Hemispherical resonator gyroscope unlocking method
By calculating the Bessel coefficients and applying a virtual rotation signal, the locking zone problem of the hemispherical resonant gyroscope caused by damping unevenness is solved, the gyroscope can be swung out of lock, and the output accuracy and reliability of the gyroscope are improved.
Patent Information
- Application Number
- CN202510909032.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-02
- Publication Date
- 2025-09-16
AI Technical Summary
Existing hemispherical resonant gyroscopes (HRGs) suffer from locking zone problems due to damping anisotropy and processing errors, which affect the gyroscope's output accuracy and reliability.
By calculating the Bessel coefficients and virtual rotation parameters, a virtual rotation signal is applied to compensate for the damping unevenness, so as to achieve the gyroscope's swing out of lock and reduce the lock zone threshold.
It effectively reduces the impact of the gyro lock zone, increases the gyro's lock frequency, avoids staying in the lock zone for a long time, and improves the gyro's output accuracy and reliability.
Smart Images
Figure CN120651209A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of gyroscopes, and particularly relates to a method for unlocking a hemispherical resonant gyroscope. Background Art
[0002] The HRG is a novel shelled vibrating gyroscope (HRG) that utilizes the Coriolis effect to sense angular motion. It boasts high precision, reliability, low SWaP, environmental adaptability, and online self-calibration of gyro errors. It is widely recognized as the most promising next-generation navigation-grade inertial sensor after the laser gyroscope and fiber optic gyroscope. The full-angle-mode flat-electrode HRG represents the most advanced and successful solution internationally and is an ideal core sensor for next-generation aviation inertial systems. It also has significant potential for application in aerospace, maritime, and land-based applications.
[0003] An ideal full-angle-mode, planar-electrode hemispherical resonator gyroscope requires a lossless, perfectly axisymmetric hemispherical resonator with isotropic stiffness and damping in the circumferential direction. Furthermore, the planar electrode and the assembly with the hemispherical resonator must be isotropic. However, in practice, the material selection used in machining the hemispherical resonator, the inevitable damage to the resonator, and geometric errors introduced during machining all lead to significant losses, as well as frequency and damping anisotropy. Damping anisotropy can cause the gyroscope to lose zero bias and, more importantly, lead to gyro lock zone issues.
[0004] Some researchers have proposed a control force method for unlocking the gyroscope. This method applies a control force to the gyroscope by driving a capacitor to compensate for damping unevenness, thereby eliminating the locked zone. Others have proposed rotational modulation, which directly applies a specific force to the resonator to rotate the standing wave and unlock the gyroscope. However, rotational modulation fails when the external input angular velocity and the standing wave's self-precession angular velocity are opposite. Summary of the Invention
[0005] The present invention aims to design a novel gyro unlocking scheme. This method, applied to a hemispherical resonant gyroscope (HRG), can reduce the gyro lock threshold. The scheme includes calibrating gyro damping nonuniformity and virtual precession forces, calculating Bessel coefficients, calculating virtual rotation parameters, and resolving external input angular rates.
[0006] The present application provides a method for unlocking a hemispherical resonant gyroscope, the method comprising: Step 101: Calculate the Bessel coefficient according to the gyro damping non-uniformity; calculate the virtual rotation signal V1 according to the Bessel coefficient and the proportional relationship between the virtual rotation speed and the driving voltage; Step 201: Determine a virtual rotation signal V2 according to the virtual rotation signal V1 and the proportional relationship between the virtual rotation speed and the driving voltage; Step 301: Calculate the external input angular rate according to the virtual rotation signal V1 and the virtual rotation signal V2, so as to achieve unlocking.
[0007] Preferably, before step 101, the method further includes: Calibrate the gyro damping non-uniformity.
[0008] Preferably, before step 101, the method further includes: Calibrate the proportional relationship between virtual speed and drive voltage.
[0009] Preferably, calibrating the gyro damping non-uniformity includes: A turntable is used to apply a constant rotation speed to the gyroscope. After measuring for a period of time, it is ensured that the gyroscope standing wave rotates at least one circle. The measured data is fitted by Fourier transform to obtain the magnitude of the damping inhomogeneity.
[0010] Preferably, the method of applying a constant rotation speed to the gyroscope using a turntable and measuring for a period of time to ensure that the gyroscope standing wave rotates at least once, and performing Fourier fitting on the measured data to obtain the magnitude of the damping non-uniformity includes: Install the hemispherical resonant gyroscope in a constant temperature environment, ensure that the gyro input axis of the hemispherical resonant gyroscope points to the sky, wait for the gyroscope to stabilize, use the turntable to apply a constant speed to the gyroscope, measure for a period of time, ensure that the gyroscope standing wave rotates at least one circle, perform Fourier fitting on the measured data, and use the angle formula to convert the fitting result into In the form of The size of is the size of damping non-uniformity.
[0011] Preferably, calibrating the proportional relationship between the virtual speed and the driving voltage includes: The gyroscope is installed statically in the above constant temperature environment. After the gyroscope stabilizes, a virtual precession force is applied to the gyroscope by the host computer. This force acts directly on the gyroscope's resonator, causing the gyroscope's standing wave to rotate at a constant speed. The data is processed once after a period of detection. Since the capacitor voltage output value is proportional to the virtual precession force, the capacitor output value can be continuously corrected according to each measurement result until the detected speed is consistent with the target speed.
[0012] Preferably, step 101 includes: Under the control of the amplitude loop and the orthogonal loop, the output angular rate of the gyroscope can be approximated as:
[0013] in, is the scale factor, is the magnitude of damping non-uniformity, is the external input angular rate, is the gyro output angle, is the damping axis position; let , , introducing cosine virtual rotation , the gyro output is:
[0014] in, Is the swing virtual rotation signal , is the angular frequency of the virtual rotation, is the rotation amplitude, and the rotation modulation parameters should be selected to meet , ; Integrate the above formula to get:
[0015] in, is the damping uneven error term The integral of , so:
[0016] Expressed as the integral of the Bessel function:
[0017] If the order ,So:
[0018] because , when the gyro is integrated with integer multiples of the virtual rotation period, It can be regarded as a slow variable and ignored, so the second integral on the right side of the above formula can be approximated to zero; it can be achieved before the header is encapsulated , excluding the virtual rotation term, the gyro output is:
[0019] Also because , from the periodicity of trigonometric functions:
[0020] and In comparison, the lock zone threshold is Change to , as long as the signal is selected reasonably The parameters play the role of eliminating the locked area; the recursive formula of Bessel coefficients is:
[0021] Will Substituting into the above formula we get:
[0022] From the above formula, we can see that The larger the value of The smaller the peak value; Will As a whole, take , use MATLAB to solve the Bessel coefficients ; Determine according to the required lock area size The parameters of the signal are combined with the calibration results in step 1, and the virtual rotation is applied to the gyroscope through the host computer.
[0023] Preferably, the step 201 includes: because ,However , in order to eliminate the virtual rotation signal The additional error caused by the introduction of the amplitude , the period is Virtual rotation signal , the signal is in the form of a square wave, which is applied to the gyroscope through the host computer; By introducing a virtual rotation signal , the gyroscope will rotate forward and backward in one cycle , so the error introduced by the virtual rotation will be integrated to zero.
[0024] The technical effects of the present invention are: The present invention proposes a method for hemispherical resonant gyroscope to unlock and compensate for uneven damping errors, which can solve the influence of the lock area on the gyroscope. Under the action of the gyro standing wave, the gyro standing wave first propagates in a positive direction within a cycle. Degrees, then reverse degrees, and finally rotates back to the initial position. In each cycle, the motion trajectory of the gyroscope is like a pendulum, swinging back and forth around a point, so this method is called swinging out of lock. In order to reduce the error caused by the gyroscope swinging, we introduce a virtual rotation signal , ensuring that the gyroscope rotates precisely during each swing This method increases the frequency of the gyro entering and exiting lock, prevents the gyro from being in the lock zone for a long time, realizes the splitting of the gyro lock zone, and further eliminates the influence of the lock zone on the gyro output. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 is a flow chart of an embodiment of the present invention; Figure 2 is the Bessel coefficient in one embodiment of the present invention and relationship diagram; Figure 3 is a virtual rotation signal in one embodiment of the present invention picture; Figure 4 FIG. 4 is a diagram showing the gyroscope angular rate output under virtual rotation in one embodiment of the present invention. DETAILED DESCRIPTION
[0026] This application provides a method for unlocking a hemispherical resonant gyroscope, which can prevent the gyroscope from being affected by external inputs and reduce the gyroscope lock zone threshold. The solution includes step 1: installing the hemispherical resonant gyroscope in a constant temperature environment, ensuring that the gyroscope input axis of the hemispherical resonant gyroscope points to the sky, and then calibrating the gyroscope damping unevenness and virtual precession force; step 2: calculating the Bessel coefficient; step 3: determining the swing virtual rotation signal based on the calibration result of step 1 and the Bessel coefficient calculation result of step 2 Parameters; Step 4: Swing the virtual rotation signal Under the action of the gyro, the compensation virtual rotation signal is determined according to the angle of the gyro each time. Parameters; Step 5: Use the sliding average method to process the gyro output data and calculate the external input angular rate.
[0027] The specific technical solutions are as follows: Step 1: Calibrate the relationship between the magnitude of damping non-uniformity and the magnitude of virtual rotation speed and driving force.
[0028] Specifically: Install the hemispherical resonant gyroscope in a constant temperature environment, ensure that the gyro input axis of the hemispherical resonant gyroscope points to the sky, wait for the gyroscope to stabilize, use the turntable to apply a constant speed to the gyroscope, measure for a period of time, ensure that the gyroscope standing wave rotates at least one circle, perform Fourier fitting on the measured data, and use the angle formula to convert the fitting result into In the form of The size of is the size of damping non-uniformity.
[0029] The gyroscope is installed statically in the above constant temperature environment. After the gyroscope stabilizes, a virtual precession force is applied to the gyroscope by the host computer. This force acts directly on the gyroscope's resonator, causing the gyroscope's standing wave to rotate at a constant speed. The data is processed once after a period of detection. Since the capacitor voltage output value is proportional to the virtual precession force, the capacitor output value can be continuously corrected according to each measurement result until the detected speed is consistent with the target speed.
[0030] Step 2: Calculate the Bessel coefficient based on the calibrated damping unevenness in step 1, and determine the virtual rotation signal based on the relationship between the calculated Bessel coefficient and the calibrated virtual rotation speed and driving force. .
[0031] Specifically: Under the control of the amplitude loop and the orthogonal loop, the output angular rate of the gyroscope can be approximated as:
[0032] in, is the scale factor, is the magnitude of damping non-uniformity, is the external input angular rate, is the gyro output angle, is the damping axis position. , , introducing cosine virtual rotation , the gyro output is:
[0033] in, Is the swing virtual rotation signal , is the angular frequency of the virtual rotation, is the rotation amplitude, and the rotation modulation parameters should be selected to meet , Integrating the above formula yields:
[0034] in is the damping uneven error term The integral of , so:
[0035] Expressed as the integral of the Bessel function:
[0036] If the order ,So:
[0037] because , when the gyro is integrated with integer multiples of the virtual rotation period, It can be regarded as a slow variable and can be ignored, so the second integral on the right side of the above formula can be approximated to zero. , excluding the virtual rotation term, the gyro output is:
[0038] Also because , from the periodicity of trigonometric functions:
[0039] and In comparison, the lock zone threshold is Change to As long as the signal is selected properly The parameter plays the role of eliminating the locked area. The recursive formula of Bessel coefficient is:
[0040] Will Substituting into the above formula we get:
[0041] From the above formula, we can see that The larger the value of The smaller the peak value.
[0042] Will As a whole, take , use MATLAB to solve the Bessel coefficients , its value is The relationship as Figure 2 As shown. Determine according to the required lock area size The parameters of the signal are combined with the calibration results in step 1, and the virtual rotation is applied to the gyroscope through the host computer.
[0043] Step 3: Based on the calculated virtual rotation signal Calculate the compensation virtual rotation signal based on the relationship between the virtual rotation speed and the driving force .
[0044] Specific: Due to ,However , in order to eliminate the virtual rotation signal The additional error caused by the introduction of the amplitude , the period is Virtual rotation signal , the signal is in the form of a square wave, such as Figure 3 As shown, the signal is applied to the gyroscope by the host computer. By introducing the virtual rotation signal , the gyroscope will rotate forward and backward in one cycle , so the error introduced by the virtual rotation will be integrated to zero, Step 4: Calculate the external input angular velocity.
[0045] Step 3: The gyro output includes the external input angular velocity and the virtual rotation signal. , virtual rotation signal , the external input angular velocity can be calculated using the sliding average method. Sliding average method: the first second to the The average value of the second data is taken as the first measurement value of the gyroscope, and the average value of the second to the The average value of the second data is used as the second gyro measurement value, and so on, until all gyro measurement values are obtained. and They are all periodic signals, and the integral within the period is zero, so the external input angular velocity can be directly obtained by solving the sliding average method.
[0046] Other embodiments of this application provide a specific hemispherical resonant gyroscope unlocking scheme that can split the gyroscope's lock zone and reduce the gyroscope lock threshold by increasing the gyroscope's lock frequency. This invention also employs a novel rotation modulation scheme that causes the gyroscope to swing back and forth around a single point, hence the term "swinging unlocking."
[0047] The swing-out lock scheme includes five steps: calibration of gyro damping unevenness and virtual precession force, calculation of Bessel coefficients, calculation of virtual rotation parameters, and solution of external input angular rate.
[0048] Based on the calculation of Bessel coefficients and gyro calibration results, the swing virtual signal is determined according to the required lock area size Amplitude and period.
[0049] The present invention is to eliminate the virtual rotation signal The error caused by the introduction of compensation virtual signal , so that the gyroscope can rotate during each swing .
[0050] The total time that the gyroscope detects the external angular velocity should be greater than twice the period of the virtual signal. In this way, by processing the data using the sliding average method, the virtual rotation signal can be directly eliminated to obtain the external input angular velocity.
[0051] The following is combined with Figure 1 -Attached Figure 4 The present invention will be further described: In other embodiments of this application, please refer to Figure 1 This application proposes a new hemispherical resonant gyroscope unlocking scheme, which uses a swinging mechanism to unlock the gyroscope. This scheme can isolate the gyroscope from external inputs and reduce the gyroscope lock threshold. This scheme includes steps such as calibrating gyroscope damping nonuniformity and virtual precession force, calculating Bessel coefficients, calculating virtual rotation parameters, and resolving external input angular rates.
[0052] The constant temperature selected in step 1 is , the gyro scale factor is , the turntable speed is After 1 hour of calibration, the gyro standing wave rotated , by fitting the data to the first-order Fourier transform, the damping non-uniformity of the gyroscope is obtained. Then the gyroscope is placed at a constant temperature, and a constant speed is applied to the gyroscope standing wave through the host computer. Virtual rotation, each detection Process the data once, and modify the host computer setting parameters according to the data processing results, and then calibrate the virtual speed and the host computer output voltage coefficient. After the calibration is completed, the gyro is placed at the above constant temperature. The virtual rotation signal is determined based on the Bessel coefficient calculation results in step 2 and the damping unevenness calibrated in step 1. Parameters, the lock zone threshold is less than The situation is shown in the following table.
[0053]
[0054] In this example, the virtual rotation signal The period is selected as , The value of , at this time the lock zone threshold is , the gyro swing angle after a quarter of a cycle is , calculate the virtual rotation signal according to step 3 , the signal period is , the amplitude is At this time, under the action of the virtual signal, the gyro angular rate output is as follows Figure 4 This example conducts three experiments, each lasting a total of , each set of data was processed by sliding average, and the results showed that each set of experiments could detect The external angular rate.
[0055] In other embodiments of this application, please refer to Figure 1 This application proposes a new hemispherical resonant gyroscope unlocking scheme, which uses a swinging mechanism to unlock the gyroscope. This scheme allows the gyroscope to unlock under any circumstances, regardless of external input. This scheme includes steps such as calibrating the gyroscope's damping nonuniformity and virtual precession force, calculating Bessel coefficients, calculating virtual rotation parameters, and resolving external input angular rates.
[0056] Step 1 is the same as the previous example. The gyro is calibrated under constant temperature conditions and installed on a turntable in this environment. After calculations in steps 2 and 3, the virtual rotation signal The period is set to , The value of , virtual rotation signal The period is , the amplitude is The purpose of this example is to detect the external input angular velocity, which is provided by the turntable. The turntable speed is 、 、 、 、 、 、 、 、 、 、 , detect at each speed ,The sliding average method is used to process each set of data.,The experimental results show that the gyroscope successfully detects the external input angular velocity.
Claims
1. A method for unlocking a hemispherical resonant gyroscope, characterized in that: The method comprises: Step 101: Calculate the Bessel coefficient according to the gyro damping non-uniformity; calculate the virtual rotation signal V1 according to the Bessel coefficient and the proportional relationship between the virtual rotation speed and the driving voltage; Step 201: Determine a virtual rotation signal V2 according to the virtual rotation signal V1 and the proportional relationship between the virtual rotation speed and the driving voltage; Step 301: Calculate the external input angular rate according to the virtual rotation signal V1 and the virtual rotation signal V2, so as to achieve unlocking.
2. The method according to claim 1, characterized in that Before step 101, the method further includes: Calibrate the gyro damping non-uniformity.
3. The method according to claim 1, characterized in that Before step 101, the method further includes: Calibrate the proportional relationship between virtual speed and drive voltage.
4. The method according to claim 2, characterized in that Calibrate the gyro damping non-uniformity, including: A turntable is used to apply a constant rotation speed to the gyroscope. After measuring for a period of time, it is ensured that the gyroscope standing wave rotates at least one circle. The measured data is fitted with Fourier transform to obtain the magnitude of the damping inhomogeneity.
5. The method according to claim 4, characterized in that The turntable is used to apply a constant rotation speed to the gyro, and after a period of measurement, it is ensured that the gyro standing wave rotates at least one circle. The measured data is subjected to Fourier fitting to obtain the magnitude of the damping non-uniformity, including: Install the hemispherical resonant gyroscope in a constant temperature environment, ensure that the gyro input axis of the hemispherical resonant gyroscope points to the sky, wait for the gyroscope to stabilize, use the turntable to apply a constant speed to the gyroscope, measure for a period of time, ensure that the gyroscope standing wave rotates at least one circle, perform Fourier fitting on the measured data, and use the angle formula to convert the fitting result into In the form of The size of is the size of damping non-uniformity.
6. The method according to claim 3, characterized in that Calibrate the proportional relationship between virtual speed and drive voltage, including: The gyroscope is installed statically in the above constant temperature environment. After the gyroscope stabilizes, a virtual precession force is applied to the gyroscope by the host computer. This force acts directly on the gyroscope's resonator, causing the gyroscope's standing wave to rotate at a constant speed. The data is processed once after a period of detection. Since the capacitor voltage output value is proportional to the virtual precession force, the capacitor output value can be continuously corrected according to each measurement result until the detected speed is consistent with the target speed.
7. The method according to claim 1, characterized in that The step 101 includes: Under the control of the amplitude loop and the orthogonal loop, the output angular rate of the gyroscope can be approximated as: in, is the scale factor, is the magnitude of damping non-uniformity, is the external input angular rate, is the gyro output angle, is the damping axis position; let , , introducing cosine virtual rotation , the gyro output is: in, Is the swing virtual rotation signal , is the angular frequency of the virtual rotation, is the rotation amplitude, and the rotation modulation parameters should be selected to meet , ; Integrate the above formula to get: in, is the damping uneven error term The integral of , so: Expressed as the integral of the Bessel function: If the order ,So: because , when the gyro is integrated with integer multiples of the virtual rotation period, It can be regarded as a slow variable and can be ignored, so the second integral on the right side of the above formula can be approximated to zero; it can be achieved before the header is encapsulated , excluding the virtual rotation term, the gyro output is: Also because , according to the periodicity of trigonometric functions: and In comparison, the lock zone threshold is Change to , as long as the signal is selected reasonably The parameters play the role of eliminating the locked area; the recursive formula of Bessel coefficient is: Will Substituting into the above formula we get: From the above formula, we can see that The larger the value of The smaller the peak value; Will As a whole, take , use MATLAB to solve the Bessel coefficients ; Determine according to the required lock area size The parameters of the signal are combined with the calibration results in step 1, and the virtual rotation is applied to the gyroscope through the host computer.
8. The method according to claim 1, characterized in that The step 201 includes: because ,However , in order to eliminate the virtual rotation signal The additional error caused by the introduction of the amplitude , the period is Virtual rotation signal , the signal is in the form of a square wave, which is applied to the gyroscope through the host computer; By introducing a virtual rotation signal , the gyroscope will rotate forward and backward in one cycle , so the error introduced by the virtual rotation will be integrated to zero.