Method, device and equipment for determining stiffness error parameter value of gyroscope and medium

Abstract

The invention discloses a method, a device and equipment for determining a stiffness error parameter value of a gyroscope and a medium, and relates to the technical field of resonant gyroscopes, and the method comprises the following steps: executing an orthogonal control force removal operation for a hemispherical resonant gyroscope currently in a rotating state so as to enable the gyroscope to enter a rotating attenuation state; if the gyroscope enters the rotation attenuation state, determining a target slow variable change formula corresponding to an orthogonal quantity parameter in the slow variable parameters of the gyroscope, and collecting an output signal corresponding to the orthogonal quantity parameter; based on a preset extra harmonic removal strategy and the determined acquisition result, performing separation fitting on various items in the change formula, determining a target stiffness error parameter value, and inputting the target stiffness error parameter value into the gyroscope control system for stiffness error compensation; the target stiffness error parameter value comprises a target frequency splitting coefficient value and a target stiffness angle value. According to the method, the specific numerical value of the rigidity error parameter of the hemispherical resonator gyroscope can be quickly and accurately determined under the condition of not adding extra equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of resonant gyroscopes, and in particular to a method, device, equipment and medium for determining a stiffness error parameter value of a gyroscope. Background Art

[0002] A hemispherical resonator gyro (HRG) is a solid-state wave gyroscope that measures the angular velocity of a carrier using the Coriolis effect. Due to defects in manufacturing materials, HRGs can exhibit non-uniform stiffness, which is a major source of angular velocity output error. Traditional solutions apply orthogonal control forces to suppress the orthogonal quantity to zero when controlling the HRG, minimizing stiffness errors. However, in actual control, the applied orthogonal control forces fail to completely suppress the orthogonal quantity to zero. Instead, as the rotational speed increases, the sinusoidal oscillation of the orthogonal quantity intensifies, resulting in increased error.

[0003] To solve the above problems, there are mainly the following solutions: (1) using laser vibrometer to identify frequency cracking, but since it requires additional measurement equipment, it cannot be applied in the use scenario of gyroscope; (2) by fitting the orthogonal control force. Harmonics are used to determine the value of the frequency splitting coefficient, but the phase mismatch between channels will cause coupling and distortion of the control force, which will in turn generate additional harmonics and affect the accuracy of the determined coefficient value. Summary of the Invention

[0004] In view of this, the present invention aims to provide a method, apparatus, device, and medium for determining the stiffness error parameter value of a gyroscope. These methods can quickly and accurately determine the specific value of the stiffness error parameter of a hemispherical resonant gyroscope without adding additional equipment, while avoiding the adverse effects caused by additional harmonics generated by the coupling and distortion of the control force, thereby improving the efficiency, accuracy, and user experience of stiffness error compensation. The specific solution is as follows:

[0005] In a first aspect, the present application provides a method for determining a stiffness error parameter value of a gyroscope, comprising:

[0006] performing an orthogonal control force removal operation on the hemispherical resonant gyroscope currently in a rotating state, so as to cause the hemispherical resonant gyroscope to enter a rotation attenuation state;

[0007] If the hemispherical resonant gyroscope has entered a rotational attenuation state, determining a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameters of the hemispherical resonant gyroscope, and collecting corresponding output signals for the orthogonal parameter to determine a collection result;

[0008] Based on a preset additional harmonic removal strategy, the acquisition results and the external angular velocity, each item in the target slow variable change formula is separated and fitted to determine the corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target stiffness error parameter value includes a target frequency splitting coefficient value and a target stiffness angle value.

[0009] Optionally, performing an orthogonal control force removal operation on a hemispherical resonant gyroscope currently in a rotating state to cause the hemispherical resonant gyroscope to enter a rotation attenuation state includes:

[0010] For a hemispherical resonator gyroscope in a rotating state, the orthogonal control force applied to the hemispherical resonator gyroscope through a corresponding gyro control system is stopped, so that the hemispherical resonator gyroscope enters a rotation attenuation state.

[0011] Optionally, if the hemispherical resonant gyroscope has entered a rotational attenuation state, determining a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameter of the hemispherical resonant gyroscope, and collecting corresponding output signals for the orthogonal parameter to determine an acquisition result, including:

[0012] For the orthogonal quantity parameters in the slow variable parameters of the hemispherical resonant gyroscope in the rotational attenuation state, corresponding output signal acquisition is performed based on a preset acquisition duration, and the current orthogonal loop state equation and the slow variable differential equation corresponding to the hemispherical resonant gyroscope are combined to determine the corresponding target slow variable change formula.

[0013] Optionally, the performing separation and fitting processing on each item in the target slow variable change formula based on the preset additional harmonic removal strategy, the acquisition result and the external angular velocity to determine the corresponding target stiffness error parameter value includes:

[0014] Processing the target slow variable change formula based on preset processing rules to determine a formula to be solved;

[0015] Based on the preset additional harmonic removal strategy, the acquisition results and the external angular velocity, each item in the formula to be solved is processed to determine the corresponding target frequency splitting coefficient value and the target stiffness angle value; wherein the external angular velocity is the angular velocity input of the external carrier to the hemispherical resonant gyroscope.

[0016] Optionally, processing the target slow variable change formula based on a preset processing rule to determine a formula to be solved includes:

[0017] Simplifying the target slow variable change formula based on a preset simplification rule to determine a first change formula;

[0018] The first change formula is used as the formula to be solved; the formula to be solved includes an exponential term, a cosine term, and an additional harmonic term generated by a coupling signal formed by an amplitude control force in an orthogonal loop.

[0019] Optionally, processing each item in the formula to be solved based on a preset additional harmonic removal strategy, the acquisition result, and the external angular velocity to determine a corresponding target frequency splitting coefficient value and a target stiffness angle value includes:

[0020] Fitting the formula to be solved by the collected results to remove the exponential term and obtain a second variation formula;

[0021] Fitting the cosine term in the second change formula for different external angular velocities by the acquisition result to determine a first cosine signal formula and a second cosine signal formula;

[0022] Subtracting the first cosine signal formula from the second cosine signal formula to remove the additional harmonic term and obtain a third variation formula;

[0023] The third change formula is fitted through the acquisition result to determine the target frequency splitting coefficient value and the target stiffness angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the fitting result.

[0024] In a second aspect, the present application provides a device for determining a stiffness error parameter value of a gyroscope, comprising:

[0025] an orthogonal control force removal module, configured to perform an orthogonal control force removal operation on the hemispherical resonant gyroscope currently in a rotating state, so as to cause the hemispherical resonant gyroscope to enter a rotation attenuation state;

[0026] a signal acquisition module, configured to determine, if the hemispherical resonant gyroscope has entered a rotational attenuation state, a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameters of the hemispherical resonant gyroscope, and to acquire corresponding output signals for the orthogonal parameter to determine an acquisition result;

[0027] A stiffness error parameter value determination module is used to perform separate fitting processing on each item in the target slow variable change formula based on a preset additional harmonic removal strategy, the acquisition results and the external angular velocity to determine the corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target stiffness error parameter value includes a target frequency splitting coefficient value and a target stiffness angle value.

[0028] Optionally, the orthogonal control force removal module includes:

[0029] The control force stopping applying unit is used for stopping applying the orthogonal control force to the hemispherical resonant gyroscope through the corresponding gyro control system when the hemispherical resonant gyroscope is in a rotating state, so as to make the hemispherical resonant gyroscope enter a rotation attenuation state.

[0030] In a third aspect, the present application provides an electronic device, comprising:

[0031] Memory, used to store computer programs;

[0032] The processor is used to execute the computer program to implement the steps of the aforementioned method for determining the stiffness error parameter value of the gyroscope.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the steps of the aforementioned method for determining the stiffness error parameter value of a gyroscope.

[0034] It can be seen that in the present application, an orthogonal control force removal operation is performed on the hemispherical resonant gyroscope that is currently in a rotating state, so that the hemispherical resonant gyroscope enters a rotational attenuation state; if the hemispherical resonant gyroscope has entered the rotational attenuation state, the target slow variable change formula corresponding to the orthogonal quantity parameter in the slow variable parameter of the hemispherical resonant gyroscope is determined, and the corresponding output signal acquisition is performed for the orthogonal quantity parameter to determine the acquisition result; based on the preset additional harmonic removal strategy, the acquisition result and the external angular velocity, each item in the target slow variable change formula is separated and fitted to determine the corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein, the target stiffness error parameter value includes a target frequency cracking coefficient value and a target stiffness angle value. That is, in the present application, the orthogonal control force of the hemispherical resonant gyroscope in a rotating state is first removed to make it enter a rotational attenuation state, and then the target slow variable change formula corresponding to the orthogonal quantity parameter in the slow variable parameter of the hemispherical resonant gyroscope is determined, and the output signal of the target slow variable of the gyroscope is directly collected to determine the collection result, and then the items in the change formula are fitted based on the preset additional harmonic removal strategy, the collection result and the external angular velocity separation to determine the specific value of the stiffness parameter. In this way, the specific value of the stiffness error parameter of the hemispherical resonant gyroscope can be determined quickly and accurately without adding additional equipment, and the adverse effects caused by the additional harmonics generated by the coupling and distortion of the control force are avoided, thereby improving the efficiency, accuracy and user experience of stiffness error compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A flow chart of a method for determining a stiffness error parameter value of a gyroscope provided in this application;

[0037] Figure 2 A schematic diagram of a specific flow chart for determining a gyroscope stiffness error parameter value provided in this application;

[0038] Figure 3 A schematic diagram of the structure of a hemispherical resonant gyroscope provided in this application;

[0039] Figure 4 A schematic diagram of the framework of a hemispherical resonant gyroscope control system provided in this application;

[0040] Figure 5 A schematic diagram of an imperfect gyroscope motion model in a rectangular coordinate system provided by this application;

[0041] Figure 6 A schematic diagram of an imperfect gyroscope motion model in an elliptical coordinate system provided by this application;

[0042] Figure 7 A schematic diagram of an output signal provided by this application;

[0043] Figure 8 A kind of Schematic diagram of harmonic signals;

[0044] Figure 9 A schematic diagram of the angular correlation error test results before and after error compensation provided by this application;

[0045] Figure 10 A schematic diagram of the Allan variance test results before and after stiffness error compensation provided in this application;

[0046] Figure 11 This is a schematic structural diagram of a device for determining a stiffness error parameter value of a gyroscope provided in this application;

[0047] Figure 12 This is a structural diagram of an electronic device provided in this application. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] Currently, there are several solutions: (1) using laser vibrometer to identify frequency splitting, but since it requires additional measurement equipment, it cannot be applied in the use scenario of gyroscopes; (2) using orthogonal control force fitting to identify frequency splitting. Harmonics are used to determine the value of the frequency splitting coefficient, but the phase mismatch between channels will cause coupling and distortion of the control force, which will in turn generate additional harmonics and affect the accuracy of the determined coefficient value.

[0050] To this end, the present application provides a solution for determining the stiffness error parameter value of a gyroscope, which can quickly and accurately determine the specific value of the stiffness error parameter of the hemispherical resonant gyroscope without adding additional equipment, and avoid the adverse effects caused by additional harmonics generated by the coupling and distortion of the control force, thereby improving the efficiency, accuracy and user experience of stiffness error compensation.

[0051] See also Figure 1 As shown, an embodiment of the present invention discloses a method for determining a stiffness error parameter value of a gyroscope, comprising:

[0052] Step S11: performing an orthogonal control force removal operation on the hemispherical resonator gyroscope currently in a rotating state, so as to make the hemispherical resonator gyroscope enter a rotation attenuation state.

[0053] In this embodiment, the orthogonal control force removal operation is first triggered for the HRG currently in a rotating state, causing it to enter a rotational decay state (also known as a rotational decay mode). Specifically, the orthogonal control force applied to the HRG by the corresponding gyro control system is stopped, causing the HRG to enter the rotational decay state.

[0054] Combine Figure 2 Specifically, when the HRG is in a rotating state, the orthogonal control force applied to the HRG by the corresponding gyro control system is stopped so that the HRG enters a rotation attenuation state. That is, after the HRG system (i.e., the gyro control system) is initialized, the rotation speed is input to the turntable. ( are two different speeds), that is, the external angular velocity, the gyroscope is in a rotating state and the standing wave speed is -g ( are two different standing wave speeds) ( , where K is the proportional factor), the orthogonal control force is removed , the gyro will enter the rotation decay mode.

[0055] In addition, combined Figure 3 The structure of the hemispherical resonator gyroscope is shown in Figure 1. It is mainly composed of a hemispherical resonator and a planar electrode. The excitation and control of the HRG are completed through 8 electrodes on the planar electrode. Figure 4 (The NCO in the figure stands for Numerically Controlled Oscillator, and the PLL stands for Phase-Locked Loop, which stands for Digital Phase-Locked Loop.) As shown in the figure, it consists of a resonator meter, analog circuits, and digital circuits. The vibration signal of the resonator is converted to an analog signal through the x and y channel differential electrodes, and is sampled and converted into a digital signal through the ADC (Analog-to-Digital Converter) and then transmitted to the demodulation and filtering module to obtain the solution variable ( is the cosine component of the x-electrode axis vibration signal, is the sinusoidal component of the x-electrode axis vibration signal, is the cosine component of the y-electrode axis vibration signal, is the sinusoidal component of the y-electrode axis vibration signal). Then, the obtained solution variables are passed through the parameter solution module to obtain the slow variable parameters of HRG, including energy E, orthogonality Q, and the azimuth angle of the main antinode axis. , the initial phase angle of vibration , completing the measurement of the carrier's angular velocity. At the same time, PI (Proportional-Integral) closed-loop control can be performed based on the slow variable parameters. The digital quantity obtained by the PI controller is transmitted to the DAC (Digital-to-Analog Converter) through the rotation matrix and converted into an analog quantity. The drive and control of the HRG can be completed through the x and y channel differential electrodes. The dynamic model of the hemispherical resonant gyroscope with stiffness and damping errors is shown in the following equation (1):

[0056] . (1)

[0057] in, 、 、 are the average damping coefficient, damping unevenness coefficient and damping angle of the hemispherical resonant gyroscope, sin() and cos() are the sine function and cosine function respectively. are the average angular frequency, angular frequency splitting coefficient and stiffness angle of the hemispherical resonant gyroscope respectively. is the derivative of the x-axis vibration equation, representing the HRG vibration velocity at the x-axis; is the second derivative of the x-axis vibration equation, representing the HRG acceleration at the x-axis; is the derivative of the y-axis vibration equation, representing the HRG velocity at the y-axis; is the second derivative of the y-axis vibration equation, representing the HRG acceleration at the y-axis. K is the scale factor, is the external angular velocity. The vibration equations of the electrode axes corresponding to x and y can be expressed by the following formula (2): 、 is the control force corresponding to unit mass, t is the vibration time, which can be expressed by the following formula (3). is the amplitude control force, is the frequency control force, is the orthogonal control force, is the virtual rotation control force.

[0058] ; (2)

[0059] ; (3)

[0060] The imperfect motion model of HRG in the rectangular coordinate system is as follows: Figure 5 As shown, the corresponding model in the elliptical coordinate system is as follows Figure 6 As shown. Corresponding to formula (2), for Figure 6 The major semi-axis of the median ellipse corresponds to the main wave antinode, is the minor semi-axis of the ellipse, corresponding to the antinode of the orthogonal wave, is the azimuth of the main antinode axis, is the initial phase angle of vibration. 、 、 and As a slow variable parameter, it remains constant within one vibration cycle without external input angular rate. Substituting equations (2) and (3) into equation (1), the HRG slow variable can be obtained by the harmonic balance method. 、 、 and The differential equation of is shown in Equation (4). In addition, Figure 5 in is the stiffness of the small axis, is the stiffness of the main axis, To damp the main shaft, is the stiffness angle, For the damping shaft. Figure 6 in is the stiffness of the small axis, is the stiffness angle.

[0061] ; (4)

[0062] Where, Corresponding slow variables The first derivative of Corresponding slow variables The first derivative of Corresponding slow variables The first derivative of Corresponding slow variables The first derivative of is the frequency splitting coefficient. In actual gyro control, energy E and quadrature quantity Q are usually used instead of and , thus changing Equation (4) into Equation (5).

[0063] ; (5)

[0064] Where, is the first-order derivative of the slow variable E, is the first-order derivative of the corresponding slow variable Q.

[0065] When the HRG is in the rotating state, remove the orthogonal control force , so that the gyro enters the rotation attenuation state, at this time the gyro has only one control force , at this time the state equation of the orthogonal loop in equation (5) becomes equation (6):

[0066] . (6)

[0067] Step S12: If the HRG has entered a rotational attenuation state, determining a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameters of the HRG, and collecting corresponding output signals for the orthogonal parameter to determine a collection result.

[0068] Specifically, in this embodiment, after the gyro has entered the rotation attenuation state, it is necessary to collect the slow variable Q ( In other words, a state equation and a change formula are derived for the orthogonal quantity parameters in the slow variable parameters of the hemispherical resonant gyroscope to determine a corresponding target slow variable change formula, and corresponding output signal acquisition is performed based on a preset acquisition time length for the orthogonal quantity parameters in the slow variable parameters of the hemispherical resonant gyroscope in the rotational attenuation state to determine an acquisition result.

[0069] Combine Figure 2As shown, the relevant steps are as follows: after obtaining formula (6), solve the differential equation (6) to obtain the change formula (7) of the slow variable Q, that is, the target slow variable change formula.

[0070] ; (7)

[0071] Where, is the initial value of the orthogonal quantity Q during rotational attenuation, and e is a natural constant.

[0072] Step S13: performing separate fitting processing on each item in the target slow variable change formula based on a preset additional harmonic removal strategy, the acquisition results, and the external angular velocity to determine a corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into a gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target stiffness error parameter value includes a target frequency splitting coefficient value and a target stiffness angle value.

[0073] Combine Figure 2 As shown, in this embodiment, after obtaining the target slow variable change formula, the target slow variable change formula is processed, and then the acquired signal ( is the output signal of E collected at two rotational speeds) to determine the value of the stiffness error parameter. That is, the target slow variable change formula is processed based on preset processing rules to determine the formula to be solved; and each term in the formula to be solved is processed based on a preset additional harmonic removal strategy, the collection results, and the external angular velocity to determine the corresponding target frequency splitting coefficient value and target stiffness angle value; wherein the external angular velocity is the angular velocity input of the external carrier to the hemispherical resonant gyroscope.

[0074] Furthermore, regarding the fitting of each term in the formula, the target slow variable change formula is first simplified based on a preset simplification rule to determine a first change formula; the first change formula is used as the formula to be solved; the formula to be solved includes an exponential term, a cosine term, and an additional harmonic term generated by the coupling signal formed by the amplitude control force in the orthogonal loop. Then, the formula to be solved is fitted through the acquisition results to remove the exponential term and obtain a second change formula; the cosine term in the second change formula of different external angular velocities is fitted through the acquisition results to determine a first cosine signal formula and a second cosine signal formula; the first cosine signal formula and the second cosine signal formula are subtracted to remove the additional harmonic term and obtain a third change formula; the third change formula is fitted through the acquisition results to determine the target frequency decomposition coefficient value and the target stiffness angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the fitting results.

[0075] What needs to be understood about the above formula processing steps is that in this embodiment, due to Much smaller than , simplifying the change formula (7) of the orthogonal quantity Q, we can get formula (8), which is the first change formula.

[0076] ; (8)

[0077] In the formula, || is the absolute value symbol. From formula (8), we can see that It consists of exponential terms and cosine terms. Fitting is performed to remove the exponential term, and the amplitude of the term can be obtained by fitting the cosine term. , and then the frequency splitting coefficient is obtained , the phase of the cosine term can also be obtained , thus obtaining the stiffness angle .

[0078] However, considering that in the actual control process of the hemispherical resonant gyroscope, the control force of the gyroscope is applied in the form of PI control, which results in the control force having an amplitude and a rotation speed when the gyroscope rotates. Proportional to 4 Subharmonics, due to the existence of electrode errors and crosstalk between circuit signals, control The fluctuation will form a coupled signal in the orthogonal loop. Therefore, the amplitude and rotation speed caused by the above factors are added to equation (6): The coupled signal, which is proportional to the input voltage, will cause additional harmonics to be generated in Equation (8), as shown in Equation (9).

[0079] ; (9)

[0080] Where, is the slow variable change formula corresponding to the additional harmonic, B is the amplitude of this additional harmonic, At the same time, due to the inherent characteristics of the capacitance detection scheme, when the displacement signal is converted into an electrical signal, a nonlinear conversion as shown in Equation (10) occurs. is the electrode gain, is the distance between HSR and electrode, and the detection voltage signal 、 (Subscripts x and y represent x and y channels), after filtering, demodulation and parameter calculation, the calculated variables E and Q will generate high-order harmonics, which are mainly manifested as Subharmonics, as shown in formula (11).

[0081] ; (10)

[0082] ; (11)

[0083] Where, is the slow variable change formula corresponding to the harmonic, C is the amplitude of the additional harmonic, is the phase of the additional harmonic. Therefore, the actual detection signal, that is, the actual first change formula should be as shown in formula (12).

[0084] ; (12)

[0085] in, The existence of Harmonics cannot obtain stiffness error parameters, so it is necessary to remove the additional error caused by rotation. in Harmonic terms, we can get the and (representing two different cosine signals) , where A is the coefficient related to the stiffness error term. and Subtraction can remove The terms in the harmonics are obtained as formula (14), which is the second change formula. Then by fitting Get the parameters A and phase , the target frequency cracking coefficient value and target stiffness angle value can be obtained.

[0086] ; (13)

[0087] . (14)

[0088] It can be understood that, in this embodiment, after the target stiffness error parameter value is obtained, the target stiffness error parameter value can be used and corresponding measures can be taken to compensate for the stiffness error of the hemispherical resonant gyroscope.

[0089] In summary, in this embodiment, the output signal of the slow variable Q is directly processed by using the corresponding slow variable change formula to process the output signal of Q. Harmonic signal data and other data are used to identify the specific values of stiffness error parameters (frequency cracking coefficient, stiffness angle), achieving rapid identification while avoiding the effects of coupling and distortion of control forces. In this way, the solution described in this embodiment has the following beneficial effects:

[0090] 1) Rapidly identify stiffness error parameters by collecting data for a few minutes;

[0091] 2) Reduce the coupling error of control force. Only one control force is applied to maintain stability, which reduces the coupling error of control force and signal crosstalk.

[0092] 3) Improve the accuracy of stiffness parameter identification and avoid error identification caused by control force distortion.

[0093] 4) High-precision numerical identification can identify the specific values of stiffness error parameters.

[0094] It can be seen that in the present application, the orthogonal control force of the hemispherical resonant gyroscope in the rotating state is first removed to make it enter the rotational attenuation state, and then the target slow variable change formula corresponding to the orthogonal quantity parameter in the slow variable parameter of the hemispherical resonant gyroscope is determined, and the output signal of the target slow variable of the gyroscope is directly collected to determine the collection result. Then, based on the preset additional harmonic removal strategy, the collection result and the external angular velocity separation fitting each item in the change formula is used to determine the specific value of the stiffness parameter. In this way, the specific value of the stiffness error parameter of the hemispherical resonant gyroscope can be determined quickly and accurately without adding additional equipment, and the adverse effects caused by the additional harmonics generated by the coupling and distortion of the control force are avoided, thereby improving the efficiency, accuracy and user experience of the stiffness error compensation.

[0095] The following combination Figure 7-10 The schematic diagram disclosed in the figure specifically illustrates the technical solution of the embodiment of the present application.

[0096] In this embodiment, through experiments and signal acquisition, it is found that the external speed is 10 degrees per second (dps), 20dps, 30dps and 40dps, and only the amplitude control force is applied. The HRG rotation attenuation signal under the condition of Figure 7 As shown. By fitting formula (12) Harmonic signal, Q output Harmonic signals such as Figure 8 As shown, four groups of signals that are consistent with the model of formula (13) can be obtained. From formula (12), it can be seen that the frequency splitting error caused by Harmonics are inversely proportional to the speed, so they can be expressed by equation (13-14). Figure 8 The signal in the frequency splitting error will cause The harmonics are separated and the frequency splitting coefficient and stiffness angle are obtained by fitting the harmonics. The fitting frequency splitting coefficient is , the fitting stiffness angle is .

[0097] Furthermore, in order to verify the compensation effect, based on the existing damping error compensation (damping compensation for short), the frequency splitting coefficient and stiffness angle are input into the HRG control system, and the relevant algorithm is used to realize the compensation of stiffness error (stiffness compensation for short). The effect after compensation is as follows Figure 9 and Figure 10 As shown, Figure 9 is the test result of angle-dependent bias (ADB). After damping error compensation, ADB is , the ADB after compensation of damping and stiffness errors is , which is reduced compared with before stiffness compensation . Figure 10 The spectrum diagram of the HRG vibration frequency fluctuation obtained by phase-locked loop tracking. The amplitude of the harmonics is determined by the After compensation , reduced , which proves the accuracy of the stiffness error parameter identification results.

[0098] See also Figure 11 As shown, the embodiment of the present application also discloses a device for determining a stiffness error parameter value of a gyroscope, including:

[0099] An orthogonal control force removal module 11 is configured to perform an orthogonal control force removal operation on the hemispherical resonant gyroscope currently in a rotating state, so as to cause the hemispherical resonant gyroscope to enter a rotation attenuation state;

[0100] a signal acquisition module 12 for determining a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameters of the hemispherical resonant gyroscope if the hemispherical resonant gyroscope has entered a rotational attenuation state, and collecting corresponding output signals for the orthogonal parameter to determine an acquisition result;

[0101] The stiffness error parameter value determination module 13 is used to perform separate fitting processing on each item in the target slow variable change formula based on a preset additional harmonic removal strategy, the acquisition results and the external angular velocity to determine the corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target stiffness error parameter value includes a target frequency splitting coefficient value and a target stiffness angle value.

[0102] It can be seen that in the present application, the orthogonal control force of the hemispherical resonant gyroscope in the rotating state is first removed to make it enter the rotational attenuation state, and then the target slow variable change formula corresponding to the orthogonal quantity parameter in the slow variable parameter of the hemispherical resonant gyroscope is determined, and the output signal of the target slow variable of the gyroscope is directly collected to determine the collection result. Then, based on the preset additional harmonic removal strategy, the collection result and the external angular velocity separation fitting each item in the change formula is used to determine the specific value of the stiffness parameter. In this way, the specific value of the stiffness error parameter of the hemispherical resonant gyroscope can be determined quickly and accurately without adding additional equipment, and the adverse effects caused by the additional harmonics generated by the coupling and distortion of the control force are avoided, thereby improving the efficiency, accuracy and user experience of the stiffness error compensation.

[0103] In some specific embodiments, the orthogonal control force removal module 11 may specifically include:

[0104] The control force stopping applying unit is used for stopping applying the orthogonal control force to the hemispherical resonant gyroscope through the corresponding gyro control system when the hemispherical resonant gyroscope is in a rotating state, so as to make the hemispherical resonant gyroscope enter a rotation attenuation state.

[0105] In some specific embodiments, the signal acquisition module 12 can be specifically used to: if the hemispherical resonant gyroscope has entered a rotational attenuation state, derive state equations and change formulas for the orthogonal quantity parameters in the slow variable parameters of the hemispherical resonant gyroscope to determine the corresponding target slow variable change formula; and collect corresponding output signals for the orthogonal quantity parameters of the hemispherical resonant gyroscope to determine the collection results.

[0106] In some specific embodiments, the stiffness error parameter value determination module 13 can be specifically used to: process the target slow variable change formula based on preset processing rules to determine the formula to be solved; process each item in the formula to be solved based on a preset additional harmonic removal strategy, the acquisition results and the external angular velocity to determine the corresponding target frequency decomposition coefficient value and the target stiffness angle value; wherein the external angular velocity is the angular velocity input of the external carrier to the hemispherical resonant gyroscope.

[0107] In some specific embodiments, the stiffness error parameter value determination module 13 can be specifically used to: simplify the target slow variable change formula based on preset simplification rules to determine a first change formula; use the first change formula as the formula to be solved; the formula to be solved includes an exponential term, a cosine term, and an additional harmonic term generated by the coupling signal formed by the amplitude control force in the orthogonal loop.

[0108] In some specific embodiments, the stiffness error parameter value determination module 13 can be specifically used to: fit the formula to be solved through the acquisition results to remove the exponential term and obtain a second change formula; fit the cosine term in the second change formula of different external angular velocities through the acquisition results to determine a first cosine signal formula and a second cosine signal formula; subtract the first cosine signal formula from the second cosine signal formula to remove the additional harmonic term and obtain a third change formula; fit the third change formula through the acquisition results to determine the target frequency splitting coefficient value and the target stiffness angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the fitting results.

[0109] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 12 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.

[0110] Figure 12 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the method for determining the stiffness error parameter value of a gyroscope disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 20 in this embodiment may be a computer.

[0111] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0112] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0113] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of implementing the method for determining the stiffness error parameter value of the gyroscope executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs capable of implementing other specific tasks.

[0114] Furthermore, this application discloses a computer-readable storage medium for storing a computer program. When executed by a processor, the computer program implements the aforementioned method for determining a gyroscope stiffness error parameter value. The specific steps of this method can be found in the corresponding contents disclosed in the aforementioned embodiments and will not be further described here.

[0115] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0116] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0117] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0118] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0119] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for determining a gyroscope stiffness error parameter value, characterized in that: include: performing an orthogonal control force removal operation on the hemispherical resonant gyroscope currently in a rotating state, so as to cause the hemispherical resonant gyroscope to enter a rotation attenuation state; If the hemispherical resonant gyroscope has entered a rotational attenuation state, determining a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameters of the hemispherical resonant gyroscope, and collecting corresponding output signals for the orthogonal parameter to determine a collection result; Based on a preset additional harmonic removal strategy, the acquisition results and the external angular velocity, each item in the target slow variable change formula is separated and fitted to determine the corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target stiffness error parameter value includes a target frequency splitting coefficient value and a target stiffness angle value.

2. The method for determining the stiffness error parameter value of a gyroscope according to claim 1, wherein: The performing of an orthogonal control force removal operation on a hemispherical resonant gyroscope currently in a rotating state so as to cause the hemispherical resonant gyroscope to enter a rotation attenuation state includes: For a hemispherical resonator gyroscope in a rotating state, the orthogonal control force applied to the hemispherical resonator gyroscope through a corresponding gyro control system is stopped, so that the hemispherical resonator gyroscope enters a rotation attenuation state.

3. The method for determining the stiffness error parameter value of a gyroscope according to claim 1, wherein: If the hemispherical resonant gyroscope has entered a rotational attenuation state, determining a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameter of the hemispherical resonant gyroscope, and collecting corresponding output signals for the orthogonal parameter to determine an acquisition result, including: If the hemispherical resonant gyroscope has entered a rotational attenuation state, deriving a state equation and a change formula for an orthogonal quantity parameter in a slow variable parameter of the hemispherical resonant gyroscope to determine a corresponding target slow variable change formula; Corresponding output signal collection is performed on the orthogonal parameter of the hemispherical resonant gyroscope to determine a collection result.

4. The method for determining the stiffness error parameter value of a gyroscope according to any one of claims 1 to 3, characterized in that: The separating and fitting processing of each item in the target slow variable change formula based on the preset additional harmonic removal strategy, the acquisition result and the external angular velocity to determine the corresponding target stiffness error parameter value includes: Processing the target slow variable change formula based on preset processing rules to determine a formula to be solved; Based on the preset additional harmonic removal strategy, the acquisition results and the external angular velocity, each item in the formula to be solved is processed to determine the corresponding target frequency splitting coefficient value and the target stiffness angle value; wherein the external angular velocity is the angular velocity input of the external carrier to the hemispherical resonant gyroscope.

5. The method for determining the stiffness error parameter value of a gyroscope according to claim 4, wherein: The processing of the target slow variable change formula based on a preset processing rule to determine a formula to be solved includes: Simplifying the target slow variable change formula based on a preset simplification rule to determine a first change formula; The first change formula is used as the formula to be solved; the formula to be solved includes an exponential term, a cosine term, and an additional harmonic term generated by a coupling signal formed by an amplitude control force in an orthogonal loop.

6. The method for determining the stiffness error parameter value of a gyroscope according to claim 5, characterized in that: The processing of each item in the formula to be solved based on the preset additional harmonic removal strategy, the acquisition results and the external angular velocity to determine the corresponding target frequency splitting coefficient value and target stiffness angle value includes: Fitting the formula to be solved by the collected results to remove the exponential term and obtain a second variation formula; Fitting the cosine term in the second change formula for different external angular velocities by the acquisition result to determine a first cosine signal formula and a second cosine signal formula; Subtracting the first cosine signal formula from the second cosine signal formula to remove the additional harmonic term and obtain a third variation formula; The third change formula is fitted through the acquisition result to determine the target frequency splitting coefficient value and the target stiffness angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the fitting result.

7. A device for determining a gyroscope's stiffness error parameter value, characterized in that: include: an orthogonal control force removal module, configured to perform an orthogonal control force removal operation on the hemispherical resonant gyroscope currently in a rotating state, so as to cause the hemispherical resonant gyroscope to enter a rotation attenuation state; a signal acquisition module, configured to determine, if the hemispherical resonant gyroscope has entered a rotational attenuation state, a target slow variable change formula corresponding to an orthogonal parameter in the slow variable parameters of the hemispherical resonant gyroscope, and to acquire corresponding output signals for the orthogonal parameter to determine an acquisition result; A stiffness error parameter value determination module is used to perform separate fitting processing on each item in the target slow variable change formula based on a preset additional harmonic removal strategy, the acquisition results and the external angular velocity to determine the corresponding target stiffness error parameter value, so as to compensate for the stiffness error by inputting the target stiffness error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target stiffness error parameter value includes a target frequency splitting coefficient value and a target stiffness angle value.

8. The device for determining the stiffness error parameter value of a gyroscope according to claim 7, wherein: The orthogonal control force removal module includes: The control force stopping applying unit is used for stopping applying the orthogonal control force to the hemispherical resonant gyroscope through the corresponding gyro control system when the hemispherical resonant gyroscope is in a rotating state, so as to make the hemispherical resonant gyroscope enter a rotation attenuation state.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the method for determining a stiffness error parameter value of a gyroscope according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that Used to store a computer program, which, when executed by a processor, implements the method for determining the stiffness error parameter value of a gyroscope according to any one of claims 1 to 6.

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