Ring laser gyroscope rate integration system and method based on two-path free oscillation

Abstract

The application discloses a kind of ring gyroscope rate integration systems and methods based on two-way free oscillation, system includes ring resonator gyroscope and processor, the antinode electrode X + by corresponding self-oscillation circuit connection wave node reverse electrode X ‑ And wave node electrode Y + by corresponding self-oscillation circuit connection wave node reverse electrode Y ‑ , processor connects self-oscillation circuit to obtain antinode direction signal and wave node direction signal and solves angle value.Method includes: obtaining antinode direction signal and wave node direction signal, to antinode direction signal and wave node direction signal is demodulated and is solved, obtains the vibration amplitude of antinode direction and wave node direction;According to the vibration amplitude of wave node direction and the vibration amplitude of antinode direction, angle value is calculated, and angle value is output after error compensation.The application uses independent self-oscillation circuit to carry out analog drive, control quantity is continuous in time domain, and additional error is not introduced, and control logic is simple.

Description

Technical Field

[0001] This invention relates to gyroscope technology, and more specifically to a ring gyroscope rate integration system and method based on dual-path free oscillation. Background Technology

[0002] The equivalent principle diagram of a ring resonant gyroscope is as follows: Figure 1 As shown, it consists of two main components: a ring resonator (including hemispherical, cup-shaped, etc.) and a base with circumferentially distributed electrodes. The resonator is mostly made of fused silica and is a thin-walled elastic shell with metal plated on the inner and outer surfaces. Each electrode on the base and the metal layer on the resonator form a pair of plate electrodes, which are used to apply excitation force to the resonator and act as a sensor to detect the deflection angle of the vibration waveform relative to the base.

[0003] The core operating modes of a ring resonant gyroscope are mainly divided into two types: one is the rate integration mode, also known as the full-angle operating mode, and the other is the force balance operating mode. Each of the two operating modes has its own characteristics.

[0004] Rate integration mode is a novel operating mode that calculates the gyroscope's rotation angle in real time using the precession effect of standing waves. This invention operates in rate integration mode, also known as full-angle mode. Since full-angle mode does not require constraint on the resonator mode shape, allowing for free precession, it offers a wider dynamic range of measurable angular velocities, making it suitable for high-speed applications and expanding the market for hemispherical resonator gyroscopes.

[0005] The principle of gyroscope signal processing using the rate integration method is as follows: Figure 2 As shown, to ensure the continuous oscillation of the resonator, the control loop requires AD sampling, complex mathematical calculations to solve for the required control quantity, and then DA conversion to an analog control signal to provide driving force to the electrodes. The entire process is discontinuous in time and has multiple quantization errors in numerical values, all of which introduce additional interference and errors. In addition, the control logic is complex, requiring the introduction of specialized FPGA and DSP chips, resulting in high power consumption, large size, and high cost of the gyroscope. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a ring gyroscope rate integral system and method based on dual-channel free oscillation, which uses an independent self-excited oscillation circuit for simulation drive, the control quantity is continuous in the time domain, does not introduce additional errors, and the control logic is simple.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A ring gyroscope rate integration system based on dual-path free oscillation includes a ring resonant gyroscope and a processor, wherein the antinode electrode X of the ring resonant gyroscope... +Connect the antinode reverse electrode X through the corresponding self-excited oscillation circuit. - The ring resonant gyroscope's node electrode Y + Connect the node reverse electrode Y through the corresponding self-excited oscillation circuit. - The processor is connected to a self-excited oscillation circuit to obtain the antinode direction signal and the node direction signal and calculate the angle value.

[0008] Furthermore, the self-excited oscillation circuit includes a capacitor voltage conversion module, a signal amplification module, a phase shifting module, a gain control module, and a drive amplification module connected in sequence. The input terminal of the capacitor voltage conversion module is connected to the corresponding antinode electrode X. + Or the Y-node electrode + The connection is made between the output terminal of the drive amplification module and the corresponding antinode reverse electrode X. - Or the node-reverse electrode Y - The signal amplification module is connected to the processor via a corresponding analog-to-digital conversion module, thereby converting the amplified antinode or node direction signal into an analog-to-digital signal before inputting it into the processor.

[0009] Furthermore, the processor's gain control output is connected to the gain control module, thereby accelerating the oscillation process of the resonator when the gyroscope is powered on, and switching back to the normal gain state after the oscillation is completed.

[0010] This invention also proposes a rate integration method for a ring gyroscope based on dual-path free oscillation. This method is applied to the aforementioned rate integration system of a ring gyroscope based on dual-path free oscillation, and includes the following steps: Obtain the antinode direction signal and the node direction signal, demodulate the antinode direction signal and the node direction signal to obtain the vibration amplitude in the antinode direction and the node direction; The angle value is calculated based on the vibration amplitude in the direction of the node and the vibration amplitude in the direction of the antinode, and the angle value is output after error compensation.

[0011] Furthermore, when calculating the angle value based on the vibration amplitudes in the nodal and antinode directions, the vibration amplitude in the nodal direction is divided by the vibration amplitude in the antinode direction, followed by inverse trigonometric function calculation. The result is then multiplied by a specified constant to obtain the angle value of the ring gyroscope. The mathematical expression is as follows:

[0012] in, It is a constant. For the calculated The amplitude of vibration in the direction, For the calculated orthogonal directions The vibration amplitude.

[0013] This invention also proposes another ring gyroscope rate integration system based on dual-path free oscillation, comprising a ring resonant gyroscope and a processor, wherein the antinode electrode X of the ring resonant gyroscope... + and wavelet electrode Y + The anti-polarity reverse electrode X of the ring resonant gyroscope is connected to the input terminal of the first channel switching unit. - and the opposite electrode Y of the wave node - The first channel switching unit is connected to the output terminal of the second channel switching unit, and the second channel switching unit is connected to the self-excited oscillation circuit. The processor is connected to the control terminals of the first channel switching unit and the second channel switching unit, respectively, and the processor is connected to the self-excited oscillation circuit, so as to perform channel switching to obtain the antinode direction signal and the node direction signal, and calculate the angle value.

[0014] This invention also proposes another method for rate integration of a ring gyroscope based on dual-path free oscillation. This method is applied to the aforementioned ring gyroscope rate integration system based on dual-path free oscillation, and includes the following steps: The first channel switching unit and the second channel switching unit are controlled to switch channels, and the antinode direction signal and the node direction signal are obtained in time division. The antinode direction signal and the node direction signal are demodulated and calculated to obtain the vibration amplitude in the antinode direction and the node direction. The angle value is calculated based on the vibration amplitude in the direction of the node and the vibration amplitude in the direction of the antinode, and the angle value is output after error compensation.

[0015] Compared with the prior art, the advantages of the present invention are as follows: 1. This invention uses an independent self-excited oscillation circuit for driving, and its analog driving is continuous in the time domain, while the control quantity is non-discrete; 2. This invention utilizes the high Q value and material stability of the fused silica harmonic oscillator in the ring resonator gyroscope. Due to the high Q value, the vibration is stable, and replenishing the energy of the harmonic oscillator will not interfere with the oscillation or introduce additional errors. 3. The control logic of this invention is simple, does not require a high-cost and high-power FPGA, and can be controlled and calculated using an MCU, resulting in low cost and low power consumption. Attached Figure Description

[0016] Figure 1 This is the equivalent diagram of a ring gyroscope harmonic oscillator.

[0017] Figure 2 This is a schematic diagram of the full-angle mode signal processing and mode shape control principle.

[0018] Figure 3 This is the equivalent diagram of a dual-channel self-excited oscillator crystal.

[0019] Figure 4This is a schematic diagram of the principle of bidirectional self-excited oscillation.

[0020] Figure 5 This is a schematic diagram of the dual-channel free-oscillating ring gyroscope rate integral system according to Embodiment 1 of the present invention.

[0021] Figure 6 This is a flowchart of the method according to Embodiment 1 of the present invention.

[0022] Figure 7 This is a schematic diagram of the dual-channel free-oscillating ring gyroscope rate integral system according to Embodiment 2 of the present invention.

[0023] Figure 8 This is a flowchart of the method in Embodiment 2 of the present invention.

[0024] In the diagram: 1-ring resonant gyroscope, 2-processor, 3-first channel switching unit, 4-second channel switching unit, 11-capacitor voltage conversion module, 12-signal amplification module, 13-phase shifting module, 14-gain control module, 15-drive amplification module, 16-analog-to-digital conversion module. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific preferred embodiments, but this does not limit the scope of protection of the present invention.

[0026] Example 1 Taking advantage of the high Q value and material stability of the fused silica harmonic oscillator, it can be completely equivalent to two independent crystal oscillators, as shown in the equivalent schematic diagram. Figure 3 As shown, therefore, utilizing the high Q value of the hemispherical resonant gyroscope and the stability of the resonator material, an independent self-excited oscillation circuit is used for driving. The schematic diagram of the self-excited oscillation drive is shown below. Figure 4 As shown, the control and calculation of the hemispherical gyroscope in rate integral mode are simplified.

[0027] Based on the above ideas, this embodiment proposes a ring gyroscope rate integral system based on dual-path free oscillation, such as... Figure 5 As shown, the device includes a ring resonator gyroscope 1 and a processor 2. Typically, the ring resonator operates in a typical four-antinode, four-node mode, i.e., the n=2 mode. Eight driving and sensing electrodes are distributed at equal angles along the circumference, with the antinode electrodes being X... + The antinode is the reverse electrode X - The node electrode is Y + The reverse electrode of the node is Y - .

[0028] Figure 5 In the middle, the antinode electrode X of the ring resonant gyroscope 1 + Connect the antinode reverse electrode X through the corresponding self-excited oscillation circuit. -The ring resonant gyroscope 1 has a node electrode Y + Connect the node reverse electrode Y through the corresponding self-excited oscillation circuit. - The processor 2 is connected to a self-excited oscillation circuit to obtain the antinode direction signal and the node direction signal and calculate the angle value.

[0029] In this embodiment, the processor 2 can be a single-chip microcomputer (MCU), and the self-oscillation circuit includes a capacitor voltage conversion module 11 connected in sequence (i.e., Figure 5 CVx and CVy in the signal amplification module 12 (i.e. Figure 5 Kx1 and Ky1 in the middle), phase shifting module 13 (i.e. Figure 5 Qx and Qy in the middle), gain control module 14 (i.e. Figure 5 Kx2 and Ky2 in the middle) and drive amplifier module 15 (i.e. Figure 5 The detailed structure and working principle of the above functional modules (Kx3 and Ky3) are all publicly known knowledge in this field and are not the focus of this solution, so they will not be elaborated here.

[0030] like Figure 5 As shown, the input terminal of the capacitor voltage conversion module 11 is connected to the corresponding antinode electrode X. + Or the Y-node electrode + Connect the output terminal of the drive amplifier module 15 and the corresponding antinode reverse electrode X. - Or the node-reverse electrode Y - The signal amplification module 12 is connected via the corresponding analog-to-digital converter module 16 (i.e., Figure 5 The ADx and ADy signals in the gyroscope are connected to the processor 2, thereby converting the amplified antinode or node direction signal into an analog-to-digital signal and inputting it into the processor 2. Furthermore, the gain control outputs x and y of the processor 2 are connected to the corresponding gain control modules 14, thereby accelerating the oscillation start-up process of the resonator when the gyroscope is powered on, and switching back to normal gain mode after oscillation is complete.

[0031] With the above structure, the circuit responsible for the oscillation and maintenance of the resonator is divided into two directions: In the X direction, a standard crystal oscillator circuit is formed by CVx conversion, signal amplification stage Kx1, phase shifting stage Qx, gain control stage Kx2, and drive amplification stage Kx3. The microcontroller (MCU) outputs a gain control signal to the gain control stage Kx2 to accelerate the oscillation process of the resonator when the gyroscope is powered on, and switches back to the normal gain state after oscillation is complete. Similarly, in the Y direction, a standard crystal oscillator circuit is formed by CVy conversion, signal amplification stage Ky1, phase shifting stage Qy, gain control stage Ky2, and drive amplification stage Ky3. The microcontroller (MCU) outputs a gain control signal to the gain control stage Ky2 to accelerate the oscillation process of the resonator when the gyroscope is powered on, and switches back to the normal gain state after oscillation is complete. The gain switching stage in the Y direction can be omitted according to the actual situation.

[0032] This embodiment also proposes a ring gyroscope rate integration method based on dual-path free oscillation. This method is applied to the ring gyroscope rate integration system based on dual-path free oscillation described in this embodiment, such as... Figure 6 As shown, the method includes the following steps: When the microcontroller (MCU) is powered on, it enables the resonator to start oscillating quickly by controlling the gain in both directions. Specifically, it outputs the maximum gain control signal at the gain control output terminal x and the gain control output terminal y respectively. When the gyroscope is powered on, it speeds up the oscillation process of the resonator. After the oscillation is completed, it switches back to the normal gain state by reducing the gain control signal. After the oscillation is completed, the microcontroller (MCU) uses the analog-to-digital converter module 16 (i.e., ...) to start the oscillation. Figure 5 The signals obtained from ADx and ADy in the signal amplification module 12 (i.e. Figure 5 The X-direction signal of the antinode and the Y-direction signal of the node (Kx1 and Ky1) are amplified. The X-direction signal of the antinode and the Y-direction signal of the node are demodulated and calculated to obtain the vibration amplitude of the antinode in the X direction and the node in the Y direction. Finally, the MCU calculates the angle value based on the vibration amplitude in the Y direction of the node and the vibration amplitude in the X direction of the antinode, and outputs the angle value after error compensation.

[0033] In this embodiment, the amplified X-axis and Y-axis signals of the antinodes are converted from analog to digital (A / D) signals and then enter the microcontroller (MCU). They require relatively simple digital demodulation and calculation, as shown in the following formula:

[0034] in, It is a constant. For the calculated The amplitude of vibration in the direction, For the calculated orthogonal directions The vibration amplitude. Therefore, when calculating the angle value based on the vibration amplitude in the Y direction of the node and the vibration amplitude in the X direction of the antinode, the vibration amplitude in the Y direction of the node is divided by the vibration amplitude in the X direction of the antinode, then an inverse trigonometric function is performed, and the result is multiplied by a specified constant to obtain the angle value of the ring gyroscope.

[0035] The angle value of the gyroscope is calculated using the above formula and output after error compensation. How to perform error compensation on the gyroscope angle value is a publicly available method in this field, and its specific process is not the focus of this solution, nor does this solution involve any improvement to its specific process; therefore, it will not be elaborated upon here.

[0036] Example 2 This embodiment proposes a ring gyroscope rate integration system based on dual-path free oscillation. The difference from Embodiment 1 is that in this embodiment, the analog drive circuits in the X and Y directions are shared, which reduces circuit complexity, reduces noise caused by circuit asymmetry, improves accuracy and reduces cost.

[0037] like Figure 7 As shown, the system in this embodiment includes a ring resonant gyroscope 1 and a processor 2, wherein the antinode electrode X of the ring resonant gyroscope 1 + and wavelet electrode Y + The anti-polarity reverse electrode X of the ring resonant gyroscope 1 is connected to the input terminal of the first channel switching unit 3 respectively. - and the opposite electrode Y of the wave node - The first channel switching unit 3 is connected to the output terminal of the second channel switching unit 4 through a self-excited oscillation circuit. The processor 2 is connected to the control terminals of the first channel switching unit 3 and the second channel switching unit 4 respectively, and the processor 2 is connected to the self-excited oscillation circuit, so as to perform channel switching to obtain the antinode direction signal and the node direction signal, and calculate the angle value.

[0038] In this embodiment, the first channel switching unit 3 uses a two-to-one high-speed switch J1, and the second channel switching unit 4 uses a two-to-one high-speed switch J2. High-speed switches J1 and J2 are two-to-one analog switches. In the data port of high-speed switch J1, the common terminal serves as the output terminal connected to the input terminal of the self-excited oscillation circuit, and the other two ports serve as the input terminals and the corresponding antinodes X, respectively. + and the Y-node electrode + In the connection, the common terminal of the high-speed switch J2's data port is used as the input terminal and connected to the output terminal of the self-excited oscillation circuit. The other two ports are used as the output terminals and the corresponding antinodes and reverse electrodes X, respectively. - and the node reverse electrode Y - connect.

[0039] The self-excited oscillation circuit in this embodiment is the same as that in Embodiment 1, and also includes a capacitor voltage conversion module 11 connected in sequence (i.e., Figure 7 CV), signal amplification module 12 (i.e. Figure 7 K1), phase shifting module 13 (i.e. Figure 7 Q), gain control module 14 (i.e. Figure 7 K2) and drive amplifier module 15 (i.e. Figure 7 K3 in the middle), and the signal amplification module 12 is connected to the corresponding analog-to-digital conversion module 16 (i.e. Figure 7 The AD in the middle is connected to the processor 2, and the gain control output terminal of the processor 2 is connected to the gain control module 14.

[0040] With the above structure, the capacitor voltage conversion CV, signal amplification stage K1, phase shifting stage Q, excitation drive stage K2, and drive amplification stage K3 form a standard crystal self-excited oscillation circuit. The microcontroller MCU controls the high-speed switches J1 and J2 to switch the time-division driving and detection of the X and Y directions. The subsequent digital demodulation calculation and error compensation processes are the same as in Example 1.

[0041] This embodiment also proposes a ring gyroscope rate integration method based on dual-path free oscillation. This method is applied to the ring gyroscope rate integration system based on dual-path free oscillation described in this embodiment, such as... Figure 8 As shown, the method includes the following steps: When the microcontroller (MCU) is powered on, it enables the resonator to start oscillating quickly through gain control. Specifically, it outputs the maximum gain control signal at the gain control output terminal and controls the first channel switching unit 3 and the second channel switching unit 4 (i.e., high-speed switches J1 and J2) to switch channels at high speed, thereby outputting the maximum gain control signal in both directions in a time-division manner. This accelerates the oscillation process of the resonator when the gyroscope is powered on. After the oscillation is completed, it reduces the gain control signal and continues to control the high-speed switches J1 and J2 to switch channels at high speed, thereby switching back to the normal gain state. After the oscillation starts, the microcontroller (MCU) continues to control the high-speed switches J1 and J2 to switch channels at high speed, through the analog-to-digital converter module 16 (i.e., Figure 7 The signal is acquired in a time-division multiplexing manner by the AD (Analog-to-Digital) signal amplification module 12 (i.e., ... Figure 7 The X-direction signal of the antinode and the Y-direction signal of the node are amplified by K1. The X-direction signal of the antinode and the Y-direction signal of the node are demodulated and calculated to obtain the vibration amplitude of the antinode in the X direction and the node in the Y direction. The angle value is calculated based on the vibration amplitude in the Y direction of the node and the vibration amplitude in the X direction of the antinode, and then the angle value is output after error compensation.

[0042] In summary, this invention proposes a rate integral system and method for a ring gyroscope based on dual-channel free oscillation. It provides a dual-channel analog closed-loop drive for the ring resonant gyroscope, allowing the resonator to oscillate freely at its natural resonant frequency. The precession angle is calculated by the relative change in the capacitance of the sensitive electrodes on the base. For the rate integral gyroscope, the analog drive is continuous in the time domain, the control quantity is non-discrete, and due to the high Q value, the vibration is stable. Recharging the resonator will not interfere with the oscillation or introduce additional errors. Furthermore, the control logic is simple, can be implemented using an MCU for control and calculation, and has low cost and low power consumption.

[0043] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0044] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A rate integral system based on a ring gyroscope with dual-path free oscillation, characterized in that, Includes a ring resonant gyroscope (1) and a processor (2), wherein the antinode electrode X of the ring resonant gyroscope (1) + Connect the antinode reverse electrode X through the corresponding self-excited oscillation circuit. - The ring resonant gyroscope (1) has a node electrode Y + Connect the node reverse electrode Y through the corresponding self-excited oscillation circuit. - The processor (2) is connected to a self-excited oscillation circuit to obtain the antinode direction signal and the node direction signal and calculate the angle value. The self-excited oscillation circuit includes a capacitor voltage conversion module (11), a signal amplification module (12), a phase shifting module (13), a gain control module (14), and a drive amplification module (15) connected in sequence. The input terminal of the capacitor voltage conversion module (11) is connected to the corresponding antinode electrode X. + Or the Y-node electrode + The connection is made between the output terminal of the drive amplification module (15) and the corresponding antinode reverse electrode X. - Or the node-reverse electrode Y - The signal amplification module (12) is connected to the processor (2) through the corresponding analog-to-digital conversion module (16), so that the amplified antinode direction signal or node direction signal is converted from analog to digital and then input to the processor (2). The gain control output terminal of the processor (2) is connected to the gain control module (14), so as to accelerate the oscillation process of the resonator when the gyroscope is powered on, and switch back to the normal gain state after the oscillation is completed.

2. A rate integration method for a ring gyroscope based on dual-path free oscillation, characterized in that, The method is applied to the ring gyroscope rate integral system based on dual-path free oscillation as described in any one of claims 1, and the method includes the following steps: Obtain the antinode direction signal and the node direction signal, demodulate the antinode direction signal and the node direction signal to obtain the vibration amplitude in the antinode direction and the node direction; The angle value is calculated based on the vibration amplitude in the direction of the node and the vibration amplitude in the direction of the antinode, and the angle value is output after error compensation.

3. The ring gyroscope rate integration method based on dual-path free oscillation according to claim 2, characterized in that, When calculating the angle value based on the vibration amplitudes in the nodal and antinode directions, the specific steps are as follows: divide the vibration amplitude in the nodal direction by the vibration amplitude in the antinode direction, perform inverse trigonometric function calculations, and multiply the result by a specified constant to obtain the angle value of the ring gyroscope. The mathematical expression is as follows: in, It is a constant. For the calculated The amplitude of vibration in the direction, For the calculated orthogonal directions The vibration amplitude.

4. A ring gyroscope rate integral system based on dual-path free oscillation, characterized in that, Includes a ring resonant gyroscope (1) and a processor (2), wherein the antinode electrode X of the ring resonant gyroscope (1) + and wavelet electrode Y + The anti-polarity reverse electrode X of the ring resonant gyroscope (1) is connected to the input terminals of the first channel switching unit (3). - and wavelet node reverse electrode Y - The output terminals of the second channel switching unit (4) are connected to the first channel switching unit (3), which is connected to the second channel switching unit (4) through a self-excited oscillation circuit. The processor (2) is connected to the control terminals of the first channel switching unit (3) and the second channel switching unit (4), respectively. The processor (2) is connected to the self-excited oscillation circuit to perform channel switching, obtain the antinode direction signal and the node direction signal, and calculate the angle value. The self-excited oscillation circuit includes a capacitor voltage conversion module (11), a signal amplification module (12), a phase shifting module (13), a gain control module (14), and a drive amplification module connected in sequence. The input terminal of the capacitor voltage conversion module (11) is connected to the first channel switching unit (3), the output terminal of the drive amplification module (15) is connected to the second channel switching unit (4), the signal amplification module (12) is connected to the processor (2) through the corresponding analog-to-digital conversion module (16), so as to input the amplified antinode direction signal or node direction signal into the processor (2) after analog-to-digital conversion, and the gain control output terminal of the processor (2) is connected to the gain control module (14), so as to accelerate the oscillation process of the resonator when the gyroscope is powered on, and switch back to the normal gain state after the oscillation is completed.

5. A rate integration method for a ring gyroscope based on dual-path free oscillation, characterized in that, The method is applied to the ring gyroscope rate integral system based on dual-path free oscillation as described in claim 4, and the method includes the following steps: Control the first channel switching unit (3) and the second channel switching unit (4) to switch channels, obtain the antinode direction signal and the node direction signal in time division, demodulate the antinode direction signal and the node direction signal to obtain the vibration amplitude in the antinode direction and the node direction; The angle value is calculated based on the vibration amplitude in the direction of the node and the vibration amplitude in the direction of the antinode, and the angle value is output after error compensation.

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