A hemispherical resonator gyro multi-gyro automatic calibration system and a calibration method

Abstract

The application relates to a kind of hemispherical resonator gyro multi-gyro automatic calibration system and method, comprising: including rate turntable and its communication module, multi-gyro control system, PC host computer module;PC host computer module realizes the instruction sending and receiving of multi-gyro automatic calibration logic control and double serial ports, respectively interfaces rate turntable and its communication module and multi-gyro control system and its communication module;PC host computer module passes through built-in self-calibration method logic, according to certain procedure, sends turntable control instruction and gyro control instruction through serial port, realizes the synchronous action of rate turntable and multi-gyro control system, and real-time acquisition gyro control system output data required by self-calibration method, according to the mathematical operation process described by method, the result obtained by operation is the system error value of hemispherical resonator gyro, and the calibration information returned by multi-gyro control system and rate turntable communication module is verified in real time, the correctness of self-calibration method process is monitored.The application realizes the automatic continuous calibration compensation of multiple calibration error items.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inertial instrument control, and relates to a multi-gyroscope automatic calibration system and method for a hemispherical resonator gyro, which is applied to a system error factory calibration process of a hemispherical resonator gyro and is an automatic implementation mode for hemispherical resonator gyro error term calibration and compensation. BACKGROUND

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

[0003] The hemispherical resonator gyro is composed of a plated quartz hemispherical resonator and an electrode base. The resonator film layer and the electrode base jointly form a detection and excitation capacitor. Restricted by the machining precision and assembly precision of the electrode base, the hemispherical resonator gyro inevitably has electrode azimuth error and assembly gap error, which will affect the vibration detection and excitation of the excitation electrode and the detection electrode, so that the vibration detection electrical signal and the excitation electrical signal in the resonator control system are inconsistent with the actual vibration of the resonator and the actual excitation voltage, that is, there is a certain difference, and the difference changes with the vibration shape azimuth angle of the resonator.

[0004] The error belongs to the system error of the hemispherical resonator gyro, which is generally considered to be caused by the process defects in the machining and assembly process and does not change with other external factors. Therefore, in order to eliminate the influence of the error on the vibration state of the resonator and the working state of the resonator, the error can be compensated by factory calibration to eliminate its influence. SUMMARY

[0005] The application provides a multi- gyroscope automatic calibration system and method for a hemispherical resonator gyro.

[0006] One of the above-mentioned purposes of the application is achieved by the following technical scheme:

[0007] The multi- gyroscope automatic calibration system for a hemispherical resonator gyro comprises a rate turntable and a communication module thereof, a multi- gyroscope control system and a PC host computer module.

[0008] The rate turntable communication module is based on an RS-232 serial communication protocol, is used for receiving instructions sent by an external serial port and processing the instructions, performs correctness verification on the received instructions according to an internal protocol of the communication module, returns corresponding verification information through the external serial port if the verification is correct or incorrect, and controls the rate turntable to execute corresponding instructions at the same time if the verification is correct.

[0009] The multi-gyroscope control system is used to control and utilize up to three-axis hemispherical resonator gyroscopes. It acquires vibration signals from the gyroscopes and outputs excitation signals via a preamplifier circuit. The system includes a communication module based on the RS-422 serial communication protocol, which sends output information from the control system and receives control commands from a single or multiple external gyroscopes, enabling the hemispherical resonator gyroscopes to execute actions or send required information according to the control commands.

[0010] The PC host computer module is used to implement the automatic calibration logic control of the multi-gyroscope and the sending and receiving of commands via dual serial ports. It interfaces with the rate turntable and its communication module, and the multi-gyroscope control system and its communication module, respectively. The PC host computer module, through its built-in self-calibration method logic, sends turntable control commands and gyroscope control commands via serial ports according to a certain program, realizing the synchronous operation of the rate turntable and the multi-gyroscope control system. It also collects the output data of the gyroscope control system required by the self-calibration method in real time, calculates the result (the system error value of the hemispherical resonator gyroscope) according to the mathematical operation process described in the method, and verifies the verification information returned by the multi-gyroscope control system and the rate turntable communication module in real time, monitoring the correctness of the self-calibration method process.

[0011] The second objective of this invention is achieved through the following technical solution:

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

[0013] Step 1: Connect the rate turntable-PC and the multi-gyroscope control system-PC communication module via cable.

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

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

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

[0017] Step 5: In the PC host computer module settings interface, set the required automatic system error calibration items, calibration repetition count, and start time. The automatic system error calibration items include electrode gain error k, electrode orientation error θ, and electrode phase error. Nonlinear error h;

[0018] Step 6: Detect the maximum range of the up to three-axis hemispherical resonant gyroscope element and complete the initial alignment of the calibration error terms between the PC host computer and the multi-gyroscope control system;

[0019] Step 7: For each individual error calibration item set, according to the preset instructions in the PC host computer, send instructions to the multi-gyroscope control system through the serial port to control the up to three-axis hemispherical resonant gyroscope element 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.

[0020] Step 8: Wait for the dual calibration completion command from the multi-gyroscope control system and the PC host computer. Based on the output data of the multi-gyroscope control system when the turntable rotates, the PC host computer selects and processes the data, obtains the value of the corresponding error item through mathematical calculation, and sends the 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 parameters of the at most three-axis hemispherical resonant gyroscope element obtained by automatic calibration, the calibration process log, and the output of the multi-gyroscope control system received during the calibration process.

[0023] Furthermore, in step 5, the electrode orientation error is defined as the orientation deviation of the X-axis and Y-axis electrodes in the hemispherical resonant gyroscope element electrode base from the theoretical coordinate system at 0° and 45°, respectively. Here, the X-axis and Y-axis electrodes are a pair of electrodes designed in the electrode base with a 45° included angle. The theoretical coordinate system is a manually defined coordinate system parallel to the plane of the electrode base, with its origin at the designed center point of the electrode base. Assuming only electrode orientation error exists, the expression for the detection signals of the X and Y electrodes is:

[0024]

[0025] Where: D x D y Represented as the vibration of the harmonic oscillator along the theoretical coordinate axes of the X and Y electrodes. θ represents the actual detection signal of the X and Y electrodes. x θ y This represents the angle between the actual directions of the X and Y electrodes and the theoretical coordinate axes.

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

[0027]

[0028] Where: F is the excitation signal generated by the electrode. The actual excitation signal acting on the harmonic oscillator

[0029] Furthermore, in step 5, a relative value is obtained by comparing the difference in equivalent capacitance between the X-axis and Y-axis electrodes of the hemispherical resonator gyroscope element's electrode base with the equivalent capacitance of the X-axis electrode. This relative value includes both electrode gain error and nonlinearity error. The electrode gain error is a constant value, while the nonlinearity error changes synchronously with the resonator's vibration state. Assuming only electrode gain error and nonlinearity error exist, the expression for the detection signals of the X and Y electrodes is:

[0030]

[0031] Where: k x k y These represent the gains of the X and Y electrodes, respectively, Δk x Δk y This indicates the gain difference (gain error) between the X and Y electrodes caused by inconsistent gaps due to assembly or other reasons. This represents the electrode gain difference (nonlinear error) caused by the circumferential inconsistency of the harmonic oscillator amplitude, where a represents the amplitude of the harmonic oscillator vibration, θ represents the azimuth angle of the standing wave of the harmonic oscillator mode, and d0 represents the equivalent spacing between the harmonic oscillator and the electrode to form a capacitance.

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

[0033]

[0034] Where: F is the excitation signal generated by the excitation electrode. The actual excitation signal acting on the harmonic oscillator

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

[0036] Assuming only electrode phase error exists, the expression for the detection signals of the X and Y electrodes is as follows:

[0037]

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

[0039] The expression for the actual excitation signal exerted by the X and Y electrodes on the harmonic oscillator is:

[0040]

[0041] Furthermore, in step 7, in the multi-gyroscope control system, the control force acting on the hemispherical resonant gyroscope element includes C. a C q Cp C r In a multi-gyroscope control system, the control force acting on the hemispherical resonant gyroscope element includes C. a C q C p C r These four control forces act on the principal amplitude, secondary amplitude, azimuth angle, and phase of the harmonic oscillator vibration, respectively, through C. a C p C q The three are coupled with the calibration error term, and the specific value of the calibration error is obtained through mathematical operations.

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

[0043] Furthermore, in steps 7 and 8, the output data of the multi-gyroscope control system required for each error term calibration and mathematical calculation must ensure that the azimuth angle of the gyroscope element is at a certain fixed position, while controlling the rate turntable to rotate in the same angular rate absolute value in the forward and reverse directions respectively.

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

[0045] 1. This invention provides an automatic calibration system and method for hemispherical resonant gyroscopes and multiple gyroscopes. Through a rate turntable, a PC host computer, and a multiple gyroscope control system, based on RS-232 and RS-422 communication protocols, it realizes remote operation and information exchange of the gyroscope control system and the turntable. It also realizes the handshake and linkage logic control of the rate turntable, the PC host computer, and the multiple gyroscope control system, and has the universality of similar principle angular rate sensitive elements.

[0046] 2. The present invention provides an automatic calibration system and method for hemispherical resonant gyroscopes, which realizes the calibration of the system error terms of all hemispherical resonant gyroscope components.

[0047] 3. The present invention provides an automatic calibration system and method for multi-gyroscope hemispherical resonator gyroscopes, which can simultaneously complete the automatic calibration and compensation of calibration error terms of up to three-axis hemispherical resonator gyroscope components, and can significantly reduce labor costs.

[0048] 4. The present invention provides an automatic calibration system and method for multiple hemispherical resonant gyroscopes, which realizes automatic and continuous calibration compensation for multiple calibration error items, and repeated calibration compensation, thereby improving the reliability of the calibration results of the gyroscope component system error items. Attached Figure Description

[0049] Figure 1A block diagram of an automatic calibration system for a hemispherical resonant gyroscope and multiple gyroscopes according to the present invention;

[0050] The system comprises: 1. Rate turntable: consisting of a communication module, a control module, and an execution module; 2. PC host computer module: consisting of a logic control module and a communication module; 3. Multi-gyroscope control system: consisting of up to three-axis hemispherical resonant gyroscope elements, a preamplifier circuit, a gyroscope control module, and a communication module.

[0051] Figure 2 Flowchart of an automatic calibration method for a hemispherical resonant gyroscope and multiple gyroscopes according to the present invention;

[0052] Figure 3 This invention provides a detailed flowchart of the automatic calibration process for a hemispherical resonant gyroscope. Detailed Implementation

[0053] 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.

[0054] Please refer to the following: An automatic calibration system for hemispherical resonant gyroscopes and multi-gyroscopes. Figure 1 It includes a rate turntable 1 and its communication module, a multi-gyroscope 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. It is used to receive and process instructions sent from the external serial port. According to the internal protocol of the communication module, the correctness of the received instructions is verified. 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 controlled to execute the corresponding instructions.

[0056] The multi-gyroscope control system is used to control and utilize up to three-axis hemispherical resonator gyroscopes. It acquires vibration signals from the gyroscopes and outputs excitation signals via a preamplifier circuit. The system includes a communication module based on the RS-422 serial communication protocol, which sends output information from the control system and receives control commands from a single or multiple external gyroscopes, enabling the hemispherical resonator gyroscopes to execute actions or send required information according to the control commands.

[0057] The PC host computer module is used to implement the automatic calibration logic control of the multi-gyroscope and the sending and receiving of commands via dual serial ports. It interfaces with the rate turntable and its communication module, and the multi-gyroscope control system and its communication module, respectively. The PC host computer module, through its built-in self-calibration method logic, sends turntable control commands and gyroscope control commands via serial ports according to a certain program, realizing the synchronous operation of the rate turntable and the multi-gyroscope control system. It also collects the output data of the gyroscope control system required by the self-calibration method in real time, calculates the result (the system error value of the hemispherical resonator gyroscope) according to the mathematical operation process described in the method, and verifies the verification information returned by the multi-gyroscope control system and the rate turntable communication module in real time, monitoring the correctness of the self-calibration method process.

[0058] A calibration method based on the above-mentioned hemispherical resonant gyroscope multi-gyroscope automatic calibration system includes the following steps:

[0059] Step 1: Connect the rate turntable-PC and the multi-gyroscope control system-PC communication module via cable.

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

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

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

[0063] Step 5: In the PC host computer module settings interface, set the required automatic system error calibration items, calibration repetition count, and start time. The automatic system error calibration items include electrode gain error k, electrode orientation error θ, and electrode phase error. Nonlinear error h;

[0064] Step 6: Detect the maximum range of the up to three-axis hemispherical resonant gyroscope element and complete the initial alignment of the calibration error terms between the PC host computer and the multi-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 multi-gyroscope control system through the serial port to control the up to three-axis hemispherical resonant gyroscope element 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 completion command from the multi-gyroscope control system and the PC host computer. Based on the output data of the multi-gyroscope control system when the turntable rotates, the PC host computer selects and processes the data, obtains the value of the corresponding error item through mathematical calculation, and sends the value to the multi-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 system error parameters of the at most three-axis hemispherical resonant gyroscope element obtained by automatic calibration, the calibration process log, and the output of the multi-gyroscope control system received during the calibration process.

[0069] In step 5 above, the electrode orientation error is the orientation deviation of the X-axis and Y-axis electrodes in the hemispherical resonant gyroscope element electrode base from the theoretical coordinate system at 0° and 45°, respectively. Here, the X-axis and Y-axis electrodes are a pair of electrodes designed in the electrode base with a 45° included angle. The theoretical coordinate system is an artificially defined coordinate system parallel to the plane of the electrode base, with its origin at the designed center point of the electrode base. Assuming only the electrode orientation error exists, the expression for the detection signals of the X and Y electrodes is:

[0070]

[0071] Where: D x D y Represented as the vibration of the harmonic oscillator along the theoretical coordinate axes of the X and Y electrodes. θ represents the actual detection signal of the X and Y electrodes. x θ y This represents the angle 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 to the resonator can be expressed as:

[0073]

[0074] Where: F is the excitation signal generated by the electrode. The actual excitation signal acting on the harmonic oscillator

[0075] In step 5 above, a relative value is obtained by comparing the difference in equivalent capacitance between the X-axis and Y-axis electrodes of the hemispherical resonator gyroscope element's electrode base with the equivalent capacitance of the X-axis electrode. This relative value includes two parts: electrode gain error and nonlinear error. The electrode gain error is a constant value, while the nonlinear error changes synchronously with the resonator's oscillation state. Assuming only electrode gain error and nonlinear error exist, the expression for the detection signals of the X and Y electrodes is:

[0076]

[0077] Where: k x k yThese represent the gains of the X and Y electrodes, respectively, Δk x Δk y This indicates the gain difference (gain error) between the X and Y electrodes caused by inconsistent gaps due to assembly or other reasons. This represents the electrode gain difference (nonlinear error) caused by the circumferential inconsistency of the harmonic oscillator amplitude, where a represents the amplitude of the harmonic oscillator vibration, θ represents the azimuth angle of the standing wave of the harmonic oscillator mode, and d0 represents the equivalent spacing between the harmonic oscillator and the electrode to form a capacitance.

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

[0079]

[0080] Where: F is the excitation signal generated by the excitation electrode. The actual excitation signal acting on the harmonic oscillator

[0081] In step 5 above, the electrode phase error is essentially the phase difference between the detection signal of the electrode and the sinusoidal signal generated inside the multi-gyroscope control system in the hemispherical resonant gyroscope element.

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

[0083]

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

[0085] The expression for the actual excitation signal exerted by the X and Y electrodes on the harmonic oscillator is:

[0086]

[0087] In step 7 above, in the multi-gyroscope control system, the control force acting on the hemispherical resonant gyroscope element includes C. a C q C p C r These four control forces act on the principal amplitude, secondary amplitude, azimuth angle, and phase of the harmonic oscillator vibration, respectively, through C. a C p C q The three are coupled with the calibration error term, and the specific value of the calibration error is obtained through mathematical operations.

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

[0089] In steps 7 and 8 above, the output data of the multi-gyroscope control system required for each error term calibration and mathematical calculation must ensure that the azimuth angle of the gyroscope element is at a certain fixed position, while controlling the rate turntable to rotate in the same angular rate absolute value in the forward and reverse directions respectively.

[0090] The azimuth error θ in the calibration error term y For example: the output of the stimulus required for mathematical operations includes C a and C p The actual excitation amount acting on the harmonic oscillator is:

[0091]

[0092] Using the X-electrode axis as the 0° reference coordinate axis, the standing wave azimuth angle is controlled at 45°, i.e., θ, through a gyro-controlled system. x When θ = 0 and θ = 45°, the electrode orientation error leads to... and The actual excitation only generates coupling on the Y electrode, that is, there exists an excitation C. p sin(θ y ) through the Y electrode and C a The combined effect on the harmonic oscillator leads to C a It gets smaller.

[0093] To obtain θ y The accurate value of C is input via a rate turntable. p Within the excitation range, the C caused by the turntable input should be as large as possible. p The change is denoted as ΔC p Corresponding to C a The change is denoted as ΔC a The PC host computer performs data storage and calculation to obtain the calibration error term (at this time θ). x Consider it as 0):

[0094]

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

[0096] The speed turntable-PC host computer and the multi-gyroscope control system-PC host computer are connected via serial cable.

[0097] Start the rate turntable, activate the communication module, and enable it to operate in external command control mode;

[0098] Install and start the multi-gyroscope control system to ensure that all hemispherical resonant gyroscope components are in a stable working state.

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

[0100] In the PC host computer, set the required calibration error terms, calibration cycle count, calibration start time, and calibration gyroscope component number, then start the calibration program.

[0101] The process is completed by the PC host computer and the turntable, detecting the maximum range of the multi-axis hemispherical resonant gyroscope element, and completing the initial alignment of the calibration error terms in the PC host computer and the multi-gyroscope control system.

[0102] The calibration logic is controlled by the PC host computer. For each individual error calibration item set, according to the preset instructions in the PC host computer, the instruction is sent to the multi-gyroscope control system via the serial port to control the up to three-axis hemispherical resonant gyroscope element to work in the required working mode. At the same time, the instruction is sent 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.

[0103] Waiting for the dual calibration completion command from the multi-gyroscope control system and the PC host computer, the PC host computer selects and processes the data based on the output data of the multi-gyroscope control system when the turntable rotates, obtains the value of the corresponding error item through mathematical calculation, and sends the value to the multi-gyroscope control system.

[0104] Wait for the calibration error item set by the PC host computer to complete the calibration of the set number of cycles.

[0105] The PC host computer stores the system error parameters of the up to three-axis hemispherical resonant gyroscope element obtained by automatic calibration, the calibration process log, and the output of the multi-gyroscope control system received during the calibration process.

[0106] The above-described automatic calibration process for a three-axis gyroscope using a hemispherical resonant gyroscope element is merely an example to illustrate the invention and is not intended to limit the implementation of the invention. Those skilled in the art can make various variations and modifications based on the above description. It is impossible to exhaustively list all possible implementations here. All obvious variations or modifications derived from the technical solutions of this invention are still within the scope of protection of this invention.

[0107] The above-described embodiments further illustrate the purpose, technical solution, and advantages of the present invention. It should be understood that the above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made to the present invention within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic calibration system for hemispherical resonant gyroscopes and multi-gyroscopes, characterized in that: Includes a rate turntable and its communication module, a multi-gyroscope control system, and a PC host computer module; The rate turntable communication module is based on the RS-232 serial communication protocol. It is used to receive and process instructions sent from the external serial port. According to the internal protocol of the communication module, the correctness of the received instructions is verified. 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 controlled to execute the corresponding instructions. The multi-gyroscope control system is used to control and utilize up to three-axis hemispherical resonator gyroscopes. It acquires vibration signals from the gyroscopes and outputs excitation signals via a preamplifier circuit. The system includes a communication module based on the RS-422 serial communication protocol, which sends output information from the control system and receives control commands from a single or multiple external gyroscopes. This allows the hemispherical resonator gyroscopes to execute actions or send required information according to the control commands. The PC host computer module is used to realize the automatic calibration logic control of the multi-gyroscope and the instruction sending and receiving of the dual serial ports, respectively connecting to the rate turntable and its communication module and the multi-gyroscope control system and its communication module; The PC host computer module, through its built-in self-calibration method logic, sends turntable control commands and gyroscope control commands via serial port according to a certain program. This enables synchronized operation between the rate turntable and the multi-gyroscope control system. It also collects the output data of the gyroscope control system required by the self-calibration method in real time. Based on the mathematical calculation process described in the method, it calculates the result, which is the system error value of the hemispherical resonator gyroscope. Furthermore, it verifies the verification information returned by the multi-gyroscope control system and the rate turntable communication module in real time, monitoring the correctness of the self-calibration method process.

2. A calibration method for an automatic calibration system for a hemispherical resonant gyroscope multi-gyroscope based on claim 1, characterized in that: Includes the following steps: Step 1: Connect the rate turntable-PC and the multi-gyroscope control system-PC communication module via cable; Step 2: Start the rate turntable, turn on its communication module, and make it work in external command control mode; Step 3: Start the multi-gyroscope control system to ensure that the at most three-axis hemispherical resonant gyroscope elements are in a stable working state; Step 4: Enable the PC host computer module and set the correct communication serial port number; Step 5: In the PC host computer module settings interface, set the required automatic system error calibration items, calibration repetition count, and start time. The automatic system error calibration items include electrode gain error k and X-axis electrode error θ. x Y-axis electrode error θ y Electrode phase error Nonlinear error h; Step 6: Detect the maximum range of the up to three-axis hemispherical resonant gyroscope element and complete the initial alignment of the calibration error terms between the PC host computer and the multi-gyroscope 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-gyroscope control system through the serial port to control the up to three-axis hemispherical resonant gyroscope element 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. Step 8: Wait for the dual calibration completion command from the multi-gyroscope control system and the PC host computer. Based on the output data of the multi-gyroscope control system when the turntable rotates, the PC host computer selects and processes the data, obtains the value of the corresponding error item through mathematical calculation, and sends the value to the multi-gyroscope control system. Step 9: Repeat steps 7 and 8 until all the set error calibration items are automatically calibrated according to the set number of repetitions; Step 10: Store the system error parameters of the at most three-axis hemispherical resonant gyroscope element obtained by automatic calibration, the calibration process log, and the output of the multi-gyroscope control system received during the calibration process.

3. The calibration method for the automatic calibration system of a hemispherical resonant gyroscope multi-gyroscope based on claim 1, according to claim 2, wherein in step 5, the electrode orientation error is: the orientation deviation of the X-axis electrode and Y-axis electrode in the electrode base of the hemispherical resonant gyroscope element from the 0° and 45° directions of the theoretical coordinate system, wherein: The X-axis and Y-axis electrodes are two electrodes designed within the electrode base, with an included angle of 45°. The theoretical coordinate system is an artificially defined coordinate system parallel to the plane of the electrode base, with its origin at the design center point of the electrode base. Assuming only electrode orientation error exists, the expression for the detection signals of the X and Y electrodes is as follows: Where: D x D y Represented as the vibration of the harmonic oscillator along the theoretical coordinate axes of the X and Y electrodes. θ represents the actual detection signal of the X and Y electrodes. x θ y This represents the angle between the actual directions 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. This is the actual excitation signal acting on the harmonic oscillator.

4. The calibration method for the automatic calibration system of a hemispherical resonant gyroscope based on the hemispherical resonant gyroscope multi-gyroscope according to claim 1, as described in claim 3, in step 5, a relative value is obtained by the ratio of the difference between the equivalent capacitance values ​​of the X-axis electrode and the Y-axis electrode of the electrode base of the hemispherical resonant gyroscope element to the equivalent capacitance value of the X-axis electrode. This relative value includes two parts: electrode gain error and nonlinear error. The electrode gain error is a constant value, while the nonlinear error changes synchronously with the vibration state of the resonator. Assuming only electrode gain error and nonlinear error exist, the expression for the detection signals of the X and Y electrodes is: in: k x k y These represent the gains of the X and Y electrodes, respectively, Δk x Δk y This indicates the X and Y electrode gain error caused by inconsistent gaps due to assembly or other reasons. This represents the nonlinear error caused by the circumferential inconsistency of the harmonic oscillator's amplitude, where a represents the amplitude of the harmonic oscillator, θ represents the azimuth angle of the standing wave of the harmonic oscillator, and d0 represents the equivalent distance between the harmonic oscillator and the electrode to form a capacitance. 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. This is the actual excitation signal acting on the harmonic oscillator.

5. The calibration method for the automatic calibration system of hemispherical resonant gyroscope multi-gyroscope based on the hemispherical resonant gyroscope multi-gyroscope automatic calibration system according to claim 4, wherein in step 5, the electrode phase error is essentially the phase difference between the detection signal of the electrode and the sinusoidal signal generated inside the multi-gyroscope control system in the hemispherical resonant gyroscope element. Assuming only electrode phase error exists, the expression for the detection signals of the X and Y electrodes is as follows: in These represent the signal phase delays in the X and Y electrodes, respectively. The expression for the actual excitation signal exerted by the X and Y electrodes on the harmonic oscillator is:

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

7. The calibration method for the hemispherical resonant gyroscope multi-gyroscope automatic calibration system based on the hemispherical resonant gyroscope multi-gyroscope automatic calibration system according to claim 6, wherein in step 8, the required multi-gyroscope control system output data includes the gyroscope element standing wave azimuth angle, azimuth rate, and C0. a C p C q Three control force items.

8. According to the calibration method of the hemispherical resonant gyroscope multi-gyroscope automatic calibration system based on the hemispherical resonant gyroscope of claim 1 as described in claim 2, in steps 7 and 8, the output data of the multi-gyroscope control system required for each error term calibration and mathematical operation must make the azimuth angle of the gyroscope element stand wave at a certain fixed position, and at the same time control the rate turntable to rotate in the same angular rate absolute value in the positive and negative directions respectively.

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