Precession rate-based compensation method for nonuniformity of electrode in time division multiplexing gyroscope

Abstract

The invention discloses a precession-rate-based compensation method for nonuniformity of electrodes in a time division multiplexing gyroscope, which is applied to the field of gyroscopes and comprises the following steps: in a full-angle mode, putting a resonant gyroscope in a static or constant-rotating-speed input state, and calculating an angle ideal value and a gain ideal value into a constant-rotating-speed input state; substituting into a forward precession rate expression of the virtual precession control force to obtain a first discrete group; substituting the first discrete group into an undetermined coefficient function for fitting to obtain a first fitting parameter; substituting the ideal angle value and the ideal gain value into a precession rate expression of the virtual precession control force in the reverse direction to obtain a second discrete group; substituting the second discrete group into the undetermined coefficient function for fitting to obtain a second fitting parameter; and performing compensation based on the first fitting parameter, the second fitting parameter and the error expression by using a trial number method. According to the method, non-uniform detection and non-uniform excitation are considered at the same time, the precession rate is adopted for differential, an error detection value is amplified, and the detection precision is higher.

Description

Technical Field

[0001] The present invention relates to the field of gyroscopes, and in particular to a method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate. Background Art

[0002] A gyroscope measures the rotation angle of the oscillator's vibration mode direction to determine its rotation angle relative to the external inertial frame, thereby generating the gyroscope's output. If the gyroscope's detection electrodes exhibit unevenness (primarily due to angle and gain unevenness), the vibration direction obtained from the read signal will deviate from the actual vibration direction, leading to discrepancies in the gyroscope's output. Furthermore, the oscillator exhibits damping and frequency splitting, necessitating energy control and quadrature control via electrodes. Energy control in a full-angle gyroscope compensates for energy in a specific direction (vibration direction). If the excitation electrodes exhibit unevenness, the actual applied force direction will differ from the target force direction. This misaligned force not only replenishes energy but also causes the gyroscope's vibration direction to deviate, resulting in drift and affecting the gyroscope's measurement accuracy.

[0003] In the existing technology, the methods for measuring and compensating electrode non-uniformity in gyroscopes either only consider the non-uniformity of the detection electrode, or only consider the non-uniformity of the excitation electrode, or only consider the problem of coupling between the excitation and detection angles, or only consider the problem of non-uniformity of the excitation and detection gains. It is impossible to achieve high-precision compensation for the electrode non-uniformity of the gyroscope. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a method for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate, which solves the problem in the prior art that high-precision compensation for electrode non-uniformity of a gyroscope cannot be achieved.

[0005] To solve the above technical problems, the present invention provides a method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate, comprising:

[0006] In full-angle mode, the resonant gyroscope is placed in a stationary state or a constant speed input state, and the ideal angle value and the ideal gain value are substituted into the precession rate expression when the virtual precession control force takes a positive direction to obtain a first discrete group; the precession rate expression is obtained based on the resonant gyroscope dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction;

[0007] Substituting the first discrete group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated according to an error expression; the error expression is an expression obtained by taking the positive and negative directions of the virtual precession control force in the precession rate expression and performing a difference;

[0008] Substituting the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed, a second discrete group is obtained; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed;

[0009] Substituting the second discrete group into the undetermined coefficient function for fitting to obtain second fitting parameters;

[0010] Using the trial and error method, based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are respectively corrected to complete the compensation of the angle error value and the gain error value, and the angle error value and the gain error value are determined.

[0011] Optionally, the using a trial and error method to respectively correct the angle error value and the gain error value based on the first fitting parameter, the second fitting parameter, and an error expression, to complete compensating the angle error value and the gain error value, and to determine the angle error value and the gain error value, includes:

[0012] Subtracting the first fitting parameter from the second fitting parameter to obtain a fitting parameter difference relationship formula;

[0013] Using the trial and error method, the angle error value and the gain error value are respectively corrected based on the fitting parameter difference relationship so that the angle error value in the error expression is less than or equal to a first preset threshold value, and the gain error value is less than or equal to a second preset threshold value, thereby completing the compensation of the angle error value and the gain error value and determining the angle error value and the gain error value.

[0014] Optionally, the method of using trial and error to respectively correct the angle error value and the gain error value based on the fitting parameter difference relationship so that the angle error value in the error expression is less than or equal to a first preset threshold value, and the gain error value is less than or equal to a second preset threshold value, thereby completing compensation for the angle error value and the gain error value, and determining the angle error value and the gain error value, includes:

[0015] First, using the trial and error method, the gain error value is corrected based on the fitting parameter difference relationship so that the absolute value of the gain error value is less than or equal to the second preset threshold value;

[0016] Then, using the trial and error method, the angle error value is corrected based on the fitting parameter difference relationship so that the absolute value of the angle error value is less than or equal to the first preset threshold value;

[0017] After the gain error value and the angle error value are compensated, the gain error value and the angle error value are determined.

[0018] Optionally, the first using the trial and error method to correct the gain error value based on the fitting parameter difference relationship so that the absolute value of the gain error value is less than or equal to the second preset threshold; and then using the trial and error method to correct the angle error value based on the fitting parameter difference relationship so that the absolute value of the angle error value is less than or equal to the first preset threshold, includes:

[0019] The gain error value and the angle error value are corrected in sequence by using the trial and error method so that the absolute value of the gain error value is less than or equal to the second preset threshold value, and the absolute value of the angle error value is less than or equal to the first preset threshold value, thereby completing the compensation of the angle error value and the gain error value, and determining that the corrected values ​​correspond to the angle error value and the gain error value, respectively.

[0020] Optionally, the error expression is:

[0021] (1);

[0022] in, To take the difference between the forward and reverse precession rates at the corresponding angles, is the vibration azimuth with error, is the virtual precession control force, is a known fixed vibration amplitude value, is the angle error value, is the gain error value, in the above formula (1) is the precession rate with error when the virtual precession control force is in the positive direction. In the above formula (1), A precession rate with an error when the virtual precession control force is reversed;

[0023] The undetermined coefficient function is:

[0024] = (2);

[0025] The first fitting parameter is , and , the second fitting parameter is , and ;

[0026] Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship is obtained:

[0027] (3).

[0028] Optionally, the dynamic equation of the resonant gyroscope with electrode error is:

[0029] (4);

[0030] (5);

[0031] Among them, A is the vibration amplitude of the resonator, θ is the vibration azimuth of the resonator, and τ is the decay time constant that characterizes the damping of the resonator. =0, is the precession rate, and are the two forces with errors applied in closed-loop control, is the current angle value, is the current gain value, is the amplitude control force, is the virtual precession control force;

[0032] The error expression is:

[0033] (1).

[0034] Optionally, the precession rate expression is a precession rate expression obtained by processing the resonant gyro dynamics equation with electrode error using Taylor expansion.

[0035] The present invention also provides a device for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate, comprising:

[0036] A first discrete group acquisition module is configured to, in full-angle mode, place the resonant gyroscope in a stationary state or a constant speed input state, substitute an ideal angle value and an ideal gain value into a precession rate expression when a virtual precession control force takes a positive direction, and obtain a first discrete group; the precession rate expression is obtained based on a resonant gyroscope dynamics equation with an electrode error; the ideal angle value is the difference between a current angle value and an angle error value, and the ideal gain value is the difference between a current gain value and a gain error value; the resonant gyroscope dynamics equation with an electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction;

[0037] a first fitting parameter acquisition module, configured to substitute the first discrete group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated according to an error expression; the error expression is an expression obtained by taking the positive and negative values ​​of the virtual precession control force in the precession rate expression and performing a difference;

[0038] A second discrete group acquisition module is configured to substitute the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed to obtain a second discrete group; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed;

[0039] A second fitting parameter acquisition module is used to substitute the second discrete group into the undetermined coefficient function for fitting to obtain second fitting parameters;

[0040] The compensation module is used to use the trial and error method to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression, complete the compensation of the angle error value and the gain error value, and determine the angle error value and the gain error value.

[0041] The present invention also provides a device for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate, comprising:

[0042] Memory for storing computer programs;

[0043] The processor is configured to execute the computer program to implement the steps of the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate.

[0044] The present invention also provides a computer-readable storage medium for storing a computer program, wherein when the computer program is executed by a processor, the steps of the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate are implemented.

[0045] It can be seen that the compensation method for electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate provided by the present invention includes placing the resonant gyroscope in a stationary state or a constant speed input state in full-angle mode, substituting the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force takes a positive direction, and obtaining a first discrete group; the precession rate expression is obtained based on the resonant gyroscope dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction; substituting the first discrete group into The first fitting parameter is obtained by fitting in the undetermined coefficient function; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the virtual precession control force in the precession rate expression in the forward and reverse directions and making a difference; the ideal angle value and the ideal gain value are substituted into the precession rate expression when the virtual precession control force is in the reverse direction to obtain a second discrete group; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is in the reverse direction; the second discrete group is substituted into the undetermined coefficient function for fitting to obtain a second fitting parameter; the trial number method is used to correct the angle error value and the gain error value based on the first fitting parameter, the second fitting parameter and the error expression, to complete the compensation of the angle error value and the gain error value, and to determine the angle error value and the gain error value. The present invention is applied to a time-division multiplexing control gyroscope, and simultaneously considers detection non-uniformity and excitation non-uniformity, and uses the precession rate of the forward and reverse directions to make a difference, which can amplify the influence of the electrode non-uniformity error on the electrode non-uniformity measurement, and is not affected by the damping non-uniformity, thereby improving the detection accuracy.

[0046] In addition, the present invention also provides a compensation device, equipment and computer-readable storage medium for the non-uniformity of the electrodes of a time-division multiplexed gyroscope based on the precession rate, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] Figure 1 A flow chart of a method for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate provided by an embodiment of the present invention;

[0049] Figure 2 A schematic structural diagram of a device for compensating for electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate provided by an embodiment of the present invention;

[0050] Figure 3 A schematic structural diagram of a device for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. 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 shall fall within the scope of protection of the present invention.

[0052] Please refer to Figure 1 , Figure 1 A flow chart of a method for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate is provided in an embodiment of the present invention. The method may include:

[0053] S101: In full-angle mode, the resonant gyroscope is placed in a stationary state or a constant speed input state, and the ideal angle value and the ideal gain value are substituted into the precession rate expression when the virtual precession control force takes a positive direction to obtain a first discrete group; the precession rate expression is obtained based on the resonant gyroscope dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction.

[0054] In this embodiment, in full-angle mode, the angle measurement range of the resonant gyroscope is unlimited. In this embodiment, the rotational speed of the resonant gyroscope can be controlled using a turntable. When the resonant gyroscope is stationary, this can be achieved by keeping the turntable stationary. When the resonant gyroscope is in a constant speed input state, this can be achieved by controlling the turntable's constant speed. This embodiment is implemented by a device for compensating for electrode nonuniformity in a time-division multiplexed gyroscope based on precession rate. Electrode errors in this embodiment can be caused by a variety of factors, such as capacitance asymmetry, which can cause electrode errors, or electrode installation deviations. This embodiment takes into account that electrode errors in the gyroscope can result in both angle errors and gain errors. Therefore, the dynamic equations for the resonant gyroscope with electrode errors include the current angle value with angle errors and the current gain value with gain errors. Consequently, the resulting error expression includes unknown angle and gain error values. It should be noted that the process of determining the angle and gain error values ​​in this embodiment is performed when the time-division multiplexed gyroscope is in full-angle mode. Once the angle and gain error values ​​are determined, they can be applied in any operating mode. Furthermore, the present invention utilizes the forward and reverse values ​​of the virtual precession control force parameters and subtracts the precession rate to obtain the aforementioned error expression. The error term in this error expression is now twice the actual error value, enabling a more comprehensive assessment of data stability and consistency. Furthermore, in this embodiment, the error terms are proportional to the virtual precession rate or virtual precession control force. A larger virtual precession control force or virtual precession rate can clearly reveal the effects of electrode errors, ensuring the accuracy and reliability of research or measurements. Furthermore, in this embodiment, the virtual precession control force is an equivalent mechanical effect simulated through an active control strategy, used to maintain the stability of the vibration mode or improve the accuracy of angular velocity detection.

[0055] This embodiment simulates the precession phenomenon caused by angular velocity in a traditional mechanical gyroscope through the force applied by an electronic feedback system, thereby offsetting external interference or optimizing the dynamic response of the system. This embodiment simplifies the difficulty of compensation and detection of non-uniformity due to the consistency of the non-uniformity of the excitation electrodes and the detection electrodes in a time-division multiplexing system. The reciprocating motion of the gyroscope vibration mode is controlled by a relatively large virtual precession. The virtual precession amplifies the influence of the electrode non-uniformity, which can improve measurement accuracy. The influence of damping non-uniformity on the measurement is eliminated by taking a differential method of the reciprocating motion. Specifically, because the gyroscope adopts time-division multiplexing control, the detection non-uniformity and excitation non-uniformity of the gyroscope are described by the same parameters, thus simplifying the entire problem and the compensation method. The detection non-uniformity and excitation non-uniformity are considered at the same time, and the gain and angle non-uniformities are also considered, thereby improving accuracy and reliability.

[0056] In the resonant gyroscope, the present embodiment does not limit the application of the gyroscope electrode non-uniformity compensation method. For example, it can be applied to a hemispherical resonant gyroscope, or can also be applied to other resonant gyroscopes with the same working mode.

[0057] In addition, in order to ensure the smooth determination of the error expression, the above precession rate expression can be obtained by using Taylor expansion to process the resonant gyro dynamic equation with electrode error. Specifically, since the ideal angle value is π / 2 and the ideal gain value is 1, the current angle value is set to , and set the current gain value to , you can set , and can be set ,in is the gain error value, is the angle error value, which can be seen and For a small quantity, Taylor expansion is performed on the variable, and a low-order small quantity approximation is taken to simplify the equation and solve it. The specific solution can only retain the result of the first-order small quantity, and the virtual precession control force in the result is taken in the positive and reverse directions respectively, and the precession rate is subtracted at the corresponding angle to obtain the above error expression.

[0058] Furthermore, in order to ensure smooth completion of the compensation for the electrode non-uniformity of the time-division multiplexing gyroscope, the dynamic equation of the resonant gyroscope with electrode error can be set as follows:

[0059] (4);

[0060] (5);

[0061] Among them, A is the vibration amplitude of the resonator, θ is the vibration azimuth of the resonator, and τ is the decay time constant that characterizes the damping of the resonator. =0, is the rate of change of the vibration amplitude value, is the precession rate, and are the two forces with errors applied in closed-loop control, is the current angle value, is the current gain value, is the amplitude control force, is the virtual precession control force, is the vibration azimuth with error;

[0062] The error expression is:

[0063] (1).

[0064] It should be noted that, in this embodiment, the signals x and y detected by two ideal orthogonal electrodes in the ideal resonant gyroscope are converted into and , ω is the resonant frequency of the oscillator.

[0065] At this time, the dynamic equation of the ideal resonant gyroscope under amplitude control and virtual precession force is:

[0066] ,in, is the second-order derivative of the vibration displacement of the oscillator in mode x in time, is the damping uneven error, is the angle between the damping axis and the 0° electrode axis, is the first-order derivative of the vibration displacement of the resonator in the x mode in time. The above k is a constant, for example, k≈0.27 can be set. is the angular velocity input from the outside world, For frequency decomposition, is the angle between the stiffness axis and the 0° electrode axis, is the vibration displacement of the oscillator in the x mode, is the rate of change of the angular velocity of the external input, is the vibration displacement of the oscillator in the y mode, is the excitation force of the oscillator on the x mode, m is the equivalent mass of the oscillator, is the second-order derivative of the vibration displacement of the oscillator in the y mode in time, is the first-order derivative of the vibration displacement of the oscillator in the y mode in time, is the excitation force of the oscillator on the y mode.

[0067] For ease of analysis, the effects of gyroscope damping non-uniformity and frequency splitting are not introduced at this time. The subsequent operation of subtracting the reverse angular rate from the forward angular rate will eliminate the effects of damping, and orthogonal control will eliminate the effects of frequency splitting. Moreover, when Taylor expansion is subsequently used to simplify the resonant dynamic equation, even if the gyroscope has damping non-uniformity and frequency splitting, it does not affect the effectiveness of the time-division multiplexing gyroscope electrode non-uniformity compensation method in this application, thereby reducing the complexity of compensation. At this point, the ideal resonant gyroscope dynamic equation can be simplified as:

[0068] .

[0069] Substituting the expressions for x and y and omitting the higher-order small quantities, we get:

[0070] .

[0071] At this time, the dynamic equation of the ideal resonant gyroscope under amplitude control and virtual precession force is:

[0072] ,in, is the resonant frequency modulation factor. When the above resonant frequency modulation factor is omitted, the simplified result is:

[0073] ,in, is the amplitude control force under ideal conditions, is the virtual precession control force under ideal conditions.

[0074] When there is no electrode error, under amplitude control, A= ,but =0, omitting the above resonant frequency modulation factor and simplifying the equation, can be further simplified to:

[0075] , and then get , ,at this time is a constant value, independent of the precession rate. The same is true for the vibration azimuth, which is only determined by Sure.

[0076] At this time, the electrode error is introduced. It should be noted that in order to simplify the analysis in this embodiment, the expression of the relevant force is replaced by The factor is omitted, which does not actually affect the analysis results. In this embodiment, the dynamic equations of the subsequent resonant gyroscope are still described by the variables in the ideal coordinate system. The influence of the electrode error is only reflected in the error in the observed quantity and the force during control. Specifically, taking the ideal orthogonal coordinate system with mutually orthogonal directions as an example, including the x-coordinate direction and the y-coordinate direction, the x-coordinate in the ideal orthogonal coordinate system is different from the corresponding error coordinate system. The coordinates are the same, both , and the y coordinate in the ideal orthogonal coordinate system is , the corresponding error coordinate system The coordinates are , which is equivalent to , in the above error coordinate system, with error and Can be obtained by ( is the vibration amplitude value with error) and ( is the vibration amplitude value with error), we can get:

[0077] ,in, , , ,at this time, The relationship with θ can be expressed as: , and simplify both sides of the equation to get: = .

[0078] After that, in the amplitude control, the amplitude control value is set to a known fixed value , then you can get , take the derivative with respect to time, and get =0, we get the above and The relationship, that is .

[0079] Furthermore, when considering electrode non-uniformity, since the signals observed are those with errors, when closed-loop control is performed on these signals, the closed-loop control needs to output voltage to the electrodes and convert it into output force. Since the excitation electrodes also have errors, the applied force is also an error-containing force. Based on the control requirements, the error coordinate system is used to calculate the force. Coordinate direction and The forces applied in the coordinate directions are and ,Should and Available and Expressed as:

[0080] ,in, By controlling Sure, Just take a known fixed value.

[0081] Taking into account the excitation electrode error, based on the above and The actual force can be obtained and :

[0082] , and then we get the dynamic equations of the resonant gyroscope with electrode errors as shown in the above equations (4) and (5). It should be further explained here that in the above equations (4) and (5), θ takes any value from 0 to 2π and is considered a known quantity; τ is also a fixed constant value and is considered a known quantity; based on the above equations and the known quantity θ, we can determine the corresponding vibration amplitude value A of the resonator, so A is also a known quantity; based on the above formula and the above formula , we can determine the known quantity θ The expression of It can also be regarded as a known quantity; in the control process, the precession control force is taken as the set value, so is also a known quantity; corresponding to a specific gyroscope, the ideal angle value and the ideal gain value are also determined values, so they can also be regarded as known quantities; based on the above formula , it can be determined using Characterization Therefore, in the above resonant gyro dynamic equation with electrode error, solve the two unknown quantities and .

[0083] Considering that electrode non-uniformity can be understood as a small deviation from the ideal value, the above , and take the above , as shown above and All are small quantities. Taylor expansion is performed on the variables, and the low-order small quantities are taken as approximations. The above resonant gyro dynamic equation with electrode errors is simplified and solved. As a result, only the first-order small quantities are retained. The virtual precession control force is taken in the positive and negative directions respectively, and the following is obtained:

[0084] and , take the difference between the forward and reverse equations of the virtual precession control force at the corresponding angle to obtain the error expression. When the value is positive, θ takes the value from 0 to 2π, and when the value reaches 2π, the opposite value is taken. value, then θ takes values ​​from 2π to 0, which can be easily calculated within this period , by phase solution, or for and By demodulation, it is easy to get and , and then get a value proportional to the error, so that the gain error value can be calculated later. and angular error values Perform real-time compensation.

[0085] S102: Substitute the first discrete group into the undetermined coefficient function for fitting to obtain the first fitting parameter; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the positive and reverse directions of the virtual precession control force in the precession rate expression and making the difference.

[0086] It should be noted that extracting information by differentiating the precession rates of forward and reverse rotation produces less noise in the precession rate signal than by differentiating parameters such as the amplitude control force, thereby further improving error measurement accuracy. In this embodiment, the first fitting parameter includes a fitting parameter corresponding to the angle value and a fitting parameter corresponding to the gain value.

[0087] S103: Substitute the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed to obtain a second discrete group; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed.

[0088] In this embodiment, the ideal angle value is used as the initial angle value, and the ideal gain value is used as the initial gain value. The initial values ​​are substituted into the amplitude control force expression when the virtual precession control force takes the positive direction, and the amplitude control force expression when the virtual precession control force takes the negative direction, respectively, to obtain the above-mentioned first discrete group and second discrete group, respectively. Then, the first discrete group and the second discrete group are fitted respectively using the undetermined coefficient function to obtain the first fitting parameters and the second fitting parameters, respectively. At this time, when there is no angle error and gain error in the gyroscope, the above-mentioned first fitting parameters and the second fitting parameters should be the same, that is, the difference between the first fitting parameters and the second fitting parameters should be equal to zero. Therefore, in this application, the current angle value and the current gain value are debugged by trial and error so that the corresponding difference between the first fitting parameter and the second fitting parameter is zero or close to zero. The standard for approaching zero can be set to a deviation from zero that is less than a preset deviation value to complete error compensation.

[0089] S104: Substitute the second discrete group into the undetermined coefficient function for fitting to obtain second fitting parameters.

[0090] It should be noted that, in this embodiment, the second fitting parameters also include fitting parameters corresponding to angle values ​​and fitting parameters corresponding to gain values.

[0091] S105: Using the trial and error method, based on the first fitting parameter, the second fitting parameter and the error expression, respectively correct the angle error value and the gain error value, complete the compensation of the angle error value and the gain error value, and determine the angle error value and the gain error value.

[0092] In this embodiment, based on the trial and error method, an initial value is first set, and the initial value is substituted into the resonant gyro dynamic equation with electrode error to obtain several corresponding groups between precession rate and vibration azimuth angle, and the corresponding groups are fitted to obtain fitting parameters. At this time, a fitting parameter is obtained for the positive and negative directions of the virtual precession control force respectively, and the difference between the two sets of fitting parameters is taken to obtain a fitting parameter difference that is directly proportional to the coefficients in the error expression. By adjusting the values ​​of the angle error and the gain error, the above-mentioned fitting parameter difference is made zero or close to zero. At this time, the values ​​of the angle error and the gain error are the actual angle error value and the actual gain error value. Compensation is performed based on the actual angle error value and the actual gain error value, which can solve the problem of errors in the detection results of the time-division multiplexing gyroscope due to the unevenness of the electrodes of the time-division multiplexing gyroscope, and further improve the accuracy of gyroscope detection. In this embodiment, after the angle error value and the gain error value are determined, when error compensation is required later, the angle error value and the gain error value determined above can be directly called to compensate the resonant gyroscope.

[0093] In addition, it should be noted that, in this embodiment, the trial value of the angle error and the trial value of the gain error are adjusted according to the changing trend of the fitting parameter difference. For example, when the trial value of the angle error and the trial value of the gain error are increased, the corresponding fitting parameter difference changes in the direction approaching zero, and the trial value of the angle error and the trial value of the gain error are continuously increased until the fitting parameter difference reaches a value, and then the value changes to the opposite number and changes in the direction away from zero (that is, the absolute value increases). At this time, it is proved that the actual angle error value and the actual gain error value are within the interval formed by the current trial value of the angle error and the trial value of the gain error and the trial value of the previous angle error and the trial value of the gain error. At this time, the next trial value of the angle error and the trial value of the gain error should take a value within this interval until the difference of the above-mentioned fitting parameters is zero or approaches zero.

[0094] It should be noted that compensating for the angle error and gain error in this embodiment can produce a synergistic effect. Specifically, when determining the actual angle error and actual gain error values ​​using the trial-and-error method, the actual angle error and actual gain error values ​​are determined using the trial-and-error method, respectively. Specifically, one of the angle error and gain error values ​​can be first determined using the trial-and-error method, and then the other error value can be determined based on that value. The previously determined error value can then be further adjusted, and the two error values ​​can be iteratively processed until the fitting parameter differences corresponding to the two error values ​​simultaneously approach zero. At this point, the final determined error values ​​are used as the actual angle error and actual gain error values. For example, the gain error value can be corrected first, followed by the angle error value, and then the above steps can be iteratively repeated until the fitting parameter differences corresponding to the two error values ​​both approach zero. At this point, the final actual angle error and actual gain error values ​​are determined. Alternatively, the trial method can be used to simultaneously correct the angle error value and the gain error value, that is, the angle error and the gain error are simultaneously tested. This can be achieved through PI control, and without the need for iterative processing, it can be ensured that the fitting parameter difference corresponding to the angle error and the fitting parameter difference corresponding to the gain error are both close to zero. In addition, when the Taylor expansion is applied in the formula derivation process, since the derivation is performed at the lowest order retained, when both error parameters are finite, there is a small impact. When the two error parameters are adjusted one by one to close to the ideal value, both error parameters become smaller. When they are small to a certain extent, it can be understood that the Taylor expansion first-order approximation becomes the actual situation.

[0095] Furthermore, it should be clarified that in this embodiment, the preferred iterative strategy of alternating gain error and angle error correction is used to correct the angular error and gain error values ​​in the gyroscope. Therefore, this iterative strategy requires a convergence condition. For example, the iteration is complete when the rate of change of the error between adjacent iterations is less than a preset rate of change, and the corresponding difference between the first fitting parameter and the second fitting parameter is less than a preset deviation value. In this embodiment, the discrete groups can be obtained by selecting a sampling point at every preset angle value within the vibration azimuth value range, and taking multiple sampling points where the virtual precession control force is in the positive or reverse direction, correspondingly forming the first discrete group and the second discrete group. In this embodiment, the least squares method can be used to fit the discrete groups.

[0096] Furthermore, in order to ensure that the non-uniformity of the time-division multiplexing gyroscope electrodes is compensated and the compensation efficiency is improved, the above-mentioned trial and error method is used to correct the angle error value and the gain error value based on the first fitting parameter, the second fitting parameter and the error expression, respectively, to complete the compensation of the angle error value and the gain error value, and to determine the angle error value and the gain error value, which may include:

[0097] Step S11: Subtract the first fitting parameter from the second fitting parameter to obtain a fitting parameter difference relationship formula;

[0098] Step S12: Using the trial and error method, the angle error value and the gain error value are respectively corrected based on the fitting parameter difference relationship so that the angle error value in the error expression is less than or equal to the first preset threshold value, and the gain error value is less than or equal to the second preset threshold value, thereby completing the compensation of the angle error value and the gain error value, and determining the angle error value and the gain error value.

[0099] It should be noted that, in this embodiment, the first fitting parameter and the second fitting parameter are subtracted, and then the electrode non-uniformity error is corrected using the trial and error method, which can improve the efficiency of compensating the electrode non-uniformity error and improve the compensation accuracy.

[0100] Furthermore, in order to improve the accuracy and efficiency of error detection, the above-mentioned trial and error method is used to correct the angle error value and the gain error value based on the fitting parameter difference relationship, so that the angle error value in the error expression is less than or equal to the first preset threshold value, and the gain error value is less than or equal to the second preset threshold value, and the angle error value and the gain error value are compensated, and the angle error value and the gain error value are determined, which may include:

[0101] Step S21: first, using the trial and error method, correct the gain error value based on the fitting parameter difference relationship so that the absolute value of the gain error value is less than or equal to a second preset threshold value;

[0102] Step S22: Using the trial and error method, the angle error value is corrected based on the fitting parameter difference relationship so that the absolute value of the angle error value is less than or equal to the first preset threshold value;

[0103] Step S23: After the gain error value and the angle error value are compensated, the gain error value and the angle error value are determined.

[0104] It should be noted that in this embodiment, the coefficients of the corresponding trigonometric functions in the undetermined coefficient function are subtracted and corresponded to the corresponding terms in the error expression. The gain error value is first compensated, and then the angle error value is compensated, completing the compensation of the gain error value and the angle error value. In this embodiment, the first preset threshold value can be equal to the second preset threshold value. In this embodiment, the first preset threshold value needs to be set based on the signal-to-noise ratio of the gyro signal, and the second preset threshold value also needs to be set based on the signal-to-noise ratio of the gyro signal. In this embodiment, error separation is achieved by independently fitting the forward control force and the reverse control force to avoid the problem of parameter coupling. The error is corrected directly using the linear relationship between the coefficient difference and the error, which can reduce the complexity of the calculation and improve the correction efficiency.

[0105] Furthermore, in order to ensure the accuracy of compensation for electrode non-uniformity in the gyroscope, the above-mentioned method first uses the trial and error method to correct the gain error value based on the fitting parameter difference relationship so that the absolute value of the gain error value is less than or equal to the second preset threshold value; and then uses the trial and error method to correct the angle error value based on the fitting parameter difference relationship so that the absolute value of the angle error value is less than or equal to the first preset threshold value, including:

[0106] The gain error value and the angle error value are corrected in sequence using the trial and error method so that the absolute value of the gain error value is less than or equal to the second preset threshold value, and the absolute value of the angle error value is less than or equal to the first preset threshold value, thereby completing the compensation of the angle error value and the gain error value, and determining that the corrected values ​​correspond to the angle error value and the gain error value, respectively.

[0107] In this embodiment, variable parameters are introduced into the full-angle gyroscope. and The variable parameter affects the detection signal of the resonant gyro by affecting the control process. Do the following:

[0108] , as the corrected detection signal for subsequent processing. During the processing, the force to be applied obtained by the original processing Do the following:

[0109] , and then proceed with the subsequent processing after obtaining the new applied force. Control the resonant gyroscope in full-angle mode, place the resonant gyroscope in a stationary state or a constant speed input state, and set the values ​​of the above two variable parameters to and , applying a fixed precession force , push the vibration mode azimuth from 0 to π (or any integer multiple of π) to obtain the precession rate of the current vibration direction Follow A series of discrete corresponding values . You can set the undetermined coefficient function = , for those who need to list and The first fitting parameter and the second fitting parameter are obtained by fitting, and the fitting coefficients of the corresponding trigonometric functions are subtracted to obtain a fitting parameter difference relationship. In this embodiment, the gain error value and the angle error value are corrected in a cyclic alternating manner, which can further improve the accuracy of error compensation.

[0110] Furthermore, in order to ensure the smooth completion of compensation for the gyroscope electrode non-uniformity, the above error expression can be set as:

[0111] (1);

[0112] in, To take the difference between the forward and reverse precession rates at the corresponding angles, is the vibration azimuth with error, is the virtual precession control force, is a known fixed vibration amplitude value, is the angle error value, is the gain error value, in the above formula (1) is the precession rate with error when the virtual precession control force is in the positive direction. In the above formula (1), A precession rate with an error when the virtual precession control force is reversed;

[0113] The undetermined coefficient function is:

[0114] = (2);

[0115] The first fitting parameter is , and , the second fitting parameter is , and ;

[0116] Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship is obtained:

[0117] (3).

[0118] At this time, you can first Make corrections if Greater than 0, considering Greater than 0, we get Greater than 0, that is Greater than 1, then take to try to cancel the gain error, For a small trial, such as = 0.1, symbol and conjecture The signs are the same, and we get a new relationship ,from The sign of is greater than 0, the total gain error is - Is still greater than 0, then the above Not big enough, enlarge For example, double the value and take 2 As a new Repeat the above steps again, if If it is greater than 0, it will continue to increase. The value of is tested; if If it is less than 0, it means The value of is too large and needs to be reduced Repeat the steps to narrow down The value range is up to Approaches 0, and the degree of approach is determined by the signal-to-noise ratio. At this time, the total electrode gain error is - is equal to 0, or less than or equal to the second preset threshold, and the gain error value is obtained. Make corrections if >0, considering Greater than 0, we get Greater than 0, take , Take the last pair The gain error value obtained when making corrections is, For a small trial, such as = 0.1, symbol and conjecture The signs are the same, and we get a new relationship ,from The sign of If it is still true if it is greater than 0, then the total angle error - Is still greater than 0, then the above Not big enough, enlarge For example, double the value and take 2 As a new Repeat the above steps again, if If it is greater than 0, it will continue to increase. The value of is tested; if If it is less than 0, it means The value of is too large and needs to be reduced Repeat the steps to narrow down The value range is up to Approaches 0, and the degree of approach is determined by the signal-to-noise ratio. At this time, the total electrode angle error is - is equal to 0, or is less than or equal to a second preset threshold, and an angle error value is obtained.

[0119] Thereafter, in this embodiment, an iterative process is performed, and the steps of determining the final gain error value and the final angle error value are repeated. After adjusting the value of the gain error value, the value of the angle error value is adjusted. In the iterative process, after one round of adjustment, when the value of the gain error value is subsequently adjusted, the final value (optimal value) of the angle error value determined in the previous round is substituted as the current angle error value. When the value of the gain error value is subsequently adjusted, the final value (optimal value) of the angle error value determined in the previous round is substituted as the current gain error value, until the above steps are completed. and At the same time, it approaches 0. It should be noted that in this embodiment, the control detection process can be set as a PI control process, and there are two PI controllers, and the error input of one PI controller is , the output control quantity is , that is, by adjusting The value of approaches 0, and the error input of the other PI controller is , the output control quantity is , that is, by adjusting The value of Approaching 0.

[0120] Furthermore, in order to expand the application scenarios of the gyroscope electrode non-uniformity compensation method, after determining the angle error value and the gain error value, the following steps may also be included:

[0121] In the force balance mode, the electrode error is compensated based on the determined angle error value and gain error value.

[0122] It should be noted that in this embodiment, the angular error and gain error values ​​of the electrodes in the gyroscope are determined in the full-angle operating mode. These angular error and gain error values ​​do not change depending on the gyroscope's operating mode, but are primarily dependent on the gyroscope's assembly. Therefore, even in the force-balanced operating mode, the angular error and gain error values ​​determined in the full-angle mode can be used to compensate for electrode errors. In this embodiment, the force-balanced mode refers to an operating state in which the Coriolis force of the resonant gyroscope is maintained in dynamic equilibrium with the applied control force through closed-loop control.

[0123] The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate provided by an embodiment of the present invention comprises: placing the resonant gyroscope in a stationary state or a constant speed input state in full-angle mode, substituting an ideal angle value and an ideal gain value into a precession rate expression when a virtual precession control force takes a positive direction, and obtaining a first discrete group; the precession rate expression is obtained based on a resonant gyroscope dynamics equation with electrode errors; the ideal angle value is the difference between a current angle value and an angle error value, and the ideal gain value is the difference between a current gain value and a gain error value; the resonant gyroscope dynamics equation with electrode errors includes a current angle value with an angle error value and a current gain value with a gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction; substituting the first discrete group for the precession rate expression; The first fitting parameter is obtained by fitting the undetermined coefficient function; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the virtual precession control force in the precession rate expression in the forward and reverse directions and making a difference; the ideal angle value and the ideal gain value are substituted into the precession rate expression when the virtual precession control force is in the reverse direction to obtain a second discrete group; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is in the reverse direction; the second discrete group is substituted into the undetermined coefficient function for fitting to obtain a second fitting parameter; the trial number method is used to correct the angle error value and the gain error value based on the first fitting parameter, the second fitting parameter and the error expression, complete the compensation of the angle error value and the gain error value, and determine the angle error value and the gain error value. The present invention is applied to a time-division multiplexing control gyroscope, takes into account detection unevenness and excitation unevenness, and uses the precession rate of the forward and reverse directions to make a difference, which can amplify the influence of the electrode unevenness error on the electrode unevenness measurement, thereby improving the detection accuracy.

[0124] In addition, the embodiment of the present invention specifically sets the equations of the resonant gyroscope dynamic equation and the error expression with electrode error, which can ensure that the time-division multiplexing gyroscope electrode non-uniformity compensation is successfully completed; the first fitting parameter and the second fitting parameter are differentiated, and then the electrode non-uniformity error is corrected by the trial and error method, which can improve the efficiency of compensating the electrode non-uniformity error and improve the compensation accuracy; the coefficients of the corresponding trigonometric functions in the undetermined coefficient function are differentiated and correspond to the corresponding terms in the error expression, the gain error value is compensated first, and then the angle error value is compensated, and the gain error value and the angle error value are compensated, thereby improving the accuracy and efficiency of error detection; by setting the gain error value and the angle error value to be corrected in turn and in a cyclic alternating manner, the accuracy of error compensation can be further improved; by setting the above-mentioned error expression and the undetermined coefficient function, it can be guaranteed that the gyroscope electrode non-uniformity compensation is successfully completed; by applying the angle error value and the gain error value determined in the full-angle working mode of the gyroscope to the force balance mode to compensate for the electrode error, the application scenario of the gyroscope electrode non-uniformity compensation method is expanded.

[0125] This embodiment also provides a time-division multiplexing gyroscope, which is a gyroscope that has been processed by the above-mentioned method for compensating for electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate. At this time, the time-division multiplexing gyroscope can reduce the impact caused by electrode non-uniformity and improve the accuracy of gyroscope detection.

[0126] This time-division multiplexing gyroscope has at least eight evenly distributed electrodes. For example, with eight evenly distributed electrodes, two electrodes spaced 45 degrees apart can each read vibrations in two orthogonal directions. The two electrodes are combined to determine the vibration direction of the resonator. In a time-division multiplexing gyroscope with an eight-electrode structure, two electrodes facing each other (180 degrees apart) are short-circuited, and the signals from two electrodes spaced 90 degrees apart are differentially measured. Therefore, detecting a single channel (x or y) requires four electrodes, while detecting two channels (x and y) requires eight electrodes. At this point, all electrodes are used, requiring time-division multiplexing to achieve excitation. The electrodes used during the excitation process are identical, with only the signal directions being opposite.

[0127] The following is an introduction to a device for compensating for electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate provided in an embodiment of the present invention. The device for compensating for electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate described below and the method for compensating for electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate described above can be referred to in correspondence with each other.

[0128] Please refer to Figure 2 , Figure 2A schematic structural diagram of a device for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate provided in an embodiment of the present invention may include:

[0129] A first discrete group acquisition module 100 is configured to place the resonant gyroscope in a stationary state or a constant speed input state in full-angle mode, substitute an ideal angle value and an ideal gain value into a precession rate expression when a virtual precession control force takes a positive direction, and obtain a first discrete group; the precession rate expression is obtained based on a resonant gyroscope dynamics equation with electrode errors; the ideal angle value is the difference between a current angle value and an angle error value, and the ideal gain value is the difference between a current gain value and a gain error value; the resonant gyroscope dynamics equation with electrode errors includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction;

[0130] A first fitting parameter acquisition module 200 is configured to substitute the first discrete group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated based on an error expression; the error expression is an expression obtained by taking the positive and negative directions of the virtual precession control force in the precession rate expression and performing a subtraction;

[0131] A second discrete group acquisition module 300 is configured to substitute the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed to obtain a second discrete group; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed;

[0132] A second fitting parameter acquisition module 400 is configured to substitute the second discrete group into the undetermined coefficient function for fitting to obtain second fitting parameters;

[0133] The compensation module 500 is used to use the trial and error method to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression, complete the compensation of the angle error value and the gain error value, and determine the angle error value and the gain error value.

[0134] The device for compensating for electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate provided by an embodiment of the present invention is applied to a time-division multiplexing control gyroscope. It simultaneously considers detection non-uniformity and excitation non-uniformity, and uses the precession rates of forward and reverse rotation as a differential. This can amplify the effect of electrode non-uniformity error on electrode non-uniformity measurement, thereby improving detection accuracy.

[0135] The following is an introduction to a compensation device for electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate provided in an embodiment of the present invention. The compensation device for electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate described below and the compensation method for electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate described above can be referred to in correspondence with each other.

[0136] Please refer to Figure 3 , Figure 3 A schematic structural diagram of a device for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate provided in an embodiment of the present invention may include:

[0137] Memory 10, for storing computer programs;

[0138] The processor 20 is configured to execute a computer program to implement the steps of the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate.

[0139] The memory 10 , the processor 20 , and the communication interface 31 all communicate with each other via the communication bus 32 .

[0140] In an embodiment of the present invention, the memory 10 is used to store one or more programs. The program may include program code, and the program code includes computer operating instructions. In an embodiment of the present application, the memory 10 may store programs for implementing the following functions:

[0141] In full-angle mode, the resonant gyroscope is placed in a stationary state or a constant speed input state, and the ideal angle value and the ideal gain value are substituted into the precession rate expression when the virtual precession control force takes a positive direction to obtain a first discrete group; the precession rate expression is obtained based on the resonant gyroscope dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction;

[0142] Substituting the first discrete group into the undetermined coefficient function for fitting, a first fitting parameter is obtained; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the positive and negative directions of the virtual precession control force in the precession rate expression and performing the difference;

[0143] Substituting the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed, a second discrete group is obtained; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed;

[0144] Substituting the second discrete group into the undetermined coefficient function for fitting, and obtaining the second fitting parameters;

[0145] By using the trial and error method, based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are respectively corrected to complete the compensation of the angle error value and the gain error value, and the angle error value and the gain error value are determined.

[0146] In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function, etc.; the data storage area may store data created during use.

[0147] In addition, the memory 10 may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset or an extended set thereof. The operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0148] The processor 20 may be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field programmable gate array, or other programmable logic device. The processor 20 may be a microprocessor or any conventional processor. The processor 20 may call a program stored in the memory 10 .

[0149] The communication interface 31 may be an interface of a communication module, and is used to connect to other devices or systems.

[0150] Of course, it needs to be explained that Figure 3 The structure shown does not constitute a limitation on the compensation device for the non-uniformity of the time-division multiplexing gyroscope electrode based on the precession rate in the embodiment of the present application. In actual applications, the non-uniformity compensation device for the time-division multiplexing gyroscope electrode may include Figure 3 More or fewer components than shown, or combinations of certain components.

[0151] The computer-readable storage medium provided by an embodiment of the present invention is introduced below. The computer-readable storage medium described below and the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate described above can be referred to each other.

[0152] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate are implemented.

[0153] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes.

[0154] 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.

[0155] 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 to be beyond the scope of the present invention.

[0156] Finally, it should be noted that, in this document, relationships such as first and second, etc., are used solely 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 apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0157] The above is a detailed introduction to the method for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate, characterized in that: include: In full-angle mode, the resonant gyroscope is placed in a stationary state or a constant speed input state, and the ideal angle value and the ideal gain value are substituted into the precession rate expression with the virtual precession control force in the positive direction to obtain a first discrete group; the precession rate expression is obtained based on the resonant gyroscope dynamic equation with electrode error. The ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction; Substituting the first discrete group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated according to an error expression; the error expression is an expression obtained by taking the positive and negative directions of the virtual precession control force in the precession rate expression and performing a difference; Substituting the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed, a second discrete group is obtained; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed; Substituting the second discrete group into the undetermined coefficient function for fitting to obtain second fitting parameters; Using the trial and error method, based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are respectively corrected to complete the compensation of the angle error value and the gain error value, and the angle error value and the gain error value are determined.

2. The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to claim 1, characterized in that: The method of using trial and error to respectively correct the angle error value and the gain error value based on the first fitting parameter, the second fitting parameter, and the error expression, thereby completing compensation for the angle error value and the gain error value, and determining the angle error value and the gain error value, includes: Subtracting the first fitting parameter from the second fitting parameter to obtain a fitting parameter difference relationship formula; Using the trial and error method, the angle error value and the gain error value are respectively corrected based on the fitting parameter difference relationship so that the angle error value in the error expression is less than or equal to a first preset threshold value, and the gain error value is less than or equal to a second preset threshold value, thereby completing the compensation of the angle error value and the gain error value and determining the angle error value and the gain error value.

3. The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to claim 2, characterized in that: The method of using trial and error to respectively correct the angle error value and the gain error value based on the fitting parameter difference relationship so that the angle error value in the error expression is less than or equal to a first preset threshold value, and the gain error value is less than or equal to a second preset threshold value, thereby completing compensation for the angle error value and the gain error value, and determining the angle error value and the gain error value, includes: First, using the trial and error method, the gain error value is corrected based on the fitting parameter difference relationship so that the absolute value of the gain error value is less than or equal to the second preset threshold value; Then, using the trial and error method, the angle error value is corrected based on the fitting parameter difference relationship so that the absolute value of the angle error value is less than or equal to the first preset threshold value; After the gain error value and the angle error value are compensated, the gain error value and the angle error value are determined.

4. The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to claim 3, characterized in that: The gain error value is first corrected based on the fitting parameter difference relationship using a trial and error method so that the absolute value of the gain error value is less than or equal to the second preset threshold value; Then, using the trial and error method, the angle error value is corrected based on the fitting parameter difference relationship so that the absolute value of the angle error value is less than or equal to the first preset threshold, including: The gain error value and the angle error value are corrected in sequence by using the trial and error method so that the absolute value of the gain error value is less than or equal to the second preset threshold value, and the absolute value of the angle error value is less than or equal to the first preset threshold value, thereby completing the compensation of the angle error value and the gain error value, and determining that the corrected values ​​correspond to the angle error value and the gain error value, respectively.

5. The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to claim 2, characterized in that: The error expression is: （1）； in, To take the difference between the forward and reverse precession rates at the corresponding angles, is the vibration azimuth with error, is the virtual precession control force, is a known fixed vibration amplitude value, is the angle error value, is the gain error value, in the above formula (1) is the precession rate with error when the virtual precession control force is in the positive direction. In the above formula (1), A precession rate with an error when the virtual precession control force is reversed; The undetermined coefficient function is: = （2）； The first fitting parameter is , and , the second fitting parameter is , and ; Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship is obtained: （3）。 6. The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to claim 1, characterized in that: After determining the angle error value and the gain error value, the method further includes: In the force balance mode, the electrode error is compensated based on the determined angle error value and the gain error value.

7. The method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to claim 1, characterized in that: The dynamic equation of the resonant gyroscope with electrode error is: （4）； （5）； Among them, A is the vibration amplitude of the resonator, θ is the vibration azimuth of the resonator, and τ is the decay time constant that characterizes the damping of the resonator. =0, is the precession rate, and are the two forces with errors applied in closed-loop control, is the current angle value, is the current gain value, is the amplitude control force, is the virtual precession control force; The error expression is: （1）。 8. A device for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate, characterized in that: include: A first discrete group acquisition module is configured to, in full-angle mode, place the resonant gyro in a stationary state or a constant speed input state, substitute an ideal angle value and an ideal gain value into a precession rate expression with a positive virtual precession control force, and obtain a first discrete group; the precession rate expression is obtained based on a resonant gyro dynamics equation with electrode errors. The ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with the angle error value and the current gain value with the gain error value; the first discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force takes a positive direction; a first fitting parameter acquisition module, configured to substitute the first discrete group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated according to an error expression; the error expression is an expression obtained by taking the positive and negative values ​​of the virtual precession control force in the precession rate expression and performing a difference; A second discrete group acquisition module is configured to substitute the ideal angle value and the ideal gain value into the precession rate expression when the virtual precession control force is reversed to obtain a second discrete group; the second discrete group is a discrete group consisting of the vibration azimuth angle of the resonator and the corresponding precession rate when the virtual precession control force is reversed; A second fitting parameter acquisition module is used to substitute the second discrete group into the undetermined coefficient function for fitting to obtain second fitting parameters; The compensation module is used to use the trial and error method to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression, complete the compensation of the angle error value and the gain error value, and determine the angle error value and the gain error value.

9. A device for compensating electrode non-uniformity in a time-division multiplexed gyroscope based on precession rate, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for compensating electrode non-uniformity in a time-division multiplexing gyroscope based on precession rate according to any one of claims 1 to 7.

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