Nonlinear driving gain compensation method and device for hemispherical resonator gyro, equipment and medium

Abstract

This application discloses a method, apparatus, device, and medium for nonlinear drive gain compensation of a hemispherical resonator gyroscope, relating to the field of gyroscope attitude control technology. The method includes: exciting a resonator with different frequency drive voltages and obtaining a first amplitude control voltage and a second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude; determining target parameters based on the first and second amplitude control voltages; obtaining the real-time vibration state of the target hemispherical resonator gyroscope operating in full-angle mode; determining a target drive gain correction coefficient based on the real-time vibration state and target parameters; and compensating for the nonlinear drive gain of the hemispherical resonator gyroscope based on the target drive gain correction coefficient. By obtaining different voltages corresponding to the resonator maintaining a preset constant amplitude and obtaining parameters characterizing the nonlinearity of the gyroscope drive, interference from other error sources is avoided, and the problem of incomplete compensation is solved.

Description

Technical Field

[0001] This invention relates to the field of gyroscope attitude control technology, and in particular to a nonlinear drive gain compensation method, device, equipment, and medium for hemispherical resonant gyroscopes. Background Technology

[0002] The hemispherical resonant gyroscope, a high-precision vibrating gyroscope, works by utilizing the Coriolis effect generated when a harmonic oscillator (a second-order vibration mode of a goblet-shaped shell) rotates. This effect causes energy transfer between two orthogonal vibration modes, allowing the calculation of rotational information. Due to its small size, the hemispherical resonant gyroscope exhibits strong nonlinear effects as the vibration amplitude increases. In particular, when electrostatic actuation is achieved using parallel-plate capacitors, an effect known as drive gain nonlinearity occurs.

[0003] Most existing methods for nonlinear compensation of hemispherical resonator gyroscope drive gain involve establishing a nonlinear model theoretically or experimentally, followed by open-loop compensation in the control loop. This method is susceptible to interference from other error sources (such as detection nonlinearity and circuit noise), resulting in low calibration accuracy and incomplete compensation. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for nonlinear drive gain compensation of a hemispherical resonant gyroscope. This method can obtain different voltages corresponding to the resonator maintaining a preset constant amplitude, and acquire parameters characterizing the nonlinearity of the gyroscope drive, thus avoiding interference from other error sources and solving the problem of incomplete compensation. The specific solution is as follows: Firstly, this application provides a nonlinear driving gain compensation method for a hemispherical resonant gyroscope, including: The resonator of the target hemispherical resonant gyroscope is excited by a first driving voltage and a second driving voltage of different frequencies, and the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage are obtained respectively; wherein, the amplitude control voltage represents the driving voltage used to maintain the preset constant amplitude. The target parameters are determined based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameters are parameters characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope; The real-time vibration state of the target hemispherical resonator gyroscope is obtained when it is operating in full-angle mode. The target drive gain correction coefficient is determined based on the real-time vibration state and the target parameters. The nonlinear drive gain of the target hemispherical resonator gyroscope is compensated based on the target drive gain correction coefficient.

[0005] Optionally, the resonator of the target hemispherical resonant gyroscope is excited by a first driving voltage and a second driving voltage of different frequencies, respectively, and the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage are obtained, including: The preset constant amplitude is set, and the resonator of the target hemispherical resonant gyroscope is excited by the first driving voltage. If the control loop of the target hemispherical resonant gyroscope is stable, it is determined whether the amplitude of the resonator reaches the preset constant amplitude. If the amplitude of the resonator reaches the preset constant amplitude, the first amplitude control voltage is recorded, and the second driving voltage is used to excite the resonator of the target hemispherical resonant gyroscope. If the control loop of the target hemispherical resonant gyroscope is stable, it is determined whether the amplitude of the resonator reaches the preset constant amplitude. If the amplitude of the resonator reaches the preset constant amplitude, the second amplitude control voltage is recorded.

[0006] Optionally, the first voltage frequency corresponding to the first driving voltage is an integer multiple of the operating frequency of the resonator of the target hemispherical resonant gyroscope, and the second voltage frequency corresponding to the second driving voltage is greater than the first voltage frequency.

[0007] Optionally, determining the target parameters based on the first amplitude control voltage and the second amplitude control voltage includes: Determine the target difference between the first amplitude control voltage and the second amplitude control voltage, determine the target ratio between the second amplitude control voltage and the target difference, and obtain the target parameter based on the target ratio.

[0008] Optionally, acquiring the real-time vibration state of the target hemispherical resonator gyroscope when it operates in full-angle mode, and determining the target drive gain correction coefficient based on the real-time vibration state and the target parameters, includes: The amplitude and antinode angle of the resonator of the target hemispherical resonator gyroscope in full-angle mode are obtained, and the target drive gain correction coefficient is determined based on the amplitude, the antinode angle and the target parameter; wherein, the antinode angle characterizes the spatial angle of the antinode of the resonator during the free precession of space.

[0009] Optionally, the compensation of the nonlinear drive gain of the target hemispherical resonator gyroscope according to the target drive gain correction coefficient includes: Obtain the original driving voltage output from the control loop of the target hemispherical resonant gyroscope; The original driving voltage is corrected using the target driving gain correction coefficient to obtain a corresponding corrected driving voltage, and the corrected driving voltage is used to drive the resonator of the target hemispherical resonant gyroscope to complete the compensation of the nonlinear driving gain.

[0010] Secondly, this application provides a nonlinear drive gain compensation device for a hemispherical resonant gyroscope, comprising: The voltage acquisition module is used to excite the resonator of the target hemispherical resonant gyroscope with a first driving voltage and a second driving voltage of different frequencies, and to acquire the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage, respectively; wherein, the amplitude control voltage represents the driving voltage used to maintain the preset constant amplitude; The target parameter acquisition module is used to determine target parameters based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameters are parameters characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope; The nonlinear drive gain compensation module is used to acquire the real-time vibration state of the target hemispherical resonator gyroscope when it is working in full-angle mode, determine the target drive gain correction coefficient based on the real-time vibration state and the target parameters, and compensate the nonlinear drive gain of the target hemispherical resonator gyroscope based on the target drive gain correction coefficient.

[0011] Optionally, the target parameter acquisition module includes: The target parameter acquisition unit is used to determine the target difference between the first amplitude control voltage and the second amplitude control voltage, determine the target ratio between the second amplitude control voltage and the target difference, and acquire the target parameter based on the target ratio.

[0012] Thirdly, this application provides an electronic device, comprising: Memory, used to store computer programs; A processor is used to execute the computer program to implement the aforementioned nonlinear drive gain compensation method for hemispherical resonant gyroscopes.

[0013] Fourthly, this application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the aforementioned nonlinear drive gain compensation method for a hemispherical resonant gyroscope.

[0014] This application first excites the resonator of the target hemispherical resonant gyroscope using a first driving voltage and a second driving voltage of different frequencies, and obtains the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage, respectively; wherein, the amplitude control voltage characterizes the driving voltage used to maintain the preset constant amplitude, and then determines the target parameter based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameter is a parameter characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope, and finally obtains the real-time vibration state of the target hemispherical resonant gyroscope when it is working in full-angle mode, determines the target driving gain correction coefficient based on the real-time vibration state and the target parameter, and compensates the nonlinear driving gain of the target hemispherical resonant gyroscope based on the target driving gain correction coefficient. Therefore, this application transforms the problem of driving nonlinearity intensity, which is difficult to measure directly, into the direct acquisition of measurable voltage values ​​under two excitation modes by using driving voltages of different frequencies to excite the resonator and obtaining the different voltages corresponding to maintaining a preset constant amplitude. This avoids calibration errors caused by indirect inference based on harmonics at the detection end or complex modeling. By determining the target driving gain correction coefficient based on the real-time vibration state and target parameters, and then compensating for the nonlinear driving gain based on the target gain correction coefficient, interference from other error sources is avoided. This achieves real-time and targeted correction of the root cause of driving nonlinearity, thereby solving the problem of incomplete compensation in the prior art. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the nonlinear driving gain compensation method for a hemispherical resonant gyroscope disclosed in this application; Figure 2 This is a schematic diagram of a nonlinear driving gain compensation method for a hemispherical resonant gyroscope disclosed in this application; Figure 3 This is a schematic diagram of a frequency domain component disclosed in this application; Figure 4 This is a calibration flowchart for a hemispherical resonant gyroscope disclosed in this application; Figure 5 This is a schematic diagram of the nonlinear drive gain compensation device for a hemispherical resonant gyroscope disclosed in this application; Figure 6This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] See Figure 1 As shown in the figure, an embodiment of the present invention discloses a nonlinear driving gain compensation method for a hemispherical resonant gyroscope, comprising: Step S11: Excite the resonator of the target hemispherical resonant gyroscope with a first driving voltage and a second driving voltage of different frequencies, and obtain the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage, respectively; wherein, the amplitude control voltage represents the driving voltage used to maintain the preset constant amplitude.

[0019] The core of this embodiment lies in establishing a quantitative correlation between the system response under fundamental frequency excitation and third harmonic excitation by utilizing the inherent nonlinear modulation characteristics of the electrostatic drive system—that is, the product of the square term of displacement and the driving voltage in the driving force expression. By analyzing the ratio of the control force amplitude required to maintain the same amplitude of the resonator under the two excitation modes, the key parameter characterizing the nonlinear intensity of the drive—the amplitude gap ratio—can be decoupled. .

[0020] This method consists of two stages. The first stage is the calibration stage: during gyroscope initialization or periodic self-calibration, the fundamental frequency ( ) is applied respectively. ) and third harmonic (3 The driving voltage was measured, and the stable control force amplitude Vx output of the amplitude control loop was measured and recorded in both modes. Based on the analytical relationships derived from the nonlinear dynamics model, the current state can be accurately calculated. The value. The second stage is the compensation stage: in the full-angle mode where the gyroscope is working normally, the value is obtained from calibration. Combined with the real-time acquired antinode angle The system dynamically calculates the drive gain correction coefficient and corrects the original drive voltage output by the control loop in real time, thereby offsetting the gain change and control force coupling introduced by the drive nonlinearity.

[0021] This implementation transforms the complex nonlinear parameter calibration problem into the measurement and calculation of two voltage values, avoiding the errors caused by traditional methods that rely on harmonic extraction or complex modeling. It provides a simple and efficient solution for the linearization of the drive of a high-precision hemispherical resonator gyroscope in full-angle mode. The overall process is as follows: Figure 2 As shown, the process includes steps such as signal processing and demodulation, drive signal selection, and drive amplification.

[0022] In this embodiment, the resonator of the target hemispherical resonant gyroscope is excited by first and second driving voltages of different frequencies, respectively. The first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first and second driving voltages are obtained. This includes: setting a preset constant amplitude; exciting the resonator of the target hemispherical resonant gyroscope using the first driving voltage; if the control loop of the target hemispherical resonant gyroscope is stable, determining whether the amplitude of the resonator reaches the preset constant amplitude; if the amplitude of the resonator reaches the preset constant amplitude, recording the first amplitude control voltage; and exciting the resonator of the target hemispherical resonant gyroscope using the second driving voltage; if the control loop of the target hemispherical resonant gyroscope is stable, determining whether the amplitude of the resonator reaches the preset constant amplitude; if the amplitude of the resonator reaches the preset constant amplitude, recording the second amplitude control voltage.

[0023] Specifically, in this embodiment, the process of recording the first amplitude control voltage and the second amplitude control voltage during calibration is as follows: I. Nonlinear parameters of driving gain Precise calibration of (i.e., target parameters): The purpose of this step is to obtain the accurate value of the current state. The core of this method lies in utilizing the harmonic effect generated by the driving nonlinearity itself, and through a special third-harmonic excitation method, transforming the value that is difficult to measure directly. This is converted into the ratio of two directly measurable voltage values. The specific process is as follows: Step 1: Fundamental frequency excitation to obtain amplitude control force Vx (i.e., the first amplitude control voltage).

[0024] System configuration and state establishment: Switch the gyroscope's control system to the normal operating mode, i.e., use the frequency and the resonator's operating mode frequency. The same voltage signal is used for driving. At this time, the amplitude control loop (a proportional-integral-derivative (PID) controller) starts to work, with the goal of stabilizing the vibration amplitude of the resonator at a preset target value. (i.e., preset constant amplitude) on.

[0025] Mechanism of force application: In this mode, the voltage applied to the driving electrode is Based on the nonlinear driving model established in this embodiment, the instantaneous electrostatic force experienced by the resonator at this time... for: ; in, It is the instantaneous vibration displacement of the harmonic oscillator.

[0026] Extracting the effective driving force: displacement Substituting into the above equation and expanding using trigonometric functions, we can extract the fundamental frequency that is in phase with the vibration and can effectively do work on the system. This is the force that the amplitude control loop truly "feels." The derivation process is as follows: ; Using the product-to-sum formula, the above expression can be transformed into: ; merge The term ultimately yields the effective fundamental frequency driving force acting on the resonator. for: ; in The amplitude gap ratio is a key parameter characterizing the driving nonlinear intensity.

[0027] Once the amplitude control loop stabilizes, record the loop's output value, i.e., the amplitude control voltage Vx. This Vx is precisely what is used to overcome system damping and maintain amplitude. The required amplitude of the fundamental frequency voltage.

[0028] Step 2: Triple frequency excitation to obtain amplitude control force (i.e., the second amplitude control voltage).

[0029] Switching the frequency of the drive signal from the base frequency to (third harmonic) causes the voltage applied to the drive electrode to become... This voltage and vibration displacement Substituting into the nonlinear driving force model, we can expand to obtain: ; Extracting the effective fundamental frequency driving force: Although the applied force is The voltage is constant, but due to the nonlinearity of the drive, this high-frequency voltage will be "modulated" or "demodulated" by the displacement signal, thus generating a voltage with a frequency of... The force component. This The component is the effective element that can interact with the current vibration of the harmonic oscillator and control its amplitude. This embodiment extracts it using trigonometric identities: ; Using the product-to-sum formula again, we get: ; like Figure 3 As shown, although the driving force includes , It exhibits high-frequency components, but also includes a term with the exact same frequency as the harmonic oscillator: This term refers to the effective fundamental frequency driving force generated by the third harmonic excitation. : ; This produces The component phase is slightly different from that of the fundamental frequency drive (the derivation result here is positive, but the actual phase relationship is automatically processed by the control system and does not affect the amplitude measurement).

[0030] Closed-loop control and data logging: Automatic adjustment via amplitude control loop. The magnitude of the vibration is maintained until the amplitude of the harmonic oscillator is exactly the same as in the first step. Up. At this point, we record the voltage amplitude used for third-frequency drive in the loop. .

[0031] It should be noted that in this embodiment, the first voltage frequency corresponding to the first driving voltage is an integer multiple of the operating frequency of the resonator of the target hemispherical resonant gyroscope, and the second voltage frequency corresponding to the second driving voltage is greater than the first voltage frequency.

[0032] As can be seen from the foregoing, in this embodiment, the first voltage frequency is the fundamental frequency, and the second voltage frequency is three times the first voltage frequency.

[0033] Besides the fundamental frequency and the third harmonic, other frequency combinations can theoretically be used (such as...). or The fundamental frequency and its third harmonic are used to excite the signal, and the resulting response is analyzed to extract λ. The combination of the fundamental frequency and its third harmonic produces the largest effective fundamental frequency force and the highest signal-to-noise ratio, making it the optimal choice.

[0034] Step S12: Determine the target parameters based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameters are parameters characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope.

[0035] In this embodiment, determining the target parameter based on the first amplitude control voltage and the second amplitude control voltage includes: determining the target difference between the first amplitude control voltage and the second amplitude control voltage, determining the target ratio between the second amplitude control voltage and the target difference, and obtaining the target parameter based on the target ratio.

[0036] Specifically, in the aforementioned steps, the harmonic oscillator maintains the exact same amplitude. This means that the effective fundamental frequency driving force acting on it to overcome damping and maintain amplitude is equal in both cases. Therefore: ; Substitute the previously derived expression: ; Linear drive gain on both sides of the equation We can arrange to go. Solve this equation to find... : Expand and move items: ; Ultimately, we can obtain The expression is as follows: ; At this point, by measuring two voltage values ​​that can be directly read from the control loop... and We then accurately calculated the key nonlinear parameters in the current state. This method cleverly transforms the complex problem of nonlinear parameter calibration into a simple problem of voltage measurement and calculation, laying the foundation for subsequent real-time compensation.

[0037] In summary, the calibration process in this embodiment is as follows: Figure 4 As shown, the process includes: setting the target amplitude, determining whether the harmonic oscillator amplitude has reached stability, recording the control force if so, switching to the third harmonic excitation mode, recording the control force when the harmonic oscillator is stable, and finally calculating the target parameters to complete the calibration.

[0038] The driving nonlinear parameters are directly calculated by comparing the amplitude control forces under fundamental frequency and third harmonic excitation. This method is no longer an indirect "observation" or "modeling," but a direct "measurement" approach with clear physical meaning and high precision.

[0039] The calibrated in this embodiment It can be directly used for real-time drive gain correction in full-angle mode. The algorithm is simple and easy to implement in existing digital control systems without adding complex hardware.

[0040] Step S13: Obtain the real-time vibration state of the target hemispherical resonator gyroscope when it is working in full-angle mode, determine the target drive gain correction coefficient based on the real-time vibration state and the target parameters, and compensate the nonlinear drive gain of the target hemispherical resonator gyroscope based on the target drive gain correction coefficient.

[0041] In this embodiment, the real-time vibration state of the target hemispherical resonator gyroscope is obtained when it is operating in full-angle mode. The target driving gain correction coefficient is determined based on the real-time vibration state and the target parameters. This includes: obtaining the amplitude and antinode angle of the resonator of the target hemispherical resonator gyroscope in full-angle mode, and determining the target driving gain correction coefficient based on the amplitude, antinode angle and the target parameters; wherein, the antinode angle represents the spatial angle where the antinode of the resonator is located during the free precession of the resonator in space.

[0042] Specifically, once obtained This allows for real-time compensation of the drive gain when the gyroscope is operating normally in full-angle mode.

[0043] In the full-angle mode control system, based on the current amplitude of the resonator (Known) and calibrated This allows us to calculate the real-time gain correction factor for each drive axis. For example, for the drive force of the X-axis, the correction factor is... ,in , This represents the current antinode angle.

[0044] In a digital control system, the current angle output by the angle calculation module is... and the calibrated Substitute the values ​​into the above formula to calculate the correction coefficient (i.e., the target drive gain correction coefficient) in real time.

[0045] In addition, in this embodiment, the nonlinear driving gain of the target hemispherical resonant gyroscope is compensated according to the target driving gain correction coefficient, including: obtaining the original driving voltage output by the control loop of the target hemispherical resonant gyroscope; correcting the original driving voltage using the target driving gain correction coefficient to obtain the corresponding corrected driving voltage; and using the corrected driving voltage to drive the resonator of the target hemispherical resonant gyroscope to complete the compensation of the nonlinear driving gain.

[0046] Specifically, in this embodiment, the original driving voltage output by the control loop (energy control, quadrature control, etc.) is divided by the corresponding correction coefficient to obtain the linearized driving voltage. The corrected voltage is used to drive the resonator, thereby canceling the nonlinearity of the driving gain and restoring the linear relationship between the driving force and the voltage.

[0047] After calibration and compensation using this method, the eighth-order angle-dependent drift in full-angle mode can be greatly eliminated, thereby significantly improving the zero-bias stability and scaling factor linearity of the gyroscope.

[0048] The method described in this embodiment can be executed as a calibration procedure when the gyroscope leaves the factory, or it can be executed interspersed with brief calibration processes during gyroscope operation. This allows for tracking and compensation for changes in environmental factors such as temperature, demonstrating strong environmental adaptability. Furthermore, this method is not only applicable to hemispherical resonator gyroscopes, but also to all microelectromechanical gyroscopes that use parallel-plate capacitors for electrostatic drive and exhibit similar nonlinear problems.

[0049] Furthermore, when the excitation electrode and detection electrode of the target hemispherical resonant gyroscope share the same electrode structure in a time-division multiplexing manner, the target parameter obtained by this method, namely the amplitude gap ratio, can not only be used to compensate for the nonlinear gain of the drive, but also to compensate for the nonlinear error in the detection path, thereby achieving unified correction of the nonlinearity of the drive and detection, and further improving the overall control accuracy of the gyroscope in full-angle mode.

[0050] Therefore, this application transforms the problem of driving nonlinearity intensity, which is difficult to measure directly, into the direct acquisition of measurable voltage values ​​under two excitation modes by using driving voltages of different frequencies to excite the resonator and obtaining the different voltages corresponding to maintaining a preset constant amplitude. This avoids calibration errors caused by indirect inference based on harmonics at the detection end or complex modeling. By determining the target driving gain correction coefficient based on the real-time vibration state and target parameters, and then compensating for the nonlinear driving gain based on the target gain correction coefficient, interference from other error sources is avoided. This achieves real-time and targeted correction of the root cause of driving nonlinearity, thereby solving the problem of incomplete compensation in the prior art.

[0051] See Figure 5 As shown, this embodiment of the invention discloses a nonlinear drive gain compensation device for a hemispherical resonant gyroscope, comprising: The voltage acquisition module 11 is used to excite the resonator of the target hemispherical resonant gyroscope with a first driving voltage and a second driving voltage of different frequencies, and to acquire the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage, respectively; wherein, the amplitude control voltage represents the driving voltage used to maintain the preset constant amplitude. The target parameter acquisition module 12 is used to determine target parameters based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameters are parameters characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope; The nonlinear drive gain compensation module 13 is used to acquire the real-time vibration state of the target hemispherical resonator gyroscope when it is working in full-angle mode, determine the target drive gain correction coefficient based on the real-time vibration state and the target parameters, and compensate the nonlinear drive gain of the target hemispherical resonator gyroscope based on the target drive gain correction coefficient.

[0052] In some specific embodiments, the voltage acquisition module 11 may specifically include: An amplitude setting unit is used to set the preset constant amplitude, and to excite the resonator of the target hemispherical resonant gyroscope using the first driving voltage. If the control loop of the target hemispherical resonant gyroscope is stable, it is determined whether the amplitude of the resonator reaches the preset constant amplitude. The control voltage acquisition unit is used to record the first amplitude control voltage if the amplitude of the resonator reaches the preset constant amplitude, and to excite the resonator of the target hemispherical resonant gyroscope using the second driving voltage. If the control loop of the target hemispherical resonant gyroscope is stable, it determines whether the amplitude of the resonator reaches the preset constant amplitude. If the amplitude of the resonator reaches the preset constant amplitude, it records the second amplitude control voltage.

[0053] In some specific embodiments, the target parameter acquisition module 12 may specifically include: The target parameter acquisition unit is used to determine the target difference between the first amplitude control voltage and the second amplitude control voltage, determine the target ratio between the second amplitude control voltage and the target difference, and acquire the target parameter based on the target ratio.

[0054] In some specific embodiments, the nonlinear drive gain compensation module 13 may specifically include: The correction coefficient determination unit is used to obtain the amplitude and antinode angle of the resonator of the target hemispherical resonant gyroscope in full-angle mode, and to determine the target drive gain correction coefficient according to the amplitude, the antinode angle and the target parameter; wherein, the antinode angle characterizes the spatial angle of the antinode of the resonator during the free precession of space.

[0055] In some specific embodiments, the nonlinear drive gain compensation module 13 may specifically include: The original driving voltage acquisition unit is used to acquire the original driving voltage output by the control loop of the target hemispherical resonant gyroscope; The resonator driving unit is used to correct the original driving voltage using the target driving gain correction coefficient to obtain a corresponding corrected driving voltage, and to drive the resonator of the target hemispherical resonant gyroscope using the corrected driving voltage to complete the compensation of the nonlinear driving gain.

[0056] Furthermore, embodiments of this application also disclose an electronic device, Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0057] Figure 6 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the nonlinear drive gain compensation method for the hemispherical resonator gyroscope disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0058] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0059] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0060] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the nonlinear drive gain compensation method for a hemispherical resonant gyroscope executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs capable of performing other specific tasks.

[0061] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned nonlinear drive gain compensation method for a hemispherical resonant gyroscope. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0062] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0063] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0064] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0065] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A nonlinear driving gain compensation method for a hemispherical resonant gyroscope, characterized in that, include: The resonator of the target hemispherical resonant gyroscope is excited by a first driving voltage and a second driving voltage of different frequencies, and the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage are obtained respectively; wherein, the amplitude control voltage represents the driving voltage used to maintain the preset constant amplitude. The target parameters are determined based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameters are parameters characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope; The real-time vibration state of the target hemispherical resonator gyroscope is obtained when it is operating in full-angle mode. The target drive gain correction coefficient is determined based on the real-time vibration state and the target parameters. The nonlinear drive gain of the target hemispherical resonator gyroscope is compensated based on the target drive gain correction coefficient.

2. The nonlinear driving gain compensation method for a hemispherical resonant gyroscope according to claim 1, characterized in that, The method of exciting the resonator of the target hemispherical resonant gyroscope with a first driving voltage and a second driving voltage of different frequencies, and obtaining the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage, respectively, includes: The preset constant amplitude is set, and the resonator of the target hemispherical resonant gyroscope is excited by the first driving voltage. If the control loop of the target hemispherical resonant gyroscope is stable, it is determined whether the amplitude of the resonator reaches the preset constant amplitude. If the amplitude of the resonator reaches the preset constant amplitude, the first amplitude control voltage is recorded, and the second driving voltage is used to excite the resonator of the target hemispherical resonant gyroscope. If the control loop of the target hemispherical resonant gyroscope is stable, it is determined whether the amplitude of the resonator reaches the preset constant amplitude. If the amplitude of the resonator reaches the preset constant amplitude, the second amplitude control voltage is recorded.

3. The nonlinear driving gain compensation method for a hemispherical resonant gyroscope according to claim 1, characterized in that, The first voltage frequency corresponding to the first driving voltage is an integer multiple of the operating frequency of the resonator of the target hemispherical resonant gyroscope, and the second voltage frequency corresponding to the second driving voltage is greater than the first voltage frequency.

4. The nonlinear driving gain compensation method for a hemispherical resonant gyroscope according to claim 1, characterized in that, Determining the target parameters based on the first amplitude control voltage and the second amplitude control voltage includes: Determine the target difference between the first amplitude control voltage and the second amplitude control voltage, determine the target ratio between the second amplitude control voltage and the target difference, and obtain the target parameter based on the target ratio.

5. The nonlinear driving gain compensation method for a hemispherical resonant gyroscope according to claim 1, characterized in that, The step of acquiring the real-time vibration state of the target hemispherical resonator gyroscope when it operates in full-angle mode, and determining the target drive gain correction coefficient based on the real-time vibration state and the target parameters, includes: The amplitude and antinode angle of the resonator of the target hemispherical resonator gyroscope in full-angle mode are obtained, and the target drive gain correction coefficient is determined based on the amplitude, the antinode angle and the target parameter; wherein, the antinode angle characterizes the spatial angle of the antinode of the resonator during the free precession of space.

6. The nonlinear driving gain compensation method for a hemispherical resonant gyroscope according to claim 1, characterized in that, The compensation of the nonlinear drive gain of the target hemispherical resonant gyroscope according to the target drive gain correction coefficient includes: Obtain the original driving voltage output from the control loop of the target hemispherical resonant gyroscope; The original driving voltage is corrected using the target driving gain correction coefficient to obtain a corresponding corrected driving voltage, and the corrected driving voltage is used to drive the resonator of the target hemispherical resonant gyroscope to complete the compensation of the nonlinear driving gain.

7. A nonlinear drive gain compensation device for a hemispherical resonant gyroscope, characterized in that, include: The voltage acquisition module is used to excite the resonator of the target hemispherical resonant gyroscope with a first driving voltage and a second driving voltage of different frequencies, and to acquire the first amplitude control voltage and the second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude under the excitation of the first driving voltage and the second driving voltage, respectively; wherein, the amplitude control voltage represents the driving voltage used to maintain the preset constant amplitude; The target parameter acquisition module is used to determine target parameters based on the first amplitude control voltage and the second amplitude control voltage; wherein, the target parameters are parameters characterizing the driving nonlinearity intensity of the target hemispherical resonant gyroscope; The nonlinear drive gain compensation module is used to acquire the real-time vibration state of the target hemispherical resonator gyroscope when it is working in full-angle mode, determine the target drive gain correction coefficient based on the real-time vibration state and the target parameters, and compensate the nonlinear drive gain of the target hemispherical resonator gyroscope based on the target drive gain correction coefficient.

8. The nonlinear drive gain compensation device for a hemispherical resonant gyroscope according to claim 7, characterized in that, The target parameter acquisition module includes: The target parameter acquisition unit is used to determine the target difference between the first amplitude control voltage and the second amplitude control voltage, determine the target ratio between the second amplitude control voltage and the target difference, and acquire the target parameter based on the target ratio.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the nonlinear drive gain compensation method for a hemispherical resonant gyroscope as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, Used to store a computer program, which, when executed by a processor, implements the nonlinear drive gain compensation method for a hemispherical resonant gyroscope as described in any one of claims 1 to 6.

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