A hemispherical resonator gyro force balance mode bandwidth test method and device, electronic equipment and computer readable storage medium

Abstract

The application discloses a kind of hemispherical resonator gyro force balance mode bandwidth test method and device, electronic equipment and computer readable storage medium, method includes: in full angle mode, the angular frequency of the mode precession force of sinusoidal variation is changed, the detection signal collected for each angular frequency is handled, the frequency, amplitude and phase of mode azimuth angle are obtained, as equivalent test input;In force balance mode, the angular frequency of the mode precession force of sinusoidal variation is changed, the detection signal collected for each angular frequency is handled, the frequency, amplitude and phase of mode azimuth angle are obtained, as gyro output response;According to all angular frequencies, and the equivalent test input and gyro output response corresponding to each angular frequency, the bandwidth test result of hemispherical resonator gyro force balance mode is calculated.The application can obtain accurate force balance mode bandwidth test result efficiently and at low cost without affecting amplitude control loop and without using high-precision angular vibration table.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial navigation, in particular to a method and device for testing bandwidth of a force balance mode of a hemispherical resonator gyro, an electronic device and a computer readable storage medium. BACKGROUND

[0002] The hemispherical resonator gyro is an inertial sensitive device, which has the advantages of small volume, light weight, simple structure and long service life. The hemispherical resonator gyro detects angular velocity by using standing wave vibration of a hemispherical resonator. A sinusoidal electrostatic force is applied to the edge of the resonator by an electrostatic, electromagnetic or piezoelectric exciter, so that the resonator generates vibration at its natural frequency. In actual inertial navigation system applications, the detection bandwidth of the gyro is usually required to be greater than 200 Hz. It is necessary to test the bandwidth of each gyro before delivery. The general method for testing the bandwidth of the hemispherical resonator gyro is to install the tested hemispherical resonator gyro on an angular vibration table, and to evaluate the frequency response characteristics of the hemispherical resonator gyro by applying angular vibration excitation of different frequencies. During the process, the angular vibration table is required to have high-precision sinusoidal sweep function, and the frequency range covers the expected bandwidth of the gyro. The angular vibration table is also required to have high-precision amplitude and phase consistency, and the gyro is fixed at the center of the rotation shaft of the vibration table to ensure alignment with the vibration shaft. The test process requires high-precision equipment and operation process, and there are many inconveniences.

[0003] In addition, the amplitude control needs to be maintained at a fixed value in the force balance mode, and a sinusoidal signal cannot be injected, so it is difficult to make the gyro mode azimuth swing back and forth by the amplitude control loop, which replaces the vibration signal injected by the angular vibration table. SUMMARY

[0004] In view of the problems in the background art, the present application provides a method for testing the bandwidth of a force balance mode of a hemispherical resonator gyro, which can efficiently and cost-effectively obtain accurate force balance mode bandwidth test results without affecting the amplitude control loop and without using a high-precision angular vibration table.

[0005] The present application adopts the following technical solutions:

[0006] A method for testing the bandwidth of a force balance mode of a hemispherical resonator gyro, comprising the following steps:

[0007] In the full-angle mode, the mode precession force is changed in angular frequency, the mode precession force is sinusoidal, for each angular frequency, the collected detection signal of the hemispherical resonator gyro is demodulated, and the drive signal of the full-angle control mode is calculated according to the demodulation result, and the drive signal of the full-angle control mode is combined with the sinusoidal mode precession force and acts on the drive electrode of the hemispherical resonator gyro, and the mode azimuth is calculated according to the demodulation result of the collected detection signal, and the frequency, amplitude and phase of the mode azimuth corresponding to the angular frequency in the full-angle mode are recorded as the equivalent test input;

[0008] Switching the hemispherical resonator gyroscope from the full angle mode to the force balance mode, and changing the angular frequency of the mode shape precession force in the force balance mode, the mode shape precession force being sinusoidal variation, demodulating the collected detection signal of the hemispherical resonator gyroscope for each angular frequency, and calculating the driving signal of the force balance control mode according to the demodulation result, and synthesizing the driving signal of the force balance control mode with the mode shape precession force which is sinusoidal variation, and acting on the driving electrode of the hemispherical resonator gyroscope, and calculating the mode shape azimuth angle according to the demodulation result of the collected detection signal, recording the frequency, amplitude and phase of the mode shape azimuth angle corresponding to the angular frequency in the force balance mode as the gyro output response.

[0009] According to all angular frequencies, and the equivalent test input and gyro output response corresponding to each angular frequency, the bandwidth test result of the hemispherical resonator gyroscope force balance mode is calculated.

[0010] Optionally, the changing of the angular frequency of the mode shape precession force in the full angle mode and the changing of the angular frequency of the mode shape precession force in the force balance mode specifically includes:

[0011] The angular frequency of the mode shape precession force which is sinusoidal variation is changed every 5-15s, the step of the change of the angular frequency of the mode shape precession force is 5Hz-20Hz, and the change range of the angular frequency of the mode shape precession force is [10Hz, 500Hz].

[0012] Optionally, the amplitude of the mode shape precession force which is sinusoidal variation is calculated by the following formula:

[0013] ,

[0014] Wherein is the amplitude of the mode shape precession force, is the peak value of the amplitude variation of the mode shape precession force, is the angular frequency of the mode shape precession force, is the time.

[0015] As a general inventive concept, the present application also provides a device for implementing the hemispherical resonator gyroscope force balance mode bandwidth test method described above, comprising:

[0016] A virtual rotation module is configured to change the angular frequency of the mode shape precession force, the mode shape precession force being sinusoidal variation, and generate the mode shape precession force which is sinusoidal variation according to the angular frequency,

[0017] A signal demodulation module is configured to demodulate the collected detection signal of the hemispherical resonator gyroscope,

[0018] A full angle mode control module is configured to calculate the driving signal of the full angle control mode according to the demodulation result,

[0019] a force balance mode control module, configured to calculate a drive signal of a force balance control mode according to the demodulation result,

[0020] an output force synthesis module, configured to synthesize the drive signal of the full angle control mode / force balance control mode with a mode shape precession force in sinusoidal variation, and to act on a drive electrode of the hemispherical resonator gyroscope,

[0021] an azimuth angle calculation module, configured to calculate a mode shape azimuth angle according to the demodulation result of the collected detection signal, and to record a frequency, an amplitude and a phase of the mode shape azimuth angle corresponding to the angular frequency in the full angle mode as an equivalent test input, and to record a frequency, an amplitude and a phase of the mode shape azimuth angle corresponding to the angular frequency in the force balance mode as a gyroscope output response;

[0022] a calculation module, configured to calculate a bandwidth test result of the hemispherical resonator gyroscope in the force balance mode according to all the angular frequencies, and the equivalent test input and the gyroscope output response corresponding to each angular frequency.

[0023] As a general inventive concept, the present application also provides an electronic device, which comprises:

[0024] a memory, configured to store a computer program;

[0025] a processor, configured to implement the steps of the hemispherical resonator gyroscope force balance mode bandwidth test method when the computer program is executed.

[0026] As a general inventive concept, the present application also provides a computer readable storage medium, which has a computer program stored thereon, and the computer program is configured to implement the steps of the hemispherical resonator gyroscope force balance mode bandwidth test method when executed by a processor.

[0027] Compared with the prior art, the present application has the following advantages:

[0028] In order to solve the problem that the amplitude control cannot inject a sinusoidal signal, the present application introduces a virtual rotation loop, and a sinusoidal test signal is injected in the virtual rotation loop. However, according to the bandwidth calculation method, the sinusoidal test signal cannot be directly compared with the output signal. Therefore, the present application proposes to use the output in the full angle mode as an equivalent angular vibration test input, and compare it with the output response in the force balance mode, so as to calculate the bandwidth test result of the hemispherical resonator gyroscope in the force balance mode. In this way, the amplitude control loop is not affected, and a high-precision angular vibration table is not needed, so that the precise force balance mode bandwidth test result can be obtained efficiently and at low cost. BRIEF DESCRIPTION OF DRAWINGS

[0029] For easier understanding of the present application, the present application will be described in more detail by referring to the specific embodiments shown in the drawings. These drawings only depict typical embodiments of the present application and should not be considered as limiting the scope of the present application.

[0030] Figure 1 A control system block diagram of the hemispherical resonator gyro in force balance mode.

[0031] Figure 2 A system block diagram of the virtual rotation test of the hemispherical resonator gyro bandwidth of the present application.

[0032] Figure 3 A flow chart of the implementation steps of the hemispherical resonator gyro bandwidth test method in force balance mode of the embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application will be described below with reference to the drawings so that those skilled in the art can better understand the present application and implement it, but the listed embodiments are not considered as limiting the present application, and the embodiments described below and the technical features in the embodiments can be combined with each other without conflict, wherein the same components are denoted by the same reference numerals.

[0034] The output bandwidth of the hemispherical resonator gyro in force balance mode is limited by the control rate of the software algorithm and the delay of the many negative feedback loops in the control process and many other factors. In actual inertial navigation system applications, the detection bandwidth of the gyro is usually required to be greater than 200 Hz. It is necessary to test the bandwidth of each gyro before delivery.

[0035] The present application provides a hemispherical resonator gyro bandwidth test method in force balance mode, which injects a sinusoidal angular rate signal into the gyro by adding a virtual rotation module, thereby making the gyro swing back and forth in the azimuth angle, which replaces the vibration signal injected by the angular vibration table. First, record the output under the full angle mode closed loop control as the equivalent test input, then switch the hemispherical resonator gyro to force balance mode control, the total energy of the gyro in the force balance mode control and the full angle mode control process is equal, record the output response of the hemispherical resonator gyro in force balance mode, and thus calculate the bandwidth of the hemispherical resonator gyro in force balance mode according to the comparison of the equivalent test input and the output response.

[0036] As Figure 1 shown is a control system block diagram of the hemispherical resonator gyro in force balance mode, the detection electrode X and the detection electrode Y of the hemispherical resonator gyro are connected to a signal demodulation module. The signal demodulation module demodulates the signals of the detection electrode X and the detection electrode Y to obtain a demodulation quantity , , , And deliver it to the force balance mode control module. The force balance mode control module completes the gyro resonant frequency control, quadrature error suppression, amplitude maintenance, force balance control function according to the demodulation quantity, and generates the amplitude maintenance force, quadrature suppression force and force balance force in the control process. The three forces are added by the output force synthesis module and then output to the driving electrode X and the driving electrode Y, wherein the force balance force is proportional to the sensitive angular rate and directly serves as the force balance output.

[0037] As shown in Figure 2 The system block diagram of the virtual rotation test hemispherical resonator gyro bandwidth of the application is shown, the software control algorithm is improved, the azimuth angle calculation module, the full angle mode control module and the virtual rotation module are added. The four demodulation quantities output by the signal demodulation module , , , are delivered to the force balance mode control module, the azimuth angle calculation module, the full angle mode control module and the virtual rotation module at the same time. The azimuth angle calculation module calculates the mode azimuth angle of the hemispherical resonator gyro; the full angle mode control module calculates the amplitude maintenance force under the condition that the mode azimuth angle is allowed to freely precess; the virtual rotation module provides the mode precession force to drive the mode azimuth angle to rotate. In the full angle control mode, the amplitude maintenance force calculated by the full angle mode control module and the output force of the virtual rotation module are added in the output force synthesis module and then act on the driving electrode X and the driving electrode Y. In the force balance mode, the driving force calculated by the force balance mode control module and the output force of the virtual rotation module are added in the output force synthesis module and then act on the driving electrode X and the driving electrode Y.

[0038] The application specifically provides the mode precession force to drive the mode azimuth angle to rotate by the virtual rotation module, injects angular vibration by the equivalent angular vibration table, and the output under the full angle mode closed loop control can be used as the interpretation process of the equivalent test input as follows:

[0039] The calculation formula of the mode precession force amplitude output by the virtual rotation is as follows:

[0040] ,

[0041] Among them is the amplitude of the mode precession force, is the peak value of the mode precession force amplitude change, is the angular frequency of the simulated injected mode precession force, is the time, and the amplitude of the mode precession force changes in a sinusoidal manner according to the angular frequency of the simulated injected mode precession force.

[0042] First in full angle mode, the effect of the above mode precession force in static state is tested, and the equivalent angular vibration is obtained by collecting the output azimuth angle. The hemispherical resonator gyro receives the mode precession force with sinusoidal variation, and the output azimuth angle will change sinusoidally with the same frequency. The change function of the output azimuth angle is collected:

[0043] ,

[0044] wherein is the mode azimuth angle, is the action coefficient of the precession force, is the angular frequency of the simulated injected mode precession force, is the initial value of the mode azimuth angle. Thus, the mode azimuth angle change rate is the derivative of the mode azimuth angle with respect to time.

[0045] ,

[0046] wherein is the mode azimuth angle change rate, and the peak value thereof is proportional to the peak value of the amplitude variation of the precession force. Thus, the equivalent angular vibration rate is further obtained:

[0047] ,

[0048] wherein 0.277 is a proportional factor of the sensitive angular rate of the gyro. Thus, the amplitude of the equivalent angular vibration rate is proportional to the amplitude of the mode precession force of the virtual rotation output, so that the virtual rotation module is used to output the mode precession force to replace the angular vibration table for bandwidth testing, and the output in the full angle mode is used as the equivalent angular vibration rate, which is compared with the output of the gyro in the force balance mode, so that the bandwidth of the gyro in the force balance mode is calculated accurately, and the precise force balance mode bandwidth test result can be obtained efficiently and at low cost.

[0049] In the full angle mode, the peak value of the amplitude variation of the precession force is unchanged, scanning from 10Hz to 500Hz, the effect of the virtual rotation module for driving the mode azimuth angle to rotate is observed, and thus the equivalent test input is calculated. The equivalent test input is applied to the hemispherical resonator gyro in the force balance mode, the phase difference between the gyro output response and the test input, and the amplitude ratio are compared, and the bandwidth test result is calculated.

[0050] Specifically, as Figure 3 shown, the hemispherical resonator gyro force balance mode bandwidth test method of the present application comprises the following steps:

[0051] changing the angular frequency of the precession control force which varies sinusoidally in the full angle mode, demodulating the collected detection signal of the hemispherical resonator gyro for each angular frequency, and calculating the driving signal of the full angle control mode according to the demodulation result, and synthesizing the driving signal of the full angle control mode with the precession control force which varies sinusoidally, and acting on the driving electrode of the hemispherical resonator gyro, and then calculating the mode azimuth angle according to the demodulation result of the collected detection signal, and recording the frequency, amplitude and phase of the mode azimuth angle corresponding to the angular frequency in the full angle mode as the equivalent test input;

[0052] changing the angular frequency of the precession control force which varies sinusoidally in the full angle mode, demodulating the collected detection signal of the hemispherical resonator gyro for each angular frequency, and calculating the driving signal of the full angle control mode according to the demodulation result, and synthesizing the driving signal of the full angle control mode with the precession control force which varies sinusoidally, and acting on the driving electrode of the hemispherical resonator gyro, and then calculating the mode azimuth angle according to the demodulation result of the collected detection signal, and recording the frequency, amplitude and phase of the mode azimuth angle corresponding to the angular frequency in the full angle mode as the equivalent test input;

[0053] According to all angular frequencies, and the equivalent test input and the gyro output response corresponding to each angular frequency, the bandwidth test result of the hemispherical resonator gyro in the force balance mode is calculated.

[0054] In the embodiment, the changing of the angular frequency of the mode precession force which varies sinusoidally in the full angle mode, and the changing of the angular frequency of the mode precession force which varies sinusoidally in the force balance mode, specifically includes:

[0055] The angular frequency of the mode precession force which varies sinusoidally is changed every 5-15s, the step of the change of the angular frequency of the mode precession force is 5Hz-20Hz, and the change range of the angular frequency of the mode precession force is [10Hz, 500Hz].

[0056] In the embodiment, the amplitude calculation formula of the mode precession force which varies sinusoidally is:

[0057] ,

[0058] wherein is the amplitude of the mode precession force, is the peak value of the amplitude change of the mode precession force, is the angular frequency of the mode precession force.

[0059] The application also provides a device for realizing the hemispherical resonator gyro force balance mode bandwidth test method, comprising:

[0060] a virtual rotation module, configured to change an angular frequency of the mode precession force changing in a sine manner, and generate the mode precession force changing in a sine manner according to the angular frequency,

[0061] a signal demodulation module, configured to demodulate the collected detection signal of the hemispherical resonator gyroscope,

[0062] a full-angle mode control module, configured to calculate a driving signal of the full-angle control mode according to the demodulation result,

[0063] a force balance mode control module, configured to calculate a driving signal of the force balance control mode according to the demodulation result,

[0064] an output force synthesis module, configured to synthesize the driving signal of the full-angle control mode / the force balance control mode and the mode precession force changing in a sine manner, and apply the synthesized signal to the driving electrode of the hemispherical resonator gyroscope,

[0065] an azimuth angle calculation module, configured to calculate a mode azimuth angle according to the demodulation result of the collected detection signal, and record a frequency, an amplitude and a phase of the mode azimuth angle corresponding to the angular frequency in the full-angle mode as an equivalent test input, and record a frequency, an amplitude and a phase of the mode azimuth angle corresponding to the angular frequency in the force balance mode as a gyroscope output response,

[0066] a calculation module, configured to calculate a bandwidth test result of the force balance mode of the hemispherical resonator gyroscope according to all the angular frequencies, and the equivalent test input and the gyroscope output response corresponding to each angular frequency.

[0067] The following is an example of implementing the bandwidth test of the force balance mode of a certain hemispherical resonator gyroscope according to the application:

[0068] S01, the gyroscope is started and kept static, and works in the full-angle mode, at this time Figure 2 the force balance mode control module and the virtual rotation module in the full-angle mode are turned off.

[0069] S02, the gyroscope works in the full-angle mode in closed-loop control, and outputs a mode azimuth angle, which can be collected by an upper computer.

[0070] S03, the virtual rotation module is started, and a mode precession force changing in a sine manner is output in sequence from 10 Hz to 500 Hz at an interval of 10 Hz, each frequency point is tested for 10 s, and the mode precession force is applied to the driving electrode X and the driving electrode Y through the output force synthesis module; that is, when each angular frequency is tested, the mode precession force changes in a sine manner with time; the amplitude of the mode precession force changes in a sine manner with the angular frequency.

[0071] S04, the output azimuth angle of the azimuth angle calculation module is collected, and it is confirmed that the azimuth angle swings in a sine manner according to the given frequency.

[0072] S05, record the frequency, amplitude and phase of the azimuth angle swing, which represents the equivalent test input, instead of the vibration signal injected by the angular vibration table.

[0073] S06, close the full angle mode control and start the force balance mode control module, the gyro enters the force balance mode. At this time Figure 2 The output force synthesis module in the gyro adds the outputs of the virtual rotation module and the force balance mode control module and then acts on the drive electrode X and the drive electrode Y. When switching to the force balance mode control, the total energy of the gyro remains unchanged.

[0074] S07, inject the equivalent test quantity by the virtual rotation module.

[0075] S08, collect the force balance output, record the frequency, amplitude and phase, and represent the gyro output response.

[0076] S09, compare the phase difference and amplitude ratio of the gyro output response and the test input, calculate the bandwidth test result, and the bandwidth test calculation is a conventional calculation method, which will not be described here.

[0077] As shown in Table 1, the experimental data using the angular vibration table test is tested in the range of 10Hz~500Hz, the angular vibration table is set to a fixed amplitude of 5.00° / s, the gain is obtained by dividing the gyro output spectrum amplitude by the angular vibration table set amplitude, and it can be seen that when the frequency is 250Hz, the gain is close to 0.5, and the gyro bandwidth is 250Hz.

[0078] Table 1 Angular vibration table test data table

[0079]

[0080] As shown in Table 2, the experimental data of the virtual rotation module provided by the embodiment experiment is used to provide vibration mode precession force to drive vibration azimuth angle rotation, and the equivalent angular vibration table is injected angular vibration test, which is tested in the range of 10Hz~500Hz, the virtual equivalent amplitude is fixed at 5.00° / s, the gain is obtained by dividing the gyro output spectrum amplitude by the angular vibration table set amplitude, and it can be seen that when the frequency is 250Hz, the gain is close to 0.5, and the gyro bandwidth is 250Hz. The test result is consistent with the angular vibration table test result.

[0081] Table 2 Test data table of virtual equivalent angular velocity method

[0082]

[0083] The above-described embodiments are merely preferred specific embodiments of the present application. The phrase "in an embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" used in the specification can refer to one or more of the same or different embodiments according to the present disclosure. Common variations and replacements made by those skilled in the art within the technical scope of the present application should be included in the protection scope of the present application.

Claims

1. A method for testing the force-rebalance mode bandwidth of a hemispherical resonator gyro, comprising: The method comprises the following steps: The virtual rotation module provides mode precession force driving mode azimuth rotation, and equivalent angular vibration table injects angular vibration; In the full-angle mode, the angular frequency of the mode precession force is changed, the mode precession force is sinusoidal, for each angular frequency, the collected detection signal of the hemispherical resonator gyroscope is demodulated, and the driving signal of the full-angle mode is calculated according to the demodulation result, the driving signal of the full-angle mode is synthesized with the sinusoidal mode precession force, and the driving signal of the full-angle mode is applied to the driving electrode of the hemispherical resonator gyroscope, then the mode azimuth is calculated according to the demodulation result of the collected detection signal, and the frequency, amplitude and phase of the mode azimuth corresponding to the angular frequency in the full-angle mode are recorded as the equivalent test input; The hemispherical resonator gyroscope is switched from the full-angle mode to the force balance mode, and the angular frequency of the mode precession force is changed in the force balance mode, the mode precession force is sinusoidal, for each angular frequency, the collected detection signal of the hemispherical resonator gyroscope is demodulated, and the driving signal of the force balance mode is calculated according to the demodulation result, the driving signal of the force balance mode is synthesized with the sinusoidal mode precession force, and the driving signal of the force balance mode is applied to the driving electrode of the hemispherical resonator gyroscope, then the mode azimuth is calculated according to the demodulation result of the collected detection signal, and the frequency, amplitude and phase of the mode azimuth corresponding to the angular frequency in the force balance mode are recorded as the output response of the gyroscope; According to all angular frequencies, and the equivalent test input and the output response of the gyroscope corresponding to each angular frequency, the bandwidth test result of the hemispherical resonator gyroscope in the force balance mode is calculated; The change of the angular frequency of the mode precession force in the full-angle mode and the change of the angular frequency of the mode precession force in the force balance mode specifically comprises: The angular frequency of the mode precession force is changed every 5-15 seconds, the mode precession force is sinusoidal, the step of the change of the angular frequency of the mode precession force is 5-20 Hz, and the change range of the angular frequency of the mode precession force is [10 Hz, 500 Hz].

2. The hemispherical resonator gyro force balance mode bandwidth test method according to claim 1, wherein, The amplitude calculation formula of the sinusoidal mode precession force is: ， wherein is the amplitude of the mode precession force, is the peak value of the mode precession force amplitude variation, is the angular frequency of the mode precession force, t is time.

3. A device for implementing the method for testing the force-rebalance mode bandwidth of a hemispherical resonator gyroscope as claimed in claim 1 or 2, characterized in that, It comprises: The virtual rotation module is used for changing the angular frequency of the mode precession force, the mode precession force is sinusoidal, and the mode precession force which is sinusoidal is generated according to the angular frequency, the virtual rotation module is added to inject the angular rate signal which is sinusoidal into the gyroscope, so that the mode azimuth of the gyroscope swings back and forth, thereby replacing the vibration signal injected by the angular vibration table; The signal demodulation module is used for demodulating the collected detection signal of the hemispherical resonator gyroscope, The full-angle mode control module is used for calculating the driving signal of the full-angle mode according to the demodulation result, The force balance mode control module is used for calculating the driving signal of the force balance mode according to the demodulation result, The output force synthesis module is used for synthesizing the driving signal of the full-angle mode / force balance mode with the sinusoidal mode precession force, and applying the driving signal of the full-angle mode / force balance mode to the driving electrode of the hemispherical resonator gyroscope, An azimuth angle calculation module is configured to calculate a mode shape azimuth angle according to a demodulation result of the collected detection signal, and record a frequency, an amplitude and a phase of the mode shape azimuth angle corresponding to the angular frequency in the full angle mode as an equivalent test input, and record a frequency, an amplitude and a phase of the mode shape azimuth angle corresponding to the angular frequency in the force balance mode as a gyro output response; A calculation module is configured to calculate a bandwidth test result of the force balance mode of the hemispherical resonator gyro according to all the angular frequencies, and the equivalent test input and the gyro output response corresponding to each angular frequency.

4. An electronic device, comprising: The electronic device comprises: a memory for storing a computer program; a processor for executing the computer program to implement the steps of the bandwidth test method of the force balance mode of the hemispherical resonator gyro according to claim 1 or 2.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the bandwidth test method of the force balance mode of the hemispherical resonator gyro according to claim 1 or 2.

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