Force balance mode hemispherical resonator gyroscope signal processing method based on vibration resonance

Abstract

The invention discloses a force balance mode hemispherical resonator gyroscope signal processing method based on vibration resonance, and belongs to the technical field of gyroscope signal processing. The invention aims to solve the problem of how to retain useful signals while realizing a filtering effect in the processing of angular rate signals of the hemispherical resonator gyroscope. Comprising the following steps: constructing a continuous over-damping bistable vibration resonance system based on a continuous original input signal and a set continuous high-frequency driving signal; determining system parameters and parameters of high-frequency driving signals; converting the continuous over-damping bistable vibration resonance system into a discrete over-damping bistable vibration resonance system; calculating four intermediate slopes of a fourth-order Runge-Kutta method according to the discrete mixed signal at the current moment and the discrete output signal of the system at the adjacent previous moment, and further calculating to obtain the discrete output signal of the system at the current moment; and calculating according to a discrete output signal of the system at the current moment to obtain a discrete angular rate subjected to vibration resonance processing. According to the invention, the signal-to-noise ratio of the signal is improved.

Description

TECHNICAL FIELD

[0001] The application relates to a signal processing method of a force balance mode hemispherical resonator gyroscope based on vibration resonance, and belongs to the technical field of gyro signal processing. BACKGROUND

[0002] With the development of aerospace technology, the force balance mode hemispherical resonator gyroscope is gradually applied to the attitude measurement of a spacecraft such as a satellite and a space station. The hemispherical resonator gyroscope has the characteristics of high precision, high reliability, strong anti-radiation capability and miniaturization, and therefore is paid more and more attention in the application of space spacecraft tasks. The hemispherical resonator gyroscope is mainly composed of a vacuum cover, a resonator and a flat electrode. According to the working principle, the hemispherical resonator gyroscope can be divided into two working modes of a full-angle mode and a force balance mode. The force balance mode has the characteristics of low dynamic and high precision, which can better meet the requirements of space spacecraft.

[0003] The working principle of the force balance mode hemispherical resonator gyroscope is that an alternating voltage with a frequency of the second-order inherent resonance frequency of the resonator is applied to the electrode. When the resonator works in the second-order resonance state, the vibration standing wave at the lip of the hemispherical shell presents a four-wave-ridge form. When an angular rate is applied to the resonator, the vibration mode of the resonator will precess relative to the initial position, as shown in FIG. 1. At this time, the hemispherical resonator gyroscope will apply a static electric force to the resonator through a control link (a force balance control loop) to make the vibration mode not precess, and the angular rate information input from the outside is obtained by solving the applied static electric force. Figure 1

[0004] In an actual application scenario, the angular rate signal finally solved from the force balance control loop is often mixed with noise signals. In order to improve the signal-to-noise ratio and obtain higher signal precision, the signal needs to be processed. At present, the extended Kalman filtering algorithm or the forward linear prediction filtering algorithm is mainly used to suppress the noise signal. However, the extended Kalman filtering algorithm often needs to rely on an accurate noise model. Since it is difficult to establish an accurate noise model, a simplified noise model is usually used in actual application. However, the simplified noise model is prone to cause system divergence, so it is difficult to achieve the filtering effect. The forward linear filtering algorithm is sensitive to the model order and needs to be determined through repeated experiments by theoretical analysis and experiments. If the order is too low, it is difficult to suppress the noise in the signal, so the filtering effect cannot be achieved. If the order is too high, although the noise can be suppressed to a certain extent, the useful signal is also lost. In addition, the forward linear filtering mainly aims at predictable and coherent noise, and the prediction effect is poor for random white noise, so it is also difficult to achieve the filtering effect. Therefore, a signal processing method capable of achieving the filtering effect and retaining the useful signal needs to be designed. SUMMARY ​

[0005] To address the challenge of preserving useful signals while achieving filtering effects in the processing of hemispherical resonant gyroscope angular rate signals, this invention provides a hemispherical resonant gyroscope signal processing method based on a force balance mode of vibration resonance.

[0006] The present invention provides a signal processing method for a force balance mode hemispherical resonator gyroscope based on vibration resonance, comprising:

[0007] A continuous overdamped bistable vibration resonance system is constructed based on the continuous original input signal and the set continuous high-frequency drive signal; and the system parameters and high-frequency drive signal parameters of the continuous overdamped bistable vibration resonance system are determined according to the principle of vibration resonance.

[0008] The continuous overdamped bistable vibration resonance system is transformed into a discrete overdamped bistable vibration resonance system. The discrete mixed signal obtained from the collected discrete original input signal and the set discrete high-frequency drive signal is used as the input signal of the discrete overdamped bistable vibration resonance system. The discrete mixed signal at the initial time is set as the discrete output signal of the system at the initial time.

[0009] The four intermediate slopes of the fourth-order Runge-Kutta method are calculated based on the discrete mixed signal at the current time and the discrete output signal of the system at the adjacent previous time, and then the discrete output signal of the system at the current time is calculated.

[0010] The discrete angular rate after vibration resonance processing is calculated based on the discrete output signal of the system at the current moment.

[0011] According to the force balance mode hemispherical resonator gyroscope signal processing method based on vibration resonance of the present invention, the continuous original input signal is represented as... :

[0012] ,

[0013] In the formula For time, The amplitude of the continuous original input signal. The angular frequency of the continuous raw input signal. This is a noise signal;

[0014] Set the continuous high-frequency drive signal to In the formula The amplitude of the continuous high-frequency drive signal. For continuous high-frequency drive signal angular frequency, .

[0015] According to the force balance mode hemispherical resonator gyroscope signal processing method based on vibration resonance of the present invention, the dynamic equation of the continuously overdamped bistable vibration resonance system is as follows:

[0016] ,

[0017] wherein is the output signal of the continuous overdamped bistable vibration resonance system, is the potential function of the continuous overdamped bistable vibration resonance system, is the continuous mixed signal;

[0018] .

[0019] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance, the potential function of the continuous overdamped bistable vibration resonance system is :

[0020] ,

[0021] wherein , is a system parameter, wherein is a quadratic term coefficient, is a quartic term coefficient, .

[0022] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance, the output signal of the continuous overdamped bistable vibration resonance system is obtained by using the fast-slow variable method approximate solution:

[0023] ,

[0024] wherein is a low-frequency slow-changing signal in the output signal of the continuous overdamped bistable vibration resonance system , is a high-frequency fast-changing signal in the output signal of the continuous overdamped bistable vibration resonance system .

[0025] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance, the method for determining the system parameters of the continuous overdamped bistable vibration resonance system and the parameters of the high-frequency driving signal is:

[0026] The expression of the approximate solution of the output signal is substituted into the dynamic equation to obtain:

[0027] ,

[0028] wherein is an intermediate variable;

[0029] ;

[0030] When is satisfied , the system occurs vibration resonance.

[0031] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance of the application, the continuous over-damped bistable vibration resonance system is transformed into a discrete over-damped bistable vibration resonance system, and the kinetic equation of the discrete over-damped bistable vibration resonance system is obtained as follows:

[0032] ,

[0033] In the formula is the discrete output signal corresponding to the moment, is the discrete output signal corresponding to the moment, is the discrete original input signal, is the discrete high-frequency driving signal corresponding to the moment, is the discrete mixed signal corresponding to the moment, is the potential function of the discrete over-damped bistable vibration resonance system.

[0034] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance of the application, when is satisfied ;

[0035] When is satisfied, the four intermediate slopes of the fourth-order Runge-Kutta method are calculated according to the discrete mixed signal corresponding to the moment and the discrete output signal corresponding to the moment:

[0036] ,

[0037] In the formula is the first intermediate slope, is the second intermediate slope, is the third intermediate slope, is the fourth intermediate slope.

[0038] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance of the application, when is satisfied, the discrete output signal corresponding to the moment is calculated as follows:

[0039] ,

[0040] In the formula is the discrete sampling time interval.

[0041] According to the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance of the application, the discrete angular rate after vibration resonance processing is:

[0042] ,

[0043] wherein is a cubic polynomial about ;

[0044] ,

[0045] wherein is a cubic polynomial coefficient, is a quadratic polynomial coefficient, a linear polynomial coefficient, is a constant.

[0046] The application has the following advantages: the method of the application concentrates energy to a specific frequency band by using the dynamic characteristics of a nonlinear system through the action of a high frequency signal from the perspective of energy transfer, thereby reducing the influence of signals of other frequency bands on the signals of the specific frequency band, and improving the signal-to-noise ratio of the signals, and having a good filtering effect. In addition, an accurate mathematical model of a vibration resonance system can be established for the specific frequency band to achieve the filtering purpose, and therefore the method has good stability and is not prone to divergence.

[0047] The method of the application transfers the energy of noise to useful signals: weakens the noise and enhances the useful signals, thereby effectively improving the signal-to-noise ratio of the signals while preserving the useful signals; the method of the application can accurately establish a mathematical model of a vibration resonance system, and the model can be used to accurately calculate the system output at any time, thereby accurately calculating the angular rate at any time, and therefore the method has good stability and is not prone to divergence. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is a schematic diagram of the working principle of a hemispherical resonator gyroscope;

[0049] Figure 2 is a schematic diagram of the physical meaning of a potential function representation;

[0050] Figure 3 is a flowchart of the signal processing method of the force balance mode hemispherical resonator gyroscope based on vibration resonance of the application;

[0051] Figure 4 is a schematic diagram of a comparison between the original signal of the gyroscope and the signal after vibration resonance processing by using a signal-to-noise ratio method;

[0052] Figure 5 is a schematic diagram of the Allan variance method for comparing and analyzing the original signal of the gyroscope and the signal after vibration resonance processing;

[0053] Figure 6 is a flow chart of the method of the present application implemented by VHDL in the embodiment;

[0054] Figure 7 is a schematic diagram of the embodiment for comparing and analyzing the original signal of the gyroscope and the signal after vibration resonance processing. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0056] DETAILED DESCRIPTION Figure 2 and Figure 3 As shown in the figures, the present application provides a vibration resonance-based force balance mode hemispherical resonator gyroscope signal processing method, comprising:

[0057] A continuous over-damped bistable vibration resonance system is built based on a continuous original input signal and a set continuous high-frequency driving signal, and the system parameters of the continuous over-damped bistable vibration resonance system and the parameters of the high-frequency driving signal are determined according to the principle of vibration resonance;

[0058] The continuous over-damped bistable vibration resonance system is transformed into a discrete over-damped bistable vibration resonance system, and a discrete mixed signal obtained from the collected discrete original input signal and the set discrete high-frequency driving signal is used as the input signal of the discrete over-damped bistable vibration resonance system, and the discrete mixed signal at the initial time is set as the discrete output signal of the system at the initial time;

[0059] Four intermediate slopes of the fourth-order Runge-Kutta method are calculated according to the discrete mixed signal at the current time and the discrete output signal of the system at the adjacent previous time, and then the discrete output signal of the system at the current time is calculated;

[0060] The discrete angular rate after vibration resonance processing is calculated according to the discrete output signal of the system at the current time.

[0061] Further, the continuous original input signal is expressed as The mathematical model is as follows:

[0062] (1),

[0063] wherein is time, is the continuous original input signal amplitude, is the continuous original input signal angular frequency, is a noise signal;

[0064] A continuous high frequency driving signal can be added using the principle of the vibrating resonance system, and the continuous high frequency driving signal is set as wherein is the continuous high frequency driving signal amplitude, is the continuous high frequency driving signal angular frequency, .

[0065] The continuous high frequency driving signal is mixed with the continuous original input signal and input into the continuous overdamped bistable vibrating resonance system, and the dynamic equation of the continuous overdamped bistable vibrating resonance system is:

[0066] (2),

[0067] wherein is the output signal of the continuous overdamped bistable vibrating resonance system, which is a function of ; is the potential function of the continuous overdamped bistable vibrating resonance system, is the continuous mixed signal;

[0068] (3).

[0069] The potential function of the continuous overdamped bistable vibrating resonance system is in the form of two symmetrical potential wells and an intermediate potential barrier,

[0070] The potential function of the continuous overdamped bistable vibrating resonance system is :

[0071] (4),

[0072] wherein , are system parameters, wherein is a quadratic term coefficient, is a quartic term coefficient, .

[0073] The potential function is characterized by the physical meaning as shown in Figure 2 .

[0074] At this time, the system is simultaneously subjected to the joint action of fast and slow time scales, and the approximate solution of the output signal of the continuous overdamped bistable vibrating resonance system is obtained by using the fast and slow variable method:

[0075] (5),

[0076] wherein is the low-frequency slowly varying signal in the output signal of the continuously overdamped bistable vibration resonance system is the high-frequency rapidly varying signal in the output signal of the continuously overdamped bistable vibration resonance system is the low-frequency slowly varying signal in the output signal of the continuously overdamped bistable vibration resonance system is the high-frequency rapidly varying signal in the output signal of the continuously overdamped bistable vibration resonance system

[0077] the output angular rate of the gyroscope is the low-frequency slowly varying signal in the output signal of the continuously overdamped bistable vibration resonance system is the high-frequency rapidly varying signal in the output signal of the continuously overdamped bistable vibration resonance system

[0078] (6),

[0079] wherein is a cubic polynomial with respect to time .

[0080] The method for determining the system parameters of the continuously overdamped bistable vibration resonance system and the parameters of the high-frequency driving signal is as follows:

[0081] Substitute the expression of the approximate solution of the output signal into the dynamic equation to obtain:

[0082] (7),

[0083] wherein is an intermediate variable;

[0084] (8),

[0085] When satisfies , the system occurs vibration resonance.

[0086] It can be seen from the analysis of the formulas (7) and (8) that the dynamic characteristics of the system will change when the system is simultaneously subjected to the low-frequency signal and the high-frequency signal, at this time, the overdamped particles exhibit the transition between the two potential wells by overcoming the potential barrier under the joint action of the two signals, when satisfies , the system occurs vibration resonance, and the energy of the high-frequency driving signal and the noise signal is transferred to the low-frequency signal by adjusting the motion degree of the particles, thereby improving the signal-to-noise ratio of the signal, and this effect is jointly affected by the parameters and exhibits nonlinear response to the parameter .

[0087] Furthermore, since the actual system is a discrete system, it needs to be discretized. Transforming the continuous overdamped bistable vibration resonance system into a discrete overdamped bistable vibration resonance system yields the following dynamic equations for the discrete overdamped bistable vibration resonance system:

[0088] (9),

[0089] In the formula To and The corresponding number Discrete output signal at time t, For discrete original input signals, For the first Discrete high-frequency driving signals at time points. For the first Discrete mixed signals at time points, and correspond; Let be the potential function of a discrete overdamped bistable resonant vibration system.

[0090] when At that time, ;

[0091] when At that time, according to the first Discrete mixed signal at time step and the Discrete output signal at time 1 Calculate the four intermediate slopes of the fourth-order Runge-Kutta method:

[0092] (10)

[0093] In the formula The first intermediate slope, The second intermediate slope, The third intermediate slope, This is the fourth intermediate slope.

[0094] when When, calculate the first Discrete output signal at time 1 :

[0095] (11),

[0096] In the formula This represents the discrete sampling time interval.

[0097] Finally, the discrete angular rate after vibration resonance treatment for:

[0098] (12)

[0099] wherein is a 3rd order polynomial;

[0100] (13),

[0101] wherein is a polynomial 3rd order coefficient, is a polynomial 2nd order coefficient, is a polynomial 1st order coefficient, is a constant. The discrete angular rate corresponds to the output angular rate of the gyro.

[0102] The execution steps of the present embodiment are as follows:

[0103] 1. Collect signals from the force balance control loop as discrete original input signals; set the parameters of the high frequency signal and the parameters of the vibration resonance system by using formula (8);

[0104] 2. Mix the collected signals with the modulated discrete high frequency signals together to obtain a discrete mixed signal , and input it to the discrete over-damped bistable vibration resonance system which has been built;

[0105] 3. If it is the initial moment, i.e. , calculate the vibration resonance output at the current moment;

[0106] 4. If it is not the initial moment, i.e. , set the discrete sampling time interval (i.e. the sampling period), calculate by using the vibration resonance system output at the last moment and the discrete mixed signal at the current moment , and then calculate by using the calculated , to obtain the vibration resonance system output at the current moment .

[0107] 5. Calculate the output discrete angular rate signal by using formula (12) and formula (13).

[0108] The flow chart of the signal processing method of the force balance mode hemispherical resonator gyro based on vibration resonance is shown in Figure 3 .

[0109] ​Verification experiment: a certain type of hemispherical resonator gyro is selected, the working mode of the gyro is set to force balance mode, and the experiment is carried out on an angular vibration turntable.

[0110] The sampling frequency of the signal is set to 100 Hz, that is, the sampling time interval 0.01 s, the vibration resonance system parameters and high frequency signal parameters are set as follows:

[0111] ;

[0112] The calculation relationship between the output of the vibration resonance system and the angular rate is as follows:

[0113] ;

[0114] The force balance control loop output signal when the turntable angular rate is set to 0° / s (i.e. the turntable is stationary) is selected, and the original signal and the signal after vibration resonance processing are compared by using the signal-to-noise ratio and Allan variance methods respectively. As shown in Figure 4 and Figure 5 .

[0115] 1. Signal-to-noise ratio:

[0116] Table 1 Signal-to-noise ratio of signal

[0117]

[0118] Through vibration resonance processing, the energy of noise in the signal can be transferred to the useful signal, so as to reduce the noise of the signal. From Figure 4 , it can be seen that the noise amplitude of the original signal reaches ° / s, and the noise amplitude of the signal after vibration resonance processing is reduced to ° / s; at the same time, through the vibration resonance processing, the useful signal is retained while the signal-to-noise ratio of the signal is effectively improved. From Table 1, it can be seen that the signal-to-noise ratio of the original signal is-41.4747 dB, and the signal-to-noise ratio of the signal after vibration resonance processing is-25.1372 dB, so the signal-to-noise ratio is improved by 16.3375 dB.

[0119] 2. Allan variance:

[0120] The angle random walk noise of the signal is calculated as shown in the following table:

[0121] Table 2 Angle random walk noise of signal

[0122]

[0123] In combination with Figure 5As shown, the angle random walk noise is generated by the white noise in the gyroscope accumulated over time, and the processing of the original signal through the vibration resonance can transfer the energy of the noise to the useful signal, and can further reduce the angle random walk noise. As can be seen from Table 2, the angle random walk noise of the original signal is 0.1536° / h, and the angle random walk noise of the signal after the vibration resonance processing is 0.0829° / h, so the angle random walk noise is reduced by 0.0707° / h.

[0124] Embodiment:

[0125] The method of the application is implemented by using the VHDL language, and the flow chart is as shown in Figure 6 Figure 6 The right side in the middle is the VHDL function used.

[0126] The sampling frequency of the signal is set to 100Hz, that is, the sampling time interval The vibration resonance system parameters and the high frequency signal parameters are set as follows:

[0127] ;

[0128] The calculation relationship between the output of the vibration resonance system and the angular velocity is as follows:

[0129] ;

[0130] The force balance control loop output signal when the turntable angular velocity is set to 1° / s is collected to obtain the original input signal, and then the vibration resonance based force balance mode hemispherical resonator gyroscope signal processing method is realized by using VHDL to obtain the signal after the vibration resonance processing.

[0131] The original signal and the signal after the vibration resonance processing are as shown in Figure 7

[0132] Although the application is described herein with reference to particular embodiments, it should be understood that these examples are merely illustrative of the principles and applications of the present application. It should therefore be understood that numerous modifications can be made to the illustrative embodiments and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It should be understood that the features described in connection with one embodiment can be used in conjunction with other embodiments described herein. It should also be understood that features described in connection with separate embodiments can be used in other described embodiments.​​

Claims

1. A signal processing method for a vibration resonance based force-rebalance mode hemispherical resonator gyroscope, characterized in that The method comprises the following steps: a continuous over-damped bistable vibration resonance system is built based on a continuous original input signal and a set continuous high-frequency driving signal; system parameters of the continuous over-damped bistable vibration resonance system and parameters of the high-frequency driving signal are determined according to a vibration resonance principle; the continuous over-damped bistable vibration resonance system is transformed into a discrete over-damped bistable vibration resonance system; a discrete mixed signal is obtained as an input signal of the discrete over-damped bistable vibration resonance system from a collected discrete original input signal and a set discrete high-frequency driving signal, and the discrete mixed signal at an initial time is set as a discrete output signal of the system at the initial time; 2. The signal processing method of the vibration resonance-based force balance mode hemispherical resonator gyroscope according to claim 1, characterized in that, The continuous raw input signal is represented as : ， wherein is time, is the continuous raw input signal amplitude, is the continuous raw input signal angular frequency, is a noise signal; The continuous high frequency drive signal is set to where is the continuous high frequency drive signal amplitude, is the continuous high frequency drive signal angular frequency, . four intermediate slopes of a fourth-order Runge-Kutta method are calculated according to the discrete mixed signal at a current time and the discrete output signal of the system at a previous time adjacent to the current time, and then the discrete output signal of the system at the current time is calculated; a discrete angular velocity after vibration resonance processing is calculated according to the discrete output signal of the system at the current time. ， wherein is an output signal of a continuous overdamped bistable vibration resonance system, is a potential function of a continuous overdamped bistable vibration resonance system, is a continuous mixed signal; 。 3. The signal processing method of the force-rebalance mode hemispherical resonator gyroscope based on vibration resonance according to claim 2, wherein a dynamic equation of the continuous over-damped bistable vibration resonance system is: Potential function of continuously overdamped bistable vibrational resonance system is: ， wherein , is a system parameter, wherein is a quadratic coefficient, is a quartic coefficient, .

5. The signal processing method of the vibration resonance based force-rebalance mode hemispherical resonator gyroscope according to claim 4, characterized in that, The output signal of a continuously overdamped bistable resonant vibration system is obtained using the fast-slow variable method. Approximate solution: ， wherein is the output signal of a continuous overdamped bistable vibration resonance system is a low frequency slowly varying signal in is the output signal of a continuous overdamped bistable vibration resonance system is a high frequency rapidly varying signal in 4. The signal processing method of the force-rebalance mode hemispherical resonator gyroscope based on vibration resonance according to claim 3, wherein the four intermediate slopes of the fourth-order Runge-Kutta method are calculated according to the discrete mixed signal at the current time and the discrete output signal of the system at the previous time adjacent to the current time.

6. The signal processing method of the force-rebalance mode hemispherical resonator gyroscope based on vibration resonance according to claim 5, wherein a method for determining the system parameters of the continuous over-damped bistable vibration resonance system and the parameters of the high-frequency driving signal is: The expression of the approximate solution of the output signal is substituted into the kinetic equation, which gives ， In the formulae is an intermediate variable; ， When satisfies the system vibrates in resonance.

7. The signal processing method of the vibration resonance-based force balance mode hemispherical resonator gyroscope according to claim 6, characterized in that, the continuous over-damped bistable vibration resonance system is transformed into the discrete over-damped bistable vibration resonance system, and a dynamic equation of the discrete over-damped bistable vibration resonance system is: ， wherein is the discrete output signal at time is the corresponding first is the discrete output signal at time is the discrete original input signal, is the discrete output signal at time is the discrete high frequency drive signal at time is the discrete output signal at time is the discrete mixed signal at time is the potential function of the discrete overdamped bistable oscillatory resonant system.

8. The signal processing method of the force-rebalance mode hemispherical resonator gyroscope based on vibration resonance according to claim 7, wherein the four intermediate slopes of the fourth-order Runge-Kutta method are calculated according to the discrete mixed signal at the current time and the discrete output signal of the system at the previous time adjacent to the current time. When time, the ; When the fourth order Runge-Kutta method is computed for the four intermediate slopes: the discrete mixed signal at the third and the discrete output signal at the third moment When ， wherein is a first intermediate slope, is a second intermediate slope, is a third intermediate slope, is a fourth intermediate slope.

9. The signal processing method of the force-rebalance mode hemispherical resonator gyroscope based on vibration resonance according to claim 8, wherein the discrete angular velocity after vibration resonance processing is calculated according to the discrete output signal of the system at the current time. When the discrete output signal at the time instant : ， In the formula is a discrete sampling time interval.

10. The signal processing method of the vibration resonance-based force balance mode hemispherical resonator gyroscope according to claim 9, characterized in that, Discrete angular velocity subjected to vibratory resonance treatment is: ， wherein is a 3rd order polynomial in ; ， wherein is a polynomial cubic term coefficient, is a polynomial quadratic term coefficient, is a polynomial linear term coefficient, is a constant.

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