High-Q-value gyroscope phase delay detection compensation system and method

Abstract

The invention relates to the technical field of gyroscope systems, and discloses a high-Q-value gyroscope phase delay detection compensation system and method, and the system comprises a mode selector which is used for carrying out mode switching between a frequency shift phase discrimination detection unit and a phase-locked loop phase compensation unit; the frequency shift phase discrimination detection unit is used for dynamically adjusting the frequency of the driving signal to an initial frequency shift value with the phase change rate approaching 0, and determining the phase delay of the phase-locked loop of the target gyroscope based on orthogonal demodulation; and the phase-locked loop phase compensation unit is used for performing phase compensation on the phase delay of the phase-locked loop and locking the phase of the system to a resonant state through closed-loop control. According to the system provided by the embodiment of the invention, the driving signal frequency is dynamically adjusted through the frequency shift and phase discrimination detection unit, the initial frequency shift value with the phase change rate approaching 0 is found, the phase delay information of the system can be quickly obtained without fine frequency sweeping, the test time is greatly shortened, and the efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of gyro systems, and particularly to a high-Q gyro phase delay detection and compensation system and method. Background Art

[0002] Currently, gyroscopes are widely used in high-precision fields such as autonomous driving and navigation guidance. How to improve the accuracy of gyroscopes has received extensive attention in the industry.

[0003] Currently, increasing the quality factor (abbreviated as Q value) of the gyroscope can reduce the noise of the gyroscope, and thus improve the accuracy. However, a high-Q gyroscope must operate in a resonant state to reduce the equivalent angular rate noise, and there is often a phase delay in the circuit of the measurement and control system, resulting in phase errors easily generated in the phase-locked loop, which affects the accuracy.

[0004] In related technologies, when detecting and compensating for the phase error of the phase-locked loop, there are often problems such as long time consumption and complex operations, resulting in the inability to mass-produce and test high-Q gyroscopes. Therefore, how to improve the detection and compensation efficiency of the phase delay in the phase-locked loop, thereby reducing the difficulty of mass-producing and testing high-Q gyroscopes, has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, the present disclosure provides a high-Q gyro phase delay detection and compensation system and method to solve the problem of how to improve the detection and compensation efficiency of the phase delay in the phase-locked loop, thereby reducing the difficulty of mass-producing and testing high-Q gyroscopes.

[0006] On the one hand, the present disclosure provides a high-Q gyroscope phase delay detection and compensation system, which includes a DAC and a driving analog circuit, a capacitance-voltage conversion and band-pass filtering circuit, an ADC acquisition circuit, a mode selector, a frequency-shift phase discrimination detection unit, and a phase-locked loop phase compensation unit, where: The DAC and the driving analog circuit are used to provide a driving signal for the target gyroscope to stimulate the target gyroscope to work; wherein, the target gyroscope is a high-Q gyroscope with a Q value greater than a first value; The capacitance-voltage conversion and band-pass filtering circuit is used to convert the capacitance change of the target gyroscope into a voltage signal and filter out the noise in the non-resonant frequency band of the voltage signal; The ADC acquisition circuit is used to convert the filtered voltage signal into a digital signal and send it to the frequency-shift phase discrimination detection unit; The mode selector is used to switch modes between the frequency-shift phase discrimination detection unit and the phase-locked loop phase compensation unit; The frequency-shift phase discrimination detection unit is used to dynamically adjust the driving signal frequency to an initial frequency-shift value where the phase change rate approaches 0, and based on quadrature demodulation, determine the phase-locked loop phase delay of the target gyroscope; wherein, approaching 0 means that the difference between the phase change rate and 0 is less than a second value; The phase-locked loop phase compensation unit is used to perform phase compensation on the phase-locked loop phase delay and lock the system phase to the resonant state through closed-loop control.

[0007] On the other hand, the present disclosure also provides a high-Q gyroscope phase delay detection and compensation method, which is applied to the above high-Q gyroscope phase delay detection and compensation system. The system includes a DAC and a driving analog circuit, a capacitance-voltage conversion and band-pass filtering circuit, an ADC acquisition circuit, a mode selector, a frequency-shift phase discrimination detection unit, and a phase-locked loop phase compensation unit. The method includes: providing a driving signal for the target gyroscope through the DAC and the driving analog circuit to stimulate the target gyroscope to work; wherein, the target gyroscope is a high-Q gyroscope with a Q value greater than a first value; converting the capacitance change of the target gyroscope into a voltage signal through the capacitance-voltage conversion and band-pass filtering circuit and filtering out the noise in the non-resonant frequency band of the voltage signal; converting the filtered voltage signal into a digital signal through the ADC acquisition circuit and sending it to the frequency-shift phase discrimination detection unit; switching modes between the frequency-shift phase discrimination detection unit and the phase-locked loop phase compensation unit through the mode selector; dynamically adjusting the driving signal frequency to an initial frequency-shift value where the phase change rate approaches 0 through the frequency-shift phase discrimination detection unit, and based on quadrature demodulation, determining the phase-locked loop phase delay of the target gyroscope; wherein, approaching 0 means that the difference between the phase change rate and 0 is less than a second value; performing phase compensation on the phase-locked loop phase delay through the phase-locked loop phase compensation unit and locking the system phase to the resonant state through closed-loop control.

[0008] On the other hand, the present disclosure also provides a high-Q gyro phase delay detection and compensation device, which includes: a driving signal generation module for providing a driving signal to a target gyro through a DAC and a driving analog circuit to excite the target gyro to work; wherein the target gyro is a high-Q gyro with a Q value greater than a first value; a conversion and filtering module for converting the capacitance change of the target gyro into a voltage signal through a capacitance-voltage conversion and a band-pass filtering circuit, and filtering out the noise in the non-resonant frequency band of the voltage signal; a second conversion module for converting the voltage signal after filtering processing into a digital signal through an ADC acquisition circuit and sending it to a frequency shift phase discrimination detection unit; a mode switching module for performing mode switching between the frequency shift phase discrimination detection unit and a phase-locked loop phase compensation unit through a mode selector; a phase shift to be compensated determination module for dynamically adjusting the driving signal frequency to an initial frequency shift value where the phase change rate approaches 0 through the frequency shift phase discrimination detection unit, and determining the phase delay of the phase-locked loop of the target gyro based on quadrature demodulation; wherein approaching 0 means that the difference between the phase change rate and 0 is less than a second value; a compensation module for compensating the phase delay of the phase-locked loop through the phase-locked loop phase compensation unit, and locking the system phase to the resonant state through closed-loop control.

[0009] On the other hand, the present disclosure also provides a computer device, including: a memory and a processor, which are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions to execute the high-Q gyro phase delay detection and compensation method according to any one of the above embodiments.

[0010] On the other hand, the present disclosure also provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the high-Q gyro phase delay detection and compensation method according to any one of the above embodiments.

[0011] On the other hand, the present disclosure also provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the high-Q gyro phase delay detection and compensation method according to any one of the above embodiments.

[0012] Through the high-Q gyro phase delay detection and compensation system and method of the above embodiments of the present disclosure, the driving signal frequency is dynamically adjusted through the frequency shift phase discrimination detection unit to find the initial frequency shift value where the phase change rate approaches 0, and the phase delay information of the system can be quickly obtained without fine frequency sweeping, greatly reducing the test time and improving the efficiency.

[0013] In addition, the quadrature demodulation technology is adopted to directly extract the phase delay of the phase-locked loop, and the phase shift information can be obtained without complex calculations, further reducing the test time. Through the phase-locked loop phase compensation unit, the phase shift is directly compensated in the closed-loop control, so that the system quickly enters the resonant state, improving the real-time performance and stability. Description of the Drawings

[0014] To more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 It is a schematic diagram of the architecture of a high-Q gyro phase delay detection and compensation system provided by an embodiment of the present disclosure.

[0016] Figure 2 It is a schematic diagram of the architecture of another high-Q gyro phase delay detection and compensation system provided by an embodiment of the present disclosure.

[0017] Figure 3 It is a schematic diagram of the architecture of yet another high-Q gyro phase delay detection and compensation system provided by an embodiment of the present disclosure.

[0018] Figure 4 It is a schematic flowchart of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0019] Figure 5 It is a schematic diagram of the phase shift compensation process of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0020] Figure 6 It is a schematic diagram of the first target gyro quickly entering the phase-locked steady state of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0021] Figure 7 It is a schematic diagram of the first sweep curve of the coarse frequency sweep for comparison of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0022] Figure 8 It is a schematic diagram of the second sweep curve of the fine frequency sweep for comparison of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0023] Figure 9 It is a schematic diagram of the second target gyro quickly entering the phase-locked steady state of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0024] Figure 10 It is a schematic diagram of the third target gyro quickly entering the phase-locked steady state of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure.

[0025] Figure 11 It is a schematic flow chart of a specific method for detecting and compensating the phase delay of a high-Q gyroscope provided by an embodiment of the present disclosure.

[0026] Figure 12 It is a schematic structural diagram of a device for detecting and compensating the phase delay of a high-Q gyroscope provided by an embodiment of the present disclosure.

[0027] Figure 13 It is a schematic structural diagram of another device for detecting and compensating the phase delay of a high-Q gyroscope provided by an embodiment of the present disclosure. Specific Embodiments

[0028] Gyroscopes can provide angular rate information, and the attitude information of a moving object can be obtained after one integration. They are the core components in inertial navigation microsystems and are widely used in consumer electronics, autonomous driving, navigation and guidance, and other fields. In recent years, with the gradual popularization of autonomous driving and assisted driving technologies, the industry's requirements for the accuracy of gyroscopes have become increasingly high.

[0029] The equivalent angular rate noise of the gyroscope head can be expressed as shown in Equation (1):

[0030]

[0031] where k B is the Boltzmann constant, T is the Kelvin temperature, ω y is the natural frequency of the detection axis, ω x is the natural frequency of the drive axis, A is the amplitude of the drive-axis comb teeth, m is the equivalent mass, and Q y is the quality factor of the detection axis. Therefore, it can be seen from Equation (1) that increasing the Q value of the gyroscope can significantly reduce the equivalent angular rate noise of the gyroscope and improve the detection accuracy of the gyroscope. Therefore, high-Q gyroscopes have been the focus of gyroscope system research in recent years. In 2016, the Q value of the four-mass gyroscope developed by the California Institute of Technology reached 1.7 million. The zero-bias stability of this system can reach 0.09° / h in the open-loop measurement mode, and the angle random walk is as low as close to navigation-level accuracy. In 2018, the Q value of the MEMS ring gyroscope developed by the team of Professor Wu Xuesong of the National University of Defense Technology reached 510,000. The zero-bias instability of this system is as low as 0.04° / h, and the angular rate random walk is as low as reaching navigation-level accuracy. In 2021, the Q value of the four-mass gyroscope developed by Sina et al. of the University of California reached 2 million, the zero-bias instability can reach 0.065° / h, and the angle random walk is as low as

[0032] Only when the driving comb teeth of the gyroscope head work in the resonant state, the amplitude of the driving shaft comb teeth is the largest and the equivalent angular rate noise is the lowest. The phase of the high-Q gyroscope at the resonant frequency is very sensitive to the change of the driving frequency. Generally, a phase-locked closed-loop method is adopted to lock the driving frequency of the measurement and control system at the gyroscope resonant frequency according to the actual phase information. The phase-locked closed-loop method requires accurate acquisition of the total system phase shift information under the resonant state of the gyroscope. However, the CV circuit, band-pass filter circuit, digital signal acquisition and processing process in the phase-locked measurement and control system will all cause phase delay, which will cause phase error in the phase-locked loop. If this error is not corrected, the oscillation frequency of the system will deviate from the natural frequency of the gyroscope, affecting the detection sensitivity and accuracy. On the other hand, due to the vibration at non-resonant frequencies, the open-loop gain of the high-Q gyroscope system is very low, the bandwidth of the phase-locked closed-loop system is small, and the startup time is long or even unable to start up. Therefore, it is necessary to detect and correct the phase error of the phase-locked closed-loop measurement and control system.

[0033] Wei Ma et al. from Zhejiang University accurately obtained the phase information of the gyroscope system at different frequency points through a single frequency sweep, obtained the phase to be compensated by subtracting the theoretical resonant phase (-90°) of the gyroscope from the total phase shift under the resonant state, and performed correction. As long as the frequency sweep accuracy is high enough, this method can theoretically achieve good phase shift detection and correction. However, this method is more suitable for the testing of low-Q gyros (such as Q value is only 235). The decay time constant of high-Q gyros is very large (such as the decay time constant of the ring gyro developed by Professor Wu Xuesong's team can reach 74.9 s), and the response time to a single frequency is long. If the response of the gyroscope system does not reach the steady state, the phase shift information is inaccurate. On the other hand, the 3dB bandwidth of the high-Q gyroscope at the resonant frequency is very narrow, only a few tenths of a Hz. In the range of a few tenths of a Hz bandwidth, the gyroscope phase change can reach 90 degrees. Therefore, a very high frequency sweep step accuracy is required to obtain accurate resonant frequency information. Therefore, this single frequency sweep method takes a long time for high-Q gyroscope systems, requires high frequency sweep step accuracy, and is complex to operate and not easy to realize automated testing and batch production.

[0034] Peng xu et al. proposed a real-time circuit phase correction technology. This method is based on the idea that the electrostatic force required for the gyroscope to resonate is the smallest. By analyzing that when in the AGC-PLL double closed-loop, the phase corresponding to the minimum value of the closed-loop driving voltage is the total phase shift of the resonant closed-loop control system. However, the prerequisite for this method is that the gyroscope system starts up stably, which is a problem for high-Q gyros. And it needs to be obtained through complex optimization algorithm analysis. When the gyroscope is subjected to the Coriolis force, the AGC driving voltage itself will change accordingly, and during this period, this phase shift correction method fails.

[0035] The basic idea of the current phase correction method for the phase-locked closed-loop circuit is mainly based on the fact that the phase of the gyroscope in the resonant state is delayed by 90 degrees compared to the phase of the driving signal. After the system is made to resonate, subtracting the phase shift of the gyroscope head gives the phase delay of the circuit. However, the phase information of the gyroscope in the non-resonant state has rarely been studied. In fact, there is a certain margin in the bandpass filtering range of the gyroscope measurement and control circuit. The phase shift of the driving frequency within a certain range away from the gyroscope resonant frequency is basically unchanged. Therefore, if the phase information in the non-resonant frequency range of the gyroscope is studied and analyzed, similar phase delay information can also be obtained, thus realizing the self-detection of the phase delay of the phase-locked loop.

[0036] In terms of the gyro closed-loop phase compensation method, currently commonly used precise phase compensation methods include all-pass filter circuit phase shift, digital / analog phase-locked loop phase shifter, and digital delay circuit phase shifter. Among them, both the all-pass filter and the analog phase-locked loop phase shift methods require building complex analog circuits, which are difficult to debug and have high requirements for the center frequency. Performing phase shift by digital signal processing in the digital domain is relatively simpler than analog circuits. However, currently commonly used digital phase compensation methods also have some problems. For example, a digital phase-locked loop can achieve precise phase shift, but at the same time, it has limitations on the center frequency range of the signal to be processed. If the gyro center frequency changes greatly, it is necessary to adjust the loop filter parameters specifically, which poses a big problem in batch production testing. Using a digital delay circuit to delay the output signal by a certain period can also achieve phase compensation. However, to achieve precise phase compensation, it is necessary to detect the frequency of the signal in real time and perform calculations and delays for each period by dividing the main clock frequency, which increases the complexity of the phase compensation algorithm. In fact, the phase shift information of the system is also directly related to the reference signal of quadrature demodulation, but few people achieve phase compensation by changing the reference signal.

[0037] In summary, the following problems exist in the related technologies:

[0038] 1. High-precision frequency sweeping is required to obtain the resonant frequency. Especially for high-Q gyroscopes, due to their narrow bandwidth and long decay time, a single frequency sweep test takes a long time, and extremely high step accuracy is required, making it difficult to be efficiently applied in production testing.

[0039] 2. Phase compensation needs to be carried out through complex optimization algorithms or real-time calculations, with a large amount of calculation, which poses high requirements for the real-time performance of the system and affects the dynamic response ability of the system.

[0040] 3. Limited by hardware characteristics, the related technologies are prone to introducing additional phase shift errors, resulting in poor robustness.

[0041] To solve the above problems, various embodiments of the present disclosure provide a high-Q gyro phase delay detection and compensation system. The system includes a DAC and a driving analog circuit, a capacitance-voltage conversion and band-pass filtering circuit, an ADC acquisition circuit, a mode selector, a frequency-shift phase discrimination detection unit, and a phase-locked loop phase compensation unit, where: The DAC and the driving analog circuit are configured to provide a driving signal for the target gyro to stimulate the operation of the target gyro. Among them, the target gyro is a high-Q gyro with a Q value greater than a first value. The capacitance-voltage conversion and band-pass filtering circuit is configured to convert the capacitance change of the target gyro into a voltage signal and filter out the noise in the non-resonant frequency band of the voltage signal. The ADC acquisition circuit is configured to convert the filtered voltage signal into a digital signal and send it to the frequency-shift phase discrimination detection unit. The mode selector is configured to perform mode switching between the frequency-shift phase discrimination detection unit and the phase-locked loop phase compensation unit. The frequency-shift phase discrimination detection unit is configured to dynamically adjust the frequency of the driving signal to an initial frequency-shift value where the phase change rate approaches 0, and determine the phase delay of the phase-locked loop of the target gyro based on quadrature demodulation. Among them, approaching 0 means that the difference between the phase change rate and 0 is less than a second value. The phase-locked loop phase compensation unit is configured to perform phase compensation on the phase delay of the phase-locked loop and lock the system phase to the resonant state through closed-loop control.

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present disclosure.

[0043] Please refer to Figure 1 , Figure 1 FIG. is a schematic diagram of the architecture of a high-Q gyro phase delay detection and compensation system provided by an embodiment of the present disclosure. The high-Q gyro phase delay detection and compensation system 100 may include a DAC and a driving analog circuit 101, a capacitance-voltage conversion and band-pass filtering circuit 102, an ADC acquisition circuit 103, a mode selector 104, a frequency-shift phase discrimination detection unit 105, and a phase-locked loop phase compensation unit 106, where:

[0044] The DAC and the driving analog circuit 101 are configured to provide a driving signal for the target gyro to stimulate the operation of the target gyro. Among them, the target gyro is a high-Q gyro with a Q value greater than a first value.

[0045] Among them, a digital-to-analog converter (DAC) and a driving analog circuit 101 are used to receive digital signals sent by a field programmable gate array (FPGA) system, convert the digital signals into analog signals, and apply them to the target gyro by means of electrostatic driving to provide a driving signal for the target gyro. Among them, the FPGA system can be composed of a frequency-shifting phase-detection unit 105 and a phase-locked loop phase compensation unit 106.

[0046] Here, the FPGA system can be a programmable integrated circuit and can be configured into different digital logic functions according to specific requirements. In this system, the FPGA system can be used as a core digital signal processing unit to perform functions such as frequency-shifting phase detection, phase compensation, and phase-locked control.

[0047] Furthermore, the target gyro is a high-Q gyro with a Q value greater than a first value. Preferably, the first value can be 5000, and specific limitations are not made here.

[0048] Exemplarily, the high-Q gyro can include at least one of the following: a silicon micromachined mass block, a ring gyro, and a hemispherical gyro.

[0049] Furthermore, the driving analog circuit 101 can determine the driving signal of the high-Q gyro by means of superimposing a DC bias and a pair of inverted AC signals. Among them, two DACs can be controlled to output inverted AC signals, and a DC voltage can be superimposed on each of the two AC signals through a bias resistor to form a driving signal, so that the electric field amplitude between the driving electrodes of the high-Q gyro can be doubled compared with single-ended driving, enabling the high-Q gyro to obtain a greater driving force under the same driving voltage and increasing the signal response ability of the system.

[0050] A capacitance-voltage conversion and band-pass filter circuit 102 is used to convert the capacitance change of the target gyro into a voltage signal and filter out the noise in the non-resonant frequency band of the voltage signal.

[0051] Here, the operation of the target gyro will cause a capacitance change in the detection electrode. The voltage-capacitance conversion circuit can be used to convert the capacitance change into a measurable voltage signal, and the band-pass filter circuit can filter out the irrelevant noise in the voltage signal to obtain a clear resonant signal.

[0052] Preferably, the voltage-capacitance conversion circuit can include at least one of the following: a charge amplifier, a transimpedance amplifier, a switched-capacitor method, or a ring diode detection method.

[0053] Further, the band-pass filter circuit is specifically configured to extract the signal within the target resonance frequency band and filter out the noise in the remaining non-resonant frequency bands. Exemplarily, the range of the target resonance frequency band can be a range greater than 1 kHz, which is not specifically limited here.

[0054] The ADC acquisition circuit 103 is configured to convert the filtered voltage signal into a digital signal and send it to the frequency shift phase discrimination detection unit 105.

[0055] Here, the analog-to-digital converter (ADC) acquisition circuit 103 is configured to receive the resonance signal of the target gyroscope sent by the capacitance voltage conversion and band-pass filter circuit 102, convert the resonance signal from an analog signal into a digital signal, and send it to the frequency shift phase discrimination detection unit 105 in the FPGA system for further processing.

[0056] The mode selector 104 is configured to perform mode switching between the frequency shift phase discrimination detection unit 105 and the phase-locked loop phase compensation unit 106.

[0057] Here, the mode selector 104 can be composed of a multiplexing circuit, which is configured to perform circuit switching between the frequency shift phase discrimination detection unit 105 and the phase-locked loop phase compensation unit 106, and realize the mode switching between the frequency shift phase discrimination detection unit 105 and the phase-locked loop phase compensation unit 106 by means of selective conduction.

[0058] The frequency shift phase discrimination detection unit 105 is configured to dynamically adjust the frequency of the drive signal to the initial frequency shift value at which the phase change rate approaches 0, and determine the phase delay of the phase-locked loop of the target gyroscope based on quadrature demodulation; where approaching 0 means that the difference between the phase change rate and 0 is less than the second value.

[0059] Here, the frequency shift phase discrimination detection unit 105 is configured to obtain multiple preset frequency shift values, the resonance frequency and Q value of the target gyroscope;

[0060] Calculate the phase change rate corresponding to each preset frequency shift value according to the resonance frequency and Q value, and select the frequency shift value approaching 0 from the multiple phase change rates as the initial frequency shift value of the target gyroscope.

[0061] Among them, the frequency shift value refers to the frequency deviation value between the resonance frequency of the target gyroscope and the actual drive signal frequency; the selection of the preset frequency shift values can be specifically set according to the needs of developers. For example, the multiple preset frequency shift values can include 0, 1, 3, 5, 10, 15, 20, etc., which are not specifically limited.

[0062] Resonance (or resonant state) can refer to the situation where the amplitude of a system increases significantly when the frequency of an external excitation approaches or equals the natural frequency of the system. The resonance frequency can refer to the specific frequency at which resonance occurs in the system, that is, the natural frequency of the system. The resonance frequency of the target gyroscope can be determined according to the structure and material properties of the gyroscope. Preferably, the resonance frequency and Q value of the target gyroscope can be obtained by a dynamic signal analyzer.

[0063] Furthermore, the frequency-shifted phase discrimination detection unit 105 shifts the frequency of the drive signal to the initial frequency-shifted value position, making the initial phase change rate approach 0, which can quickly and effectively calibrate the initial phase state of the phase-locked loop, reduce the need for frequency stepping, and improve the detection efficiency. Among them, the phase change rate can be used to describe the rate at which the phase changes with frequency. When the phase change rate at the target frequency point approaches 0, it can indicate that the phase response of the system approaches a steady state near the target frequency point and the change amplitude is small.

[0064] Even further, the frequency-shifted phase discrimination detection unit 105 determines the phase delay of the phase-locked loop of the target gyroscope based on quadrature demodulation under the steady state of the system corresponding to the initial frequency-shifted value position.

[0065] Among them, quadrature demodulation can be a signal processing method that effectively extracts the amplitude and phase of a digital signal by decomposing the signal into two mutually orthogonal parts.

[0066] The frequency-shifted phase discrimination detection unit 105 is specifically used to determine the phase delay of the phase-locked loop of the target gyroscope based on the amplitude and phase of the digital signal. Among them, the phase delay of the phase-locked loop can refer to the phase difference to be compensated caused by circuit characteristics, signal propagation delay or other factors in the system. This phase difference affects the system performance and measurement accuracy and needs to be compensated.

[0067] The phase-locked loop phase compensation unit 106 is used to perform phase compensation on the phase delay of the phase-locked loop and lock the system phase to the resonant state through closed-loop control.

[0068] Here, the phase-locked loop phase compensation unit 106 is specifically used to correct in real time according to the phase difference to be compensated between the target phase and the reference phase according to the closed-loop control mechanism, ensuring that the phase of the system can always be maintained in the resonant state.

[0069] Through the high-Q gyro phase delay detection and compensation system and method according to the above embodiments of the present disclosure, by dynamically adjusting the driving signal frequency, the initial frequency shift value with the phase change rate approaching 0 is found, and the phase delay information of the system can be quickly obtained without fine frequency sweeping, greatly reducing the test time and improving the efficiency. The quadrature demodulation technology is adopted to directly extract the phase delay of the phase-locked loop, and the phase shift information can be obtained without complex calculation, further reducing the test time. Through the phase-locked loop phase compensation unit, the phase shift is directly compensated in the closed-loop control, so that the system quickly enters the resonant state, improving the real-time performance and robustness.

[0070] In a possible implementation manner of the above embodiment, please refer to Figure 2 , Figure 2 which is a schematic diagram of the architecture of another high-Q gyro phase delay detection and compensation system provided by the embodiments of the present disclosure. As Figure 2 shown, the frequency shift phase discrimination detection unit 105 includes a first quadrature demodulation module 1051, a threshold judgment module 1052, and a frequency shift module 1053, where:

[0071] The frequency shift module 1053 is configured to obtain the resonant frequency and Q value of the target gyro, and determine the self-phase shift and phase change rate corresponding to each frequency shift value among the multiple frequency shift values of the target gyro.

[0072] Here, the frequency shift module 1053 can be used to calculate the self-phase shift of each frequency shift value by using Equation (2), and Equation (2) is as follows:

[0073]

[0074] where can represent the self-phase shift of the target gyro, ω d can represent the angular frequency of the driving axis resonant frequency of the target gyro, ω can represent the driving angular frequency of the target gyro, and Q represents the Q value of the target gyro.

[0075] Furthermore, the angular frequency ω d of the driving axis resonant frequency can be represented by Equation (3), and the driving angular frequency ω can be represented by Equation (4), and Equations (3) and (4) are as follows:

[0076] ω d = 2πf d (3)

[0077] ω = 2π(f d -Δf) (4)

[0078] where f d represents the resonant frequency of the target gyro, Δf represents the multiple frequency shift values of the target gyro, and f d -Δf can represent the frequency of the driving signal after frequency shift.

[0079] Furthermore, the frequency shift module 1053 can be used to calculate the phase change rate of each frequency shift value by using Equation (5), and Equation (5) is as follows:

[0080]

[0081] Further, the frequency shift module 1053 can be used to convert the angular frequency in Equation (5) into frequency by using Equations (3) and (4), as shown in Equation (6):

[0082]

[0083] Here, the physical meaning of the converted K f can be: when the frequency of the driving signal changes by 1 Hz, the phase change of the target gyroscope is K f degrees.

[0084] The frequency shift module 1053 is used to determine the frequency shift value with the phase change rate approaching 0 as the initial frequency shift value, dynamically adjust the frequency of the driving signal to the initial frequency shift value, and generate a driving signal.

[0085] Here, the frequency shift module 1053 is used to calculate the self-phase shift corresponding to each frequency shift value by using the above Equations (2)-(6) and the phase change rate K f , if there is a frequency shift value with the phase change rate K f approaching 0, this frequency shift value is used as the initial frequency shift value, and the frequency of the driving signal is adjusted to f d -Δf.

[0086] Preferably, approaching 0 means that the difference between the phase change rate and 0 is less than the second value, and the second value can be taken as 0.1.

[0087] As an example, a first embodiment is provided. In the first embodiment, it is assumed that the first target gyroscope is a mass block gyroscope with a Q value greater than 10,000, and the band-pass filter range is greater than 10 kHz. The first target gyroscope and the system specifications are shown in Table 1 below.

[0088]

[0089] Table 1

[0090] When the frequency shift value is 5 Hz, the frequency shift module 1053 calculates the self-phase shift of the first target gyroscope by using Equation (2) as follows.

[0091]

[0092] Further, the frequency shift module 1053 is used to calculate that the phase change rate of the first target gyroscope is 0.91 according to Equations (3)-(6).

[0093] As another example, assume that the frequency shift values of the first target gyroscope include 0, 1, 3, 5, 10, 15, and 20. For the frequency shift module 1053, the self-phase shift and phase change rate of each frequency shift value calculated using equations (2)-(6) can be as shown in Table 2 below.

[0094]

[0095] Table 2

[0096] When selecting the initial frequency shift value among the 7 frequency shift values in Table 2, it can be seen that when the frequency shift value is 15 Hz, the phase change rate is less than the second value of 0.1. Thus, 15 Hz can be used as the initial frequency shift value.

[0097] Furthermore, the frequency shift module 1053 is also used to set an initial drive amplitude A0 for the drive signal of the target gyroscope. Based on the initial drive amplitude A0 and the initial frequency shift value, it generates an initial drive signal and sends it to the DAC and drive analog circuit 101. Exemplarily, the initial drive amplitude A0 can be 100 mV.

[0098] The first quadrature demodulation module 1051 is used to perform quadrature demodulation on the digital signal after the digital signal generated by the target gyroscope according to the drive signal becomes stable, and determine the current amplitude and current phase value corresponding to the digital signal.

[0099] Here, the first quadrature demodulation module 1051 is used to receive the digital signal corresponding to the initial drive signal from the ADC acquisition circuit 103, perform quadrature demodulation on the digital signal, determine the current amplitude and current phase corresponding to the initial drive signal, and send the current amplitude to the threshold judgment module 1052.

[0100] The threshold judgment module 1052, if the current amplitude meets the third value, determines the difference between the current phase value and the self-phase shift, and uses the difference as the phase delay of the phase-locked loop of the target gyroscope.

[0101] Here, the threshold judgment module 1052 is used to compare the current amplitude with the third value. If the current amplitude is greater than the third value, it determines that the current drive signal meets the demodulation accuracy requirement, determines the difference between the current phase value and the self-phase shift, and uses the difference as the phase delay of the phase-locked loop of the target gyroscope (i.e., the phase shift to be compensated); if the current amplitude is not greater than the third value, it determines that the current drive signal does not meet the demodulation accuracy requirement, and sends the current amplitude to the frequency shift module 1053.

[0102] Among them, during the signal demodulation process, the amplitude of the signal directly affects the demodulation accuracy. The demodulation accuracy can refer to the ability of the system to accurately obtain the amplitude and phase information of the signal during the quadrature demodulation process. Specifically, the larger the amplitude of the driving signal, the more accurately the driving signal can be quadrature demodulated.

[0103] For the frequency shift module 1053, if the current amplitude is not greater than the third value, it receives the current amplitude from the threshold judgment module 1052, increases the amplitude value A of the current amplitude, regenerates the driving signal and sends it to the DAC and the driving analog circuit 101 until the threshold judgment module 1052 determines that the driving signal amplitude is greater than the third value, and determines the phase delay of the phase-locked loop of the target gyroscope.

[0104] Through the high-Q gyroscope phase delay detection and compensation system and method of the above embodiments of the present disclosure, the threshold judgment module ensures that the signal quality is good enough to meet the conditions for accurate demodulation by judging whether the current amplitude exceeds the third value. Only when the amplitude meets the requirements, the current phase value will be compared with its own phase shift to obtain the phase delay, ensuring the accuracy during the phase compensation process. If the amplitude does not meet the requirements, the system will enter the readjustment stage to ensure that the demodulation accuracy is not affected by noise interference. By dynamically adjusting the frequency shift value and minimizing the phase change rate, the long-time process required by the traditional frequency sweep method can be avoided, the phase delay of the target gyroscope can be quickly identified, and effective compensation can be performed. Compared with the traditional method, there is no need for a complex optimization algorithm, and the phase can be locked to the resonant state more simply and quickly in this way, reducing the operation complexity and time consumption.

[0105] In a possible implementation manner of the above embodiment, please refer to Figure 3 , Figure 3 is a schematic diagram of the architecture of another high-Q gyroscope phase delay detection and compensation system provided by the embodiments of the present disclosure. As shown in Figure 3 , the phase-locked loop phase compensation unit 106 includes a phase shift compensation module 1061, a second quadrature demodulation module 1062, a phase-locked PID controller 1063, and a driving frequency setting module 1064, where:

[0106] The phase shift compensation module 1061 is configured to receive the phase delay of the phase-locked loop, use the phase delay of the phase-locked loop as an offset, and perform a phase offset on the first reference signal and the second reference signal of the quadrature demodulation; among them, if the phase delay of the phase-locked loop is negative, the phase delay of the phase-locked loop is converted to a positive value.

[0107] Here, the mode selector 104 is configured to switch the system to the phase-locked closed-loop compensation mode, so that the phase shift compensation module 1061 receives the signal to be compensated including the phase delay of the phase-locked loop (i.e., the phase shift to be compensated).

[0108] Specifically, if the phase shift compensation module 1061 receives a signal to be compensated, it can be expressed as: x = A * sin(ωt + α).

[0109] Wherein, A represents the amplitude of the signal to be compensated, ω represents the driving angular frequency of the target gyroscope, and α represents the phase shift to be compensated.

[0110] Furthermore, since the input phase shift range of Direct Digital Synthesis (DDS) is 0 - 360 degrees, if the phase shift to be compensated is negative, add the phase shift to be compensated with positive 360° to convert it into a positive phase shift to be compensated. If the phase shift to be compensated is positive, no further processing is required.

[0111] Exemplarily, if the phase shift to be compensated is -88°, converting the phase shift to be compensated into a positive value can be -88° + 360° = 272°.

[0112] The second quadrature demodulation module 1062 is used to perform quadrature demodulation on the digital signal according to the first reference signal and the second reference signal after phase offset, and obtain the compensated real-time phase error signal.

[0113] Here, the second quadrature demodulation module 1062 is used to phase-shift the reference signal by α degrees using the DDS phase shift compensation method. The reference signal can be expressed as:

[0114] x1 = sin(ωt + α)

[0115] x2 = cos(ωt + α)

[0116] Performing quadrature demodulation on the reference signals x1 and x2, after passing through a multiplier and a low-pass filter, we can obtain:

[0117] I = A * B / 2 * cos(0)

[0118] Q = A * B / 2 * sin(0)

[0119] Here, through inverse trigonometric function calculation, the phase-shifted reference signal makes the system phase compensation result in α = 0 after phase compensation, that is, the demodulation output only contains the phase change of the gyroscope itself and does not contain phase delay information, which can ensure that the phase compensation is automatically completed during the demodulation process, thereby ensuring the accuracy of phase calculation.

[0120] Furthermore, the above phase shift demodulation method can keep the demodulation output within the range of ±180° by moving the reference signal, so as to avoid phase out-of-range distortion.

[0121] Moreover, the accuracy of phase compensation is only related to the accuracy of the DDS phase shift compensation method. For example, for a DAC with a 14-bit width, the phase accuracy can be 360 / 2^14 = 0.02°, while for a DAC with a 16-bit width, the phase accuracy can be 360 / 2^16 = 0.005°. The phase accuracy fully meets the resonance requirements of high-Q target gyroscopes. Among them, since DDS uses a DAC to output an analog signal, the width of the DAC limits the phase accuracy of the DDS signal.

[0122] The phase-locked PID controller 1063 is used to dynamically determine the adjustment amount of the driving signal frequency according to the difference between the real-time phase error signal and the preset resonance phase by using the PID algorithm; among them, the preset resonance phase represents -90°.

[0123] Here, the proportion-integration-differentiation (PID) algorithm can be an automatic control algorithm that combines three links of proportion, integration, and differentiation.

[0124] The phase-locked PID controller 1063 is used to set the preset resonance phase to -90°, calculate the frequency adjustment amount in real time by using the PID algorithm, and adjust the driving signal frequency in real time by using the frequency adjustment amount, so that the actual phase error of the target gyroscope approaches 0°.

[0125] The driving frequency setting module 1064 is used to superimpose the adjustment amount on the current driving frequency, generate a new driving signal and send it to the DAC and the driving analog circuit 101.

[0126] Through the high-Q gyroscope phase delay detection and compensation system and method of the above embodiments of the present disclosure, the phase shift compensation module receives the phase delay of the phase-locked loop and compensates the phase of the reference signal to keep the phase reference point consistent during the demodulation process. Through phase shift compensation, the phase drift caused by the inherent characteristics of the gyroscope itself or external environment changes can be eliminated, ensuring the subsequent demodulation accuracy. After completing the phase shift compensation, the second quadrature demodulation module performs quadrature demodulation on the compensated signal to obtain a real-time phase error signal. Through high-precision demodulation, the phase change can be tracked in real time, ensuring the accuracy of phase-locked control. The phase-locked PID controller keeps the driving signal frequency of the gyroscope always in the best resonance state through PID control, improving the system stability and reducing the phase-locked time.

[0127] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of a method for detecting and compensating the phase delay of a high-Q gyroscope provided by an embodiment of the present disclosure. This method can be applied to the above high-Q gyroscope phase delay detection and compensation system 100. The method includes the following steps:

[0128] Step S401: Provide a driving signal for the target gyroscope through a DAC and a driving analog circuit to excite the target gyroscope to work.

[0129] In this embodiment, the target gyroscope is a high-Q gyroscope with a Q value greater than a first value.

[0130] Step S402: Convert the capacitance change of the target gyroscope into a voltage signal through a capacitance-voltage conversion and band-pass filtering circuit, and filter out the noise in the non-resonant frequency band of the voltage signal.

[0131] Step S403: Convert the filtered voltage signal into a digital signal through an ADC acquisition circuit and send it to a frequency-shift demodulation and phase detection unit.

[0132] Step S404: Perform mode switching between the frequency-shift demodulation and phase detection unit and the phase-locked loop phase compensation unit through a mode selector.

[0133] Step S405: Dynamically adjust the driving signal frequency to an initial frequency-shift value where the phase change rate approaches 0 through the frequency-shift demodulation and phase detection unit, and determine the phase delay of the phase-locked loop of the target gyroscope based on quadrature demodulation.

[0134] In this embodiment, approaching 0 means that the difference between the phase change rate and 0 is less than a second value.

[0135] Step S406: Compensate the phase delay of the phase-locked loop through the phase-locked loop phase compensation unit, and lock the system phase to the resonant state through closed-loop control.

[0136] Through the high-Q gyroscope phase delay detection and compensation system and method of the above embodiments of the present disclosure, by dynamically adjusting the driving signal frequency, the initial frequency-shift value where the phase change rate approaches 0 is found, and the phase delay information of the system can be quickly obtained without fine frequency sweeping, greatly reducing the test time and improving the efficiency. The quadrature demodulation technology is used to directly extract the phase delay of the phase-locked loop, and the phase shift information can be obtained without complex calculations, further reducing the test time. Through the phase-locked loop phase compensation unit, the phase shift is directly compensated in the closed-loop control, enabling the system to quickly enter the resonant state and improving the real-time performance and stability.

[0137] In a possible implementation manner of the above step S405, step S405 may include the following steps:

[0138] Step a1: Obtain the resonant frequency and Q value of the target gyroscope through the frequency-shift module in the frequency-shift demodulation and phase detection unit, and determine the self-phase shift and phase change rate corresponding to each frequency-shift value among the multiple frequency-shift values of the target gyroscope.

[0139] Step a2: Through the frequency shift module, determine the frequency shift value with a phase change rate approaching 0 as the initial frequency shift value, dynamically adjust the frequency of the drive signal to the initial frequency shift value, and generate a drive signal.

[0140] Step a3: Through the first quadrature demodulation module in the frequency shift phase detection unit, after the digital signal generated by the target gyroscope according to the drive signal stabilizes, perform quadrature demodulation on the digital signal to determine the current amplitude and current phase value corresponding to the digital signal.

[0141] Step a4: Through the threshold judgment module in the frequency shift phase detection unit, if the current amplitude satisfies the third value, determine the difference between the current phase value and its own phase shift, and use the difference as the phase delay of the phase-locked loop of the target gyroscope.

[0142] Through the high-Q gyroscope phase delay detection and compensation system and method of the above embodiments of the present disclosure, the threshold judgment module ensures that the signal quality is good enough to meet the conditions for accurate demodulation by judging whether the current amplitude exceeds the third value. Only when the amplitude meets the requirements, the current phase value is compared with its own phase shift to obtain the phase delay, ensuring the accuracy in the phase compensation process. If the amplitude does not meet the requirements, the system will enter the readjustment stage, ensuring that the demodulation accuracy is not affected by noise interference. By dynamically adjusting the frequency shift value and minimizing the phase change rate, the long-time process required by the traditional frequency sweep method can be avoided, the phase delay of the target gyroscope can be quickly identified, and effective compensation can be performed. Compared with the traditional method, there is no need for a complex optimization algorithm, and the phase can be locked to the resonant state more simply and quickly in this way, reducing the operation complexity and time consumption.

[0143] In a possible implementation manner of the above step S406, step S406 may include the following steps:

[0144] Step b1: Through the phase shift compensation module in the phase-locked loop phase compensation unit, receive the phase delay of the phase-locked loop, use the phase delay of the phase-locked loop as the offset, and perform phase offset on the first reference signal and the second reference signal of the quadrature demodulation.

[0145] Among them, if the phase delay of the phase-locked loop is negative, convert the phase delay of the phase-locked loop to a positive value.

[0146] Step b2: Through the second quadrature demodulation module in the phase-locked loop phase compensation unit, according to the first reference signal and the second reference signal after phase offset, perform quadrature demodulation on the digital signal to obtain the compensated real-time phase error signal.

[0147] Step b3: Through the phase-locked PID controller in the phase-locked loop phase compensation unit, according to the difference between the real-time phase error signal and the preset resonant phase, dynamically determine the adjustment amount of the drive signal frequency by using the PID algorithm.

[0148] Among them, the preset resonance phase represents -90°.

[0149] Step b4: Through the drive frequency setting module in the phase-locked loop phase compensation unit, superimpose the adjustment amount on the current drive frequency to generate a new drive signal and send it to the DAC and the drive analog circuit.

[0150] Exemplarily, the phase shift compensation process can be as Figure 5 shown Figure 5 is a schematic diagram of the phase shift compensation process of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure, where:

[0151] During the signal demodulation process before compensation, the input signal is A*sin(ωt + α), where α represents the inherent phase delay in the system. The uncompensated reference signals can include sin(ωt) and cos(ωt). Based on the quadrature demodulation result of the uncompensated reference signals, the signal amplitude is A, but the phase information still contains the delay α. At this time, the measured phase is the uncompensated inherent phase delay of the system.

[0152] During the signal demodulation process after compensation, the reference signals can include sin(ωt + α) and cos(ωt + α). Among them, the phase of the reference signal is actively shifted by α to cancel the inherent phase delay of the system. Based on the quadrature demodulation result of the compensated reference signals, the signal amplitude is still A, but the phase information does not contain the delay α. The phase measured after compensation refers to the difference between the phase of the input signal (ωt + α) and the phase of the compensated reference signal (ωt + α), that is, 0°. That is to say, the phase after compensation refers to the mechanical vibration phase of the gyro itself.

[0153] For example, the true phase of a certain gyro when in resonance should be -90°, but the inherent phase delay α of the system = 5°. When the system is uncompensated, the measured phase is -90° + 5° = -85°, that is, the phase-locked loop will be wrongly locked at -85°, resulting in a deviation from the resonance state. And after compensation, the phase of the reference signal is shifted by +5°, and the demodulated phase is (-90° + 5°) - (+5°) = -90°.

[0154] With the high-Q gyro phase delay detection and compensation system and method according to the above embodiments of the present disclosure, the phase shift compensation module receives the phase delay of the phase-locked loop and compensates the phase of the reference signal to keep the phase reference points consistent during the demodulation process. Through phase shift compensation, the phase drift caused by the inherent characteristics of the gyro itself or changes in the external environment can be eliminated, ensuring the subsequent demodulation accuracy. After completing the phase shift compensation, the second quadrature demodulation module performs quadrature demodulation on the compensated signal to obtain a real-time phase error signal. Through high-precision demodulation, the phase change can be tracked in real time, ensuring the accuracy of the phase-locked control. The phase-locked PID controller uses PID control to keep the driving signal frequency of the gyro always at the optimal resonance state, improving the system stability and reducing the phase-locked time.

[0155] In the above first embodiment, according to multiple groups of data in Table 2, through actual measurement, it is obtained that when the current amplitude is greater than 10 mV, the demodulation accuracy of the current driving signal can be less than 0.1°; while when the current amplitude is less than 10 mV, the demodulation accuracy of the current driving signal increases significantly. Therefore, preferably, the value of the third numerical value can be 10 mV. Here, 10 mV is only taken as a preferred exemplary reference and is not specifically limited. After the system stabilizes, if the current amplitude read by the first demodulation module 1051 is 24.24 mV, the threshold judgment module 1052 compares the current amplitude with the third numerical value, determines that 24.24 mV > 10 mV, and the current phase shift is -86.80 degrees. The phase shift to be compensated is determined by the frequency shift module 1053 as:

[0156]

[0157] Furthermore, since the phase shift to be compensated is negative, the reference phase of the DDS signal in the second quadrature demodulation signal is set to a positive value of -87.86 + 360 = 272.13°. The phase-locked PID parameters are set as P = 0.3, I = 0.001, D = 0.01, the resonance point phase is -90°, and the driving amplitude is 100 mV.

[0158] When the mode selector 104 switches the system to the phase-locked closed-loop compensation unit 106, the first target gyro enters the phase-locked steady-state process as Figure 6 shown, Figure 6 is a schematic diagram of the first target gyro of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure quickly entering the phase-locked steady state. It can be seen from Figure 6 that the embodiments of the present disclosure can enable the first target gyro to quickly enter the phase-locked steady state after phase compensation.

[0159] Furthermore, the target gyro in the first embodiment is continued to be compared and analyzed with the one-step frequency sweeping method in the related art. Among them, the frequency sweeping parameters of the one-step frequency sweeping method in the related art are as follows:

[0160] (1) When using coarse frequency sweeping, the frequency sweeping step is 0.1 hz, the single frequency point delay is 10 s, the frequency sweeping range is 2 hz, and the total time consumption is about 200 s. The obtained frequency sweeping curve is as Figure 7 shown, Figure 7 which is a schematic diagram of the first frequency sweeping curve for comparison of the high-Q gyro phase delay detection and compensation method provided by the embodiment of the present disclosure. It can be seen from Figure 7 that there is a very large phase mutation at the resonance point, and the true resonance phase cannot be known. Further fine frequency sweeping is continued.

[0161] (2) When using fine frequency sweeping, the frequency sweeping step is 0.02 hz, the single frequency point delay is 10 s, the frequency sweeping range is 5 hz, and the total time consumption is about 2500 s. The obtained frequency sweeping curve is as Figure 8 shown, Figure 8 which is a schematic diagram of the second frequency sweeping curve for comparison of the high-Q gyro phase delay detection and compensation method provided by the embodiment of the present disclosure. It can be seen from Figure 8 that the phase of the resonance point is -179.281°, and there is a large phase mutation at the resonance point. In this case, if the phase of this resonance point is directly used as the reference phase point for the phase-locked closed loop, the phase locking cannot be completed. Therefore, if the one-step frequency sweeping method in the related technology is used, the required time is long and it cannot be directly used for the phase-locked drive of the high-Q gyro.

[0162] As an example, a second embodiment is further provided. Based on the data of the first embodiment, the rationality of taking 0.1 for the second numerical value is further demonstrated and analyzed.

[0163] On the basis of the first target gyro and the circuit system of the first embodiment, the driving amplitude is further determined to be 100 mV, and the frequency shift value changes from 0 to 20 Hz. When the digital signal in the system is in a steady state, the amplitude and the phase shift to be compensated can be as shown in Table 3:

[0164]

[0165]

[0166] Table 3

[0167] It can be seen from Table 3 that the amplitude at steady state corresponding to each frequency shift value is greater than the third numerical value of 10 mV, and it can be considered that the demodulation accuracy of the phase shift to be compensated obtained in Table 3 meets the demodulation requirements.

[0168] In addition, as the frequency shift value increases, the phase change rate of the first target gyro decreases, and the change of the phase shift to be compensated obtained by testing also approaches a steady state, that is, the phase shift to be compensated after being greater than 15 Hz stabilizes at around 272°.

[0169] If a frequency shift value with a scaling factor not less than the second value of 0.1° is selected, such as 5 Hz (scaling factor 0.63). After compensation, the phase difference from the steady-state value (272°) is 2.6°, that is, there is a steady-state error of 2.6° between the phase after phase locking and the true resonant phase.

[0170] If a frequency shift value with a scaling factor less than the second value of 0.1° is selected, such as 15 Hz (scaling factor 0.071), the steady-state error of phase locking can be reduced to less than 1 degree. Therefore, the second value can be preferably 0.1.

[0171] As an example, a third embodiment is further provided. A second target gyroscope with a Q value greater than 20000 is set to test the effect of phase delay detection and compensation of the second target gyroscope, so as to demonstrate the applicability of the embodiments of the present disclosure to high-Q gyros.

[0172] Among them, the parameters of the second target gyroscope and the system indicators can be as shown in Table 4:

[0173]

[0174] Table 4

[0175] According to the parameters in Table 4, the self-phase shift and the phase shift change rate corresponding to different frequency shift values are calculated, as shown in Table 5:

[0176]

[0177]

[0178] As can be seen from Table 5, when the frequency shift value is 15, the phase shift change rate is less than the second value of 0.1, and 15 can be used as the initial frequency shift value of the second target gyroscope. At this time, the self-phase shift of the second target gyroscope is 0.95°.

[0179] In the frequency shift phase discrimination detection unit 105, if the drive signal is set to 2000 mV and the drive frequency is 10671.5 Hz, the phase shift to be compensated can be calculated as 37.23°.

[0180] In the phase-locked loop phase compensation unit 106, the phase-locked PID parameters are set as P = 0.3, I = 0.001, D = 0, the resonant point phase is -90°, and the drive amplitude is 90 mV to perform phase compensation on the second target gyroscope. The second target gyroscope enters the phase-locked steady-state process as Figure 9 shown, Figure 9 is a schematic diagram of the second target gyroscope of a high-Q gyro phase delay detection and compensation method provided by the embodiments of the present disclosure quickly entering the phase-locked steady state. As can be seen from Figure 9 it, after about 50 s, the second target gyroscope can enter the phase-locked state, and both the amplitude and the phase remain stable, and the steady-state amplitude is 862 mV.

[0181] Therefore, when the target gyroscope is a high-Q gyroscope with a Q value greater than 20,000, without a complex frequency-sweeping process, the high-Q gyroscope system can still quickly achieve phase compensation and enter the phase-locked closed-loop resonance state.

[0182] As an example, a fourth embodiment is further provided. A third target gyroscope with a Q value greater than 5000 is set, and the effects of phase delay detection and compensation of the third target gyroscope are tested to further demonstrate the applicability of the embodiments of the present disclosure to high-Q gyroscopes.

[0183] Among them, the parameters of the third target gyroscope and the system specifications can be as shown in Table 6:

[0184]

[0185] Table 6

[0186] Calculate the self-phase shift and phase shift change rate corresponding to different frequency shift values according to the parameters in Table 6, as shown in Table 7:

[0187]

[0188] Table 7

[0189] Similar to the initial frequency shift value selection process of the second target gyroscope, the initial frequency shift value of the third target gyroscope can be set to 40 Hz. Assuming that the drive signal is 400 mV, repeating the steps of the first embodiment can calculate that the phase shift to be compensated of the third target gyroscope is 97.81°.

[0190] In the phase-locked loop phase compensation unit 106, set the phase-locked PID parameters as P = 0.3, I = 0.001, D = 0, the resonant point phase is -90°, and the drive amplitude is 300 mV, and perform phase compensation on the third target gyroscope. The process of the third target gyroscope entering the phase-locked steady state can be as Figure 10 shown, Figure 10 is a schematic diagram of the third target gyroscope quickly entering the phase-locked steady state of a high-Q gyroscope phase delay detection and compensation method provided by the embodiments of the present disclosure. It can be seen from Figure 10 that after about 2 s, the third target gyroscope can enter the phase-locked state.

[0191] Therefore, when the target gyroscope is a high-Q gyroscope with a Q value greater than 5000, without a complex frequency-sweeping process, the high-Q gyroscope system can still quickly achieve phase compensation and enter the phase-locked closed-loop resonance state.

[0192] Combining the above first to fourth embodiments, through the high-Q gyro phase delay detection and compensation system and method of the above embodiments of the present disclosure, there is no need for a complex and time-consuming frequency sweeping process, and there is no need for a complex phase compensation algorithm. According to the gyro resonance frequency and Q value, the loop phase delay can be quickly obtained through a single frequency shift operation, and the loop phase compensation can be quickly realized, achieving stable resonance of the gyro, and having good applicability for gyros with a Q value above 5000.

[0193] In a specific embodiment, please refer to Figure 11 , Figure 11 which is a schematic flow chart of a specific process of a high-Q gyro phase delay detection and compensation method provided by an embodiment of the present disclosure. The specific process includes the following steps:

[0194] Step S1101, obtain the approximate resonance frequency f d and Q value of the target gyro.

[0195] Here, use a dynamic signal analyzer to obtain the approximate resonance frequency f d and Q value of the target gyro.

[0196] Step S1102, calculate the phase change rate.

[0197] Here, according to multiple frequency shift values of the target gyro, calculate the self-phase shift and phase change rate corresponding to each frequency shift value.

[0198] Step S1103, move the drive frequency to the initial frequency shift value.

[0199] Here, use the frequency shift value with a phase change rate less than the second value as the initial frequency shift value, and move the drive frequency to the initial frequency shift value.

[0200] Step S1104, set the initial drive amplitude.

[0201] Here, set the initial drive amplitude A0 for the initial drive signal.

[0202] Step S1105, output the drive signal.

[0203] Here, determine the initial drive signal according to the initial frequency shift value and the initial drive amplitude.

[0204] Step S1106, perform quadrature demodulation to obtain the drive signal amplitude and phase.

[0205] Here, the first quadrature demodulation module receives the digital signal corresponding to the initial drive signal sent by the ADC acquisition circuit, performs quadrature demodulation on the digital signal, and obtains the drive signal amplitude and phase.

[0206] Step S1107, determine whether the amplitude in the steady state is greater than a third value. If so, proceed to step S1108; if not, proceed to step S1109.

[0207] Step S1108, set the current demodulation phase to the system phase delay.

[0208] Here, after obtaining the current phase value through quadrature demodulation, it is used as the inherent phase delay α of the system.

[0209] Step S1109, increase the drive amplitude.

[0210] Here, a new drive signal is regenerated based on the increased drive amplitude.

[0211] Step S1109, set the system phase delay to the DDS reference phase.

[0212] Here, the inherent phase delay α of the system is input into the DDS to adjust the phase of the generated reference signal, with an offset of α.

[0213] Step S1111, set the locked phase shift of the phase-locked loop to -90°, and enter the closed-loop control mode.

[0214] Here, set the reference phase of the phase-locked loop to -90°, start the closed-loop adjustment of the drive frequency by the PID controller, and make the system phase stable at -90°.

[0215] In one embodiment, a high-Q gyro phase delay detection and compensation device 1200 is provided, which corresponds one-to-one to the high-Q gyro phase delay detection and compensation method in the above embodiment. As Figure 12 shown, the device includes:

[0216] A drive signal generation module 1201, configured to provide a drive signal for the target gyro through a DAC and a drive analog circuit to excite the target gyro to work; wherein, the target gyro is a high-Q gyro with a Q value greater than a first value;

[0217] A conversion and filtering module 1202, configured to convert the capacitance change of the target gyro into a voltage signal through a capacitance-voltage conversion and a band-pass filtering circuit, and filter out the noise in the non-resonant frequency band of the voltage signal;

[0218] A second conversion module 1203, configured to convert the filtered voltage signal into a digital signal through an ADC acquisition circuit and send it to the frequency shift phase discrimination detection unit;

[0219] A mode switching module 1204, configured to perform mode switching between the frequency shift phase discrimination detection unit and the phase-locked loop phase compensation unit through a mode selector;

[0220] The phase shift to be compensated determination module 1205 is configured to dynamically adjust the driving signal frequency to an initial frequency shift value where the phase change rate approaches 0 through a frequency shift and phase discrimination detection unit, and determine the phase delay of the phase-locked loop of the target gyro based on quadrature demodulation; where approaching 0 means that the difference between the phase change rate and 0 is less than a second value.

[0221] The compensation module 1206 is configured to perform phase compensation on the phase delay of the phase-locked loop through a phase-locked loop phase compensation unit, and lock the system phase to the resonant state through closed-loop control.

[0222] In one embodiment, the phase shift to be compensated determination module 1205 is specifically configured to obtain the resonant frequency and Q value of the target gyro according to a frequency shift module, and determine the self-phase shift and phase change rate corresponding to each frequency shift value among multiple frequency shift values of the target gyro.

[0223] According to the frequency shift module, determine the frequency shift value where the phase change rate approaches 0 as the initial frequency shift value, dynamically adjust the frequency of the driving signal to the initial frequency shift value, and generate a driving signal.

[0224] According to the first quadrature demodulation module, after the digital signal generated by the target gyro according to the driving signal is stable, perform quadrature demodulation on the digital signal to determine the current amplitude and current phase value corresponding to the digital signal.

[0225] According to the threshold judgment module, if the current amplitude satisfies a third value, determine the difference between the current phase value and the self-phase shift, and use the difference as the phase delay of the phase-locked loop of the target gyro.

[0226] In one embodiment, the compensation module 1206 is specifically configured to receive the phase delay of the phase-locked loop according to a phase shift compensation module, use the phase delay of the phase-locked loop as an offset, and perform a phase offset on the first reference signal and the second reference signal of the quadrature demodulation; where if the phase delay of the phase-locked loop is negative, convert the phase delay of the phase-locked loop to a positive value.

[0227] According to the second quadrature demodulation module, perform quadrature demodulation on the digital signal according to the phase-offset first reference signal and second reference signal to obtain a compensated real-time phase error signal.

[0228] According to the phase-locked PID controller, according to the difference between the real-time phase error signal and the preset resonant phase, dynamically determine the adjustment amount of the driving signal frequency using the PID algorithm; where the preset resonant phase represents -90°.

[0229] According to the driving frequency setting module, superimpose the adjustment amount on the current driving frequency, generate a new driving signal and send it to the DAC and the driving analog circuit.

[0230] It should be noted that when the high-Q gyro phase delay detection and compensation device provided in the above embodiments implements the corresponding high-Q gyro phase delay detection and compensation method, only the division of the above program modules is used for illustration. In practical applications, the above processing can be allocated to different program modules according to needs, that is, the internal structure of the above system is divided into different program modules to complete all or part of the processing described above. In addition, the system provided in the above embodiments and the corresponding Figure 4 embodiment of the method shown belong to the same concept. For the specific implementation process, please refer to the method embodiment, which will not be elaborated here.

[0231] The embodiments of the present disclosure also provide a computer device having the above Figure 12 shown high-Q gyro phase delay detection and compensation device.

[0232] Please refer to Figure 13 , Figure 13 which is a schematic structural diagram of another high-Q gyro phase delay detection and compensation device provided by the embodiments of the present disclosure. As Figure 13 shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways according to needs. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 13 One processor 10 is taken as an example in

[0233] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0234] Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiments.

[0235] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0236] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memory.

[0237] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means, Figure 13 Taking connection through a bus as an example.

[0238] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0239] The computer device further includes a communication interface for the computer device to communicate with other devices or a communication network.

[0240] Embodiments of the present disclosure also provide a computer-readable storage medium. The methods according to the embodiments of the present disclosure can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be processed by such software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0241] A part of the present disclosure can be applied as a computer program product, for example, computer program instructions, which, when executed by a computer, can call or provide the methods and / or technical solutions according to the present disclosure through the operation of the computer. Those skilled in the art should be able to understand that the forms of existence of computer program instructions in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0242] Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A high-Q gyro phase delay detection and compensation system, characterized in that, The system includes a DAC and a driving analog circuit, a capacitance-voltage conversion and band-pass filtering circuit, an ADC acquisition circuit, a mode selector, a frequency shift and phase discrimination detection unit, and a phase-locked loop phase compensation unit, where: The DAC and the driving analog circuit are configured to provide a driving signal for the target gyroscope to stimulate the operation of the target gyroscope; wherein, the target gyroscope is a high-Q gyroscope with a Q value greater than a first value. The capacitance-voltage conversion and band-pass filtering circuit is configured to convert the capacitance change of the target gyroscope into a voltage signal and filter out the noise in the non-resonant frequency band of the voltage signal. The ADC acquisition circuit is configured to convert the filtered voltage signal into a digital signal and send it to the frequency shift and phase discrimination detection unit. The mode selector is configured to perform mode switching between the frequency shift and phase discrimination detection unit and the phase-locked loop phase compensation unit. The frequency shift and phase discrimination detection unit is configured to dynamically adjust the frequency of the driving signal to an initial frequency shift value where the phase change rate approaches 0, and determine the phase delay of the phase-locked loop of the target gyroscope based on quadrature demodulation; where approaching 0 means that the difference between the phase change rate and 0 is less than a second value. The phase-locked loop phase compensation unit is configured to perform phase compensation on the phase delay of the phase-locked loop and lock the system phase to the resonant state through closed-loop control.

2. The system according to claim 1, wherein The frequency shift and phase discrimination detection unit includes a first quadrature demodulation module, a threshold judgment module, and a frequency shift module, where: The frequency shift module is configured to obtain the resonant frequency and Q value of the target gyroscope, and determine the self-phase shift and phase change rate corresponding to each frequency shift value among the multiple frequency shift values of the target gyroscope. The frequency shift module is configured to determine the frequency shift value where the phase change rate approaches 0 as the initial frequency shift value, dynamically adjust the frequency of the driving signal to the initial frequency shift value, and generate a driving signal. The first quadrature demodulation module is configured to perform quadrature demodulation on the digital signal after the digital signal generated by the target gyroscope according to the driving signal is stable, and determine the current amplitude and current phase value corresponding to the digital signal. The threshold judgment module, if the current amplitude satisfies a third value, determines the difference between the current phase value and the self-phase shift, and takes the difference as the phase delay of the phase-locked loop of the target gyroscope.

3. The system according to claim 1, wherein The phase-locked loop phase compensation unit includes a phase shift compensation module, a second quadrature demodulation module, a phase-locked PID controller, and a driving frequency setting module, where: The phase shift compensation module is configured to receive the phase delay of the phase-locked loop, use the phase delay of the phase-locked loop as an offset, and perform a phase offset on the first reference signal and the second reference signal of the quadrature demodulation; where if the phase delay of the phase-locked loop is negative, the phase delay of the phase-locked loop is converted into a positive value. The second quadrature demodulation module is configured to perform quadrature demodulation on the digital signal according to the first reference signal and the second reference signal after the phase offset, and obtain a compensated real-time phase error signal. The phase-locked PID controller is configured to dynamically determine the adjustment amount of the driving signal frequency according to the difference between the real-time phase error signal and the preset resonant phase by using the PID algorithm; where the preset resonant phase represents -90°. A drive frequency setting module, configured to superimpose the adjustment amount on the current drive frequency, generate a new drive signal, and send it to the DAC and the drive analog circuit.

4. A method for detecting and compensating gyro phase delay with high Q value, characterized in that, Applied to the high-Q gyro phase delay detection and compensation system according to any one of claims 1-3, the system includes a DAC and a drive analog circuit, a capacitance voltage conversion and band-pass filter circuit, an ADC acquisition circuit, a mode selector, a frequency shift phase discrimination detection unit, and a phase-locked loop phase compensation unit. The method includes: Providing a drive signal for the target gyro through the DAC and the drive analog circuit to excite the target gyro to work; wherein the target gyro is a high-Q gyro with a Q value greater than a first value; Converting the capacitance change of the target gyro into a voltage signal through the capacitance voltage conversion and band-pass filter circuit, and filtering out the noise in the non-resonant frequency band of the voltage signal; Converting the voltage signal after filtering processing into a digital signal through the ADC acquisition circuit, and sending it to the frequency shift phase discrimination detection unit; Performing mode switching between the frequency shift phase discrimination detection unit and the phase-locked loop phase compensation unit through the mode selector; Dynamically adjusting the frequency of the drive signal to an initial frequency shift value where the phase change rate approaches 0 through the frequency shift phase discrimination detection unit, and determining the phase-locked loop phase delay of the target gyro based on quadrature demodulation; wherein approaching 0 means that the difference between the phase change rate and 0 is less than a second value; Compensating the phase-locked loop phase delay through the phase-locked loop phase compensation unit, and locking the system phase to the resonant state through closed-loop control.

5. The method according to claim 4, wherein The step of dynamically adjusting the frequency of the drive signal to an initial frequency shift value where the phase change rate approaches 0 through the frequency shift phase discrimination detection unit and determining the phase-locked loop phase delay of the target gyro based on quadrature demodulation includes: Obtaining the resonant frequency and Q value of the target gyro through the frequency shift module in the frequency shift phase discrimination detection unit, and determining the self-phase shift and phase change rate corresponding to each frequency shift value among multiple frequency shift values of the target gyro; Determining the frequency shift value where the phase change rate approaches 0 as the initial frequency shift value through the frequency shift module, and dynamically adjusting the frequency of the drive signal to the initial frequency shift value to generate a drive signal; Performing quadrature demodulation on the digital signal after the digital signal generated by the target gyro according to the drive signal is stable through the first quadrature demodulation module in the frequency shift phase discrimination detection unit, and determining the current amplitude and current phase value corresponding to the digital signal; If the current amplitude meets a third value through the threshold judgment module in the frequency shift phase discrimination detection unit, determining the difference between the current phase value and the self-phase shift, and using the difference as the phase-locked loop phase delay of the target gyro.

6. The method according to claim 4, wherein The step of compensating the phase-locked loop phase delay through the phase-locked loop phase compensation unit and locking the system phase to the resonant state through closed-loop control includes: Through the phase shift compensation module in the phase-locked loop phase compensation unit, receive the phase delay of the phase-locked loop, use the phase delay of the phase-locked loop as an offset, and perform phase offset on the first reference signal and the second reference signal of quadrature demodulation; wherein, if the phase delay of the phase-locked loop is negative, convert the phase delay of the phase-locked loop to a positive value. Through the second quadrature demodulation module in the phase-locked loop phase compensation unit, perform quadrature demodulation on the digital signal according to the first reference signal and the second reference signal after phase offset, and obtain the compensated real-time phase error signal. Through the phase-locked PID controller in the phase-locked loop phase compensation unit, according to the difference between the real-time phase error signal and the preset resonance phase, dynamically determine the adjustment amount of the driving signal frequency by using the PID algorithm; wherein, the preset resonance phase represents -90°. Through the driving frequency setting module in the phase-locked loop phase compensation unit, superimpose the adjustment amount on the current driving frequency, generate a new driving signal and send it to the DAC and the driving analog circuit.

7. A high-Q gyro phase delay detection and compensation device, characterized in that, The device includes: A driving signal generation module, configured to provide a driving signal for a target gyroscope through a DAC and a driving analog circuit to excite the target gyroscope to work; wherein, the target gyroscope is a high-Q gyroscope with a Q value greater than a first value. A conversion and filtering module, configured to convert the capacitance change of the target gyroscope into a voltage signal through a capacitance-voltage conversion and a band-pass filter circuit, and filter out the noise in the non-resonant frequency band of the voltage signal. A second conversion module, configured to convert the voltage signal after filtering processing into a digital signal through an ADC acquisition circuit and send it to a frequency shift and phase discrimination detection unit. A mode switching module, configured to perform mode switching between the frequency shift and phase discrimination detection unit and the phase-locked loop phase compensation unit through a mode selector. A phase shift to be compensated determination module, configured to dynamically adjust the driving signal frequency to an initial frequency shift value where the phase change rate approaches 0 through the frequency shift and phase discrimination detection unit, and determine the phase delay of the phase-locked loop of the target gyroscope based on quadrature demodulation; wherein, approaching 0 means that the difference between the phase change rate and 0 is less than a second value. A compensation module, configured to perform phase compensation on the phase delay of the phase-locked loop through the phase-locked loop phase compensation unit, and lock the system phase to the resonant state through closed-loop control.

8. A computer device, characterized in that, Including: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the high-Q gyroscope phase delay detection and compensation method according to any one of claims 4 to 6.

9. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the high-Q gyroscope phase delay detection and compensation method according to any one of claims 4 to 6.

10. A computer program product, characterized in that, Including computer instructions, and the computer instructions are used to cause a computer to execute the high-Q gyroscope phase delay detection and compensation method according to any one of claims 4 to 6.

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