Hemispherical resonator gyroscope multi-gyroscope automatic calibration system and calibration method

Abstract

The invention relates to a multi-gyroscope automatic calibration system and method for hemispherical resonator gyroscopes. The system comprises a rate turntable, a communication module of the rate turntable, a multi-gyroscope control system and a PC (Personal Computer) upper computer module, the PC upper computer module is used for realizing multi-gyroscope automatic calibration logic control and instruction sending and receiving of double serial ports, and is respectively butted with a rate turntable and a communication module thereof, and a multi-gyroscope control system and a communication module thereof; the PC upper computer module sends a rotary table control instruction and a gyroscope control instruction through a serial port according to a certain program through a built-in self-calibration method logic, achieves synchronous action of the rate rotary table and the multi-gyroscope control system, collects gyroscope control system output data needed by the self-calibration method in real time, and obtains the multi-gyroscope control system output data according to the mathematical operation process described by the method. A result obtained through calculation is a system error numerical value of the hemispherical resonator gyroscope, verification information returned by the multi-gyroscope control system and the rate turntable communication module is verified in real time, and the correctness of the flow of the self-calibration method is monitored. According to the invention, automatic continuous calibration compensation of a plurality of calibration error terms is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial instrument control, and relates to a multi-gyro automatic calibration system and method for hemispherical resonant gyroscopes, which is applied to the factory calibration process of the systematic error of hemispherical resonant gyroscopes, and is an automatic implementation method for calibrating and compensating the error terms of hemispherical resonant gyroscopes. Background Art

[0002] The quartz hemispherical resonant gyroscope is a new type of gyroscope, which has the advantages of short startup time, low output noise, long service life, and good stability.

[0003] The hemispherical resonant gyroscope consists of a coated quartz hemispherical resonator and an electrode base. The resonator film layer and the electrode base together form the detection and excitation capacitors. Restricted by the machining accuracy and assembly accuracy of the electrode base, there are inevitable electrode azimuth errors and assembly gap errors in the hemispherical resonant gyroscope. This error will affect the vibration detection electrical signal and excitation electrical signal in the resonant gyroscope control system through the excitation electrode and the detection electrode, which does not match the actual vibration of the resonator and the actual excitation voltage, that is, there is a certain difference, and this difference changes with the vibration shape azimuth angle of the resonator.

[0004] This error belongs to the systematic error of the hemispherical resonant gyroscope system, and it is generally considered that it is mainly caused by the process defects in the machining and assembly process and will not change with other external factors. Therefore, in order to eliminate the influence of this error on the vibration state of the resonator and the working state of the resonant gyroscope, the error term can be compensated by means of factory calibration to eliminate its influence. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention proposes a multi-gyro automatic calibration system and method for hemispherical resonant gyroscopes.

[0006] One of the above objects of the present invention is achieved by the following technical solutions:

[0007] A multi-gyro automatic calibration system for hemispherical resonant gyroscopes includes a rate turntable and its communication module, a multi-gyro control system, and a PC host computer module;

[0008] The rate turntable communication module is based on the RS-232 serial communication protocol, and is used to receive instructions sent by an external serial port and process them. According to the internal protocol of the communication module, the received instructions are verified for correctness. If the verification is correct or incorrect, the corresponding verification information is returned through the external serial port. If the verification is correct, the rate turntable is simultaneously controlled to execute the corresponding instructions;

[0009] A multi-gyro control system is used to control and utilize at most three-axis hemispherical resonant gyro elements, and realizes the acquisition of vibration signals of the gyro elements and the output of excitation signals through a pre-amplifier circuit. The multi-gyro control system includes a communication module, which is based on the RS-422 serial communication protocol, sends the output information of the multi-gyro control system, receives control instructions from a single gyro or multiple gyros from the outside, and enables the hemispherical resonant gyro elements to perform actions or send required information according to the control instructions.

[0010] A PC host computer module is used to realize the multi-gyro automatic calibration logic control and the instruction sending and receiving of a dual serial port, and is respectively connected to the rate turntable and its communication module and the multi-gyro control system and its communication module. The PC host computer module realizes the synchronous actions of the rate turntable and the multi-gyro control system by sending turntable control instructions and gyro control instructions through the serial port according to a certain program through the built-in self-calibration method logic, and real-time collects the output data of the gyro control system required by the self-calibration method. According to the mathematical operation process described by the method, the operation result is the system error value of the hemispherical resonant gyro, and the verification information returned by the communication modules of the multi-gyro control system and the rate turntable is verified in real time to monitor the correctness of the self-calibration method process.

[0011] The second above-mentioned object of the present invention is achieved by the following technical solutions:

[0012] A calibration method based on the above-mentioned multi-gyro automatic calibration system for hemispherical resonant gyros includes the following steps:

[0013] Step 1: Connect the rate turntable-PC and the multi-gyro control system-PC communication modules through cables.

[0014] Step 2: Start the rate turntable, turn on its communication module, and make it work in the external instruction control mode;

[0015] Step 3: Start the multi-gyro control system to make at most three-axis hemispherical resonant gyro elements in a stable working state;

[0016] Step 4: Turn on the PC host computer module and set the correct communication serial port number;

[0017] Step 5: On the PC host computer module setting interface, set the required system error automatic calibration items, calibration repetition times, and start time. Among them, the system error automatic calibration items include the electrode gain error k, the electrode azimuth error θ, and the electrode phase error nonlinear error h;

[0018] Step 6: Detect the maximum range of at most three-axis hemispherical resonant gyro elements and complete the initial alignment of calibration error items in the PC host computer and the multi-gyro control system;

[0019] Step 7. For each individually set error calibration item, according to the preset instructions in the PC host computer, send instructions to the multi-gyroscope control system through the serial port to control at most three-axis hemispherical resonator gyroscope elements to operate in the required working mode. At the same time, send instructions to the rate turntable to control the rate turntable to rotate at an angular rate not exceeding 3 / 4 of the maximum range of the gyroscope element.

[0020] Step 8. Wait for the dual calibration end instruction of the multi-gyroscope control system and the PC host computer. According to the output data of the multi-gyroscope control system when the turntable rotates, the PC host computer intercepts and processes the data, obtains the value of the corresponding error item through mathematical operations, and sends this value to the multi-gyroscope control system.

[0021] Step 9. Repeat Steps 7 and 8 until all the set error calibration items are automatically calibrated according to the set number of repetitions.

[0022] Step 10. Store the system error parameter results of at most three-axis hemispherical resonator gyroscope elements obtained by automatic calibration, the calibration process log, and the output of the multi-gyroscope control system received during the calibration process.

[0023] Moreover, in Step 5, the electrode azimuth error is: in the electrode base of the hemispherical resonator gyroscope element, the azimuth deviation between the X-azimuth electrode, the Y-azimuth electrode and the 0° and 45° directions of the theoretical coordinate system. Among them: the X-azimuth electrode and the Y-azimuth electrode are a pair of electrodes with a designed azimuth angle of 45° in the electrode base, and the theoretical coordinate system is a coordinate system defined artificially, parallel to the plane of the electrode base, with the origin at the design center point of the electrode base; assuming that only the electrode azimuth error exists, the detection signal expressions of the X and Y electrodes are:

[0024]

[0025] Among them: D x 、D y represent the vibration of the resonator in the theoretical coordinate axis directions of the X and Y electrodes, represents the actual detection signals of the X and Y electrodes, and θ x 、θ y represent the angles between the actual directions of the X and Y electrodes and the theoretical coordinate axis directions;

[0026] Similarly, the actual excitation signal of the control system for the resonator can be expressed as:

[0027]

[0028] Among them: F is the excitation signal generated by the electrode, is the actual excitation signal acting on the resonator

[0029] Moreover, in step 5, a relative value is obtained from the difference between the equivalent capacitance values of the X-orientation electrode and the Y-orientation electrode of the electrode base portion of the hemispherical resonant gyro element and the equivalent capacitance value of the X-orientation electrode. This relative value includes two parts: the electrode gain error and the non-linear error. Among them, the electrode gain error part is a constant value, and the non-linear error will change synchronously with the vibration state of the resonator. Assuming that only the electrode gain error and the non-linear error exist, the detection signal expressions of the X and Y electrodes are:

[0030]

[0031] Where: k x 、k y represent the gains of the X and Y electrodes respectively, Δk x 、Δk y represent the gain differences (gain errors) of the X and Y electrodes caused by the inconsistent gaps due to reasons such as assembly, represents the gain difference (non-linear error) of the electrode caused by the circumferential inconsistency of the resonator amplitude, a represents the vibration amplitude of the resonator, θ represents the azimuth angle of the standing wave of the resonator vibration mode, d 0 represents the equivalent distance of the capacitance formed between the resonator and the electrode;

[0032] Similarly, the actual excitation signal of the resonator by the control system can be expressed as:

[0033]

[0034] Where: F is the excitation signal generated by the excitation electrode, is the actual excitation signal acting on the resonator

[0035] Moreover, in step 5, the electrode phase error, in essence, is the phase difference between the detection signal of the electrode and the sine signal generated inside the multi-gyro control system in the hemispherical resonant gyro element.

[0036] Assuming that only the electrode phase error exists, the detection signal expressions of the X and Y electrodes are:

[0037]

[0038] Where represent the signal phase delays in the X and Y electrodes respectively.

[0039] The expressions of the actual excitation signals of the X and Y electrodes acting on the resonator are:

[0040]

[0041] Moreover, in step 7, in the multi-gyro control system, the control force acting on the hemispherical resonant gyro element includes C a 、Cq , C p , C r , in a multi-gyroscope control system, the control forces acting on the hemispherical resonator gyroscope element include C a , C q , C p , C r , these four control forces act on the main amplitude, secondary amplitude, vibration azimuth angle, and vibration phase of the resonator vibration respectively. Through C a , C p , C q , the coupling relationship of the three with respect to the calibration error term is used to obtain the specific value of the calibration error through mathematical operations.

[0042] Moreover, in step 8, the output data required by the multi-gyroscope control system includes the standing wave azimuth angle, azimuth angle rate of the gyroscope element, and C a , C p , C q , and three control force terms.

[0043] Moreover, in steps 7 and 8, for the output data required by each error term calibration and mathematical operation of the multi-gyroscope control system, the standing wave azimuth angle of the gyroscope element needs to be located at a certain fixed position, and at the same time, the rate turntable is controlled to rotate in the positive and negative directions respectively at the same angular rate absolute value.

[0044] The advantages and positive effects of the present invention are:

[0045] 1. The multi-gyroscope automatic calibration system and method for a hemispherical resonator gyroscope of the present invention realizes remote operation and information exchange of the gyroscope control system and the turntable through a rate turntable, a PC host computer, and a multi-gyroscope control system based on the RS-232 and RS-422 communication protocols, realizes the handshake and linkage logic control of the rate turntable - PC host computer - multi-gyroscope control system, and has the versatility of angular rate sensitive elements with similar principles.

[0046] 2. The multi-gyroscope automatic calibration system and method for a hemispherical resonator gyroscope of the present invention realizes the calibration of all system error terms of the hemispherical resonator gyroscope element system.

[0047] 3. The multi-gyroscope automatic calibration system and method for a hemispherical resonator gyroscope of the present invention can at most simultaneously complete the automatic calibration and compensation of the calibration error terms of the triaxial hemispherical resonator gyroscope element, and can significantly reduce the labor cost.

[0048] 4. The multi-gyroscope automatic calibration system and method for a hemispherical resonator gyroscope of the present invention realizes the automatic continuous calibration compensation and repeated calibration compensation of multiple calibration error terms, and improves the reliability of the results of the system error calibration terms of the gyroscope element. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Block diagram of a multi-gyro automatic calibration system for a hemispherical resonator gyroscope according to the present invention;

[0050] Wherein: 1. Rate turntable: composed of a communication module, a control module, and an execution module; 2. PC host computer module: composed of a logic control module and a communication module; 3. Multi-gyro control system: composed of at most three-axis hemispherical resonator gyroscope elements, a pre-amplification circuit, a gyro control system module, and a communication module;

[0051] Figure 2 Flowchart of a multi-gyro automatic calibration method for a hemispherical resonator gyroscope according to the present invention;

[0052] Figure 3 Flowchart for refining the automatic calibration process of a hemispherical resonator gyroscope according to the present invention. Specific implementation mode

[0053] The structure of the present invention will be further described below in conjunction with the accompanying drawings and through embodiments. It should be noted that this embodiment is narrative rather than restrictive.

[0054] For a multi-gyro automatic calibration system of a hemispherical resonator gyroscope, please refer to Figure 1 , including a rate turntable 1 and its communication module, a multi-gyro control system 3, and a PC host computer module 2.

[0055] The rate turntable communication module is based on the RS-232 serial communication protocol, used to receive instructions sent by an external serial port and process them, perform correctness verification on the received instructions according to the internal protocol of the communication module, return corresponding verification information through the external serial port if the verification is correct or incorrect, and if the verification is correct, simultaneously control the rate turntable to execute the corresponding instructions;

[0056] The multi-gyro control system is used to realize the control and use of at most three-axis hemispherical resonator gyroscope elements, and collect vibration signals of the gyroscope elements and output excitation signals through a pre-amplification circuit; the multi-gyro control system includes a communication module, based on the RS-422 serial communication protocol, sends the output information of the multi-gyro control system, receives control instructions for a single gyro or multiple gyros from the outside, and makes the hemispherical resonator gyroscope elements execute actions or send required information according to the control instructions;

[0057] The PC host computer module is used to implement the automatic calibration logic control of multiple gyroscopes and the instruction sending and receiving of dual serial ports, and is respectively connected to the rate turntable and its communication module, and the multiple gyroscope control system and its communication module; the PC host computer module passes the built-in self-calibration method logic, and sends the turntable control instruction and the gyroscope control instruction through the serial port according to a certain program, realizes the synchronous action of the rate turntable and the multiple gyroscope control system, and real-time collects the output data of the gyroscope control system required by the self-calibration method. According to the mathematical operation process described by the method, the operation result is the system error value of the hemispherical resonant gyroscope, and the verification information returned by the multiple gyroscope control system and the rate turntable communication module is verified in real time to monitor the correctness of the self-calibration method process.

[0058] A calibration method for the multiple gyroscope automatic calibration system based on the above hemispherical resonant gyroscope includes the following steps:

[0059] Step 1: Connect the rate turntable-PC and the multiple gyroscope control system-PC communication modules through cables.

[0060] Step 2: Start the rate turntable, turn on its communication module, and make it work in the external instruction control mode;

[0061] Step 3: Start the multiple gyroscope control system to make at most three-axis hemispherical resonant gyroscope elements in a stable working state;

[0062] Step 4: Turn on the PC host computer module and set the correct communication serial port number;

[0063] Step 5: On the PC host computer module setting interface, set the required system error automatic calibration items, calibration repetition times, and start time. Among them, the system error automatic calibration items include electrode gain error k, electrode azimuth error θ, and electrode phase error Nonlinear error h;

[0064] Step 6: Detect the maximum range of at most three-axis hemispherical resonant gyroscope elements, and complete the initial alignment of calibration error items in the PC host computer and the multiple gyroscope control system;

[0065] Step 7: For each individual error calibration item set, according to the preset instructions in the PC host computer, send instructions to the multiple gyroscope control system through the serial port to control at most three-axis hemispherical resonant gyroscope elements to work in the required working mode, and at the same time send instructions to the rate turntable to control the rate turntable to rotate at an angular rate not exceeding 3 / 4 of the maximum range of the gyroscope element;

[0066] Step 8: Wait for the dual calibration end instructions of the multiple gyroscope control system and the PC host computer. According to the output data of the multiple gyroscope control system when the turntable rotates, the PC host computer intercepts and processes the data, obtains the value of the corresponding error item through mathematical operations, and sends the value to the multiple gyroscope control system;

[0067] Step 9. Repeat Steps 7 and 8 until all the set error calibration items are automatically calibrated according to the set number of repetitions.

[0068] Step 10. Store the results of the system error parameters of at most three-axis hemispherical resonator gyroscope elements obtained by automatic calibration, the calibration process log, and the output of the multi-gyro control system received during the calibration process.

[0069] In the above Step 5, the electrode azimuth error is: in the electrode base of the hemispherical resonator gyroscope element, the azimuth deviation between the X-azimuth electrode and the Y-azimuth electrode and the 0° and 45° directions of the theoretical coordinate system. Among them: the X-azimuth electrode and the Y-azimuth electrode are a pair of electrodes with a designed azimuth angle of 45° in the electrode base, and the theoretical coordinate system is a coordinate system defined artificially, parallel to the plane of the electrode base, with the origin at the designed center point of the electrode base. Assuming that there is only electrode azimuth error, the detection signal expressions of the X and Y electrodes are:

[0070]

[0071] Among them: D x 、D y represent the vibration of the resonator in the theoretical coordinate axis directions of the X and Y electrodes, represents the actual detection signals of the X and Y electrodes, and θ x 、θ y represent the angles between the actual directions of the X and Y electrodes and the 0° and 45° directions of the theoretical coordinate system;

[0072] Similarly, the actual excitation signal of the control system for the resonator can be expressed as:

[0073]

[0074] Among them: F is the excitation signal generated by the electrode, is the actual excitation signal acting on the resonator

[0075] In the above Step 5, a relative value is obtained by the ratio of the difference between the equivalent capacitance values of the X-azimuth electrode and the Y-azimuth electrode in the electrode base part of the hemispherical resonator gyroscope element to the equivalent capacitance value of the X-azimuth electrode. This relative value includes two parts: electrode gain error and non-linear error. Among them, the electrode gain error part is a constant value, and the non-linear error will change synchronously with the vibration state of the resonator. Assuming that there are only electrode gain error and non-linear error, the detection signal expressions of the X and Y electrodes are:

[0076]

[0077] Among them: k x 、k yrespectively represent the X and Y electrode gains, Δk x and Δk y represent the X and Y electrode gain differences (gain errors) caused by inconsistent gaps due to reasons such as assembly, represent the electrode gain differences (nonlinear errors) caused by the circumferential inconsistency characteristics of the resonator amplitude, a represents the vibration amplitude of the resonator, θ represents the azimuth angle of the standing wave of the resonator vibration mode, d 0 represents the equivalent spacing of the capacitance formed between the resonator and the electrode;

[0078] Similarly, the actual excitation signal of the control system for the resonator can be expressed as:

[0079]

[0080] where: F is the excitation signal generated by the excitation electrode, is the actual excitation signal acting on the resonator

[0081] In the above step 5, the electrode phase error is actually the phase difference between the detection signal of the electrode in the hemispherical resonator gyro element and the sine signal generated inside the multi-gyro control system.

[0082] Assuming that only the electrode phase error exists, the expressions for the detection signals of the X and Y electrodes are:

[0083]

[0084] where respectively represent the signal phase delays in the X and Y electrodes.

[0085] The expressions for the actual excitation signals of the X and Y electrodes acting on the resonator are:

[0086]

[0087] In the above step 7, in the multi-gyro control system, the control forces acting on the hemispherical resonator gyro element include C a and C q and C p and C r , these four control forces act on the main amplitude, secondary amplitude, vibration azimuth angle, and vibration phase of the resonator vibration respectively. Through the coupling relationship of C a and C p and C q regarding the calibration error terms, the specific value of the calibration error is obtained through mathematical operations.

[0088] In the above step 8, the required output data of the multi-gyro control system, the output data includes the standing wave azimuth angle of the gyro element, the azimuth angle rate, and C a and C p, C q Three control force terms.

[0089] In the above steps 7 and 8, for the output data of the multi-gyro control system required for each error term calibration and mathematical operation, the standing wave azimuth angle of the gyro element needs to be located at a certain fixed position, and at the same time, the control rate turntable is rotated in the positive and negative directions respectively at the same angular rate absolute value.

[0090] Taking the azimuth error θ in the calibration error term as an example: y The output of the excitation quantity required for mathematical operations includes C a and C p . The actual excitation quantity acting on the resonator is:

[0091]

[0092] Taking the X-electrode axis as the 0° reference coordinate axis, the standing wave azimuth angle is controlled at 45° through the gyro control system, that is, when θ x = 0, θ = 45°, due to the electrode azimuth error, and The actual excitation only generates coupling on the Y electrode, that is, there is an excitation C p sin(θ y ) acting on the resonator through the Y electrode together with C a , resulting in a decrease in C a .

[0093] To obtain the accurate value of θ y , through the input of the rate turntable, make C p as large as possible within the excitation range. The change in C p caused by the turntable input is denoted as ΔC p , and the corresponding change in C a is denoted as ΔC a . The PC host computer stores and calculates the data to obtain the calibration error term (at this time, θ x is regarded as 0):

[0094]

[0095] When the standing wave azimuth angle is controlled at 0°, 11.25°, 22.5°, and 45°, the calibration error terms can be calculated respectively: and θ x , k x and k y , and and θ y .

[0096] Connect the rate turntable - PC host computer and the multi-gyro control system - PC host computer through a serial cable.

[0097] Start the rate turntable and turn on the communication module to make it work in the external command control mode;

[0098] Install and start the multi-gyro control system to make all hemispherical resonant gyro elements in a stable working state;

[0099] Start the application program of the PC host computer module, set the correct communication serial port number, and confirm the correctness of the data of the multi-gyro control system.

[0100] Set the calibration error items, calibration cycle times, calibration start time, and calibration gyro element numbers to be calibrated in the PC host computer, and start the calibration program

[0101] After the handshake between the PC host computer and the turntable is completed, detect the maximum range of at most three-axis hemispherical resonant gyro elements, and complete the initial alignment of the calibration error item quantity between the PC host computer and the multi-gyro control system;

[0102] After the calibration logic control of the PC host computer is completed, for each individual error calibration item set, according to the preset instructions in the PC host computer, send instructions to the multi-gyro control system through the serial port to control at most three-axis hemispherical resonant gyro elements to work in the required working mode, and at the same time send instructions to the rate turntable to control the rate turntable to rotate at an angular rate not exceeding 3 / 4 of the maximum range of the gyro element;

[0103] Wait for the double calibration end instruction of the multi-gyro control system and the PC host computer. According to the output data of the multi-gyro control system when the turntable rotates, the PC host computer intercepts and processes the data, obtains the numerical value of the corresponding error item through mathematical operations, and sends the numerical value to the multi-gyro control system;

[0104] Wait for the calibration of the calibration error items set according to the repeated process guidance of the PC host computer to complete the set number of cycles.

[0105] The PC host computer stores the system error parameter results of at most three-axis hemispherical resonant gyro elements obtained by automatic calibration, the calibration process log, and the output of the multi-gyro control system received during the calibration process.

[0106] The above-mentioned three-axis gyro automatic calibration process of the hemispherical resonant gyro element of the present invention is only an example for explaining the present invention, rather than a limitation on the implementation manner of the present invention. For those of ordinary skill in the art, other different forms of changes and variations can be made on the basis of the above description. It is impossible to list all the implementation manners here. Any obvious changes or variations derived from the technical solution of the present invention still fall within the protection scope of the present invention.

[0107] The above-described embodiments further illustrate in detail the objectives, technical solutions, and advantages of the present invention. It should be understood that the above-described embodiments are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made to the present invention within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hemispherical resonant gyro multi-gyro automatic calibration system, characterized by: Including rate turntable and its communication module, multi-gyro control system, PC host module; The rate converter communication module is based on the RS-232 serial port communication protocol, and is used to receive and process commands sent by the external serial port. It verifies the correctness of the received commands according to the internal protocol of the communication module. If the verification is correct or wrong, the corresponding verification information is returned through the external serial port. If the verification is correct, the rate converter is controlled to execute the corresponding command at the same time. A multi-gyro control system is used to control and use up to three-axis hemispherical resonant gyro elements, and to collect vibration signals of the gyro elements and output excitation signals through a pre-amplifier circuit; the multi-gyro control system includes a communication module, which sends output information of the multi-gyro control system based on an RS-422 serial communication protocol, receives control instructions from a single gyro or multiple gyros from the outside, and enables the hemispherical resonant gyro elements to perform actions or send required information according to the control instructions; The PC host computer module is used to realize the multi-gyro automatic calibration logic control and the dual serial port command sending and receiving, and is connected to the rate turntable and its communication module and the multi-gyro control system and its communication module respectively; The PC host computer module uses the built-in self-calibration method logic to send turntable control instructions and gyro control instructions through the serial port according to a certain procedure, realizes the synchronous action of the rate turntable and the multi-gyro control system, and collects the gyro control system output data required by the self-calibration method in real time. According to the mathematical operation process described by the method, the result, that is, the system error value of the hemispherical resonant gyroscope, is calculated, and the verification information returned by the multi-gyro control system and the rate turntable communication module is verified in real time to monitor the correctness of the self-calibration method process.

2. A calibration method for the hemispherical resonator gyro multi-gyro automatic calibration system based on claim 1, characterized in that: The steps include: Step 1: Connect the rate turntable-PC and the multi-gyro control system-PC communication module through cables. Step 2: Start the rate turntable and turn on its communication module to make it work in external command control mode; Step 3, starting the multi-gyro control system to make at most three-axis hemispherical resonant gyro elements in a stable working state; Step 4: Turn on the PC host module and set the correct communication serial port number; Step 5. In the PC host module setting interface, set the required system error automatic calibration items, calibration repetition times, and start time. The system error automatic calibration items include electrode gain error k, electrode orientation error θ, and electrode phase error. Nonlinear error h; Step 6: Detect the maximum range of the three-axis hemispherical resonant gyro element and complete the initial calibration of the error term in the PC host computer and the multi-gyro control system; Step 7: For each individual error calibration item set, according to the preset instructions in the PC host computer, send instructions to the multi-gyro control system through the serial port to control at most three-axis hemispherical resonant gyro elements to work in the required working mode, and send instructions to the rate turntable at the same time to control the rate turntable to rotate at an angular rate not exceeding 3 / 4 of the maximum range of the gyro element; Step 8, waiting for the dual calibration end instruction of the multi-gyro control system and the PC host computer, according to the output data of the multi-gyro control system when the turntable rotates, the PC host computer intercepts and processes the data, obtains the value of the corresponding error item through mathematical operation, and sends the value to the multi-gyro control system; Step 9, repeat steps 7 and 8 until all the error calibration items are automatically calibrated according to the set number of repetitions; Step 10: storing the system error parameter results of at most three-axis hemispherical resonant gyro elements obtained by automatic calibration, the calibration process log, and the multi-gyro control system output received during the calibration process.

3. According to the calibration method of the hemispherical resonator gyro multi-gyro automatic calibration system based on claim 1 according to claim 2, in step 5, the electrode azimuth error is: the azimuth deviation of the X-azimuth electrode and the Y-azimuth electrode in the electrode base of the hemispherical resonator gyro element from the 0° and 45° directions of the theoretical coordinate system, wherein: The X-axis electrode and the Y-axis electrode are a pair of electrodes designed with an angle of 45° in the electrode base. The theoretical coordinate system is an artificially defined coordinate system parallel to the plane of the electrode base, with the origin being the center point of the electrode base design. It is assumed that only the electrode orientation error exists, and the detection signal expressions of the X and Y electrodes are: Where: D x , D y It is expressed as the resonator vibration in the direction of the theoretical coordinate axis of the X and Y electrodes. represents the actual detection signal of X and Y electrodes, θ x ,θ y Indicates the angle between the actual direction of the X and Y electrodes and the 0° and 45° directions of the theoretical coordinate system; Similarly, the actual excitation signal of the control system to the resonator can be expressed as: Where: F is the excitation signal generated by the electrode, is the actual excitation signal acting on the resonator.

4. According to claim 2, the calibration method of the hemispherical resonator gyro multi-gyro automatic calibration system based on claim 1, in step 5, a relative value is obtained by the ratio of the difference between the equivalent capacitance values ​​of the X-direction electrode and the Y-direction electrode of the electrode base part of the hemispherical resonator gyro element to the equivalent capacitance value of the X-direction electrode, and the relative value includes two parts: electrode gain error and nonlinear error, wherein the electrode gain error part is a constant value, and the nonlinear error will change synchronously with the change of the vibration state of the resonator; assuming that only the electrode gain error and the nonlinear error exist, the detection signal expression of the X and Y electrodes is: in: k x , k y Respectively represent the X and Y electrode gains, Δk x , Δk y It indicates the difference in gain (gain error) between the X and Y electrodes caused by inconsistent gaps due to assembly and other reasons. It represents the electrode gain difference (nonlinear error) caused by the circumferential inconsistency of the resonator amplitude, a represents the vibration amplitude of the resonator, θ represents the azimuth of the standing wave of the resonator vibration shape, and d0 represents the equivalent spacing between the resonator and the electrode to form a capacitor; Similarly, the actual excitation signal of the control system to the resonator can be expressed as: Where: F is the excitation signal generated by the excitation electrode, is the actual excitation signal acting on the resonator.

5. According to the calibration method of claim 2 based on the hemispherical resonant gyro multi-gyro automatic calibration system according to claim 1, in step 5, the electrode phase error is actually the phase difference between the detection signal of the electrode in the hemispherical resonant gyro element and the sinusoidal signal generated inside the multi-gyro control system; Assuming that there is only electrode phase error, the detection signal expressions of X and Y electrodes are: in Respectively represent the signal phase delay in the X and Y electrodes. The expression of the actual excitation signal of the X and Y electrodes acting on the resonator is:

6. According to the calibration method of claim 2 based on the hemispherical resonant gyro multi-gyro automatic calibration system according to claim 1, in step 7, in the multi-gyro control system, the control force acting on the hemispherical resonant gyro element includes C a , C q , C p , C r The four control forces act on the main amplitude, secondary amplitude, vibration azimuth and vibration phase of the resonator respectively. a , C p , C q The three are coupled to the calibration error term, and the specific value of the calibration error is obtained through mathematical operations.

7. The calibration method of the hemispherical resonant gyro multi-gyro automatic calibration system according to claim 2, wherein in step 8, the required multi-gyro control system outputs data, and the output data includes the azimuth angle of the gyro element standing wave, the azimuth angle rate and C a , C p , C q Three control items.

8. According to the calibration method of claim 2 based on the hemispherical resonator gyro multi-gyro automatic calibration system according to claim 1, in steps 7 and 8, the multi-gyro control system output data required for each error term calibration and mathematical operation must make the gyro element standing wave azimuth angle at a fixed position, and at the same time control the rate turntable to rotate in the positive and reverse directions respectively with the same angular velocity absolute value.

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