Resonant gyroscope two-channel phase imbalance error compensation method and device

Abstract

The invention discloses a resonant gyroscope two-channel phase imbalance error compensation method and device, which are applied to the field of resonant gyroscopes, and the method comprises the following steps: in a full-angle mode, sequentially changing a series of detection phase imbalance compensation values, and applying a forward angular velocity and a reverse angular velocity to a resonant gyroscope through a turntable, a first mapping relation set formed by the multiple detection phase imbalance compensation values and the corresponding first orthogonal control force amplitude difference values is obtained, and then the optimal detection phase imbalance compensation value is determined; standing the gyroscope, sequentially changing a series of excitation phase imbalance compensation values, and applying a forward angle control force and a reverse angle control force which are the same in size to enable the resonant gyroscope to virtually carry out self-precession, so as to obtain a second mapping relation set formed by a plurality of excitation phase imbalance compensation values and corresponding second orthogonal control force amplitude difference values; and further determining an optimal excitation phase imbalance compensation value. After the phase imbalance error is compensated, the control precision and performance of the gyroscope can be improved.

Description

Technical Field

[0001] The present invention relates to the field of resonant gyroscopes, and in particular to a method and device for compensating dual-channel phase imbalance errors of a resonant gyroscope. Background Art

[0002] The hemispherical resonator gyroscope (HRG) is a gyroscope based on the Coriolis effect, offering outstanding advantages such as simple structure, high precision, high reliability, and long life. Based on its operating principle, the HRG employs two orthogonal signal channels to transmit gyro status information and generate the gyro's control signal through calculation. However, due to the uneven circumferential distribution of detection and excitation electrodes between the two channels and the delay characteristics of analog circuit components such as front-end filters, C / V converters, A / D converters, and D / A converters, phase mismatches between the two channels can lead to control signal deviations, control force coupling, drift, and reduced angular measurement accuracy.

[0003] Therefore, how to provide a method for compensating for the dual-channel phase imbalance error of a resonant gyroscope to solve the error caused by the dual-channel phase imbalance of the resonant gyroscope is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method and device for compensating for phase imbalance errors in a dual-channel resonant gyroscope, which solves the problems in the prior art of uneven circumferential distribution of detection electrodes and excitation electrodes between two orthogonal signal channels, and the delay characteristics of analog circuit elements such as front-end filters, C / V converters, A / D converters, and D / A converters, which cause phase inconsistency between the two channels' signals, leading to control signal deviation, control force coupling, drift, and deterioration of angular measurement accuracy in the gyroscope.

[0005] To solve the above technical problems, the present invention provides a method for compensating dual-channel phase imbalance errors of a resonant gyroscope, comprising:

[0006] In full-angle mode, a series of detected phase imbalance compensation values ​​are sequentially changed, and forward and reverse angular velocities are applied to the resonant gyroscope via a turntable to obtain a first set of mapping relationships formed by the multiple detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences; the first orthogonal control force amplitude difference is a difference in the first orthogonal control force amplitude in a gyroscope resonator state equation having a detected phase imbalance error when the forward and reverse angular velocities are applied to the resonant gyroscope;

[0007] Determining an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensating the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation;

[0008] The gyroscope is stationary, a series of excitation phase imbalance compensation values ​​are sequentially changed, and forward angle control forces and reverse angle control forces of equal magnitude are applied to cause the resonant gyroscope to undergo virtual self-precession, thereby obtaining a second set of mapping relationships formed by the multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference being the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation having an excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope;

[0009] An optimal excitation phase imbalance compensation value is determined based on the second mapping relationship set, and the resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete excitation phase imbalance error compensation.

[0010] Optionally, after completing the detection phase imbalance error compensation, stop applying angular velocity to the resonant gyroscope through the turntable, execute the stationary gyroscope, change a series of excitation phase imbalance compensation values ​​in sequence, and apply forward angle control force and reverse angle control force of the same magnitude to make the resonant gyroscope virtually self-precess, and obtain a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and the corresponding second orthogonal control force amplitude difference.

[0011] Optionally, the first orthogonal control force amplitude is an amplitude obtained by extracting the amplitude of the orthogonal control force in the first orthogonal control force expression using an auxiliary angle formula; the first orthogonal control force expression is an expression obtained by simultaneously solving an expression corresponding to the time derivative of the major axis of the oscillator motion elliptical trajectory and an expression corresponding to the time derivative of the minor axis of the oscillator motion elliptical trajectory in the gyroscope resonator state equation with the detection phase imbalance error;

[0012] Correspondingly, the amplitude of the second orthogonal control force is the amplitude obtained by extracting the amplitude of the orthogonal control force in the second orthogonal control force expression using the auxiliary angle formula; the second orthogonal control force expression is an expression obtained by simultaneously solving the gyroscope resonator state equation with the excitation phase imbalance error.

[0013] Optionally, the expression for the first orthogonal control force amplitude difference is:

[0014]

[0015] is the amplitude difference of the first orthogonal control force, To detect the phase imbalance compensation value, is the amplitude signal of the oscillator (the long axis of the elliptical trajectory of the oscillator), is the angular frequency of the oscillator, k is the precession proportional factor of the oscillator (the ratio of the standing wave angular velocity to the external input angular velocity), is the angular velocity input from the outside world, is the angle between the stiffness axis and the 0° electrode axis, To detect phase imbalance error.

[0016] Optionally, the expression for the amplitude of the second orthogonal control force under the action of the forward angle control force is:

[0017]

[0018] is the amplitude of the second orthogonal control force under the action of the forward angle control force, is the excitation phase imbalance error, is the virtual precession rate;

[0019] The expression of the amplitude of the second orthogonal control force under the action of the reverse angle control force is:

[0020]

[0021] is the amplitude of the second orthogonal control force under the action of the reverse angle control force;

[0022] The expression of the second orthogonal control force amplitude difference is:

[0023]

[0024] is the amplitude difference of the second orthogonal control force, is the excitation phase imbalance compensation value.

[0025] Optionally, determining an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensating the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation includes:

[0026] fitting the first mapping relationship set using a linear function to determine a detection phase imbalance compensation value corresponding to when the first orthogonal control force amplitude difference is zero, as the optimal detection phase imbalance compensation value;

[0027] Compensating the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation;

[0028] Accordingly, determining the optimal excitation phase imbalance compensation value based on the second mapping relationship set, compensating the resonant gyroscope using the optimal excitation phase imbalance compensation value, and completing excitation phase imbalance error compensation includes:

[0029] fitting the second mapping relationship set using a linear function to determine an excitation phase imbalance compensation value corresponding to when the second orthogonal control force amplitude difference is zero, as the optimal excitation phase imbalance compensation value;

[0030] The resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete excitation phase imbalance error compensation.

[0031] Optionally, sequentially changing a series of detected phase imbalance compensation values ​​and applying a forward angular velocity and a reverse angular velocity to the resonant gyroscope through a turntable to obtain a first mapping relationship set formed by the multiple detected phase imbalance compensation values ​​and the corresponding first orthogonal control force amplitude differences includes:

[0032] setting an initially detected phase imbalance compensation value as a currently detected phase imbalance compensation value, and applying the currently detected phase imbalance compensation value to the resonant gyroscope;

[0033] applying the forward angular velocity and the reverse angular velocity to the resonant gyroscope respectively through a turntable to obtain current orthogonal control force data of the resonant gyroscope;

[0034] Substituting the current orthogonal control force data into a sine function model for fitting to obtain a first orthogonal control force amplitude difference, and establishing a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference;

[0035] The next detected phase imbalance compensation value is used as the current detected phase imbalance compensation value, and the step of applying the current detected phase imbalance compensation value to the resonant gyroscope is cyclically performed until a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference is established, until the first mapping relationship set is obtained.

[0036] The present invention also provides a resonant gyroscope dual-channel phase imbalance error compensation device, comprising:

[0037] a first mapping relationship set establishing module, configured to sequentially change a series of detected phase imbalance compensation values ​​in full-angle mode, and apply forward and reverse angular velocities to the resonant gyroscope via a turntable to obtain a first mapping relationship set formed by the plurality of detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences; the first orthogonal control force amplitude difference being a difference between the first orthogonal control force amplitudes in a gyroscope resonator state equation having a detected phase imbalance error when the resonant gyroscope is applied with forward and reverse angular velocities;

[0038] a detection phase imbalance error compensation module, configured to determine an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensate the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation;

[0039] A second mapping relationship set establishing module is configured to station the gyroscope, sequentially change a series of excitation phase imbalance compensation values, and apply a forward angle control force and a reverse angle control force of equal magnitude to cause the resonant gyroscope to virtually self-precess, thereby obtaining a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference being the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation having an excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope;

[0040] The excitation phase imbalance error compensation module is used to determine an optimal excitation phase imbalance compensation value based on the second mapping relationship set, and use the optimal excitation phase imbalance compensation value to compensate the resonant gyroscope to complete the excitation phase imbalance error compensation.

[0041] The present invention also provides a resonant gyroscope dual-channel phase imbalance error compensation system, comprising:

[0042] resonant gyroscopes, control loop components, digital signal processing components, and memory;

[0043] The digital signal processing component is integrated with a detection phase imbalance error compensation subcomponent and an excitation phase imbalance error compensation subcomponent; the memory is used to store computer programs;

[0044] The detection phase imbalance error compensation subcomponent and the excitation phase imbalance error compensation subcomponent are used to implement the steps of the resonant gyroscope dual-channel phase imbalance error compensation method as described above when executing the computer program.

[0045] Optionally, the input end of the phase imbalance error detection and compensation subcomponent is connected to the output end of the analog-to-digital converter in the control loop component, and the output end of the phase imbalance error detection and compensation subcomponent is connected to the input end of the demodulation and filtering subcomponent in the digital signal processing component;

[0046] The input end of the excitation phase imbalance error compensation subcomponent is connected to the output end of the signal modulation subcomponent in the digital signal processing component, and the output end of the excitation phase imbalance error compensation subcomponent is connected to the input end of the digital-to-analog converter in the control loop component.

[0047] The present invention also provides a computer-readable storage medium for storing a computer program, wherein when the computer program is executed, the steps of the above-mentioned resonant gyroscope dual-channel phase imbalance error compensation method are implemented.

[0048] It can be seen that the dual-channel phase imbalance error compensation method of the resonant gyroscope provided by the present invention includes, in full-angle mode, sequentially changing a series of detection phase imbalance compensation values, and applying forward angular velocity and reverse angular velocity to the resonant gyroscope through a turntable to obtain a first mapping relationship set formed by multiple detection phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude difference values; the first orthogonal control force amplitude difference value is the difference between the first orthogonal control force amplitudes in the gyroscope resonator state equation with the detection phase imbalance error when the forward angular velocity and the reverse angular velocity are applied to the resonant gyroscope; based on the first mapping relationship set, the optimal detection phase imbalance compensation value is determined, and the resonant gyroscope is compensated using the optimal detection phase imbalance compensation value to complete the detection phase The invention provides a method for compensating for the phase imbalance error of the resonant gyroscope by placing the gyroscope at rest, sequentially changing a series of excitation phase imbalance compensation values, and applying a forward angle control force and a reverse angle control force of the same magnitude to make the resonant gyroscope virtually precess, thereby obtaining a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and the corresponding second orthogonal control force amplitude difference; the second orthogonal control force amplitude difference is the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation with the excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope; based on the second mapping relationship set, the optimal excitation phase imbalance compensation value is determined, and the resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete the excitation phase imbalance error compensation. The invention eliminates the signal phase imbalance error between the two channels of the resonant gyroscope by compensating the detection phase imbalance error and the excitation phase imbalance error, reduces the coupling between the control forces, improves the control accuracy after compensating the phase imbalance error, and further improves the performance of the resonant gyroscope.

[0049] In addition, the present invention also provides a resonant gyroscope dual-channel phase imbalance error compensation device and system, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 A flow chart of a method for compensating dual-channel phase imbalance errors of a resonant gyroscope provided by an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of the motion trajectory and control force of the resonator provided in an embodiment of the present invention;

[0053] Figure 3 A schematic structural diagram of a resonant gyroscope dual-channel phase imbalance error compensation device provided by an embodiment of the present invention;

[0054] Figure 4 A schematic structural diagram of a resonant gyroscope dual-channel phase imbalance error compensation device provided by an embodiment of the present invention;

[0055] Figure 5 An example flow chart of a method for compensating dual-channel phase imbalance errors of a resonant gyroscope provided in an embodiment of the present invention;

[0056] Figure 6 A schematic diagram of the change in quadrature control force during detection / stimulation phase imbalance error compensation provided by an embodiment of the present invention;

[0057] Figure 7 A schematic diagram of an optimal detection / excitation phase imbalance compensation value determined by linearly fitting amplitude differences under different compensation values ​​when ΔAmp=0 is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] 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.

[0059] Please refer to Figure 1 , Figure 1A flowchart of a method for compensating for phase imbalance errors in a dual-channel resonant gyroscope provided by an embodiment of the present invention. The method may include:

[0060] S101: In full-angle mode, a series of detection phase imbalance compensation values ​​are changed in sequence, and forward angular velocity and reverse angular velocity are applied to the resonant gyroscope through a turntable to obtain a first mapping relationship set formed by multiple detection phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences; the first orthogonal control force amplitude difference is the difference between the first orthogonal control force amplitudes in the gyroscope resonator state equation with detection phase imbalance error when the resonant gyroscope is applied with forward angular velocity and reverse angular velocity.

[0061] It should be noted that in this embodiment, the resonant gyroscope can be a hemispherical resonant gyroscope. When compensating for the detected phase imbalance error, a positive angular velocity and a negative angular velocity are applied to the resonant gyroscope via an external turntable to detect and compensate for the detected phase imbalance error of the resonant gyroscope. Specifically, in this embodiment, the resonant gyroscope can be mounted on a turntable, which is used to drive the resonant gyroscope to rotate. In this embodiment, when applying the positive angular velocity and the negative angular velocity to the resonant gyroscope, the corresponding angular velocities in the positive and negative directions can be set to be the same. This embodiment does not limit the specific directions in which the positive angular velocity and the negative angular velocity are applied to the resonant gyroscope. If the resonant gyroscope rotates clockwise as the positive direction, the resonant gyroscope rotates counterclockwise as the negative direction. If the resonant gyroscope rotates counterclockwise as the positive direction, the resonant gyroscope rotates clockwise as the negative direction. In this embodiment, the gyroscope is stationary by setting the turntable target velocity to zero.

[0062] In this embodiment, when a detection phase imbalance compensation value is applied to the resonant gyroscope and a positive angle value is applied to the resonant gyroscope, a first orthogonal control force amplitude can be obtained. It should be noted that the first, second, etc. mentioned in this article are all distinctions for distinguishing the same parameters under different states. In this embodiment, after obtaining a positive first orthogonal control force amplitude, the angular velocity applied to the resonant gyroscope is set to be in the opposite direction. At this time, another negative first orthogonal control force amplitude is obtained. The corresponding positive first orthogonal control force amplitude is subtracted from the negative first orthogonal control force amplitude to obtain a first orthogonal control force amplitude difference. Then, the above-mentioned detection phase imbalance compensation value is adjusted. The above steps are repeated to obtain multiple first orthogonal control force amplitude differences, and a mapping relationship is established between the obtained first orthogonal control force amplitude differences and the corresponding detection phase imbalance compensation values ​​to obtain a first mapping relationship set.

[0063] Furthermore, to ensure the successful completion of the detection phase imbalance error compensation method, the first orthogonal control force amplitude can be set to the amplitude obtained by extracting the amplitude of the orthogonal control force in the first orthogonal control force expression using the auxiliary angle formula; the first orthogonal control force expression is an expression obtained by simultaneously solving the expression corresponding to the time derivative of the major axis of the oscillator motion elliptical trajectory and the expression corresponding to the time derivative of the minor axis of the oscillator motion elliptical trajectory in the gyroscope resonator state equation with the detection phase imbalance error;

[0064] Correspondingly, the amplitude of the second orthogonal control force is the amplitude obtained by extracting the amplitude of the orthogonal control force in the second orthogonal control force expression using the auxiliary angle formula; the second orthogonal control force expression is an expression obtained by simultaneously solving the gyroscope resonator state equation with excitation phase imbalance error.

[0065] It should be noted that in this embodiment, in the full-angle working mode, the expression corresponding to the time derivative of the long axis of the oscillator motion elliptical trajectory and the expression corresponding to the time derivative of the short axis of the oscillator motion elliptical trajectory in the gyroscope resonator state equation with the detection phase imbalance error are used to solve the first orthogonal control force expression, and then the auxiliary angle formula is used to extract the amplitude of the orthogonal control force in the first orthogonal control force expression to obtain the first orthogonal control force amplitude. The above-mentioned oscillator motion elliptical trajectory can be referred to Figure 2 , Figure 2 This is a schematic diagram of the oscillator motion trajectory and control force provided by an embodiment of the present invention. After the gyroscope is stationary, this embodiment uses the gyroscope oscillator state equations with an excitation phase imbalance error to simultaneously solve the second orthogonal control force expression. The orthogonal control force in this second orthogonal control force expression is then extracted using the auxiliary angle formula to obtain the second orthogonal control force amplitude. The difference between the first and second orthogonal control force expressions in this embodiment lies in the fact that when compensating for the detection phase error, the angular velocity input is associated, while when compensating for the excitation phase imbalance error, the virtual precession rate is associated.

[0066] In addition, in the process of real-time compensation of the resonant gyroscope in this embodiment, the step of recalculating the major and minor axes of the elliptical trajectory of the resonator motion can be set to be performed once every preset interval. For example, the preset interval can be set to 10ms.

[0067] Furthermore, in order to ensure smooth determination of the first orthogonal control force amplitude difference, the expression for the first orthogonal control force amplitude difference is:

[0068]

[0069] is the amplitude difference of the first orthogonal control force, To detect the phase imbalance compensation value, is the amplitude signal of the oscillator (the long axis of the elliptical trajectory of the oscillator), is the angular frequency of the oscillator, k is the precession proportional factor of the oscillator (the ratio of the standing wave angular velocity to the external input angular velocity), is the angular velocity input from the outside world, is the angle between the stiffness axis and the 0° electrode axis, To detect phase imbalance error.

[0070] The hemispherical resonator involved in this embodiment generally uses a four-antinode vibration mode with a circumferential wave number of n=2. The x-axis vibration direction and the y-axis vibration direction of the resonator are separated by 45°. The coordinate system formed by them can be expanded into a rectangular coordinate system and can be equivalently modeled as a second-order mass-spring system. The motion equation of the non-ideal resonator satisfies:

[0071] (1)

[0072] in, is the second-order derivative of the vibration displacement of the oscillator in mode x in time, is the first-order derivative of the vibration displacement of the oscillator in the y mode in time, is the decay time, is the first-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 vibration displacement of the oscillator in the x mode, For frequency decomposition, is the vibration displacement of the oscillator in the y mode, is the excitation force of the oscillator on the x mode, is the second-order derivative of the vibration displacement of the oscillator in the y mode in time, is the excitation force of the oscillator in the y mode, and the above k is a constant, for example, k≈0.27 can be set.

[0073] At this time, the vibration displacement expressions in the x and y directions are:

[0074] (2)

[0075] in, is the azimuth angle of the standing wave mode of the resonator, i is an imaginary number, The phase of the particle motion, q is the orthogonal signal of the oscillator (the short axis in the elliptical trajectory of the oscillator motion).

[0076] Take the real part of the vibration displacement in the x and y directions to represent the real physical vibration displacement in the x and y directions, that is:

[0077] (3)

[0078] in, , is the initial azimuth angle of the second-order vibration mode of the hemispherical resonator, is the initial phase of the second-order vibration mode of the hemispherical resonator. In an ideal situation, the control force required for the resonator is:

[0079] (4)

[0080] (5)

[0081] in, is the force acting on the long axis of the elliptical trajectory of the oscillator, is the force acting on the minor axis of the elliptical trajectory of the oscillator motion. is the control force in the phase-locked loop. Since the phase-locked loop does not use the control force ,therefore =0.

[0082] Taking the real part of the control force required for the oscillator, the above real physical control forces in the x and y directions are and for:

[0083] Among them, control 、 、 and They are in-phase and orthogonal to the reference phase, respectively; is the amplitude control force, is the orthogonal control force, Specifically, the amplitude control force is applied through the amplitude control loop. Maintain amplitude; apply orthogonal control force through orthogonal control loop Suppress orthogonal quantities; apply angle control forces through angle solving loops The standing wave can be controlled at various angular positions (force balance mode), or Setting it to 0 allows the standing waves to precess freely (full angle mode). Phase control force can change the phase, since the phase-locked loop does not use the control force ,therefore =0.

[0084] Due to the presence of detection phase imbalance error There is a phase inconsistency error in the detection signals of the two channels. The vibration displacement expressions in the x and y directions are expressed by and express:

[0085] (6)

[0086] is the vibration displacement in the x direction, is the vibration displacement in the y direction.

[0087] Taking its real part, the true vibration displacement expressions in the x and y directions are:

[0088] (7)

[0089] The first-order derivatives of the above-mentioned x- and y-direction vibration displacement expressions are derived with respect to time:

[0090] (8)

[0091] is the first-order derivative of the true vibration displacement in the x-direction with respect to time, is the first-order derivative of the true vibration displacement in the y direction with respect to time. Then calculate and The second-order derivative of , ignoring high-order small quantities, can be obtained:

[0092] (9)

[0093] is the second-order derivative of the true vibration displacement in the x-direction with respect to time, is the second-order derivative of the true vibration displacement in the y direction with respect to time, is the time derivative of the long axis of the elliptical trajectory of the harmonic oscillator, is the angular velocity of the azimuth angle of the standing wave of the resonator, is the time derivative of the minor axis of the elliptical trajectory of the harmonic oscillator, is the time derivative of the oscillator vibration phase. This will include the detection of phase imbalance error of and Substituting the left side of the equation of motion of the non-ideal oscillator into the above equation, we can get and Substituting the right side of the motion equation of the non-ideal oscillator into the equation of state of the oscillator, we can obtain the expression corresponding to the time derivative of the long axis of the elliptical trajectory of the oscillator's motion:

[0094] (10)

[0095] And in the state equation of the gyroscope resonator with the detection phase imbalance error, the expression corresponding to the time derivative of the short axis of the elliptical trajectory of the resonator motion is:

[0096] (11)

[0097] in, is the time derivative of the minor axis of the elliptical trajectory of the harmonic oscillator, is the orthogonal control force.

[0098] No phase imbalance is detected hour, Only controlled by amplitude The impact of Only orthogonal control forces The impact of Only controlled by angle When there is a phase imbalance in the detection, Affected by the amplitude control force and the orthogonal control force, and Subject to three controlling forces , , When the amplitude control loop and the orthogonal control loop of the resonant gyroscope work normally, =0, =0, q=0. In full-width mode, =0, and solve the corresponding expressions for the time derivatives of the major axis and minor axis in the above elliptical trajectory of the harmonic oscillator motion:

[0099] (12)

[0100] In full-angle mode, the external angular velocity input value can make the standing wave free to precess, and the standing wave can traverse all angles of the resonator, orthogonal control force As Function of the auxiliary angle formula to orthogonal control force Extract amplitude:

[0101] (13)

[0102] Wherein, Amp is the amplitude of the first orthogonal control force.

[0103] Since the damping inhomogeneity is about 1 to 2 orders of magnitude smaller than the other terms, after ignoring the terms related to the damping inhomogeneity, the above expression for the orthogonal control force after extracting the amplitude can be rewritten as follows:

[0104] (14)

[0105] When a reverse angular velocity is applied to the resonant gyroscope:

[0106] (15)

[0107] Due to the detection of phase imbalance error The existence of results in inconsistent amplitudes of the orthogonal control forces required for forward and reverse rotation of the resonant gyroscope. Therefore, the expression for the amplitude difference of the first orthogonal control force is obtained by subtracting the expressions after extracting the amplitudes of the orthogonal control forces in the forward and reverse directions.

[0108] In addition, in this embodiment This reflects the error amplification effect of the asymmetry of the oscillator mode.

[0109] S102: Determine an optimal detection phase imbalance compensation value based on the first mapping relationship set, and use the optimal detection phase imbalance compensation value to compensate the resonant gyroscope to complete detection phase imbalance error compensation.

[0110] In this embodiment, the optimal detected phase imbalance compensation value is determined using a first mapping relationship set. It should be noted that the optimal detected phase imbalance compensation value is when the first orthogonal control force amplitude difference is zero when applied to the resonant gyroscope. This embodiment does not limit the specific method for determining the optimal detected phase imbalance compensation value based on the first mapping relationship set; any method that accurately obtains the optimal detected phase imbalance compensation value is sufficient. For example, the optimal detected phase imbalance compensation value can be determined by trial and error, or by a fitting method. Furthermore, in an actual compensation method, when the current detected phase imbalance compensation value is applied to the resonant gyroscope, the first orthogonal control force amplitude difference can be set to be less than a first preset deviation value, thereby determining that the current detected phase imbalance compensation value is the optimal detected phase imbalance compensation value. The first preset deviation value can be set by the operator. It is anticipated that the smaller the first preset deviation value, the better the effect of the determined optimal detected phase imbalance compensation value on the detected phase compensation of the resonant gyroscope. The larger the first preset deviation value, the faster the process of determining the optimal detected phase imbalance compensation value.

[0111] S103: The gyroscope is stationary, a series of excitation phase imbalance compensation values ​​are sequentially changed, and forward angle control forces and reverse angle control forces of the same magnitude are applied to cause the resonant gyroscope to undergo virtual self-precession, thereby obtaining a second mapping relationship set formed by multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference is the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation with the excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope.

[0112] In this embodiment, when a forward angle control force and a reverse angle control force are applied to the resonant gyroscope, the values ​​of the angle control forces applied in the forward and reverse directions are the same.

[0113] In this embodiment, when an excitation phase imbalance compensation value is applied to the resonant gyroscope and a positive angle control force is applied to the resonant gyroscope, a positive second orthogonal control force amplitude can be obtained. In this embodiment, after obtaining a positive second orthogonal control force amplitude, the angle control force applied to the resonant gyroscope is set to be in the opposite direction. At this time, another corresponding reverse second orthogonal control force amplitude is obtained. The corresponding positive second orthogonal control force amplitude is subtracted from the reverse second orthogonal control force amplitude to obtain a second orthogonal control force amplitude difference. Then, the above-mentioned excitation phase imbalance compensation value is adjusted, and the above-mentioned steps are repeated to obtain multiple second orthogonal control force amplitude differences. A mapping relationship is established between the obtained second orthogonal control force amplitude differences and the corresponding excitation phase imbalance compensation values ​​to obtain a second mapping relationship set.

[0114] Furthermore, in order to ensure the successful completion of the excitation phase imbalance error compensation method, the expression of the second orthogonal control force amplitude under the action of the forward angle control force can be set as:

[0115]

[0116] is the amplitude of the second orthogonal control force under the positive angle control force, is the excitation phase imbalance error, is the virtual precession rate;

[0117] The expression of the amplitude of the second orthogonal control force under the action of the reverse angle control force is:

[0118]

[0119] is the amplitude of the second orthogonal control force under the action of the reverse angle control force;

[0120] The expression of the second orthogonal control force amplitude difference is:

[0121]

[0122] is the amplitude difference of the second orthogonal control force, is the excitation phase imbalance compensation value.

[0123] It should be noted that due to the existence of excitation phase imbalance There is a phase mismatch between the excitation forces of the two channels, and the control forces in the x and y directions are determined by and Change to ( )and( ), which is related to the control force required under ideal conditions as follows:

[0124] (16)

[0125] is the control force in the x direction, is the control force in the y direction. Taking the real part of the control force required in the ideal case, the actual control forces in the x and y directions are:

[0126] (17)

[0127] Derivative the above formula (2) and obtain the first-order derivative:

[0128] (18)

[0129] By taking the derivative of the above formula (18) again and ignoring high-order small quantities, we can get the second-order derivative as follows:

[0130] (19)

[0131] represents the time derivative of the major axis of the elliptical motion trajectory, represents the time derivative of the minor axis of the elliptical motion trajectory, represents the angular velocity of the azimuth angle of the standing wave of the resonator, represents the time derivative of the oscillator vibration phase. Substitute the first-order derivative and second-order derivative of x and y into the left side of equation (1), and the control force containing the excitation phase imbalance error ( )and( ) is brought into the right side of Equation (1) and the state equation of the oscillator is obtained:

[0132] (20)

[0133] In the absence of excitation phase imbalance hour, Only controlled by amplitude The impact of Only orthogonal control forces The impact of Only controlled by angle When there is excitation phase imbalance, Affected by the amplitude control force and the orthogonal control force, and Subject to three controlling forces , , When the amplitude control loop and the orthogonal control loop of the gyro are working normally, =0, =0, q=0. The gyroscope is in a stable state, and the control force required is: (ignoring high-order small quantities

[0134] (twenty one)

[0135] In full-width mode =0, at this time the external input angular rate and the standing wave precession angular rate Proportional, that is ≈k When the hemispherical resonant gyroscope is in virtual self-precession, the external input angular rate =0, actively apply angle control force Make the resonator standing wave virtual self-precession, assuming that the standing wave virtual self-precession rate is , so the orthogonal control force Can be rewritten as:

[0136] (twenty two)

[0137] During virtual self-precession, the standing wave can traverse all angles of the gyroscope, and the orthogonal control force As The function of , using the auxiliary angle formula to extract the amplitude of the above formula, can be obtained:

[0138] (twenty three)

[0139] When the oscillator precesses in the opposite direction at the same precession rate, replace We can get:

[0140] (twenty four)

[0141] Due to the excitation phase imbalance error The existence of , leads to the orthogonal control force required for the forward and reverse virtual self-precession of the resonator. The amplitudes of the oscillator are inconsistent. By subtracting the amplitudes of the oscillator during forward and reverse virtual self-precession, we obtain:

[0142] (25)

[0143] Where, The compensation value of excitation phase imbalance is determined based on the objective function of excitation phase imbalance. = hour, =0, at this time, the amplitude of the positive virtual precession and the reverse virtual precession of the orthogonal control force are equal, achieving the compensation result of the excitation phase imbalance error. Specifically, the excitation phase compensation value can be adjusted , get different compensation values The amplitude difference of the orthogonal control force under action , by fitting, find =0 corresponds to As the optimal excitation phase imbalance compensation value.

[0144] S104: Determine a final excitation phase compensation value based on the second mapping relationship set, and use the final excitation phase compensation value to compensate the resonant gyroscope to complete the excitation phase imbalance error compensation.

[0145] When compensating for the excitation phase imbalance error in the present application, reference can be made to the above-mentioned method of compensating for the detection phase imbalance error. The process of compensating for the excitation phase imbalance error in the present application is different from the above-mentioned compensation process of the detection phase imbalance error. The difference is that when compensating for the excitation phase imbalance in the present application, the target rate of the turntable is set to zero, and the resonant gyroscope is placed at rest. No angular velocity is applied to the resonant gyroscope, but positive angle control force and reverse angle control force are applied to the resonant gyroscope.

[0146] Furthermore, in order to improve the effect of the dual-channel phase imbalance error compensation of the resonant gyroscope, it can be set that after the detection phase imbalance error compensation is completed, the angular velocity applied to the resonant gyroscope by the turntable is stopped, the gyroscope is stationary, a series of excitation phase imbalance compensation values ​​are changed in sequence, and the same magnitude of forward angle control force and reverse angle control force are applied to make the resonant gyroscope virtually self-precess, and a second mapping relationship set formed by multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences is obtained.

[0147] It should be noted that in this embodiment, the impact of the detection phase imbalance error on the resonant gyroscope is greater than that of the excitation phase imbalance error, and the detection phase imbalance error can affect the identification and compensation of the excitation phase imbalance error. Therefore, compensating for the detection phase imbalance error first, then compensating for the excitation phase imbalance error, can improve the final compensation effect. In this embodiment, after stopping the application of angular velocity to the resonant gyroscope via the turntable and allowing the gyroscope to rest, a stabilization wait time can be set before compensating for the excitation phase imbalance error. This stabilization wait time can be specifically set to 10ms to eliminate residual vibration.

[0148] Furthermore, in order to ensure that the optimal detection phase imbalance compensation value and the optimal excitation phase imbalance compensation value are determined, the above-mentioned determination of the optimal detection phase imbalance compensation value based on the first mapping relationship set can be set, and the resonant gyroscope is compensated using the optimal detection phase imbalance compensation value to complete the detection phase imbalance error compensation, which may include:

[0149] Fitting the first mapping relationship set using a linear function to determine a detection phase imbalance compensation value corresponding to when the first orthogonal control force amplitude difference is zero, as the optimal detection phase imbalance compensation value;

[0150] The resonant gyroscope is compensated using the optimal detection phase imbalance compensation value to complete the detection phase imbalance error compensation;

[0151] Accordingly, the above-mentioned determining the optimal excitation phase imbalance compensation value based on the second mapping relationship set, compensating the resonant gyroscope using the optimal excitation phase imbalance compensation value, and completing the excitation phase imbalance error compensation may include:

[0152] Fitting the second mapping relationship set using a linear function to determine the excitation phase imbalance compensation value corresponding to when the second orthogonal control force amplitude difference is zero, as the optimal excitation phase imbalance compensation value;

[0153] The resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete the excitation phase imbalance error compensation.

[0154] It should be noted that, in this embodiment, the least square method may be used to determine a linear fitting function, and the optimal detection phase imbalance compensation value and the optimal excitation phase imbalance compensation value may be obtained by solving the linear fitting function when it is equal to zero.

[0155] Furthermore, in order to establish a first set of mapping relationships between a plurality of detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences, the above-mentioned sequentially changing a series of detected phase imbalance compensation values ​​and applying a forward angular velocity and a reverse angular velocity to the resonant gyroscope through the turntable to obtain the first set of mapping relationships formed by the plurality of detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences may include:

[0156] Setting the initial detected phase imbalance compensation value as the current detected phase imbalance compensation value, and applying the current detected phase imbalance compensation value to the resonant gyroscope;

[0157] Applying a forward angular velocity and a reverse angular velocity to the resonant gyroscope through a turntable to obtain current orthogonal control force data of the resonant gyroscope;

[0158] Substitute the current orthogonal control force data into the sine function model for fitting to obtain the first orthogonal control force amplitude difference, and establish a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference;

[0159] The next detected phase imbalance compensation value is used as the current detected phase imbalance compensation value, and the current detected phase imbalance compensation value is applied to the resonant gyroscope in a loop until a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference is established, until a first mapping relationship set is obtained.

[0160] It should be noted that in this embodiment, the above steps are iteratively executed to obtain a sufficient number of mapping groups between detected phase imbalance compensation values ​​and first quadrature control force amplitude differences, and a first mapping relationship set is established based on these mapping groups. Similarly, the second mapping relationship set can be established by referring to the method for establishing the first mapping relationship set.

[0161] The dual-channel phase imbalance error compensation method of the resonant gyroscope provided by the embodiment of the present invention includes sequentially changing a series of detection phase imbalance compensation values ​​in full-angle mode, and applying forward angular velocity and reverse angular velocity to the resonant gyroscope through a turntable to obtain a first mapping relationship set formed by multiple detection phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude difference values; the first orthogonal control force amplitude difference value is the difference between the first orthogonal control force amplitude in the gyroscope resonator state equation with the detection phase imbalance error when the forward angular velocity and reverse angular velocity are applied to the resonant gyroscope; based on the first mapping relationship set, the optimal detection phase imbalance compensation value is determined, and the resonant gyroscope is compensated using the optimal detection phase imbalance compensation value to complete the detection. Phase imbalance error compensation: the gyroscope is stationary, a series of excitation phase imbalance compensation values ​​are sequentially changed, and forward angle control forces and reverse angle control forces of the same magnitude are applied to cause the resonant gyroscope to undergo virtual self-precession, thereby obtaining a second mapping relationship set formed by a plurality of excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference is the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation with the excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope; based on the second mapping relationship set, the optimal excitation phase imbalance compensation value is determined, and the resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete the excitation phase imbalance error compensation. The present invention eliminates the signal phase imbalance error between the dual channels of the resonant gyroscope by compensating for the detection phase imbalance error and the excitation phase imbalance error, reduces the coupling between the control forces, improves the control accuracy, and further improves the performance of the resonant gyroscope.

[0162] In addition, the embodiment of the present invention sets the above-mentioned first orthogonal control force amplitude as the amplitude obtained by extracting the amplitude of the orthogonal control force in the first orthogonal control force expression using the auxiliary angle formula, and correspondingly sets the second orthogonal control force amplitude as the amplitude obtained by extracting the amplitude of the orthogonal control force in the second orthogonal control force expression using the auxiliary angle formula, thereby ensuring that the detection phase imbalance error compensation method is successfully completed and improving the compensation effect; setting the expression of the first orthogonal control force amplitude difference can realize determining the first orthogonal control force amplitude difference; setting the expression of the second orthogonal control force amplitude difference can realize determining the second orthogonal control force amplitude difference; by setting after completing the detection phase imbalance error compensation, stopping the application of angular velocity to the resonant gyroscope through the turntable, and after the gyroscope is stationary, the resonant gyroscope is excited phase imbalance error compensation, thereby improving the effect of the resonant gyroscope dual-channel phase imbalance error compensation; using a linear function to fit the first mapping relationship set to determine the optimal detection phase imbalance compensation value, thereby improving the convenience of determining the optimal detection phase imbalance compensation value and the optimal excitation phase imbalance compensation value.

[0163] The following introduces a resonant gyroscope dual-channel phase imbalance error compensation device provided by an embodiment of the present invention. The resonant gyroscope dual-channel phase imbalance error compensation device described below and the resonant gyroscope dual-channel phase imbalance error compensation method described above can be referenced to each other.

[0164] Please refer to Figure 3 , Figure 3 A schematic structural diagram of a resonant gyroscope dual-channel phase imbalance error compensation device provided by an embodiment of the present invention may include:

[0165] A first mapping relationship set establishing module 100 is configured to sequentially change a series of detected phase imbalance compensation values ​​in full-angle mode, and apply forward and reverse angular velocities to the resonant gyroscope via a turntable to obtain a first mapping relationship set formed by the plurality of detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences; the first orthogonal control force amplitude difference being the difference between the first orthogonal control force amplitudes in the gyroscope resonator state equation corresponding to the detected phase imbalance error when the resonant gyroscope is applied with forward and reverse angular velocities;

[0166] a detection phase imbalance error compensation module 200, configured to determine an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensate the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation;

[0167] A second mapping relationship set establishing module 300 is configured to station the gyroscope, sequentially change a series of excitation phase imbalance compensation values, and apply a forward angle control force and a reverse angle control force of equal magnitude to cause the resonant gyroscope to virtually self-precess, thereby obtaining a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference being the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation with an excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope;

[0168] The excitation phase imbalance error compensation module 400 is configured to determine an optimal excitation phase imbalance compensation value based on the second mapping relationship set, and compensate the resonant gyroscope using the optimal excitation phase imbalance compensation value to complete excitation phase imbalance error compensation.

[0169] Further, based on any of the above embodiments, in the resonant gyroscope dual-channel phase imbalance error compensation device, after executing the detection phase imbalance error compensation module 200, the application of angular velocity to the resonant gyroscope through the turntable is stopped, and the second mapping relationship set establishment module 300 and the excitation phase imbalance error compensation module 400 are executed.

[0170] Further, based on any of the foregoing embodiments, the first orthogonal control force amplitude in the first mapping relationship set establishing module 100 is an amplitude obtained by extracting the amplitude of the orthogonal control force in the first orthogonal control force expression using an auxiliary angle formula; the first orthogonal control force expression is an expression obtained by simultaneously solving an expression corresponding to the time derivative of the major axis of the oscillator motion elliptical trajectory and an expression corresponding to the time derivative of the minor axis of the oscillator motion elliptical trajectory in the gyroscope resonator state equation with the detection phase imbalance error;

[0171] The second orthogonal control force amplitude in the second mapping relationship set establishment module 300 is the amplitude obtained by extracting the amplitude of the orthogonal control force in the second orthogonal control force expression using the auxiliary angle formula; the second orthogonal control force expression is an expression obtained by simultaneously solving the gyroscope resonator state equation with the excitation phase imbalance error.

[0172] Further, based on any of the above embodiments, in the first mapping relationship set establishing module 100, the expression of the first orthogonal control force amplitude difference is:

[0173]

[0174] is the amplitude difference of the first orthogonal control force, To detect the phase imbalance compensation value, is the amplitude signal of the oscillator (the long axis of the elliptical trajectory of the oscillator), is the angular frequency of the oscillator, k is the precession proportional factor of the oscillator (the ratio of the standing wave angular velocity to the external input angular velocity), is the angular velocity input from the outside world, is the angle between the stiffness axis and the 0° electrode axis, To detect phase imbalance error.

[0175] Further, based on any of the above embodiments, in the second mapping relationship set establishing module 300, the expression for the amplitude of the second orthogonal control force under the action of the forward angle control force is:

[0176]

[0177] is the amplitude of the second orthogonal control force under the action of the forward angle control force, is the excitation phase imbalance error, is the virtual precession rate;

[0178] The expression of the amplitude of the second orthogonal control force under the action of the reverse angle control force is:

[0179]

[0180] is the amplitude of the second orthogonal control force under the action of the reverse angle control force;

[0181] The expression of the second orthogonal control force amplitude difference is:

[0182]

[0183] is the amplitude difference of the second orthogonal control force, is the excitation phase imbalance compensation value.

[0184] Further, based on any of the above embodiments, the detection phase imbalance error compensation module 200 includes:

[0185] an optimal detection phase imbalance compensation value determining unit, configured to perform a fitting process on the first mapping relationship set using a linear function, and determine a detection phase imbalance compensation value corresponding to when the first orthogonal control force amplitude difference is zero, as the optimal detection phase imbalance compensation value;

[0186] a detection phase imbalance error compensation unit, configured to compensate the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation;

[0187] The excitation phase imbalance error compensation module 400 includes:

[0188] an optimal excitation phase imbalance compensation value determining unit, configured to perform fitting processing on the second mapping relationship set using a linear function, and determine an excitation phase imbalance compensation value corresponding to when the second orthogonal control force amplitude difference is zero, as the optimal excitation phase imbalance compensation value;

[0189] The excitation phase imbalance error compensation unit is used to compensate the resonant gyroscope using the optimal excitation phase imbalance compensation value to complete the excitation phase imbalance error compensation.

[0190] Further, based on any of the above embodiments, the first mapping relationship set establishing module 100 includes:

[0191] a first execution unit, configured to set an initially detected phase imbalance compensation value as a currently detected phase imbalance compensation value, and apply the currently detected phase imbalance compensation value to the resonant gyroscope;

[0192] a second execution unit, configured to apply the forward angular velocity and the reverse angular velocity to the resonant gyroscope via a turntable, respectively, to obtain current orthogonal control force data of the resonant gyroscope;

[0193] a third execution unit, configured to substitute the current orthogonal control force data into a sine function model for fitting, obtain a first orthogonal control force amplitude difference, and establish a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference;

[0194] a fourth execution unit, configured to use a next detected phase imbalance compensation value as the current detected phase imbalance compensation value, and cyclically execute the step of applying the current detected phase imbalance compensation value to the resonant gyroscope, until a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference is established, and until the first mapping relationship set is obtained.

[0195] The resonant gyroscope dual-channel phase imbalance error compensation device provided by the embodiment of the present invention includes a first mapping relationship set establishment module 100, which is used to sequentially change a series of detection phase imbalance compensation values ​​in full-angle mode, and apply forward angular velocity and reverse angular velocity to the resonant gyroscope through a turntable to obtain a first mapping relationship set formed by multiple detection phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude difference values; the first orthogonal control force amplitude difference value is the difference between the first orthogonal control force amplitude in the gyroscope resonator state equation with the detection phase imbalance error when the forward angular velocity and reverse angular velocity are applied to the resonant gyroscope; the detection phase imbalance error compensation module 200 is used to determine the optimal detection phase imbalance compensation value based on the first mapping relationship set, and use the optimal detection phase imbalance compensation value to compensate the resonant gyroscope to complete the detection Phase imbalance error compensation; a second mapping relationship set establishment module 300, for stationary gyroscope, sequentially changing a series of excitation phase imbalance compensation values, and applying the same magnitude of forward angle control force and reverse angle control force to make the resonant gyroscope virtually precess, to obtain a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and the corresponding second orthogonal control force amplitude difference; the second orthogonal control force amplitude difference is the difference between the second orthogonal control force amplitude in the gyroscope resonator state equation with excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope; an excitation phase imbalance error compensation module 400, for determining the optimal excitation phase imbalance compensation value based on the second mapping relationship set, using the optimal excitation phase imbalance compensation value to compensate the resonant gyroscope, and completing the excitation phase imbalance error compensation. The present invention eliminates the signal phase imbalance error between the two channels of the resonant gyroscope by compensating for the detection phase imbalance error and the excitation phase imbalance error, reduces the coupling between the control forces, improves the control accuracy, and further improves the performance of the resonant gyroscope.

[0196] The following introduces a resonant gyroscope dual-channel phase imbalance error compensation system provided by an embodiment of the present invention. The resonant gyroscope dual-channel phase imbalance error compensation system described below and the resonant gyroscope dual-channel phase imbalance error compensation method described above can be referenced to each other.

[0197] The resonant gyroscope dual-channel phase imbalance error compensation device provided in an embodiment of the present invention may include:

[0198] resonant gyroscopes, control loop components, digital signal processing components, and memory;

[0199] The digital signal processing component is integrated with a detection phase imbalance error compensation subcomponent and an excitation phase imbalance error compensation subcomponent; the memory is used to store computer programs;

[0200] The detection phase imbalance error compensation subcomponent and the excitation phase imbalance error compensation subcomponent are used to implement the steps of the resonant gyroscope dual-channel phase imbalance error compensation method as described above when executing the computer program.

[0201] Furthermore, in order to ensure compensation for the resonant gyro, the input end of the above-mentioned detection phase imbalance error compensation subcomponent is connected to the output end of the analog-to-digital converter in the control loop component, and the output end of the detection phase imbalance error compensation subcomponent is connected to the input end of the demodulation filter subcomponent in the digital signal processing component;

[0202] The input end of the excitation phase imbalance error compensation subcomponent is connected to the output end of the signal modulation subcomponent in the digital signal processing component, and the output end of the excitation phase imbalance error compensation subcomponent is connected to the input end of the digital-to-analog converter in the control loop component.

[0203] The dual-channel phase imbalance error in this example includes the detection phase imbalance error and the excitation phase imbalance error. For details, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a dual-channel phase imbalance error compensation device for a resonant gyroscope, provided by an embodiment of the present invention. Compensation is achieved by a detection phase imbalance error compensation subcomponent and an excitation phase imbalance error compensation subcomponent. The detection phase imbalance error compensation subcomponent can be added to the FPGA platform before demodulation and filtering to compensate for signal phase inconsistencies between the two channels caused by front-end circuits such as the C / V converter and ADC converter. The excitation phase imbalance error compensation subcomponent can be added to the FPGA platform after signal modulation to compensate for excitation force phase inconsistencies between the two channels caused by back-end circuits such as the DAC converter. 、 、 、 The resonator signal is obtained by coherent demodulation and filtering in the x and y directions after analog-to-digital conversion:

[0204] (26)

[0205] in, and The reference signal generated for the phase-locked loop, The above four primary demodulation variables are then solved by slow variables to obtain five secondary demodulation slow variables that represent the state information of the resonator:

[0206] (27)

[0207] Where E represents the energy of the resonator, which is the output of the PI (proportional integral) control in the amplitude control loop. Make the resonator energy constant, Q represents the resonator wave node signal, and the output of PI control in the orthogonal control loop Control Q to 0 to suppress quadrature error, L is used in the phase-locked loop to track the signal phase, and S and R are used to resolve the precession angle. .

[0208] The following is the specific implementation process of this example, which is divided into two parts: detection phase imbalance error compensation and excitation phase imbalance error compensation. Figure 5 , Figure 5 This is a flowchart illustrating a method for compensating dual-channel phase imbalance errors of a resonant gyroscope according to an embodiment of the present invention.

[0209] Step 1: Fix the hemispherical resonant gyroscope to a high-precision CNC turntable, set the turntable's target speed, start the gyroscope, and make it work in full-angle mode.

[0210] Step 2: Set the compensation value for detecting phase imbalance error , compensate for the phase imbalance error in the detection compensation subcomponent.

[0211] Step 3: Rotate the turntable clockwise and counterclockwise for a certain period of time at the same speed to ensure sufficient data and record the orthogonal control force. data.

[0212] Step 4: Obtain the orthogonal control force By fitting the sine function model, the amplitude of the orthogonal control force during clockwise rotation is: , the amplitude of the orthogonal control force during counterclockwise rotation is , subtracting the two to get = +- , as shown in formulas (12), (14), (15) and Figure 6 As shown, Figure 6 A schematic diagram of the change in quadrature control force during detection / stimulation phase imbalance error compensation provided by an embodiment of the present invention.

[0213] Repeat steps 2, 3, and 4 above to adjust the detection phase imbalance compensation value. , get multiple groups [ , ] data points.

[0214] Step 5: Fitting data by straight line , ], search =0 corresponding compensation value , as shown in the expression of the first orthogonal control force amplitude difference and Figure 7 As shown, Figure 7This diagram shows an optimal detection / excitation phase imbalance compensation value determined by linearly fitting the amplitude differences under different compensation values, when ΔAmp = 0, according to an embodiment of the present invention. This compensation value is added to the detection phase imbalance error compensation subcomponent as the optimal detection phase imbalance compensation value.

[0215] Through the above steps, the detection phase imbalance error compensation is completed, the turntable speed is set to zero, and the excitation phase imbalance error is compensated.

[0216] Step 6: Set the compensation value of the excitation phase imbalance error , compensate for the phase imbalance error in the excitation compensation subcomponent.

[0217] Step 7: Apply the same magnitude of angular control force in the forward and reverse directions to the resonator in turn, so that the standing wave of the resonator precesses clockwise and counterclockwise for a certain period of time, respectively. Ensure that the amount of data is sufficient and record the orthogonal control force. data.

[0218] Step 8: Obtain the orthogonal control force By fitting the data of the sine function model, the amplitude of the orthogonal control force during clockwise rotation is: , the amplitude of the orthogonal control force during counterclockwise rotation is , subtracting the two to get = - , as shown in formulas (21), (23), (24) and Figure 6 shown.

[0219] Repeat steps 6, 7, and 8 to adjust the detection phase imbalance compensation value. , get multiple groups [ , ] data points.

[0220] Step 9: Fitting data by straight line , ], search =0 corresponding compensation value , as shown in formula (25) and Figure 7 As shown in FIG, this compensation value will be added to the excitation phase imbalance error compensation subcomponent as the optimal excitation phase imbalance compensation value.

[0221] 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 resonant gyroscope dual-channel phase imbalance error compensation method described above can be referenced to each other.

[0222] 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 above-mentioned resonant gyroscope dual-channel phase imbalance error compensation method are implemented.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] The above is a detailed introduction to the resonant gyroscope dual-channel phase imbalance error compensation method and device provided by the present invention. Specific examples are used in this article 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 will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for compensating dual-channel phase imbalance error of a resonant gyroscope, characterized in that: include: In full-angle mode, a series of detected phase imbalance compensation values ​​are sequentially changed, and forward and reverse angular velocities are applied to the resonant gyroscope via a turntable to obtain a first set of mapping relationships formed by the multiple detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences; the first orthogonal control force amplitude difference is a difference in the first orthogonal control force amplitude in a gyroscope resonator state equation having a detected phase imbalance error when the forward and reverse angular velocities are applied to the resonant gyroscope; Determining an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensating the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation; The gyroscope is stationary, a series of excitation phase imbalance compensation values ​​are sequentially changed, and forward angle control forces and reverse angle control forces of equal magnitude are applied to cause the resonant gyroscope to undergo virtual self-precession, thereby obtaining a second set of mapping relationships formed by the multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference being the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation having an excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope; An optimal excitation phase imbalance compensation value is determined based on the second mapping relationship set, and the resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete excitation phase imbalance error compensation.

2. The method for compensating dual-channel phase imbalance error of a resonant gyroscope according to claim 1, characterized in that: After completing the detection phase imbalance error compensation, the step of stopping applying the angular velocity to the resonant gyroscope through the turntable, executing the stationary gyroscope, sequentially changing a series of excitation phase imbalance compensation values, and applying a forward angle control force and a reverse angle control force of the same magnitude to cause the resonant gyroscope to virtually self-precess, thereby obtaining a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and the corresponding second orthogonal control force amplitude differences.

3. The method for compensating dual-channel phase imbalance error of a resonant gyroscope according to claim 1, characterized in that: The first orthogonal control force amplitude is the amplitude obtained by extracting the amplitude of the orthogonal control force in the first orthogonal control force expression using the auxiliary angle formula; the first orthogonal control force expression is an expression obtained by simultaneously solving an expression corresponding to the time derivative of the major axis of the oscillator motion elliptical trajectory and an expression corresponding to the time derivative of the minor axis of the oscillator motion elliptical trajectory in the gyroscope resonator state equation with the detection phase imbalance error; Correspondingly, the amplitude of the second orthogonal control force is the amplitude obtained by extracting the amplitude of the orthogonal control force in the second orthogonal control force expression using the auxiliary angle formula; the second orthogonal control force expression is an expression obtained by simultaneously solving the gyroscope resonator state equation with the excitation phase imbalance error.

4. The method for compensating dual-channel phase imbalance error of a resonant gyroscope according to claim 3, characterized in that: The expression of the first orthogonal control force amplitude difference is: is the amplitude difference of the first orthogonal control force, To detect the phase imbalance compensation value, is the amplitude signal of the oscillator (the long axis of the elliptical trajectory of the oscillator), is the angular frequency of the oscillator, k is the precession proportional factor of the oscillator (the ratio of the standing wave angular velocity to the external input angular velocity), is the angular velocity input from the outside world, is the angle between the stiffness axis and the 0° electrode axis, To detect phase imbalance error.

5. The method for compensating dual-channel phase imbalance error of a resonant gyroscope according to claim 3, characterized in that: The expression of the amplitude of the second orthogonal control force under the action of the positive angle control force is: is the amplitude of the second orthogonal control force under the action of the forward angle control force, is the excitation phase imbalance error, is the virtual precession rate; The expression of the amplitude of the second orthogonal control force under the action of the reverse angle control force is: is the amplitude of the second orthogonal control force under the action of the reverse angle control force; The expression of the second orthogonal control force amplitude difference is: is the amplitude difference of the second orthogonal control force, is the excitation phase imbalance compensation value.

6. The method for compensating dual-channel phase imbalance error of a resonant gyroscope according to claim 1, characterized in that: The determining of an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensating the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation, includes: fitting the first mapping relationship set using a linear function to determine a detection phase imbalance compensation value corresponding to when the first orthogonal control force amplitude difference is zero, as the optimal detection phase imbalance compensation value; Compensating the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation; Accordingly, determining the optimal excitation phase imbalance compensation value based on the second mapping relationship set, compensating the resonant gyroscope using the optimal excitation phase imbalance compensation value, and completing excitation phase imbalance error compensation includes: fitting the second mapping relationship set using a linear function to determine an excitation phase imbalance compensation value corresponding to when the second orthogonal control force amplitude difference is zero, as the optimal excitation phase imbalance compensation value; The resonant gyroscope is compensated using the optimal excitation phase imbalance compensation value to complete excitation phase imbalance error compensation.

7. The method for compensating dual-channel phase imbalance error of a resonant gyroscope according to claim 1, characterized in that: The method sequentially changes a series of detected phase imbalance compensation values, and applies a forward angular velocity and a reverse angular velocity to the resonant gyroscope through a turntable to obtain a first mapping relationship set formed by the multiple detected phase imbalance compensation values ​​and the corresponding first orthogonal control force amplitude differences, including: setting an initially detected phase imbalance compensation value as a currently detected phase imbalance compensation value, and applying the currently detected phase imbalance compensation value to the resonant gyroscope; applying the forward angular velocity and the reverse angular velocity to the resonant gyroscope respectively through a turntable to obtain current orthogonal control force data of the resonant gyroscope; Substituting the current orthogonal control force data into a sine function model for fitting to obtain a first orthogonal control force amplitude difference, and establishing a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference; The next detected phase imbalance compensation value is used as the current detected phase imbalance compensation value, and the step of applying the current detected phase imbalance compensation value to the resonant gyroscope is cyclically performed until a mapping relationship between the current detected phase imbalance compensation value and the first orthogonal control force amplitude difference is established, until the first mapping relationship set is obtained.

8. A resonant gyroscope dual-channel phase imbalance error compensation device, characterized in that: include: a first mapping relationship set establishing module, configured to sequentially change a series of detected phase imbalance compensation values ​​in full-angle mode, and apply forward and reverse angular velocities to the resonant gyroscope via a turntable to obtain a first mapping relationship set formed by the plurality of detected phase imbalance compensation values ​​and corresponding first orthogonal control force amplitude differences; the first orthogonal control force amplitude difference being a difference between the first orthogonal control force amplitudes in a gyroscope resonator state equation having a detected phase imbalance error when the resonant gyroscope is applied with forward and reverse angular velocities; a detection phase imbalance error compensation module, configured to determine an optimal detection phase imbalance compensation value based on the first mapping relationship set, and compensate the resonant gyroscope using the optimal detection phase imbalance compensation value to complete detection phase imbalance error compensation; A second mapping relationship set establishing module is configured to station the gyroscope, sequentially change a series of excitation phase imbalance compensation values, and apply a forward angle control force and a reverse angle control force of equal magnitude to cause the resonant gyroscope to virtually self-precess, thereby obtaining a second mapping relationship set formed by the multiple excitation phase imbalance compensation values ​​and corresponding second orthogonal control force amplitude differences; the second orthogonal control force amplitude difference being the difference between the second orthogonal control force amplitudes in the gyroscope resonator state equation having an excitation phase imbalance error when the forward angle control force and the reverse angle control force are applied to the resonant gyroscope; The excitation phase imbalance error compensation module is used to determine an optimal excitation phase imbalance compensation value based on the second mapping relationship set, and use the optimal excitation phase imbalance compensation value to compensate the resonant gyroscope to complete the excitation phase imbalance error compensation.

9. A resonant gyroscope dual-channel phase imbalance error compensation system, characterized in that: include: resonant gyroscopes, control loop components, digital signal processing components, and memory; The digital signal processing component is integrated with a detection phase imbalance error compensation subcomponent and an excitation phase imbalance error compensation subcomponent; the memory is used to store computer programs; The detection phase imbalance error compensation subcomponent and the excitation phase imbalance error compensation subcomponent are used to implement the steps of the resonant gyroscope dual-channel phase imbalance error compensation method according to any one of claims 1 to 7 when executing the computer program.

10. The resonant gyroscope dual-channel phase imbalance error compensation system according to claim 9, characterized in that: The input end of the phase imbalance error detection and compensation subcomponent is connected to the output end of the analog-to-digital converter in the control loop component, and the output end of the phase imbalance error detection and compensation subcomponent is connected to the input end of the demodulation filter subcomponent in the digital signal processing component; The input end of the excitation phase imbalance error compensation subcomponent is connected to the output end of the signal modulation subcomponent in the digital signal processing component, and the output end of the excitation phase imbalance error compensation subcomponent is connected to the input end of the digital-to-analog converter in the control loop component.

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