Resonant gyroscope measurement and control system with time sharing of driving and detection

Abstract

The invention belongs to the technical field of gyroscope measurement and control, and relates to a drive and detection time-sharing resonant gyroscope measurement and control system, which comprises four capacitors, a switch controller, a detection line, a drive line and a controller, the detection line comprises a first detection path and a second detection path, and the drive line comprises a first drive path and a second drive path; the controller is used for converting a modal detection signal obtained by the detection line to obtain a modal driving signal so as to control the driving line; at adjacent moments, alternately collecting a driving line signal and a detection line signal; exchanging capacitors connected with the first driving path and the second driving path during two adjacent driving line signal acquisition; during two adjacent detection line signal acquisition, capacitors connected with the first detection path and the second detection path are exchanged; and circularly performing signal acquisition by taking four moments as a period. According to the invention, driving and detection can be carried out in a time-sharing manner, and driving and detection of an X mode and a Y mode can be carried out at the same time.

Description

Technical Field

[0001] This application relates to the technical field of gyroscope measurement and control, and particularly to a resonant gyroscope measurement and control system with time-division driving and detection. Background Art

[0002] Resonant gyroscopes, especially hemispherical gyroscopes, have important application values due to their high precision and stability in the fields of navigation and positioning. During the operation of a resonant gyroscope, precise driving and detection of the X mode and Y mode are required.

[0003] In traditional methods, independent driving and detection circuits are used for the X mode and Y mode respectively, which leads to inconsistencies in circuit gain and phase shift. At the same time, crosstalk occurs when driving and detection are carried out simultaneously, and these problems limit the improvement of gyroscope performance.

[0004] To solve the above problems, a time-division multiplexing (TDM) control method is proposed. By time-division switching, the X mode and Y mode share the same set of driving and detection circuits to reduce the inconsistency error.

[0005] However, this method requires time-division of the electrodes, resulting in that the X / Y two modes must also use a single detection circuit and driving circuit alternately in time division, that is, the detection of the X mode, the detection of the Y mode, the driving of the X mode, and the driving of the Y mode. These four states must be completely separated, which affects the driving and detection efficiency. Summary of the Invention

[0006] Based on this, in view of the above technical problems, it is necessary to provide a resonant gyroscope measurement and control system with time-division driving and detection, which can perform driving and detection in time division, and simultaneously drive the X mode and Y mode, and simultaneously detect the X mode and Y mode.

[0007] A resonant gyroscope measurement and control system with time-division driving and detection includes: four capacitors, a switch controller, a detection line, a driving line, and a controller. The detection line includes a first detection path and a second detection path, and the driving line includes a first driving path and a second driving path; The four capacitors are all connected to one end of the switch controller, and the other end of the switch controller is connected to the controller through the parallel-connected first detection path, second detection path, first driving path, and second driving path; The controller is configured to convert the mode detection signal obtained from the detection line into a mode driving signal to control the driving line; At adjacent moments, the acquisition of the driving line signal and the detection line signal is alternately performed; when the driving line signal is acquired twice adjacent to each other, the capacitors connected to the first driving path and the second driving path are exchanged; when the detection line signal is acquired twice adjacent to each other, the capacitors connected to the first detection path and the second detection path are exchanged; the signal acquisition is cyclically performed with four moments as a period.

[0008] In one embodiment, the capacitors include: a first capacitor, a second capacitor, a third capacitor, and a fourth capacitor; The first capacitor and the second capacitor correspond to the X mode of the resonant gyroscope, and the third capacitor and the fourth capacitor correspond to the Y mode of the resonant gyroscope.

[0009] In one embodiment, it further includes: a signal reconstruction module and a signal deconstruction module; One end of the signal reconstruction module is connected to both the first detection path and the second detection path, and the other end is connected to the controller, and is used for reconstructing the first original detection signal of the first detection path and the second original detection signal of the second detection path to obtain a first mode detection signal and a second mode detection signal; One end of the signal deconstruction module is connected to the controller, and the other end is connected to both the first driving path and the second driving path, and is used for deconstructing the first mode driving signal and the second mode driving signal to obtain a first deconstructed driving signal of the first driving path and a second deconstructed driving signal of the second driving path.

[0010] In one embodiment, it further includes: a first calibration module and a second calibration module; The first calibration module is arranged between the detection line and the signal reconstruction module to calibrate the first original detection signal of the first detection path and the second original detection signal of the second detection path; The second calibration module is arranged between the driving line and the signal deconstruction module to calibrate the first deconstructed driving signal of the first driving path and the second deconstructed driving signal of the second driving path.

[0011] In one embodiment, the first detection path includes, connected in sequence: a first fully differential CV operational amplifier, a first ADC driver, and a first ADC. The first fully differential CV operational amplifier is connected to the switch controller, and the first ADC is connected to the first calibration module; The second detection path includes, connected in sequence: a second fully differential CV operational amplifier, a second ADC driver, and a second ADC. The second fully differential CV operational amplifier is connected to the switch controller, and the second ADC is connected to the first calibration module.

[0012] In one embodiment, the first driving path includes, connected in sequence: a first DAC buffer, a first current-voltage conversion circuit, and a third ADC. The first DAC buffer is connected to the switch controller, and the third ADC is connected to the second calibration module; The second driving path includes, connected in sequence: a second DAC buffer, a second current-voltage conversion circuit, and a fourth ADC. The second DAC buffer is connected to the switch controller, and the fourth ADC is connected to the second calibration module.

[0013] In one embodiment, at adjacent moments, the acquisition of the driving line signal and the detection line signal is alternately performed; when the driving line signal is acquired twice in succession, the capacitors connected by the first driving path and the second driving path are exchanged; when the detection line signal is acquired twice in succession, the capacitors connected by the first detection path and the second detection path are exchanged; with four moments as a cycle, the signal acquisition is cyclically performed, including: At the first moment, the first driving path and the second driving path are turned on, and the first detection path and the second detection path are turned off; the first driving path is connected to the first capacitor and the second capacitor, and the second driving path is connected to the third capacitor and the fourth capacitor to acquire the driving line signal; the first driving path takes the first deconstructed driving signal as an input and outputs a first control driving signal; the second driving path takes the second deconstructed driving signal as an input and outputs a second control driving signal; At the second moment, the first driving path and the second driving path are turned off, and the first detection path and the second detection path are turned on; the first detection path is connected to the first capacitor and the second capacitor, and the second detection path is connected to the third capacitor and the fourth capacitor to acquire the detection line signal; the first detection path takes the first control driving signal as an input and outputs a first raw detection signal; the second detection path takes the second control driving signal as an input and outputs a second raw detection signal; At the third moment, the first driving path and the second driving path are turned on, and the first detection path and the second detection path are turned off; the first driving path is connected to the third capacitor and the fourth capacitor, and the second driving path is connected to the first capacitor and the second capacitor to acquire the driving line signal; the first driving path takes the first deconstructed driving signal as an input and outputs a first control driving signal; the second driving path takes the second deconstructed driving signal as an input and outputs a second control driving signal; At the fourth moment, the first driving path and the second driving path are turned off, and the first detection path and the second detection path are turned on; the first detection path is connected to the third capacitor and the fourth capacitor, and the second detection path is connected to the first capacitor and the second capacitor to acquire the detection line signal; the first detection path takes the first control driving signal as an input and outputs a first raw detection signal; the second detection path takes the second control driving signal as an input and outputs a second raw detection signal; Taking the first moment, the second moment, the third moment, and the fourth moment as an action cycle, driving and detecting are cycled to achieve signal acquisition.

[0014] In one embodiment, reconstructing the first original detection signal of the first detection path and the second original detection signal of the second detection path to obtain a first modal detection signal and a second modal detection signal includes: Using the method of numerical interpolation or numerical fitting to fill the signal blanks of the first original detection signal and the second original detection signal to obtain the first modal detection signal and the second modal detection signal.

[0015] In one embodiment, deconstructing the first modal drive signal and the second modal drive signal to obtain the first deconstructed drive signal of the first drive path and the second deconstructed drive signal of the second drive path includes: Deconstructing the first modal drive signal into 4 moments on the time axis, deconstructing the second modal drive signal into 4 moments on the time axis, deconstructing the first deconstructed drive signal into 4 moments on the time axis, and deconstructing the second deconstructed drive signal into 4 moments on the time axis, and the length of each moment is equal; At the first moment, the deconstructed first modal drive signal is assigned to the first deconstructed drive signal, and the deconstructed second modal drive signal is assigned to the second deconstructed drive signal; At the third moment, the deconstructed first modal drive signal is assigned to the second deconstructed drive signal, and the deconstructed second modal drive signal is assigned to the first deconstructed drive signal; The first moment, the second moment, the third moment, and the fourth moment form a deconstruction cycle, and signal deconstruction is repeated.

[0016] The above resonance gyro measurement and control system with time-division driving and detection designs two driving and detection circuits, alternately uses the gyro capacitors for driving and detection, and staggers the sampling time in the time domain, so that the detection stage of each electrode occupies half of each time-division period, realizing the simultaneous driving or detection of the X mode and the Y mode, doubling the sampling information volume, effectively improving the sampling rate and bandwidth, and improving the system resource utilization rate; through the time-division multiplexing driving and detection operations, the crosstalk between driving and detection is avoided, enabling each operation to be executed under the best conditions, and improving the measurement and control accuracy and efficiency of the resonance gyro; using the ideas of dynamic element matching (alternately using the gyro capacitors) and time interleaving (parallel connecting multiple ADC channels and staggering their sampling times in the time domain to achieve a higher sampling rate, expand the bandwidth of the ADC, and improve the system resource utilization rate), the nonlinear problem is transformed into noise, that is, the error caused by mismatch becomes pseudo-random noise uncorrelated with the input sequence instead of nonlinear distortion, reducing the influence of mismatch on the measurement and control accuracy, reducing the error caused by component mismatch, improving the matching accuracy of components, and improving the stability and reliability of the system. This application is an efficient, high-speed, and high-precision resonance gyro measurement and control system, significantly improving the measurement and control performance of the resonance gyro, reducing crosstalk, enhancing the bandwidth (high speed) of the gyro system, and enhancing the stability and reliability of the system. Brief Description of the Drawings

[0017] Figure 1 It is a schematic diagram of a resonance gyro measurement and control system with time-division driving and detection in an embodiment. Detailed Description of the Embodiment

[0018] In order to make the objectives, technical solutions and advantages of this application clearer, the following further elaborates on this application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0020] In addition, in this application, descriptions such as "first" and "second" are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, the meaning of "multiple groups" is at least two groups, such as two groups, three groups, etc., unless otherwise specifically and clearly defined.

[0021] In this application, unless otherwise clearly specified and defined, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] In addition, the technical solutions between various embodiments of this application can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] This application provides a resonance gyroscope measurement and control system with time-sharing driving and detection, as Figure 1 shown. In one embodiment, it includes: four capacitors, a switch controller, a detection line, a driving line, and a controller.

[0024] Among them, the four capacitors are respectively: the first capacitor (gyroscope capacitor No. 1), the second capacitor (gyroscope capacitor No. 2), the third capacitor (gyroscope capacitor No. 3), and the fourth capacitor (gyroscope capacitor No. 4); the first capacitor and the second capacitor correspond to the X mode of the resonance gyroscope, and the third capacitor and the fourth capacitor correspond to the Y mode of the resonance gyroscope.

[0025] The switch controller simultaneously controls the on / off of eight groups of single-pole double-throw switches.

[0026] The detection line includes a first detection path and a second detection path.

[0027] The first detection path includes, connected in sequence: a first fully differential CV operational amplifier, a first ADC driver, and a first ADC. The first fully differential CV operational amplifier is connected to the switch controller, and the first ADC is connected to the first calibration module.

[0028] The second detection path includes, connected in sequence: a second fully differential CV operational amplifier, a second ADC driver, and a second ADC. The second fully differential CV operational amplifier is connected to the switch controller, and the second ADC is connected to the first calibration module.

[0029] The drive line includes a first drive path and a second drive path.

[0030] The first drive path includes, connected in sequence: a first DAC buffer, a first current-voltage conversion circuit, and a third ADC. The first DAC buffer is connected to the switch controller, and the third ADC is connected to the second calibration module.

[0031] The second drive path includes, connected in sequence: a second DAC buffer, a second current-voltage conversion circuit, and a fourth ADC. The second DAC buffer is connected to the switch controller, and the fourth ADC is connected to the second calibration module.

[0032] The controller is used to convert the modal detection signals (including: the first modal detection signal and the second modal detection signal) obtained from the detection line into modal drive signals (including: the first modal drive signal and the second modal drive signal) to control the drive line. It should be noted that the controller outputs the initial modal drive signals, which pass through the signal deconstruction module, the second calibration module, the drive line, the switch controller, and are given to the gyroscope, and then the cycle is carried out; the output of the drive line provides the input of the gyroscope, and the output of the gyroscope serves as the input of the detection line.

[0033] The connection relationship between the components is as follows: all four capacitors are connected to one end of the switch controller, and the other end of the switch controller is connected to the controller through the parallel-connected first detection path, second detection path, first drive path, and second drive path.

[0034] In this embodiment, at adjacent moments, the acquisition of drive line signals and detection line signals is alternately performed; when collecting drive line signals twice in succession, the capacitors connected to the first drive path and the second drive path are exchanged; when collecting detection line signals twice in succession, the capacitors connected to the first detection path and the second detection path are exchanged; and the signal acquisition is cycled with a period of four moments.

[0035] Specifically: At the first moment, it is in the drive state. The first drive path and the second drive path are turned on, and the first detection path and the second detection path are turned off; the first drive path is connected to the first capacitor and the second capacitor, and the second drive path is connected to the third capacitor and the fourth capacitor to collect the drive line signals; the first drive path takes the first deconstructed drive signal as the input and outputs the first control drive signal; the second drive path takes the second deconstructed drive signal as the input and outputs the second control drive signal; At the second moment, in the detection state, the first driving path and the second driving path are turned off, and the first detection path and the second detection path are turned on; the first detection path is connected to the first capacitor and the second capacitor, and the second detection path is connected to the third capacitor and the fourth capacitor to collect the detection line signal; the first detection path takes the first control driving signal as the input and outputs the first original detection signal; the second detection path takes the second control driving signal as the input and outputs the second original detection signal; At the third moment, in the driving state, the first driving path and the second driving path are turned on, and the first detection path and the second detection path are turned off; the first driving path is connected to the third capacitor and the fourth capacitor, and the second driving path is connected to the first capacitor and the second capacitor to collect the driving line signal; the first driving path takes the first deconstructed driving signal as the input and outputs the first control driving signal; the second driving path takes the second deconstructed driving signal as the input and outputs the second control driving signal; At the fourth moment, in the detection state, the first driving path and the second driving path are turned off, and the first detection path and the second detection path are turned on; the first detection path is connected to the third capacitor and the fourth capacitor, and the second detection path is connected to the first capacitor and the second capacitor to collect the detection line signal; the first detection path takes the first control driving signal as the input and outputs the first original detection signal; the second detection path takes the second control driving signal as the input and outputs the second original detection signal; Taking the first moment, the second moment, the third moment, and the fourth moment as an action cycle, driving and detecting are cycled to achieve signal acquisition.

[0036] In another embodiment, it further includes: a signal reconstruction module and a signal deconstruction module. [[ID=!1]]<#

[0037] One end of the signal reconstruction module is connected to both the first detection path and the second detection path, and the other end is connected to the controller, and is used to reconstruct the first original detection signal of the first detection path and the second original detection signal of the second detection path to obtain the first modal detection signal and the second modal detection signal.

[0038] Among them, reconstructing the first original detection signal of the first detection path and the second original detection signal of the second detection path to obtain the first modal detection signal and the second modal detection signal includes: Adopting the method of numerical interpolation or numerical fitting to fill the signal blanks of the first original detection signal and the second original detection signal to obtain the first modal detection signal and the second modal detection signal.

[0039] One end of the signal deconstruction module is connected to the controller, and the other end is simultaneously connected to the first driving path and the second driving path, and is used for deconstructing the first-mode driving signal and the second-mode driving signal to obtain the first deconstructed driving signal of the first driving path and the second deconstructed driving signal of the second driving path.

[0040] Among them, deconstructing the first-mode driving signal and the second-mode driving signal to obtain the first deconstructed driving signal of the first driving path and the second deconstructed driving signal of the second driving path includes: Deconstructing the first-mode driving signal into 4 moments on the time axis, deconstructing the second-mode driving signal into 4 moments on the time axis, deconstructing the first deconstructed driving signal into 4 moments on the time axis, and deconstructing the second deconstructed driving signal into 4 moments on the time axis, and the length of each moment is equal; At the first moment, the deconstructed first-mode driving signal is assigned to the first deconstructed driving signal, and the deconstructed second-mode driving signal is assigned to the second deconstructed driving signal; At the third moment, the deconstructed first-mode driving signal is assigned to the second deconstructed driving signal, and the deconstructed second-mode driving signal is assigned to the first deconstructed driving signal; The first moment, the second moment, the third moment, and the fourth moment constitute a deconstruction period, and signal deconstruction is repeated (wherein, the first moment and the third moment are deconstructed, and the second moment and the fourth moment do not need to be deconstructed).

[0041] In another embodiment, it further includes: a first calibration module and a second calibration module.

[0042] The first calibration module is arranged between the detection line and the signal reconstruction module to calibrate the first original detection signal of the first detection path and the second original detection signal of the second detection path.

[0043] The second calibration module is arranged between the driving line and the signal deconstruction module to calibrate the first deconstructed driving signal of the first driving path and the second deconstructed driving signal of the second driving path.

[0044] Among them, calibration includes: calibrating offset mismatch, gain mismatch, and time mismatch, ensuring that the system can maintain high precision and high stability under various working conditions, reducing the fluctuation of system performance, so as to further improve the detection accuracy and the stability of the system.

[0045] The above-mentioned resonant gyro measurement and control system with time-division driving and detection designs two driving and detection circuits, alternately uses the gyro capacitors for driving and detection, and staggers the sampling time in the time domain, so that the detection stage of each electrode occupies half of each time-division period, realizing the simultaneous driving or detection of the X mode and the Y mode, doubling the sampling information volume, effectively improving the sampling rate and bandwidth, and improving the system resource utilization rate; through the time-division multiplexing driving and detection operations, crosstalk between driving and detection is avoided, enabling each operation to be executed under optimal conditions, improving the measurement and control accuracy and efficiency of the resonant gyro; using the ideas of dynamic element matching (alternately using gyro capacitors) and time interleaving (parallel connecting multiple ADC channels and staggering their sampling times in the time domain to achieve a higher sampling rate, expand the bandwidth of the ADC, and improve the system resource utilization rate), the nonlinear problem is transformed into noise, that is, the error caused by mismatch becomes pseudo-random noise uncorrelated with the input sequence instead of nonlinear distortion, reducing the impact of mismatch on the measurement and control accuracy, reducing the error caused by component mismatch, improving the matching accuracy of components, and improving the stability and reliability of the system. This application is an efficient, high-speed, and high-precision resonant gyro measurement and control system, significantly improving the measurement and control performance of the resonant gyro, reducing crosstalk, enhancing the bandwidth (high speed) of the gyro system, and enhancing the stability and reliability of the system.

[0046] It should be noted that the capacitor, switch controller, fully differential CV operational amplifier, ADC driver, ADC, DAC buffer, and current-voltage conversion circuit are all prior arts.

[0047] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0048] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.

[0049] The above-described embodiments only represent several implementation manners of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A resonant gyro measurement and control system with time-sharing driving and detection, characterized in that Including: Four capacitors, a switch controller, a detection line, a driving line, and a controller. The detection line includes a first detection path and a second detection path. The driving line includes a first driving path and a second driving path; The four capacitors are all connected to one end of the switch controller, and the other end of the switch controller is connected to the controller through the parallel-connected first detection path, second detection path, first driving path, and second driving path; The controller is used to convert the modal detection signal obtained from the detection line into a modal driving signal to control the driving line; At adjacent moments, the acquisition of the driving line signal and the detection line signal is alternately performed. When the driving line signal is acquired twice in succession, the capacitors connected to the first driving path and the second driving path are exchanged. When the detection line signal is acquired twice in succession, the capacitors connected to the first detection path and the second detection path are exchanged. Taking four moments as a cycle, the signal acquisition is cyclically performed.

2. The resonance gyroscope measurement and control system with time-sharing driving and detection according to claim 1, wherein The capacitors include: a first capacitor, a second capacitor, a third capacitor, and a fourth capacitor; The first capacitor and the second capacitor correspond to the X mode of the resonant gyroscope, and the third capacitor and the fourth capacitor correspond to the Y mode of the resonant gyroscope.

3. A resonance gyroscope measurement and control system with time-sharing driving and detection according to claim 2, characterized in that It further includes: A signal reconstruction module and a signal deconstruction module; One end of the signal reconstruction module is connected to both the first detection path and the second detection path, and the other end is connected to the controller, and is used to reconstruct the first original detection signal of the first detection path and the second original detection signal of the second detection path to obtain a first modal detection signal and a second modal detection signal; One end of the signal deconstruction module is connected to the controller, and the other end is connected to both the first driving path and the second driving path, and is used to deconstruct the first modal driving signal and the second modal driving signal to obtain a first deconstructed driving signal of the first driving path and a second deconstructed driving signal of the second driving path.

4. A drive and detection time-division resonance gyroscope measurement and control system according to claim 3, characterized in that, It further includes: a first calibration module and a second calibration module; The first calibration module is arranged between the detection line and the signal reconstruction module to calibrate the first original detection signal of the first detection path and the second original detection signal of the second detection path; The second calibration module is arranged between the driving line and the signal deconstruction module to calibrate the first deconstructed driving signal of the first driving path and the second deconstructed driving signal of the second driving path.

5. A drive and detection time-division resonance gyroscope measurement and control system according to claim 4, characterized in that, The first detection path includes, connected in sequence: a first fully differential CV operational amplifier, a first ADC driver, and a first ADC. The first fully differential CV operational amplifier is connected to the switch controller, and the first ADC is connected to the first calibration module; The second detection path includes, connected in sequence: a second fully differential CV operational amplifier, a second ADC driver, and a second ADC. The second fully differential CV operational amplifier is connected to the switch controller, and the second ADC is connected to the first calibration module.

6. The resonance gyroscope measurement and control system with time-sharing driving and detection according to claim 5, characterized in that, The first driving path includes, connected in sequence: a first DAC buffer, a first current-voltage conversion circuit, and a third ADC. The first DAC buffer is connected to the switch controller, and the third ADC is connected to the second calibration module; The second driving path includes, connected in sequence: a second DAC buffer, a second current-voltage conversion circuit, and a fourth ADC. The second DAC buffer is connected to the switch controller, and the fourth ADC is connected to the second calibration module.

7. A resonance gyroscope measurement and control system with time-sharing drive and detection according to any one of claims 2 to 6, characterized in that At adjacent moments, the acquisition of the driving line signal and the detection line signal is alternated; when the driving line signal is acquired twice in succession, the capacitors connected to the first driving path and the second driving path are exchanged; when the detection line signal is acquired twice in succession, the capacitors connected to the first detection path and the second detection path are exchanged; Taking four moments as a cycle, the signal acquisition is carried out cyclically, including: At the first moment, the first driving path and the second driving path are turned on, and the first detection path and the second detection path are turned off; the first driving path is connected to the first capacitor and the second capacitor, and the second driving path is connected to the third capacitor and the fourth capacitor to acquire the driving line signal; the first driving path takes the first deconstructed driving signal as an input and outputs the first control driving signal; the second driving path takes the second deconstructed driving signal as an input and outputs the second control driving signal; At the second moment, the first driving path and the second driving path are turned off, and the first detection path and the second detection path are turned on; the first detection path is connected to the first capacitor and the second capacitor, and the second detection path is connected to the third capacitor and the fourth capacitor to acquire the detection line signal; the first detection path takes the first control driving signal as an input and outputs the first original detection signal; the second detection path takes the second control driving signal as an input and outputs the second original detection signal; At the third moment, the first driving path and the second driving path are turned on, and the first detection path and the second detection path are turned off; the first driving path is connected to the third capacitor and the fourth capacitor, and the second driving path is connected to the first capacitor and the second capacitor to acquire the driving line signal; the first driving path takes the first deconstructed driving signal as an input and outputs the first control driving signal; the second driving path takes the second deconstructed driving signal as an input and outputs the second control driving signal; At the fourth moment, the first driving path and the second driving path are turned off, and the first detection path and the second detection path are turned on; the first detection path is connected to the third capacitor and the fourth capacitor, and the second detection path is connected to the first capacitor and the second capacitor to acquire the detection line signal; the first detection path takes the first control driving signal as an input and outputs the first original detection signal; the second detection path takes the second control driving signal as an input and outputs the second original detection signal; Taking the first moment, the second moment, the third moment and the fourth moment as an action cycle, the driving and detection are carried out cyclically to realize the signal acquisition.

8. A drive and detection time-sharing resonant gyroscope measurement and control system according to any one of claims 3 to 6, characterized in that The first original detection signal of the first detection path and the second original detection signal of the second detection path are reconstructed to obtain the first modal detection signal and the second modal detection signal, including: Using the method of numerical interpolation or numerical fitting to fill the signal blanks of the first original detection signal and the second original detection signal to obtain the first modal detection signal and the second modal detection signal.

9. A resonance gyroscope measurement and control system with time-sharing drive and detection according to any one of claims 3 to 6, characterized in that The first modal driving signal and the second modal driving signal are deconstructed to obtain the first deconstructed driving signal of the first driving path and the second deconstructed driving signal of the second driving path, including: The first modal drive signal is deconstructed into 4 moments on the time axis, the second modal drive signal is deconstructed into 4 moments on the time axis, the first deconstructed drive signal is deconstructed into 4 moments on the time axis, and the second deconstructed drive signal is deconstructed into 4 moments on the time axis. The length of each moment is equal; At the first moment, the deconstruction of the first modal drive signal is assigned to the first deconstructed drive signal, and the deconstruction of the second modal drive signal is assigned to the second deconstructed drive signal; At the third moment, the deconstruction of the first modal drive signal is assigned to the second deconstructed drive signal, and the deconstruction of the second modal drive signal is assigned to the first deconstructed drive signal; The first moment, the second moment, the third moment, and the fourth moment form a deconstruction cycle, and signal deconstruction is repeated.

Images