Hemispherical resonance gyroscope with variable radius of spherical electrode plate and error compensation method thereof

Abstract

The invention relates to a hemispherical resonator gyroscope with a variable radius of a spherical electrode plate and an error compensation method of the hemispherical resonator gyroscope, and belongs to the technical field of hemispherical resonator gyroscopes. The hemispherical resonator gyroscope comprises a hemispherical resonator shell, the spherical electrode plate, a bottom plate and a temperature sensor, the plurality of spherical electrode plates are slidably mounted on the bottom plate and symmetrically surround the peripheral side of the hemispherical resonance shell, a plurality of electric translation driving mechanisms synchronously driving the corresponding spherical electrode plates to horizontally and radially move are mounted on the bottom plate, and the temperature sensor is fixedly mounted on the bottom plate. And the temperature sensor and the electric translation driving mechanism are electrically connected to the controller. The temperature sensor collects the temperature of the hemispherical resonator gyroscope in real time, and the controller controls the electric translation driving mechanism to drive the spherical electrode plates to horizontally and radially move according to the temperature of the hemispherical resonator gyroscope, so that the radius of the curved surface defined by the spherical electrode plates is changed, and the temperature drift error is compensated; and the compensation real-time performance and the compensation precision are high.

Description

Technical Field

[0001] This invention belongs to the technical field of hemispherical resonant gyroscopes, specifically relating to a hemispherical resonant gyroscope with a variable spherical electrode plate radius and its error compensation method. Background Technology

[0002] The hemispherical resonator gyroscope is a new type of navigation-grade solid-state gyroscope developed based on the Coriolis vibration gyroscope technology. It has outstanding technical features such as no high-speed rotating parts, strong environmental adaptability, and long life. It also has excellent characteristics such as small size, light weight, high precision, high reliability, self-calibration capability, and ability to remember working state after short-term power failure. It is a typical representative of the development of vibration inertial sensor technology and has been widely used in the field of inertial navigation.

[0003] Hemispherical resonator gyroscopes are highly sensitive to temperature and prone to temperature-induced output drift. This not only leads to significant errors in mechanical vibration amplitude and detection mode phase but also negatively impacts circuit gain and phase shift, severely affecting the accuracy of the hemispherical resonator gyroscope. To mitigate the impact of temperature variations on hemispherical resonator gyroscope performance, various temperature compensation methods have been proposed in existing technologies. For example, invention patent CN115435768A proposes a temperature modeling compensation method for hemispherical resonator gyroscopes based on real-time sliding window, and invention patent CN117029797A discloses a segmented compensation method for temperature drift of hemispherical resonator gyroscopes based on correlation analysis.

[0004] However, most of the existing temperature compensation methods for hemispherical resonator gyroscopes are based on software modeling and compensation techniques, which suffer from low model repeatability and reliability, and poor compensation effect. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a hemispherical resonant gyroscope with a variable spherical electrode plate radius and its error compensation method, so as to solve or improve the defects existing in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a hemispherical resonator gyroscope with a variable radius of spherical electrode plates, comprising a hemispherical resonator housing, spherical electrode plates, a base plate, and a temperature sensor. The hemispherical resonator housing is fixedly mounted on the base plate, and a plurality of spherical electrode plates are slidably mounted on the base plate and symmetrically surround the outer periphery of the hemispherical resonator housing. A plurality of electrically driven mechanisms are mounted on the base plate to synchronously drive the corresponding spherical electrode plates to move horizontally radially closer to or away from the hemispherical resonator housing. The temperature sensor is fixedly mounted on the base plate, and both the temperature sensor and the electrically driven mechanisms are electrically connected to a controller.

[0007] Preferably, the electric translation drive mechanism is an electric screw mechanism, which includes a motor and a horizontal radial screw. The motor is fixedly mounted on the base plate, and one end of the horizontal radial screw is coaxially fixedly connected to the output end of the motor. A threaded hole is provided at the lower part of the spherical electrode plate, and the horizontal radial screw cooperates with the threaded hole.

[0008] Preferably, the hemispherical resonant housing includes a hemispherical housing and an intermediate shaft. The surface of the hemispherical housing is plated with a metal layer. The top of the intermediate shaft is exposed outside the top center of the hemispherical housing, and the bottom of the intermediate shaft is fixedly connected to the base plate.

[0009] Preferably, the hemispherical shell and the intermediate shaft are integrally formed into a hemispherical resonant shell.

[0010] Preferably, the spherical electrode plate includes a movable plate and a spherical electrode. The spherical electrode is fixedly disposed on the upper part of the movable plate near the hemispherical resonant housing. A plurality of guide rail grooves are uniformly disposed on the base plate, and the lower part of the movable plate slides in conjunction with the corresponding guide rail groove.

[0011] Preferably, two spherical electrodes arranged opposite each other form a pair of excitation electrodes or a pair of detection electrodes, with each pair of excitation electrodes and each pair of detection electrodes arranged alternately.

[0012] Preferably, the base plate has a housing mounting hole at its center, and the intermediate shaft is fixedly inserted into the housing mounting hole.

[0013] Preferably, the temperature sensor is fixedly mounted on the side of the base plate.

[0014] The present invention also provides an error compensation method for a hemispherical resonant gyroscope with a variable spherical electrode plate radius, comprising the following steps: S1. The temperature of the hemispherical resonant gyroscope is collected in real time by a temperature sensor; S2. Based on the temperature of the hemispherical resonant gyroscope, the target radius of the spherical electrode plate is obtained through the temperature-spherical electrode plate radius relationship. S3. The current radius of the spherical electrode plate is adjusted to the target radius by the electric translation drive mechanism, thereby realizing real-time compensation for the temperature drift error of the hemispherical resonant gyroscope.

[0015] Preferably, the method for obtaining the temperature-spherical electrode plate radius relationship is as follows: S21. Set the predetermined temperature as the reference temperature for temperature compensation, and set the middle position of the movable stroke of the spherical electrode plate as the reference radius. S22. Set the spherical electrode plate of the hemispherical resonator to the reference radius, place it in a temperature chamber, keep it at the reference temperature for a predetermined time in a static state, and record the output capacitance of the hemispherical resonator after the temperature is kept as the reference capacitance. S23. Divide the predetermined temperature range into multiple temperature points at equal intervals; S24. At each temperature point, set the spherical electrode plate of the hemispherical resonant gyroscope to the reference radius, place it in a temperature chamber, keep it at the corresponding temperature point for a predetermined time in a static state, and after keeping it at the temperature, adjust the radius of the spherical electrode plate so that the output capacitance of the hemispherical resonant gyroscope is equal to the reference capacitance, and record the adjusted radius of the spherical electrode plate. S25. Perform least-squares fitting on each temperature point and its corresponding adjusted spherical electrode plate radius to obtain the temperature-spherical electrode plate radius relationship.

[0016] Compared with existing technologies, the present invention has the following advantages: It collects the temperature of the hemispherical resonator gyroscope in real time using a temperature sensor, receives the temperature data collected by the temperature sensor through a controller, and controls the electric translation drive mechanism to move the spherical electrode plates horizontally and radially according to the temperature of the hemispherical resonator gyroscope. This changes the radius of curvature of the sphere formed by the multiple spherical electrode plates, thereby compensating for the temperature drift error of the hemispherical resonator gyroscope. The compensation is highly real-time and accurate, solving the problems of low model repeatability and reliability, and poor compensation effect in existing hemispherical resonator gyroscope temperature compensation methods, which are mostly based on software modeling and compensation technology. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on the drawings described below without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of a hemispherical resonant gyroscope with a variable spherical electrode plate radius according to an embodiment of the present invention.

[0019] Figure 2 This is a top view schematic diagram of a hemispherical resonant gyroscope with a variable spherical electrode plate radius according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the hemispherical resonant shell in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the spherical electrode plate in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the structure of the base plate in an embodiment of the present invention.

[0023] The markings in the diagram are: 1. Hemispherical resonator housing; 101. Hemispherical housing; 102. Large diameter shaft; 103. Small diameter shaft; 2. Spherical electrode plate; 201. Moving plate; 202. Spherical electrode; 203. Threaded hole; 3. Base plate; 301. Housing mounting hole; 302. Motor; 303. Horizontal radial screw; 304. Guide rail groove; 4. Temperature sensor. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. To make the above features and advantages of this invention more apparent and understandable, specific embodiments are provided below with reference to the accompanying drawings for detailed description.

[0025] like Figures 1 to 5 As shown, an embodiment of the present invention provides a hemispherical resonator gyroscope with a variable radius of spherical electrode plates, including a hemispherical resonator housing 1, spherical electrode plates 2, a base plate 3, and a temperature sensor 4. The hemispherical resonator housing 1 is fixedly mounted on the base plate 3. Multiple (e.g., sixteen) spherical electrode plates 2 are slidably mounted on the base plate 3 and symmetrically surround the outer periphery of the hemispherical resonator housing 1. Multiple (e.g., sixteen) electric translation drive mechanisms are mounted on the base plate 3 to synchronously drive the corresponding spherical electrode plates 2 to move horizontally radially closer to or away from the hemispherical resonator housing 1. The temperature sensor 4 is fixedly mounted on the base plate 3. The temperature sensor 4 and the electric translation drive mechanisms are electrically connected to a controller (omitted in the figure). The controller is preferably, but not limited to, a PLC, a microcontroller, such as an STM32 series microcontroller. In use, the temperature of the hemispherical resonator gyroscope is measured in real time by the temperature sensor 4. The controller receives the temperature data measured by the temperature sensor 4 and controls the electric translation drive mechanism to drive the spherical electrode plate 2 to move horizontally and radially according to the temperature of the hemispherical resonator gyroscope. This changes the radius of curvature of the sphere formed by the multiple spherical electrode plates 2, thereby compensating for the temperature drift error of the hemispherical resonator gyroscope.

[0026] In this embodiment, the electric translation drive mechanism is preferably, but not limited to, an electric screw mechanism. The electric screw mechanism includes a motor 302 and a horizontal radial screw 303. The motor 302 is fixedly mounted on the base plate 3. One end of the horizontal radial screw 303 is coaxially and fixedly connected to the output end of the motor 302. A threaded hole 203 is provided at the lower part of the spherical electrode plate 2, and the horizontal radial screw 303 cooperates with the threaded hole 203. The motor 302 is preferably, but not limited to, a servo motor. The base plate 3 is preferably, but not limited to, a circular plate; a square plate, etc., can also be used. Sixteen spherical electrode plates 2 are arranged in a circle and slidably mounted on the base plate 3, and sixteen motors 302 are arranged in a circle and fixedly mounted on the base plate 3. The working principle of the electric translation drive mechanism is as follows: the sixteen motors 302 on the base plate 3 drive the corresponding horizontal radial screws 303 to rotate. The rotating horizontal radial screws 303 convert the rotational motion into linear motion of the spherical electrode plates 2 in the horizontal radial direction through the threaded holes 203, thereby changing the radius of curvature of the sphere formed by the sixteen spherical electrode plates 2, that is, changing the position of the spherical electrode plates 2 in the radial direction of the base plate 3.

[0027] In this embodiment, the hemispherical resonator housing 1 includes a hemispherical housing 101 and an intermediate shaft. The surface of the hemispherical housing 101 is plated with a metal layer, such as a copper layer. The top of the intermediate shaft is exposed outside the top center of the hemispherical housing 101, and the bottom of the intermediate shaft is fixedly connected to the base plate 3. The hemispherical housing 101 and the intermediate shaft can be integrally formed into the hemispherical resonator housing 1, and the material of the hemispherical resonator housing 1 is fused silica. The intermediate shaft is preferably, but not limited to, a stepped shaft, composed of two shaft segments with different radii: the upper segment is a larger diameter shaft 102, and the lower segment is a smaller diameter shaft 103. The outer radius of the hemispherical housing 101 is preferably, but not limited to, 32 mm, and the thickness of the hemispherical housing 101 is preferably, but not limited to, 2 mm. The distance between the lower end face of the hemispherical housing 101 and the lower end face of the larger diameter shaft 102 is preferably, but not limited to, 1.5 mm to 2 mm.

[0028] In this embodiment, the spherical electrode plate 2 preferably includes, but is not limited to, a movable plate 201 and spherical electrodes 202. The spherical electrodes 202 are fixedly disposed on the upper part of the movable plate 201 near the hemispherical resonant housing 1. Multiple (e.g., sixteen) guide rail grooves 304 are uniformly arranged on the base plate 3. The lower part of the movable plate 201 slides into the corresponding guide rail groove 304. The movable plate 201 is made of fused silica. The surface of the spherical electrode plate 2 is plated with a metal layer, such as a copper layer, which forms the spherical electrodes 202. The inner spherical surface of the spherical electrodes 202 is the electrode end. Two spherical electrodes 202 arranged opposite each other form a pair of excitation electrodes or a pair of detection electrodes. The sixteen spherical electrodes 202 can be divided into four pairs of excitation electrodes and four pairs of detection electrodes, with each pair of excitation electrodes and each pair of detection electrodes arranged alternately. The working principle of the hemispherical resonant gyroscope is as follows: four pairs of excitation electrodes 202 release high voltage relative to the lower outer periphery of the hemispherical shell 101, causing the hemispherical shell 101 to vibrate at a fixed frequency; when the hemispherical resonant gyroscope rotates relative to the inertial frame, the mode shape of the hemispherical shell 101 changes, resulting in a change in the distance between the outer spherical surface of the hemispherical shell 101 and the inner spherical surface of the spherical electrode plate 2; the four pairs of detection electrodes measure the capacitance between the outer spherical surface of the hemispherical shell 101 and the inner spherical surface of the spherical electrode plate 2, thereby obtaining the change in the distance between the outer spherical surface of the hemispherical shell 101 and the inner spherical surface of the spherical electrode plate 2, and thus obtaining the rotational angular rate of the spherical resonant gyroscope relative to the inertial frame.

[0029] In this embodiment, a housing mounting hole 301 is formed at the center of the base plate 3, and the intermediate shaft is fixedly inserted into the housing mounting hole 301. The radius of the housing mounting hole 301 is preferably, but not limited to, equal to the radius of the minor diameter shaft 103 of the intermediate shaft; the depth of the housing mounting hole 301 is preferably, but not limited to, equal to the radius of the minor diameter shaft 103 of the intermediate shaft; and the thickness of the base plate 3 is preferably, but not limited to, greater than the length of the minor diameter shaft 103 of the intermediate shaft. During installation, the minor diameter shaft 103 of the intermediate shaft mates with the housing mounting hole 301 of the base plate 3 and is fixed by brazing.

[0030] In this embodiment, the temperature sensor 4 is fixedly mounted on the side of the base plate 3 for real-time measurement of the temperature of the hemispherical resonator gyroscope. The temperature sensor 4 is preferably, but not limited to, a DS18B20 digital temperature sensor.

[0031] like Figures 1 to 5 As shown, this embodiment also provides an error compensation method for a hemispherical resonant gyroscope with a variable spherical electrode plate radius, including the following steps: S1. The temperature of the hemispherical resonant gyroscope is collected in real time by temperature sensor 4; S2. Based on the temperature of the hemispherical resonant gyroscope, the target radius of the spherical electrode plate 2 is obtained through the temperature-spherical electrode plate radius relationship. S3. The current radius of the spherical electrode plate 2 is adjusted to the target radius by the electric translation drive mechanism, thereby realizing real-time compensation for the temperature drift error of the hemispherical resonant gyroscope.

[0032] In this embodiment, the method for obtaining the temperature-spherical electrode plate radius relationship is as follows: S21. Set a predetermined temperature (e.g., 20℃, 25℃) as the reference temperature for temperature compensation, and set the middle position of the movable stroke of the spherical electrode plate 2 as the reference radius. S22. Set the spherical electrode plate 2 of the hemispherical resonant gyroscope to the reference radius, place it in a temperature chamber, and keep it at the reference temperature for a predetermined time (e.g., 2 hours) in a static state. Record the output capacitance of the hemispherical resonant gyroscope after the temperature is maintained as the reference capacitance. S23. Divide the predetermined temperature range (e.g., -40℃ to +70℃) into multiple (e.g., 23) temperature points at equal intervals (i.e., -40℃, -35℃, -30℃, -25℃, -20℃, -15℃, -10℃, -5℃, 0℃, +5℃, +10℃, +15℃, +20℃, +25℃, +30℃, +35℃, +40℃, +45℃, +50℃, +55℃, +60℃, +65℃, +70℃). S24. At each temperature point, set the spherical electrode plate 2 of the hemispherical resonant gyroscope to the reference radius, place it in a temperature chamber, and keep it at the corresponding temperature point for a predetermined time (e.g., 2 hours) in a static state. After keeping it at the temperature, adjust the radius of the spherical electrode plate 2 so that the output capacitance of the hemispherical resonant gyroscope is equal to the reference capacitance, and record the adjusted radius of the spherical electrode plate 2. S25. Perform least-squares fitting on each temperature point and its corresponding adjusted radius of the spherical electrode plate 2 to obtain the temperature-radius relationship of the spherical electrode plate.

[0033] The principle of using a variable-radius spherical electrode plate 2 to compensate for the temperature drift error of a hemispherical resonant gyroscope in this embodiment is as follows: The hemispherical resonant gyroscope measures the capacitance of the outer spherical surface of the hemispherical shell 101 relative to the inner spherical surface of the spherical electrode plate 2 through the detection electrode, thereby obtaining the change in the distance between the outer spherical surface of the hemispherical shell 101 and the inner spherical surface of the spherical electrode plate 2, and thus obtaining the rotational angular rate of the hemispherical resonant gyroscope relative to the inertial frame; and the capacitance of the outer spherical surface of the hemispherical shell 101 relative to the inner spherical surface of the spherical electrode plate 2 is: C = C0 + ΔC T + ΔC ω ; Where C is the capacitance of the outer spherical surface of the hemispherical shell relative to the inner spherical surface of the spherical electrode plate, C0 is the capacitance of the outer spherical surface of the hemispherical shell relative to the inner spherical surface of the spherical electrode plate at the initial moment, and ΔC TΔC represents the capacitance shift of the outer spherical surface of the hemispherical shell relative to the inner spherical surface of the spherical electrode plate due to temperature. ω This is the capacitance offset caused by the rotational angular rate of the hemispherical resonant gyroscope relative to the inertial frame.

[0034] Therefore, ΔC T This introduces measurement errors. To compensate for ΔC T The resulting measurement error can be compensated by changing C0; C0 can be written as: ; Where ε is the dielectric constant of the dielectric between the outer spherical surface of the hemispherical shell and the inner spherical surface of the spherical electrode plate, r is the outer radius of the hemispherical shell, and h is the thickness of the hemispherical shell. To detect the span angle of the electrode, d is the radial distance between the outer spherical surface of the hemispherical shell and the inner spherical surface of the spherical electrode plate; due to ε, r, h, Since both are constant values, the radial position of the spherical electrode plate on the base plate can be changed, thereby changing d, and ultimately changing C0 to compensate for ΔC. T .

[0035] To verify the effectiveness of this invention, a hemispherical resonant gyroscope was constructed using the method of this invention. A hemispherical resonant gyroscope with the same fixed spherical electrode radius was used as a reference. Both the hemispherical resonant gyroscope with the same fixed spherical electrode radius and the hemispherical resonant gyroscope of this invention were placed together in a temperature chamber. A temperature change curve of -40℃ to +70℃ was set, with a temperature change rate of 5℃ / hour. The output data of both gyroscopes throughout the entire process were collected, and their zero-bias stability was obtained. The zero-bias stability of the hemispherical resonant gyroscope with the same fixed spherical electrode radius was 0.009° / h, while the zero-bias stability of the hemispherical resonant gyroscope using the method of this invention was 0.002° / h, an improvement of 77.7%, thus proving the effectiveness of this invention.

[0036] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "multiple" means two or more, unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hemispherical resonant gyroscope with a variable spherical electrode plate radius, characterized in that, The device includes a hemispherical resonant housing, spherical electrode plates, a base plate, and a temperature sensor. The hemispherical resonant housing is fixedly mounted on the base plate. Multiple spherical electrode plates are slidably mounted on the base plate and symmetrically surround the outer periphery of the hemispherical resonant housing. Multiple electrically driven mechanisms are mounted on the base plate to synchronously drive the corresponding spherical electrode plates to move horizontally radially closer to or away from the hemispherical resonant housing. The temperature sensor is fixedly mounted on the base plate. Both the temperature sensor and the electrically driven mechanisms are electrically connected to a controller.

2. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 1, characterized in that, The electric translation drive mechanism is an electric screw mechanism, which includes a motor and a horizontal radial screw. The motor is fixedly mounted on the base plate, and one end of the horizontal radial screw is coaxially fixedly connected to the output end of the motor. The lower part of the spherical electrode plate is provided with a threaded hole, and the horizontal radial screw is engaged with the threaded hole.

3. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 1, characterized in that, The hemispherical resonant housing includes a hemispherical housing and an intermediate shaft. The surface of the hemispherical housing is plated with a metal layer. The top of the intermediate shaft is exposed outside the top center of the hemispherical housing, and the bottom of the intermediate shaft is fixedly connected to the base plate.

4. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 3, characterized in that, The hemispherical shell and the intermediate shaft are integrally formed into a hemispherical resonant shell.

5. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 1, characterized in that, The spherical electrode plate includes a movable plate and a spherical electrode. The spherical electrode is fixedly disposed on the upper part of the movable plate near the side of the hemispherical resonant housing. A plurality of guide rail grooves are evenly arranged on the base plate, and the lower part of the movable plate slides in conjunction with the corresponding guide rail groove.

6. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 5, characterized in that, Two spherical electrodes placed opposite each other form a pair of excitation electrodes or a pair of detection electrodes, with each pair of excitation electrodes and each pair of detection electrodes arranged alternately.

7. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 3, characterized in that, The base plate has a housing mounting hole at its center, and the intermediate shaft is fixedly inserted into the housing mounting hole.

8. The hemispherical resonant gyroscope with variable spherical electrode plate radius according to claim 1, characterized in that, The temperature sensor is fixedly mounted on the side of the base plate.

9. An error compensation method for a hemispherical resonant gyroscope with a variable spherical electrode plate radius, used to control the hemispherical resonant gyroscope with a variable spherical electrode plate radius as described in any one of claims 1 to 8, characterized in that, Includes the following steps: S1. The temperature of the hemispherical resonant gyroscope is collected in real time by a temperature sensor; S2. Based on the temperature of the hemispherical resonant gyroscope, the target radius of the spherical electrode plate is obtained through the temperature-spherical electrode plate radius relationship. S3. The current radius of the spherical electrode plate is adjusted to the target radius by the electric translation drive mechanism, thereby realizing real-time compensation for the temperature drift error of the hemispherical resonant gyroscope.

10. The error compensation method for a hemispherical resonant gyroscope with a variable spherical electrode plate radius according to claim 9, characterized in that, The method for obtaining the temperature-spherical electrode plate radius relationship is as follows: S21. Set the predetermined temperature as the reference temperature for temperature compensation, and set the middle position of the movable stroke of the spherical electrode plate as the reference radius. S22. Set the spherical electrode plate of the hemispherical resonator to the reference radius, place it in a temperature chamber, keep it at the reference temperature for a predetermined time in a static state, and record the output capacitance of the hemispherical resonator after the temperature is kept as the reference capacitance. S23. Divide the predetermined temperature range into multiple temperature points at equal intervals; S24. At each temperature point, set the spherical electrode plate of the hemispherical resonant gyroscope to the reference radius, place it in a temperature chamber, keep it at the corresponding temperature point for a predetermined time in a static state, and after keeping it at the temperature, adjust the radius of the spherical electrode plate so that the output capacitance of the hemispherical resonant gyroscope is equal to the reference capacitance, and record the adjusted radius of the spherical electrode plate. S25. Perform least-squares fitting on each temperature point and its corresponding adjusted spherical electrode plate radius to obtain the temperature-spherical electrode plate radius relationship.

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