Method for calibrating g value sensitivity coefficient of hemispherical resonator gyroscope

Abstract

The invention relates to a g-value sensitive coefficient calibration method of a hemispherical resonator gyroscope, which comprises the following steps: establishing a gyroscope output error model and a gyroscope installation error model, executing a g-value sensitive coefficient multi-position calibration test process to obtain an angular velocity component of each axis of the gyroscope relative to an inertial coordinate system, identifying the g-value sensitive coefficient, and realizing the calibration of the g-value sensitive coefficient in a gravity field. The high-precision calibration of the gyroscope g value sensitive item error improves the output precision of the rate integration hemispherical resonator gyroscope.

Description

TECHNICAL FIELD

[0001] The application relates to a g value sensitive coefficient calibration method of a rate integration mode hemispherical resonator gyroscope, and belongs to the technical field of high-precision inertial element testing. BACKGROUND

[0002] As a high-precision solid-state vibration type gyroscope, the rate integration hemispherical resonator gyroscope has been widely applied in the fields of aviation, aerospace, navigation and the like due to its unique advantages of high precision, small size, simple structure, high reliability, large measurement range and high linearity. In actual application, the gravitational acceleration can introduce an error related to the angle of the standing wave mode of the gyroscope through the structural coupling of the resonator, seriously affecting the zero bias and stability of the gyroscope and reducing the performance of the gyroscope.

[0003] The existing gyroscope error model calibration method is mostly based on the linear error model of a traditional mechanical gyroscope, and the unique standing wave motion characteristics of the hemispherical resonator gyroscope are not fully considered, so the sine relationship between the g value sensitive term error and the standing wave azimuth angle of the gyroscope under the gravitational field cannot be accurately described, thereby limiting the calibration accuracy. Meanwhile, the common position rolling calibration method under the gravitational field mostly adopts the polar axis rolling method, and the excitation of the g value sensitive term does not reach the maximum range of the static test, thereby affecting the test accuracy to a certain extent. SUMMARY

[0004] The technical problem solved by the application is that, in view of the low test accuracy and the difficulty in testing the g value sensitive term of the rate integration hemispherical resonator gyroscope in the prior art, a g value sensitive coefficient calibration method of a hemispherical resonator gyroscope is provided.

[0005] The application solves the above technical problem by the following technical scheme:

[0006] A g value sensitive coefficient calibration method of a hemispherical resonator gyroscope comprises the following steps:

[0007] The gyroscope is installed on the inner ring shaft of a double-axis servo turntable;

[0008] An output error model of the gyroscope and an installation error model of the gyroscope are established;

[0009] A g value sensitive coefficient multi-position calibration test is designed according to the output error model of the gyroscope;

[0010] A g value sensitive coefficient multi-position calibration test process is performed, and the angular velocity components of each axis of the gyroscope relative to the inertial coordinate system under different double-axis servo turntable rotation positions are calculated;

[0011] The standing wave mode angle of the gyroscope is switched and controlled according to the g value sensitive coefficient multi-position calibration test process, and the output data of the gyroscope under different double-axis servo turntable rotation positions are recorded.

[0012] The g value sensitive coefficient is calculated by substituting the gyro output data into the gyro output error model. The g value sensitive term error is included in the gyro output error model, and the gyro output error model is:

[0013] G = ω ei +k I A I +k X A X +k Y A Y +k IX A I A X +k IY A I A Y +k XY A X A Y

[0014] +(k AI1 sin4θ 振型角 +k AI2 cos4θ 振型角 )A I +(k AX1 sin4θ 振型角 +k AX2 cos4θ 振型角 )A X

[0015] +(k AY1 sin4θ 振型角 +k AY2 cos4θ 振型角 )A Y +(k AIX1 sin4θ 振型角 +k AIX2 cos4θ 振型角 )A I A X

[0016] +(k AIY1 sin4θ 振型角 +k AIY2 cos4θ 振型角 )A I A Y +(k AXY1 sin4θ 振型角 +k AXY2 cos4θ 振型角 )A X A Y +ε

[0017] In the formula, θ振型角 ω is the standing wave mode angle; G is the output of the gyroscope after compensating for static errors; ei A represents the angular velocity component of Earth's rotation. I A X A Y These represent the accelerations of the gyroscope along the I, X, and Y axes, respectively, where I is the direction of the sensitive axis; k I k X k Y k IX k IY K XY These are the corresponding acceleration-related error coefficients; k AI k AX k AY k AIX k AIY k AXY These are the corresponding zero-biased circular distribution error coefficients related to acceleration; ε is the random error.

[0018] The method for establishing the gyroscope installation error model is as follows:

[0019] Calculate the transition matrix of the outer ring axis coordinate system relative to the geographic coordinate system;

[0020] Calculate the transition matrix of the inner ring axis coordinate system relative to the outer ring axis coordinate system;

[0021] Calculate the transition matrix of the tooling coordinate system relative to the inner ring axis coordinate system;

[0022] Calculate the transition matrix of the gyroscope coordinate system relative to the tooling coordinate system;

[0023] Merge to obtain the transition matrix of the gyro coordinate system relative to the geographic coordinate system;

[0024] The gyroscope installation error model is characterized by the transition matrix of the gyroscope coordinate system relative to the geographic coordinate system.

[0025] The transition matrix of the outer ring axis coordinate system relative to the geographic coordinate system for:

[0026]

[0027] In the formula, Δθ x0 The horizontality error angle of the foundation facing east is Δθ. y0 Let Δθ be the horizontal error angle of the foundation facing north. z0 The northward error angle of the turntable.

[0028] The transition matrix T1 between the inner ring axis coordinate system and the outer ring axis coordinate system 2 for:

[0029] T12 =Rot(O1X1,Δθ) x1 )

[0030] In the formula, Δθ x1 This is the perpendicular error angle between the inner and outer ring axes.

[0031] The transition matrix of the tooling coordinate system relative to the inner ring axis coordinate system for:

[0032]

[0033] In the formula, Δθ x2 The eastward horizontality error angle of the gyroscope mounting plane, Δθ y2 The northward horizontality error angle of the gyroscope mounting plane.

[0034] The transition matrix of the gyroscope coordinate system relative to the tooling coordinate system is:

[0035]

[0036] In the formula, Δθ x2 The eastward horizontality error angle of the gyroscope mounting plane, Δθ y2 The northward horizontality error angle of the gyroscope mounting plane.

[0037] The coefficients of each transition matrix in the transition matrix between the gyroscope coordinate system and the geographic coordinate system are error angle values. The transition matrix between the gyroscope coordinate system and the geographic coordinate system characterizes the gyroscope installation error model.

[0038]

[0039] The multi-location calibration test procedure for the g-value sensitivity coefficient is as follows:

[0040] Set the gyroscope's sensitive axis to the local vertical direction and perform an error test related to the gyroscope's sensitive axis acceleration.

[0041] Set the gyroscope's sensitive axis to the local horizontal direction and perform gyroscope X-axis and Y-axis acceleration-related error tests;

[0042] Test the acceleration-related error terms of the cross-coupling terms of each axis of the gyroscope at the preset inclined turntable position;

[0043] Specifically, when the inner and outer ring axes of the dual-axis servo turntable are at different angular positions, the three-axis acceleration components of the gyroscope are determined and recorded.

[0044] During the calibration of the g-value sensitivity coefficients of each axis of the gyroscope, the switching test of the gyroscope's standing wave mode angle from 0 to 360° was achieved through force balance-full angle dual-mode control, and the gyroscope detection mode angle θ at each rotation position of the dual-axis servo turntable was recorded. 振型角1 ,θ 振型角2 ,θ 振型角3 ,...θ 振型角n and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ,...,θ 转台n ;

[0045] Detecting the mode shape angle θ using a gyroscope 振型角1 ,θ 振型角2 ,θ 振型角3 ,...θ 振型角n and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ,...,θ 转台n Substituting into the gyroscope installation error model, the g-value sensitivity coefficient is calculated using the nonlinear least squares method based on the angle parameters corresponding to the current g-value sensitivity coefficient multi-position calibration test steps.

[0046] The advantages of this invention compared to the prior art are:

[0047] (1) The present invention provides a method for calibrating the g-value sensitivity coefficient of a hemispherical resonant gyroscope. By establishing a rate integral hemispherical gyroscope error model related to the g-value sensitivity term, compared with the linear error model of the traditional mechanical gyroscope, the method fully reflects the mechanical characteristics of the g-value sensitivity term error of the rate integral hemispherical gyroscope being related to the fourth harmonic of the mode angle, and establishes a more accurate g-value sensitivity term error model.

[0048] (2) This invention can avoid the influence of the mode shape angle change caused by the uneven damping of the gyroscope on the fixed position output of the gyroscope, improve the test accuracy of the g-value sensitive term error, and at the same time, considering the relationship between the g-value sensitive term error and the 4th harmonic sine of the standing wave mode shape angle, the integrity of the zero-bias circular distribution error of the gyroscope under each turntable rotation is ensured by force balance-full angle dual mode control.

[0049] (3) This invention, by designing a comprehensive testing method with the gyroscope sensitive axis located in the local vertical direction, horizontal direction, and multiple oblique positions, ensures the comprehensiveness of the error excitation of the g-value sensitive term. At the same time, it ensures the intensity and uniformity of the error excitation, so that the excitation of each error term reaches the maximum within the allowable range and is distributed as evenly as possible within the allowable range. This ensures that different input gravitational accelerations have the same weight when calculating the error model coefficients, and the test error is evenly distributed. At the same time, the calibration method improves the testing efficiency, shortens the error calibration time, and improves the accuracy of the gyroscope. Attached Figure Description

[0050] Figure 1 A flowchart of the g-value sensitivity coefficient calibration method for a rate integral hemispherical resonator gyroscope provided by the present invention;

[0051] Figure 2 A schematic diagram illustrating the polarity and specific force direction of the gyroscope provided by this invention. Detailed Implementation

[0052] A method for calibrating the g-sensitivity coefficient of a rate integral mode hemispherical resonator gyroscope is proposed. By establishing a gyroscope output error model and a gyroscope installation error model, a multi-position calibration test procedure for the g-sensitivity coefficient is executed to obtain the angular velocity components of each axis of the gyroscope relative to the inertial coordinate system, thereby realizing the identification of the g-sensitivity coefficient. This method enables high-precision calibration of the g-sensitivity term error of the gyroscope under a gravitational field, improving the output accuracy of the rate integral mode hemispherical resonator gyroscope.

[0053] The specific procedure for calibrating the g-sensitivity coefficient of a rate integral mode hemispherical resonator gyroscope is as follows:

[0054] The gyroscope is mounted on the inner ring axis of the dual-axis servo turntable;

[0055] Establish gyroscope output error model and gyroscope installation error model;

[0056] Design a multi-position calibration test for the g-value sensitivity coefficient based on the gyroscope output error model;

[0057] Perform a multi-position calibration test procedure for the g-value sensitivity coefficient and calculate the angular velocity components of each axis of the gyroscope relative to the inertial coordinate system under different dual-axis servo turntable rotation conditions;

[0058] The standing wave mode angle of the gyroscope was switched and controlled according to the multi-position calibration test procedure of the g-value sensitivity coefficient, and the output data of the gyroscope was recorded under different dual-axis servo turntable rotation conditions.

[0059] By substituting the gyroscope output data into the gyroscope output error model, the sensitivity coefficients for each g-value are calculated. The gyroscope output error model includes the g-value sensitivity term error, and the gyroscope output error model is as follows:

[0060] G=ω ei +k I A I +k X A X +k Y A Y +k IX A I A X +k IY A I AY +k XY A X A Y

[0061] +(k AI1 sin4θ 振型角 +k AI2 cos4θ 振型角 A I +(k AX1 sin4θ 振型角 +k AX2 cos4θ 振型角 A X

[0062] +(k AY1 sin4θ 振型角 +k AY2 cos4θ 振型角 A Y +(k AIX1 sin4θ 振型角 +k AIX2 cos4θ 振型角 A I A X

[0063] +(k AIY1 sin4θ 振型角 +k AIY2 cos4θ 振型角 A I A Y +(k AXY1 sin4θ 振型角 +k AXY2 cos4θ 振型角 A X A Y +ε

[0064] In the formula, θ 振型角 ω is the standing wave mode angle; G is the output of the gyroscope after compensating for static errors; ei A represents the angular velocity component of Earth's rotation. I A X A Y These represent the accelerations of the gyroscope along the I, X, and Y axes, respectively, where I is the direction of the sensitive axis; k I k X k Y k IX k IY k XY These are the corresponding acceleration-related error coefficients; k AI k AX k AY k AIX kAIY k AXY These are the corresponding zero-biased circular distribution error coefficients related to acceleration; ε is the random error.

[0065] The method for establishing the gyroscope installation error model is as follows:

[0066] Calculate the transition matrix of the outer ring axis coordinate system relative to the geographic coordinate system;

[0067] Calculate the transition matrix of the inner ring axis coordinate system relative to the outer ring axis coordinate system;

[0068] Calculate the transition matrix of the tooling coordinate system relative to the inner ring axis coordinate system;

[0069] Calculate the transition matrix of the gyroscope coordinate system relative to the tooling coordinate system;

[0070] Merge to obtain the transition matrix of the gyro coordinate system relative to the geographic coordinate system;

[0071] The gyroscope installation error model is characterized by the transition matrix of the gyroscope coordinate system relative to the geographic coordinate system.

[0072] Transition matrix T0 of the outer ring coordinate system relative to the geographic coordinate system 1 for:

[0073]

[0074] In the formula, Δθ x0 The horizontality error angle of the foundation facing east is Δθ. y0 Let Δθ be the horizontal error angle of the foundation facing north. z0 The northward error angle of the turntable.

[0075] Transition matrix T1 between the inner ring coordinate system and the outer ring coordinate system 2 for:

[0076] T1 2 =Rot(O1X1,Δθ) x1 )

[0077] In the formula, Δθ x1 This is the perpendicular error angle between the inner and outer ring axes.

[0078] Transition matrix of tooling coordinate system relative to inner ring axis coordinate system for:

[0079]

[0080] In the formula, Δθ x2 The eastward horizontality error angle of the gyroscope mounting plane, Δθ y2 The northward horizontality error angle of the gyroscope mounting plane.

[0081] The transition matrix between the gyroscope coordinate system and the tooling coordinate system is:

[0082]

[0083] In the formula, Δθ x2 The eastward horizontality error angle of the gyroscope mounting plane, Δθ y2 The northward horizontality error angle of the gyroscope mounting plane.

[0084] In the transfer matrix between the gyro coordinate system and the geographic coordinate system, each coefficient represents an error angle value. The transfer matrix between the gyro coordinate system and the geographic coordinate system characterizes the gyroscope installation error model.

[0085]

[0086] The multi-location calibration test procedure for the g-value sensitivity coefficient is as follows:

[0087] Set the gyroscope's sensitive axis to the local vertical direction and perform an error test related to the gyroscope's sensitive axis acceleration.

[0088] Set the gyroscope's sensitive axis to the local horizontal direction and perform gyroscope X-axis and Y-axis acceleration-related error tests;

[0089] Test the acceleration-related error terms of the cross-coupling terms of each axis of the gyroscope at the preset inclined turntable position;

[0090] Specifically, when the inner and outer ring axes of the dual-axis servo turntable are at different angular positions, the three-axis acceleration components of the gyroscope are determined and recorded.

[0091] During the calibration of the g-value sensitivity coefficients of each axis of the gyroscope, the switching test of the gyroscope's standing wave mode angle from 0 to 360° was achieved through force balance-full angle dual-mode control. The gyroscope's detected mode angle θ at each rotation position of the dual-axis servo turntable was recorded. 振型角1 ,θ 振型角2 ,θ 振型角3 ,...θ 振型角n and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ,...,θ 转台n ;

[0092] Detecting the mode shape angle θ using a gyroscope 振型角1 ,θ 振型角2 ,θ 振型角3 ,...θ 振型角n and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ,...,θ 转台nSubstituting into the gyroscope installation error model, the g-value sensitivity coefficient is calculated using the nonlinear least squares method based on the angle parameters corresponding to the current g-value sensitivity coefficient multi-position calibration test steps.

[0093] The following description, in conjunction with the accompanying drawings and preferred embodiments, provides further details:

[0094] In the current embodiment, such as Figure 1 The diagram shows a flowchart of the g-value sensitivity coefficient calibration method used in a rate integral hemispherical resonator gyroscope. The method for compensating for mode shape angle errors in this invention specifically includes the following steps:

[0095] Step 1: Establish the gyroscope output error model including the g-value sensitive term error and the gyroscope installation error model on the dual-axis servo turntable;

[0096] Step 2: Based on the error model, a comprehensive testing method was designed for the gyroscope's sensitive axis in multiple positions, including the local vertical direction, horizontal direction, and oblique placement. The specific turntable rotation is as follows: Figure 2 As shown.

[0097] Step 3: Achieve precise switching and stable testing of the gyroscope's standing wave mode angle through force balance-full angle dual-mode control. At each turntable position, first initialize the standing wave mode angle to 0° in force balance mode. After the mode stabilizes, switch to full angle mode to begin servo testing. After completing the test within the specified time, switch to the next mode angle in force balance mode. After stabilization, switch back to full angle mode and complete the servo test. Repeat the above steps until the servo test of the mode angle from 0-360° is completed, thus ensuring the integrity of the gyroscope's circumferential output error at each turntable position.

[0098] Step 4: Design a method for identifying the sensitivity coefficient of g-values, and calculate the sensitivity coefficient of each g-value using experimental data.

[0099] In some implementations, step one includes:

[0100] Considering that the gravitational acceleration constraint cannot identify all errors related to the square of acceleration, the error model related to the g-value sensitive term of the rate integral hemispherical resonator gyroscope is established as follows:

[0101] G=ω ei +k I A I +k X A X +k Y A Y +k IX A I A X +k IY A I A Y +kXY A X A Y

[0102] +(k AI1 sin4θ 振型角 +k AI2 cos4θ 振型角 A I +(k AX1 sin4θ 振型角 +k AX2 cos4θ 振型角 A X

[0103] +(k AY1 sin4θ 振型角 +k AY2 cos4θ 振型角 A Y +(k AIX1 sin4θ 振型角 +k AIX2 cos4θ 振型角 A I A X

[0104] +(k AIY1 sin4θ 振型角 +k AIY2 cos4θ 振型角 A I A Y +(k AXY1 sin4θ 振型角 +k AXY2 cos4θ 振型角 A X A Y +ε

[0105] in: The standing wave mode angle; To compensate for the static error of the gyroscope output; This represents the angular velocity component of Earth's rotation. , , These are the accelerations of the gyroscope along the I, X, and Y axes, respectively, with I being the direction of the sensitive axis. These are the corresponding acceleration-related error coefficients; These are the corresponding zero-bias circular distribution error coefficients related to acceleration; This is random error.

[0106] In some implementations, step two includes:

[0107] Based on the error model, in order to calibrate different gyroscope error terms, a comprehensive test method was designed based on the correlation between the turntable angle and the excited gyroscope error under different installation orientations. The gyroscope sensitive axis is located in multiple positions, including the local vertical direction, horizontal direction, and oblique position. The test plan and specific turntable rotation are shown in Table 1.

[0108] Table 1 Experimental Plan

[0109] Serial number Test plan 1 Servo test with the sensitive axis of the gyro in the local vertical direction 2 Servo test with the sensitive axis of the gyro in the local horizontal direction 3 Servo test in the inclined multi-position mode

[0110] When the inner and outer ring axes of the dual-axis turntable are at different angular positions, the acceleration of the three axes of the gyroscope relative to the geographic coordinate system will be in different directions, thus resulting in different components of gravitational acceleration on each axis of the gyroscope. These components are then incorporated into the error model to identify the error model coefficients related to the g-value sensitive terms.

[0111] In some implementations, step three includes:

[0112] Under the various test rotation positions shown in Table 1, the precise switching and stability test of the gyroscope standing wave mode angle from 0 to 360° was completed using force balance-full angle dual-mode control. The gyroscope detection mode angle θ under each rotation position was recorded. 振型角1 ,θ 振型角2 ,θ 振型角3 ... and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ... to achieve complete testing of the gyroscope's circumferential output error under each turntable rotation;

[0113] In some implementations, step four includes:

[0114] The following identification method was designed; taking rotation 1 and rotation 2 as examples, the error model is established as follows, and the nonlinear least squares method is used to estimate the coefficients of each term to obtain the coefficient k of the error term sensitive to the g value. AI1 k AI2

[0115]

[0116] Furthermore, the g-value sensitivity coefficient model is as follows:

[0117]

[0118] θ 振型角 =[θ 振型角1 ,θ 振型角2 ,θ 振型角3 ,...]

[0119]

[0120] Furthermore, the coefficients of the sensitivity terms for each g value were calculated using experimental data and the nonlinear least squares method.

[0121] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0122] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope, characterized in that... include: The gyroscope is mounted on the inner ring axis of the dual-axis servo turntable; Establish gyroscope output error model and gyroscope installation error model; Design a multi-position calibration test for the g-value sensitivity coefficient based on the gyroscope output error model; Perform a multi-position calibration test procedure for the g-value sensitivity coefficient and calculate the angular velocity components of each axis of the gyroscope relative to the inertial coordinate system under different dual-axis servo turntable rotation conditions; The standing wave mode angle of the gyroscope was switched and controlled according to the multi-position calibration test procedure of the g-value sensitivity coefficient, and the output data of the gyroscope was recorded under different dual-axis servo turntable rotation conditions. By substituting the gyroscope output data into the gyroscope output error model, the sensitivity coefficients of each g value are calculated and calibrated.

2. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 1, characterized in that: The gyroscope output error model includes a g-value sensitive term error, and the gyroscope output error model is as follows: G=ω ei +k I THE I +k X THE X +k Y THE Y +k IX THE I THE X +k IY THE I THE Y +k XY THE X THE Y +(k AI1 sin4θ 振型角 +k AI2 cos4θ 振型角 )A I +(k AX1 sin4θ 振型角 +k AX2 cos4θ 振型角 )A X +(k AY1 sin4θ 振型角 +k AY2 cos4θ 振型角 )A Y +(k AIX1 sin4θ 振型角 +k AIX2 cos4θ 振型角 )A I A X +(k AIY1 sin4θ 振型角 +k AIY2 cos4θ 振型角 )A I A Y +(k AXY1 sin4θ 振型角 +k AXY2 cos4θ 振型角 )A X A Y +e In the formula, θ 振型角 ω is the standing wave mode angle; G is the output of the gyroscope after compensating for static errors; ei A represents the angular velocity component of Earth's rotation. I A X A Y These represent the accelerations of the gyroscope along the I, X, and Y axes, respectively, where I is the direction of the sensitive axis; k I k X k Y k IX k IY K XY These are the corresponding acceleration-related error coefficients; k AI k AX k AY k AIX k AIY k AXY These are the corresponding zero-biased circular distribution error coefficients related to acceleration; ε is the random error.

3. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 1, characterized in that: The method for establishing the gyroscope installation error model is as follows: Calculate the transition matrix of the outer ring axis coordinate system relative to the geographic coordinate system; Calculate the transition matrix of the inner ring axis coordinate system relative to the outer ring axis coordinate system; Calculate the transition matrix of the tooling coordinate system relative to the inner ring axis coordinate system; Calculate the transition matrix of the gyroscope coordinate system relative to the tooling coordinate system; Merge to obtain the transition matrix of the gyro coordinate system relative to the geographic coordinate system; The gyroscope installation error model is characterized by the transition matrix of the gyroscope coordinate system relative to the geographic coordinate system.

4. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 3, characterized in that: The transition matrix of the outer ring axis coordinate system relative to the geographic coordinate system for: In the formula, Δθ x0 The horizontality error angle of the foundation facing east is Δθ. y0 The horizontal error angle of the foundation in the north direction is Δθ. z0 The northward error angle of the turntable.

5. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 4, characterized in that: The transition matrix T1 between the inner ring axis coordinate system and the outer ring axis coordinate system 2 for: In the formula, Δθ x1 This is the perpendicular error angle between the inner and outer ring axes.

6. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 5, characterized in that: The transition matrix of the tooling coordinate system relative to the inner ring axis coordinate system for: In the formula, Δθ x2 The eastward horizontality error angle of the gyroscope mounting plane, Δθ y2 The northward horizontality error angle of the gyroscope mounting plane.

7. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 6, characterized in that: The transition matrix of the gyroscope coordinate system relative to the tooling coordinate system is: In the formula, Δθ x2 The eastward horizontality error angle of the gyroscope mounting plane, Δθ y2 The northward horizontality error angle of the gyroscope mounting plane.

8. The method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 7, characterized in that: The coefficients of each transition matrix in the transition matrix between the gyroscope coordinate system and the geographic coordinate system are error angle values. The transition matrix between the gyroscope coordinate system and the geographic coordinate system characterizes the gyroscope installation error model.

9. A method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 8, characterized in that: The multi-location calibration test procedure for the g-value sensitivity coefficient is as follows: Set the gyroscope's sensitive axis to the local vertical direction and perform an error test related to the gyroscope's sensitive axis acceleration. Set the gyroscope's sensitive axis to the local horizontal direction and perform gyroscope X-axis and Y-axis acceleration-related error tests; Test the acceleration-related error terms of the cross-coupling terms of each axis of the gyroscope at the preset inclined turntable position; Specifically, when the inner and outer ring axes of the dual-axis servo turntable are at different angular positions, the three-axis acceleration components of the gyroscope are determined and recorded.

10. A method for calibrating the g-sensitivity coefficient of a hemispherical resonator gyroscope according to claim 8, characterized in that: During the calibration of the g-value sensitivity coefficients of each axis of the gyroscope, the switching test of the gyroscope's standing wave mode angle from 0 to 360° was achieved through force balance-full angle dual-mode control, and the gyroscope detection mode angle θ at each rotation position of the dual-axis servo turntable was recorded. 振型角1 ,θ 振型角2 ,θ 振型角3 ,...θ 振型角n and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ,...,θ 转台n ; Detecting the mode shape angle θ using a gyroscope 振型角1 ,θ 振型角2 ,θ 振型角3 ,...θ 振型角n and the rotation angle θ of the turntable 转台1 ,θ 转台2 ,θ 转台3 ,...,θ 转台n Substituting into the gyroscope installation error model, the g-value sensitivity coefficient is calculated using the nonlinear least squares method based on the angle parameters corresponding to the current g-value sensitivity coefficient multi-position calibration test steps.

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