Three-axis inertially-stabilized platform system based on full-angle-mode hemispherical resonator gyroscope and control method of three-axis inertially-stabilized platform system

Abstract

The invention aims to solve the technical problems that a hemispherical resonator gyroscope in the prior art is difficult to adapt to a high-dynamic environment, cannot realize full-circumferential high-precision measurement and is insufficient in anti-interference capability, and provides a three-axis inertially stabilized platform system based on a full-angle mode hemispherical resonator gyroscope and a control method thereof. The system adopts a three-axis two-frame structure, and the method adopts a Y-axis stable control loop and an XZ double-axis stable control loop to realize three-axis stable control of the inertially stabilized platform; a stable control loop adopts a double-loop control mode of'a rate inner loop + a position outer loop ', angle change information sensed by a corresponding hemispherical resonator gyroscope is calculated by a correction network to generate a driving signal, a corresponding torque motor is driven to generate an electromagnetic torque for counteracting an interference torque, and the method can isolate the disturbance caused by the movement of a carrier; a six-position calibration method of a mixed mode is invented based on the stable control loop, and the method is characterized in that the gyroscope is stabilized at the optimal standing wave angle position during stable acquisition, so that the optimal measurement precision of the gyroscope is exerted.

Description

Technical Field

[0001] This invention relates to a three-axis inertial stabilization platform system, specifically to a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope and its control method. Background Technology

[0002] An inertial navigation system is an autonomous navigation system that does not rely on external information. According to its structure, it can be divided into two main categories: platform-type and strapdown-type. Platform-type inertial navigation systems isolate the carrier's angular motion through a physically stable platform, which can effectively reduce the influence of gyroscope scaling factor errors, installation errors, etc., and theoretically have higher navigation accuracy. The gyroscope is the core component of platform-type inertial navigation systems.

[0003] Hemispherical resonant gyroscopes (HRGs) possess advantages such as simple structure, long service life, and high reliability, and have become one of the important development directions in the field of high-precision inertial sensors. However, the two typical operating modes of hemispherical resonant gyroscopes each have significant technical drawbacks: 1) In force balance mode (FTR), the hemispherical resonator gyroscope works as a rate gyroscope. Although it has high accuracy in small angular rate measurement scenarios, its dynamic range is narrow (usually no more than ±3° / s) and its bandwidth is low (generally less than 10Hz), making it difficult to adapt to the needs of high dynamic environments.

[0004] 2) In full-angle mode (WA), the hemispherical resonator gyroscope works as an integrating gyroscope. Although it theoretically has the advantages of infinite dynamic range and high bandwidth, it is prone to circumferential drift error due to the uneven damping caused by the limitations of the resonator manufacturing process. This makes the measurement accuracy of the hemispherical resonator gyroscope inconsistent at different standing wave angle positions, and it cannot achieve high-precision measurement in the full circumference.

[0005] While there are existing studies on applying hemispherical resonator gyroscopes to inertial platforms, most focus on force balance mode. Although such schemes extend the measurement range to some extent, they are limited by the inherent narrow bandwidth of this mode, resulting in slow response speed and insufficient anti-interference capability. Other studies involving full-angle mode have also failed to effectively solve the fundamental problem of inconsistent circumferential accuracy. Summary of the Invention

[0006] The purpose of this invention is to solve the technical problems of existing technologies that apply hemispherical resonant gyroscopes to inertial platforms, which are difficult to adapt to high dynamic environments, cannot achieve full-circumferential high-precision measurement, and have insufficient anti-interference capabilities. Instead, this invention provides a three-axis inertial stabilization platform system and its control method based on a full-angle mode hemispherical resonant gyroscope.

[0007] To achieve the above objectives, the technical solution provided by the present invention is as follows: A three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope includes a load-bearing module, a measurement module, a drive and sensing module, and a circuit module integrated on the load-bearing module. Its unique feature is that: The load-bearing module adopts a three-axis, two-frame structure, including a base, an outer frame, an inner frame, a platform, an outer frame axis Z, an inner frame axis X, and a platform axis Y. The outer frame is rotatably connected to the base via the outer frame axis Z, the inner frame is rotatably connected to the outer frame via the inner frame axis X and nested inside the outer frame, and the platform is rotatably connected to the inner frame via the platform axis Y and nested inside the inner frame. The measurement module includes three full-angle mode hemispherical resonant gyroscopes and three quartz accelerometers fixedly mounted on the platform along the three axes; used to measure the angular velocity and acceleration signals generated by the motion of the carrier. The drive and sensing module includes three torque motors and three encoders. The three torque motors are respectively installed at the outer frame axis Z, inner frame axis X and platform axis Y to provide electromagnetic torque to maintain the frame rotation of the three-axis two-frame structure platform. The three encoders are respectively corresponding to and coaxially arranged with the three torque motors to collect the rotation angles of the outer frame axis Z, inner frame axis X and platform axis Y. The circuit module is used to acquire signals from the gyroscope, accelerometer, and encoder sensor, and control the torque motor to achieve calibration, leveling, locking, and stabilization control of the inertial stabilization platform.

[0008] Furthermore, the circuit module includes a gyroscope demodulation circuit, an analog-to-digital conversion circuit, an information processing circuit, and a motor drive circuit; The gyroscope demodulation circuit is used to convert the physical signal of the standing wave angle detected by the hemispherical resonant gyroscope into a digital signal and output it. The analog-to-digital conversion circuit is used to convert the physical quantity of acceleration detected by the quartz accelerometer into a digital signal and output it. The information processing circuit is used to process the information collected by the hemispherical resonant gyroscope, accelerometer and encoder to perform calibration, leveling and locking of the inertial stabilization platform and stabilize the control process; and the information processing circuit integrates a stabilization decomposer on the information processing path. The motor drive circuit is used to drive the torque motor to rotate the outer frame axis Z, the inner frame axis X, and the platform axis Y, thereby stabilizing, leveling, and locking the inertial stabilization platform.

[0009] Meanwhile, this invention also provides a control method for a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope as described above; its special feature is that it includes the following steps: Step 1, Six-position calibration of the blending mode: After the outer frame, inner frame, and platform are rotated to the designated position by locking control, the horizontal axis is leveled and the axial axis is locked. Then, a precession command is sent to the hemispherical resonant gyroscope to drive its internal standing wave angle to rotate to the preset optimal accuracy position. After that, the three-axis inertial stabilization platform system enters the three-axis stabilization control mode to collect data and rotates in a six-position sequence according to a preset plan. After all six positions have been rotated, the zero position of the hemispherical resonant gyroscope and the scaling factor and zero position of the quartz accelerometer are calculated. Step 2, the operating mode of the full-angle mode hemispherical resonator gyroscope: In the three-axis stabilization platform, the control mode includes a Y-axis stabilization control loop and an XZ dual-axis stabilization control loop. The Y-axis stabilization control loop adopts a dual-loop control method of "rate inner loop + position outer loop". By using the angle change information sensed by the hemispherical resonator gyroscope corresponding to the Y-axis of the platform, the stabilization control loop generates a drive signal for the torque motor, which drives the torque motor corresponding to the Y-axis of the platform to generate an electromagnetic torque to cancel out the interference torque. The XZ dual-axis stabilization control loop, based on the Y-axis stabilization control loop, according to the current actual attitude of the platform, decouples the angle change information sensed by the hemispherical resonator gyroscopes corresponding to the outer frame axis Z and the inner frame axis X through a stabilization decomposer, and then generates a drive signal for the torque motor through the stabilization control loop, which drives the torque motors corresponding to the outer frame axis Z and the inner frame axis X to generate an electromagnetic torque to cancel out the interference torque.

[0010] Furthermore, the Y-axis stabilization control loop in step 2 is specifically as follows: The target standing wave angle Y corresponding to the Y-axis of the platform is used as the reference input signal of the Y-axis stabilization control loop, and the actually detected standing wave angle is used as the position loop feedback signal of the Y-axis stabilization control loop. The target standing wave angle and the actually detected standing wave angle are calculated by the position loop correction network to output the position loop control quantity. The angular rate signal obtained by differentiating the actually detected standing wave angle is used as the rate loop feedback signal of the Y-axis stabilization control loop. The position loop control quantity and the angular rate signal are dynamically corrected by the rate loop correction network, and the output rate loop control quantity is used as the drive signal of the torque motor. The torque motor converts the electrical signal into an electromagnetic torque that can cancel the interference torque according to the received drive signal. The electromagnetic torque is balanced with the external interference torque, so that the Y-axis of the platform remains stable.

[0011] Furthermore, the XZ dual-axis stabilization control loop in step 2 is specifically as follows: The target standing wave angles Z and X corresponding to the outer frame axis Z and inner frame axis X are respectively used as two sets of reference input signals of the XZ dual-axis stabilization control loop. The two sets of standing wave angles actually detected by the hemispherical resonator corresponding to the outer frame axis Z and inner frame axis X are coupled, solved and coordinated by the stabilization decomposer, and output two sets of standing wave angle feedback quantities corresponding to the outer frame axis Z and inner frame axis X, respectively, and both are used as the position loop feedback signals of the XZ dual-axis stabilization control loop. The standing wave angle feedback quantity and the target standing wave angle Z corresponding to the outer frame axis Z are calculated by the position loop correction network to output the Z position loop control quantity; the Z angular rate signal obtained by differentiating the standing wave angle of the corresponding outer frame axis Z is used as the rate loop feedback signal of the corresponding outer frame axis Z; the Z position loop control quantity and the Z angular rate signal are dynamically corrected by the rate loop correction network to output the Z rate loop control quantity as the drive signal of the torque motor of the corresponding outer frame axis Z; The standing wave angle feedback quantity corresponding to the inner frame axis X and the target standing wave angle X are filtered and amplified by the position loop correction network to correct the deviation, and the X position loop control quantity is output. The X angular rate signal obtained by differentiating the standing wave angle of the corresponding inner frame axis X is used as the rate loop feedback signal of the corresponding inner frame axis X. After the X position loop control quantity and the X angular rate signal are dynamically corrected by the rate loop correction network, the X rate loop control quantity is output as the drive signal of the torque motor of the corresponding inner frame axis X. The two torque motors corresponding to the outer frame axis Z and the inner frame axis X respectively convert the electrical signals into electromagnetic torques that can cancel out the interference torques according to the received drive signals. The electromagnetic torques are balanced with the external interference torques, so that both the outer frame and the inner frame remain stable.

[0012] Furthermore, the specific control method for locking in step 1 is as follows: Using the target locking angle corresponding to each axis as a reference input, the target locking angle and the actual current angle detected by the corresponding encoder are calculated by the locking correction network, and the locking control quantity corresponding to each axis is output. The locking control quantity is received by the hemispherical resonator gyroscope corresponding to each axis, and combined with its own sensitive angle change information, the standing wave angle signal corresponding to each axis is output as the input signal of the stabilization control loop, and input into the Y-axis stabilization control loop or XZ dual-axis stabilization control loop corresponding to each axis. After the corresponding stabilization control loop outputs the drive signal of the torque motor corresponding to each axis, the corresponding platform, inner frame or outer frame is controlled to rotate, so that the frame rotates to the preset angle.

[0013] Furthermore, the control loop for leveling control in step 1 is specifically as follows: Using the zero point of the quartz accelerometer corresponding to each horizontal axis as a reference input, the zero point of the quartz accelerometer and the actual acceleration signal detected by the quartz accelerometer corresponding to each horizontal axis are calculated by the leveling correction network to output the leveling control quantity of each horizontal axis. The leveling control quantity is received by the hemispherical resonator gyroscope corresponding to each horizontal axis, and combined with its own sensitive angle change information, the standing wave angle signal corresponding to each horizontal axis is output as the input signal of the stabilization loop, and input into the Y-axis stabilization control loop or XZ dual-axis stabilization control loop corresponding to each horizontal axis. After passing through the corresponding Y-axis stabilization control loop or XZ dual-axis stabilization control loop, the drive signal of the torque motor corresponding to each horizontal axis is output, thereby controlling the corresponding platform, inner frame or outer frame to perform attitude correction, thereby realizing the leveling control of the two horizontal axes.

[0014] Compared with the prior art, the present invention has the following advantages: (1) The present invention provides a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonant gyroscope. By combining the full-angle mode hemispherical resonant gyroscope with the inertial platform, the advantages of the large dynamic range and high bandwidth of the full-angle mode can be fully utilized. The system adopts a three-axis two-frame structure. The circuit module processes the angular velocity and acceleration signals generated by the carrier motion measured by the hemispherical resonant gyroscope and the quartz accelerometer and outputs control commands to control the torque motor to drive the corresponding outer frame, inner frame or platform to rotate. This achieves the position calibration of the inertial stabilization platform, the initial attitude leveling of the platform and each frame, the position locking of the platform and each frame, and the three-axis independent stabilization control to isolate external disturbances. This makes the three-axis inertial stabilization platform system highly adaptable to high dynamic environments and can achieve high-precision measurement in the full circumference. (2) The present invention provides a control method for a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonant gyroscope. Through the six-position calibration of the hybrid mode, the circumferential drift of the hemispherical resonant gyroscope during the calibration process can be effectively eliminated, thereby improving its calibration accuracy. The three-axis stabilization control mode stabilizes the hemispherical resonant gyroscope at the optimal standing wave angle position to eliminate the circumferential drift error, thereby maximizing the measurement accuracy of the hemispherical resonant gyroscope. Furthermore, the three-axis stabilization control mode enables the three-axis inertial stabilization platform system to isolate external disturbances, keeping the hemispherical resonant gyroscope stable at the optimal standing wave angle, thus providing a good operating environment for the hemispherical resonant gyroscope. (3) The present invention provides a control method for a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope. The method uses a stabilization decomposer to solve the inter-axis coupling problem. When there is an external disturbance, the hemispherical resonator gyroscopes corresponding to the outer frame axis Z, inner frame axis X, and platform axis Y will be sensitive to their own angle change information. The stabilization decomposer transforms and distributes these angle change information, decouples these angle change information, and then feeds it back to the position loop correction network and the rate loop correction network. This ensures that the three axes can remain in a stable state under any platform position, and realizes independent stabilization control of the three axes. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the frame structure of an embodiment of a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonant gyroscope according to the present invention; Figure 2 This is a control loop structure diagram for locking control in an embodiment of the present invention; Figure 3 This is a control loop structure diagram of the leveling control in an embodiment of the present invention; Figure 4 This is a structural diagram of the Y-axis stabilization control loop in an embodiment of the present invention; Figure 5 This is a structural diagram of the XZ dual-axis stabilization control loop in an embodiment of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] As attached Figure 1 As shown, this embodiment provides a three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope, including a carrier module, a measurement module, a drive and sensing module, and a circuit module integrated on the carrier module. The carrier module adopts a three-axis, two-frame structure, including a base, an outer frame, an inner frame, a platform, an outer frame axis Z, an inner frame axis X, and a platform axis Y. The outer frame is rotatably connected to the base via the outer frame axis Z, the inner frame is rotatably connected to the outer frame via the inner frame axis X and nested inside the outer frame, and the platform is rotatably connected to the inner frame via the platform axis Y and nested inside the inner frame. The measurement module includes three full-angle mode hemispherical resonator gyroscopes and three quartz accelerometers fixedly mounted on the platform along the three axes, respectively, for measuring the angular velocity and acceleration signals generated by the carrier motion.

[0018] The drive and sensing module includes three torque motors and three encoders. The three torque motors are respectively installed at the outer frame axis Z, inner frame axis X and platform axis Y to provide compensation torque to maintain the attitude stability of the three-axis two-frame structure platform. The three encoders are respectively corresponding to and coaxially arranged with the three torque motors to collect the relative rotation angles of the outer frame axis Z, inner frame axis X and platform axis Y. The circuit module includes a gyroscope demodulation circuit, an analog-to-digital conversion circuit, an information processing circuit, and a motor drive circuit, which are used to control the torque motor to achieve position calibration of the inertial stabilization platform, initial attitude leveling of the platform and each frame, position locking of the platform and each frame, and three-axis independent stabilization control to isolate external disturbances.

[0019] In this embodiment, the gyroscope demodulation circuit is used to convert the physical signal of the standing wave angle detected by the hemispherical resonant gyroscope into a digital signal and output it. The analog-to-digital conversion circuit is used to convert the physical quantity of acceleration detected by the quartz accelerometer into a digital signal and output it. The information processing circuit is used to collect information from the hemispherical resonant gyroscope, accelerometer and encoder, realize the correction network of the stabilization, leveling and locking control loop, and complete the six-position calibration control process, etc. The motor drive circuit is used to drive the torque motor to rotate the outer frame axis Z, the inner frame axis X, and the platform axis Y, and to perform stabilization, leveling, and locking control on the inertial stabilization platform.

[0020] Based on the aforementioned three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope, this embodiment also provides a control method for the three-axis inertial stabilization platform system based on a full-angle mode hemispherical resonator gyroscope, comprising the following steps: Step 1, Six-position calibration of the blending mode: After the outer frame, inner frame, and platform are rotated to the designated position by locking control, the horizontal axis is leveled, the axial axis is locked, and a precession command is sent to the hemispherical resonant gyroscope to drive its internal standing wave angle to rotate to the preset optimal accuracy position. Then, the three-axis inertial stabilization platform system enters the three-axis stabilization control mode to collect data and rotates in a pre-set six-position sequence. After all six positions have been rotated, the zero position of the hemispherical resonant gyroscope and the scaling factor and zero position of the quartz accelerometer are calculated.

[0021] The control method for locking is shown in the appendix. Figure 2 As shown, specifically: Using the target locking angle corresponding to each axis as a reference input, the target locking angle and the actual current angle detected by the corresponding encoder are calculated by the locking correction network, and the locking control quantity corresponding to each axis is output. The locking control quantity is received by the hemispherical resonator gyroscope corresponding to each axis, and combined with its own sensitive angle change information, the standing wave angle signal corresponding to each axis is output as the input signal of the stabilization control loop, and input into the Y-axis stabilization control loop or XZ dual-axis stabilization control loop corresponding to each axis. After the corresponding stabilization control loop outputs the drive signal of the torque motor corresponding to each axis, the corresponding platform, inner frame or outer frame is controlled to rotate, so that the frame rotates to the preset angle.

[0022] The control loop for leveling control is shown in the attached figure. Figure 3 As shown, specifically: Using the zero point of the quartz accelerometer corresponding to each horizontal axis as a reference input, the zero point of the quartz accelerometer and the actual acceleration signal detected by the quartz accelerometer corresponding to each horizontal axis are calculated by the leveling correction network to output the leveling control quantity of each horizontal axis. The leveling control quantity is received by the hemispherical resonator gyroscope corresponding to each horizontal axis, and combined with its own sensitive angle change information, the standing wave angle signal corresponding to each horizontal axis is output as the input signal of the stabilization loop, and input into the Y-axis stabilization control loop or XZ dual-axis stabilization control loop corresponding to each horizontal axis. After passing through the corresponding Y-axis stabilization control loop or XZ dual-axis stabilization control loop, the drive signal of the torque motor corresponding to each horizontal axis is output, thereby controlling the corresponding platform, inner frame or outer frame to perform attitude correction, thereby realizing the leveling control of the two horizontal axes.

[0023] Step 2, the operating mode of the full-angle mode hemispherical resonator gyroscope: The three-axis inertial stabilization platform, in its three-axis stabilization control mode, includes a Y-axis stabilization control loop and an XZ dual-axis stabilization control loop. The Y-axis stabilization control loop employs a dual-loop control method of "rate inner loop + position outer loop." It uses the angle change information sensed by the hemispherical resonator gyroscope corresponding to the platform axis Y to generate a drive signal for a torque motor. This drive motor generates an electromagnetic torque to counteract interference torque. When the electromagnetic torque balances with the external interference torque, the platform axis remains stable. The XZ dual-axis stabilization control loop, based on the Y-axis stabilization control loop, decouples the angle change information sensed by the hemispherical resonator gyroscopes corresponding to the outer frame axis Z and inner frame axis X through a stabilization decomposer, and then generates a drive signal for a torque motor. This drive motor generates an electromagnetic torque to counteract interference torque. When the electromagnetic torque balances with the external interference torque, the outer and inner frames remain stable.

[0024] As attached Figure 4 As shown, the Y-axis stabilization control loop is as follows: The target standing wave angle Y corresponding to the Y-axis of the platform is used as the reference input signal of the Y-axis stabilization control loop, and the actually detected standing wave angle is used as the position loop feedback signal of the Y-axis stabilization control loop. The target standing wave angle and the actually detected standing wave angle are calculated by the position loop correction network to output the position loop control quantity. The angular rate signal obtained by differentiating the actually detected standing wave angle is used as the rate loop feedback signal of the Y-axis stabilization control loop. The position loop control quantity and the angular rate signal are dynamically corrected by the rate loop correction network, and the output rate loop control quantity is used as the drive signal of the torque motor. The torque motor converts the electrical signal into an electromagnetic torque that can cancel the interference torque according to the received drive signal. The electromagnetic torque is balanced with the external interference torque, so that the platform axis remains stable.

[0025] As attached Figure 5 As shown, the XZ dual-axis stabilization control loop is as follows: The target standing wave angles Z and X corresponding to the outer frame axis Z and inner frame axis X are respectively used as two sets of reference input signals of the XZ dual-axis stabilization control loop. The two sets of standing wave angles actually detected by the hemispherical resonator corresponding to the outer frame axis Z and inner frame axis X are coupled, solved and coordinated by the stabilization decomposer, and output two sets of standing wave angle feedback quantities corresponding to the outer frame axis Z and inner frame axis X, respectively, and both are used as the position loop feedback signals of the XZ dual-axis stabilization control loop. The standing wave angle feedback quantity and the target standing wave angle Z corresponding to the outer frame axis Z are calculated by the position loop correction network to output the Z position loop control quantity; the Z angular rate signal obtained by differentiating the standing wave angle of the corresponding outer frame axis Z is used as the rate loop feedback signal of the corresponding outer frame axis Z; the Z position loop control quantity and the Z angular rate signal are dynamically corrected by the rate loop correction network to output the Z rate loop control quantity as the drive signal of the torque motor of the corresponding outer frame axis Z; The standing wave angle feedback quantity corresponding to the inner frame axis X and the target standing wave angle X are filtered and amplified by the position loop correction network to correct the deviation, and the X position loop control quantity is output. The X angular rate signal obtained by differentiating the standing wave angle of the corresponding inner frame axis X is used as the rate loop feedback signal of the corresponding inner frame axis X. After the X position loop control quantity and the X angular rate signal are dynamically corrected by the rate loop correction network, the X rate loop control quantity is output as the drive signal of the torque motor of the corresponding inner frame axis X. The two torque motors corresponding to the outer frame axis Z and the inner frame axis X respectively convert the electrical signals into electromagnetic torques that can cancel out the interference torques according to the received drive signals. The electromagnetic torques are balanced with the external interference torques, so that both the outer frame and the inner frame remain stable.

[0026] Simulation tests conducted on this embodiment show that the three-axis stabilization control mode of this embodiment can enable the system to reach a stable state within 0.2s with zero steady-state error.

[0027] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the scope of the technical solution of the present invention should be included within the protection scope of the present invention. Furthermore, it should be noted that the accompanying drawings are merely illustrative and are not drawn to scale, and should not be construed as limiting the actual scope of protection claimed by the present invention.

Claims

1. A three-axis inertially stabilized platform system based on full angle mode hemispherical resonator gyroscopes, comprising a bearing module, a measurement module, a driving and sensing module and a circuit module integrated on the bearing module, characterized in that: the bearing module adopts a three-axis two-frame structure, comprising a base, an outer frame, an inner frame, a platform body, an outer frame shaft Z, an inner frame shaft X and a platform body shaft Y; the outer frame is rotatably connected with the base through the outer frame shaft Z, the inner frame is rotatably connected with the outer frame through the inner frame shaft X and is nested in the inner part of the outer frame, and the platform body is rotatably connected with the inner frame through the platform body shaft Y and is nested in the inner part of the inner frame; the measurement module comprises three full angle mode hemispherical resonator gyroscopes and three quartz accelerometers fixedly arranged on the platform body along the three-axis directions respectively, for measuring the angular velocity signal and the acceleration signal generated by the carrier motion; the driving and sensing module comprises three torque motors and three encoders; the three torque motors are respectively installed at the shaft systems of the outer frame shaft Z, the inner frame shaft X and the platform body shaft Y, for providing compensation torques to maintain the attitude stability of the three-axis two-frame structure platform; the three encoders are coaxially arranged corresponding to the three torque motors, for respectively collecting the relative rotation angles of the outer frame shaft Z, the inner frame shaft X and the platform body shaft Y; the circuit module is used for collecting the signals of the gyroscopes, the accelerometers and the encoder sensors, and controlling the torque motors to realize the calibration, leveling, locking and stability control of the inertially stabilized platform. 2.The three-axis inertially stabilized platform system based on full angle mode hemispherical resonator gyroscopes according to claim 1, characterized in that: the circuit module comprises a gyro demodulation circuit, an analog-to-digital conversion circuit, an information processing circuit and a motor driving circuit; the gyro demodulation circuit is used for converting the physical signal of the standing wave angle detected by the hemispherical resonator gyroscope into a digital signal and outputting; the analog-to-digital conversion circuit is used for converting the acceleration physical quantity detected by the quartz accelerometer into a digital signal and outputting; the information processing circuit is used for processing the information collected by the hemispherical resonator gyroscopes, the accelerometers and the encoders, to realize the calibration, leveling, locking and stability control process of the inertially stabilized platform; and a stability resolver is integrated in the information processing path of the information processing circuit; the motor driving circuit is used for driving the torque motors to drive the outer frame shaft Z, the inner frame shaft X and the platform body shaft Y to rotate, to realize the stability, leveling and locking control of the inertially stabilized platform. comprising the following steps: Step 1: six-position calibration of mixed mode: after the outer frame, the inner frame and the platform body are rotated to the specified positions by the locking control, the horizontal axis is controlled to be leveled, the vertical axis is locked, a precession instruction is sent to the hemispherical resonator gyroscope to drive the internal standing wave angle to rotate to the preset optimal accuracy position, then the three-axis inertially stabilized platform system enters the three-axis stability control mode to collect data, and the zero position of the hemispherical resonator gyroscope and the scale factor and zero position of the quartz accelerometer are calculated through the pre-set six-position sequential rotation; Step 2: working mode of full angle mode hemispherical resonator gyroscope: ​ ​ ​ ​ ​ ​ ​ ​ 3. A control method of a three-axis inertial stabilized platform system based on a full angle mode hemispherical resonator gyroscope according to any one of claims 1-2; characterized in that, ​ ​ ​ ​ The three-axis inertial stabilization platform comprises a Y-axis stabilization control loop and an XZ two-axis stabilization control loop in a three-axis stabilization control mode; the control method of the Y-axis stabilization control loop adopts a double-loop control mode of "rate inner loop + position outer loop", the angle change information sensed by the hemispherical resonator gyroscopes corresponding to the Y axis of the platform body is used to generate a driving signal of the torque motor through a designed stabilization control loop, and the torque motor corresponding to the Y axis of the platform body generates an electromagnetic torque to offset the interference torque; the XZ two-axis stabilization control loop, on the basis of the Y-axis stabilization control loop, decouples the angle change information sensed by the hemispherical resonator gyroscopes corresponding to the Z axis of the outer frame and the X axis of the inner frame through a stabilization resolver according to the actual attitude of the platform body, and then generates a driving signal of the torque motor through a stabilization control loop, so that the torque motors corresponding to the Z axis of the outer frame and the X axis of the inner frame generate electromagnetic torques to offset the interference torques.

4. The control method of a three-axis inertial stabilized platform system based on a full angle mode hemispherical resonator gyroscope according to claim 3, characterized in that, The Y-axis stabilization control loop in step 2 is specifically as follows: The target standing wave angle Y corresponding to the Y axis of the platform body is used as the reference input signal of the Y-axis stabilization control loop, and the actually detected standing wave angle is used as the position loop feedback signal of the Y-axis stabilization control loop, the target standing wave angle and the actually detected standing wave angle are calculated through a position loop correction network to output a position loop control quantity; the angle rate signal obtained by differentiating the actually detected standing wave angle is used as the rate loop feedback signal of the Y-axis stabilization control loop, and the position loop control quantity and the angle rate signal are dynamically corrected through a rate loop correction network to output a rate loop control quantity as the driving signal of the torque motor; The torque motor converts the received driving signal into an electromagnetic torque to offset the interference torque, and the electromagnetic torque and the external interference torque are balanced, so that the Y axis of the platform body remains stable.

5. The control method of a three-axis inertial stabilized platform system based on a full angle mode hemispherical resonator gyroscope according to claim 3, characterized in that, The XZ two-axis stabilization control loop in step 2 is specifically as follows: The target standing wave angle Z and the target standing wave angle X corresponding to the Z axis of the outer frame and the X axis of the inner frame are used as two groups of reference input signals of the XZ two-axis stabilization control loop, respectively, and the two groups of standing wave angles actually detected by the hemispherical resonator gyroscopes corresponding to the Z axis of the outer frame and the X axis of the inner frame are coupled and calculated through a stabilization resolver to output two groups of standing wave angle feedback quantities corresponding to the Z axis of the outer frame and the X axis of the inner frame, respectively, and both are used as the position loop feedback signals of the XZ two-axis stabilization control loop; The standing wave angle feedback quantity corresponding to the Z axis of the outer frame and the target standing wave angle Z are calculated through a position loop correction network to output a Z position loop control quantity; the Z angle rate signal obtained by differentiating the standing wave angle corresponding to the Z axis of the outer frame is used as the rate loop feedback signal corresponding to the Z axis of the outer frame, and the Z position loop control quantity and the Z angle rate signal are dynamically corrected through a rate loop correction network to output a Z rate loop control quantity as the driving signal of the torque motor corresponding to the Z axis of the outer frame; The standing wave angle feedback corresponding to the inner frame shaft X and the target standing wave angle X are filtered and amplified by a position loop correction network to correct the deviation, and an X position loop control quantity is output; the X angle rate signal obtained by differentiating the standing wave angle corresponding to the inner frame shaft X is used as the rate loop feedback signal corresponding to the inner frame shaft X, and after dynamic characteristic correction of the X position loop control quantity and the X angle rate signal by a rate loop correction network, an X rate loop control quantity is output as the driving signal of the torque motor corresponding to the inner frame shaft X; The two torque motors corresponding to the outer frame shaft Z and the inner frame shaft X respectively convert the electrical signals received into electromagnetic torques that can offset the interference torques, and the electromagnetic torques and the external interference torques are balanced, so that the outer frame and the inner frame remain stable.

6. The control method of a three-axis inertial stabilized platform system based on a full angle mode hemispherical resonator gyroscope according to claim 3, characterized in that, The control mode of the lock control in step 1 is specifically: The lock target angle corresponding to each shaft is used as the reference input, and after calculation of each lock target angle and the current actual angle actually detected by the corresponding encoder by a lock correction network, a lock control quantity corresponding to each shaft is output, and the lock control quantity is received by the corresponding hemispherical resonator gyroscope, and combined with the angle change information sensitive to itself, a standing wave angle signal corresponding to each shaft is output as the stable control loop input signal, and input into the Y-axis stable control loop or the XZ double-axis stable control loop corresponding to each shaft, and the driving signal of the torque motor corresponding to each shaft is output through the corresponding stable control loop, and then the corresponding table body, inner frame or outer frame is controlled to rotate, so that the frame is rotated to the preset angle.

7. The control method of a three-axis inertial stabilized platform system based on a full angle mode hemispherical resonator gyroscope according to claim 3, characterized in that, The control loop of the leveling control in step 1 is specifically: The quartz accelerometer zero of each horizontal shaft is used as the reference input, and after calculation of the quartz accelerometer zero and the acceleration signal actually detected by the quartz accelerometer corresponding to each horizontal shaft by a leveling correction network, a leveling control quantity of each horizontal shaft is output, and the leveling control quantity is received by the corresponding hemispherical resonator gyroscope, and combined with the angle change information sensitive to itself, a standing wave angle signal corresponding to each horizontal shaft is output as the stable loop input signal, and input into the Y-axis stable control loop or the XZ double-axis stable control loop corresponding to each horizontal shaft, and the driving signal of the torque motor corresponding to each horizontal shaft is output through the corresponding Y-axis stable control loop or XZ double-axis stable control loop, and then the corresponding table body, inner frame or outer frame is controlled to correct the attitude, so as to realize the leveling control of the two horizontal shafts.

8. The control method of the three-axis inertial stabilized platform system based on the full-angle mode hemispherical resonator gyroscope according to claim 4 or 5, characterized in that: The reference input signal adopts the standing wave angle corresponding to the hemispherical resonator gyroscope when the hemispherical resonator gyroscope reaches the optimal measurement accuracy.

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