units at the output end of sensitive modes, and has good engineering applicability and compensability. Attached Figure Description

[0049] Figure 1 This is a block diagram of the orthogonal coupling noise compensation system for a hemispherical resonant gyroscope based on a rotation matrix according to the present invention;

[0050] Figure 2 This is a schematic diagram of the orthogonal rotation decoupling algorithm in the orthogonal coupling noise compensation method for hemispherical resonant gyroscopes based on rotation matrices in this invention;

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

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

[0053] In the diagram: 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 and modulation unit, 9. Signal demodulation unit, 10. State information calculation unit, 11. Decoupling compensation unit, 12. Drive mode control unit, 13. Detection mode control unit. Detailed Implementation

[0054] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0055] A hemispherical resonant gyroscope orthogonal coupling noise compensation system based on a rotation matrix, such as... Figure 1 As shown, its inventive points are: mainly including:

[0056] The resonator 1 and the base electrode 2 are the core sensitive units of the 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 of the shell under the action of excitation force regularly changes the gap between the resonator and the base electrode, so that the capacitance between the plates changes accordingly, releasing the resonator vibration signal, 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 harmonic oscillator. Specifically, the time-division detection unit 3 uses a programmable multiplexer to divide the signal into a detection segment, a driving segment, and a very short idle segment. The X electrode and Y electrode are used simultaneously for the channels of the detection and driving segments.

[0058] The first DA converter 4 and the second DA converter 7 are used to convert the synthesized sensitive mode control information and driving mode control information from digital voltage signals into analog signals and transmit them to the base electrodes.

[0059] The first AD converter 5 and the second AD converter 6 are mainly used to convert the analog signal transmitted by the time-division signal detection unit into a digital voltage signal for the gyroscope vibration information, which is then transmitted to the control system for state information calculation and decoupling control. Specifically, under the control of timing logic, the first AD converter 5 and the second AD converter 6 convert the vibration signal of the driving mode and the vibration signal of the detection mode, which are generated by the time-division signal detection unit, into a digital voltage signal.

[0060] The signal synthesis and modulation unit 8 is used to synthesize and modulate the frequency stabilization control quantity ω0 and the amplitude stabilization control quantity C according to the standing wave azimuth angle θ. 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 and cosine components of the driving mode vibration signal and the sine and cosine components 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 calculation unit 10, connected to the signal demodulation unit 9, extracts the sine and cosine components of the X-electrode vibration signal and the sine and cosine components of the Y-electrode after orthogonal decoupling in the signal demodulation unit 9. This information is then used to decouple the orthogonal coupling noise at the drive end using a rotation matrix, obtaining more realistic vibration information. Specifically, the calculation obtains the phase information, amplitude information, normal mode deviation information, and standing wave azimuth or angular rate information required by the drive mode control unit.

[0063] Orthogonal decoupling compensation unit 11, such as Figure 2 As shown, an orthogonal rotation matrix is ​​used to decouple the vibration components of the sensitive modes, thereby obtaining more realistic motion information of the sensitive vibration modes.

[0064] The drive mode control unit 12 is used to design a sweep frequency loop based on the phase information obtained by the state information calculation unit to complete the tracking of the resonant frequency of the resonator. In addition, since the resonator is affected by various factors such as energy loss during vibration, the amplitude of the resonator changes. Therefore, an amplitude control loop is designed based on the energy information obtained by the information calculation 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 two axial vibration modes, the Lissajous figure will change from a straight line to an ellipse. Therefore, under the condition of external rotation, the magnitude of the change of the minor axis of the ellipse is obtained by real-time calculation, which reflects the degree of deviation of the gyroscope from the ideal normal mode and is used as the error signal of the orthogonal controller. In addition, the standing wave azimuth angle sampling sequence information obtained by the state information calculation is processed by the signal processor to obtain information reflecting the standing wave azimuth angle or angular rate.

[0066] A method for compensating for orthogonal coupling noise in a hemispherical resonant gyroscope based on a rotation matrix is ​​proposed, implemented using the aforementioned compensation system. Please refer to [link to relevant documentation]. Figures 1-3 It includes the following steps:

[0067] S10. In the time-division signal detection unit, based on the time interval switching control, the vibration signal of the driving mode electrode (i.e., X electrode) and the vibration signal of the sensitive mode electrode (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 two AD converters enters the signal demodulation unit to obtain the sine and cosine components of the digital voltage signal on the X-electrode; the sine and cosine components of the digital voltage signal on the Y-electrode after passing through the AD converter are directly input to the decoupling compensation unit.

[0069] S30. The sine and cosine components contained in the vibration signal on the Y electrode are obtained through the decoupling compensation unit. The orthogonally decoupled sine and cosine components on the Y electrode are obtained, thereby realizing the 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. Through the state information calculation unit, the sinusoidal and cosine components of the X electrode vibration signal and the sinusoidal and cosine components on the Y electrode after orthogonal decoupling are extracted. After calculation, the phase information, amplitude information, normal deviation information of the sensitive mode end control unit, and standing wave azimuth or angular rate information required by the driving mode end control unit are obtained.

[0071] S50. Based on the phase and amplitude information of the state information calculation unit, the driving mode control unit calculates the controlled quantity required for the corresponding frequency tracking loop, so as to keep the frequencies of the excitation signal and reference signal consistent with the resonant frequency of the resonator, and calculates the controlled quantity and control quantity required for the amplitude control loop, so as to keep the resonator vibrating with a constant energy amplitude; based on the normal deviation information of the state information calculation unit, the sensitive mode control unit calculates the standing wave control quantity and orthogonal controlled quantity and control quantity required for the sensitive mode control unit, so as to compensate for the frequency fragmentation of the resonator.

[0072] S60. Based on the frequency tracking control quantity, amplitude control quantity, quadrature control quantity and standing wave control quantity, the timing square wave control signal is synthesized and modulated by the signal modulation synthesis unit to form control information for the X electrode vibration signal and the Y electrode vibration signal.

[0073] S70. The modulated and synthesized timing control information is passed through two DA converters to convert the digital control information into analog control information. The force-dispersing electrodes are then applied to the gyroscope electrodes to achieve closed-loop control of the state control information.

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

[0075]

[0076] In the formula, x and y represent the displacement changes of the particle along the X and Y axes.

[0077] —— This represents the velocity change of a particle moving upwards along the X and Y axes;

[0078] —— This represents the change in acceleration of a particle moving upwards along the X and Y axes;

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

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

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

[0082] ——c x k x cy k y These represent the damping and elastic coefficients along the gyroscope's drive axis and detection axis, respectively.

[0083] Assuming uncoupled modal vibration, the vibration on the driving mode is as shown in the following equation. Analysis shows that the phase information of the driving mode will be used as a reference signal for signal modulation and demodulation in 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 along the X-axis;

[0086] Due to the influence of the control system and the mechanical motion of the resonator, the vibration in the azimuth of the driving mode will produce amplitude and frequency errors. However, the quadrature control signal and the modulation / 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 as follows:

[0087]

[0088] In the formula—x a φ(t) and φ(t) represent the actual amplitude and actual resonant frequency of the main vibration, and are also the amplitude and frequency stabilization setpoints of the control system.

[0089] —— x N The ideal amplitude and amplitude noise of the principal vibration;

[0090] ——ω x ω N The ideal vibration frequency and frequency noise of the principal vibration;

[0091] Where, ω x =k x / m, and in actual work, it is consistent with the actual amplitude x a Compared to (t), the amplitude variation in the driving mode azimuth is much greater than the amplitude noise. Therefore, the amplitude error has little impact on the gyroscope output signal. Thus, the main focus is on the impact of the vibration frequency error in the driving mode azimuth on the orthogonal coupling noise interference of the gyroscope output.

[0092] When the hemispherical resonator gyroscope operates in full-angle mode, the vibration changes in the azimuth of the sensitive mode are mainly affected by the Coriolis force and orthogonal coupling force. By modulating and demodulating the vibration in the azimuth of the sensitive mode using the vibration reference signal on the driving mode, the vibration form after orthogonal decomposition can be obtained, as shown in the following equation:

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

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

[0095] Compared to the time variable, the amplitude and frequency changes of the gyroscope-driven modal vibration are very small and can be considered slow variables. 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 nonlinear terms and higher-order components of slow variables, the decoupling compensation unit establishes a linear model for orthogonal coupled noise by substituting the vibration equation containing noise error into the motion equation, as follows:

[0098]

[0099] Applying a Laplace transform to the above equation yields the s-domain equation for the coupled noise.

[0100]

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

[0102]

[0103] In the decoupling compensation unit, based on the derived error transfer function model, a drive noise coupling error suppression algorithm can be established. That is, in the output of the gyroscope in the control system, by analyzing the orthogonal coupling mechanism and the characteristics of frequency error, an error suppression matrix is ​​designed. The output transformation law is shown in the following formula:

[0104]

[0105] in, This is a decoupling rotation matrix. It performs matrix rotation transformation on the modulated and demodulated gyroscope output information to compensate for the influence of driving frequency error, which can greatly reduce the impact of coupling error on gyroscope output.

[0106] In step S40, the state information calculation unit calculates the phase information, vibration energy, normal deviation, and standing wave azimuth angle of the driving mode and the sensitive mode using the second-order dynamic equation of the harmonic oscillator. The calculation formula is as follows:

[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 and the orthogonal reference signal with the X-axis vibration signal.

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

[0112] —— E represents phase information, and θ represents gyroscope vibration energy. Both are controlled quantities required by the driving mode control unit. The phase information is the controlled reference quantity required by the frequency tracking loop, and 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 angle. Both are controlled reference quantities of the sensitive mode control unit. The normal deviation is the controlled reference quantity required by the orthogonal control loop, and the standing wave azimuth angle is the controlled reference quantity of the standing wave control loop.

[0113] In step S60, the signal modulation unit modulates the frequency stabilization control quantity ω0 and the amplitude stabilization control quantity C according to the standing wave azimuth angle θ. a Orthogonal control quantity C q Standing wave control quantity C p Vector synthesis is performed, and the calculation formula is:

[0114]

[0115] In the formula—V x (t) represents the digital value of the driving signal for the X electrode;

[0116] ——V y (t) represents the digital value of the driving signal for the Y electrode;

[0117] —ω0 is the resonant frequency;

[0118] —t represents time.

[0119] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations 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 resonant gyroscope orthogonal coupling noise compensation system based on a rotation matrix, characterized in that, include: The resonator and the base electrode together form a capacitor plate for releasing the resonator vibration signal; The time-division signal detection unit is used for transmitting harmonic oscillator vibration information and control information; The first and second AD converters are used to convert the analog signal transmitted by the time-division signal detection unit into a digital voltage signal and transmit it to the control system. The signal modulation and demodulation unit, connected to the first AD converter and the second AD converter, is used to extract the sine and cosine components of the driving mode vibration signal and the sine and cosine components 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 modulation and demodulation unit. After the signal modulation and demodulation unit extracts the sine and cosine components of the X electrode vibration signal and the sine and cosine components of the Y electrode after orthogonal decoupling, it is used to decouple the orthogonal coupling noise of the driving mode using a rotation matrix to obtain the real vibration information. specific: Using the frequency coupling noise of the driving mode as the input and the coupling noise of the orthogonal components of the gyroscope output signal as the output, the error transfer function of the coupling noise interference is obtained, as shown in the following equation: ； In the decoupling compensation unit, based on the error transfer function model, a driving noise coupling error suppression algorithm is established, and a decoupling rotation matrix is ​​designed. The output transformation law is shown in the following formula: ； in, Indicates the effective mass of the gyroscope; The ideal vibration frequency representing the principal vibration; , This represents the non-uniform damping coefficient and non-uniform elastic coefficient of the gyroscope; The ideal amplitude representing the principal vibration; , These represent the damping and spring rate coefficients of the gyroscope along the detection axis, respectively. , These represent the angular gain on the harmonic oscillator and the external input angular velocity, respectively. and These are the in-phase and quadrature components of the sensitive modal vibration; The orthogonal decoupling compensation unit is used to decouple the vibration information of sensitive modes by orthogonal rotation matrix to obtain the vibration information of the real sensitive vibration modes. The drive mode control unit is used to design a sweeping loop to track the resonant frequency of the harmonic oscillator based on the phase information obtained by the state information calculation unit; at the same time, it designs an amplitude control loop to maintain a stable amplitude based on the energy information obtained by the state information calculation unit. 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 angle sampling sequence information obtained by the state information calculation unit is processed by the signal processor to obtain information reflecting the standing wave azimuth angle or angular rate. The signal synthesis and modulation unit is used to vector synthesize the frequency stabilization control quantity, amplitude stabilization control quantity, quadrature control quantity, and standing wave control quantity based on 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 driving mode control information from digital voltage signals into analog signals and transmit them to the base electrodes to realize closed-loop control of the state control information.

2. A method for compensating for orthogonal coupling noise in a hemispherical resonant gyroscope based on a rotation matrix, characterized in that, The compensation method, based on the hemispherical resonant gyroscope orthogonal coupling noise compensation system based on a rotation matrix as described in claim 1, includes the following steps: S10. In the time-division signal detection unit, based on the time interval switching control, the driving mode electrode vibration signal and the sensitive mode electrode vibration signal 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 vibration signal of the X electrode after the AD converter enters the signal modulation and demodulation unit to obtain the sine and cosine components of the digital voltage signal on the X electrode, while the digital voltage signal on the Y electrode after the AD converter is directly input to the quadrature decoupling compensation unit. S30. In the orthogonal decoupling compensation unit, the sinusoidal component contained in the vibration signal on the Y electrode is input to the orthogonal decoupling compensation unit to obtain the sinusoidal component on the Y electrode after orthogonal decoupling, thereby realizing the 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. S40. In the state information calculation unit, the sinusoidal and cosine components of the X electrode vibration signal and the sinusoidal and cosine components on the Y electrode after orthogonal decoupling are extracted through the state information calculation unit. After calculation, the phase information, amplitude information, normal deviation information and standing wave azimuth or angular rate information required by the drive mode end control unit are obtained. S50. By driving the mode and sensitive mode control unit, the phase information and amplitude information of the state information solution unit are used to calculate the controlled quantity required for the corresponding frequency tracking loop, so as to keep the frequency of the excitation signal and the reference signal consistent with the resonant frequency of the resonator, and calculate the controlled quantity and control quantity required for the amplitude control loop, so as to make the resonator vibrate with a constant energy amplitude. Based on the normal deviation information of the state information calculation unit, the required standing wave control quantity, orthogonal controlled quantity and control quantity of the sensitive mode control unit are calculated to compensate for the frequency fragmentation of the harmonic oscillator. S60. Through the signal synthesis and modulation unit, the timing square wave control signal is synthesized and modulated according to the frequency tracking control quantity, amplitude control quantity, quadrature control quantity and standing wave control quantity to form control information for the X electrode vibration signal and the Y electrode vibration signal. S70. The modulated and synthesized timing control information is converted into analog control information by a DA converter. The force-dispersing electrode is then applied to the gyroscope electrode to achieve closed-loop control of the state control information.

3. The method for compensating for orthogonal coupling noise of a hemispherical resonant gyroscope based on a rotation matrix according to claim 2, characterized in that: In step S30, the orthogonal decoupling compensation unit establishes a linear model of the orthogonal coupling noise by substituting the vibration equation containing noise error into the motion equation, as follows: Using orthogonal coupling noise as the input, and the coupled noise of the same-direction and orthogonal components of the gyroscope output signal as the output, the error propagation law is as follows: Then, by designing a decoupled rotation matrix in the control system This enables orthogonal decoupling of the demodulated gyroscope output information; in, Indicates the effective mass of the gyroscope; express Phase change along the axis; , These represent the damping and spring rate coefficients of the gyroscope along the detection axis, respectively. , These represent the angular gain on the harmonic oscillator and the external input angular velocity, respectively. , This represents the non-uniform damping coefficient and non-uniform elastic coefficient of the gyroscope; The ideal amplitude representing the principal vibration; The ideal vibration frequency representing the principal vibration; and These are the in-phase and quadrature components of the sensitive modal vibration; For time.

4. The method for compensating for orthogonal coupling noise of a hemispherical resonant gyroscope based on a rotation matrix according to claim 2, characterized in that: In step S40, the state information calculation unit calculates the phase information, vibration energy, normal deviation, and standing wave azimuth angle of the driving mode and the sensitive mode using the second-order dynamic equation of the harmonic oscillator. The calculation formula is as follows: In the formula— , For the same-direction reference signal and the quadrature reference signal and Vibration information after demodulation of shaft vibration signal —— , For the same-direction reference signal and the quadrature reference signal and Vibration information after demodulation of shaft vibration signal —— For phase information, This represents the gyroscope's vibration energy, all of which are controlled variables required to drive the mode control unit. Among them, phase information is the controlled reference quantity required by the frequency tracking loop, and vibration energy is the controlled reference quantity of the amplitude control loop. This represents the normal deviation from the elliptical trajectory. The azimuth angle represents the standing wave, and both are controlled reference quantities of the sensitive mode control unit. The normal deviation is the controlled reference quantity required by the orthogonal control loop, and the standing wave azimuth angle is the controlled reference quantity of the standing wave control loop.

5. The method for compensating for orthogonal coupling noise of a hemispherical resonant gyroscope based on a rotation matrix according to claim 2, characterized in that, In step S60, the signal modulation and demodulation unit modulates the signal according to the standing wave azimuth angle. , frequency stabilization control quantity Amplitude control quantity Orthogonal control quantity Standing wave control quantity Vector synthesis is performed, and the calculation formula is: in, for Digital quantity of the electrode drive signal; for Digital quantity of the electrode drive signal; Indicates the azimuth angle of the standing wave; For time.

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