Time division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force

Abstract

The invention discloses a time division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force, which is applied to the technical field of gyroscopes and comprises the following steps: in a full-angle mode, substituting an angle ideal value and a gain ideal value into a positive amplitude control force expression of virtual precession control force to obtain a first discrete corresponding group; substituting the first discrete corresponding group into an undetermined coefficient function for fitting to obtain a first fitting parameter; substituting the angle ideal value and the gain ideal value into a reverse amplitude control force expression of the virtual precession control force to obtain a second discrete corresponding group; substituting the second discrete corresponding group into the undetermined coefficient function for fitting to obtain a second fitting parameter; and based on the first fitting parameter, the second fitting parameter and the error expression, performing compensation by using a trial number method. According to the invention, non-uniform detection and non-uniform excitation are considered at the same time, and the amplitude control force is adopted for difference, so that the accuracy is improved, online measurement is realized, and the complexity is reduced.

Description

Technical Field

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

[0002] A gyroscope is an inertial measurement device used to measure the angular rate or angle of rotation of a carrier. A vibrating gyroscope (or resonant gyroscope) is a type of gyroscope based on the Coriolis effect. Resonant gyroscopes can operate in either force-balance mode or full-angle mode. In force-balance mode, the vibration direction of the oscillator (the core component of a resonant gyroscope) remains constant under the control of the force balance, corresponding to a rate gyroscope (outputting the rate of change of angle). In full-angle mode, the oscillator's vibration direction rotates as the gyroscope rotates, creating a rate-integrating gyroscope (outputting the amount of change in angle). In full-angle mode, when the gyroscope is stationary, the oscillator's vibration direction remains constant. When the gyroscope rotates relative to an external inertial frame, the oscillator's vibration direction (or mode shape) rotates relative to the gyroscope's coordinate system. The magnitude of this rotation is proportional to the gyroscope's rotation angle relative to the external frame. By measuring the rotation angle of the oscillator's mode shape, the gyroscope's rotation angle relative to the external inertial frame, i.e., the gyroscope's output, can be obtained. The vibration state of the oscillator (vibration direction, vibration amplitude, etc.) is measured by electrodes that are ideally evenly distributed around the oscillator.

[0003] Obviously, if the detection electrodes are uneven (primarily due to uneven angles and uneven gain), there will be a deviation between the vibration direction obtained from the read signal and the actual vibration direction, resulting in a deviation in the gyroscope's output. Furthermore, the resonator has damping and frequency splitting, requiring energy control and orthogonal control through electrodes. The energy control of a full-angle gyroscope compensates for energy in a specific direction (vibration direction). If the excitation electrodes are uneven, the actual applied force direction will be inconsistent with the target applied force direction. In addition to replenishing energy, the force with an error in direction will also cause the gyroscope's vibration direction to deviate, resulting in drift, which affects the gyroscope's measurement accuracy.

[0004] In the existing technology, the methods for measuring and compensating electrode non-uniformity in gyroscopes basically require interrupting the working state of the gyroscope and cannot be measured online. In addition, considering the complexity caused by the large number of parameters, most methods either only consider the detection electrode non-uniformity, or only consider the excitation electrode non-uniformity, or only consider the problem of excitation and detection angle coupling, or only consider the problem of excitation and detection gain non-uniformity, and cannot simply and effectively compensate for the electrode non-uniformity of the gyroscope. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a time-division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force, which solves the problem in the prior art that it is difficult to simply and effectively detect and compensate for gyroscope electrode non-uniformity.

[0006] To solve the above technical problems, the present invention provides a method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force, comprising:

[0007] In full-angle mode, the ideal angle value and the ideal gain value are substituted into the amplitude control force expression when the virtual precession control force takes a positive direction to obtain a first discrete corresponding group; the amplitude control force expression is obtained based on the resonant gyro dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyro dynamic equation with electrode error includes the current angle value with angle error and the current gain value with gain error; the first discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes a positive direction;

[0008] Substituting the first discrete corresponding group into an undetermined coefficient function for fitting, thereby obtaining first fitting parameters; the undetermined coefficient function is a function generated according to an error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression;

[0009] Substituting the ideal angle value and the ideal gain value into the amplitude control force expression when the virtual precession control force is reversed, a second discrete corresponding group is obtained; the second discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is reversed;

[0010] Substituting the second discrete corresponding group into the undetermined coefficient function for fitting to obtain second fitting parameters;

[0011] Based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are corrected respectively by using the trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode and determine the compensation value of the non-uniformity of the time-division multiplexing gyroscope electrode.

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

[0013] Using the trial and error method, the angle error value and the gain error value are corrected respectively based on the fitting parameter difference relationship so that the value of the corresponding error expression is less than a preset threshold value, thereby completing the compensation for the time-division multiplexing gyroscope electrode non-uniformity and determining the compensation value of the time-division multiplexing gyroscope electrode non-uniformity.

[0014] Optionally, the error expression is:

[0015] (1);

[0016] in, is the difference in amplitude control force at corresponding angles when the virtual precession force is in positive and negative directions, θ is the vibration azimuth angle of the resonator, is the amplitude control force when the virtual precession control force takes the positive direction, is the amplitude control force when the virtual precession control force takes the opposite direction, is the virtual precession control force, is the angle error value, is the gain error value;

[0017] The undetermined coefficient function is:

[0018] (2);

[0019] The first fitting parameter is , and , the second fitting parameter is , and ;

[0020] Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship is obtained:

[0021] (3);

[0022] The method of using trial and error to respectively correct the angle error value and the gain error value based on the fitting parameter difference relationship so that the values ​​of the corresponding error expressions are less than a preset threshold value, thereby completing the compensation for the non-uniformity of the time-division multiplexed gyroscope electrodes and determining the compensation value for the non-uniformity of the time-division multiplexed gyroscope electrodes, includes:

[0023] The angle error value and the gain error value are corrected in turn by trial and error method so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to the second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode.

[0024] Optionally, the angle error value and the gain error value are corrected in sequence using the trial and error method so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to a second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode, including:

[0025] The angle error value and the gain error value are corrected in turn by trial and error so that The absolute value of the difference is less than or equal to the first preset threshold, and The absolute value of the difference is less than or equal to the second preset threshold, the compensation of the angle error value and the gain error value is completed, and the corrected values ​​are determined to correspond to the angle error value and the gain error value respectively.

[0026] Optionally, after determining the angle error value and the gain error value, the method further includes:

[0027] In the force balance mode, the electrode error is compensated based on the determined angle error value and the gain error value.

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

[0029] (4);

[0030] (5);

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

[0032] The error expression is:

[0033] (1).

[0034] Optionally, the amplitude control force expression is obtained by processing the resonant gyro dynamics equation with electrode error using Taylor expansion.

[0035] The present invention also provides a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force, comprising:

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

[0037] a first fitting parameter acquisition module, configured to substitute the first discrete corresponding group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated based on an error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression;

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

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

[0040] A compensation module is used to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression using a trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode and determine the compensation value of the non-uniformity of the time-division multiplexing gyroscope electrode.

[0041] The present invention also provides a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force, comprising:

[0042] memory for storing computer programs;

[0043] The processor is configured to execute the computer program to implement the steps of the above-mentioned method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force.

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

[0045] It can be seen that the time-division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force provided by the present invention includes, in full-angle mode, substituting the ideal angle value and the ideal gain value into the amplitude control force expression when the virtual precession control force takes the positive direction to obtain the first discrete corresponding group; the amplitude control force expression is obtained based on the resonant gyroscope dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with angle error and the current gain value with gain error; the first discrete corresponding group is a discrete corresponding group composed of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes the positive direction; substituting the first discrete corresponding group into the undetermined coefficient function for fitting, and obtaining to the first fitting parameter; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the virtual precession control force in the amplitude control force expression in the forward and reverse directions respectively; the ideal angle value and the ideal gain value are substituted into the amplitude control force expression when the virtual precession control force is taken in the reverse direction to obtain the second discrete corresponding group; the second discrete corresponding group is a discrete corresponding group composed of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is taken in the reverse direction; the second discrete corresponding group is substituted into the undetermined coefficient function for fitting to obtain the second fitting parameter; based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are corrected respectively by the trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode, and determine the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode. The present invention is applied to time-division multiplexing control of a gyroscope, taking into account detection non-uniformity and excitation non-uniformity, and adopting the amplitude control force of forward and reverse rotation to make a difference, thereby amplifying the influence of electrode non-uniformity error on electrode non-uniformity measurement and realizing online electrode non-uniformity measurement, thereby reducing the complexity of the compensation method and improving the accuracy of detection and compensation.

[0046] In addition, the present invention also provides a time-division multiplexing gyroscope electrode non-uniformity compensation device, equipment and computer-readable storage medium based on amplitude control force, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0048] Figure 1 A flow chart of a method for compensating for time-division multiplexing gyroscope electrode non-uniformity based on amplitude control force provided by an embodiment of the present invention;

[0049] Figure 2 A schematic structural diagram of a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force provided by an embodiment of the present invention;

[0050] Figure 3 A schematic structural diagram of a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0052] Please refer to Figure 1 , Figure 1 A flowchart of a method for compensating for time-division multiplexing gyroscope electrode non-uniformity based on amplitude control force provided by an embodiment of the present invention. The method may include:

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

[0054] The executor of this embodiment is a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force. It should be noted that there are many reasons for the electrode error in this embodiment, for example, the electrode error may be caused by capacitance asymmetry, or the electrode installation deviation may also cause the electrode error. In this embodiment, considering that the electrode error in the gyroscope has both angle error and gain error, the resonant gyroscope dynamic equation includes the current angle value with angle error and the current gain value with gain error, and then the error expression obtained includes unknown angle error value and unknown gain error value. It should be further noted that the process of determining the angle error value and gain error value in this embodiment is performed when the time-division multiplexing gyroscope is in full-angle mode. After the angle error value and gain error value are determined, they can be used to compensate for the problem of electrode non-uniformity of the time-division multiplexing gyroscope in any working mode. Furthermore, by taking the positive and negative values ​​for the virtual precession control force parameters and subtracting the amplitude control force, an error expression can be obtained. In this error expression, the error term is twice the actual error value, enabling a more comprehensive assessment of data stability and consistency, ensuring the accuracy and reliability of research or measurements. In this embodiment, the virtual precession control force is an equivalent mechanical effect simulated through an active control strategy, used to maintain the stability of the vibration mode or improve the accuracy of angular velocity detection. The force applied by the electronic feedback system simulates the precession phenomenon caused by angular velocity in a traditional mechanical gyroscope, thereby offsetting external interference or optimizing the system's dynamic response.

[0055] This embodiment addresses the issue of consistent excitation electrode and detection electrode nonuniformity in a time-division multiplexing system, simplifying nonuniformity compensation and detection. A relatively large virtual precession is used to control the reciprocating motion of the gyroscope's vibration modes. This virtual precession amplifies the effects of electrode nonuniformity, improving measurement accuracy. By taking a differential approach to the reciprocating motion, the effect of damping nonuniformity on measurement is eliminated, and the method is suitable for online compensation. Specifically, because the gyroscope utilizes time-division multiplexing control, the detection nonuniformity and excitation nonuniformity of the gyroscope are described by the same parameters, simplifying the overall problem and the compensation method. Both detection and excitation nonuniformity are considered simultaneously, including gain and angle nonuniformity, eliminating any related factors and improving accuracy and reliability.

[0056] It should be further clarified that in this embodiment, the full-angle mode refers to an operating mode that enables omnidirectional angle measurement of the gyroscope. In a resonant gyroscope, the specific implementation of the full-angle mode involves multiple steps and modules: First, the system applies a swept frequency signal to excite the hemispherical resonator into a second-order four-antinode mode resonance state. Subsequently, the four pairs of electrodes are divided into two groups: one group serves as drive electrodes (e.g., 0° and 45° electrodes) to maintain the hemispherical resonator's mode and provide energy; the other group serves as detection electrodes (e.g., 90° and 135° electrodes) to measure changes in the azimuth angle of the hemispherical resonator's standing wave. Next, the drive-detection electrode time-division multiplexing module performs time-division multiplexing according to a set timing sequence. A relaxation time is maintained during the electrode switching process to ensure stable system operation. Specifically, the 0° and 45° drive electrodes are alternately connected to the drive channel, while the two pairs of detection electrodes are alternately connected to the detection channel. This embodiment does not limit the application of this gyroscope electrode nonuniformity compensation method. For example, the invention may be applicable to a hemispherical resonant gyroscope, or may be applicable to other resonant gyroscopes with the same working mode.

[0057] Furthermore, in order to ensure that the error expression is determined smoothly, the amplitude control force expression is obtained by processing the resonant gyro dynamic equation with electrode error using Taylor expansion.

[0058] It should be noted that in this embodiment, Taylor expansion is used to simplify the dynamic equation of the resonant gyroscope with electrode error. Since the ideal angle value is π / 2 and the ideal gain value is 1, the current angle value is set to , and set the current gain value to , you can set , and can be set ,in is the gain error value, is the angle error value, which can be seen and For a small quantity, Taylor expansion is performed on the variable, and a low-order small quantity approximation is taken to simplify the equation and solve it. The specific solution can only retain the result of the first-order small quantity, and the virtual precession control force in the result is taken in the positive and reverse directions respectively, and the amplitude control force is subtracted at the corresponding angle to obtain the above error expression.

[0059] Furthermore, in order to ensure smooth completion of the compensation for the electrode non-uniformity of the time-division multiplexing gyroscope based on the amplitude control force, the dynamic equation of the resonant gyroscope with electrode error can be set as follows:

[0060] (4);

[0061] (5);

[0062] Among them, A is the vibration amplitude of the resonator, τ is the decay time constant that characterizes the damping of the resonator, =0, is the rate of change of the vibration amplitude value, is the precession rate, and are the two forces with errors applied in closed-loop control, is the current angle value, is the current gain value, is the vibration azimuth of the resonator with error;

[0063] The error expression is:

[0064] (1).

[0065] It needs to be explained that The difference between the amplitude control force at the corresponding angle when the virtual precession force is in the positive and negative directions is: is the angle error value, is the gain error value, θ is the vibration azimuth angle of the resonator, is the amplitude control force, is the virtual precession control force, where is the amplitude control force with error, This embodiment converts the signals x and y detected by two ideal orthogonal electrodes in an ideal resonant gyroscope into and At this time, for the convenience of analysis, the influence of the damping non-uniformity and frequency splitting of the gyroscope is not introduced, and even if the gyroscope has damping non-uniformity and frequency splitting, it does not affect the effectiveness of the time-division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force in this application. In addition, it needs to be further explained that the vibration azimuth angle with error mentioned in this embodiment deviates from the ideal azimuth angle, and the vibration azimuth angle θ mentioned also deviates from the ideal vibration azimuth angle before the electrode error is completely determined, but the deviation between the vibration azimuth angle and the ideal vibration azimuth angle is a high-order small quantity, which does not affect the time-division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force applied in this embodiment, and the vibration azimuth angle also gradually approaches the ideal vibration azimuth angle during the compensation process. At this time, the dynamic equation of the ideal resonant gyroscope under the action of amplitude control and virtual precession force is:

[0066] ,in, is the amplitude control force applied to the ideal electrode, which is usually determined by the amplitude control loop. is the virtual precession control force applied to the ideal electrode, and the virtual precession control force applied to the ideal electrode is usually manually set to a fixed value. The size of the vibration amplitude A is kept constant, and A= ( is a known fixed value), then =0, then the dynamic equation of the ideal resonant gyroscope under amplitude control and virtual precession force is:

[0067] , and then get , ,at this time is a constant value, independent of the precession rate. Depend on Sure.

[0068] At this time, the electrode error is introduced. It should be noted that in order to simplify the analysis in this embodiment, the expression of the relevant force is replaced by The factor is omitted, which does not actually affect the analysis results. In this embodiment, the dynamic equations of the subsequent resonant gyroscope are still described by the variables in the ideal coordinate system. The influence of the electrode error is only reflected in the error in the observed quantity and the force during control. Specifically, taking the ideal orthogonal coordinate system with mutually orthogonal directions as an example, including the x-coordinate direction and the y-coordinate direction, the x-coordinate in the ideal orthogonal coordinate system is different from the corresponding error coordinate system. The coordinates are the same, both , and the y coordinate in the ideal orthogonal coordinate system is , the corresponding error coordinate system The coordinates are , which is equivalent to , in the above error coordinate system, with error and Can be obtained by ( is the vibration amplitude value with error) and ( is the vibration amplitude value with error), we can get:

[0069] ,in, , , .

[0070] After that, in the amplitude control, the amplitude control value is set to a known fixed value , then you can get , take the derivative with respect to time, and get =0, we get the above and The relationship, that is .

[0071] Furthermore, when considering electrode non-uniformity, since the signals observed are those with errors, when closed-loop control is performed on these signals, the closed-loop control needs to output voltage to the electrodes and convert it into output force. Since the excitation electrodes also have errors, the applied force is also an error-containing force. Based on the control requirements, the error coordinate system is used to calculate the force. Coordinate direction and The forces applied in the coordinate directions are and ,Should and Available and Expressed as:

[0072] ,in, By controlling Sure, Just take a known fixed value.

[0073] Taking into account the excitation electrode error, based on the above and The actual force can be obtained and :

[0074] , and then we get the dynamic equations of the resonant gyroscope with electrode errors as shown in the above equations (4) and (5). It should be further explained here that in the above equations (4) and (5), θ takes any value from 0 to 2π and is considered a known quantity; τ is also a fixed constant value and is considered a known quantity; based on the above equations and the known quantity θ, we can determine the corresponding vibration amplitude value A of the resonator, so A is also a known quantity; based on the above formula and the above formula , we can determine the known quantity θ The expression of It can also be regarded as a known quantity; in the control process, the precession control force is taken as the set value, so is also a known quantity; corresponding to a specific gyroscope, the ideal angle value and the ideal gain value are also determined values, so they can also be regarded as known quantities; based on the above formula , it can be determined using Characterization Therefore, in the above resonant gyro dynamic equation with electrode error, solve the two unknown quantities and .

[0075] Considering that electrode non-uniformity can be understood as a small deviation from the ideal value, the above , and take the above , as shown above and All are small quantities. Taylor expansion is performed on the variables, and the low-order small quantities are taken as approximations. The above resonant gyro dynamic equation with electrode errors is simplified and solved. As a result, only the first-order small quantities are retained. The virtual precession control force is taken in the positive and negative directions respectively, and the following is obtained:

[0076] and , take the difference between the forward and reverse equations of the virtual precession control force at the corresponding angle to obtain the error expression. When the value is positive, θ takes the value from 0 to 2π, and when the value reaches 2π, the opposite value is taken. value, then θ takes values ​​from 2π to 0, which can be easily calculated within this period , by phase solution, or and By demodulation, it is easy to get and , and then get a value proportional to the error, so that the gain error value can be calculated later. and angular error values Perform real-time compensation.

[0077] S102: Substitute the first discrete corresponding group into the undetermined coefficient function for fitting to obtain the first fitting parameter; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression respectively.

[0078] It should be noted that extracting information by differentiating the amplitude control forces of forward and reverse rotation can amplify the impact of electrode nonuniformity errors on electrode nonuniformity measurement, improving measurement accuracy. This allows for online electrode nonuniformity measurement without the need for a turntable, enabling measurement and compensation without affecting gyroscope operation. In this embodiment, the first fitting parameter includes a fitting parameter corresponding to the angle value and a fitting parameter corresponding to the gain value.

[0079] S103: Substitute the ideal angle value and the ideal gain value into the amplitude control force expression when the virtual precession control force is reversed to obtain a second discrete corresponding group; the second discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is reversed.

[0080] In this embodiment, the ideal angle value is used as the initial angle value, and the ideal gain value is used as the initial gain value. The initial values ​​are substituted into the amplitude control force expression when the virtual precession control force is in the positive direction, and the amplitude control force expression when the virtual precession control force is in the negative direction, respectively, to obtain the above-mentioned first discrete corresponding group and the second discrete corresponding group, respectively. Then, the first discrete corresponding group and the second discrete corresponding group are fitted respectively using the undetermined coefficient function to obtain the first fitting parameter and the second fitting parameter, respectively. At this time, when there is no angle error and gain error in the gyroscope, the above-mentioned first fitting parameter and the second fitting parameter should be the same, that is, the difference between the first fitting parameter and the second fitting parameter should be equal to zero. Therefore, in this application, the current angle value and the current gain value are debugged by trial and error so that the corresponding difference between the first fitting parameter and the second fitting parameter is zero (or close to zero, and the standard of close to zero can be set to a deviation from zero that is less than a preset deviation value).

[0081] S104: Substitute the second discrete corresponding group into the undetermined coefficient function for fitting to obtain second fitting parameters.

[0082] It should be noted that, in this embodiment, the second fitting parameters also include fitting parameters corresponding to angle values ​​and fitting parameters corresponding to gain values.

[0083] S105: Based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are respectively corrected by trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode and determine the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode.

[0084] In this embodiment, based on the trial-and-error method, an initial value is first set. This initial value is substituted into the dynamic equation of a resonant gyroscope with electrode errors to obtain several corresponding groups between amplitude control forces and vibration azimuth angles. These corresponding groups are then fitted to obtain fitting parameters. A fitting parameter is obtained for each positive and negative direction corresponding to the virtual precession control force. The two sets of fitting parameters are subtracted to obtain a fitting parameter difference that is directly proportional to the coefficients in the error expression. The angle error and gain error values ​​are adjusted to zero (in practice, due to current technological limitations, the fitting parameter difference can be approached to zero). The angle error and gain error values ​​are then the actual angle error and gain error values. Compensation based on these actual angle error and gain error values ​​can address the problem of errors in the detection results of the time-division multiplexed gyroscope due to electrode non-uniformity, thereby improving the accuracy of gyroscope detection. In this embodiment, after the angle error value and the gain error value are determined, when error compensation is required later, the angle error value and the gain error value determined above can be directly called to compensate the resonant gyroscope.

[0085] In addition, it should be noted that in this embodiment, the trial value of the angle error and the trial value of the gain error are adjusted according to the changing trend of the fitting parameter difference. For example, when the trial value of the angle error and the trial value of the gain error are increased, the corresponding fitting parameter difference changes in the direction approaching zero, and the trial value of the angle error and the trial value of the gain error are continuously increased until the fitting parameter difference reaches a value, and then the value changes to the opposite number and changes in the direction away from zero (that is, the absolute value increases). At this time, it is proved that the actual angle error value and the actual gain error value are within the interval formed by the current trial value of the angle error and the trial value of the gain error and the trial value of the previous angle error and the trial value of the gain error. At this time, the next trial value of the angle error and the trial value of the gain error should take a value within this interval until the difference of the above-mentioned fitting parameters approaches zero.

[0086] It should be noted that compensating for the angle error and gain error in this embodiment can produce a synergistic effect. Specifically, when determining the actual angle error and actual gain error values ​​using the trial-and-error method, the actual angle error and actual gain error values ​​are determined using the trial-and-error method, respectively. Specifically, one of the angle error and gain error values ​​can be first determined using the trial-and-error method, and then the other error value is determined based on that value. The previously determined error value is then further adjusted, and the two error values ​​are iteratively processed until the fitting parameter differences corresponding to the two error values ​​simultaneously approach zero. At this point, the final determined error values ​​are used as the actual angle error and actual gain error values. For example, the angle error value can be first corrected, followed by the gain error value, and the above steps can be iteratively repeated until the fitting parameter differences corresponding to the two error values ​​both approach zero. At this point, the final actual angle error and actual gain error values ​​are determined. Alternatively, the trial and error method can be used to correct the angle error value and the gain error value at the same time, that is, the angle error and the gain error are tested at the same time to ensure that the fitting parameter difference corresponding to the angle error and the fitting parameter difference corresponding to the gain error are close to zero without iterative processing.

[0087] Furthermore, it should be clarified that in this embodiment, the angle error and gain error values ​​in the gyroscope are preferably corrected through an iterative strategy that alternately corrects the angle error and gain error. Therefore, this iterative strategy requires a convergence condition. For example, the iteration is complete when the rate of change of the error between adjacent iterations is less than a preset rate of change, and the corresponding difference between the first fitting parameter and the second fitting parameter is less than a preset deviation value. In this embodiment, the discrete corresponding groups can be obtained by selecting a sampling point at every preset angle value within the vibration azimuth value range, and taking multiple sampling points where the virtual precession control force is in the positive or reverse direction, corresponding to the first discrete corresponding group and the second discrete corresponding group. In this embodiment, the discrete groups can be fitted using the least squares method.

[0088] Furthermore, in order to ensure that the non-uniformity of the time-division multiplexing gyroscope electrodes is compensated and the compensation efficiency is improved, the above-mentioned method of correcting the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression, completing the compensation for the non-uniformity of the time-division multiplexing gyroscope electrodes and determining the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrodes may include:

[0089] Step S11: Subtract the first fitting parameter from the second fitting parameter to obtain a fitting parameter difference relationship formula;

[0090] Step S12: Using the trial and error method, the angle error value and the gain error value are respectively corrected based on the fitting parameter difference relationship so that the value of the corresponding error expression is less than the preset threshold value, thereby completing the compensation for the time-division multiplexing gyroscope electrode non-uniformity and determining the compensation value for the time-division multiplexing gyroscope electrode non-uniformity.

[0091] It should be noted that in this embodiment, the first fitting parameter and the second fitting parameter are differentiated, and then the trial and error method is used to correct the electrode non-uniformity error based on the fitting parameter difference relationship, which can improve the efficiency of compensating for the electrode non-uniformity error and improve the compensation accuracy.

[0092] Furthermore, in order to ensure the smooth completion of compensation for the gyroscope electrode non-uniformity, the above error expression can be set as:

[0093] (1);

[0094] in, is the difference in amplitude control force at corresponding angles when the virtual precession force is in positive and negative directions, θ is the vibration azimuth angle of the resonator, is the amplitude control force when the virtual precession control force takes the positive direction, is the amplitude control force when the virtual precession control force takes the opposite direction, is the virtual precession control force, is the angle error value, is the gain error value;

[0095] The undetermined coefficient function is:

[0096] (2);

[0097] The first fitting parameter is , and , the second fitting parameter is , and ;

[0098] Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship is obtained:

[0099] (3);

[0100] The method of using trial and error to respectively correct the angle error value and the gain error value based on the fitting parameter difference relationship so that the values ​​of the corresponding error expressions are less than a preset threshold value, thereby completing the compensation for the non-uniformity of the time-division multiplexed gyroscope electrodes and determining the compensation value for the non-uniformity of the time-division multiplexed gyroscope electrodes, includes:

[0101] The angle error value and the gain error value are corrected in turn by trial and error method so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to the second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode.

[0102] It should be noted that in this embodiment, the undetermined coefficient function is given as shown in the above formula (2), and then the coefficients of the corresponding trigonometric functions in the undetermined coefficient function are subtracted, where FA in formula (2) is the ideal amplitude control force, and corresponds to the corresponding term in the error expression, so as to obtain the gain error value. and angular error values Perform real-time compensation to make the above The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to the second preset threshold, and the gain error value is compensated. In this embodiment, the first preset threshold can be equal to the second preset threshold. In this embodiment, the first preset threshold needs to be set according to the accuracy requirement of the gyroscope, and the second preset threshold needs to be set according to the stability of the scale factor. In this embodiment, the first fitting parameter and the second fitting parameter is In this embodiment, the error separation is achieved by independently fitting the forward control force and the reverse control force to avoid the problem of parameter coupling, and the error is corrected directly by using the linear relationship between the coefficient difference and the error, which can reduce the complexity of the calculation and improve the correction efficiency.

[0103] The impact of the detection error in this embodiment can be expressed as: ,at this time The inverse matrix of At this time, if the accurate current angle value and current gain value can be determined, substitute them into the above In the inverse matrix of Acting on the detected error and , you can get the actual and At this time, the gyroscope is compensated and the actual and This is the result of eliminating the error after compensation, that is, the above This is the compensation matrix.

[0104] However, in the actual compensation process, this embodiment attempts to use the trial method. At this time, if the current angle value and current gain value in the compensation matrix are set to and , then the total effect of the compensation matrix on electrode non-uniformity is:

[0105] , at this time take , , ,as well as ,get:

[0106] , , the above approximately equal sign is the lowest order expression with a small amount, so it can be seen that for the unknown and , can be compensated by trial and error, by trying different and , when it can just offset the actual and hour, It should be zero. It should be further pointed out that in the compensation of excitation in this embodiment, the electrode force error occurs due to the electrode error. Therefore, before the excitation force is applied, the force matrix is ​​first transformed into an inverse matrix and then applied to the active electrode. In addition, the number of attempts in this embodiment is and Even if there is a deviation from the actual error, the supplementary matrix can also reduce the electrode unevenness, but the amplitude is not enough. Therefore, as long as the direction of the attempt is correct, the above can be gradually adjusted by gradual guessing or PI control. and The value of and When it approaches zero, the measurement and compensation of electrode non-uniformity are completed.

[0107] Furthermore, in order to ensure the accuracy of compensation for electrode non-uniformity in the gyroscope, the above trial and error method is used to correct the angle error value and the gain error value in turn so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to the second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode, which may include:

[0108] Use the trial and error method to revise the angle error and gain error value in turn so that The absolute value of the difference is less than or equal to the first preset threshold, and The absolute value of the difference is less than or equal to the second preset threshold, and the compensation of the angle error value and the gain error value is completed, and it is determined that the corrected values ​​correspond to the angle error value and the gain error value respectively.

[0109] In this embodiment, variable parameters are introduced into the full-angle gyroscope. and The variable parameter affects the detection signal of the resonant gyro by affecting the control process. Do the following:

[0110] , as the corrected detection signal for subsequent processing. During the processing, the force to be applied obtained by the original processing Do the following:

[0111] , and then proceed with the subsequent processing after obtaining the new applied force. Control the resonant gyroscope in full-angle mode, and set the values ​​of the above two variable parameters to and , applying a fixed precession force , pushing the vibration mode azimuth angle from 0 to π (or any integer multiple of π), and obtaining a series of discrete corresponding values ​​of the amplitude control force with θ Using the undetermined coefficient function of formula (2), we can calculate the θ and Perform fitting to obtain the first fitting parameter and the second fitting parameter, and make a difference between the fitting coefficients of the corresponding trigonometric functions to obtain the above formula (3).

[0112] At this time, you can first Make corrections if Greater than 0, considering Greater than 0, we get Less than 0, then take , ,in For a small amount to try, for example , symbols and speculations The signs of are opposite, and we get a new relationship . At this time from The sign of >0, we get , we can determine the above The value of is not large enough, this embodiment increases The value of (can be set to The value of is doubled), at this time, the increased ,Will Substitute into In this case, if If it is still greater than 0, it will continue to increase The value of is tested, if is less than 0, then it proves that The value of is too large and needs to be reduced The value of Approaching 0, we get The final value. Then, Make corrections if >0, due to >0, it can be determined >0. , ,in is the final value determined above. For a small amount of experimentation, for example, , symbols and speculations The signs of are opposite, and we get a new relationship . At this time from The sign of >0, we get >0, then the top The value of is not small enough and needs to be further reduced The value of The sign remains unchanged but the absolute value doubles, then reselect The value is tested, and if the above <0, then it proves The value of is too small and needs to be increased appropriately The value of Approaching 0, we get The final value.

[0113] After that, the embodiment can perform iterative processing and repeat the above determination The final value and The final value step is adjusted After taking the value of The value of , and in the iterative process, after a round of adjustment, in the subsequent adjustment When taking the value of The value of is set to the final value (optimal value) of the previous round, and in subsequent adjustments When taking the value of The value of is set to the final value (optimal value) of the previous round until the above and At the same time, it approaches 0. It should be noted that in this embodiment, the control detection process can be set as a PI control process, and there are two PI controllers, and the error input of one PI controller is , the output control quantity is , that is, by adjusting The value of approaches 0, and the error input of the other PI controller is , the output control quantity is , that is, by adjusting The value of Approaching 0.

[0114] Furthermore, in order to expand the application scenarios of the gyroscope electrode non-uniformity compensation method, after determining the angle error value and the gain error value, the following steps may also be included:

[0115] In the force balance mode, the electrode error is compensated based on the determined angle error value and gain error value.

[0116] It should be noted that in this embodiment, the angular error and gain error values ​​of the electrodes in the gyroscope are determined in the full-angle operating mode. These angular error and gain error values ​​do not change depending on the gyroscope's operating mode, but are primarily dependent on the gyroscope's assembly. Therefore, even in the force-balanced operating mode, the angular error and gain error values ​​determined in the full-angle mode can be used to compensate for electrode errors. In this embodiment, the force-balanced mode refers to an operating state in which the Coriolis force of the resonant gyroscope is maintained in dynamic equilibrium with the applied control force through closed-loop control.

[0117] The method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force provided by an embodiment of the present invention includes: in full-angle mode, substituting an ideal angle value and an ideal gain value into an amplitude control force expression when a virtual precession control force takes a positive direction to obtain a first discrete corresponding group; the amplitude control force expression is obtained based on a resonant gyroscope dynamic equation with electrode errors; the ideal angle value is the difference between a current angle value and an angle error value, and the ideal gain value is the difference between a current gain value and a gain error value; the resonant gyroscope dynamic equation with electrode errors includes a current angle value with an angle error and a current gain value with a gain error; the first discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes a positive direction; substituting the first discrete corresponding group into an undetermined coefficient function for fitting, The first fitting parameters are obtained; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the virtual precession control force in the amplitude control force expression in the forward and reverse directions respectively; the ideal angle value and the ideal gain value are substituted into the amplitude control force expression when the virtual precession control force is taken in the reverse direction to obtain the second discrete corresponding group; the second discrete corresponding group is a discrete corresponding group composed of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is taken in the reverse direction; the second discrete corresponding group is substituted into the undetermined coefficient function for fitting to obtain the second fitting parameters; based on the first fitting parameters, the second fitting parameters and the error expression, the angle error value and the gain error value are corrected respectively by the trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode, and determine the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode. The present invention is applied to time-division multiplexing control of a gyroscope, taking into account detection non-uniformity and excitation non-uniformity, and adopting the amplitude control force of forward and reverse rotation to make a difference, thereby amplifying the influence of electrode non-uniformity error on electrode non-uniformity measurement and realizing online electrode non-uniformity measurement, thereby reducing the complexity of the compensation method and improving the accuracy of detection and compensation.

[0118] In addition, an embodiment of the present invention uses Taylor expansion to process the dynamic equation of a resonant gyroscope with electrode error to determine an error expression, and based on the dynamic equation of the ideal resonant gyroscope under amplitude control and virtual precession force, obtains the above-mentioned dynamic equation of the resonant gyroscope with electrode error, ensuring that the error expression is smoothly determined; specifically setting the equations of the dynamic equation of the resonant gyroscope with electrode error and the error expression can ensure that the electrode non-uniformity compensation of the time-division multiplexing gyroscope based on the amplitude control force is successfully completed; setting the fitting parameter difference corresponding to the angle error value and the fitting parameter difference corresponding to the gain error value to meet the conditions at the same time, thereby improving the accuracy of the electrode non-uniformity compensation; by setting the above-mentioned error expression and the undetermined coefficient function, it can be ensured that the gyroscope electrode non-uniformity compensation is successfully completed; using the trial and error method to determine the value that satisfies the angle error compensation and the gain error compensation at the same time, thereby ensuring the accuracy of the electrode non-uniformity compensation in the gyroscope; by applying the angle error value and the gain error value determined in the full-angle working mode of the gyroscope to the force balance mode to compensate for the electrode error, the application scenario of the gyroscope electrode non-uniformity compensation method is expanded.

[0119] This embodiment also provides a time-division multiplexing gyroscope, which is a gyroscope that has been processed by the above-mentioned time-division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force. At this time, the time-division multiplexing gyroscope can reduce the impact caused by electrode non-uniformity and improve the accuracy of gyroscope detection.

[0120] This time-division multiplexing gyroscope has at least eight evenly distributed electrodes. For example, with eight evenly distributed electrodes, two electrodes spaced 45 degrees apart can each read vibrations in two orthogonal directions. The two electrodes are combined to determine the vibration direction of the resonator. In a time-division multiplexing gyroscope with an eight-electrode structure, two electrodes facing each other (180 degrees apart) are short-circuited, and the signals from two electrodes spaced 90 degrees apart are differentially measured. Therefore, detecting a single channel (x or y) requires four electrodes, while detecting two channels (x and y) requires eight electrodes. At this point, all electrodes are used, requiring time-division multiplexing to achieve excitation. The electrodes used during the excitation process are identical, with only the signal directions being opposite.

[0121] The following is an introduction to a time-division multiplexed gyroscope electrode non-uniformity compensation device based on amplitude control force provided by an embodiment of the present invention. The time-division multiplexed gyroscope electrode non-uniformity compensation device based on amplitude control force described below and the time-division multiplexed gyroscope electrode non-uniformity compensation method based on amplitude control force described above can be referenced to each other.

[0122] Please refer to Figure 2 , Figure 2A schematic structural diagram of a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force provided in an embodiment of the present invention may include:

[0123] A first discrete corresponding group acquisition module 100 is configured to, in full-angle mode, substitute an ideal angle value and an ideal gain value into an amplitude control force expression when the virtual precession control force is in the positive direction to obtain a first discrete corresponding group; the amplitude control force expression is obtained based on a resonant gyro dynamics equation with an electrode error; the ideal angle value is the difference between a current angle value and an angle error value, and the ideal gain value is the difference between a current gain value and a gain error value; the resonant gyro dynamics equation with an electrode error includes a current angle value with an angle error and a current gain value with a gain error; the first discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is in the positive direction;

[0124] A first fitting parameter acquisition module 200 is configured to substitute the first discrete corresponding group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated based on an error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression;

[0125] A second discrete corresponding group obtaining module 300 is configured to substitute the ideal angle value and the ideal gain value into an expression for the amplitude control force when the virtual precession control force is reversed, to obtain a second discrete corresponding group; the second discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is reversed;

[0126] A second fitting parameter acquisition module 400 is configured to substitute the second discrete corresponding group into the undetermined coefficient function for fitting to obtain second fitting parameters;

[0127] The compensation module 500 is used to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression using the trial and error method, complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode, and determine the compensation value of the non-uniformity of the time-division multiplexing gyroscope electrode.

[0128] Further, based on any of the above embodiments, the compensation module 500 may include:

[0129] a first processing unit, configured to perform a difference between the first fitting parameter and the second fitting parameter to obtain a fitting parameter difference relationship formula;

[0130] The second processing unit is used to use the trial and error method to correct the angle error value and the gain error value respectively based on the fitting parameter difference relationship so that the value of the corresponding error expression is less than a preset threshold value, complete the compensation for the time-division multiplexing gyroscope electrode non-uniformity, and determine the compensation value of the time-division multiplexing gyroscope electrode non-uniformity.

[0131] Further, based on any of the above embodiments, the error expression in the second processing unit may be:

[0132] (1);

[0133] in, is the difference in amplitude control force at corresponding angles when the virtual precession force is in positive and negative directions, θ is the vibration azimuth angle of the resonator, is the amplitude control force when the virtual precession control force takes the positive direction, is the amplitude control force when the virtual precession control force takes the opposite direction, is the virtual precession control force, is the angle error value, is the gain error value;

[0134] The undetermined coefficient function in the first fitting parameter acquisition module 200 may be:

[0135] (2);

[0136] The first fitting parameter can be , and , the second fitting parameter can be , and ;

[0137] Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship in the first processing unit is obtained:

[0138] (3);

[0139] The second processing unit includes:

[0140] The correction subunit is used to correct the angle error value and the gain error value in sequence by trial and error method so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to the second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode.

[0141] Further, based on any of the above embodiments, the correction subunit may include:

[0142] The processing subcomponent is used to modify the angle error value and the gain error value in turn by trial and error method so that The absolute value of the difference is less than or equal to the first preset threshold, and The absolute value of the difference is less than or equal to the second preset threshold, the compensation of the angle error value and the gain error value is completed, and it is determined that the corrected values ​​correspond to the angle error value and the gain error value respectively.

[0143] Furthermore, based on any of the above embodiments, the time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force may further include:

[0144] A force balance mode compensation module is used to compensate the electrode error based on the determined angle error value and the gain error value in the force balance mode.

[0145] Further, based on any of the above embodiments, the dynamic equation of the resonant gyroscope with electrode error in the first discrete corresponding group acquisition module 100 may be:

[0146] (4);

[0147] (5);

[0148] Among them, A is the vibration amplitude of the resonator, τ is the decay time constant that characterizes the damping of the resonator, =0, is the precession rate, and are the two forces with errors applied in closed-loop control, is the current angle value, is the current gain value, is the vibration azimuth of the resonator with error;

[0149] The error expressions in the first fitting parameter acquisition module 200 and the compensation module 500 can be:

[0150] (1).

[0151] Further, based on any of the above embodiments, in the first discrete corresponding group acquisition module 100 of the time-division multiplexed gyroscope electrode non-uniformity compensation device based on amplitude control force, the amplitude control force expression is the amplitude control force expression obtained by processing the resonant gyroscope dynamic equation with electrode error using Taylor expansion.

[0152] The time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force provided by the embodiment of the present invention includes a first discrete corresponding group acquisition module 100, which is used to substitute the ideal angle value and the ideal gain value into the amplitude control force expression when the virtual precession control force takes the positive direction in full-angle mode to obtain the first discrete corresponding group; the amplitude control force expression is obtained based on the resonant gyroscope dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with angle error and the current gain value with gain error; the first discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes the positive direction; the first fitting parameter acquisition module 200 is used to substitute the first discrete corresponding group into the undetermined coefficient function for fitting to obtain the first fitting parameter. The parameter to be determined is a function generated according to the error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression respectively; the second discrete corresponding group acquisition module 300 is used to substitute the ideal angle value and the ideal gain value into the amplitude control force expression with the virtual precession control force taken in the reverse direction to obtain the second discrete corresponding group; the second discrete corresponding group is a discrete corresponding group composed of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is taken in the reverse direction; the second fitting parameter acquisition module 400 is used to substitute the second discrete corresponding group into the undetermined coefficient function for fitting to obtain the second fitting parameter; the compensation module 500 is used to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression by trial and error, complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode, and determine the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode. The present invention is applied to time-division multiplexing control of a gyroscope, taking into account detection non-uniformity and excitation non-uniformity, and adopting the amplitude control force of forward and reverse rotation to make a difference, thereby amplifying the influence of electrode non-uniformity error on electrode non-uniformity measurement and realizing online electrode non-uniformity measurement, thereby reducing the complexity of the compensation method and improving the accuracy of detection and compensation.

[0153] The following is an introduction to a time-division multiplexed gyroscope electrode non-uniformity compensation device based on amplitude control force provided by an embodiment of the present invention. The time-division multiplexed gyroscope electrode non-uniformity compensation device based on amplitude control force described below and the time-division multiplexed gyroscope electrode non-uniformity compensation method based on amplitude control force described above can be referenced to each other.

[0154] Please refer to Figure 3 , Figure 3 A schematic structural diagram of a time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force provided in an embodiment of the present invention may include:

[0155] Memory 10, for storing computer programs;

[0156] The processor 20 is configured to execute a computer program to implement the steps of the above-mentioned method for compensating for the non-uniformity of electrodes of a time-division multiplexed gyroscope based on amplitude control force.

[0157] The memory 10 , the processor 20 , and the communication interface 31 all communicate with each other via the communication bus 32 .

[0158] In an embodiment of the present invention, the memory 10 is used to store one or more programs. The program may include program code, and the program code includes computer operating instructions. In an embodiment of the present application, the memory 10 may store programs for implementing the following functions:

[0159] In full-angle mode, the ideal angle value and the ideal gain value are substituted into the amplitude control force expression when the virtual precession control force takes the positive direction to obtain the first discrete corresponding group; the amplitude control force expression is obtained based on the resonant gyro dynamic equation with electrode error; the ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyro dynamic equation with electrode error includes the current angle value with angle error and the current gain value with gain error; the first discrete corresponding group is the discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes the positive direction;

[0160] Substituting the first discrete corresponding group into the undetermined coefficient function for fitting, a first fitting parameter is obtained; the undetermined coefficient function is a function generated according to the error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression;

[0161] Substituting the ideal angle value and the ideal gain value into the amplitude control force expression when the virtual precession control force is reversed, a second discrete corresponding group is obtained; the second discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is reversed;

[0162] Substituting the second discrete corresponding group into the undetermined coefficient function for fitting, and obtaining the second fitting parameters;

[0163] Based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are corrected respectively by the trial and error method, the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode is completed, and the compensation value of the non-uniformity of the time-division multiplexing gyroscope electrode is determined.

[0164] In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function, etc.; the data storage area may store data created during use.

[0165] In addition, the memory 10 may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset or an extended set thereof. The operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0166] The processor 20 may be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field programmable gate array, or other programmable logic device. The processor 20 may be a microprocessor or any conventional processor. The processor 20 may call a program stored in the memory 10 .

[0167] The communication interface 31 may be an interface of a communication module, used for connecting to other devices or systems.

[0168] Of course, it needs to be explained that Figure 3 The structure shown does not constitute a limitation on the time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force in the embodiment of the present application. In actual applications, the time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force may include Figure 3 More or fewer components than shown, or combinations of certain components.

[0169] 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 time-division multiplexing gyroscope electrode non-uniformity compensation method based on amplitude control force described above can be referred to each other.

[0170] 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 method for compensating for the time-division multiplexing gyroscope electrode non-uniformity based on amplitude control force are implemented.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] The above is a detailed introduction to the time-division multiplexed gyroscope electrode non-uniformity compensation method based on amplitude control force 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 general technical personnel in this field, 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 for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force, characterized in that: include: In the full-angle mode, the ideal angle value and the ideal gain value are substituted into the amplitude control force expression of the virtual precession control force in the positive direction to obtain the first discrete corresponding group; The amplitude control force expression is obtained based on the resonant gyro dynamic equation with electrode error. The ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with angle error and the current gain value with gain error; the first discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes a positive direction; Substituting the first discrete corresponding group into an undetermined coefficient function for fitting, thereby obtaining first fitting parameters; the undetermined coefficient function is a function generated according to an error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression; Substituting the ideal angle value and the ideal gain value into the amplitude control force expression when the virtual precession control force is reversed, a second discrete corresponding group is obtained; the second discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is reversed; Substituting the second discrete corresponding group into the undetermined coefficient function for fitting to obtain second fitting parameters; Based on the first fitting parameter, the second fitting parameter and the error expression, the angle error value and the gain error value are corrected respectively by using the trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode and determine the compensation value of the non-uniformity of the time-division multiplexing gyroscope electrode.

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

3. The method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force according to claim 2, characterized in that: The error expression is: （1）； in, is the difference in amplitude control force at corresponding angles when the virtual precession force is in positive and negative directions, θ is the vibration azimuth angle of the resonator, is the amplitude control force when the virtual precession control force takes the positive direction, is the amplitude control force when the virtual precession control force takes the opposite direction, is the virtual precession control force, is the angle error value, is the gain error value; The undetermined coefficient function is: （2）； The first fitting parameter is , and , the second fitting parameter is , and ; Based on the difference between the error expression and the corresponding trigonometric function coefficients in the undetermined coefficient function, the fitting parameter difference relationship is obtained: （3）； The method of using trial and error to respectively correct the angle error value and the gain error value based on the fitting parameter difference relationship so that the values ​​of the corresponding error expressions are less than a preset threshold value, thereby completing the compensation for the non-uniformity of the time-division multiplexed gyroscope electrodes and determining the compensation value for the non-uniformity of the time-division multiplexed gyroscope electrodes, includes: The angle error value and the gain error value are corrected in turn by trial and error method so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to the second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the time-division multiplexing gyroscope electrode non-uniformity.

4. The method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force according to claim 3, characterized in that: The angle error value and the gain error value are corrected in sequence by trial and error method, so that The absolute value of the difference is less than or equal to the first preset threshold, and the angle error value is compensated. The absolute value of the difference is less than or equal to a second preset threshold, the gain error value is compensated, and the corrected value is determined to be the compensation value for the non-uniformity of the time-division multiplexing gyroscope electrode, including: The angle error value and the gain error value are corrected in turn by trial and error so that The absolute value of the difference is less than or equal to the first preset threshold, and The absolute value of the difference is less than or equal to the second preset threshold, the compensation of the angle error value and the gain error value is completed, and the corrected values ​​are determined to correspond to the angle error value and the gain error value respectively.

5. The method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force according to claim 4, characterized in that: After determining the angle error value and the gain error value, the method further includes: In the force balance mode, the electrode error is compensated based on the determined angle error value and the gain error value.

6. The method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force according to claim 1, characterized in that: The dynamic equation of the resonant gyroscope with electrode error is: （4）； （5）； Among them, A is the vibration amplitude of the resonator, τ is the decay time constant that characterizes the damping of the resonator, =0, is the precession rate, and are the two forces with errors applied in closed-loop control, is the current angle value, is the current gain value, is the vibration azimuth of the resonator with error; The error expression is: （1）。 7. The method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force according to claim 1, characterized in that: The amplitude control force expression is obtained by processing the resonant gyro dynamic equation with electrode error using Taylor expansion.

8. A time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force, characterized in that: include: A first discrete corresponding group acquisition module is configured to, in full-angle mode, substitute the ideal angle value and the ideal gain value into an amplitude control force expression in which the virtual precession control force takes a positive direction, thereby obtaining a first discrete corresponding group; the amplitude control force expression is obtained based on a resonant gyro dynamics equation with electrode errors; The ideal angle value is the difference between the current angle value and the angle error value, and the ideal gain value is the difference between the current gain value and the gain error value; the resonant gyroscope dynamic equation with electrode error includes the current angle value with angle error and the current gain value with gain error; the first discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force takes a positive direction; a first fitting parameter acquisition module, configured to substitute the first discrete corresponding group into an undetermined coefficient function for fitting to obtain first fitting parameters; the undetermined coefficient function is a function generated based on an error expression; the error expression is an expression obtained by taking the forward and reverse directions of the virtual precession control force in the amplitude control force expression; A second discrete corresponding group acquisition module is configured to substitute the ideal angle value and the ideal gain value into an expression for the amplitude control force when the virtual precession control force is reversed to obtain a second discrete corresponding group; the second discrete corresponding group is a discrete corresponding group consisting of the vibration azimuth angle of the resonator and the corresponding amplitude control force when the virtual precession control force is reversed; A second fitting parameter acquisition module is used to substitute the second discrete corresponding group into the undetermined coefficient function for fitting to obtain second fitting parameters; A compensation module is used to correct the angle error value and the gain error value respectively based on the first fitting parameter, the second fitting parameter and the error expression using a trial and error method to complete the compensation for the non-uniformity of the time-division multiplexing gyroscope electrode and determine the compensation value of the non-uniformity of the time-division multiplexing gyroscope electrode.

9. A time-division multiplexing gyroscope electrode non-uniformity compensation device based on amplitude control force, characterized in that: include: memory for storing computer programs; A processor is configured to implement the steps of the method for compensating for electrode non-uniformity of a time-division multiplexed gyroscope based on amplitude control force according to any one of claims 1 to 7 when executing the computer program.

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

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