A resonant gyroscope measurement and control system with time-sharing driving and detection

Abstract

The present application belongs to the field of gyro measurement and control technology, and relates to a resonant gyro measurement and control system with time-sharing drive and detection, comprising: four capacitors, a switch controller, a detection line, a drive line, and a controller, wherein 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 to convert the modal detection signal obtained by the detection line into a modal drive signal to control the drive line; at adjacent moments, the drive line signal and the detection line signal are collected alternately; when two adjacent drive line signal collections are performed, the capacitors connected to the first drive path and the second drive path are swapped; when two adjacent detection line signal collections are performed, the capacitors connected to the first detection path and the second detection path are swapped; and signal collection is cyclically performed with four moments as a cycle. The present application can be used to perform time-sharing drive and detection, and simultaneously perform drive and detection in X mode and Y mode.

Description

Technical Field

[0001] The present application relates to the field of gyroscope measurement and control technology, and in particular to a resonant gyroscope measurement and control system with time-sharing driving and detection. Background Art

[0002] Resonant gyroscopes, especially hemispherical gyroscopes, have important applications in navigation and positioning due to their high precision and stability. During operation, resonant gyroscopes require precise driving and detection of both the X and Y modes.

[0003] In traditional methods, independent drive and detection circuits are used for the X and Y modes, resulting in inconsistencies in circuit gain and phase shift. Simultaneous drive and detection also cause crosstalk, limiting gyroscope performance.

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

[0005] However, this method requires time-sharing of the electrodes, resulting in the X / Y modes also having to alternately use a single detection circuit and drive circuit. That is, the four states of X-mode detection, Y-mode detection, X-mode drive, and Y-mode drive must be completely separate, which affects the drive and detection efficiency. Summary of the Invention

[0006] Based on this, it is necessary to provide a resonant gyroscope measurement and control system with time-sharing drive and detection to address the above technical problems, which can perform drive and detection in time-sharing, 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-sharing drive and detection, comprising: four capacitors, a switch controller, a detection line, a drive line, and a controller, wherein 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;

[0008] 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 a first detection path, a second detection path, a first drive path, and a second drive path connected in parallel;

[0009] The controller is used to convert the modal detection signal obtained by the detection line into a modal drive signal to control the drive line;

[0010] At adjacent moments, the drive line signals and the detection line signals are collected alternately; when collecting two adjacent drive line signals, the capacitors connected to the first drive path and the second drive path are swapped; when collecting two adjacent detection line signals, the capacitors connected to the first detection path and the second detection path are swapped; and signal collection is performed cyclically with four moments as a period.

[0011] In one embodiment, the capacitor includes: a first capacitor, a second capacitor, a third capacitor, and a fourth capacitor;

[0012] 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.

[0013] In one embodiment, it further includes: a signal reconstruction module and a signal deconstruction module;

[0014] 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;

[0015] One end of the signal deconstruction module is connected to the controller, and the other end is connected to the first drive path and the second drive path at the same time, and is used to deconstruct the first modal drive signal and the second modal drive signal to obtain a first deconstructed drive signal of the first drive path and a second deconstructed drive signal of the second drive path.

[0016] In one embodiment, the invention further comprises: a first calibration module and a second calibration module;

[0017] The first calibration module is provided 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;

[0018] The second calibration module is disposed 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.

[0019] In one embodiment, the first detection path includes: a first fully differential CV operational amplifier, a first ADC driver, and a first ADC connected in sequence, the first fully differential CV operational amplifier is connected to the switch controller, and the first ADC is connected to the first calibration module;

[0020] The second detection path includes: a second fully differential CV operational amplifier, a second ADC driver, and a second ADC connected in sequence. The second fully differential CV operational amplifier is connected to the switch controller, and the second ADC is connected to the first calibration module.

[0021] In one embodiment, the first driving path includes: a first DAC buffer, a first current-voltage conversion circuit, and a third ADC connected in sequence, the first DAC buffer is connected to the switch controller, and the third ADC is connected to the second calibration module;

[0022] The second driving path includes: a second DAC buffer, a second current-voltage conversion circuit, and a fourth ADC connected in sequence. The second DAC buffer is connected to the switch controller, and the fourth ADC is connected to the second calibration module.

[0023] In one embodiment, at adjacent moments, drive line signals and detection line signals are collected alternately; when collecting drive line signals twice adjacently, the capacitors connected to the first drive path and the second drive path are swapped; when collecting detection line signals twice adjacently, the capacitors connected to the first detection path and the second detection path are swapped; and signal collection is performed cyclically with four moments as a period, including:

[0024] At a first moment, 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 signal; the first drive path takes the first deconstructed drive signal as input and outputs a first control drive signal; the second drive path takes the second deconstructed drive signal as input and outputs a second control drive signal;

[0025] At the second moment, the first drive path and the second drive 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 drive signal as input and outputs a first original detection signal; the second detection path takes the second control drive signal as input and outputs a second original detection signal;

[0026] At a third moment, 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 third capacitor and the fourth capacitor, and the second drive path is connected to the first capacitor and the second capacitor to collect the drive line signal; the first drive path takes the first deconstructed drive signal as input and outputs a first control drive signal; the second drive path takes the second deconstructed drive signal as input and outputs a second control drive signal;

[0027] At a fourth moment, the first drive path and the second drive 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 drive signal as input and outputs a first original detection signal; the second detection path takes the second control drive signal as input and outputs a second original detection signal;

[0028] The first moment, the second moment, the third moment and the fourth moment are taken as an action cycle, and driving and detection are performed cyclically to realize signal acquisition.

[0029] 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 the first modal detection signal and the second modal detection signal includes:

[0030] A numerical interpolation or numerical fitting method is used to fill the signal gaps of the first original detection signal and the second original detection signal to obtain a first modal detection signal and a second modal detection signal.

[0031] In one embodiment, deconstructing the first modal drive signal and the second modal drive signal to obtain a first deconstructed drive signal of the first drive path and a second deconstructed drive signal of the second drive path includes:

[0032] Deconstructing the first modal driving signal into 4 moments on the time axis, deconstructing the second modal 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, wherein the length of each moment is equal;

[0033] At a first moment, the first modal drive signal is deconstructed and assigned to a first deconstructed drive signal, and the second modal drive signal is deconstructed and assigned to a second deconstructed drive signal;

[0034] At the third moment, the first modal drive signal is deconstructed and assigned to the second deconstructed drive signal, and the second modal drive signal is deconstructed and assigned to the first deconstructed drive signal;

[0035] The first moment, the second moment, the third moment, and the fourth moment constitute a deconstruction cycle, and signal deconstruction is repeated.

[0036] The resonant gyroscope measurement and control system with time-sharing drive and detection employs two drive and detection circuits, alternating between gyroscope capacitors for drive and detection. The sampling times are staggered in the time domain, ensuring that the detection phase for each electrode occupies half of each time-sharing period. This enables simultaneous drive or detection of both the X and Y modes, doubling the amount of sampled information, effectively increasing the sampling rate and bandwidth, and improving system resource utilization. Time-sharing drive and detection operations avoid crosstalk between the two, ensuring that each operation is performed under optimal conditions, thereby enhancing the measurement and control accuracy and efficiency of the resonant gyroscope. By utilizing the concepts of dynamic component matching (alternating the use of gyroscope capacitors) and time interleaving (connecting multiple ADC channels in parallel and staggering their sampling times in the time domain to achieve a higher sampling rate, expand the ADC bandwidth, and improve system resource utilization), the system transforms nonlinearity into noise. This translates errors caused by mismatch into pseudo-random noise uncorrelated with the input sequence rather than nonlinear distortion. This reduces the impact of mismatch on measurement and control accuracy, reduces errors caused by component mismatch, improves component matching accuracy, and enhances system stability and reliability. The present application is a high-efficiency, high-speed, high-precision resonant gyroscope measurement and control system, which significantly improves the measurement and control performance of the resonant gyroscope, reduces crosstalk, enhances the bandwidth (high speed) of the gyroscope system, and enhances the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of a resonant gyroscope measurement and control system with time-sharing driving and detection in one embodiment. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application without creative work are within the scope of protection of this application.

[0039] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "multiple groups" means at least two groups, such as two groups, three groups, and so on, unless otherwise specifically defined.

[0041] In this application, unless otherwise specified or limited, the terms "connect," "fix," etc. should be understood in a broad sense. For example, "fix" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0042] In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0043] This application provides a time-sharing drive and detection resonant gyroscope measurement and control system, such as Figure 1 As shown, in one embodiment, it includes: four capacitors, a switch controller, a detection line, a driving line and a controller.

[0044] Among them, the four capacitors are: the first capacitor (gyro capacitor No. 1), the second capacitor (gyro capacitor No. 2), the third capacitor (gyro capacitor No. 3) and the fourth capacitor (gyro capacitor No. 4); 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.

[0045] The switch controller controls the on and off of eight groups of single-pole double-throw switches simultaneously.

[0046] The detection line includes a first detection path and a second detection path.

[0047] The first detection path includes: a first fully differential CV operational amplifier, a first ADC driver, and a first ADC connected in sequence. The first fully differential CV operational amplifier is connected to the switch controller, and the first ADC is connected to the first calibration module.

[0048] The second detection path includes: a second fully differential CV operational amplifier, a second ADC driver, and a second ADC connected in sequence. The second fully differential CV operational amplifier is connected to the switch controller, and the second ADC is connected to the first calibration module.

[0049] The driving line includes a first driving path and a second driving path.

[0050] The first driving path includes: a first DAC buffer, a first current-voltage conversion circuit, and a third ADC connected in sequence. The first DAC buffer is connected to the switch controller, and the third ADC is connected to the second calibration module.

[0051] The second driving path includes: a second DAC buffer, a second current-voltage conversion circuit, and a fourth ADC connected in sequence. The second DAC buffer is connected to the switch controller, and the fourth ADC is connected to the second calibration module.

[0052] The controller is used to convert the modal detection signals (including the first modal detection signal and the second modal detection signal) obtained by 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 signal, which is then passed through the signal deconstruction module, the second calibration module, the drive line, and the switch controller before being supplied to the gyroscope and then circulated. The output of the drive line provides the input to the gyroscope, and the output of the gyroscope serves as the input to the detection line.

[0053] The connection relationship between the various components is as follows: the 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 first detection path, the second detection path, the first drive path and the second drive path connected in parallel.

[0054] In this embodiment, at adjacent moments, the drive line signals and the detection line signals are collected alternately; when two adjacent drive line signal collections are performed, the capacitors connected to the first drive path and the second drive path are swapped; when two adjacent detection line signal collections are performed, the capacitors connected to the first detection path and the second detection path are swapped; and signal collection is performed cyclically with four moments as a period.

[0055] Specifically:

[0056] At the first 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 first capacitor and the second capacitor, and the second driving path is connected to the third capacitor and the fourth capacitor to collect the driving line signal; the first driving path takes the first deconstructed driving signal as input and outputs a first control driving signal; the second driving path takes the second deconstructed driving signal as input and outputs a second control driving signal;

[0057] At the second moment, in the detection state, the first drive path and the second drive 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 drive signal as input and outputs a first original detection signal; the second detection path takes the second control drive signal as input and outputs a second original detection signal;

[0058] 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 input and outputs a first control driving signal; the second driving path takes the second deconstructed driving signal as input and outputs a second control driving signal;

[0059] At the fourth moment, in the detection state, the first drive path and the second drive 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 drive signal as input and outputs a first original detection signal; the second detection path takes the second control drive signal as input and outputs a second original detection signal;

[0060] The first moment, the second moment, the third moment and the fourth moment are taken as an action cycle, and driving and detection are performed cyclically to realize signal acquisition.

[0061] Another embodiment further includes: a signal reconstruction module and a signal deconstruction module.

[0062] One end of the signal reconstruction module is connected to the first detection path and the second detection path at the same time, 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.

[0063] 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:

[0064] A numerical interpolation or numerical fitting method is used to fill the signal gaps of the first original detection signal and the second original detection signal to obtain a first modal detection signal and a second modal detection signal.

[0065] One end of the signal deconstruction module is connected to the controller, and the other end is connected to the first drive path and the second drive path at the same time, and is used to deconstruct the first modal drive signal and the second modal drive signal to obtain a first deconstructed drive signal of the first drive path and a second deconstructed drive signal of the second drive path.

[0066] Deconstructing 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 includes:

[0067] Deconstructing the first modal driving signal into 4 moments on the time axis, deconstructing the second modal 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, wherein the length of each moment is equal;

[0068] At a first moment, the first modal drive signal is deconstructed and assigned to a first deconstructed drive signal, and the second modal drive signal is deconstructed and assigned to a second deconstructed drive signal;

[0069] At the third moment, the first modal drive signal is deconstructed and assigned to the second deconstructed drive signal, and the second modal drive signal is deconstructed and assigned to the first deconstructed drive signal;

[0070] The first moment, the second moment, the third moment, and the fourth moment constitute a deconstruction cycle, and signal deconstruction is repeated (among them, deconstruction is performed at the first moment and the third moment, and deconstruction is not required at the second moment and the fourth moment).

[0071] In another embodiment, the system further includes: a first calibration module and a second calibration module.

[0072] The first calibration module is provided 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.

[0073] The second calibration module is disposed 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.

[0074] 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 fluctuations in system performance, and further improving detection accuracy and system stability.

[0075] The resonant gyroscope measurement and control system with time-sharing drive and detection employs two drive and detection circuits, alternating between gyroscope capacitors for drive and detection. The sampling times are staggered in the time domain, ensuring that the detection phase for each electrode occupies half of each time-sharing period. This enables simultaneous drive or detection of both the X and Y modes, doubling the amount of sampled information, effectively increasing the sampling rate and bandwidth, and improving system resource utilization. Time-sharing drive and detection operations avoid crosstalk between the two, ensuring that each operation is performed under optimal conditions, thereby enhancing the measurement and control accuracy and efficiency of the resonant gyroscope. By utilizing the concepts of dynamic component matching (alternating the use of gyroscope capacitors) and time interleaving (connecting multiple ADC channels in parallel and staggering their sampling times in the time domain to achieve a higher sampling rate, expand the ADC bandwidth, and improve system resource utilization), the system transforms nonlinearity into noise. This translates errors caused by mismatch into pseudo-random noise uncorrelated with the input sequence rather than nonlinear distortion. This reduces the impact of mismatch on measurement and control accuracy, reduces errors caused by component mismatch, improves component matching accuracy, and enhances system stability and reliability. The present application is a high-efficiency, high-speed, high-precision resonant gyroscope measurement and control system, which significantly improves the measurement and control performance of the resonant gyroscope, reduces crosstalk, enhances the bandwidth (high speed) of the gyroscope system, and enhances the stability and reliability of the system.

[0076] It should be noted that the capacitor, switch controller, fully differential CV op amp, ADC driver, ADC, DAC buffer, and current-voltage conversion circuit are all existing technologies.

[0077] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0078] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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, they should be considered to be within the scope of this specification.

[0079] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A resonant gyroscope measurement and control system with time-sharing driving and detection, characterized in that: include: Four capacitors, a switch controller, a detection line, a drive line, and a controller, the detection line includes a first detection path and a second detection path, and the drive line includes a first drive path and a second drive 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 a first detection path, a second detection path, a first drive path, and a second drive path connected in parallel; The controller is used to convert the modal detection signal obtained by the detection line into a modal drive signal to control the drive line; At adjacent moments, the drive line signal and the detection line signal are collected alternately; when collecting the drive line signal twice adjacently, the capacitors connected to the first drive path and the second drive path are swapped; when collecting the detection line signal twice adjacently, the capacitors connected to the first detection path and the second detection path are swapped; The signal is collected cyclically with four moments as a cycle; 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; At adjacent moments, the drive line signal and the detection line signal are collected alternately; when collecting two adjacent drive line signals, the capacitors connected to the first drive path and the second drive path are swapped; when collecting two adjacent detection line signals, the capacitors connected to the first detection path and the second detection path are swapped; and signal collection is cyclically performed with four moments as a cycle, including: At a first moment, 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 signal; the first drive path takes the first deconstructed drive signal as input and outputs a first control drive signal; the second drive path takes the second deconstructed drive signal as input and outputs a second control drive signal; At the second moment, the first drive path and the second drive 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 drive signal as input and outputs a first original detection signal; the second detection path takes the second control drive signal as input and outputs a second original detection signal; At a third moment, 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 third capacitor and the fourth capacitor, and the second drive path is connected to the first capacitor and the second capacitor to collect the drive line signal; the first drive path takes the first deconstructed drive signal as input and outputs a first control drive signal; the second drive path takes the second deconstructed drive signal as input and outputs a second control drive signal; At a fourth moment, the first drive path and the second drive 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 drive signal as input and outputs a first original detection signal; the second detection path takes the second control drive signal as input and outputs a second original detection signal; The first moment, the second moment, the third moment and the fourth moment are taken as an action cycle, and driving and detection are performed cyclically to realize signal acquisition.

2. A resonant gyro measurement and control system with time-sharing drive and detection according to claim 1, characterized in that: Also includes: Signal reconstruction module and 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 the first modal detection signal and the second modal detection signal; One end of the signal deconstruction module is connected to the controller, and the other end is connected to the first drive path and the second drive path at the same time, and is used to deconstruct the first modal drive signal and the second modal drive signal to obtain a first deconstructed drive signal of the first drive path and a second deconstructed drive signal of the second drive path.

3. The resonant gyro measurement and control system with time-sharing driving and detection according to claim 2, characterized in that: Also includes: a first calibration module and a second calibration module; The first calibration module is provided 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 disposed 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.

4. The resonant gyro measurement and control system with time-sharing driving and detection according to claim 3, characterized in that: The first detection path includes: a first fully differential CV operational amplifier, a first ADC driver, and a first ADC connected in sequence, 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: a second fully differential CV operational amplifier, a second ADC driver, and a second ADC connected in sequence. The second fully differential CV operational amplifier is connected to the switch controller, and the second ADC is connected to the first calibration module.

5. The resonant gyro measurement and control system with time-sharing driving and detection according to claim 4, characterized in that: The first driving path includes: a first DAC buffer, a first current-voltage conversion circuit, and a third ADC connected in sequence, 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: a second DAC buffer, a second current-voltage conversion circuit, and a fourth ADC connected in sequence. The second DAC buffer is connected to the switch controller, and the fourth ADC is connected to the second calibration module.

6. A resonant gyro measurement and control system with time-sharing driving and detection according to any one of claims 2 to 5, characterized in that: Reconstructing a first original detection signal of the first detection path and a second original detection signal of the second detection path to obtain a first modal detection signal and a second modal detection signal includes: A numerical interpolation or numerical fitting method is used to fill the signal gaps of the first original detection signal and the second original detection signal to obtain a first modal detection signal and a second modal detection signal.

7. A resonant gyro measurement and control system with time-sharing driving and detection according to any one of claims 2 to 5, characterized in that: Deconstructing the first modal drive signal and the second modal drive signal to obtain a first deconstructed drive signal of the first drive path and a second deconstructed drive signal of the second drive path includes: Deconstructing the first modal driving signal into 4 moments on the time axis, deconstructing the second modal 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, wherein the length of each moment is equal; At a first moment, the first modal drive signal is deconstructed and assigned to a first deconstructed drive signal, and the second modal drive signal is deconstructed and assigned to a second deconstructed drive signal; At the third moment, the first modal drive signal is deconstructed and assigned to the second deconstructed drive signal, and the second modal drive signal is deconstructed and assigned to the first deconstructed drive signal; The first moment, the second moment, the third moment, and the fourth moment constitute a deconstruction cycle, and signal deconstruction is repeated.

Images