Gyro mode switching error compensation method and system based on control loop error correction

Abstract

The application relates to the technical field of gyroscopes and discloses a gyro mode switching error compensation method and system based on control loop error correction, which controls a hemispherical resonator gyroscope to run in multiple preset working states under 0-degree mode and 45-degree mode respectively, collects gyroscope output data, and calculates independent control loop error parameters under the two modes based on the collected data; the output signals of the control loop are corrected and compensated in real time, the hemispherical resonator gyroscope is alternately switched between 0-degree mode and 45-degree mode in cycles, the compensated gyroscope output signals are collected, the gyroscope drift is separated, and then the input angular velocity of the gyroscope is accurately calculated. The control loop error is pre-calibrated and compensated in real time, the asymmetric error introduced by mode switching is eliminated from the root, and the accuracy of gyroscope drift separation and the final accuracy of angular velocity measurement are significantly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gyroscopes, and in particular to a mode switching error compensation method and system for a gyroscope based on control loop error correction. BACKGROUND

[0002] A hemispherical resonator gyroscope is a new type of high-precision gyroscope with great development prospects. It has the advantages of small size, high precision, low power consumption, high reliability, short startup time, simple mechanical component structure, wide operating temperature range, strong anti-ionizing radiation capability, insensitivity to linear overload, good stability when power is off, and automated production during manufacturing. In addition, the hemispherical resonator gyroscope has a long service life. Relevant data shows that the hemispherical resonator gyroscope can work continuously for more than 15 years while maintaining the required performance, and is therefore recognized as the gyroscope with the longest service life.

[0003] The hemispherical resonator gyroscope controls the resonator through a pair of electrodes spaced 45° apart in space. It relies on the flat plate capacitor formed by the electrodes and the plating layer of the resonator to exert electrostatic force on the resonator. Due to process limitations, the two electrodes are usually not orthogonal, which affects the control accuracy of the hemispherical resonator gyroscope on the resonator and causes scale errors of the gyroscope. The electrode asymmetry error is generally obtained through pre-off-line calibration, but it will change due to changes in environmental temperature and other reasons, which will cause additional errors in the gyroscope output and affect the accuracy of the gyroscope.

[0004] The present application proposes a mode switching error compensation method for a hemispherical resonator gyroscope based on control loop error correction. By compensating and correcting the control loop error of the gyroscope, the error of the gyroscope is reduced and the accuracy of the gyroscope is improved. SUMMARY

[0005] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a mode switching error compensation method and system for a gyroscope based on control loop error correction.

[0006] The present application proposes a first technical solution as follows.

[0007] A mode switching error compensation method for a gyroscope based on control loop error correction, comprising the following steps:

[0008] S1, control the hemispherical resonator gyroscope to run in three different first working states in the 0° mode, collect the corresponding gyroscope output to obtain a data set one, and control the hemispherical resonator gyroscope to run in three different second working states in the 45° mode, collect the corresponding gyroscope output to obtain a data set two; calculate the control loop error parameters in the 0° mode based on the data set one, and calculate the control loop error parameters in the 45° mode based on the data set two;

[0009] S2, compensating the output signal of the control loop of the hemispherical resonator gyroscope in operation according to the control loop error parameters in the 0° mode and the control loop error parameters in the 45° mode obtained in step S1, to obtain a compensated gyroscope output signal;

[0010] S3, alternately switching the hemispherical resonator gyroscope to operate in the 0° mode and the 45° mode, collecting the compensated gyroscope output signal obtained in step S2, and separating the gyroscope drift according to the compensated gyroscope output signals collected in the two modes, to obtain the gyroscope input angular velocity.

[0011] Further, the first working state and the second working state in step S1 are constituted by combining different resonator standing wave positions of the gyroscope and different external input angular velocities.

[0012] Further, the control loop error parameters in the 0° mode include 0° mode control loop gain inconsistency error and phase lag inconsistency error; and the control loop error parameters in the 45° mode include 45° mode control loop gain inconsistency error and phase lag inconsistency error.

[0013] Further, the calculation of the control loop error parameters in step S1 is based on a hemispherical resonator gyroscope control loop error model,

[0014] When the gyroscope operates in the 0° mode, the control model of the control loop error is:

[0015]

[0016] In the formula:

[0017] are the true output signals of the control loop in the 0° mode, is the gyroscope angular velocity signal, is the gyroscope quadrature signal, is the gyroscope amplitude-stable signal, is the gyroscope frequency-stable signal;

[0018] are the projections of the output signals of the control loop in the 0° mode in the ideal system, respectively;

[0019] is the 0° mode control loop gain inconsistency error;

[0020] is the 0° mode control loop phase lag inconsistency error;

[0021] ω is the control frequency of the gyroscope control loop;

[0022] t is time;

[0023] The control model of the control loop error when the gyro works in the 45° mode is as follows:

[0024]

[0025] In the formula:

[0026] are the real output signals of the control loop in the 45° mode respectively, is the gyro angular velocity signal, is the gyro quadrature signal, is the gyro amplitude-stabilized signal, is the gyro frequency-stabilized signal;

[0027] are the projections of the output signals of the control loop in the 45° mode in the ideal system respectively;

[0028] is the gain inconsistency error of the 45° mode control loop;

[0029] is the phase lag inconsistency error of the 45° mode control loop;

[0030] ω is the control frequency of the gyro control loop;

[0031] t is time.

[0032] Further, in S3, the gyro drift is separated from the compensation gyro output signals collected in the 0° mode and the 45° mode, and is calculated according to the following formula,

[0033]

[0034] is the gyro drift;

[0035] is the scale factor of the gyro;

[0036] is the input angular velocity of the gyro;

[0037] , are the gyro outputs in the two modes respectively.

[0038] Further, the step S3 is performed on a static base.

[0039] The second technical solution provided by the application is as follows.

[0040] A control loop error correction gyro mode switching error compensation system comprises:

[0041] a control loop error parameter calibration module configured to: control the hemispherical resonator gyroscope to operate in three different first working states in a 0° mode, collect corresponding gyroscope outputs to obtain a data set one; and control the hemispherical resonator gyroscope to operate in three different second working states in a 45° mode, collect corresponding gyroscope outputs to obtain a data set two; calculate the control loop error parameters in the 0° mode based on the data set one, and calculate the control loop error parameters in the 45° mode based on the data set two;

[0042] a real-time error compensation module connected with the control loop error parameter calibration module, configured to receive the control loop error parameters in the 0° mode and the control loop error parameters in the 45° mode, and compensate the output signal of the control loop of the hemispherical resonator gyroscope when working based on the control loop error parameters, to obtain a compensated gyroscope output signal;

[0043] a gyroscope drift separation module connected with the real-time error compensation module, configured to receive the compensated gyroscope output signal, and control the gyroscope to alternately work in the 0° mode and the 45° mode, collect the compensated gyroscope output signal, and separate the gyroscope drift according to the gyroscope output signals in the two modes, to output a corrected gyroscope input angular velocity.

[0044] Further, the control loop error parameter calibration module is configured to change the external input angular velocity by a high-precision turntable, and / or change the working standing wave position of the gyroscope resonator, to realize different working states.

[0045] Further, the control loop error parameter calibration module uses a hemispherical resonator gyroscope control loop error model to perform reverse calculation, to calculate the control loop error parameters from the real output signal of the control loop.

[0046] Further, the control loop error parameters include gain inconsistency error and phase lag inconsistency error in the 0° mode, and gain inconsistency error and phase lag inconsistency error in the 45° mode.

[0047] The above one or more technical solutions in the embodiments of the application have at least one of the following technical effects:

[0048] By compensating and correcting the errors in the gyroscope control loop, the method can reduce the overall error of the gyroscope, thereby significantly improving the measurement accuracy of the gyroscope.

[0049] By establishing a new error model and calibration method, the additional drift caused by the phase delay inconsistency and gain inconsistency in the control loop is identified and compensated, and the accuracy of the mode switching self-compensation is improved.

[0050] The method utilizes modal switching to make gyro drift and external angular velocity information regularly change, and after calibrating and compensating the error of the control loop, the gyro drift can be separated from the gyro signal containing angular velocity information more accurately, so that more accurate angular velocity output is obtained.

[0051] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description, or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the application or in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0053] Figure 1 is a spring-particle motion model in the application;

[0054] Figure 2 is a component structure diagram of the control loop error correction gyro modal switching error compensation system of the application. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the application clearer, the technical solutions in the application will be clearly and completely described below. Obviously, the described embodiments are some of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the application. The following embodiments are used to illustrate the application, but cannot be used to limit the scope of the application.

[0056] The hemispherical resonator gyro is a kind of Coriolis vibration gyro, which senses external angular velocity based on Coriolis effect. The hemispherical resonator gyro has multiple vibration modes, and the precession coefficient of the vibration mode (the ratio of the angle turned by the vibration mode to the angle turned by the gyro sensitive axis) monotonically decreases with the increase of the ring wave number n. In order to facilitate vibration mode detection, the second-order vibration mode with n=2 is generally selected. The second-order vibration mode is four-wave-antenna vibration, and the wave-antenna and wave-node are spaced apart by 45° in space. The motion equation of the vibration mode of the hemispherical resonator gyro is a second-order linear differential equation set, and the two equations of the equation set respectively describe the vibration of the resonator along the excitation electrode direction and the detection electrode direction which is 45° to the excitation axis direction in space, which is equivalent to a two-dimensional spring-particle model as Figure 1 .

[0057] The mode switching is to control the gyro to switch the control function of the gyro excitation electrode and the detection electrode alternately, so that the relationship between the gyro drift and the external angular velocity changes regularly under the two different control conditions of 0° mode and 45° mode, thereby achieving the purpose of separating the gyro drift from the gyro signal containing the external angular velocity information.

[0058] However, in actual gyro control, the different control loops have inconsistent phase delay and inconsistent loop gain errors, which lead to measurement errors of the actual gyro detection signal and the excitation signal, and eventually cause additional gyro drift, affecting the precision of the mode switching self-compensation.

[0059] In view of the above control loop errors, a new gyro error model and a control error calibration method are researched and established, and by calibrating each control error, the gyro drift is reduced and the system precision is improved.

[0060] The control model of the gyro in 0° mode with control loop errors is as follows:

[0061] (1)

[0062] In the formula:

[0063] — are respectively the real output signals of the four control loops in 0° mode, wherein, is the gyro angular velocity signal, is the gyro quadrature signal, is the gyro amplitude-stable signal, is the gyro frequency-stable signal;

[0064] are respectively the projections of the output signals of the control loops in 0° mode under the ideal system;

[0065] is the inconsistency error of the 0° mode control loop gain;

[0066] is the inconsistency error of the 0° mode control loop phase lag;

[0067] ω is the control frequency of the gyro control loop;

[0068] t is time;

[0069] The control model of the gyro in 45° mode with control loop errors is as follows:

[0070] (2)

[0071] In the formula:

[0072] These are the actual output signals of the four control loops under the 45° mode, where... This is the gyroscope angular velocity signal. For gyroscope orthogonal signals, This is the amplitude stabilization signal for the gyroscope. This is the frequency stabilization signal for the gyroscope;

[0073] These are the projections of the control loop output signal in the ideal frame under the 45° mode;

[0074] The gain inconsistency error is for the 45° mode control loop.

[0075] The phase lag inconsistency error is for the 45° modal control loop.

[0076] Based on the above controlled output signal, and combined with Lynch's averaging method for solving the kinematic equations of the resonant gyroscope, the gyroscope output with control loop error is obtained:

[0077] (3)

[0078] in:

[0079] —— For gyroscope drift, This represents the damping non-uniformity of the gyro harmonic oscillator. The angle between the damping axis of the resonator and the electrode axis;

[0080] —— This is the gyroscope scale factor;

[0081] —— Input angular velocity into the gyroscope;

[0082] As can be seen from Formula 3, the gyroscope angular velocity Cp is only affected by the orthogonal signal Cq among the four control signals. Therefore, the subsequent turntable test uses Cq to calibrate the control signal error.

[0083] The control loop error can be obtained through turntable calibration tests using the above equations. First, the gyroscope is mounted on a high-precision turntable and controlled in the 0° mode. At this time, the working standing wave position of the gyroscope resonator is... (Generally 0°), the turntable provides an angular velocity of This is state one, and we have:

[0084] (4)

[0085] Next, control the gyro resonator to operate at the 0° modal standing wave position. ( Generally °), the turntable provides angular velocity This is state two, and there are

[0086] (5)

[0087] The simultaneous equations (4) and (5) can be obtained:

[0088] (6)

[0089] Then, the gyro is controlled to work at the 0° mode standing wave position , the turntable provides angular velocity This is state three, and there are

[0090] (7)

[0091] The simultaneous equations (4), (6) and (7) can be obtained:

[0092] (8)

[0093] are the gyro angular velocity outputs collected in states one, two and three under the 0° mode, respectively;

[0094] are the gyro quadrature signal outputs collected in states one, two and three under the 0° mode, respectively.

[0095] Similarly, the calibration of and can be completed by controlling the gyro to work at the 45° mode according to the above method.

[0096] (9)

[0097] are the gyro angular velocity outputs collected in states one, two and three under the 45° mode, respectively;

[0098] are the gyro quadrature signal outputs collected in states one, two and three under the 45° mode, respectively.

[0099] After the calibration and compensation of the control loop error, the gyro drift can be separated through the following formula to obtain the accurate gyro output.

[0100] (10)

[0101] The method first establishes a mathematical model for subsequent calibration and compensation. Through the model establishment and the designed calibration method, a physical problem - hardware error affecting the accuracy is transformed into a mathematical problem - solving unknown error parameters in the model.

[0102] The unknown error parameters introduced in the first stage model are solved by designing a series of accurate experiments; the internal error parameters which cannot be directly measured in the model are changed into known and accurate values by accurate external input and ingenious experimental design.

[0103] After obtaining the accurate error parameters, the control signals are corrected in real time using these parameters. The non-ideal characteristics of the hardware are "eliminated", so that the subsequent drift separation algorithm can run on a model close to the ideal one, thereby ensuring its accuracy.

[0104] Finally, the modal switching-based gyro drift separation, which takes advantage of the modal switching technique itself, and under the guarantee of the previous error compensation, realizes high-precision drift removal and angular velocity measurement.

[0105] A specific implementation of the above method for modal switching error compensation of a hemispherical resonator gyro is given below.

[0106] First, the gyro control loop error compensation is performed, and the operation is as follows:

[0107] The gyro is installed on a high-precision turntable and works for 10 minutes in the 0° modal state 1 condition to complete data recording and mean value calculation; The gyro orthogonal signal, gyro angular velocity output and turntable provided angular velocity under the 0° modal state 1 condition are respectively provided.

[0108] The gyro is installed on a high-precision turntable and works for 10 minutes in the 45° modal state 1 condition to complete data recording and mean value calculation; The gyro orthogonal signal, gyro angular velocity output and turntable provided angular velocity under the 45° modal state 1 condition are respectively provided.

[0109] The gyro is installed on a high-precision turntable and works for 10 minutes in the 0° modal state 2 condition to complete data recording and mean value calculation; The gyro orthogonal signal, gyro angular velocity output and turntable provided angular velocity under the 0° modal state 2 condition are respectively provided.

[0110] The gyro is installed on a high-precision turntable and works for 10 minutes in the 45° modal state 2 condition to complete data recording and mean value calculation; The gyro orthogonal signal, gyro angular velocity output and turntable provided angular velocity under the 45° modal state 2 condition are respectively provided.

[0111] The gyro is installed on a high-precision turntable and works for 10 minutes in the 0° modal state 3 condition to complete data recording and mean value calculation; Gyro orthogonal signal, gyro angular velocity output and turntable angular velocity under 0° mode state 3 condition respectively.

[0112] Gyro is installed on high-precision turntable, and data is recorded and mean value is calculated under 0° mode state 3 condition for 10 minutes. Gyro orthogonal signal, gyro angular velocity output and turntable angular velocity under 45° mode state 3 condition respectively.

[0113] Three groups of data recorded in steps 1) to 6) are calculated according to formula (8) and (9) to complete parameter calculation.

[0114] The calculated parameters are compensated in the loop control signal according to formula (1) and (2).

[0115] After gyro compensation control loop error is placed in a static base, the gyro is controlled in a manner of switching gyro working mode every 5 minutes after starting to stabilize, and gyro output under 0° mode and 45° mode is obtained through a data recording module. The separated gyro drift is calculated according to formula (10) to obtain accurate gyro output. .

[0116] Figure 2 The composition structure of the control loop error correction gyro mode switching error compensation system is shown.

[0117] The application also provides a control loop error correction gyro mode switching error compensation system for realizing the control loop error correction gyro mode switching error compensation method.

[0118] The specific configuration includes:

[0119] The control loop error parameter calibration module is configured to: control the hemispherical resonator gyro to run in three different first working states under 0° mode, collect corresponding gyro output to obtain data group one; and control the hemispherical resonator gyro to run in three different second working states under 45° mode, collect corresponding gyro output to obtain data group two; calculate the control loop error parameters under 0° mode based on the data group one, and calculate the control loop error parameters under 45° mode based on the data group two.

[0120] The control loop error parameter calibration module is configured to change the external input angular velocity and / or change the working standing wave position of the gyro resonator through the high-precision turntable to realize the different working states.

[0121] ​​The control loop error parameter calibration module uses a control loop error model of the hemispherical resonator gyroscope to perform reverse calculation to calculate control loop error parameters from actual output signals of the control loop; the control loop error parameters include gain inconsistency error and phase lag inconsistency error under 0° mode and gain inconsistency error and phase lag inconsistency error under 45° mode.

[0122] The real-time error compensation module is connected with the control loop error parameter calibration module, configured to receive the control loop error parameters under the 0° mode and the 45° mode, and compensate output signals of the control loop of the hemispherical resonator gyroscope in operation based on the control loop error parameters to obtain compensated gyroscope output signals.

[0123] The gyroscope drift separation module is connected with the real-time error compensation module, configured to receive the compensated gyroscope output signals, control the gyroscope to alternately work in the 0° mode and the 45° mode, collect the compensated gyroscope output signals, and separate gyroscope drift according to the gyroscope output signals under the two modes to output corrected gyroscope input angular velocity.

[0124] The control loop error correction-based hemispherical resonator gyroscope mode switching error compensation method and system provided by the application can compensate and correct the control loop error of the gyroscope, reduce the gyroscope error, and improve the gyroscope precision.

[0125] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A method for compensating gyroscope mode switching error based on control loop error correction, characterized in that, Includes the following steps: S1, control the hemispherical resonator gyroscope to operate in three different first operating states in the 0° mode, and collect the corresponding gyroscope output to obtain data set one; and control the hemispherical resonator gyroscope to operate in three different second operating states in the 45° mode, and collect the corresponding gyroscope output to obtain data set two; calculate the control loop error parameters in the 0° mode based on the data set one, and calculate the control loop error parameters in the 45° mode based on the data set two; S2, based on the control loop error parameters in the 0° mode and the control loop error parameters in the 45° mode obtained in step S1, the output signal of the control loop of the hemispherical resonant gyroscope during operation is compensated to obtain the compensated gyroscope output signal; S3, alternately switch the hemispherical resonant gyroscope to work in 0° mode and 45° mode, collect the compensated gyroscope output signal obtained in step S2, and separate the gyroscope drift based on the compensated gyroscope output signal collected in the two modes, and then obtain the gyroscope input angular velocity; In step S1, the first and second working states are formed by combining different gyroscope resonator standing wave positions and different external input angular velocities. The calculation of the control loop error parameters in step S1 is based on the hemispherical resonant gyroscope control loop error model. When the gyroscope operates in 0° mode, the control model for the control loop error is as follows: In the formula: respectively the control loop real output signal in 0°-mode, is the gyro angle velocity signal, is the gyro quadrature signal, is the gyro amplitude stabilized signal, is the gyro frequency stabilized signal; respectively the projection of the control loop output signal in the 0° mode under the ideal system; 0° mode control loop gain inconsistency error; is the 0° mode control loop phase lag inconsistency error; ω is the control frequency of the gyroscope control loop; t represents time; When the gyroscope operates in 45° mode, the control model for the control loop error is as follows: In the formula: These are the actual output signals of the control loop in the 45° mode, respectively. This is the gyroscope angular velocity signal. For gyroscope orthogonal signals, This is the amplitude stabilization signal for the gyroscope. This is the frequency stabilization signal for the gyroscope; These are the projections of the control loop output signal in the ideal frame under the 45° mode; The gain inconsistency error is for the 45° mode control loop. The phase lag inconsistency error is for the 45° modal control loop. ω is the control frequency of the gyroscope control loop; t represents time.

2. The gyroscope mode switching error compensation method based on control loop error correction according to claim 1, characterized in that, The control loop error parameters in the 0° mode include the 0° mode control loop gain inconsistency error and the phase lag inconsistency error; the control loop error parameters in the 45° mode include the 45° mode control loop gain inconsistency error and the phase lag inconsistency error.

3. The gyroscope mode switching error compensation method based on control loop error correction according to claim 1, characterized in that, In S3, the gyroscope drift is obtained by separating the compensated gyroscope output signals acquired in the 0° and 45° modes, and the calculation is based on the following formula. This is gyroscope drift; This is the gyroscope scale factor; Input the angular velocity into the gyroscope; , These are the gyroscope outputs in two modes, respectively.

4. The gyroscope mode switching error compensation method based on control loop error correction according to claim 1, characterized in that, Step S3 is performed on a static base.

5. A control loop error correction gyroscope mode switching error compensation system, characterized in that, include, The control loop error parameter calibration module is configured to: control the hemispherical resonator gyroscope to operate in three different first operating states in the 0° mode, and collect the corresponding gyroscope outputs to obtain data set one; and control the hemispherical resonator gyroscope to operate in three different second operating states in the 45° mode, and collect the corresponding gyroscope outputs to obtain data set two; calculate the control loop error parameters in the 0° mode based on the data set one, and calculate the control loop error parameters in the 45° mode based on the data set two; A real-time error compensation module, which is connected to the control loop error parameter calibration module, is used to receive the control loop error parameters in the 0° mode and the control loop error parameters in the 45° mode, and to compensate the output signal of the control loop of the hemispherical resonant gyroscope when it is working based on the control loop error parameters, so as to obtain the compensated gyroscope output signal. A gyroscope drift separation module, which is connected to the real-time error compensation module, is used to receive the compensated gyroscope output signal and is configured to: control the gyroscope to work alternately in 0° mode and 45° mode, collect the compensated gyroscope output signal, separate the gyroscope drift based on the gyroscope output signal in the two modes, and then output the corrected gyroscope input angular velocity; The first operating state and the second operating state are constituted by combining different gyroscope resonator operating standing wave positions and different external input angular velocities; The calculation of the control loop error parameters is based on the hemispherical resonant gyroscope control loop error model. When the gyroscope operates in 0° mode, the control model for the control loop error is as follows: In the formula: These are the actual output signals of the control loop in the 0° mode. This is the gyroscope angular velocity signal. For gyroscope orthogonal signals, This is the amplitude stabilization signal for the gyroscope. This is the frequency stabilization signal for the gyroscope; These are the projections of the control loop output signal in the ideal frame under the 0° mode; This refers to the gain inconsistency error in the 0° mode control loop. The phase lag inconsistency error is for the 0° mode control loop. ω is the control frequency of the gyroscope control loop; t represents time; When the gyroscope operates in 45° mode, the control model for the control loop error is as follows: In the formula: These are the actual output signals of the control loop in the 45° mode, respectively. This is the gyroscope angular velocity signal. For gyroscope orthogonal signals, This is the amplitude stabilization signal for the gyroscope. This is the frequency stabilization signal for the gyroscope; These are the projections of the control loop output signal in the ideal frame under the 45° mode; The gain inconsistency error is for the 45° mode control loop. The phase lag inconsistency error is for the 45° modal control loop. ω is the control frequency of the gyroscope control loop; t represents time.

6. The control loop error correction gyroscope mode switching error compensation system according to claim 5, characterized in that, The control loop error parameter calibration module is configured to change the externally input angular velocity and / or change the working standing wave position of the gyroscope resonator through a high-precision turntable to achieve different working states.

7. The control loop error correction gyroscope mode switching error compensation system according to claim 6, characterized in that, The control loop error parameter calibration module uses the hemispherical resonator gyroscope control loop error model for inverse calculation to extract the control loop error parameters from the actual output signal of the control loop.

8. The control loop error correction gyroscope mode switching error compensation system according to claim 7, characterized in that, The control loop error parameters include gain inconsistency error and phase lag inconsistency error in the 0° mode and gain inconsistency error and phase lag inconsistency error in the 45° mode.

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