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

Abstract

The invention discloses a damping error parameter value determination method, device and equipment of a gyroscope and a medium, and relates to the technical field of resonant gyroscopes, and the method comprises the following steps: triggering an amplitude control force removal operation when a hemispherical resonant gyroscope is in a rotating state, so that the gyroscope enters a rotating attenuation state; determining a target slow variable change formula corresponding to a target slow variable of the gyroscope in the rotation attenuation state, and collecting an output signal corresponding to the target slow variable based on a preset collection duration; and based on a preset extra harmonic wave removal strategy, the corresponding acquisition result and the external angular velocity, performing separation fitting processing on each item in the target slow variable change formula to determine a target damping error parameter value so as to input the target damping error parameter value into a gyroscope control system corresponding to the hemispherical resonator gyroscope to perform damping error compensation. According to the method, the damping error parameter value of the gyroscope can be quickly and accurately determined, and adverse effects caused by extra harmonic waves generated by control force are avoided.

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 damping error parameter value of a gyroscope. Background Art

[0002] A hemispherical resonator gyro (HRG) is a solid-state wave gyroscope that uses the Coriolis effect to measure the angular velocity of a carrier. Imperfections in the manufacturing materials can cause damping unevenness in HRGs, which is the primary source of error in angular velocity output.

[0003] To address the above issues, existing solutions use digital fitting of the amplitude control force to identify the damping angle and damping nonuniformity ratio for compensation. However, due to the characteristics of electronic components, there will be irregular phase differences between the drive signals and the detection signals of the x and y channels, making accurate calculation impossible. Using this solution for fitting will result in inaccurate parameter values. Furthermore, this solution cannot identify the true value of the damping nonuniformity coefficient, and cannot determine the impact of the damping nonuniformity coefficient on the angular velocity output. Summary of the Invention

[0004] In view of this, the present invention aims to provide a method, apparatus, device, and medium for determining the damping error parameter value of a hemispherical resonant gyroscope. These methods can quickly and accurately determine the damping error parameter value of a hemispherical resonant gyroscope while avoiding the adverse effects caused by additional harmonics generated by coupling and distortion of the control force, thereby improving the efficiency, accuracy, and user experience of damping error compensation. The specific solution is as follows:

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

[0006] When the hemispherical resonant gyroscope is in a rotating state, triggering a corresponding amplitude control force removal operation so that the hemispherical resonant gyroscope enters a rotation attenuation state;

[0007] determining a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and collecting an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset collection time to determine an 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 a corresponding target damping error parameter value, so as to compensate for the damping error by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target damping error parameter value includes a target damping nonuniformity coefficient value, a target average damping coefficient value, and a target damping angle value corresponding to the hemispherical resonant gyroscope.

[0009] Optionally, when the hemispherical resonant gyroscope is in a rotating state, triggering a corresponding amplitude control force removal operation includes:

[0010] When the hemispherical resonant gyroscope is in a rotating state, application of the amplitude control force to the hemispherical resonant gyroscope through the corresponding gyro control system is stopped, so that the hemispherical resonant gyroscope enters a rotation attenuation state.

[0011] Optionally, determining a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and collecting an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset collection duration to determine an collection result includes:

[0012] Derivation of a state equation and a change formula for a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state to determine a corresponding target slow variable change formula;

[0013] For the energy parameter in the slow variable parameter of the hemispherical resonant gyroscope in the rotation attenuation state, corresponding output signal acquisition is performed based on a preset acquisition time to determine an acquisition result.

[0014] 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 damping error parameter value includes:

[0015] Performing a natural logarithmic transformation on the target slow variable change formula to determine a first change formula; the first change formula includes a constant term, a linear term, a sinusoidal term, and an additional harmonic term generated by a coupling signal formed by the orthogonal control force in the energy loop;

[0016] performing a linear fit on the first-order term in the first change formula based on the acquisition result, and determining a target average damping coefficient value corresponding to the hemispherical resonant gyroscope based on the corresponding first fitting result;

[0017] Fitting the sine term in the first variation formula for different external angular velocities using the acquisition result to remove the additional harmonic term based on the corresponding second fitting result, and determining a target damping non-uniformity coefficient value and a target damping angle value corresponding to the hemispherical resonant gyroscope using the obtained second variation formula;

[0018] The external angular velocity is the angular velocity input of the hemispherical resonant gyroscope by an external carrier.

[0019] Optionally, performing linear fitting on the first-order term in the first change formula based on the acquisition result, and determining a target average damping coefficient value corresponding to the hemispherical resonant gyroscope based on the corresponding first fitting result, includes:

[0020] Performing linear fitting on the first-order term in the first change formula for different external angular velocities based on the acquisition results to determine the slope value of the first-order term for different external angular velocities;

[0021] A corresponding mean value calculation operation is triggered for the slope value, and the target average damping coefficient value corresponding to the hemispherical resonant gyroscope is determined based on the obtained mean value.

[0022] Optionally, fitting the sine term in the first change formula for different external angular velocities using the acquisition results to remove the additional harmonic term based on the corresponding second fitting result, and determining the target damping non-uniformity coefficient value and target damping angle value corresponding to the hemispherical resonant gyroscope using the obtained second change formula includes:

[0023] Fitting the sine term in the first change formula for different external angular velocities through the acquisition result to determine a first sine signal formula and a second sine signal formula;

[0024] Subtracting the first sinusoidal signal formula from the second sinusoidal signal formula to remove the additional harmonic term and obtain the second change formula;

[0025] The second change formula is fitted by the acquisition result to determine the target damping non-uniformity coefficient value and the target damping angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the corresponding third fitting result.

[0026] Optionally, the performing damping error compensation by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyro includes:

[0027] determining a target damping nonuniformity ratio based on a ratio between the target damping nonuniformity coefficient value and the target average damping coefficient value;

[0028] The target damping nonuniformity ratio and the target damping angle value are input into a gyro control system corresponding to the hemispherical resonant gyro, so that the gyro control system determines a target compensation matrix based on the target damping nonuniformity ratio and the target average damping coefficient value, and applies the target compensation matrix to the amplitude control force of the hemispherical resonant gyro in a rotating state to complete a damping error compensation operation.

[0029] In a second aspect, the present application provides a device for determining a damping error parameter value of a gyroscope, comprising:

[0030] an amplitude control force removal module, configured to trigger a corresponding amplitude control force removal operation when the hemispherical resonant gyroscope is in a rotating state, so that the hemispherical resonant gyroscope enters a rotation attenuation state;

[0031] a signal acquisition module, configured to determine a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and to acquire an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset acquisition time to determine an acquisition result;

[0032] a damping error parameter value determination module, configured to perform separate fitting processing on each term in the target slow variable change formula based on a preset additional harmonic removal strategy, the acquisition results, and an external angular velocity, so as to determine a corresponding target damping error parameter value, so as to compensate for the damping error by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target damping error parameter value includes a target damping nonuniformity coefficient value, a target average damping coefficient value, and a target damping angle value corresponding to the hemispherical resonant gyroscope.

[0033] In a third aspect, the present application provides an electronic device, comprising:

[0034] Memory, used to store computer programs;

[0035] The processor is configured to execute the computer program to implement the steps of the aforementioned method for determining the damping error parameter value of the gyroscope.

[0036] 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 damping error parameter value of a gyroscope.

[0037] It can be seen that in the present application, when the hemispherical resonant gyroscope is in a rotating state, the corresponding amplitude control force removal operation is triggered so that the hemispherical resonant gyroscope enters a rotational attenuation state; the target slow variable change formula corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state is determined, and the output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state is collected based on a preset collection time to determine the collection result; based on a preset additional harmonic removal strategy, the collection result and the external angular velocity, each item in the target slow variable change formula is separated and fitted to determine the corresponding target damping error parameter value, so as to perform damping error compensation by inputting the target damping error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein, the target damping error parameter value includes the target damping non-uniformity coefficient value, target average damping coefficient value and target damping angle value corresponding to the hemispherical resonant gyroscope. It can be seen that in this application, the amplitude control force is first removed to make the hemispherical resonant gyroscope enter a rotational attenuation state, and then the output signal of the target slow variable of the gyroscope is directly collected, and the target slow variable change formula corresponding to the target slow variable is determined. Then, based on the preset additional harmonic removal strategy, the collection results and the external angular velocity separation fitting each item in the change formula to determine the specific value of the damping error parameter, including the target damping non-uniformity coefficient value, the target average damping coefficient value and the target damping angle value. In this way, while quickly and accurately determining the damping error parameter value of the hemispherical resonant gyroscope, it is possible to avoid the adverse effects caused by the additional harmonics generated by the coupling and distortion of the control force, thereby improving the efficiency, accuracy and user experience of the damping error compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] Figure 1 A flow chart of a method for determining a damping error parameter value of a gyroscope provided in this application;

[0040] Figure 2 A schematic diagram of a specific flow chart for determining a damping error parameter value of a gyroscope provided in this application;

[0041] Figure 3 A schematic diagram of the structure of a hemispherical resonant gyroscope provided in this application;

[0042] Figure 4A schematic diagram of the framework of a hemispherical resonant gyroscope control system provided in this application;

[0043] FIG5( a ) is a schematic diagram of an imperfect motion model of HRG in a rectangular coordinate system provided by this application;

[0044] FIG5( b ) is a schematic diagram of an imperfect motion model of HRG in an elliptical coordinate system provided by this application;

[0045] Figure 6 A schematic diagram of an output signal provided by this application;

[0046] Figure 7 A kind of Schematic diagram of harmonic signals;

[0047] Figure 8 A schematic diagram of the angular correlation error test results before and after damping error compensation provided by this application;

[0048] Figure 9 A schematic diagram of the Allan variance test results before and after damping error compensation provided in this application;

[0049] Figure 10 A schematic diagram of the structure of a device for determining a damping error parameter value of a gyroscope provided in this application;

[0050] Figure 11 This is a structural diagram of an electronic device provided in this application. DETAILED DESCRIPTION

[0051] 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.

[0052] The existing solution uses the digital value of the amplitude control force to identify the damping angle and the damping nonuniformity ratio for compensation. However, due to the characteristics of electronic components, there will be irregular phase differences between the drive signal and the detection signal of the x and y channels, which cannot be accurately calculated. If this solution is used for fitting at this time, the obtained parameter values will be inaccurate. In addition, this solution cannot identify the true value of the damping nonuniformity coefficient, and cannot determine the impact of the damping nonuniformity coefficient on the angular velocity output.

[0053] To this end, the present application provides a solution for determining the damping error parameter value of a gyroscope, which can quickly and accurately determine the damping error parameter value of the hemispherical resonant gyroscope 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 damping error compensation.

[0054] See also Figure 1 As shown, an embodiment of the present invention discloses a method for determining a damping error parameter value of a gyroscope, comprising:

[0055] Step S11: When the hemispherical resonant gyroscope is in a rotating state, triggering a corresponding amplitude control force removal operation so that the hemispherical resonant gyroscope enters a rotation attenuation state.

[0056] In this embodiment, in order to determine the damping error parameter value required for damping error compensation, the hemispherical resonant gyroscope in the rotational attenuation mode is processed accordingly. First, the hemispherical resonant gyroscope in the rotating state needs to be converted to the rotational attenuation state (also called the rotational attenuation mode). Figure 2 Specifically, when the HRG is in a rotating state, the corresponding gyro control system stops applying the amplitude control force to the HRG 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 amplitude control force is removed , the gyro will enter the rotation decay mode.

[0057] It is important to understand that if 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 As shown in the figure, it consists of a resonator meter, an analog circuit, and a digital circuit. The vibration signal of the resonator is converted into 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 angular velocity of the carrier. 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 to convert it 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). In addition, Figure 4 The NCO in it stands for Numerically Controlled Oscillator, and the PLL stands for Phase-Locked Loop, which means digital phase-locked loop.

[0058] ; (1)

[0059] 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.

[0060] ; (2)

[0061] ; (3)

[0062] The imperfect motion model of HRG in the rectangular coordinate system is shown in Figure 5(a), and the corresponding model in the elliptical coordinate system is shown in Figure 5(b). Corresponding to formula (2), is the major semi-axis of the ellipse in Figure 5(b), corresponding 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, in Figure 5(a) is the stiffness of the small axis, is the stiffness of the main axis, To damp the main shaft, is the stiffness angle, is the damping small axis. is the stiffness of the small axis, is the stiffness angle.

[0063] ; (4)

[0064] 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).

[0065] ; (5)

[0066] Where, is the first-order derivative of the slow variable E, is the first-order derivative of the slow variable Q. When the hemispherical resonant gyroscope is in a rotating state, the amplitude control force is removed. , 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 energy circuit in formula (5) becomes formula (6):

[0067] . (6)

[0068] Step S12: determining a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and collecting an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset collection time to determine a collection result.

[0069] In this embodiment, combined with Figure 2 As shown, after the hemispherical resonant gyro enters the rotation attenuation state, it is necessary to collect the slow variable E ( Representing two different E output signals), that is, for the energy parameter among the slow variable parameters of the hemispherical resonant gyroscope in the rotational attenuation state, the corresponding output signal is collected based on the preset collection time to determine the collection result, and the state equation and change formula of the energy parameter E are derived to determine the corresponding target slow variable change formula. The specific relevant steps are as follows: After obtaining formula (6), solve the differential equation (6) to obtain the change formula (7) of the slow variable E, that is, the target slow variable change formula.

[0070] ; (7)

[0071] Where, is the initial value of E at the beginning of the rotational decay mode, 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 damping error parameter value, so as to compensate for the damping error by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target damping error parameter value includes a target damping nonuniformity coefficient value, a target average damping coefficient value, and a target damping angle value corresponding to the hemispherical resonant gyroscope.

[0073] In this embodiment, after obtaining the target slow variable change formula, the target slow variable change formula is logarithmically processed, and then the acquired signal ( is the output signal of E collected at two rotational speeds), to determine the value of the damping error parameter. That is, first, a natural logarithmic transformation is performed on the target slow variable change formula to determine a first change formula; the first change formula includes a constant term, a linear term, a sine term, and an additional harmonic term generated by the coupling signal formed by the orthogonal control force in the energy circuit; based on the acquisition result, a linear fit is performed on the linear term in the first change formula, and based on the corresponding first fitting result, the target average damping coefficient value corresponding to the hemispherical resonant gyroscope is determined; the sine term in the first change formula of different external angular velocities is fitted using the acquisition result to remove the additional harmonic term based on the corresponding second fitting result, and the target damping non-uniformity coefficient value and target damping angle value corresponding to the hemispherical resonant gyroscope are determined using the obtained second change formula; 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, a linear fit is performed on the first-order term in the first change formula for different external angular velocities using the acquisition results to determine the slope value of the first-order term for different external angular velocities; a corresponding mean value operation is triggered for the slope value, and the target average damping coefficient value corresponding to the hemispherical resonant gyroscope is determined based on the obtained mean value. The sine terms in the first change formula for different external angular velocities are fitted using the acquisition results to determine a first sine signal formula and a second sine signal formula; the first sine signal formula and the second sine signal formula are subtracted to remove the additional harmonic terms and obtain the second change formula; the second change formula is fitted using the acquisition results to determine the target damping non-uniformity coefficient value and the target damping angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the corresponding third fitting result.

[0075] Specifically, in this embodiment, the energy E change formula (7) is subjected to a natural logarithm transformation to obtain formula (8), which is the first change formula.

[0076] ; (8)

[0077] In the formula, ln() is a logarithmic function with the natural constant e as the base. From formula (8), we can see that It is composed of constant term, linear term and sine term. Fitting the first term can give the slope of the first term. , and then the average damping coefficient is obtained , by fitting The sine term in the , and then the damping unevenness coefficient is obtained , we can also get the phase of the sine term , thus obtaining the damping angle .

[0078] However, 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 amplitude and rotation speed of the control force 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 energy circuit.

[0079] Therefore, it is necessary to add the amplitude and rotation speed caused by the above factors in equation (6): The coupled signal is proportional to the value of the coupling signal, which will cause additional harmonics to be generated in Equation (8), and the corresponding slow variable change formula is As shown in the following formula:

[0080] ; (9)

[0081] Where B is the amplitude of this additional harmonic, The phase of this additional harmonic.

[0082] 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) will occur. 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 Subharmonic, the slow variable change formula corresponding to this harmonic As shown in formula (11):

[0083] . (10)

[0084] . (11)

[0085] Where 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):

[0086] . (12)

[0087] At this time, the average damping coefficient can still be obtained by averaging the slope K of the first-order term of the signal at different speeds. Figure 2 As shown, Represent two different slopes respectively, and get the average of two groups of speed slopes , then based on Obtain ,but The existence of Other damping parameters cannot be obtained from harmonics, so the additional error caused by rotation needs to be removed.

[0088] By fitting the E2 at different speeds Harmonic terms, we can get the and (representing two different sinusoidal signals respectively), namely the first sinusoidal signal formula and the second sinusoidal signal formula, where A is the coefficient of the damping error term. and Subtraction can remove Harmonics The second change formula is obtained by fitting Get the parameters A and phase , the target damping unevenness coefficient value and target damping angle value can be obtained.

[0089] ; (13)

[0090] ; (14)

[0091] In addition, after obtaining the target damping error parameter value, damping error compensation is performed by inputting the target damping error parameter value into the gyro control system corresponding to the hemispherical resonant gyro, that is, first determining a target damping unevenness ratio based on the ratio between the target damping unevenness coefficient value and the target average damping coefficient value; then inputting the target damping unevenness ratio and the target damping angle value into the gyro control system corresponding to the hemispherical resonant gyro, so that the gyro control system determines a target compensation matrix based on the target damping unevenness ratio and the target average damping coefficient value, and applies the target compensation matrix to the amplitude control force of the hemispherical resonant gyro in a rotating state to complete the damping error compensation operation.

[0092] In summary, this embodiment directly uses the output signal of the slow variable E and uses the corresponding slow variable change formula to process the collected output signal of E. Harmonic signal data and other data are used to identify the specific values of the damping error parameters (average damping coefficient, damping unevenness coefficient, and damping angle), achieving rapid identification while avoiding the effects of control force coupling and distortion. This allows for rapid identification of damping error parameters, which can be completed by collecting a few minutes of data. This reduces control force coupling errors, allowing only one control force to be applied to maintain stability, reducing control force coupling errors and signal crosstalk. This improves the accuracy of damping parameter identification and avoids error identification errors caused by control force distortion. Numerical identification is achieved, enabling the identification of the specific values of damping error parameters.

[0093] It can be seen that in this application, the amplitude control force is first removed to make the hemispherical resonant gyroscope enter a rotational attenuation state, and then the output signal of the target slow variable of the gyroscope is directly collected, and the target slow variable change formula corresponding to the target slow variable is determined. Then, based on the preset additional harmonic removal strategy, the collection results and the external angular velocity separation fitting each item in the change formula to determine the specific value of the damping error parameter, including the target damping non-uniformity coefficient value, the target average damping coefficient value and the target damping angle value. In this way, while quickly and accurately determining the damping error parameter value of the hemispherical resonant gyroscope, it is possible to avoid the adverse effects caused by the additional harmonics generated by the coupling and distortion of the control force, thereby improving the efficiency, accuracy and user experience of the damping error compensation.

[0094] The following combination Figure 6-Figure 9 The schematic diagram disclosed in the figure specifically illustrates the technical solution of the embodiment of the present application.

[0095] In this embodiment, through experiments and signal acquisition, the external speed is 60 degrees per second (dps), 90dps, 120dps and 150dps, and only orthogonal control force is applied. The HRG rotation attenuation signal under the condition The output signal is as follows Figure 6 As shown. The average value of the four groups of damping coefficients obtained by fitting the first-order term of the signal is , the corresponding quality factor is 12.3367 million. By fitting formula (12) Harmonic signals, Output Harmonic signals such as Figure 7 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 damping uneven error caused by Harmonics are inversely proportional to the speed, so they can be expressed by equation (13-14). Figure 7 The signal in the damping will cause the uneven error The harmonics are separated and the damping unevenness coefficient and damping angle are obtained by fitting the harmonics. The value of the fitted damping unevenness coefficient is , the damping non-uniformity ratio is , the value of the fitting damping angle is .

[0096] In order to verify the compensation effect, the damping unevenness ratio and the damping angle are input into the gyro control system of HRG. The compensation matrix G shown in Equation (15) is applied to compensate for the damping error, where is the damping unevenness ratio. The effect after compensation can be shown as Figure 8 (The least significant bit in the figure is Least Significant Bit, referred to as LSB) and Figure 9 As shown, Figure 8 is the test result of angle-dependent bias (ADB). The ADB before compensation is , ADB after damping error compensation is , which is reduced compared with before compensation . Figure 9 This is the Allan variance test result with a sampling time of 12 hours. The gyro's bias stability before compensation is , after damping error compensation is The zero bias stability after compensation is improved compared with that before compensation. , proving the accuracy of the damping error parameter identification results.

[0097] . (15)

[0098] See also Figure 10 As shown, the embodiment of the present application also discloses a device for determining a damping error parameter value of a gyroscope, including:

[0099] an amplitude control force removal module 11, configured to trigger a corresponding amplitude control force removal operation when the hemispherical resonant gyroscope is in a rotating state, so that the hemispherical resonant gyroscope enters a rotation attenuation state;

[0100] a signal acquisition module 12, configured to determine a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and to acquire an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset acquisition time to determine an acquisition result;

[0101] The damping 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 a corresponding target damping error parameter value, so as to compensate for the damping error by inputting the target damping error parameter value into the gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target damping error parameter value includes a target damping non-uniformity coefficient value, a target average damping coefficient value, and a target damping angle value corresponding to the hemispherical resonant gyroscope.

[0102] It can be seen that in this application, the amplitude control force is first removed to make the hemispherical resonant gyroscope enter a rotational attenuation state, and then the output signal of the target slow variable of the gyroscope is directly collected, and the target slow variable change formula corresponding to the target slow variable is determined. Then, based on the preset additional harmonic removal strategy, the collection results and the external angular velocity separation fitting each item in the change formula to determine the specific value of the damping error parameter, including the target damping non-uniformity coefficient value, the target average damping coefficient value and the target damping angle value. In this way, while quickly and accurately determining the damping error parameter value of the hemispherical resonant gyroscope, it is possible to avoid the adverse effects caused by the additional harmonics generated by the coupling and distortion of the control force, thereby improving the efficiency, accuracy and user experience of the damping error compensation.

[0103] In some specific embodiments, the amplitude control force removal module 11 can be specifically used to: when the hemispherical resonant gyroscope is in a rotating state, stop applying the amplitude control force to the hemispherical resonant gyroscope through the corresponding gyro control system, so that the hemispherical resonant gyroscope enters a rotation attenuation state.

[0104] In some specific embodiments, the signal acquisition module 12 can be specifically used to: derive the state equation and change formula of the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state to determine the corresponding target slow variable change formula; for the energy parameter in the slow variable parameter of the hemispherical resonant gyroscope in the rotational attenuation state, perform corresponding output signal acquisition based on a preset acquisition time to determine the acquisition result.

[0105] In some specific embodiments, the damping error parameter value determination module 13 can be specifically used to: perform a natural logarithmic transformation on the target slow variable change formula to determine a first change formula; the first change formula includes a constant term, a linear term, a sine term, and an additional harmonic term generated by the coupling signal formed by the orthogonal control force in the energy loop; perform linear fitting on the linear term in the first change formula based on the acquisition result, and determine the target average damping coefficient value corresponding to the hemispherical resonant gyroscope based on the corresponding first fitting result; fit the sine term in the first change formula of different external angular velocities through the acquisition result to remove the additional harmonic term based on the corresponding second fitting result, and use the obtained second change formula to determine the target damping non-uniformity coefficient value and target damping angle value corresponding to the hemispherical resonant gyroscope; wherein the external angular velocity is the angular velocity input of the external carrier to the hemispherical resonant gyroscope.

[0106] In some specific embodiments, the damping error parameter value determination module 13 can be specifically used to: perform linear fitting on the first-order term in the first change formula for different external angular velocities through the acquisition results to determine the slope value of the first-order term for different external angular velocities; trigger a corresponding mean value calculation operation for the slope value, and determine the target average damping coefficient value corresponding to the hemispherical resonant gyroscope based on the obtained mean value.

[0107] In some specific embodiments, the damping error parameter value determination module 13 can be specifically used to: fit the sine term in the first change formula of different external angular velocities through the acquisition results to determine a first sine signal formula and a second sine signal formula; subtract the first sine signal formula from the second sine signal formula to remove the additional harmonic term and obtain the second change formula; fit the second change formula through the acquisition results to determine the target damping non-uniformity coefficient value and the target damping angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the corresponding third fitting result.

[0108] In some specific embodiments, the damping error parameter value determination module 13 may specifically include: determining a target damping nonuniformity ratio based on the ratio between the target damping nonuniformity coefficient value and the target average damping coefficient value; inputting the target damping nonuniformity ratio and the target damping angle value into a gyro control system corresponding to the hemispherical resonant gyroscope, so that the gyro control system determines a target compensation matrix based on the target damping nonuniformity ratio and the target average damping coefficient value, and applies the target compensation matrix to the amplitude control force of the hemispherical resonant gyroscope in a rotating state to complete the damping error compensation operation.

[0109] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 11 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 11 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 damping 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 damping 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 damping 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 damping error parameter value of a gyroscope, characterized in that: include: When the hemispherical resonant gyroscope is in a rotating state, triggering a corresponding amplitude control force removal operation so that the hemispherical resonant gyroscope enters a rotation attenuation state; determining a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and collecting an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset collection time to determine an 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 a corresponding target damping error parameter value, so as to compensate for the damping error by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target damping error parameter value includes a target damping nonuniformity coefficient value, a target average damping coefficient value, and a target damping angle value corresponding to the hemispherical resonant gyroscope.

2. The method for determining the damping error parameter value of a gyroscope according to claim 1, wherein: When the hemispherical resonant gyroscope is in a rotating state, triggering a corresponding amplitude control force removal operation includes: When the hemispherical resonant gyroscope is in a rotating state, application of the amplitude control force to the hemispherical resonant gyroscope through the corresponding gyro control system is stopped, so that the hemispherical resonant gyroscope enters a rotation attenuation state.

3. The method for determining the damping error parameter value of a gyroscope according to claim 1, wherein: The determining of a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and collecting an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset collection time duration, includes: Derivation of a state equation and a change formula for a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state to determine a corresponding target slow variable change formula; For the energy parameter in the slow variable parameter of the hemispherical resonant gyroscope in the rotation attenuation state, corresponding output signal acquisition is performed based on a preset acquisition time to determine an acquisition result.

4. The method for determining the damping 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 damping error parameter value includes: Performing a natural logarithmic transformation on the target slow variable change formula to determine a first change formula; the first change formula includes a constant term, a linear term, a sinusoidal term, and an additional harmonic term generated by a coupling signal formed by the orthogonal control force in the energy loop; performing a linear fit on the first-order term in the first change formula based on the acquisition result, and determining a target average damping coefficient value corresponding to the hemispherical resonant gyroscope based on the corresponding first fitting result; Fitting the sine term in the first variation formula for different external angular velocities using the acquisition result to remove the additional harmonic term based on the corresponding second fitting result, and determining a target damping non-uniformity coefficient value and a target damping angle value corresponding to the hemispherical resonant gyroscope using the obtained second variation formula; The external angular velocity is the angular velocity input of the hemispherical resonant gyroscope by an external carrier.

5. The method for determining the damping error parameter value of a gyroscope according to claim 4, wherein: The performing linear fitting on the first-order term in the first change formula based on the acquisition result, and determining a target average damping coefficient value corresponding to the hemispherical resonant gyroscope based on the corresponding first fitting result, includes: Performing linear fitting on the first-order term in the first change formula for different external angular velocities based on the acquisition results to determine the slope value of the first-order term for different external angular velocities; A corresponding mean value calculation operation is triggered for the slope value, and the target average damping coefficient value corresponding to the hemispherical resonant gyroscope is determined based on the obtained mean value.

6. The method for determining the damping error parameter value of a gyroscope according to claim 4, wherein: The step of fitting the sine term in the first variation formula for different external angular velocities using the acquisition results to remove the additional harmonic term based on a corresponding second fitting result, and determining a target damping non-uniformity coefficient value and a target damping angle value corresponding to the hemispherical resonant gyroscope using the obtained second variation formula includes: Fitting the sine term in the first change formula for different external angular velocities through the acquisition result to determine a first sine signal formula and a second sine signal formula; Subtracting the first sinusoidal signal formula from the second sinusoidal signal formula to remove the additional harmonic term and obtain the second change formula; The second change formula is fitted by the acquisition result to determine the target damping non-uniformity coefficient value and the target damping angle value corresponding to the hemispherical resonant gyroscope based on the amplitude and phase in the corresponding third fitting result.

7. The method for determining the damping error parameter value of a gyroscope according to claim 4, wherein: The damping error compensation is performed by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyro, comprising: determining a target damping nonuniformity ratio based on a ratio between the target damping nonuniformity coefficient value and the target average damping coefficient value; The target damping nonuniformity ratio and the target damping angle value are input into a gyro control system corresponding to the hemispherical resonant gyro, so that the gyro control system determines a target compensation matrix based on the target damping nonuniformity ratio and the target average damping coefficient value, and applies the target compensation matrix to the amplitude control force of the hemispherical resonant gyro in a rotating state to complete a damping error compensation operation.

8. A device for determining a damping error parameter value of a gyroscope, characterized in that: include: an amplitude control force removal module, configured to trigger a corresponding amplitude control force removal operation when the hemispherical resonant gyroscope is in a rotating state, so that the hemispherical resonant gyroscope enters a rotation attenuation state; a signal acquisition module, configured to determine a target slow variable change formula corresponding to a target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state, and to acquire an output signal corresponding to the target slow variable of the hemispherical resonant gyroscope in the rotational attenuation state based on a preset acquisition time to determine an acquisition result; a damping error parameter value determination module, configured to perform separate fitting processing on each term in the target slow variable change formula based on a preset additional harmonic removal strategy, the acquisition results, and an external angular velocity, so as to determine a corresponding target damping error parameter value, so as to compensate for the damping error by inputting the target damping error parameter value into a gyro control system corresponding to the hemispherical resonant gyroscope; wherein the target damping error parameter value includes a target damping nonuniformity coefficient value, a target average damping coefficient value, and a target damping angle value corresponding to the hemispherical resonant gyroscope.

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 damping error parameter value of a gyroscope according to any one of claims 1 to 7.

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 a damping error parameter value of a gyroscope according to any one of claims 1 to 7.

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