Hemisphere gyroscope circuit real-time self-calibration method and hemisphere gyroscope

Abstract

The invention discloses a hemispherical gyroscope circuit real-time self-calibration method and a hemispherical gyroscope, and the method comprises the following steps: a CPU alternately transmits a driving signal to a gyroscope and transmits a self-calibration signal to a loopback circuit, the CPU controls an ADC to alternately collect a gyroscope detection signal and a self-calibration loopback signal, every three alternating periods are used as a compensation period, and the self-calibration loopback circuit is used for compensating the gyroscope detection signal and the self-calibration loopback signal; self-calibration signals of the first period and the second period of each compensation period are transmitted to the loopback circuit through the DAC circuit, self-calibration signals of the third period are directly transmitted to the loopback circuit, demodulation and operation are carried out on circuit loopback signals of each compensation period, and gain coefficients and phase deviations of the detection circuit and the driving circuit are obtained. And calibrating the detection signal and the driving signal. Gain errors and phase errors of the circuit can be completely eliminated, long-term random drifting or error drifting changing along with temperature is avoided, the calibration process is automatically achieved through a program, and a large amount of prior calibration work is avoided.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation technology, specifically to a real-time self-calibration method for a hemispherical gyroscope circuit and a hemispherical gyroscope. Background Technology

[0002] A hemispherical resonator gyroscope is an inertial sensing device with advantages such as small size, light weight, simple structure, and long lifespan. The hemispherical gyroscope circuit controls the sinusoidal electrostatic force acting on the edge of the hemispherical resonator to induce vibrations at its natural frequency. The vibration information is then detected by an ADC circuit, thereby completing closed-loop control and angle resolution. However, both the ADC detection and DAC drive circuits inevitably have gain and phase errors, which will affect the closed-loop control process and angle resolution of the hemispherical resonator gyroscope.

[0003] Chinese patent CN119714366B discloses a method for iterative compensation of detection, driving, and phase errors in a dual-channel measurement and control system for a hemispherical resonant gyroscope. It proposes using a turntable rotation while simultaneously retracting control of the gyroscope to identify the detection, driving, and phase errors of the dual channels. However, this method requires pre-measured fixed error data, and the data cannot be updated in real-time during gyroscope operation. Furthermore, the compensation results become inaccurate when the error drifts randomly over a long period or changes with temperature.

[0004] Chinese patent CN116358602B discloses a method and system for online calibration of the control loop phase error of a hemispherical resonator gyroscope. It proposes changing the phase of the drive signal during gyroscope operation, then calculating the amplitude-frequency response curve and phase-frequency response curve containing the phase error of the drive control loop, and finally using the results to calculate and compensate for the phase error of the drive control loop. This method involves Fourier transform calculations, which are computationally intensive and complex. Furthermore, changing the phase of the drive signal inevitably introduces control noise into the gyroscope, leading to a decrease in the gyroscope's output accuracy.

[0005] Chinese patent CN118424328B discloses an online calibration method for hemispherical resonant gyroscope errors based on frequency superposition. It proposes a method that superimposes a high-frequency signal onto the driving circuit and then compensates for the demodulation result of the high-frequency signal through a detection circuit. All errors measured by this method are based on the high-frequency signal. It should be noted that the control circuit and the detection circuit respond differently to different frequencies, so errors are unavoidable in this method. Summary of the Invention

[0006] To address the problems in the background technology, this invention proposes a real-time self-calibration method for a hemispherical gyroscope circuit and a hemispherical gyroscope. This method enables real-time self-calibration of dual-channel delay, completely eliminating gain and phase errors in the circuit and avoiding long-term random drift or error drift due to temperature changes. The calibration process is automatically implemented by the program, avoiding a large amount of prior calibration work.

[0007] The present invention adopts the following technical solution: A real-time self-calibration method for a hemispherical gyroscope circuit includes the following steps: The CPU alternately transmits drive signals to the gyroscope and self-calibration signals to the loopback circuit. The CPU controls the ADC to alternately acquire gyroscope detection signals and self-calibration loopback signals, with each three alternating cycles constituting a compensation cycle. The self-calibration signals of the first and second alternating cycles of each compensation cycle are trigonometric function signals, which are transmitted to the loopback circuit by the DAC circuit controlled by the CPU. The self-calibration signal of the third alternating cycle of each compensation cycle is a square wave signal, which is directly transmitted to the loopback circuit by the CPU. The CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the drive circuit. The detection signal is calibrated based on the gain coefficient and phase shift of the detection circuit, and the drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit.

[0008] Preferably, the CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the driving circuit, specifically including: The CPU demodulates and processes the self-calibration loop signal of the first and second alternating cycles of each compensation cycle to obtain the total gain coefficient and total phase shift of the driving circuit and the detection circuit. The CPU demodulates and processes the self-calibration loop signal of the third alternating cycle of each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit. Based on the total gain coefficient and the gain coefficient of the detection circuit, the CPU calculates the gain coefficient of the driving circuit. Based on the total phase shift and the phase shift of the detection circuit, the CPU calculates the phase shift of the driving circuit.

[0009] Preferably, the loopback circuit can loop the self-calibration signal from the DAX driver circuit back to the ADCX detection circuit, loop the self-calibration signal from the DACY driver circuit back to the ADCX detection circuit, loop the self-calibration signal from the DAX driver circuit back to the ADCX detection circuit, loop the self-calibration signal from the DACY driver circuit back to the ADCX detection circuit, loop the self-calibration signal directly back to the ADCX detection circuit, and loop the self-calibration signal directly back to the ADCX detection circuit. The self-calibration signal for the first alternation cycle of each compensation cycle includes: First XX channel self-calibration signal The first YX channel self-calibration signal The first XY channel self-calibration signal The first YY channel self-calibration signal , CPU controls the first XX channel self-calibration signal The signal returns to the ADCX detection circuit via a loopback circuit from the DCX driver circuit, resulting in the delayed self-calibration loopback signal for the first XX channel. , CPU controls the self-calibration signal of the first YX channel. The signal returns to the ADCX detection circuit via a loopback circuit from the DACY driver circuit, resulting in the delayed self-calibration loopback signal for the first YX channel. , CPU controls the self-calibration signal of the first XY channel. The signal returns to the ADCY detection circuit via the DACX driver circuit and then back through the closure circuit to obtain the delayed self-calibration closure signal of the first XY channel. , CPU controls the self-calibration signal of the first YY channel. The signal returns from the DACY driver circuit to the ADCY detection circuit via a loopback circuit, resulting in the delayed self-calibration loopback signal for the first YY channel. ; The self-calibration signal for the second alternation cycle of each compensation cycle includes: Second XX channel self-calibration signal The second YX channel self-calibration signal The second XY channel self-calibration signal The second YY channel self-calibration signal , CPU controls the second XX channel self-calibration signal The signal returns to the ADCX detection circuit via a loopback circuit from the DCX driver circuit, resulting in the delayed self-calibration loopback signal for the second XX channel. , CPU controls the self-calibration signal of the second YX channel. The signal returns to the ADCX detection circuit via a loopback circuit from the DACY driver circuit, resulting in the delayed self-calibration loopback signal for the second YX channel. , CPU controls the second XY channel self-calibration signal The signal returns to the ADCY detection circuit via the DACX driver circuit through the closure circuit, resulting in the delayed self-calibration closure signal of the second XY channel. , CPU controls the self-calibration signal of the second YY channel. The signal returns to the ADCY detection circuit via the DACY driver circuit and then back through the loop circuit to obtain the delayed self-calibration loop signal of the second YY channel. ; The self-calibration signal in the third alternating cycle of each compensation cycle is a square wave signal. : CPU controls square wave signal The loopback signal is returned from the loopback circuit to the ADCX detection circuit, and the delayed self-calibration loopback signal of the X detection channel is obtained. , CPU controls square wave signal The loopback signal is returned from the loopback circuit to the ADCY detection circuit, and the delayed self-calibration loopback signal of the Y detection channel is obtained. .

[0010] Preferably, the total gain coefficient of the driving circuit and the detection circuit includes the gain coefficient from the DACX loopback to the ADCX. Gain coefficient of DCY loopback to ADCX Gain coefficient of DAX loopback to ADCY Gain coefficient of DCY loopback to ADCY ; The total phase offset of the drive and detection circuits includes the phase offset from the DACX loopback to the ADCX. Phase shift from DACY loopback to ADCX Phase shift from DAX loopback to ADCY Phase shift from DCY loopback to ADCY ; First XX channel self-calibration signal , First XX channel self-calibration loopback signal , First YX channel self-calibration signal , First YX channel self-calibration loopback signal , First XY channel self-calibration signal , First XY channel self-calibration loopback signal , First YY channel self-calibration signal , First YY channel self-calibration loopback signal , Second XX channel self-calibration signal , Second XX channel self-calibration loopback signal , Second YX channel self-calibration signal , Second YX channel self-calibration loopback signal , Second XY channel self-calibration signal , Second XY channel self-calibration loopback signal , Second YY channel self-calibration signal , Second YY channel self-calibration loopback signal ; The CPU demodulates and processes the self-calibration loop signal of the first and second alternating cycles of each compensation cycle to obtain the total gain coefficient and total phase shift of the driving circuit and the detection circuit, specifically including: The first XX channel self-calibration loopback signal and the first YX channel self-calibration loopback signal The signals are added together to obtain the self-calibration loopback detection signal of the ADCX detection channel in the first alternating cycle of each compensation cycle. , ; right Demodulation is performed to obtain the first X demodulation parameters. , The first XY channel self-calibration loopback signal and the self-calibration loopback signal of the first YY channel By adding them together, we obtain the self-calibration loopback detection signal of the ADCY detection channel in the first alternating cycle of each compensation cycle. , ; right Demodulation is performed to obtain the first Y demodulation parameters. , The second XX channel self-calibration loopback signal Second YX channel self-calibration loopback signal The signals are added together to obtain the self-calibration loopback detection signal of the ADCX detection channel in the second alternating cycle of each compensation cycle. , ; right Demodulation is performed to obtain the second X demodulation parameters. , The second XY channel self-calibration loopback signal Second YY channel self-calibration loopback signal The signals are added together to obtain the self-calibration loopback detection signal of the ADCY detection channel in the second alternating cycle of each compensation cycle. , ; right Demodulation is performed to obtain the second Y demodulation parameters. ; Demodulation parameters of the first X Second X demodulation parameters Perform combination operations to obtain the gain coefficient from the DCX loopback to the ADCX. Phase shift from DCX loopback to ADCX Gain coefficient of DCY loopback to ADCX Phase shift from DACY loopback to ADCX ; Demodulation parameters of the first Y Second Y demodulation parameters Perform combination operations to obtain the gain coefficient from DCX to ADCY. Phase shift from DAX loopback to ADCY Gain coefficient of DCY loopback to ADCY Phase shift from DCY loopback to ADCY ; , , , , , , , .

[0011] Preferably, the gain coefficient of the detection circuit includes the gain coefficient of the ADCX. and ADCY gain coefficient The phase shift of the detection circuit includes the phase shift of the ADCX. Phase shift with ADCY ; X-detection channel self-calibration loopback signal , Y-detection channel self-calibration loopback signal ; The CPU demodulates and processes the self-calibration loop signal of the third alternating cycle in each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, specifically including: Self-calibration loopback signal for X detection channel Demodulation is performed to obtain the demodulation parameters of the X detection channel. Demodulation parameters of the X detection channel Perform the calculation to obtain the gain coefficient of ADCX. Phase shift with ADCX ; , ; Self-calibration loopback signal for Y detection channel Demodulation is performed to obtain the demodulation parameters of the Y detection channel. Demodulation parameters of the Y detection channel The calculations are performed to obtain the gain coefficient and phase shift of the ADCY. ; , .

[0012] Preferably, the gain coefficient of the driving circuit includes the gain coefficient of the DACX. Gain coefficient of DACY The phase shift of the driving circuit includes the phase shift of the DAX. Phase shift with DACY ; The calculation of the gain coefficient of the driving circuit based on the total gain coefficient and the gain coefficient of the detection circuit, and the calculation of the phase shift of the driving circuit based on the total phase shift and the phase shift of the detection circuit, specifically includes: Gain coefficient of DAX loopback to ADCX and the gain coefficient of ADCX Perform the calculation to obtain the gain coefficient of DAX. , ; Phase shift from DCX loopback to ADCX Phase shift with ADCX Perform calculations to obtain the phase shift of the DAX. , ; Gain coefficient of DCY loopback to ADCY and ADCY gain coefficient The calculation is performed to obtain the gain coefficient of the DCY. , , Phase shift from DACY loopback to ADCY Phase shift with ADCY The phase shift of the DACY is obtained by performing calculations. , .

[0013] Preferably, the detection signal includes the demodulation result of the ADCX detection channel. Demodulation results of ADCY detection channel , The calibration of the detection signal based on the gain coefficient and phase shift of the detection circuit specifically includes: Based on the gain coefficient of ADCX Phase shift with ADCX Demodulation results of the ADCX detection channel Calibration was performed to obtain the demodulation results of the calibrated ADCX detection channel. ; Based on the gain coefficient of ADCY Phase shift with ADCY Demodulation results of the ADCY detection channel Calibration was performed to obtain the demodulation results of the calibrated ADCY detection channel. ; Demodulation results of the calibrated ADCX detection channel The calculation formula is as follows: , ; Demodulation results of the calibrated ADCY detection channel The calculation formula is as follows: , .

[0014] Preferably, the drive signal includes the drive signal of the DAX drive channel. and the drive signal of the DACY drive channel ; The drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit, specifically including: Based on the gain coefficient of DAX Phase shift with DAX The drive signal for the DAX drive channel Calibration is performed to obtain the calibrated drive signal for the DAX drive channel. ; Based on the gain coefficient of DACY Phase shift with DACY The drive signal for the DCY drive channel Calibration is performed to obtain the calibrated drive signal for the DCY drive channel. ; Drive signals of calibrated DCX drive channels The calculation formula is as follows: ; The drive signal of the calibrated DCY drive channel The calculation formula is as follows: ; in, Indicating the drive signals of the DAX drive channel The amplitude of the component, Indicating the drive signals of the DAX drive channel The amplitude of the component, Indicating the drive signal of the DACY drive channel The amplitude of the component, Indicating the drive signal of the DACY drive channel The amplitude of the component, The resonant frequency, For time.

[0015] As a general inventive concept, the present invention also provides a hemispherical gyroscope, including a hemispherical gyroscope body, a CPU, and a loop circuit. The CPU alternately transmits drive signals to the hemispherical gyroscope body and self-calibration signals to the loopback circuit. The CPU controls the ADC to alternately acquire gyroscope detection signals and self-calibration loopback signals, with each three alternating cycles constituting a compensation cycle. The self-calibration signals of the first and second alternating cycles of each compensation cycle are trigonometric function signals, which are transmitted to the loopback circuit by the DAC circuit controlled by the CPU. The self-calibration signal of the third alternating cycle of each compensation cycle is a square wave signal, which is directly transmitted to the loopback circuit by the CPU. The CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the drive circuit. The detection signal is calibrated based on the gain coefficient and phase shift of the detection circuit, and the drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit.

[0016] Preferably, the loopback circuit includes: resistors R1, R2, R3, R4, R5, R6, R7, and R8; operational amplifiers U1 and U2; and switches SPDT1 and SPDT2. The loopback circuit has a DAX input terminal electrically connected to the DAX driver circuit, a DAX input terminal electrically connected to the DAX driver circuit, a GPIO input terminal electrically connected to the CPU, an ADCX output terminal electrically connected to the ADCX detection circuit, and an ADCX output terminal electrically connected to the ADCX detection circuit. One end of resistors R6 and R4 is connected to the DACX input terminal; one end of resistors R7 and R3 is connected to the DACY input terminal; one end of resistors R8 and R2 is connected to the GPIO input terminal; the other ends of resistors R6, R7, and R8 are all connected to the first input terminal of switch SPDT2; the second input terminal of switch SPDT2 is connected to the X detection terminal of the hemispherical gyroscope; the output terminal of switch SPDT2 is connected to the non-inverting input terminal of operational amplifier U2 and one end of resistor R5; the inverting input terminal of operational amplifier U2 is grounded; and the output terminal of operational amplifier U2 is connected to the ADCX detection circuit. The other ends of resistors R2, R3, and R4 are all connected to the first input terminal of switch SPDT1. The second input terminal of switch SPDT1 is connected to the Y detection terminal of the hemispherical gyroscope. The output terminal of switch SPDT1 is connected to the non-inverting input terminal of operational amplifier U1 and one end of resistor R1, respectively. The inverting input terminal of operational amplifier U1 is grounded. The output terminal of operational amplifier U1 is connected to the ADCY detection circuit.

[0017] Compared with the prior art, the advantages of the present invention are as follows: The real-time self-calibration method for hemispherical gyroscope circuits of this invention, by inserting alternating cycles during gyroscope control and sharing the same frequency with the gyroscope control, directly determines the circuit channel error through the demodulation results of the gyroscope control module. This completely eliminates the gain and phase errors of the circuit without requiring additional calculation modules, resulting in low computational load and covering all error items including detection, driving, gain, and phase. Simultaneously, the error values ​​are updated in real time during operation, ensuring tracking of error drift. Attached Figure Description

[0018] To facilitate understanding of the invention, it will be described in more detail with reference to the specific embodiments shown in the accompanying drawings. These drawings depict only typical embodiments of the invention and should not be considered as limiting the scope of protection of the invention.

[0019] Figure 1 This is a schematic diagram of the hemispherical gyroscope circuit according to an embodiment of the present invention.

[0020] Figure 2This is a schematic diagram of the loop circuit according to an embodiment of the present invention. Detailed Implementation

[0021] The embodiments of the present invention are described below with reference to the accompanying drawings to enable those skilled in the art to better understand and implement the present invention. However, the listed embodiments are not intended to limit the present invention. In the absence of conflict, the following embodiments and the technical features in the embodiments can be combined with each other, wherein the same components are indicated by the same reference numerals.

[0022] like Figures 1-2 As shown, the overall idea of ​​the real-time self-calibration method for the hemispherical gyroscope circuit in this embodiment is as follows: The CPU alternately transmits drive signals to the gyroscope and self-calibration signals to the loopback circuit. The CPU controls the ADC to alternately acquire gyroscope detection signals and self-calibration loopback signals, with each three alternating cycles constituting a compensation cycle. The self-calibration signals of the first and second alternating cycles of each compensation cycle are trigonometric function signals, which are transmitted to the loopback circuit by the DAC circuit controlled by the CPU. The self-calibration signal of the third alternating cycle of each compensation cycle is a square wave signal, which is directly transmitted to the loopback circuit by the CPU. The CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the drive circuit. The detection signal is calibrated based on the gain coefficient and phase shift of the detection circuit, and the drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit.

[0023] See Figure 2 The loopback circuit includes: resistors R1, R2, R3, R4, R5, R6, R7, and R8; operational amplifiers U1 and U2; and switches SPDT1 and SPDT2. The loopback circuit has a DAX input terminal electrically connected to the DAX driver circuit, a DAX input terminal electrically connected to the DAX driver circuit, a GPIO input terminal electrically connected to the CPU, an ADCX output terminal electrically connected to the ADCX detection circuit, and an ADCX output terminal electrically connected to the ADCX detection circuit. One end of resistors R6 and R4 is connected to the DACX input terminal; one end of resistors R7 and R3 is connected to the DACY input terminal; one end of resistors R8 and R2 is connected to the GPIO input terminal; the other ends of resistors R6, R7, and R8 are all connected to the first input terminal of switch SPDT2; the second input terminal of switch SPDT2 is connected to the X detection terminal of the hemispherical gyroscope; the output terminal of switch SPDT2 is connected to the non-inverting input terminal of operational amplifier U2 and one end of resistor R5; the inverting input terminal of operational amplifier U2 is grounded; and the output terminal of operational amplifier U2 is connected to the ADCX detection circuit. The other ends of resistors R2, R3, and R4 are all connected to the first input terminal of switch SPDT1. The second input terminal of switch SPDT1 is connected to the Y detection terminal of the hemispherical gyroscope. The output terminal of switch SPDT1 is connected to the non-inverting input terminal of operational amplifier U1 and one end of resistor R1, respectively. The inverting input terminal of operational amplifier U1 is grounded. The output terminal of operational amplifier U1 is connected to the ADCY detection circuit.

[0024] Therefore, the loopback circuit can loop the self-calibration signal from the DAX driver circuit back to the ADCX detection circuit, from the DACY driver circuit back to the ADCX detection circuit, from the DAX driver circuit back to the ADCX detection circuit, from the DACY driver circuit back to the ADCX detection circuit, from the DACY driver circuit back to the ADCX detection circuit, directly loop back to the ADCX detection circuit, and directly loop back to the ADCX detection circuit.

[0025] The specific implementation steps of the above-mentioned real-time self-calibration method for hemispherical gyroscope circuits are as follows: S1: Power on and start the hemispherical resonant gyroscope, bringing it into a stable working state. S2, utilizing Figure 2 Switches SPDT1 and SPDT2 in the circuit control the ADC to alternately detect gyroscope signals Ix and Iy, and the circuit loopback signal; S3 sets the self-calibration signal during the loop-loop cycle of the first alternating cycle, where the X channel is a cosine signal and the Y channel is a sine signal. At this time, the CPU outputs the first XX channel self-calibration signal. The coordinates in the Cartesian coordinate system are: ,in, This is the gain coefficient from the DAX loopback to the ADCX; First XX channel self-calibration signal The loopback path is: CPU controls the self-calibration signal of the first XX channel. It enters the loop circuit through the DAX driver circuit, and then passes through the loop circuit in sequence. Figure 2In the loopback circuit, resistor R6, switch SPDT2, and resistor R5 enter the ADCX detection circuit. After being acquired by the ADCX detection circuit, the signal is transmitted to the CPU to obtain the first XX channel self-calibration loopback signal after being delayed by the DAX and ADCX. Due to the time delay in the ADCX detection circuit and DACX drive circuit. The first XX channel self-calibration loopback signal after delay by DCX and ADCX The coordinates in the Cartesian coordinate system are: ,in, The phase shift from the DAX loopback to the ADCX; The first YX channel self-calibration signal output by the CPU The coordinates are: ,in, The gain coefficient from the DACY loopback to the ADCX; First YX channel self-calibration signal The loopback path is: CPU controls the self-calibration signal of the first YX channel. It enters the loop circuit through the DACY driver circuit, and then passes through the loop circuit in sequence. Figure 2 In the circuit, resistor R7, switch SPDT2, and resistor R5 enter the ADCX detection circuit. After being acquired by the ADCX detection circuit, the signal is transmitted to the CPU to obtain the first YX channel self-calibration loopback signal after DCY and ADCX delay. .

[0026] Due to the delay in the ADCX detection circuit and the DAY drive circuit The self-calibrated loopback signal of the first YX channel after delay by DCY and ADCX. The coordinates in the Cartesian coordinate system are: ,in, The phase shift from the DACY loopback to the ADCX; In the ADCX detection channel, the self-calibration loopback detection signal is the first XX channel self-calibration loopback signal after delay by the DCX and ADCX. The self-calibrated loopback signal of the first YX channel after delay by DCY and ADCX Adding them together, the coordinates of the self-calibration loopback detection signal of the ADCX detection channel in the Cartesian coordinate system for the first loopback cycle of each compensation cycle are: .

[0027] Similarly, the CPU outputs the first XY channel self-calibration signal. The coordinates in the Cartesian coordinate system are: ,in, The gain coefficient for the DAX loopback to ADCY; First XY channel self-calibration signal The loopback path is: CPU controls the self-calibration signal of the first XY channel. It enters the loop circuit through the DAX driver circuit, and then passes through the loop circuit in sequence. Figure 2 In the loopback circuit, resistor R4, switch SPDT1, and resistor R1 enter the ADCY detection circuit. After being acquired by the ADCY detection circuit, the signal is transmitted to the CPU to obtain the first XY channel self-calibration loopback signal after being delayed by DACX and ADCY. Due to the delay in the ADCY detection circuit and the DACX drive circuit. The first XY channel self-calibrated loopback signal after DCX and ADCY delay The coordinates in the Cartesian coordinate system are: ,in, The phase shift from the DAX loopback to the ADCY; The first YY channel self-calibration signal output by the CPU The coordinates are: ,in, The gain coefficient for the DACY loopback to ADCY; First YY channel self-calibration signal The loopback path is: the CPU controls the self-calibration signal of the first YY channel. It enters the loop circuit through the DACY driver circuit, and then passes through the loop circuit in sequence. Figure 2 In the circuit, resistor R3, switch SPDT1, and resistor R1 enter the ADCY detection circuit. After being acquired by the ADCY detection circuit, the signal is transmitted to the CPU to obtain the first YY channel self-calibration loopback signal after DCY and ADCY delays. .

[0028] Due to the delay in the ADCY detection circuit and the DCY drive circuit The self-calibrated loopback signal of the first YY channel after DCY and ADCY delays The coordinates in the Cartesian coordinate system are: ,in, The phase shift from the DACY loopback to the ADCY; In the ADCY detection channel, the self-calibration loopback detection signal is the first XY channel self-calibration loopback signal after delays by DCX and ADCY. The first YY channel self-calibration loopback signal after DCY and ADCY delays Adding them together, the coordinates of the self-calibration loopback detection signal of the ADCY detection channel in the Cartesian coordinate system for the first loopback cycle of each compensation cycle are: .

[0029] Using a conventional demodulation method, the self-calibration loopback detection signal of the ADCX detection channel in the first loopback cycle is demodulated using a sine reference signal and a cosine reference signal to obtain the first X demodulation parameters. Similarly, the self-calibration loopback detection signal of the ADCY detection channel in the first loopback cycle is demodulated to obtain the first Y demodulation parameters. The demodulation process will not be described in detail here.

[0030] S4, in the loop cycle of the second alternating cycle, set the self-calibration signal. The X channel is a sine signal, and the Y channel is a cosine signal. At this time, the CPU outputs the second XX channel self-calibration signal. The coordinates in the Cartesian coordinate system are: , The second XX channel self-calibration loopback signal obtained after delay by the DCX driver and ADCX detection circuits. : , The second YX channel self-calibration signal output by the CPU The coordinates are: , The second YX channel self-calibration loopback signal obtained after delay by the DCY driver and ADCX detection circuits. : , Therefore, the coordinates of the self-calibration loopback detection signal of the ADCX detection channel in the Cartesian coordinate system for the second loopback cycle of each compensation cycle are: .

[0031] Similarly, the CPU outputs the second XY channel self-calibration signal. The coordinates in the Cartesian coordinate system are: , The second XY channel self-calibration loopback signal obtained after delay by the DCX driver and ADCY detection circuits. : , The second YY channel self-calibration signal output by the CPU The coordinates are: , The second YX channel self-calibration loopback signal obtained after delay by the DCY driver and ADCX detection circuits. : , Therefore, the coordinates of the self-calibrated loopback detection signal of the ADCY detection channel in the Cartesian coordinate system for the second loopback cycle of each compensation cycle are: .

[0032] A conventional demodulation method is used to demodulate the self-calibration loop detection signal of the ADCX detection channel in the second loop cycle using a sine reference signal and a cosine reference signal. Specifically, the sine reference signal and the cosine reference signal are multiplied by the self-calibration detection signal of the ADCX detection channel, respectively, and then filtered by a low-pass filter to obtain the second X demodulation parameters. Similarly, the self-calibration loopback detection signal of the ADCY detection channel in the second loopback cycle is demodulated to obtain the second Y demodulation parameters. .

[0033] S5. First X demodulation parameters for the ADCX detection channel in the first and second loopback cycles. and the second X demodulation parameters By performing combination operations, the gain coefficient is calculated. and and phase shift and .

[0034] , , , ; , , , .

[0035] S6. Similarly, the demodulation results of the ADCY channel in the first and second loop cycles, i.e., the first Y demodulation parameters... Second Y demodulation parameters Perform combinational operations to calculate the gain coefficient. and and phase shift and .

[0036] The calculation results for both channels are summarized below: , , , , , , , .

[0037] in This represents the gain coefficient from the DAX loopback to the ADCX, where This represents the gain coefficient from the DCY loopback to the ADCX, where This represents the gain coefficient from the DAX loopback to ADCY, where This represents the gain coefficient from the DCY loopback to the ADCY. This represents the phase shift from the DACX loopback to the ADCX, where This represents the phase shift from the DACY loopback to the ADCX, where This represents the phase shift from the DAX loopback to the ADCY, where This indicates the phase shift from the DCY loopback to the ADCY loopback.

[0038] S7, in the cyclical period of the third alternating cycle, Figure 2 The GPIO in the CPU is directly connected to the CPU, which directly controls the GPIO to output a square wave. The square wave is then subjected to a Taylor expansion, and the first term is taken. The result in Cartesian coordinates is as follows: , The square wave passes through R8, SPDT2, and R5 sequentially before returning to the ADCX channel. After being delayed by the ADCX detection circuit, the delayed self-calibration loopback signal of the X detection channel is obtained. : , At this point, the loop gain error and phase offset are independent of the DAC driver circuit.

[0039] Self-calibration loopback signal of the X detection channel of the ADCX channel Demodulation can be performed to obtain the demodulation parameters of the X detection channel. The gain coefficient of ADCX can be obtained using the vector magnitude formula and phase formula in Cartesian coordinates. Phase shift with ADCX : , , in This represents the gain coefficient of the ADCX; This indicates the phase shift of the ADCX.

[0040] The square wave then passes through R2, SPDT1, and R1 sequentially back to the ADCY channel. After being delayed by the ADCY detection circuit, the delayed Y detection channel self-calibration loop signal is obtained. : , Similarly, the Y-detection channel self-calibration loopback signal of the ADCY channel is also used. Demodulation can be performed to obtain the demodulation parameters of the Y detection channel. According to the demodulation parameters of the Y detection channel Calculate the gain coefficient of ADCY Phase shift with ADCY : , , in This represents the gain coefficient of ADCY; This indicates the phase shift of ADCY.

[0041] During the loopback process of the hemispherical gyroscope control circuit , , , , in This represents the gain coefficient of the DAX; This indicates the phase shift of the DAX. This represents the gain coefficient of the DACY. This indicates the phase shift of DACY.

[0042] thereby: , , , .

[0043] S8: The demodulation result of the detection signal is calibrated based on the gain coefficient and phase shift of the detection circuit. Specifically, the demodulation result of the ADCX channel is... According to the gain coefficient of ADCX Phase shift with ADCX To calibrate it, take: , , This is the demodulation result of the calibrated ADCX detection channel.

[0044] Demodulation results for the ADCY channel According to the gain coefficient of ADCY Phase shift with ADCY To calibrate it, take: , , This is the demodulation result of the calibrated ADCY detection channel.

[0045] S9: The drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit. Specifically, for the drive signal of the DAX drive channel: , in, Indicating the drive signals of the DAX drive channel The amplitude of the component, Indicating the drive signals of the DAX drive channel The amplitude of the component, The resonant frequency, For time. Take: , This is the drive signal output to the DACX drive channel after calibration.

[0046] For the drive signal of the DAY drive channel: , in, Indicating the drive signal of the DACY drive channel The amplitude of the component, Indicating the drive signal of the DACY drive channel The amplitude of the component is taken as: , This is the drive signal output to the DACY drive channel after calibration.

[0047] The actual test results during the operation of a certain instance of this invention are as follows: ; ; .

[0048] The solution obtained through calculation is as follows: ; .

[0049] The calibration of the demodulation results is performed using the following formula: , , , .

[0050] The following formula is applied to the output of the gyroscope drive: , .

[0051] In summary, the real-time self-calibration method for hemispherical gyroscope circuits of this invention, by inserting a loopback period into the gyroscope control process and sharing the same frequency with the gyroscope control, directly determines the circuit channel error through the demodulation results of the gyroscope control module. This completely eliminates the gain and phase errors of the circuit, requires no additional calculation module, has low computational load, and covers all error terms including detection, driving, gain, and phase. Simultaneously, the error value is updated in real time during operation, ensuring tracking of error drift.

[0052] The embodiments described above are merely preferred embodiments of the present invention. The terms "in one embodiment," "in another embodiment," "in yet another embodiment," or "in still another embodiment" used in this specification all refer to one or more of the same or different embodiments according to this disclosure. Ordinary variations and substitutions made by those skilled in the art within the scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A real-time self-calibration method for a hemispherical resonator gyroscope circuit, characterized in that, Includes the following steps: The CPU alternately transmits drive signals to the gyroscope and self-calibration signals to the loopback circuit. The CPU controls the ADC to alternately acquire gyroscope detection signals and self-calibration loopback signals, with each three alternating cycles constituting a compensation cycle. The self-calibration signals of the first and second alternating cycles of each compensation cycle are trigonometric function signals, which are transmitted to the loopback circuit by the DAC circuit controlled by the CPU. The self-calibration signal of the third alternating cycle of each compensation cycle is a square wave signal, which is directly transmitted to the loopback circuit by the CPU. The CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the drive circuit. The detection signal is calibrated based on the gain coefficient and phase shift of the detection circuit, and the drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit.

2. The method of real-time self-calibration of hemispherical resonator gyroscope circuit according to claim 1, characterized in that, The CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the drive circuit, specifically including: The CPU demodulates and processes the self-calibration loop signal of the first and second alternating cycles of each compensation cycle to obtain the total gain coefficient and total phase shift of the driving circuit and the detection circuit. The CPU demodulates and processes the self-calibration loop signal of the third alternating cycle of each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit. Based on the total gain coefficient and the gain coefficient of the detection circuit, the CPU calculates the gain coefficient of the driving circuit. Based on the total phase shift and the phase shift of the detection circuit, the CPU calculates the phase shift of the driving circuit.

3. The method of real-time self-calibration of hemispherical resonator gyroscope circuit according to claim 2, characterized in that, The loopback circuit can loop the self-calibration signal from the DAX driver circuit back to the ADCX detection circuit, loop the self-calibration signal from the DACY driver circuit back to the ADCX detection circuit, loop the self-calibration signal from the DAX driver circuit back to the ADCX detection circuit, loop the self-calibration signal from the DACY driver circuit back to the ADCX detection circuit, loop the self-calibration signal directly back to the ADCX detection circuit, and loop the self-calibration signal directly back to the ADCX detection circuit. The self-calibration signal for the first alternation cycle of each compensation cycle includes: First X-X channel self-calibration signal , first Y-X channel self-calibration signal , first X-Y channel self-calibration signal , first Y-Y channel self-calibration signal , CPU controls the first X-X channel self-calibration signal The first X-X channel self-calibration loop signal is obtained by looping back from the DAC X driving circuit to the ADC X detection circuit through the loop back circuit , CPU controls the first Y-X channel self-calibration signal The first Y-X channel self-calibration loop signal is obtained by looping back from the DACY driving circuit to the ADCX detection circuit through the loop-back circuit , CPU controls the first X-Y channel self-calibration signal The first X-Y channel self-calibration loop signal is obtained by looping back from the DAC X driving circuit to the ADC Y detection circuit through the loop back circuit , CPU controls the first Y-Y channel self-calibration signal The first Y-Y channel self-calibration loop signal is obtained by looping back from the DACY driving circuit to the ADCY detection circuit through the loop-back circuit ; The self-calibration signal for the second alternation cycle of each compensation cycle includes: Second X-X channel self-calibration signal , Second Y-X channel self-calibration signal , Second X-Y channel self-calibration signal , Second Y-Y channel self-calibration signal , CPU controls the second X-X channel self-calibration signal The second X-X channel self-calibration loop signal is obtained by looping back from the DAC X driving circuit to the ADC X detection circuit through the loop back circuit , CPU controls the second Y-X channel self-calibration signal The second Y-X channel self-calibration loop signal is obtained by looping back from the DACY driving circuit to the ADCX detection circuit through the loop-back circuit , CPU controls the second X-Y channel self-calibration signal The second X-Y channel self-calibration loop signal is obtained by looping back from the DAC X driving circuit to the ADC Y detection circuit through the loop back circuit , CPU controls the second Y-Y channel self-calibration signal The second Y-Y channel self-calibration loop signal is obtained by looping back from the DACY driving circuit to the ADCY detection circuit through the loop-back circuit ; The self-calibration signal in the third alternating cycle of each compensation cycle is a square wave signal. : CPU controls square wave signal The loopback signal is returned from the loopback circuit to the ADCX detection circuit, and the delayed self-calibration loopback signal of the X detection channel is obtained. , CPU controls square wave signal The loopback signal is returned from the loopback circuit to the ADCY detection circuit, and the delayed self-calibration loopback signal of the Y detection channel is obtained. .

4. The real-time self-calibration method for a hemispherical gyroscope circuit according to claim 3, characterized in that, The total gain coefficient of the drive and detection circuits includes the gain coefficient from the DACX loopback to the ADCX. Gain coefficient of DCY loopback to ADCX Gain coefficient of DAX loopback to ADCY Gain coefficient of DCY loopback to ADCY ; The total phase offset of the drive and detection circuits includes the phase offset from the DACX loopback to the ADCX. Phase shift from DACY loopback to ADCX Phase shift from DAX loopback to ADCY Phase shift from DCY loopback to ADCY ; First XX channel self-calibration signal , First XX channel self-calibration loopback signal , First YX channel self-calibration signal , First YX channel self-calibration loopback signal , First XY channel self-calibration signal , First XY channel self-calibration loopback signal , First YY channel self-calibration signal , First YY channel self-calibration loopback signal , Second XX channel self-calibration signal , Second XX channel self-calibration loopback signal , Second YX channel self-calibration signal , Second YX channel self-calibration loopback signal , Second XY channel self-calibration signal , Second XY channel self-calibration loopback signal , Second YY channel self-calibration signal , Second YY channel self-calibration loopback signal ; The CPU demodulates and processes the self-calibration loop signal of the first and second alternating cycles of each compensation cycle to obtain the total gain coefficient and total phase shift of the driving circuit and the detection circuit, specifically including: The first XX channel self-calibration loopback signal and the first YX channel self-calibration loopback signal The signals are added together to obtain the self-calibration loopback detection signal of the ADCX detection channel in the first alternating cycle of each compensation cycle. , ； right Demodulation is performed to obtain the first X demodulation parameters. , The first XY channel self-calibration loopback signal and the self-calibration loopback signal of the first YY channel By adding them together, we obtain the self-calibration loopback detection signal of the ADCY detection channel in the first alternating cycle of each compensation cycle. , ； right Demodulation is performed to obtain the first Y demodulation parameters. , The second XX channel self-calibration loopback signal Second YX channel self-calibration loopback signal The signals are added together to obtain the self-calibration loopback detection signal of the ADCX detection channel in the second alternating cycle of each compensation cycle. , ； right Demodulation is performed to obtain the second X demodulation parameters. , The second XY channel self-calibration loopback signal Add the self-calibration loopback signal of the second YY channel The self-calibration loopback detection signal of the ADCY detection channel in the second alternating cycle of each compensation cycle is obtained. , ； right Demodulation is performed to obtain the second Y demodulation parameters. ; Demodulation parameters of the first X Second X demodulation parameters Perform combination operations to obtain the gain coefficient from the DCX loopback to the ADCX. Phase shift from DCX loopback to ADCX Gain coefficient of DCY loopback to ADCX Phase shift from DACY loopback to ADCX ; Demodulation parameters of the first Y Second Y demodulation parameters Perform combination operations to obtain the gain coefficient from DCX to ADCY. Phase shift from DAX loopback to ADCY Gain coefficient of DCY loopback to ADCY Phase shift from DCY loopback to ADCY ; ， ， ， ， ， ， ， 。 5. The real-time self-calibration method for a hemispherical gyroscope circuit according to claim 4, characterized in that, The gain coefficient of the detection circuit includes the gain coefficient of the ADCX. and ADCY gain coefficient The phase shift of the detection circuit includes the phase shift of the ADCX. Phase shift with ADCY ; X-detection channel self-calibration loopback signal , Y-detection channel self-calibration loopback signal ; The CPU demodulates and processes the self-calibration loop signal of the third alternating cycle in each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, specifically including: Self-calibration loopback signal for X detection channel Demodulation is performed to obtain the demodulation parameters of the X detection channel. Demodulation parameters of the X detection channel Perform the calculation to obtain the gain coefficient of ADCX. Phase shift with ADCX ; ， ； Self-calibration loopback signal for Y detection channel Demodulation is performed to obtain the demodulation parameters of the Y detection channel. Demodulation parameters of the Y detection channel The calculation is performed to obtain the gain coefficient of ADCY. Phase shift with ADCY ; ， 。 6. The real-time self-calibration method for a hemispherical gyroscope circuit according to claim 5, characterized in that, The gain coefficient of the driver circuit includes the gain coefficient of the DAX. Gain coefficient of DACY The phase shift of the driving circuit includes the phase shift of the DAX. Phase shift with DACY ; The calculation of the gain coefficient of the driving circuit based on the total gain coefficient and the gain coefficient of the detection circuit, and the calculation of the phase shift of the driving circuit based on the total phase shift and the phase shift of the detection circuit, specifically includes: Gain coefficient of DAX loopback to ADCX and the gain coefficient of ADCX Perform the calculation to obtain the gain coefficient of DAX. , ; Phase shift from DCX loopback to ADCX Phase shift with ADCX Perform calculations to obtain the phase shift of the DAX. , ; Gain coefficient of DCY loopback to ADCY and ADCY gain coefficient The calculation is performed to obtain the gain coefficient of the DCY. , , Phase shift from DACY loopback to ADCY Phase shift with ADCY The phase shift of the DACY is obtained by performing calculations. , .

7. The real-time self-calibration method for a hemispherical gyroscope circuit according to claim 6, characterized in that, The detection signal includes the demodulation result of the ADCX detection channel. Demodulation results of ADCY detection channel , The calibration of the detection signal based on the gain coefficient and phase shift of the detection circuit specifically includes: Based on the gain coefficient of ADCX Phase shift with ADCX Demodulation results of the ADCX detection channel Calibration was performed to obtain the demodulation results of the calibrated ADCX detection channel. ; Based on the gain coefficient of ADCY Phase shift with ADCY Demodulation results of the ADCY detection channel Calibration was performed to obtain the demodulation results of the calibrated ADCY detection channel. ; Demodulation results of the calibrated ADCX detection channel The calculation formula is as follows: ， ； Demodulation results of the calibrated ADCY detection channel The calculation formula is as follows: ， 。 8. The real-time self-calibration method for a hemispherical gyroscope circuit according to claim 7, characterized in that, The drive signals include the drive signals for the DAX drive channels. and the drive signal of the DACY drive channel ; The drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit, specifically including: Based on the gain coefficient of DAX Phase shift with DAX The drive signal for the DAX drive channel Calibration is performed to obtain the calibrated drive signal for the DAX drive channel. ; Based on the gain coefficient of DACY Phase shift with DACY The drive signal for the DCY drive channel Calibration is performed to obtain the calibrated drive signal for the DCY drive channel. ; Drive signals of calibrated DCX drive channels The calculation formula is as follows: ； The drive signal of the calibrated DCY drive channel The calculation formula is as follows: ； in, Indicating the drive signals of the DAX drive channel The amplitude of the component, Indicating the drive signals of the DAX drive channel The amplitude of the component, Indicating the drive signal of the DACY drive channel The amplitude of the component, Indicating the drive signal of the DACY drive channel The amplitude of the component, The resonant frequency, For time.

9. A hemispherical gyroscope, characterized in that, Includes the hemispherical gyroscope body, CPU, and loopback circuit. The CPU alternately transmits drive signals to the hemispherical gyroscope body and self-calibration signals to the loopback circuit. The CPU controls the ADC to alternately acquire gyroscope detection signals and self-calibration loopback signals, with each three alternating cycles constituting a compensation cycle. The self-calibration signals of the first and second alternating cycles of each compensation cycle are trigonometric function signals, which are transmitted to the loopback circuit by the DAC circuit controlled by the CPU. The self-calibration signal of the third alternating cycle of each compensation cycle is a square wave signal, which is directly transmitted to the loopback circuit by the CPU. The CPU demodulates and processes the circuit loop signal of three alternating cycles within each compensation cycle to obtain the gain coefficient and phase shift of the detection circuit, as well as the gain coefficient and phase shift of the drive circuit. The detection signal is calibrated based on the gain coefficient and phase shift of the detection circuit, and the drive signal is calibrated based on the gain coefficient and phase shift of the drive circuit.

10. The hemispherical gyroscope according to claim 9, characterized in that, The loop circuit includes: resistors R1, R2, R3, R4, R5, R6, R7, and R8; operational amplifiers U1 and U2; and switches SPDT1 and SPDT2. The loopback circuit has a DAX input terminal electrically connected to the DAX driver circuit, a DAX input terminal electrically connected to the DAX driver circuit, a GPIO input terminal electrically connected to the CPU, an ADCX output terminal electrically connected to the ADCX detection circuit, and an ADCX output terminal electrically connected to the ADCX detection circuit. One end of resistors R6 and R4 is connected to the DACX input terminal; one end of resistors R7 and R3 is connected to the DACY input terminal; one end of resistors R8 and R2 is connected to the GPIO input terminal; the other ends of resistors R6, R7, and R8 are all connected to the first input terminal of switch SPDT2; the second input terminal of switch SPDT2 is connected to the X detection terminal of the hemispherical gyroscope; the output terminal of switch SPDT2 is connected to the non-inverting input terminal of operational amplifier U2 and one end of resistor R5; the inverting input terminal of operational amplifier U2 is grounded; and the output terminal of operational amplifier U2 is connected to the ADCX detection circuit. The other ends of resistors R2, R3, and R4 are all connected to the first input terminal of switch SPDT1. The second input terminal of switch SPDT1 is connected to the Y detection terminal of the hemispherical gyroscope. The output terminal of switch SPDT1 is connected to the non-inverting input terminal of operational amplifier U1 and one end of resistor R1, respectively. The inverting input terminal of operational amplifier U1 is grounded. The output terminal of operational amplifier U1 is connected to the ADCY detection circuit.

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