Angular velocity measurement system

Abstract

The application discloses a kind of angular velocity measurement systems, belong to inertial measurement technical field, can solve how to accurately measure the problem of satellite platform angular velocity.The system includes: resonant gyro, for output vibration signal to measurement control module;Digital / analog conversion circuit board, for the vibration signal output by the resonant gyro is amplified and analog-digital conversion and is transmitted to the measurement control module, the control signal output by the measurement control module is amplified and digital-analog conversion and is transmitted to the resonant gyro;Measurement control module, for controlling the resonant gyro continuously maintain stable resonant state, the vibration signal is data processed and secondary temperature compensation, and output temperature-compensated angular velocity measurement signal.Power supply control module, for the resonant gyro, the digital / analog conversion circuit board, the measurement control module is powered.

Description

Technical Field

[0001] This application belongs to the field of inertial measurement technology, specifically relating to an angular velocity measurement system. Background Technology

[0002] In satellite attitude control systems, it is necessary to accurately measure the angular velocity of the platform on which the satellite is located. In existing technologies, the angular velocity of the platform is measured using laser gyroscopes or fiber optic gyroscopes.

[0003] In existing technologies, the angular velocity of a satellite platform is measured using laser gyroscopes or fiber optic gyroscopes. However, in extreme space environments, these measurements may be affected by various external factors, leading to inaccurate results. Summary of the Invention

[0004] The purpose of this application is to provide an angular velocity measurement system that can solve the problem of how to accurately measure the angular velocity of a satellite platform.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide an angular velocity measurement system, the system comprising: The resonant gyroscope, mounted on the target platform and connected to the digital-to-analog / analog-to-digital converter circuit board, is used to output vibration signals to the measurement and control module. A digital-to-analog / analog-to-digital converter circuit board is connected at one end to the resonant gyroscope and at the other end to the measurement and control module. It is used to amplify and convert the vibration signal output by the resonant gyroscope to digital and transmit it to the measurement and control module, and to amplify and convert the control signal output by the measurement and control module to digital and transmit it to the resonant gyroscope. The measurement and control module is connected to the digital-to-analog / analog-to-digital converter circuit board. It is used to control the resonant gyroscope to maintain a stable resonant state, perform data processing and secondary temperature compensation on the vibration signal, and output the temperature-compensated angular velocity measurement signal.

[0006] The power supply control module is connected to the resonant gyroscope, the digital-to-analog / analog-to-digital converter circuit board, and the measurement control module, and is used to supply power to the resonant gyroscope, the digital-to-analog / analog-to-digital converter circuit board, and the measurement control module.

[0007] Optionally, the digital-to-analog / analog-to-digital conversion circuit board includes a signal amplification circuit, a digital-to-analog conversion circuit, an analog-to-digital conversion circuit, a power amplification circuit, and a temperature amplification circuit.

[0008] Optionally, the measurement control module includes a field-programmable gate array (FPGA) and an ARM chip. One end of the FPGA is connected to the digital-to-analog / analog-to-digital converter circuit, and the other end is connected to the ARM chip.

[0009] Optionally, the field-programmable gate array acquires the gyroscope vibration signal through an analog-to-digital converter circuit, and obtains the phase difference signal and amplitude difference signal based on the gyroscope vibration signal; The phase difference signal is input into the phase-locked loop to obtain the phase and frequency corresponding to the first control signal; The amplitude difference signal is input into the automatic gain control loop to obtain the vibration amplitude corresponding to the first control signal; The first control signal is generated based on the phase, the frequency, and the vibration amplitude; The first control signal is sent to the resonant gyroscope through the digital-to-analog converter circuit to drive the resonant gyroscope to resonate at the target frequency and target vibration amplitude.

[0010] Optionally, the field-programmable gate array obtains the orthogonal error signal and the angular velocity signal based on the gyroscope vibration signal; The orthogonal error signal is input into the proportional-integral-derivative controller to obtain the orthogonal control signal; The angular velocity signal is input into the proportional-integral-derivative controller to obtain the force balance control signal; The second control signal is obtained based on the orthogonal control signal and the force balance control signal; The second control signal is sent to the resonant gyroscope through the analog-to-digital converter circuit so that the working mode of the resonant gyroscope is in force balance mode.

[0011] Optionally, the field-programmable gate array sends the feedback signal corresponding to the force balance control signal to the ARM chip; The field-programmable gate array (FPGA) acquires the temperature signal of the resonant gyroscope through the analog-to-digital converter (ADC) circuit and sends the temperature signal to the ARM chip.

[0012] Optionally, the ARM chip converts the feedback signal into a corresponding angular velocity signal according to the mapping relationship between the feedback signal and the angular velocity; The ARM chip performs two-stage temperature compensation on the angular velocity signal based on the temperature signal to obtain the angular velocity measurement signal.

[0013] Optionally, the ARM chip performs two-stage temperature compensation on the angular velocity signal based on the temperature signal to obtain the angular velocity measurement signal, including: The ARM chip substitutes the angular velocity signal and the temperature signal into a pre-stored first temperature compensation model to obtain a first-level compensated angular velocity signal. The ARM chip inputs the first-level compensated angular velocity signal and the temperature signal into the second temperature compensation model to obtain the angular velocity measurement signal.

[0014] Optionally, the resonant gyroscope is mounted on the target platform via a shock absorber with heat insulation function.

[0015] Optionally, if the resonant gyroscope is a two-axis resonant gyroscope, it is installed vertically on the target platform; When the resonant gyroscope is a three-axis resonant gyroscope, it is installed in an orthogonal layout of the XYZ coordinate axes on the target platform.

[0016] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method in the system described in the first aspect.

[0017] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method in the system described in the first aspect.

[0018] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the methods in the system described in the first aspect.

[0019] The angular velocity measurement system provided in this application includes a resonant gyroscope mounted on a target platform and connected to a digital-to-analog (DAC) / analog-to-digital (ADC) converter circuit for outputting vibration signals to a measurement control module. A DAC / AC / AC converter circuit board, connected at one end to the resonant gyroscope and at the other end to the measurement control module, amplifies and converts the vibration signals output by the resonant gyroscope to digital and transmits them to the measurement control module, and amplifies and converts the control signals output by the measurement control module to analog and digital and transmits them to the resonant gyroscope. The measurement control module, connected to the DAC / AC / AC converter circuit board, controls the resonant gyroscope to maintain a stable resonance state, performs data processing and secondary temperature compensation on the vibration signals, and outputs a temperature-compensated angular velocity measurement signal. A power supply control module, connected to the resonant gyroscope, the DAC / AC / AC converter circuit board, and the measurement control module, provides power to these components.

[0020] In this system, a low-cost, small-sized, and environmentally adaptable resonant gyroscope is used to acquire angular velocity measurement signals from the target platform. It has strong resistance to space radiation and the acquired data is more accurate. The measurement and control module controls the resonant gyroscope to maintain a stable resonance state, performs data processing and secondary temperature compensation on the angular velocity measurement signal, and further obtains an accurate angular velocity measurement signal, thus realizing accurate angular velocity measurement of the satellite platform. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an angular velocity measurement system according to an embodiment of this application; Figure 2 This is a graph showing the change in zero bias when the gyroscope is powered on; Figure 3 This is a schematic diagram of an angular velocity measurement assembly proposed in an embodiment of this application; Figure 4 This is a schematic diagram of gyroscope angular velocity measurement according to an embodiment of this application; Figure 5 This is a schematic diagram of a gyroscope mounting structure according to an embodiment of this application; Figure 6 This is a schematic diagram of a triaxial angular velocity measurement assembly structure proposed in an embodiment of this application; Figure 7 This is a schematic diagram of a three-axis angular velocity measuring device according to an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0024] refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of an angular velocity measurement system according to an embodiment of this application, as shown below. Figure 1 As shown, the system includes the following structure: A resonant gyroscope, mounted on the target platform and connected to a digital-to-analog (DAC) / analog-to-digital (ADC) converter circuit board, outputs vibration signals to the measurement and control module. The DAC / AC, connected at one end to the resonant gyroscope and at the other to the measurement and control module, amplifies and converts the vibration signals output by the gyroscope to digital and transmits them to the measurement and control module. It also amplifies and converts the control signals output by the measurement and control module to analog and digital and transmits them to the resonant gyroscope. The measurement and control module, connected to the DAC / AC, controls the gyroscope to maintain a stable resonance state, performs data processing and secondary temperature compensation on the vibration signals, and outputs a temperature-compensated angular velocity measurement signal. A power supply control module, connected to the resonant gyroscope, the DAC / AC, and the measurement and control module, provides power to all components.

[0025] In this embodiment, the resonant gyroscope (a type of gyroscope that uses mechanical vibration or optical resonance to sense angular velocity) is represented by hemispherical resonant gyroscopes (HRG and CRG), and also includes micro-resonant gyroscopes, cylindrical resonant gyroscopes, etc. The core of the resonant gyroscope lies in a continuously vibrating "resonator" or "resonant cavity". When a vibrating object rotates under the action of an external force, it generates a force perpendicular to both its vibration direction and rotation axis. Based on this force, the angular velocity of the satellite platform can be determined. Compared with traditional laser gyroscopes and fiber optic gyroscopes, it has significant advantages in satellite applications. The resonant gyroscope is based on the working principle of solid-state wave motion, with no moving parts, no friction, and no wear. Its structure is very simple, with only 1 / 5 the number of parts of a fiber optic gyroscope and 1 / 10 the number of parts of a laser gyroscope. Therefore, its lifespan can easily reach 20 years, and its reliability reaches 0.995, perfectly meeting the needs of long-term on-orbit operation of satellites, and avoiding the bearing wear problem of traditional mechanical gyroscopes.

[0026] The theoretical accuracy of resonant gyroscopes is not limited by size, and their noise performance is not constrained by quantum effects. Currently, resonant gyroscopes have achieved zero-bias stability of 0.0001° / h, far exceeding traditional fiber optic gyroscopes (maximum 0.001° / h) and laser gyroscopes. It is currently the only gyroscope technology capable of meeting the ultra-high precision requirements of deep space exploration and space telescopes. The core of a resonant gyroscope is the mechanical vibration of a harmonic oscillator, which is unaffected by space radiation and naturally possesses strong radiation resistance, eliminating the need for additional radiation shielding. This is a significant advantage over optical gyroscopes (where the optical components of fiber optic and laser gyroscopes are easily affected by radiation), making it ideal for the high-radiation environments of high orbits and deep space. Compared to traditional optical gyroscopes, resonant gyroscopes significantly reduce size, weight, and power consumption. Their overall C-SWaP (cost / size / weight / power consumption) performance is the best among navigation-grade gyroscopes, making them ideal for the needs of small platforms such as small satellites and CubeSats.

[0027] In this embodiment, the resonant gyroscope is connected to a digital-to-analog (DAC) / analog-to-digital (ADC) circuit board. The DAC circuit board is used to amplify and convert the angular velocity measurement signal output by the resonant gyroscope to digital, and to convert the control signal output by the measurement control module to analog and amplify its power.

[0028] In this embodiment, the measurement and control module controls the resonant gyroscope to maintain stable motion on the target platform by outputting signals with stable frequency and amplitude to the resonant gyroscope. The module also processes the data and performs secondary temperature compensation on the signals sent by the resonant gyroscope, and outputs the corresponding angular velocity measurement signal. During the secondary temperature compensation process, the angular velocity measurement signal is corrected according to the current temperature to remove the influence of temperature on the angular velocity.

[0029] In this embodiment, the power supply control module is used to supply power to the resonant gyroscope, analog-to-digital / digital-to-analog converter circuit board, and measurement control module. It converts the input DC voltage into multiple DC voltages isolated from the input for use by the internal circuits. The power supply control module has reverse connection protection, soft start, overcurrent protection, and overvoltage protection functions.

[0030] In this embodiment, an angular velocity measurement assembly is designed, comprising a two-axis or three-axis resonant gyroscope, a digital-to-analog (DAC) / analog-to-digital (ADC) converter circuit board, a measurement control module, and a power supply control module. This angular velocity measurement assembly is used to measure the angular velocity of a target platform. The resonant gyroscope is mounted on the target platform (e.g., a satellite platform) and connected to the measurement control module via the DAC circuit board. The measurement control module controls the resonant gyroscope to maintain a continuous and stable resonant state. During the gyroscope's motion, the measurement control module receives the vibration signal transmitted by the resonant gyroscope, demodulates and converts the vibration signal to obtain the corresponding angular velocity measurement signal, thereby determining the angular velocity of the target platform.

[0031] In this embodiment, an angular velocity measurement assembly is formed by a resonant gyroscope, a digital-to-analog / analog-to-digital converter circuit board, a measurement control module, and a power supply control module. This assembly measures the angular velocity of the target platform in real time. Based on the low cost, small size, and strong environmental adaptability of the resonant gyroscope, combined with the demodulation processing of the vibration signal and the secondary temperature compensation by the measurement control module, an accurate angular velocity measurement signal is obtained, thereby obtaining precise angular velocity data.

[0032] In another embodiment of this application, the digital-to-analog / analog-to-digital conversion circuit board includes a signal amplification circuit, a digital-to-analog conversion circuit, an analog-to-digital conversion circuit, a power amplification circuit, and a temperature amplification circuit.

[0033] In this embodiment, the signal amplification circuit amplifies the acquired vibration signal to a preset factor to meet the circuit's processing standards. The digital-to-analog converter (DAC) converts the digital signal into an analog signal. The analog-to-digital converter (ADC) converts the analog signal into a digital signal. The power amplification circuit drives the control signal output by the measurement and control module to drive the gyroscope. The temperature amplification circuit amplifies the acquired temperature signal from the resonant gyroscope to a preset factor to meet the circuit's processing standards.

[0034] In this embodiment, the digital-to-analog (D / A) converter circuit board consists of a signal amplification circuit, a D / A converter circuit, an analog-to-digital (A / D) converter circuit, a power amplification circuit, and a temperature amplification circuit. It further integrates two signal amplification circuits, two D / A converter circuits, two A / D converter circuits, two power amplification circuits, one temperature amplification circuit, and one A / D converter circuit. Each axis of the resonant gyroscope is equipped with a separate D / A / A converter circuit board.

[0035] In this embodiment, a digital-to-analog / analog-to-digital converter circuit board is used to convert the signal between the resonant gyroscope and the measurement control module to ensure stable signal transmission during angular velocity measurement.

[0036] In another embodiment of this application, the measurement control module includes a field-programmable gate array (FPGA) and an ARM chip. One end of the FPGA is connected to the digital-to-analog / analog-to-digital converter circuit, and the other end is connected to the ARM chip.

[0037] In this embodiment, the Field-Programmable Gate Array (FPGA) is responsible for controlling the resonant gyroscope to maintain a stable resonant state, demodulating and processing the acquired vibration signal, and then sending the processed signal to the ARM chip. The ARM (Advanced RISC Machine) chip is responsible for receiving the signal processed by the FPGA, and then combining it with the temperature signal to perform secondary temperature compensation on the angular velocity signal to obtain the angular velocity measurement signal.

[0038] In this embodiment, the measurement and control module consists of a field-programmable gate array and an ARM chip, which work together to control the motion of the gyroscope and output angular velocity measurement signals.

[0039] In another embodiment of this application, the field-programmable gate array (FPGA) acquires the gyroscope vibration signal through an analog-to-digital converter (ADC) circuit, and obtains a phase difference signal and an amplitude difference signal based on the gyroscope vibration signal; the phase difference signal is input into a phase-locked loop (PLL) to obtain the phase and frequency corresponding to the first control signal; the amplitude difference signal is input into an automatic gain control (AGC) loop to obtain the vibration amplitude corresponding to the first control signal; the first control signal is generated based on the phase, the frequency, and the vibration amplitude; and the first control signal is sent to the resonant gyroscope through the digital-to-analog converter (DAC) circuit to drive the resonant gyroscope to resonate at a target frequency and a target vibration amplitude.

[0040] In this embodiment, the phase difference is the difference between the actual vibration phase of the resonant gyroscope drive shaft and the phase of the reference signal generated inside the phase-locked loop (PLL). The amplitude difference is the difference between the current actual vibration amplitude of the resonant gyroscope and the preset target amplitude of the system.

[0041] A phase-locked loop (PLL) is an electronic circuit that automatically tracks the frequency and phase of an input signal. In a gyroscope, it monitors the vibration of a resonator in real time and dynamically adjusts the frequency and phase of the drive signal to precisely lock it onto the resonator's natural resonant frequency and phase. This ensures that the gyroscope always operates in its most efficient mechanical resonant state and is a digital circuit within a field-programmable gate array (FPGA).

[0042] An automatic gain control loop (AGC) is a circuit that automatically adjusts the signal amplification factor. It detects the amplitude (intensity) of the resonator's vibration and compares it to a preset ideal amplitude. If the actual amplitude is too small, it increases the drive signal; conversely, it decreases it. Its ultimate goal is to keep the resonator's vibration amplitude stable at the preset value. It is a digital circuit within a field-programmable gate array (FPGA).

[0043] In this embodiment, a field-programmable gate array (FPGA) acquires gyroscope vibration signals through an analog-to-digital converter (ADC) circuit, and calculates the corresponding phase difference signal and amplitude difference signal based on the gyroscope vibration signals. The phase difference signal is input into a phase-locked loop (PLL) to obtain the phase and frequency of the first control signal to be generated. The amplitude difference signal is input into an automatic gain control (AGC) loop to obtain the amplitude of the first control signal to be generated. This generates the first control signal with the corresponding phase, frequency, and amplitude, thereby controlling the resonant gyroscope to resonate at the target frequency and target amplitude corresponding to the first control signal.

[0044] In this embodiment, a field-programmable gate array (FPGA) is used to control the resonant gyroscope to resonate at the target frequency and target amplitude to ensure accurate acquisition of the angular velocity signal of the target platform.

[0045] In another embodiment of this application, the field-programmable gate array (FPGA) obtains an orthogonal error signal and an angular velocity signal based on the gyroscope vibration signal; the orthogonal error signal is input into a proportional-integral-derivative (PID) controller to obtain an orthogonal control signal; the angular velocity signal is input into the PID controller to obtain a force balance control signal; a second control signal is obtained based on the orthogonal control signal and the force balance control signal; and the second control signal is sent to the resonant gyroscope through the analog-to-digital converter (ADC) circuit to make the resonant gyroscope's operating mode in a force balance mode.

[0046] In this embodiment, the orthogonality error is the error in the vibration frequency of the resonant gyroscope along the X and Y axes. The angular velocity signal reflects the rotational speed of the resonant gyroscope. The orthogonality control signal is used to eliminate the orthogonality error, and the force balance control signal is used to eliminate the Coriolis force generated by the input angular velocity.

[0047] In this embodiment, the field-programmable gate array (FPGA) obtains an orthogonal error signal and an angular velocity signal based on the gyroscope vibration signal. The orthogonal error signal is input into a proportional-integral-derivative (PID) controller to obtain an orthogonal control signal, which is used to suppress the orthogonal error to zero. The angular velocity signal is input into the PID controller to obtain a force balance control signal, which is used to counteract the Coriolis force generated by the input angular velocity. This feedback signal for balancing the Coriolis force is proportional to the input angular velocity. After modulating and superimposing the orthogonal control signal and the force balance control signal, a second control signal is obtained. This second control signal is output from a digital-to-analog converter (DAC) circuit and, after power amplification, controls the resonant gyroscope to always operate in the force balance mode.

[0048] In this embodiment, the gyroscope vibration signal is demodulated, processed, and modulated by a field-programmable gate array to obtain a second control signal, which controls the working mode of the resonant gyroscope to always be in force balance mode, thereby ensuring accurate measurement of the angular velocity of the target platform.

[0049] In another embodiment of this application, the field-programmable gate array (FPGA) sends the feedback signal corresponding to the force balance control signal to the ARM chip; the FPGA acquires the temperature signal of the resonant gyroscope through the analog-to-digital converter circuit and sends the temperature signal to the ARM chip.

[0050] In this embodiment, after obtaining the force balance control signal, the field-programmable gate array (FPGA) sends the corresponding feedback signal to the ARM chip. The FPGA also acquires the temperature signal from the resonant gyroscope via an analog-to-digital converter (ADC) and sends the temperature signal to the ARM chip. This allows the ARM chip to perform temperature compensation on the angular velocity based on the feedback signal and the temperature signal, thereby obtaining the angular velocity measurement signal. The ARM chip receives the signal via an SPI or UART interface.

[0051] In another embodiment of this application, the ARM chip converts the feedback signal into a corresponding angular velocity signal according to the mapping relationship between the feedback signal and the angular velocity; the ARM chip performs secondary temperature compensation on the angular velocity signal according to the temperature signal to obtain the angular velocity measurement signal.

[0052] In this embodiment, after receiving the feedback signal, the ARM chip converts the feedback signal into a corresponding angular velocity signal according to the mapping relationship between the feedback signal and angular velocity. This mapping relationship is pre-calibrated, and the mapping relationship between the feedback signal and the angular velocity signal differs on different platforms. To meet the high-precision measurement requirements, the ARM chip performs two-stage temperature compensation on the angular velocity signal. The first-stage temperature compensation eliminates the short-term rapid zero-bias change caused by the thermal relaxation process during the initial power-up stage of the resonant gyroscope. The second-stage temperature compensation compensates for the temperature after the resonant gyroscope has stabilized, compensating for the high-order nonlinear drift caused by absolute temperature after the resonant gyroscope has stabilized.

[0053] In this embodiment, the feedback signal is converted into an angular velocity signal by an ARM chip, and then the angular velocity signal is subjected to secondary temperature compensation to ensure the accuracy of angular velocity measurement.

[0054] In another embodiment of this application, the ARM chip performs two-stage temperature compensation on the angular velocity signal based on the temperature signal to obtain the angular velocity measurement signal, including: The ARM chip substitutes the angular velocity signal and the temperature signal into a pre-stored first temperature compensation model to obtain a first-level compensated angular velocity signal; the ARM chip inputs the first-level compensated angular velocity signal and the temperature signal into a second temperature compensation model to obtain the angular velocity measurement signal.

[0055] In this embodiment, the first temperature compensation model is a dedicated zero-bias deviation compensation model for the initial power-on phase. It is only responsible for compensating for the short-term rapid zero-bias change caused by the thermal relaxation process during the initial power-on phase of the gyroscope. It only corrects the zero-bias drift in the time domain during the initial power-on phase and does not handle the slow drift of the full-temperature range. The first temperature compensation model (thermal relaxation exponential decay basic model) is used in the initial power-on phase to match the rapid convergence characteristics of the resonant gyroscope's initial zero-bias.

[0056] The expression for the first temperature compensation model is:

[0057] in, This is the initial deviation amplitude coefficient at power-on zero bias; To unify the thermal relaxation time constant for the gyroscope structure; The cumulative working time after power-on. This is the primary temperature compensation coefficient.

[0058] The angular velocity after the first compensation is:

[0059] in, The angular velocity after the first compensation. The initial angular velocity is given.

[0060] In this embodiment, the second temperature compensation model is a sixth-order full-temperature continuous temperature compensation model after thermal stabilization. After the gyroscope completes the first-stage power-on initial compensation and becomes thermally stable, the high-order nonlinear temperature drift caused by absolute temperature after the gyroscope stabilizes is compensated by a sixth-order polynomial model related to absolute temperature.

[0061] The expression for the second temperature compensation model is:

[0062] in, This is the sixth-order full-temperature temperature compensation calibration coefficient. This is the absolute real-time temperature of the gyroscope body. This is the second temperature compensation coefficient.

[0063] In this embodiment, when the power-on time is less than the preset time threshold ts, only the first stage of compensation elongation is applied; when the power-on time exceeds the preset time threshold, the two stages of temperature compensation are activated in series.

[0064] For example, if the power-on time is less than or equal to the steady-state threshold ts, only the first-level compensation is effective; if the power-on time is greater than ts, both levels of compensation are activated in series.

[0065] Final output during the initial power-on phase (t≤ts):

[0066] Final output during the thermal steady-state operating phase (t > ts):

[0067] in, The final output angular velocity, The initial angular velocity, This is the primary temperature compensation coefficient. This is the second temperature compensation coefficient.

[0068] The two-level compensation deducts the temperature step by step without interfering with each other. The initial deviation is eliminated first, and then the temperature drift is compensated for.

[0069] In another embodiment of this application, the zero-bias compensation parameters for the initial power-on stage are pre-calibrated. A separate, specialized calibration is performed on the initial thermal relaxation characteristics of the resonant gyroscope's cold-start mechanism. The correlation coefficients of the zero-bias exponential decay compensation model for the initial power-on stage are identified separately, and the zero-bias changes at different initial power-on temperatures are accurately fitted to obtain the compensation parameters.

[0070] In this embodiment, to cover the entire operating temperature range of the resonant gyroscope during power-on and to accommodate different initial power-on temperature zero-bias variations, uniformly set cold-start power-on calibration temperature points are employed, such as -50℃, -30℃, -10℃, 30℃, 50℃, and 70℃. Specific temperatures are adjusted according to the actual product conditions. All temperature points require the gyroscope to be completely cold and stationary, with its internal temperature field perfectly matching the ambient temperature, free from residual thermal stress and preheating, ensuring that each power-on operation is under standard cold-start initial conditions.

[0071] In this embodiment, data segmentation is first performed to extract the initial valid time-series data from the power-on start to the thermal stability threshold ts under all gradient power-on temperature conditions. Data after thermal stabilization across the entire temperature range for each gyroscope is removed, focusing on the core stage of rapid zero-bias drift. Then, the 3σ criterion is used to remove outliers, retaining continuous, stable, and reliable original measurement data. Next, time-series data processing is performed. The time-series data is mean-filtered at fixed equal time intervals, and after normalization, a standard fitting sample dataset is formed. The sample format is a time-series-zero-bias correspondence. Then, a resonant gyroscope thermal relaxation single-exponential decay initial compensation model is used to fit the physical truth formula:

[0072] in, The measured value of the gyroscope's initial zero bias at time ti after power-on. This is the basic steady-state zero bias constant after complete thermal convergence upon power-up; This is the coefficient for the maximum transient drift amplitude at initial zero bias upon power-on. The gyroscope structure has an inherent uniform thermal relaxation time constant. This is the cumulative operating time sequence after power-on.

[0073] Based on the data samples after initial calibration of all gradient temperatures, a nonlinear least squares fitting objective function is constructed, and the optimal parameters of the model are solved. The objective function formula is as follows:

[0074] in, The measured value of the gyroscope's initial zero bias at time ti after power-on. This is the basic steady-state zero bias constant after complete thermal convergence upon power-up; This is the coefficient for the maximum transient drift amplitude at initial zero bias upon power-on. The gyroscope structure has an inherent uniform thermal relaxation time constant. This is the cumulative operating time sequence after power-on.

[0075] The three core parameters of the first-level model are obtained by synchronously calculating the optimal solution using a nonlinear iterative fitting algorithm. All gradient temperature points are uniformly fitted and solved to ensure that the thermal relaxation time constant τ is globally unique and stable, which is consistent with the structural characteristics of the gyroscope.

[0076] The actual calculation formula for the first-level compensation and the intermediate output after compensation: After the parameters are solved and fixed, the embedded software runs the first-level zero-bias compensation calculation in real time, subtracts the power-on transient drift in real time, and accurately outputs the gyroscope measurement value after the first-level compensation. The core calculation formula is as follows:

[0077] in, This is the raw real-time angular rate output of the gyroscope. This is the output after the first stage of compensation is completed. This output compensates for the thermal relaxation transient drift during the initial power-on phase.

[0078] refer to Figure 2 , Figure 2 This is a graph showing the change in zero bias of the gyroscope when it is powered on, where the horizontal axis represents time and the vertical axis represents the change in zero bias.

[0079] In this embodiment, a second-level full-temperature sixth-order temperature compensation calibration was also performed in advance. Further calibration was carried out after the first-level initial compensation calibration was completed, the coefficients were fixed, and the thermal relaxation process of the gyroscope was completely finished after power-on operation.

[0080] In this embodiment, calibration is performed using a continuous temperature cycling method throughout, with a fixed temperature change rate of 0.2℃ / min and low-speed linear temperature variation to ensure a thermally quasi-static state. The full-temperature continuous temperature cycling sequence is as follows: power-on at 30℃ and stabilize → continuous linear cooling to -50℃ at 0.2℃ / min → continuous linear heating to 70℃ at 0.2℃ / min → continuous linear temperature recovery to 30℃ at 0.2℃ / min. The gyroscope is rigidly stationary throughout the entire process, and only synchronous data from the continuous temperature variation process is collected as the sole data source for fitting the 6th-order model.

[0081] In this embodiment, all valid data of continuous cyclic temperature change at full temperature after the first-level compensation is completed and thermal stability is achieved are extracted. The data is then averaged in blocks according to fixed temperature intervals to obtain a continuous temperature sample dataset (Ti,Bi). A sixth-order absolute temperature least squares fitting matrix is ​​constructed, and the steady-state sixth-order full-temperature compensation coefficients a0-a6 are solved.

[0082] The matrix relation is: Least squares solution: The identification of high-order temperature deformation compensation coefficients across the entire temperature range was completed. Temperature values ​​from the temperature sample dataset were substituted into the relational formula to obtain the corresponding coefficients.

[0083] In this embodiment, the ARM chip performs two-stage temperature compensation on the angular velocity signal based on the temperature signal and the force feedback signal. First, a first-stage temperature compensation is performed when the gyroscope is initially powered on, and a second-stage temperature compensation is performed when the gyroscope is running stably, ensuring that the angular velocity measurement value obtained from the initial power-on of the gyroscope is always accurate.

[0084] refer to Figure 3 , Figure 3 This is a schematic diagram of an angular velocity measurement assembly proposed in an embodiment of this application, as shown below. Figure 3 As shown, three independently mounted resonant gyroscopes, Gyro-X, Gyro-Y, and Gyro-Z, are connected to an ADC / DAC (digital-to-analog / analog-to-digital converter). The ADC / DAC is then connected to an FPGA (Field-Programmable Gate Array) via SPI (Serial Peripheral Interface). The FPGA is connected to an ARM chip via SPI and UART (Universal Asynchronous Receiver / Transmitter). The ARM chip outputs the angular velocity measurement signal via an RS422 interface. The power supply board converts the input 9V-32V DC voltage into isolated +1V, +1.8V, +3.3V, +5V, and ±15V DC voltages, which are then connected to the respective power modules. The ADC / DAC is used to monitor each voltage to ensure power safety.

[0085] refer to Figure 4 , Figure 4 This is a schematic diagram of gyroscope angular velocity measurement according to an embodiment of this application, as shown below. Figure 4 As shown, the FPGA acquires the gyroscope vibration signal through ADC / DAC, demodulates and modulates the gyroscope vibration signal, and then sends the control signal to the resonant gyroscope to control the gyroscope to operate stably. The angular velocity Ω is output to the ARM chip through SPI or UART.

[0086] In another embodiment of this application, the resonant gyroscope is mounted on the target platform via a shock absorber with heat insulation function.

[0087] refer to Figure 5 , Figure 5 This is a schematic diagram of a gyroscope mounting structure according to an embodiment of this application, as shown below. Figure 5 As shown, the resonant gyroscope adopts a three-point independent damping structure. The cutoff frequency of the damper combination should be lower than 1 / 50 of the gyroscope's resonant frequency f0 to isolate the vibration coupling between gyroscopes and the influence of external high-frequency vibrations on the gyroscope. The mounting and fixing structure of the gyroscope and dampers adopts a heat insulation design. Its fixing screws and washers are all made of high-temperature resistant, heat-insulating, insulating, and high-strength polyether ether ketone (PEEK) material to isolate the heat conduction between the base and the gyroscope and reduce the influence of thermal stress on the gyroscope's zero position.

[0088] In another embodiment of this application, when the resonant gyroscope is a two-axis resonant gyroscope, it is installed vertically on the target platform; when the resonant gyroscope is a three-axis resonant gyroscope, it is installed orthogonally on the XYZ coordinate axes on the target platform.

[0089] In this embodiment, when the resonant gyroscope is a two-axis resonant gyroscope, it is installed on the target platform in a layout configuration. The two-axis combination contains only two orthogonal sensitive axes, which are perpendicular (90° orthogonal) to each other in space, and the combination is installed vertically. When the resonant gyroscope is a three-axis resonant gyroscope, the XYZ coordinate axes are orthogonally arranged according to a right-hand coordinate system, with X and Y as horizontal axes and Z axis pointing upwards. The sensitive axes (vibration axes of the resonator) of the three internal gyroscopes are precisely machined to be strictly perpendicular to each other (90° ± arcsecond level). During installation, the bottom reference surface of the module (usually engraved with installation positioning edges) is horizontally locked and fixed to the target platform. After installation, ensure that the X-axis of the module is parallel to the longitudinal axis of the carrier, the Y-axis is parallel to the transverse axis, and the Z-axis automatically points upwards.

[0090] In this embodiment, a two-axis or three-axis resonant gyroscope can be used to measure the angular velocity of the target platform. The choice can be made flexibly according to the data accuracy requirements and the actual platform structure, allowing for greater flexibility.

[0091] refer to Figure 6 , Figure 6 This is a schematic diagram of a triaxial angular velocity measurement assembly structure proposed in an embodiment of this application, as shown below. Figure 6As shown, a measurement control board 7 is installed on the base 8, and a mounting base 6 is also installed above the base 8. An ADC / DAC (digital-to-analog / analog-to-digital converter circuit board) 4 is installed on the mounting base 6. A three-axis resonant gyroscope 3 is installed on the gyroscope base 5. A power module 2 is also installed on the mounting base 6. A cover plate 1 covers the base 6, covering all the modules inside.

[0092] refer to Figure 7 , Figure 7 This is a schematic diagram of a triaxial angular velocity measuring device according to an embodiment of this application, as shown below. Figure 7 As shown, the device has a measurement and control board mounted on its mounting base, an ADC / DAC circuit board mounted on the rear panel, and a power supply module and a resonant gyroscope (GYRO) mounted on it.

[0093] In the above embodiments of this application, the angular velocity of the target platform is measured by an angular velocity measurement system. Vibration signals are accurately collected by a resonant gyroscope, and the resonant gyroscope is controlled to operate stably by a field-programmable gate array in the measurement control module. The collected signals are converted and processed, and then the angular velocity signal is subjected to secondary temperature compensation using an ARM chip, thereby accurately measuring the angular velocity of the target platform. The resonant gyroscope meets the angular velocity measurement requirements of the attitude stabilization platform control system, such as MSI's attitude control system, which has strong resistance to space radiation and can ensure the accuracy of angular velocity measurement in extreme environments.

[0094] It should be noted that the angular velocity measurement system provided in this application embodiment can be executed by the angular velocity measurement system itself, or by a control module within the angular velocity measurement system for executing the method corresponding to loading the angular velocity measurement system.

[0095] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the method embodiments in the above-described angular velocity measurement system and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0096] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0097] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the method embodiments in the above-described angular velocity measurement system and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0098] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0099] It should be noted that, in this document, 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 that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0100] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0101] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. An angular velocity measurement system, characterized in that, The system includes: The resonant gyroscope, mounted on the target platform and connected to the digital-to-analog / analog-to-digital converter circuit board, is used to output vibration signals to the measurement and control module. A digital-to-analog / analog-to-digital converter circuit board is connected at one end to the resonant gyroscope and at the other end to the measurement and control module. It is used to amplify and convert the vibration signal output by the resonant gyroscope to digital and transmit it to the measurement and control module, and to amplify and convert the control signal output by the measurement and control module to digital and transmit it to the resonant gyroscope. The measurement and control module is connected to the digital-to-analog / analog-to-digital converter circuit board. It is used to control the resonant gyroscope to maintain a stable resonant state, perform data processing and secondary temperature compensation on the vibration signal, and output the temperature-compensated angular velocity measurement signal. The power supply control module is connected to the resonant gyroscope, the digital-to-analog / analog-to-digital converter circuit board, and the measurement control module, and is used to supply power to the resonant gyroscope, the digital-to-analog / analog-to-digital converter circuit board, and the measurement control module.

2. The angular velocity measurement system according to claim 1, characterized in that, The digital-to-analog / analog-to-digital conversion circuit board includes a signal amplification circuit, a digital-to-analog conversion circuit, an analog-to-digital conversion circuit, a power amplification circuit, and a temperature amplification circuit.

3. The angular velocity measurement system according to claim 1, characterized in that, The measurement and control module includes a field-programmable gate array (FPGA) and an ARM chip. One end of the FPGA is connected to the digital-to-analog / analog-to-digital converter circuit board, and the other end is connected to the ARM chip.

4. The angular velocity measurement system according to claim 3, characterized in that, The field-programmable gate array acquires the gyroscope vibration signal through an analog-to-digital converter circuit, and obtains the phase difference signal and amplitude difference signal based on the gyroscope vibration signal; The phase difference signal is input into the phase-locked loop to obtain the phase and frequency corresponding to the first control signal; The amplitude difference signal is input into the automatic gain control loop to obtain the vibration amplitude corresponding to the first control signal; The first control signal is generated based on the phase, the frequency, and the vibration amplitude; The first control signal is sent to the resonant gyroscope through the digital-to-analog converter circuit to drive the resonant gyroscope to resonate at the target frequency and target vibration amplitude.

5. The angular velocity measurement system according to claim 4, characterized in that, The field-programmable gate array obtains the quadrature error signal and the angular velocity signal based on the gyroscope vibration signal; The orthogonal error signal is input into the proportional-integral-derivative controller to obtain the orthogonal control signal; The angular velocity signal is input into the proportional-integral-derivative controller to obtain the force balance control signal; The second control signal is obtained based on the orthogonal control signal and the force balance control signal; The second control signal is sent to the resonant gyroscope through the analog-to-digital converter circuit so that the working mode of the resonant gyroscope is in force balance mode.

6. The angular velocity measurement system according to claim 5, characterized in that, The field-programmable gate array sends the feedback signal corresponding to the force balance control signal to the ARM chip; The field-programmable gate array (FPGA) acquires the temperature signal of the resonant gyroscope through the analog-to-digital converter (ADC) circuit and sends the temperature signal to the ARM chip.

7. The angular velocity measurement system according to claim 6, characterized in that, The ARM chip converts the feedback signal into a corresponding angular velocity signal based on the mapping relationship between the feedback signal and the angular velocity; The ARM chip performs two-stage temperature compensation on the angular velocity signal based on the temperature signal to obtain the angular velocity measurement signal.

8. The angular velocity measurement system according to claim 7, characterized in that, The ARM chip performs two-stage temperature compensation on the angular velocity signal based on the temperature signal to obtain the angular velocity measurement signal, including: The ARM chip substitutes the angular velocity signal and the temperature signal into a pre-stored first temperature compensation model to obtain a first-level compensated angular velocity signal. The ARM chip inputs the first-level compensated angular velocity signal and the temperature signal into the second temperature compensation model to obtain the angular velocity measurement signal.

9. The angular velocity measurement system according to claim 1, characterized in that, The resonant gyroscope is mounted on the target platform via a shock absorber with heat insulation function.

10. The angular velocity measurement system according to claim 1, characterized in that, When the resonant gyroscope is a two-axis resonant gyroscope, it is installed vertically on the target platform. When the resonant gyroscope is a three-axis resonant gyroscope, it is installed in an orthogonal layout of the XYZ coordinate axes on the target platform.

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