Method and device for identifying error harmonics of hemispherical resonator gyroscope
By applying electrical excitation and detection to the electrodes of the hemispherical resonant gyroscope using electrical methods, and combining this with least squares fitting, the error harmonic identification process is simplified. This solves the problems of complex optical systems and manufacturing complexity in existing technologies, and improves the performance of the hemispherical resonant gyroscope.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TSINGHUA UNIVERSITY
- Filing Date
- 2026-01-30
- Publication Date
- 2026-05-12
AI Technical Summary
In existing technologies for hemispherical resonant gyroscopes, the identification of the first three error harmonics requires a large and complex optical system or increases the complexity of the manufacturing process, affecting flexibility and cost.
By applying electrical excitation to the electrodes of a hemispherical resonant gyroscope, the displacement relationship of the standing wave axis vibration under different circumferential angles is detected and calculated. Combined with least squares fitting, the magnitude and orientation information of the error harmonics are extracted, and the error harmonics are identified by electrical methods.
It enables simple and efficient identification of error harmonics without changing the structural design, reducing system complexity and cost, supporting error correction after assembly, and improving performance indicators.
Smart Images
Figure CN122015911A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of hemispherical resonant gyroscope technology, and in particular to a method and apparatus for identifying error harmonics in a hemispherical resonant gyroscope. Background Technology
[0002] A hemispherical resonant gyroscope is a type of vibrating gyroscope that uses the precession of the standing wave of a hemispherical resonant structure along the circumferential direction to measure the rotation of the outer shell. It has advantages such as fewer components, low power consumption, small size, low cost, high precision, high dynamics, high reliability, and long life.
[0003] As the core component of a hemispherical resonator gyroscope, the manufacturing precision of the hemispherical resonator is crucial to achieving high accuracy. Ideally, the hemispherical resonator is isotropic and can maintain a stable center of mass in the elliptical operating mode with N=2. However, the manufacturing process inevitably introduces geometric and material defects. These defects cause the physical properties of the hemispherical resonator, such as mass, stiffness, and damping, to exhibit circumferential non-uniformity, affecting its vibration characteristics and consequently reducing the performance accuracy of the hemispherical resonator gyroscope.
[0004] The circumferential inhomogeneity of a hemispherical harmonic oscillator is usually represented by a Fourier series expansion, also known as the error harmonics of a hemispherical harmonic gyroscope. In the elliptical operating mode with N=2 (where N represents the wavenumber of the hemispherical harmonic oscillator, characterizing the spatial distribution of the oscillator's vibration as two symmetrical peaks and two symmetrical troughs), the physical properties of the hemispherical harmonic oscillator, such as stiffness and damping, are most significantly affected by the first four error harmonics caused by manufacturing defects. The fourth harmonic primarily affects the stiffness inhomogeneity, while the first, second, and third harmonics primarily affect the damping inhomogeneity. While the identification technology for the fourth error harmonic of manufacturing defects is relatively mature, the identification of the first, second, and third error harmonics remains a key focus and a hot topic for researchers in this field.
[0005] When performing the first three harmonic error identification work, some existing solutions usually require the construction of a large and complex optical system test platform, which is complicated and costly. Some solutions have special requirements for the configuration design of hemispherical resonators or substrates, and error identification is performed by measuring the deformation displacement of elongated support rods or elastic bases, but this increases the complexity of the process and is not conducive to the flexible expansion of gyroscope structure design. Summary of the Invention
[0006] The purpose of this application is to provide a method and apparatus for identifying the error harmonics of a hemispherical resonant gyroscope, which can solve at least one of the technical problems mentioned in the prior art.
[0007] One aspect of this application provides a method for identifying error harmonics in a hemispherical resonant gyroscope. The hemispherical resonant gyroscope includes a hemispherical resonator and electrodes for vibration excitation and displacement detection. The method includes: applying electrical excitation to the electrodes of the hemispherical resonant gyroscope; obtaining the displacement relationship between the operating mode and the coupled mode of the standing wave axis vibration of the hemispherical resonator at a predetermined circumferential angle by detecting and calculating the electrical signals of different electrodes; controlling the operating mode of the hemispherical resonant gyroscope to allow the standing wave axis of the hemispherical resonator to traverse the entire circumference to obtain the displacement relationship between the operating mode and the coupled mode at different circumferential angles; and extracting the magnitude and circumferential orientation information of the error harmonics of the hemispherical resonant gyroscope based on the displacement relationship between the operating mode and the coupled mode at different circumferential angles.
[0008] Further, the coupled modes include a radial plane oscillation mode and an axial translational mode. The step of detecting and calculating the electrical signals from different electrodes to obtain the displacement relationship between the working mode and the coupled mode of the standing wave axis vibration of the hemispherical resonator at different circumferential angles includes: detecting and calculating the electrical signals from different electrodes to obtain the displacement relationship between the radial plane oscillation mode and the working mode, and the displacement relationship between the axial translational mode and the working mode, respectively, of the standing wave axis vibration of the hemispherical resonator at different circumferential angles. The step of extracting the magnitude and circumferential orientation information of the error harmonics of the hemispherical resonator gyroscope based on the displacement relationship between the working mode and the coupled mode at different circumferential angles includes: extracting the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonator gyroscope based on the displacement relationship between the radial plane oscillation mode and the working mode at different circumferential angles; and extracting the magnitude and circumferential orientation information of the second error harmonic of the hemispherical resonator gyroscope based on the displacement relationship between the axial translational mode and the working mode at different circumferential angles.
[0009] Further, the extraction of the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope by means of the displacement relationship between the radial plane oscillation mode and the working mode at different circumferential angles includes: extracting the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope by performing least squares fitting on the displacement relationship between the radial plane oscillation mode and the working mode at different circumferential angles; the extraction of the magnitude and circumferential orientation information of the second error harmonic of the hemispherical resonant gyroscope by means of the displacement relationship between the axial translation mode and the working mode at different circumferential angles includes: extracting the magnitude and circumferential orientation information of the second error harmonic of the hemispherical resonant gyroscope by performing least squares fitting on the displacement relationship between the axial translation mode and the working mode at different circumferential angles.
[0010] Furthermore, the method includes: completing the electrical excitation and electrical signal detection of the hemispherical harmonic oscillator at different circumferential angles through different combination logics of electrodes.
[0011] Further, the step of completing the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles through different electrode combination logics includes: applying electrical excitation to the electrodes of the hemispherical resonator at a certain circumferential angle through the electrode combination logic of the driving stage; performing electrical signal detection and calculation of the working mode of the hemispherical resonator at the circumferential angle through the electrode combination logic of the first detection stage; performing electrical signal detection and displacement calculation of the radial plane oscillation mode of the hemispherical resonator at the circumferential angle through the electrode combination logic of the second detection stage; and performing electrical signal detection and displacement calculation of the axial translational mode of the hemispherical resonator at the circumferential angle through the electrode combination logic of the third detection stage. The driving stage has an electrode combination related to one of the working mode, the radial plane oscillation mode, and the axial translational mode; the first detection stage has an electrode combination related to the working mode; the second detection stage has an electrode combination related to the radial plane oscillation mode; and the third detection stage has an electrode combination related to the axial translational mode.
[0012] Furthermore, when the driving phase has an electrode combination associated with the working mode, the electrode combination logic is switched at each predetermined circumferential angle according to the following timing sequence: the electrode combination logic is switched according to the timing sequence of the driving phase, the first detection phase, and the second detection phase until the vibration signal of the entire circumference is obtained; the electrode combination logic is switched according to the timing sequence of the driving phase, the first detection phase, and the third detection phase until the vibration signal of the entire circumference is obtained.
[0013] Furthermore, when the driving phase has an electrode combination associated with the working mode, the electrode combination logic is switched at each predetermined circumferential angle according to the following timing sequence: the electrode combination logic is switched according to the timing sequence of one of the two phases of the driving phase, the first detection phase, the second detection phase and the third detection phase, and the other of the two phases of the second detection phase and the third detection phase until the vibration signal of the entire circumference is obtained.
[0014] Furthermore, when the driving phase has an electrode combination associated with the radial plane oscillation mode, the electrode combination logic is switched at each predetermined circumferential angle according to the following timing sequence: the electrode combination logic is switched according to the timing sequence of the driving phase, the second detection phase, and the first detection phase until the vibration signal of the entire circumference is obtained; when the driving phase has an electrode combination associated with the axial translational mode, the electrode combination logic is switched at each circumferential angle according to the following timing sequence: the electrode combination logic is switched according to the timing sequence of the driving phase, the third detection phase, and the first detection phase until the vibration signal of the entire circumference is obtained.
[0015] Furthermore, the step of completing the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles through different combination logics of the electrodes includes: completing the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles by using time-division multiplexing of the electrodes and different combination logics of the same set of electrodes.
[0016] Furthermore, the electrode includes at least eight electrodes, which are a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode, a sixth electrode, a seventh electrode, and an eighth electrode that are distributed sequentially and uniformly at intervals along the circumferential direction. The electrode combination associated with the working mode includes electrodes i1 and i5 for connecting to the first interface, electrodes i3 and i7 for connecting to the second interface, electrodes i8 and i4 for connecting to the third interface, and electrodes i2 and i6 for connecting to the fourth interface. Electrode i1 includes any one of the first to the eighth electrodes. The circumferential angles between electrodes i1 and i5, between electrodes i3 and i7, between electrodes i8 and i4, and between electrodes i2 and i6 are all 180 degrees apart. The circumferential angles between electrodes i1 and i3 and between electrodes i8 and i2 are 90 degrees apart. The circumferential angles between electrodes i1 and i8 and between electrodes i2 and i3 are 45 degrees apart. The electrode combination associated with the radial planar oscillation mode includes a j1 electrode for connecting to the first interface, a j2 electrode for connecting to the second interface, a j3 electrode for connecting to the third interface, and a j4 electrode for connecting to the fourth interface. The j1 electrode comprises any one electrode from the first to the eighth electrode, or a combination of two adjacent electrodes. The circumferential angles between the j1 and j2 electrodes, and between the j3 and j4 electrodes, differ by 180 degrees. The circumferential angles between the j1 and j3 electrodes, and between the j2 and j4 electrodes, differ by 90 degrees. The electrode combination associated with the axial translational mode includes all electrodes and is used to connect to the first interface. During the driving phase, the first interface, the second interface, the third interface, and the fourth interface are respectively the first driving interface, the second driving interface, the third driving interface, and the fourth driving interface. The first and second driving interfaces are used to receive a set of differential excitation signals on the main axis of the standing wave; the third and fourth driving interfaces are used to receive a set of differential excitation signals on the orthogonal axis of the standing wave. During the detection phase, the first interface, the second interface, the third interface, and the fourth interface are respectively the first detection interface, the second detection interface, the third detection interface, and the fourth detection interface. The first detection interface and the second detection interface are used to receive a set of differential electrical signals on different vibration main axes; the third detection interface and the fourth detection interface are used to receive a set of differential electrical signals on different vibration orthogonal axes.
[0017] Further, the electrode combination logic related to the working mode in the driving phase includes connecting the second electrode and the sixth electrode to the first driving interface, connecting the fourth electrode and the eighth electrode to the second driving interface, connecting the first electrode and the fifth electrode to the third driving interface, and connecting the third electrode and the seventh electrode to the fourth driving interface; the electrode combination logic related to the radial planar oscillation mode in the driving phase includes connecting the third electrode to the first driving interface, connecting the seventh electrode to the second driving interface, connecting the first electrode to the third driving interface, and connecting the fifth electrode to the fourth driving interface; the electrode combination logic related to the axial translational mode in the driving phase includes connecting all electrodes to the first driving interface, connecting the second driving interface, the sixth electrode to the first driving interface, connecting the seventh electrode to the second driving interface, connecting the first electrode and the eighth electrode to the third driving interface, and connecting the fifth electrode to the fourth driving interface; The three driving interfaces and the fourth driving interface are all grounded; the electrode combination logic of the first detection stage includes connecting the second electrode and the sixth electrode to the first detection interface, connecting the fourth electrode and the eighth electrode to the second detection interface, connecting the first electrode and the fifth electrode to the third detection interface, and connecting the third electrode and the seventh electrode to the fourth detection interface; the electrode combination logic of the second detection stage includes connecting the third electrode to the first detection interface, connecting the seventh electrode to the second detection interface, connecting the first electrode to the third detection interface, and connecting the fifth electrode to the fourth detection interface; the electrode combination logic of the third detection stage includes connecting all electrodes to the first detection interface, and grounding the second detection interface, the third detection interface, and the fourth detection interface.
[0018] Furthermore, the step of making the standing wave axis of the hemispherical harmonic oscillator traverse the entire circumference includes: controlling the hemispherical harmonic gyroscope to operate in a multi-position force feedback working mode within the circumference range so that the standing wave axis of the hemispherical harmonic oscillator traverses the entire circumference sequentially in the form of equal intervals of circumferential angles.
[0019] Furthermore, the step of controlling the operating mode of the hemispherical resonator to make the standing wave axis of the hemispherical resonator traverse the entire circumference includes: controlling the hemispherical resonator to operate in a virtual precession full-angle operating mode to make the standing wave axis of the hemispherical resonator continuously traverse the entire circumference.
[0020] Another aspect of this application provides a device for identifying the error harmonics of a hemispherical resonant gyroscope. The identification device includes a hemispherical resonant gyroscope, an excitation module, a switching module, a displacement calculation module, a control module, and a processing module. The hemispherical resonant gyroscope includes a hemispherical resonator and electrodes for vibration excitation and displacement detection. The excitation module applies electrical excitation to the electrodes of the hemispherical resonant gyroscope. The control module controls the operating mode of the hemispherical resonant gyroscope so that the standing wave axis of the hemispherical resonator traverses the entire circumference. Furthermore, the control module uses the switching module to control the electrodes to have different electrode combination logics at different operating stages. The displacement calculation module detects and calculates the electrical signals from different electrodes to obtain the displacement relationship between the operating mode and the coupled mode of the standing wave axis vibration of the hemispherical resonator at different circumferential angles. The processing module extracts the magnitude and circumferential orientation information of the error harmonics of the hemispherical resonant gyroscope based on the displacement relationship between the operating mode and the coupled mode at different circumferential angles.
[0021] The method and apparatus for identifying hemispherical resonant gyroscope error harmonics according to one or more embodiments of this application have the following advantages and are of significant application value for improving the performance of hemispherical resonant gyroscopes: 1) This application has stronger compatibility with hemispherical resonator gyroscope structures, does not require the hemispherical resonator to have a long external support rod, avoids the error harmonic changes and process complexity caused by the later truncation of the support rod; it does not require additional structural design for the gyroscope electrode plate, thus avoiding process complexity. 2) This application directly performs error harmonic detection through a circuit scheme, without the need to build an additional optical platform or mechanical excitation platform, which reduces the complexity of the identification system and lowers the system cost.
[0022] 3) This application can identify the error of the assembled hemispherical resonator gyroscope and support the error adjustment of the assembled hemispherical resonator gyroscope in the later stage, avoiding the influence of the error harmonics of the assembled hemispherical resonator gyroscope and further improving the influence of the error harmonics of the hemispherical resonator gyroscope. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the distribution of defects in a hemispherical harmonic oscillator.
[0024] Figure 2 This is a schematic diagram of the operating modes of a hemispherical harmonic oscillator.
[0025] Figure 3 This is a schematic diagram of the radial plane oscillation mode of a hemispherical harmonic oscillator.
[0026] Figure 4 This is a schematic diagram of the axial translational mode of a hemispherical harmonic oscillator.
[0027] Figure 5 This is a flowchart illustrating a method for identifying the error harmonics of a hemispherical resonant gyroscope according to an embodiment of this application.
[0028] Figure 6 This is a schematic diagram of the electrode distribution of a hemispherical resonant gyroscope according to an embodiment of this application.
[0029] Figure 7 This is a block diagram illustrating the measurement and control principle of a hemispherical resonant gyroscope according to an embodiment of this application.
[0030] Figure 8 This is a schematic diagram of the first and third error harmonic identification results of a hemispherical resonant gyroscope according to an embodiment of this application. Detailed Implementation
[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.
[0032] The anisotropy of a hemispherical resonant gyroscope is usually described in terms of the Fourier series of its mass: in, This represents the current azimuth angle of the standing wave. Indicates the azimuth angle of a circle Equivalent quality at the location, For the equivalent mass of an ideal oscillator, This represents the i-th harmonic component of the quality defect. This represents the azimuth angle of the circle where the i-th harmonic component of the quality defect is located. Figure 1 A schematic diagram illustrating the distribution of defects in a hemispherical harmonic oscillator is shown. (For example...) Figure 1 As shown, Figure 1 The ideal shape of the first four error harmonics of a hemispherical resonator is shown. In actual operation, manufacturing defects in the hemispherical resonator manifest as a combination of multiple error harmonics.
[0033] Figure 2 A schematic diagram of the operating modes of a hemispherical harmonic oscillator is shown. (For example...) Figure 2 As shown, according to existing research, in the second-order elliptic working mode with N=2, the fourth error harmonic of the unbalanced mass mainly affects the frequency fragmentation of the hemispherical harmonic oscillator. The identification technology for the fourth mass defect harmonic is relatively mature, so this application will not discuss it in detail.
[0034] The first three error harmonics of the unbalanced mass will generate inertial forces in the radial and axial directions of the hemispherical harmonic oscillator. Among them, the first and third mass defect harmonics will cause eccentric forces in the radial direction, as shown below: in, The force is the eccentric force along the x-direction; The force is the eccentric force along the y-direction; This represents the initial vibration amplitude of the hemispherical harmonic oscillator in its operating mode. The resonant frequency of the hemispherical harmonic oscillator; and These represent the first and third harmonic components of the quality defect, respectively. The azimuth angle of the initial circle of the standing wave; and These are the circumferential azimuth angles for the first and third harmonics, respectively.
[0035] The second quality defect harmonic will cause an eccentric force along the axial direction, as shown below: in, This is the eccentric force along the axial direction (i.e., the z-direction); The second harmonic component representing the quality defect; The azimuth angles for the first and third harmonics are circular.
[0036] Therefore, when the first three quality defect harmonics are present, the excitation of the accompanying operating mode will induce a phenomenon in the hemispherical harmonic oscillator such as... Figure 3 The radial vibrations of the radial plane oscillation mode (also known as the x / y plane oscillation mode) and as shown Figure 4 The axial vibration of the axial translational mode (also known as the z-axis translational mode) shown prevents the center of mass of the hemispherical harmonic oscillator from maintaining stability and equilibrium, leading to energy leakage through the anchor points, i.e., anchor point loss. The radial plane oscillation mode and the axial translational mode are collectively referred to as coupled modes. Detecting the effects of these inertial forces, i.e., detecting the vibration displacement of the coupled modes, is a feasible method for identifying the first three mass defect harmonics.
[0037] When performing displacement calculations for coupled modes along the principal axis of the standing wave, the radial amplitude of the radial plane oscillation mode (i.e., the displacement of the radial plane oscillation mode) and the axial amplitude of the axial translation mode (i.e., the displacement of the axial translation mode) can be expressed as follows: in, For the radial planar oscillating mode displacement; For the axial translational mode displacement; , , These represent the amplitudes of the first, second, and third harmonics, respectively.
[0038] By fitting the detected amplitude using numerical methods such as the least squares method, the magnitude and circumferential orientation information of the error harmonics can be obtained, which can be used to guide subsequent quality leveling.
[0039] Based on this mechanism, this application provides a method and apparatus for identifying error harmonics in a hemispherical resonator gyroscope. By identifying the first three error harmonics of the hemispherical resonator gyroscope through electrical excitation and detection, error harmonics can be directly identified on the assembled hemispherical resonator oscillator without altering the overall design configuration of the hemispherical resonator gyroscope. This avoids additional mechanical excitation and optical detection methods, making the identification method simpler. It also reduces the requirements for the configuration of the hemispherical resonator oscillator or electrode plates, allowing for more flexible design. Furthermore, it allows for direct adjustment of the assembled hemispherical resonator gyroscope, further correcting error harmonics caused by assembly errors.
[0040] The method and apparatus for identifying harmonic errors in a hemispherical resonant gyroscope according to this application will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.
[0041] Figure 5 A flowchart illustrating a method for identifying harmonic errors in a hemispherical resonant gyroscope according to an embodiment of this application is provided. The hemispherical resonant gyroscope includes a hemispherical resonator and electrodes for vibration excitation and vibration displacement detection. Figure 5 As shown, a method for identifying hemispherical resonant gyroscope error harmonics according to an embodiment of this application may include steps S1 to S4.
[0042] In step S1, an electrical excitation is applied to the electrodes of the hemispherical resonant gyroscope.
[0043] In step S2, by detecting and calculating the electrical signals of different electrodes, the displacement relationship between the working mode and the coupled mode of the standing wave axis vibration of the hemispherical harmonic oscillator at a predetermined circumferential angle is obtained.
[0044] In step S3, by controlling the working mode of the hemispherical resonator gyroscope, the standing wave axis of the hemispherical resonator is made to traverse the entire circumference, thereby obtaining the displacement relationship between the working mode and the coupled mode at different circumferential angles throughout the entire circumference.
[0045] In some embodiments, the standing wave axis of the hemispherical harmonic oscillator can be made to traverse the entire circumference by controlling the hemispherical resonator to operate in a multi-position force feedback mode within the circumference. Optionally, the force feedback mode can be used to make the standing wave axis of the hemispherical resonator traverse the entire circumference sequentially at equal intervals of circumferential angles. Preferably, the interval of circumferential angles is no greater than 30 degrees.
[0046] In other embodiments, the standing wave axis of the hemispherical harmonic oscillator can be continuously traversed throughout the entire circumference by controlling the hemispherical resonator gyroscope to operate in a virtual precession full-angle mode. This results in a more continuous and accurate distribution of error harmonics.
[0047] In step S4, the magnitude and circumferential orientation information of the hemispherical resonant gyroscope error harmonics are extracted by analyzing the displacement relationship between the operating mode and the coupled mode at different circumferential angles. This information can then guide the subsequent adjustment of the hemispherical resonant gyroscope's mass error harmonics.
[0048] In some embodiments, the coupled modes include a radial planar oscillation mode and an axial translational mode. Therefore, step S3, which involves detecting and calculating the electrical signals of different electrodes to obtain the displacement relationship between the working mode and the coupled mode of the standing wave axis vibration of the hemispherical harmonic oscillator at different circumferential angles, may include: obtaining the displacement relationship between the radial planar oscillation mode and the working mode, and the displacement relationship between the axial translational mode and the working mode of the standing wave axis vibration of the hemispherical harmonic oscillator at different circumferential angles, respectively, by detecting and calculating the electrical signals of different electrodes.
[0049] Step S4, which extracts the magnitude and circumferential orientation information of the hemispherical resonant gyroscope error harmonics by the displacement relationship between the working mode and the coupled mode at different circumferential angles, may include steps S41 and S42.
[0050] In step S41, the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope are extracted by the displacement relationship between the radial plane oscillation mode and the working mode under different circumferential angles.
[0051] Optionally, the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope can be extracted by fitting the displacement relationship between the radial plane oscillation mode and the working mode at different circumferential angles using numerical methods such as least squares.
[0052] In step S42, the magnitude of the second error harmonic and the circumferential orientation information of the hemispherical resonant gyroscope are extracted by the displacement relationship between the axial translational mode and the working mode under different circumferential angles.
[0053] Optionally, the magnitude of the second error harmonic and the circumferential orientation information of the hemispherical resonant gyroscope can be extracted by fitting the displacement relationship between the axial translational mode and the working mode at different circumferential angles using numerical methods such as least squares.
[0054] The hemispherical resonant gyroscope of this application includes at least eight electrodes. Figure 6 A schematic diagram of the electrode distribution of a hemispherical resonant gyroscope according to one embodiment of this application is shown. Figure 6 As shown, at least eight electrodes are evenly spaced at 45° intervals along the circumference. These at least eight electrodes may include, for example, a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode, a sixth electrode, a seventh electrode, and an eighth electrode, which are sequentially and evenly spaced along the circumference.
[0055] It is understood that this application illustrates a hemispherical resonant gyroscope comprising eight electrodes as an example. However, the number of electrodes in the hemispherical resonant gyroscope of this application is not limited to eight; in fact, the number of electrodes in the hemispherical resonant gyroscope of this application can be a multiple of eight. For example, in other embodiments, each of the eight electrodes can be divided in two, thereby dividing the electrodes of the hemispherical resonant gyroscope of this application into sixteen; or, for example, each of the eight electrodes can be divided in three, thereby dividing the electrodes of the hemispherical resonant gyroscope of this application into twenty-four.
[0056] In some embodiments, the method for identifying the error harmonics of the hemispherical resonator gyroscope of this application includes: the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles can be completed by different combination logics of electrodes.
[0057] Figure 7 A block diagram illustrating the measurement and control principle of a hemispherical resonant gyroscope according to one embodiment of this application is disclosed. Figure 7 As shown, the same electrode can be switched between different operating stages by means of a switch. For example, in the driving stage, the combinational logic of the electrode can be switched to the driving stage by a switch; in the detection stage, the combinational logic of the electrode can be switched to the detection stage by a switch to capture and solve the detection signal, and finally the displacement information of the coupled mode can be obtained.
[0058] Optionally, time-division multiplexing of electrodes can be used to complete the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles using different combinations of logic from the same set of electrodes. This can reduce the impact of channel inconsistency on signal processing at different detection stages. Furthermore, after driving, detection of each mode can be performed directly, with each detection cycle on the order of tens of microseconds. The channels are consistent and the time interval is short, ensuring the consistency of displacement detection gain of the working mode and coupled mode at the current moment.
[0059] In some embodiments, the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles can be accomplished through different combinations of electrode logic, which may include four working stages.
[0060] During the driving phase, the electrodes of the hemispherical resonator can be electrically excited at a certain circumferential angle by means of the electrode combination logic of the driving phase.
[0061] The driving stage may have an electrode combination associated with one of the following modes: working mode, radial planar oscillation mode, and axial translation mode.
[0062] The detection phase may include a first detection phase, a second detection phase, and a third detection phase. The first detection phase has an electrode combination related to the working mode; the second detection phase has an electrode combination related to the radial planar oscillation mode; and the third detection phase has an electrode combination related to the axial translational mode.
[0063] The electrode combinations associated with the operating mode include electrodes i1 and i5 for connecting to the first interface, electrodes i3 and i7 for connecting to the second interface, electrodes i8 and i4 for connecting to the third interface, and electrodes i2 and i6 for connecting to the fourth interface. Electrode i1 includes any one of the first to eighth electrodes. The circumferential angles between electrodes i1 and i5, between electrodes i3 and i7, between electrodes i8 and i4, and between electrodes i2 and i6 differ by 180 degrees; the circumferential angles between electrodes i1 and i3, and between electrodes i8 and i2, differ by 90 degrees; and the circumferential angles between electrodes i1 and i8, and between electrodes i2 and i3, differ by 45 degrees.
[0064] The electrode combination associated with the radial planar oscillation mode includes a j1 electrode for connecting to the first interface, a j2 electrode for connecting to the second interface, a j3 electrode for connecting to the third interface, and a j4 electrode for connecting to the fourth interface. The j1 electrode comprises any one of the first to eighth electrodes or a combination of two adjacent electrodes; the circumferential angles between the j1 and j2 electrodes, and between the j3 and j4 electrodes, differ by 180 degrees; the circumferential angles between the j1 and j3 electrodes, and between the j2 and j4 electrodes, differ by 90 degrees. The electrode assembly associated with the axial translational mode includes all electrodes and is used to connect to the first interface.
[0065] During the driving phase, the first, second, third, and fourth interfaces mentioned above are respectively the first driving interface DX+, the second driving interface DX-, the third driving interface DY+, and the fourth driving interface DY-. Specifically, the first driving interface DX+ and the second driving interface DX- are used to receive a set of differential excitation signals on the main axis of the standing wave; the third driving interface DY+ and the fourth driving interface DY- are used to receive a set of differential excitation signals on the orthogonal axis of the standing wave.
[0066] During the testing phase, the first, second, third, and fourth interfaces mentioned above are respectively the first detection interface SX+, the second detection interface SX-, the third detection interface SY+, and the fourth detection interface SY-. Specifically, the first detection interface SX+ and the second detection interface SX- are used to receive a set of differential electrical signals from different vibration axes; the third detection interface SY+ and the fourth detection interface SY- are used to receive a set of differential electrical signals from different orthogonal vibration axes.
[0067] In the first detection stage, the working modes of the lower hemisphere resonator at the circumferential angle can be detected and calculated by the electrode combination logic of the first detection stage.
[0068] In the second detection stage, the radial plane oscillation mode of the lower hemisphere harmonic oscillator at the circumferential angle can be detected by electrical signals and displacement calculation through the electrode combination logic of the second detection stage.
[0069] In the third detection stage, the axial translational mode of the lower hemisphere harmonic oscillator at the circumferential angle can be detected by electrical signals and the displacement can be calculated by the electrode combination logic of the third detection stage.
[0070] The following will use specific examples to explain in detail the combinational logic of each electrode in different working stages of this application and the time-division multiplexing timing logic of the electrodes.
[0071] In some embodiments, this application can drive the hemispherical harmonic oscillator to work in the working mode, detect and calculate the vibration displacement of the coupled mode of the hemispherical harmonic oscillator, and obtain the displacement of the coupled mode relative to the working mode.
[0072] Table 1 below reveals the combination logic of each electrode at different working stages in one embodiment of this application.
[0073] Table 1. Combination logic of electrodes at different working stages As shown in Table 1, during the driving phase, each electrode is connected to its corresponding driving interface; during the detection phase, each electrode is connected to its corresponding detection interface.
[0074] The driver interfaces include the first driver interface DX+, the second driver interface DX-, the third driver interface DY+, and the fourth driver interface DY-.
[0075] The detection interface includes a first detection interface SX+, a second detection interface SX-, a third detection interface SY+, and a fourth detection interface SY-.
[0076] Table 1 shows the case where there is an electrode combination related to the working mode during the driving phase, i.e., driving the hemispherical resonator to work in the working mode.
[0077] In the embodiments shown in Table 1, when driving the hemispherical resonator to operate in the working mode, the electrode combination logic of the driving stage includes connecting the second electrode and the sixth electrode to the first driving interface DX+, connecting the fourth electrode and the eighth electrode to the second driving interface DX-, connecting the first electrode and the fifth electrode to the third driving interface DY+, and connecting the third electrode and the seventh electrode to the fourth driving interface DY-.
[0078] The electrode combination logic in the first detection stage includes connecting the second and sixth electrodes to the first detection interface SX+, connecting the fourth and eighth electrodes to the second detection interface SX-, connecting the first and fifth electrodes to the third detection interface SY+, and connecting the third and seventh electrodes to the fourth detection interface SY-. The electrode combination logic in the second detection stage includes connecting the third electrode to the first detection interface SX+, connecting the seventh electrode to the second detection interface SX-, connecting the first electrode to the third detection interface SY+, and connecting the fifth electrode to the fourth detection interface SY-.
[0079] The electrode combination logic in the third detection stage includes connecting all electrodes to the first detection interface SX+, and grounding the second detection interface SX-, the third detection interface SY+, and the fourth detection interface SY-.
[0080] Table 2 below reveals the time-division multiplexing timing logic of the electrodes in one embodiment of this application.
[0081] Table 2: Time-division multiplexing sequential logic for electrodes As shown in Table 2, the electrode combination logic is first switched to the driving stage to apply electrical excitation to each electrode of the hemispherical resonator gyroscope at a specific circumferential angle θ, causing it to vibrate at the resonant frequency of the operating mode. Then, the electrode combination logic is switched to the first detection stage to calculate the detection signal of the operating mode, achieving stable amplitude vibration of the standing wave at the current circumferential angle in either the full-angle operating mode or the force feedback operating mode. Next, the electrode combination logic is switched to the second or third detection stage to capture and calculate the displacement of the coupled mode (where the second detection stage corresponds to the radial plane oscillation mode, and the third detection stage corresponds to the axial translational mode) at the current circumferential angle, and output and record this displacement information. By repeating the above timing sequence, multiple sets of data can be recorded at the same circumferential angle to obtain a better signal-to-noise ratio. Since the duration of each driving or detection stage is generally between tens and hundreds of microseconds, it can be assumed that the standing wave angle and operating mode amplitude of the hemispherical resonator gyroscope remain unchanged during the detection stage. Subsequently, the circumferential angle θ is changed, and the above steps are repeated until the vibration information of the coupled modes under the entire circumference is obtained. In order to better fit the harmonic distribution, the preferred circumferential angle θ can be in the form of equal intervals of no more than 30° around the circumference, that is, no less than 12 equally spaced test points around the entire circumference, so as to better obtain the distribution of the first three error harmonics.
[0082] The second and third detection stages are conducted separately in the two identification processes.
[0083] In other words, when there is an electrode combination related to the working mode during the driving phase, the electrode combination logic can be switched according to the following timing sequence at each predetermined circumferential angle: the electrode combination logic is switched according to the timing sequence of the driving phase, the first detection phase, and the second detection phase until the vibration signal of the entire circumference is obtained. Thus, through electrical signal capture and signal decoding, the displacement of the radial plane oscillation mode relative to the working mode can be obtained; the electrode combination logic is switched according to the timing sequence of the driving phase, the first detection phase, and the third detection phase until the vibration signal of the entire circumference is obtained. Thus, through electrical signal capture and signal decoding, the displacement of the axial translation mode relative to the working mode can be obtained.
[0084] Table 3 below reveals the time-division multiplexing timing logic of the electrodes in another embodiment of this application.
[0085] Table 3: Time-division multiplexing sequential logic for electrodes As shown in Table 3, in some embodiments, the second detection stage and the third detection stage can be performed sequentially in a single identification process. Furthermore, the order of the second and third detection stages can be interchanged; that is, the second detection stage can be performed after the first detection stage, followed by the third detection stage; or, the third detection stage can be performed after the first detection stage, followed by the second detection stage.
[0086] In other words, when there is an electrode combination related to the working mode during the driving phase, the electrode combination logic can be switched according to the following timing sequence at each predetermined circumferential angle: the electrode combination logic is switched according to the timing sequence of one of the two phases of driving phase, first detection phase, second detection phase and third detection phase, and the other of the two phases of second detection phase and third detection phase until the vibration signal of the entire circumference is obtained.
[0087] In other embodiments, this application may also drive the hemispherical resonator to work in the coupled mode, detect and calculate the vibration displacement of the working mode of the hemispherical resonator, and obtain the displacement of the working mode relative to the coupled mode.
[0088] Specifically, in one embodiment, when the electrode combination associated with the radial plane oscillation mode is present during the driving phase, the third electrode is connected to the first driving interface DX+, the seventh electrode is connected to the second driving interface DX-, the first electrode is connected to the third driving interface DY+, and the fifth electrode is connected to the fourth driving interface DY-.
[0089] In this scenario, the electrode combination logic can be switched at each predetermined circumferential angle according to the following timing sequence: switching the electrode combination logic according to the driving phase, the second detection phase, and the first detection phase until the vibration signal for the entire circumference is obtained. Thus, through electrical signal capture and signal decoding, the displacement of the working mode relative to the radial plane oscillation mode can be obtained.
[0090] When there is an electrode combination related to the axial translational mode during the driving phase, all electrodes are connected to the first driving interface DX+, and the second driving interface DX-, the third driving interface DY+, and the fourth driving interface DY- are all grounded.
[0091] In this scenario, the electrode combination logic can be switched at each circumferential angle according to the following timing sequence: the switching occurs in the order of the driving phase, the third detection phase, and the first detection phase, until the vibration signal for the entire circumference is obtained. Thus, through electrical signal capture and signal decoding, the displacement of the working mode relative to the axial translational mode can be obtained.
[0092] Figure 8A schematic diagram illustrating the first and third harmonic error identification results of a hemispherical resonant gyroscope according to an embodiment of this application is shown. Figure 8 As shown, the red line represents the fitted value obtained by fitting the displacement of the radial plane oscillation mode using the hemispherical resonator gyroscope error harmonic identification method of this application; the light blue line represents the measured values of the radial amplitude of the radial plane oscillation mode caused by the first and third error harmonics of the hemispherical resonator gyroscope. The green and purple lines represent the first and third error harmonic curves in the fitting results. These curves provide the amplitude and angle information of the first and third harmonics (the first error harmonic amplitude is 6.218e-2, located at -155.579°; the third error harmonic amplitude is 4.182e-2, located at -58.34°), which can be used to guide subsequent harmonic oscillator error adjustment. Figure 8 As can be seen, the red line and the light blue line are basically in agreement, and the fitted value can reflect the measured value well.
[0093] This application also provides a device for identifying harmonic errors in a hemispherical resonant gyroscope. (Referring to a reference...) Figure 7 An embodiment of the present application of the device for identifying harmonic errors of a hemispherical resonant gyroscope may include a hemispherical resonant gyroscope, an excitation module, a switching module, a displacement calculation module, a control module, and a processing module.
[0094] A hemispherical resonant gyroscope consists of a hemispherical resonator and electrodes used for vibration excitation and vibration displacement detection.
[0095] The excitation module can be used to apply electrical excitation to the electrodes of a hemispherical resonant gyroscope. The excitation module has a drive terminal interface for connection to the electrodes.
[0096] The control module can control the working mode of the hemispherical resonant gyroscope so that the standing wave axis of the hemispherical resonator traverses the entire circumference. Furthermore, the control module can control the electrodes to have different electrode combination logics in different working stages through the switching module.
[0097] The displacement calculation module has a detection interface connected to the electrodes. It can detect and calculate the electrical signals from different electrodes to obtain the displacement relationship between the operating modes and coupled modes of the standing wave axis vibration of the hemispherical harmonic oscillator at different circumferential angles.
[0098] The processing module can extract the magnitude and circumferential orientation information of the error harmonics of the hemispherical resonator gyroscope by analyzing the displacement relationship between the operating mode and the coupled mode at different circumferential angles. The processing module can be integrated into the control circuit CPU, or it can be implemented using computer post-processing software (such as MATLAB) independent of the control circuit CPU.
[0099] The beneficial effects of the method and device for identifying the error harmonics of a hemispherical resonant gyroscope in this application are that, compared with the prior art, this application has the following advantages and has important application value for improving the performance indicators of hemispherical resonant gyroscopes: 1) This application has stronger compatibility with hemispherical resonator gyroscope structures, does not require the hemispherical resonator to have a long external support rod, avoids the error harmonic changes and process complexity caused by the later truncation of the support rod; it does not require additional structural design for the gyroscope electrode plate, thus avoiding process complexity. 2) This application directly performs error harmonic detection through a circuit scheme, without the need to build an additional optical platform or mechanical excitation platform, which reduces the complexity of the identification system and lowers the system cost.
[0100] 3) This application can identify the error of the assembled hemispherical resonator gyroscope and support the error adjustment of the assembled hemispherical resonator gyroscope in the later stage, avoiding the influence of the error harmonics of the assembled hemispherical resonator gyroscope and further improving the influence of the error harmonics of the hemispherical resonator gyroscope.
[0101] The foregoing has provided a detailed description of the method and apparatus for identifying hemispherical resonant gyroscope error harmonics according to embodiments of this application. Specific examples have been used to illustrate the method and apparatus for identifying hemispherical resonant gyroscope error harmonics according to embodiments of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the core ideas of this application and are not intended to limit this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the spirit and principles of this application, and all such improvements and modifications should fall within the protection scope of the appended claims.
Claims
1. A method for identifying the error harmonics of a hemispherical resonant gyroscope, characterized in that, The hemispherical resonant gyroscope includes a hemispherical resonator and electrodes for vibration excitation and vibration displacement detection, and the method includes: Electrical excitation is applied to the electrodes of the hemispherical resonant gyroscope; By detecting and calculating the electrical signals of different electrodes, the displacement relationship between the working mode and the coupled mode of the standing wave axis vibration of the hemispherical harmonic oscillator at a predetermined circumferential angle is obtained; By controlling the working mode of the hemispherical resonant gyroscope, the standing wave axis of the hemispherical resonator is made to traverse the entire circumference, so as to obtain the displacement relationship between the working mode and the coupled mode under different circumferential angles. The magnitude and circumferential orientation information of the error harmonics of the hemispherical resonant gyroscope are extracted by the displacement relationship between the working mode and the coupled mode at different circumferential angles.
2. The identification method as described in claim 1, characterized in that, The coupled modes include radial planar oscillation mode and axial translation mode. The process of detecting and calculating the electrical signals from different electrodes to obtain the displacement relationship between the operating mode and the coupled mode of the standing wave axis vibration of the hemispherical harmonic oscillator at different circumferential angles includes: By detecting and calculating the electrical signals of different electrodes, the displacement relationships between the radial plane oscillation mode and the working mode, as well as the displacement relationships between the axial translational mode and the working mode, are obtained for the standing wave axis vibration of the hemispherical harmonic oscillator at different circumferential angles. The method of extracting the magnitude and circumferential orientation information of the hemispherical resonant gyroscope error harmonics by analyzing the displacement relationship between the operating mode and the coupled mode at different circumferential angles includes: The magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope are extracted by the displacement relationship between the radial plane oscillation mode and the working mode under different circumferential angles. The magnitude of the second error harmonic and the circumferential orientation information of the hemispherical resonant gyroscope are extracted by the displacement relationship between the axial translational mode and the working mode at different circumferential angles.
3. The identification method as described in claim 2, characterized in that, The method of extracting the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope by means of the displacement relationship between the radial plane oscillation mode and the working mode at different circumferential angles includes: The magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonant gyroscope are extracted by least-squares fitting of the displacement relationship between the radial plane oscillation mode and the working mode at different circumferential angles. The method of extracting the magnitude and circumferential orientation information of the second error harmonic of the hemispherical resonant gyroscope by means of the displacement relationship between the axial translational mode and the working mode at different circumferential angles includes: The magnitude of the second error harmonic and the circumferential orientation information of the hemispherical resonant gyroscope are extracted by least-squares fitting of the displacement relationship between the axial translational mode and the working mode at different circumferential angles.
4. The identification method as described in claim 1, characterized in that, The method includes: The electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles are accomplished by different combinations of electrode logic.
5. The identification method as described in claim 4, characterized in that, The process of completing the electrical excitation and electrical signal detection of the hemispherical harmonic oscillator at different circumferential angles through different combinations of electrode logic includes: Through the electrode combination logic of the driving stage, an electrical excitation is applied to the electrodes of the hemispherical harmonic oscillator at a certain circumferential angle to cause the standing wave axis vibration. The working modes of the hemispherical harmonic oscillator under the circumferential angle are detected and calculated by the electrode combination logic in the first detection stage. The second detection stage uses electrode combination logic to perform electrical signal detection and displacement calculation on the radial plane oscillation mode of the hemispherical harmonic oscillator under the circumferential angle. The third detection stage uses electrode combination logic to perform electrical signal detection and displacement calculation on the axial translational mode of the hemispherical harmonic oscillator at the circumferential angle. The driving stage has an electrode combination associated with one of the working modes, the radial plane oscillation mode, and the axial translation mode; the first detection stage has an electrode combination associated with the working mode; the second detection stage has an electrode combination associated with the radial plane oscillation mode; and the third detection stage has an electrode combination associated with the axial translation mode.
6. The identification method as described in claim 5, characterized in that, When the driving phase has an electrode combination associated with the operating mode, the electrode combination logic is switched according to the following timing sequence at each predetermined circumferential angle: The electrode combination logic is switched according to the timing sequence of the driving stage, the first detection stage, and the second detection stage until the vibration signal of the entire circumference is obtained. The electrode combination logic is switched according to the timing sequence of the driving stage, the first detection stage, and the third detection stage until the vibration signal of the entire circumference is obtained.
7. The identification method as described in claim 5, characterized in that, When the driving phase has an electrode combination associated with the operating mode, the electrode combination logic is switched according to the following timing sequence at each predetermined circumferential angle: The electrode combination logic is switched according to the timing sequence of one of the two stages of the driving stage, the first detection stage, the second detection stage, and the third detection stage, and the other of the two stages of the second detection stage and the third detection stage, until the vibration signal of the entire circumference is obtained.
8. The identification method as described in claim 5, characterized in that, When the driving phase has an electrode combination associated with the radial plane oscillation mode, the electrode combination logic is switched according to the following timing sequence at each predetermined circumferential angle: The electrode combination logic is switched according to the timing sequence of the driving stage, the second detection stage, and the first detection stage until the vibration signal of the entire circumference is obtained. When the driving phase has an electrode combination associated with the axial translational mode, the electrode combination logic is switched according to the following timing sequence at each circumferential angle: The electrode combination logic is switched according to the timing sequence of the driving stage, the third detection stage, and the first detection stage until the vibration signal of the entire circumference is obtained.
9. The identification method according to any one of claims 5 to 8, characterized in that, The process of completing the electrical excitation and electrical signal detection of the hemispherical harmonic oscillator at different circumferential angles through different combinations of electrode logic includes: By using time-division multiplexing of electrodes, different combinations of logic from the same set of electrodes are used to complete the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles.
10. The identification method as described in claim 9, characterized in that, The electrode comprises at least eight electrodes, wherein the at least eight electrodes include a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode, a sixth electrode, a seventh electrode, and an eighth electrode that are uniformly spaced along a circumferential direction, wherein... The electrode combination associated with the working mode includes the i1 and i5 electrodes for connecting the first interface, the i3 and i7 electrodes for connecting the second interface, the i8 and i4 electrodes for connecting the third interface, and the i2 and i6 electrodes for connecting the fourth interface. The i1 electrode includes any one of the first to the eighth electrodes. The circumferential angles between the i1 and i5 electrodes, between the i3 and i7 electrodes, between the i8 and i4 electrodes, and between the i2 and i6 electrodes are all 180 degrees apart. The circumferential angles between the i1 and i3 electrodes and between the i8 and i2 electrodes are 90 degrees apart. The circumferential angles between the i1 and i8 electrodes and between the i2 and i3 electrodes are 45 degrees apart. The electrode combination associated with the radial plane oscillation mode includes a j1 electrode for connecting to the first interface, a j2 electrode for connecting to the second interface, a j3 electrode for connecting to the third interface, and a j4 electrode for connecting to the fourth interface. The j1 electrode includes any one electrode from the first electrode to the eighth electrode or a combination of two adjacent electrodes. The circumferential angles between the j1 electrode and the j2 electrode, and between the j3 electrode and the j4 electrode, are 180 degrees apart. The circumferential angles between the j1 electrode and the j3 electrode, and between the j2 electrode and the j4 electrode, are 90 degrees apart. The electrode assembly associated with the axial translational mode includes all electrodes and is used to connect to the first interface; During the driving phase, the first interface, the second interface, the third interface, and the fourth interface are respectively the first driving interface, the second driving interface, the third driving interface, and the fourth driving interface. The first driving interface and the second driving interface are used to receive a set of differential excitation signals on the main axis of the standing wave; the third driving interface and the fourth driving interface are used to receive a set of differential excitation signals on the orthogonal axis of the standing wave. During the detection phase, the first interface, the second interface, the third interface, and the fourth interface are respectively the first detection interface, the second detection interface, the third detection interface, and the fourth detection interface. The first detection interface and the second detection interface are used to receive a set of differential electrical signals on different vibration main axes; the third detection interface and the fourth detection interface are used to receive a set of differential electrical signals on different vibration orthogonal axes.
11. The identification method as described in claim 10, characterized in that, The electrode combination logic related to the working mode in the driving phase includes connecting the second electrode and the sixth electrode to the first driving interface, connecting the fourth electrode and the eighth electrode to the second driving interface, connecting the first electrode and the fifth electrode to the third driving interface, and connecting the third electrode and the seventh electrode to the fourth driving interface. The electrode combination logic related to the radial plane oscillation mode in the driving phase includes connecting the third electrode to the first driving interface, connecting the seventh electrode to the second driving interface, connecting the first electrode to the third driving interface, and connecting the fifth electrode to the fourth driving interface. The electrode combination logic related to the axial translational mode in the driving phase includes connecting all electrodes to the first driving interface and grounding the second driving interface, the third driving interface, and the fourth driving interface. The electrode combination logic in the first detection stage includes connecting the second electrode and the sixth electrode to the first detection interface, connecting the fourth electrode and the eighth electrode to the second detection interface, connecting the first electrode and the fifth electrode to the third detection interface, and connecting the third electrode and the seventh electrode to the fourth detection interface; The electrode combination logic of the second detection stage includes connecting the third electrode to the first detection interface, connecting the seventh electrode to the second detection interface, connecting the first electrode to the third detection interface, and connecting the fifth electrode to the fourth detection interface; The electrode combination logic of the third detection stage includes connecting all electrodes to the first detection interface and grounding the second detection interface, the third detection interface and the fourth detection interface.
12. The identification method as described in claim 1, characterized in that, The step of making the standing wave axis of the hemispherical harmonic oscillator traverse the entire circumference includes: By controlling the hemispherical resonant gyroscope to operate in a multi-position force feedback mode within the circumference, the standing wave axis of the hemispherical resonator is made to traverse the entire circumference sequentially in a manner with equal intervals of circumferential angles.
13. The identification method as described in claim 1, characterized in that, The step of controlling the operating mode of the hemispherical resonant gyroscope to make the standing wave axis of the hemispherical harmonic oscillator traverse the entire circumference includes: By controlling the hemispherical resonator gyroscope to operate in a virtual precession full-angle working mode, the standing wave axis of the hemispherical resonator can continuously traverse the entire circumference.
14. A device for identifying harmonic errors in a hemispherical resonant gyroscope, characterized in that, It includes a hemispherical resonant gyroscope, an excitation module, a switching module, a displacement calculation module, a control module, and a processing module. The hemispherical resonant gyroscope includes a hemispherical resonator and electrodes for vibration excitation and vibration displacement detection; The excitation module is used to apply electrical excitation to the electrodes of the hemispherical resonant gyroscope; The control module is used to control the working mode of the hemispherical resonant gyroscope so that the standing wave axis of the hemispherical resonator traverses the entire circumference. Furthermore, the control module is used to control the electrodes to have different electrode combination logics at different working stages through the switching module. The displacement calculation module is used to detect and calculate the electrical signals of different electrodes to obtain the displacement relationship between the working mode and the coupled mode of the standing wave axis vibration of the hemispherical harmonic oscillator under different circumferential angles. The processing module is used to extract the magnitude and circumferential orientation information of the error harmonics of the hemispherical resonant gyroscope by means of the displacement relationship between the working mode and the coupled mode at different circumferential angles.