Gyroscope and method for filling gyroscope error correction material

Abstract

The present application belongs to the technical field of inertial navigation, and discloses a gyroscope and a filling method of error correction material for the gyroscope. In the gyroscope, the center support structure is in a cylindrical shape, and a plurality of material filling grooves are formed in the outer peripheral wall of the center support structure at intervals along the circumferential direction of the center support structure, and the plurality of material filling grooves are used for filling error correction material. An electrode base is installed at the upper end of the center support structure. A hemispherical resonator is used for being installed on the electrode base, so that the hemispherical resonator and the electrode base are installed on the base through the cylindrical center support structure, and the assembly is relatively convenient. In addition, a thermal expansion coefficient compensation material can be filled in the plurality of material filling grooves formed in the outer peripheral wall of the center support structure according to actual needs, so as to compensate for the deformation of the gyroscope caused by the change of the working temperature of the gyroscope, so as to reduce thermal stress. Meanwhile, a damping material can also be filled in the plurality of material filling grooves, so as to eliminate damping drift, improve the measurement accuracy and the stability of long-term operation.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation technology, and more particularly to gyroscopes and methods for filling gyroscope error correction materials. Background Technology

[0002] In a hemispherical resonant gyroscope, the resonator is typically connected to an electrode base, which in turn is mounted on a base. In related technologies, the electrode base and base are generally connected by eight metal pillars, specifically, these eight pillars are spaced apart along the circumference of the electrode base, with the upper ends welded to the electrode base and the lower ends welded to the base. This approach has the following problems: Firstly, the eight metal pillars need to be evenly distributed along the circumference and welded separately. During assembly, deviations in pillar height and coaxiality can easily occur, leading to tilting of the electrode base and disrupting the vibration symmetry of the hemispherical resonator. Simultaneously, localized thermal stress generated during welding remains at the connection points, which is easily released during long-term operation or temperature changes, causing micro-deformation of the electrode base and resulting in resonant frequency drift. Secondly, the large difference in thermal expansion coefficients between the metal pillars and the base / base makes them prone to thermal stress during temperature fluctuations, further exacerbating modal instability. Furthermore, the damping drift generated during gyroscope operation is difficult to control, affecting measurement accuracy and long-term operational stability. Summary of the Invention

[0003] According to one aspect of the invention, a gyroscope is provided to improve the ease of assembly of the various components, while also improving measurement accuracy and long-term operational stability.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] Gyroscopes include:

[0006] Base;

[0007] The central support structure is cylindrical, and its lower end is installed on the base. The outer peripheral wall of the central support structure is provided with multiple material filling grooves spaced apart along its circumference. The multiple material filling grooves are used to fill error correction materials, including thermal expansion coefficient compensation materials and damping materials.

[0008] An electrode base is installed at the upper end of the central support structure;

[0009] A hemispherical resonator is used to be mounted on the electrode base, wherein the vibration center axis of the hemispherical resonator coincides with the axis of the central support structure.

[0010] As a preferred embodiment of the gyroscope, the base has a first positioning groove, the lower end of the central support structure is installed in the first positioning groove, the electrode base has a second positioning groove, and the upper end of the central support structure is installed in the second positioning groove.

[0011] As a preferred embodiment of the gyroscope, the outer wall of the lower end of the central support structure is interference-fitted with the side wall of the first positioning groove, and the outer wall of the upper end of the central support structure is transition-fitted with the side wall of the second positioning groove.

[0012] As a preferred embodiment of the gyroscope, multiple material filling slots are evenly arranged along the circumferential direction of the central support structure.

[0013] As a preferred embodiment of the gyroscope, the central support structure has a central hole, which is cylindrical, and the centerline of the central hole coincides with the axis of the central support structure.

[0014] As a preferred embodiment of the gyroscope, the material filling groove extends through the upper and lower surfaces of the central support structure.

[0015] As a preferred embodiment of the gyroscope, the central support structure has a central hole, which is cylindrical, and the centerline of the central hole coincides with the axis of the central support structure. The distance between the wall of the central hole and the outer wall of the central support structure is d. The material filling groove is a rectangular groove with a depth of h, where 1 / 2 ≤ h / d ≤ 2 / 3.

[0016] According to another aspect of the present invention, a method for filling gyroscope error correction material is provided, implemented using the aforementioned gyroscope, wherein the method for filling gyroscope error correction material includes:

[0017] S100: Apply adhesive to the inner wall of the material filling groove;

[0018] S200: Fill the material filling groove with thermal expansion coefficient compensation material;

[0019] S300: Acquire the vibration signal of the hemispherical harmonic oscillator, and determine the damping drift value of each material filling groove at the corresponding angular position based on the vibration signal of the hemispherical harmonic oscillator;

[0020] S400: Calculate the deviation of the damping drift value relative to the set target damping coefficient at the corresponding angular position of each of the material filling slots;

[0021] S500: Determine that the damping drift value of all material filling slots at corresponding angular positions is within the preset range relative to the set target damping coefficient.

[0022] As a preferred embodiment of the gyroscope error correction material filling method, step S500 includes:

[0023] S5001: Determine whether the deviation between the damping drift value of each material filling groove at the corresponding angular position and the set target damping coefficient is within a preset range;

[0024] If the damping drift value at the corresponding angular position of the material filling groove deviates from the set target damping coefficient within the preset range, then step S5002 is executed.

[0025] S5002: Determine the target filling mass of each material filling slot based on the deviation between the damping drift value at the corresponding angular position of each material filling slot and the set target damping coefficient;

[0026] S5003: Fill each of the material filling slots with damping material corresponding to the target filling mass, and return to step S300.

[0027] As a preferred embodiment of the gyroscope error correction material filling method, it also includes the following steps prior to step S100:

[0028] S10: Sandblast the inner wall of the material filling groove;

[0029] S20: Perform ultrasonic cleaning and drying on the central support structure.

[0030] The beneficial effects of this invention are:

[0031] This invention provides a gyroscope, including a base, a central support structure, an electrode base, and a hemispherical resonator. The central support structure is cylindrical, and its lower end is mounted on the base. Multiple material-filling slots are spaced apart along the circumference of the outer peripheral wall of the central support structure. These slots are used to fill error correction materials, including thermal expansion coefficient compensation materials and damping materials. The electrode base is mounted on the upper end of the central support structure. The hemispherical resonator is mounted on the electrode base, with its vibration center axis coinciding with the axis of the central support structure. This allows the hemispherical resonator and electrode base to be mounted on the base via the cylindrical central support structure, facilitating assembly. Furthermore, thermal expansion coefficient compensation materials can be filled into the multiple material-filling slots on the outer peripheral wall of the central support structure as needed to compensate for deformation caused by temperature changes in the gyroscope, reducing thermal stress. Simultaneously, damping materials can be filled into the multiple material-filling slots to eliminate damping drift, improving measurement accuracy and long-term operational stability.

[0032] This invention also provides a method for filling gyroscope error correction material. Using the aforementioned gyroscope implementation, the method involves: applying adhesive to the inner wall of the material filling groove; filling the material filling groove with thermal expansion coefficient compensation material; acquiring the vibration signal of a hemispherical harmonic oscillator and determining the damping drift value at the corresponding angular position of each material filling groove based on the vibration signal of the hemispherical harmonic oscillator; calculating the deviation value of the damping drift value at the corresponding angular position of each material filling groove relative to a set target damping coefficient; and determining that the deviation values ​​of the damping drift values ​​at the corresponding angular positions of all material filling grooves relative to the set target damping coefficient are within a preset range. That is, it is determined whether damping material needs to be filled to eliminate damping drift based on actual needs. Attached Figure Description

[0033] Figure 1 This is a first cross-sectional view of the gyroscope in an embodiment of the present invention;

[0034] Figure 2 This is a second cross-sectional view of the gyroscope in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the central support structure in an embodiment of the present invention;

[0036] Figure 4 This is a flowchart of the gyroscope error correction material filling method in an embodiment of the present invention.

[0037] In the picture:

[0038] 1. Base; 11. First positioning groove;

[0039] 2. Central support structure; 21. Material filling groove; 22. Central hole;

[0040] 3. Electrode base; 31. Second positioning groove;

[0041] 4. Hemispherical harmonic oscillator;

[0042] 5. Error correction materials. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0044] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0046] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0047] Example 1

[0048] In related technologies, the electrode base and base of a hemispherical resonator gyroscope are generally connected by eight metal pillars. Specifically, the eight metal pillars are spaced apart along the circumference of the electrode base, with the upper end of each pillar welded to the electrode base and the lower end welded to the base. This approach has the following problems: First, the eight metal pillars need to be evenly distributed along the circumference and welded separately. During assembly, deviations in pillar height and coaxiality can easily occur, leading to tilting of the electrode base and disrupting the vibration symmetry of the hemispherical resonator. Simultaneously, localized thermal stress generated during welding remains at the connection points, which is easily released during long-term operation or temperature changes, causing micro-deformation of the electrode base and resulting in resonant frequency drift. Second, the large difference in thermal expansion coefficients between the metal pillars and the base / base makes them prone to thermal stress during temperature fluctuations, further exacerbating modal instability. Furthermore, the damping drift generated during gyroscope operation is difficult to control, affecting measurement accuracy and long-term operational stability.

[0049] To address this, this embodiment provides a gyroscope to improve the ease of assembly of the various components, while also enhancing measurement accuracy and long-term operational stability, making it applicable to the field of inertial navigation technology.

[0050] Reference Figures 1-3 The gyroscope includes a base 1, a central support structure 2, an electrode base 3, and a hemispherical resonator 4. The central support structure 2 is cylindrical, and its lower end is mounted on the base 1. Multiple material filling slots 21 are spaced apart along the circumference of the outer wall of the central support structure 2. These slots are evenly distributed along the circumference of the central support structure 2. The number of material filling slots 21 can be set according to actual needs, generally 4 to 12; in this embodiment, there are 8. All material filling slots 21 are used to fill error correction material 5, which includes thermal expansion coefficient compensation material and damping material. The damping material is silicone rubber or polyimide, and the thermal expansion coefficient compensation material is a low-expansion alloy sheet. The electrode base 3 is mounted on the upper end of the central support structure 2. The hemispherical resonator 4 is mounted on the electrode base 3, and its vibration center axis coincides with the axis of the central support structure 2. Thus, the hemispherical resonator 4 and the electrode base 3 are mounted on the base 1 via the cylindrical central support structure 2, making assembly relatively convenient. In addition, thermal expansion coefficient compensation material can be filled into multiple material filling grooves 21 opened on the outer peripheral wall of the central support structure 2 as needed to compensate for the deformation caused by the change of operating temperature of the gyroscope and reduce thermal stress. At the same time, damping material can also be filled into multiple material filling grooves 21 to eliminate damping drift, improve measurement accuracy and long-term operation stability.

[0051] Optionally, in this embodiment, the coaxiality error between the electrode base 3 and the base 1 is ≤0.005mm, so as to further improve the stability of the gyroscope operation.

[0052] Continue to refer to Figures 1-3 The base 1 has a first positioning groove 11, and the lower end of the central support structure 2 is installed in the first positioning groove 11. The electrode base 3 has a second positioning groove 31, and the upper end of the central support structure 2 is installed in the second positioning groove 31. Thus, the central support structure 2 can be positioned through the first positioning groove 11 and the second positioning groove 31, so as to further facilitate the operator to assemble the central support structure 2 with the base 1 and the electrode base 3.

[0053] Continue to refer to Figures 1-3The outer wall of the lower end of the central support structure 2 is interference-fitted with the side wall of the first positioning groove 11, thereby fixing the outer wall of the lower end of the central support structure 2 to the side wall of the first positioning groove 11. Optionally, the interference amount is 0.01~0.02mm. The outer wall of the upper end of the central support structure 2 is transition-fitted with the side wall of the second positioning groove 31. Specifically, the fit tolerance is H7 / g6, and after fitting, it is connected by low-temperature soldering to fix the outer wall of the upper end of the central support structure 2 to the side wall of the second positioning groove 31. The laser spot welding points are evenly distributed along the circumference of the upper end face of the hollow cylinder. In this embodiment, the number of solder points is 8, and the diameter of the solder points is 0.4~0.6mm. The melting point of the low-temperature solder is ≤160℃.

[0054] Continue to refer to Figures 1-3 The central support structure 2 has a central hole 22, which is cylindrical, and the center line of the central hole 22 coincides with the axis of the central support structure 2. By creating the central hole 22 in the central support structure 2, weight reduction can be achieved, while also saving processing materials and reducing costs. Furthermore, since the center line of the central hole 22 coincides with the axis of the central support structure 2, it will not affect the accuracy and stability of the gyroscope during operation.

[0055] Optionally, the material of the central support structure 2 must meet the following condition: the difference in the coefficients of thermal expansion between the central support structure 2 and the hemispherical harmonic oscillator 4 is ≤1×10⁻⁶. -7 The temperature is set at ℃, and the difference in elastic modulus between the central support structure 2 and the hemispherical harmonic oscillator 4 is ≤5GPa, thereby reducing the difference in deformation caused by temperature changes and avoiding modal interference during vibration energy transmission, thus preventing any impact on measurement accuracy. Specifically, the material of the central support structure 2 is microcrystalline glass or a titanium alloy-microcrystalline glass composite material.

[0056] Continue to refer to Figures 1-3 The material filling groove 21 penetrates the upper and lower surfaces of the central support structure 2, thereby reserving more installation space for the error correction material 5. At the same time, the error correction material 5 can be filled at different positions along the axial direction of the central support structure 2 according to actual needs, thus improving the flexibility of material filling.

[0057] Continue to refer to Figures 1-3The distance between the wall of the central hole 22 and the outer wall of the central support structure 2 is d; the material filling groove 21 is a rectangular groove with a depth of h, where 1 / 2 ≤ h / d ≤ 2 / 3, thus adapting the groove depth of the material filling groove 21 to the specific dimensions of the central support structure 2 and the central hole 22. Specifically, the ratio of the distance d between the wall of the central hole 22 and the outer wall of the central support structure 2 to the groove depth h of the material filling groove 21 can be 0.5, 0.52, 0.54, 0.56, 0.58, 0.60, 0.62, 0.64, or 0.66, etc. Optionally, the groove width of the material filling groove 21 is 1~3mm, ensuring a moderate groove width that provides sufficient operating space for the operator to fill the groove with error correction material 5, while preventing the groove width from being too large and affecting the connection between the upper and lower ends of the central support structure 2. The width of the material filling groove 21 can be 1.0mm, 1.2mm, 1.4mm, 1.6mm, 1.8mm, 2.0mm, 2.2mm, 2.4mm, 2.6mm, 2.8mm or 3.0mm, etc.

[0058] Example 2

[0059] This embodiment provides a method for filling gyroscope error correction material, which is implemented using the gyroscope described in the above embodiment.

[0060] Reference Figure 4 The method for filling gyroscope error correction material includes the following steps.

[0061] S10: Sandblast the inner wall of the material filling groove 21.

[0062] The sand particles have a diameter of 50-80μm. The inner wall of the material filling tank 21 is sandblasted to remove the oxide layer and impurities on the surface of the tank wall.

[0063] S20: Perform ultrasonic cleaning and drying on the central support structure 2.

[0064] This step removes surface impurities from the central support structure 2. Specifically, it involves ultrasonic cleaning with anhydrous ethanol for 15 minutes, followed by drying (at 80°C for 30 minutes) until no residual impurities remain on the surface.

[0065] S100: Apply adhesive to the inner wall of the material filling groove 21.

[0066] Specifically, a high-temperature epoxy adhesive (viscosity 5000mPa·s~8000mPa·s) is coated on the inner wall of the material filling groove 21, with a coating thickness of 0.1mm~0.2mm, to ensure that the groove wall of the material filling groove 21 is fully covered without any omissions.

[0067] S200: Fill the material filling groove 21 with thermal expansion coefficient compensation material.

[0068] The thermal expansion coefficient compensation material is adhered by the high-temperature epoxy adhesive applied in step S200. The amount of thermal expansion coefficient compensation material is generally determined based on the difference in thermal expansion coefficients between the central support structure 2 and the hemispherical harmonic oscillator 4.

[0069] It is understandable that after the material filling groove 21 is filled, the damping at various positions of the central support structure 2 may be uneven due to the processing accuracy of the central support structure 2 and the thermal expansion coefficient compensation material. In this embodiment, the following steps are taken to eliminate the uneven damping that may occur in the central support structure 2.

[0070] S300: Acquire the vibration signal of the hemispherical harmonic oscillator 4, and determine the damping drift value of each material filling groove 21 at the corresponding angular position based on the vibration signal of the hemispherical harmonic oscillator 4.

[0071] Specifically, vibration signals within a 360° range can be collected by a vibration sensor installed on the hemispherical resonator 4, damping coefficient data can be extracted, and a damping distribution curve can be obtained. It can be understood that each material filling groove 21 corresponds to an angle range. For example, in this embodiment, there are eight material filling grooves 21, spaced apart along the circumference of the central support structure 2. The angles corresponding to the eight material filling grooves 21 are 0°~45°, 45°~90°, 90°~135°, 135°~180°, 180°~225°, 225°~270°, 270°~315°, and 315°~360°, respectively. Based on the damping coefficient data within the above angle ranges, Obtaining the damping drift value at the corresponding angular position is a relatively mature technique in this field, based on damping coefficient data within a certain angular range. For example, the journal article "Research on Damping Error Compensation Method of Full-Angle Mode Hemispherical Resonator Gyroscope" published by Zhang Yongmeng et al. proposed a gyroscope error model in full-angle mode and provided a method for calculating damping drift. Another example is the journal article "Damping Non-uniformity Error Compensation Method of Hemispherical Resonator Gyroscope" published by Guo Jie et al., which established a two-dimensional harmonic oscillator vibration model and was able to obtain the damping non-uniformity term. Yet another example is Zhao Wanliang's dissertation "Research on Control Mode and Error Compensation Method of Large Dynamic Hemispherical Resonator Gyroscope," which derived the standing wave drift error equation caused by damping non-uniformity. In this embodiment, the principle and process of obtaining the damping drift value can be found in the aforementioned papers and will not be repeated here.

[0072] S400: Calculate the deviation of the damping drift value of each material filling groove 21 at the corresponding angular position from the set target damping coefficient.

[0073] The target damping coefficient is set to D0, and its specific value can be preset according to the gyroscope's accuracy requirements, for example, 0.05 Ns / m to 0.1 Ns / m. The damping drift value at the corresponding angular position of the material filling groove 21 is D. i In this embodiment, i is the number of the material filling groove 21, and the value of i is 1~8. D1~D8 correspond to 8 material filling grooves 21 respectively. The deviation value between the damping drift value of the material filling groove 21 at the corresponding angular position and the set target damping coefficient is... , .

[0074] S500: Ensure that the damping drift values ​​of all material filling slots 21 at corresponding angular positions are within the preset range relative to the set target damping coefficient.

[0075] In this step, it is determined whether damping material needs to be filled to eliminate damping drift, based on actual needs. Specifically, step S500 includes steps S5001-S5003.

[0076] S5001: Determine whether the deviation between the damping drift value of each material filling groove 21 at the corresponding angular position and the set target damping coefficient is within the preset range.

[0077] The preset range can be set in advance according to actual needs and stored in the controller. In this embodiment, the deviation value being within the preset range means that... In other embodiments, the range can be set to other ranges as needed.

[0078] If the deviation values ​​of the damping drift values ​​at the corresponding angular positions of all material filling slots 21 from the set target damping coefficient are all within the preset range, then it is determined that the deviation values ​​of the damping drift values ​​at the corresponding angular positions of all material filling slots 21 from the set target damping coefficient are all within the preset range; if there are material filling slots 21 whose damping drift values ​​at the corresponding angular positions from the set target damping coefficient are not within the preset range, then step S5002 is executed.

[0079] S5002: Determine the target filling quality of each material filling groove 21 based on the deviation between the damping drift value of each material filling groove 21 at the corresponding angular position and the set target damping coefficient.

[0080] The target filling mass of the material filling groove 21 is: m1~m8 correspond to eight material filling slots 21. The target filling mass of the material filling slots 21 is... Satisfy the following formula:

[0081] ;

[0082] Where m0 is the baseline filling mass, the specific value of which can be preset according to the volume of the material filling groove 21, and its value is generally 0.5g~1.5g. k is a correction coefficient, which can be calibrated through a large number of tests in the early stage, and the value of k is positive to ensure that the deviation between the damping drift value of the material filling groove 21 at the corresponding angular position and the set target damping coefficient is within the specified range. When the value is positive, As the value increases, the deviation between the damping drift value at the corresponding angular position of the material filling groove 21 and the set target damping coefficient increases. When the value is negative, The value decreases; specifically, the value of k is generally 0.02 g / (Ns / m) - 0.05 g / (Ns / m).

[0083] In the above formula, if the damping drift value at the corresponding angular position of the material filling groove 21 deviates from the set target damping coefficient... If the value is positive, then As the value increases, the target fill quality needs to be increased. If the damping drift value at the corresponding angular position of the material filling groove 21 deviates from the set target damping coefficient... If the value is negative, then If the value decreases, the target fill quality needs to be reduced. This allows the deviation between the damping drift value at the corresponding angular position of the material filling groove 21 and the set target damping coefficient to be determined. Convert the sign and magnitude of the positive and negative values ​​to... The value of the value is changed, thereby adjusting the target filling quality of each material filling slot 21. Furthermore, a reference filling quality is set. The deviation between the damping drift value at the corresponding angular position of the material filling groove 21 and the set target damping coefficient. Even when the value is negative, the calculated value is still guaranteed. The value is positive.

[0084] S5003: Fill the corresponding material filling slot 21 with the target filling mass of damping material, and return to step S300.

[0085] Specifically, the damping material is cut into block-shaped structures that fit the dimensions of the groove according to the calculated mass, embedded in the material filling groove 21 and compacted to ensure that the damping material and the adhesive layer of the groove wall of the material filling groove 21 are tightly bonded and there are no air bubbles left.

[0086] Optionally, step S5003 further includes: heating and curing the damping material. Specifically, the central support structure 2 can be placed in an oven and dried (at a temperature of 80°C for 30 minutes) to heat and cure the damping material.

[0087] It should be noted that since the damping material filled in one material filling slot 21 will simultaneously affect the damping drift value at the corresponding angular position of other material filling slots 21, if the deviation value of the damping drift value at the corresponding angular position of a material filling slot 21 is not within the preset range, it is necessary to fill all material filling slots 21 with damping material (including material filling slots 21 with deviation values ​​within the preset range and material filling slots 21 with deviation values ​​outside the preset range). In other words, each time steps S300-S5003 are executed in a loop, damping material is filled into all material filling slots 21 once. However, since the mass of damping material filled each time is small, and generally steps S300-S5003 are not executed in a loop too many times, the material filling slots 21 will not be completely filled.

[0088] After filling the corresponding material filling slot 21 with the target filling mass of damping material, return to step S300, that is, reacquire the vibration signal of the hemispherical harmonic oscillator 4, and obtain the damping drift value of each material filling slot 21 at the corresponding angular position based on the vibration signal of the hemispherical harmonic oscillator 4, and determine again whether it is still necessary to continue to correct the mass of the damping material filled in the material filling slot 21, until the deviation value of the damping drift value of all material filling slots 21 at the corresponding angular position and the set target damping coefficient are all within the preset range.

[0089] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method of filling a gyroscope error correction material, characterized by, The gyroscope is implemented by a gyroscope comprising: a base (1); a central support structure (2) in a cylindrical shape, a lower end of the central support structure (2) is installed on the base (1); a peripheral wall of the central support structure (2) is provided with a plurality of material filling grooves (21) spaced apart along a circumferential direction thereof, and each of the plurality of material filling grooves (21) is used to fill an error correction material (5), the error correction material (5) comprises a thermal expansion coefficient compensation material and a damping material; an electrode base (3) installed on an upper end of the central support structure (2); a hemispherical resonator (4) used to be installed on the electrode base (3), a vibration center axis of the hemispherical resonator (4) coincides with an axis of the central support structure (2); the gyroscope error correction material filling method comprises: S100: gluing an inner wall of the material filling groove (21); S200: filling the thermal expansion coefficient compensation material in the material filling groove (21); S300: obtaining a vibration signal of the hemispherical resonator (4), and determining a damping drift value of an angle position corresponding to each of the material filling grooves (21) based on the vibration signal of the hemispherical resonator (4); S400: respectively calculating deviation values of the damping drift values of the angle positions corresponding to each of the material filling grooves (21) relative to a set target damping coefficient; S500: determining that the deviation values of the damping drift values of the angle positions corresponding to all the material filling grooves (21) relative to the set target damping coefficient are all within a preset range.

2. The method of claim 1, wherein In the gyroscope, the base (1) is provided with a first positioning groove (11), the lower end of the central support structure (2) is installed in the first positioning groove (11), and the electrode base (3) is provided with a second positioning groove (31), the upper end of the central support structure (2) is installed in the second positioning groove (31).

3. The method of claim 2, wherein In the gyroscope, an outer wall of a lower end of the central support structure (2) is in interference fit with a side wall of the first positioning groove (11), and an outer wall of an upper end of the central support structure (2) is in transition fit with a side wall of the second positioning groove (31).

4. The method of claim 1, wherein In the gyroscope, the plurality of material filling grooves (21) are uniformly arranged along the circumferential direction of the central support structure (2).

5. The method of claim 1, wherein In the gyroscope, the central support structure (2) has a central hole (22) in a cylindrical shape, and a center line of the central hole (22) coincides with the axis of the central support structure (2).

6. The method of claim 1, wherein In the gyroscope, the material filling groove (21) penetrates through an upper end surface and a lower end surface of the central support structure (2).

7. The method of claim 6, wherein In the gyroscope, the central support structure (2) has a central hole (22) in a cylindrical shape, and a center line of the central hole (22) coincides with the axis of the central support structure (2), a distance between a hole wall of the central hole (22) and the outer wall of the central support structure (2) is d; the material filling groove (21) is a rectangular groove, and a groove depth is h, 1 / 2≤h / d≤2 / 3.

8. The method of claim 1-7, wherein, Step S500 comprises: S5001: judging whether the deviation value of the damping drift value of each material filling groove (21) corresponding to the angle position and the set target damping coefficient is within the preset range; If the deviation value of the damping drift value of each material filling groove (21) corresponding to the angle position and the set target damping coefficient is not within the preset range, step S5002 is executed; S5002: determining the target filling quality of each material filling groove (21) based on the deviation value of the damping drift value of each material filling groove (21) corresponding to the angle position and the set target damping coefficient; S5003: filling the damping material corresponding to the target filling quality in each material filling groove (21), and returning to step S300.

9. The method of claim 1-7, wherein Further comprising steps before step S100: S10: sandblasting the inner wall of the material filling groove (21); S20: ultrasonic cleaning and drying the center support structure (2).

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