A dual-mode measurement and control method for a hemispherical resonator gyro based on multi-channel cooperation

Abstract

The application belongs to the technical field of hemispherical resonator gyroscopes, and particularly discloses a dual-mode measurement and control method for a hemispherical resonator gyroscope based on multi-channel cooperation. In view of the problem that the reliability of closed-loop operation is easily affected by the selected electrode channel state and the amplitude-phase error between channels when a fixed electrode combination is used in the existing dual-channel differential architecture, the eight-channel resources are first used to switch the excitation set according to a configuration table and perform synchronous detection, a multi-configuration response matrix is formed, and the channel state, amplitude-phase consistency result and compensation initial value are written into the dual-channel differential closed-loop configuration. After at least one group of qualified closed-loop candidate configurations is screened, the dual-channel differential closed-loop control mode is entered, so that the closed-loop operation is established on the basis of the confirmed electrode role configuration and the compensation initial value, thereby reducing the influence of the selected electrode channel state and the amplitude-phase difference between channels on the starting and operation of the dual-channel differential closed loop, and improving the reliability of the closed-loop working configuration.

Description

Technical Field

[0001] This invention belongs to the field of inertial instrument measurement and control and hemispherical resonant gyroscope technology, and specifically relates to a dual-mode measurement and control method for hemispherical resonant gyroscopes based on multi-channel coordination. Background Technology

[0002] A hemispherical resonator gyroscope (HRG) measures angular motion by relying on the standing wave vibration state of a high-quality harmonic oscillator. Its control system typically needs to perform tasks such as resonant excitation, signal detection, coherent demodulation, amplitude and phase control, and closed-loop feedback. In engineering implementation, the gyroscope head usually has multiple sets of electrodes arranged circumferentially, with different electrodes serving as excitation or detection electrodes at different operating stages.

[0003] The existing dual-channel differential closed-loop control mode can meet the requirements of stable gyroscope operation and angular rate output. Its advantages are clear control link, good real-time performance, and stable engineering implementation. However, this dual-channel differential closed-loop control mode usually operates around a fixed differential detection quantity and a fixed excitation / detection combination. The output is mostly a differential composite quantity, closed-loop control quantity, or locked state, which cannot fully reflect the response differences of the eight physical electrode channels under different excitation positions and different detection combinations.

[0004] During the debugging, calibration, and closed-loop startup parameter initialization phases, relying solely on fixed electrode combinations makes it difficult for the system to determine whether the anomaly originates from the excitation link, detection link, electrode connection relationships, or inconsistent response of the resonator itself. Simply adding a fixed eight-channel display function, while allowing viewing of some channel signals, still lacks electrode role switching, excitation combination switching, and multi-configuration response comparison. The auxiliary role of the eight-channel resources in the dual-channel differential closed-loop control mode is not fully utilized.

[0005] In summary, the existing dual-channel differential closed-loop control scheme has the following shortcomings: 1. Insufficient utilization of eight-channel electrode resources: Existing dual-channel differential closed-loop control modes typically only use fixed excitation / detection combinations, and the eight physical electrode channels are not systematically used for excitation, synchronous detection, and configuration comparison according to the configuration sequence.

[0006] 2. Fixed electrode role makes it difficult to distinguish the source of anomalies: When the closed-loop signal is abnormal or the output drifts, it is difficult to determine whether the problem comes from the excitation link, the detection link, the electrode connection, or the inconsistency of the resonator spatial response based solely on the fixed differential component.

[0007] 3. Fixed observation lacks configuration dimensions: Fixed multi-channel acquisition can only obtain signals under a certain electrode role configuration, and cannot form multi-configuration response matrices under different excitation masks and detection masks, making it difficult to assist in closed-loop channel selection and initial compensation parameter setting.

[0008] 4. Timing bias exists in multi-channel comparison: If the electrode response is obtained by polling channel by channel, the data from different channels do not belong to the same observation window, and the phase and amplitude changes of the resonant signal will introduce comparison error.

[0009] 5. Closed-loop startup and auxiliary initialization need to be coordinated: The system should complete the configuration of eight-channel auxiliary measurement and control, excitation according to the configuration sequence, synchronous detection, diagnostic output, and initial values ​​of closed-loop startup parameters before closed-loop startup, without changing the main control logic of the dual-channel differential closed-loop control mode. After closed-loop operation, the system will upload information such as lockout and abnormal closed-loop status to the host computer. When the user confirms that a re-check is needed based on the above information, the system will exit the current dual-channel differential closed loop and return to the eight-channel auxiliary initialization and diagnostic mode.

[0010] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art. Summary of the Invention

[0011] The purpose of this invention is to propose a dual-mode measurement and control method for a hemispherical resonator gyroscope based on multi-channel collaboration. When the system is powered on, reset, recalibrated, or recovering from a closed-loop anomaly, the excitation set is switched according to a configuration table using eight channels, and synchronous detection is performed to form a multi-configuration response matrix. The channel status, amplitude-phase consistency results, and initial compensation values ​​are then written into the dual-channel differential closed-loop configuration. After screening to obtain at least one set of qualified closed-loop candidate configurations, the system enters the dual-channel differential closed-loop control mode. This ensures that the closed-loop operation is based on the confirmed electrode role configuration and initial compensation values, thereby reducing the impact of fixed electrode combinations and channel state differences on the startup and operation of the dual-channel differential closed loop and improving the reliability of the closed-loop working configuration.

[0012] To achieve the above objectives, the present invention adopts the following technical solution: A dual-mode measurement and control method for a hemispherical resonator gyroscope based on multi-channel coordination includes the following steps: Step 1. Construct a dual-mode measurement and control system for a hemispherical resonant gyroscope with eight physical electrode channels; each physical electrode is configured as an excitation electrode, detection electrode, or idle electrode depending on the access link. Step 2. Read the pre-stored eight-channel configuration table, determine the physical electrode configuration of each group in the eight-channel configuration table, and convert it into hardware control instructions that can be directly executed according to the physical electrode configuration; Step 3. According to the generated hardware control instructions, configure and change the electrode states of the eight electrodes one by one in the order of the eight-channel configuration table, and apply excitation signals to the specified electrodes in each configuration group. Simultaneously, eight ADC channels are sampled synchronously, and valid detection data corresponding to each detection channel in this configuration is extracted; Step 4. Calculate the amplitude and phase of each detection channel in each configuration from the valid detection data extracted in Step 3. After all configurations have been processed, construct the multi-configuration response matrix. Step 5. First, the validity of each group of configurations is determined based on the multi-configuration response matrix. Then, the quality status of each physical channel is determined. Finally, each group of configurations is filtered to obtain closed-loop candidate configurations. Step 6. Determine the excitation electrode and detection electrode to be used in this operation; for the detection channel that has passed the inspection in Step 5, calculate the amplitude compensation coefficient and the initial value of phase compensation, and obtain the corresponding closed-loop start-up parameters; Step 7. Based on the excitation electrode, detection electrode, and closed-loop start-up parameters determined in Step 6, enter the dual-channel differential closed-loop control mode to realize the closed-loop operation of the hemispherical resonant gyroscope.

[0013] The present invention has the following advantages: 1. The proposed use of eight physical electrodes allows for a reconfigurable hardware interface, expanding the scope of their utilization.

[0014] Analog switches controlled by the main control chip are installed between the eight physical electrodes and the DAC excitation and detection links. This allows the same physical electrode to switch as an excitation electrode, detection electrode, or high-impedance idle electrode according to the current configuration, providing the hardware foundation for switching between various excitation-detection combinations. Through the electrode reconfigurable interface, the same physical electrode can undertake excitation, detection, or idle tasks in different configurations. Multiple electrode combinations can be tested without changing the meter wiring or rebuilding the excitation and detection circuits, providing the hardware conditions for eight-channel resources to assist dual-channel closed-loop circuitry.

[0015] 2. A unified control method based on configuration table, stimulus mask and detection mask is proposed to improve the consistency of configuration execution and the traceability of measurement results.

[0016] For each electrode configuration, the main control chip generates analog switch control commands, DAC output control commands, and detection data validity flags based on the excitation set, detection set, analog switch address, and channel participation flag. This ensures consistency between electrode usage, actual hardware connection, excitation output location, and sampling data number. The configuration table, excitation mask, detection mask, analog switch control word, DAC output location, and detection data validity flag are all generated uniformly by the main control chip. This reduces configuration errors caused by inconsistencies in electrode usage, actual connection, and data numbering, ensuring that each detection result can be traced back to a specific excitation and detection electrode.

[0017] 3. A method is proposed to switch electrodes according to the configuration sequence and perform eight-channel synchronous sampling to reduce the comparison error caused by electrode switching transients and sampling timing differences.

[0018] The system sequentially completes electrode connection switching, guard interval, excitation output, and synchronous sampling according to a preset eight-group basic scan sequence. In each configuration, the eight-channel ADC samples simultaneously under the control of a unified conversion trigger signal, and extracts the valid detection data for that group based on the detection mask, thus establishing a clear correspondence between the configuration number and the original sampled data. Setting a guard interval after electrode connection switching reduces the impact of analog switch charge injection and the detection front-end recovery process on the valid data. The eight-channel ADC uses unified trigger synchronous sampling, ensuring that data from the same detection channel comes from the same sampling starting point and observation window, reducing amplitude and phase comparison errors introduced by channel-by-channel polling.

[0019] 4. A method for constructing response matrices for multiple channels is proposed to generate quantization data that can be uniformly compared for different electrode configurations.

[0020] The system uses sine and cosine reference signals of the same origin as the excitation signal to coherently demodulate each set of valid detection data, obtaining the in-phase component, quadrature component, amplitude, and phase of each detection channel. A multi-configuration response matrix is ​​then formed according to the configuration number-detection channel correspondence to record the response results under different excitation combinations, detection combinations, and electrode roles. Through coherent demodulation using a unified reference source, a large number of raw sampling points are converted into in-phase components, quadrature components, amplitude, and phase, and a multi-configuration response matrix is ​​formed according to the configuration number. This allows the response results under different excitation positions, different detection combinations, and different electrode roles to be stored, displayed, and compared in a unified data structure.

[0021] 5. Propose a channel status judgment method for single-group quantitative evaluation and cross-configuration evaluation to reduce the blind spot of abnormal judgment caused by fixed dual-channel measurement.

[0022] The system first determines the validity of a single configuration based on amplitude error, phase error, signal-to-noise ratio, and repeatability stability. When an anomaly occurs, it performs cross-configuration comparisons based on the same detection electrode, the same excitation electrode pair, or the role interchangeability of excitation and detection electrodes. If existing scan results are insufficient, additional retest configurations are added, generating a channel quality status code (QualityCode(i), an abnormal channel mask bit (BadChannelMask), excitation configuration status, and closed-loop candidate configurations. Single-group quantitative evaluation determines the reliability of the detection results for the current configuration; cross-configuration comparisons and additional retests allow observation of whether anomalies consistently occur with a specific detection channel, excitation electrode pair, or specific combination, thus initially narrowing the anomaly range to the detection path, excitation path, or specific configuration. QualityCode(i) records the channel anomaly type, BadChannelMask quickly eliminates channels unsuitable as closed-loop detection electrodes, and candidate configurations retain usable complete excitation-detection combinations.

[0023] 6. A method is proposed to convert eight-channel auxiliary results into dual-channel closed-loop startup parameters, so that the eight-channel auxiliary initialization and diagnostic mode results can directly serve dual-channel closed-loop startup.

[0024] The system converts candidate configuration numbers, closed-loop detection channel numbers, amplitude compensation coefficients, initial phase compensation values, abnormal channel shielding results, and channel quality status into startup parameters that can be directly read by the dual-channel differential closed-loop system. The system also converts these candidate configurations, compensation parameters, and channel statuses into closed-loop startup parameters that can be directly written into the closed-loop startup parameter register, preventing auxiliary check results from remaining only at the host computer display level. Amplitude and phase compensation only applies to detection channels that have passed the status check, used to correct small, stable detection link deviations; it does not force the use of channels already determined to be abnormal through compensation.

[0025] 7. A method for coordinated operation of eight and two channels is proposed to balance the needs of closed-loop continuous operation and re-inspection.

[0026] Before closed-loop startup, the system executes an eight-channel auxiliary initialization and diagnostic mode. After selecting a qualified configuration, it maintains the corresponding electrode connections and enters dual-channel differential closed-loop operation. During closed-loop operation, the closed-loop status and auxiliary check results saved before closed-loop startup are uploaded. When the user confirms the need for re-checking based on abnormal information, the system exits the current closed loop and re-executes the eight-channel auxiliary initialization and diagnostic mode. The eight-channel auxiliary mode only runs before closed-loop startup, during recalibration, or when the user confirms the need for re-checking. During normal operation, continuous control is still performed by the dual-channel differential closed loop; therefore, it is not necessary to include all eight electrodes in the real-time closed-loop calculation. The closed-loop status and auxiliary check basis can be uploaded to the host computer, allowing the user to view the selection criteria for the current combination and decide whether to continue closed-loop or re-execute auxiliary checks based on the actual operating status. Attached Figure Description

[0027] Figure 1 This is an overall flowchart of the multi-channel coordinated hemispherical resonant gyroscope dual-mode measurement and control method in this embodiment of the invention; Figure 2 This is a schematic diagram of the hardware design of a dual-mode gyroscope prototype in an embodiment of the present invention; Figure 3 Configure working roles and generate control instruction flowcharts in this embodiment of the invention; Figure 4 This is a flowchart of the response matrix construction and channel status determination in an embodiment of the present invention; Figure 5 This is a flowchart of closed-loop startup parameter generation and amplitude-phase compensation in an embodiment of the present invention. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Example 1 This invention proposes a dual-mode measurement and control method for hemispherical resonator gyroscopes based on multi-channel collaboration. By using eight channels as auxiliary measurement and control links before closed-loop startup, and employing a dual-channel differential closed-loop control mode as the main working link after selecting at least one set of qualified closed-loop candidate configurations, the eight physical electrode channels are not only used for fixed display but can also function as excitation or detection electrodes in different combinations according to the configuration table. Multiple sets of excitation / detection masks are used to form multi-configuration response matrix data, providing an engineering basis for channel selection, anomaly detection, amplitude and phase compensation, and startup parameter setting in the dual-channel differential closed loop, which can be written into the closed-loop startup parameter register. The eight-channel auxiliary initialization and diagnostic mode is responsible for reading the configuration table, generating excitation / detection masks, controlling analog switch switching, executing excitation and synchronous detection according to the configuration sequence, and writing the multi-configuration response matrix analysis results into the closed-loop startup parameter register. After reading the above parameters, the dual-channel differential closed-loop control mode is entered to complete the closed loop.

[0029] like Figure 1 As shown, the dual-mode measurement and control method for a hemispherical resonator gyroscope based on multi-channel coordination includes the following steps: Step 1. Construct a dual-mode measurement and control system for a hemispherical resonant gyroscope with eight physical electrode channels; each physical electrode is configured as an excitation electrode, detection electrode, or idle electrode depending on the access link.

[0030] like Figure 2 As shown, the dual-mode measurement and control system for hemispherical resonant gyroscopes based on multi-channel collaboration constructed in this embodiment includes a hemispherical resonant gyroscope head (HRG head), an electrode interface circuit, and a main control chip.

[0031] The HRG meter head includes a resonator and eight physical electrode channels arranged around the resonator (wiring around the actual electrodes of the hemispherical resonator). The eight physical electrode channels are numbered CH1 to CH8 in clockwise order.

[0032] The main control chip is implemented using Zynq-7035. Each physical electrode is connected to the main control chip via an electrode interface circuit. The electrode interface circuit includes a detection link, an excitation link, and an electrode reconfigurable interface.

[0033] The electrode reconfigurable interface is located between the electrode and the excitation / sensing link. Implemented by an analog switch, the electrode reconfigurable interface allows selective connection of any physical electrode to the excitation link, the sensing link, or a high-impedance idle state.

[0034] All eight physical electrodes can be configured as excitation electrodes, detection electrodes, or idle electrodes by controlling analog switches via the main control chip to select the mode of connection to different links.

[0035] After the main control chip sends control commands to the analog switch, it determines which link a particular electrode is currently connected to.

[0036] Each physical electrode has the following three connection states: The first state is when the electrode is connected to the excitation link, that is, the physical electrode that receives the excitation signal output by the DAC through the excitation link. The electrode in this first state is called the excitation electrode.

[0037] The second state is when connected to the detection link, that is, the detection signal output by the physical electrode is conditioned and synchronously sampled by the ADC through the detection link. The electrode in the second state is called the detection electrode.

[0038] The third state is when both the excitation and detection links are disconnected and the electrode remains in a high-impedance state; the electrode in this third state is called an idle electrode; the high-impedance state can be understood as the physical electrode not being connected to any effective link in this measurement.

[0039] The excitation electrodes are the set of electrodes responsible for applying electrical signals to the resonator to cause it to vibrate; the excitation set is defined as E(k). The detection electrodes are the set of electrodes responsible for receiving the vibration signals from the resonator during testing; the detection set is defined as D(k).

[0040] An idle electrode is a set of electrodes that maintains a high blocking open during the test and does not appear in E(k) or D(k).

[0041] The same physical electrode can only be in one of the three states mentioned above in the same configuration. For example, when CH1 is set as the excitation electrode, CH1 can only receive the excitation signal output by the DAC and cannot be connected to the detection link at the same time.

[0042] A configuration group involves assigning tasks to eight electrodes, specifying which electrodes are responsible for excitation, which for detection, and which are idle. The k-th configuration group has k = 1 to 8.

[0043] This method avoids strong excitation signals from entering weak signal detection circuits, which could cause signal crosstalk or incorrect measurement results.

[0044] The main control chip switches the connection states of each electrode by writing switch control words to the analog switch.

[0045] A switch control word is a set of digital instructions sent by the main control chip to the analog switch. The switch control word specifies which electrode is connected to the excitation link, which electrode is connected to the detection link, and which electrode remains disconnected.

[0046] The core of the detection link is the use of an eight-channel synchronous sampling ADC. Synchronous sampling means that all eight ADC input channels sample the signal at the same sampling trigger moment, rather than sampling CH1 first and then CH2 to CH8 sequentially.

[0047] Simultaneous sampling is necessary because the vibration signal of the hemispherical harmonic oscillator has a continuously changing phase. The main control chip sends a unified conversion start signal to the detection link, enabling each channel to complete sampling at the same time.

[0048] After each sampling is completed, the ADC of the detection link outputs the sampling results of CH1 to CH8 in a fixed channel order, and the main control chip then encapsulates the sampling results of this sampling into the same set of data.

[0049] Subsequent algorithms, when comparing the amplitude and phase of different channels, confirm that these data correspond to the same sampling time. A parallel data bus is preferentially used to connect the ADC of the detection link to the Zynq-7035 main control chip.

[0050] The eight input channels of the ADC in the detection link correspond to the data positions CH1 to CH8 according to fixed numbers, so that when any physical electrode is switched to a detection electrode, its sampling result can enter the data position corresponding to the electrode number.

[0051] In each configuration, the ADC of the detection link still completes the conversion according to a unified trigger, but the system only marks the data corresponding to the detection electrodes in the detection set D(k) as valid detection data.

[0052] The data locations corresponding to the excitation electrode and the idle electrode are marked as invalid and are not included in the calculation of amplitude, phase, and diagnostic indicators.

[0053] The excitation link is responsible for outputting excitation signals to the electrodes selected for excitation purposes. During the eight-channel auxiliary initialization and diagnostic phase, the excitation link applies excitation to different electrode combinations sequentially according to the order specified in the subsequent configuration table.

[0054] After the system enters the normal dual-channel differential closed loop, the excitation link continuously outputs control signals to the excitation electrode selected by the closed loop according to the control quantity generated by the dual-channel differential closed loop control mode.

[0055] Therefore, the system forms the hardware part of an eight-channel novel measurement and control prototype consisting of eight physical electrodes, analog switches, excitation links, detection links, an eight-channel synchronous sampling ADC, and a Zynq-7035 main control chip.

[0056] This invention establishes a reconfigurable hardware interface circuit for physical electrodes, enabling the same physical electrode to perform excitation, detection, or idle tasks in different configurations. Step 2 reads a pre-set eight-channel configuration table and determines whether each electrode is used for excitation, detection, or temporarily not involved in the current measurement.

[0057] Step 2. Configure the eight-channel electrode working roles and generate control commands.

[0058] like Figure 3 As shown, the system's main control chip reads the pre-stored eight-channel configuration table, determines the electrode configuration in each group of measurements in the eight-channel configuration table, namely the physical electrodes that need to be excited by the signal, the physical electrodes used to collect vibration signals, and the physical electrodes that are not used temporarily, and converts the electrode configuration into hardware control instructions that can be directly executed.

[0059] Upon system power-on, reset, or receipt of a recalibration command, the main control chip first calls the pre-stored eight-channel configuration table. This eight-channel configuration table serves as the basis for the main control chip to switch electrode roles. The eight physical electrodes are arranged at equal intervals along the circumference of the hemispherical harmonic oscillator, with an azimuth angle interval of 45° between adjacent electrodes, and are numbered sequentially from CH1 to CH8.

[0060] Based on the spatial distribution relationship of the second-order vibration modes of the fully symmetrical hemispherical resonant gyroscope, the system selects two physical electrodes that are 90° apart in the circumferential direction to form an electrode pair, resulting in eight configurable electrode pairs: CH1 / CH3, CH2 / CH4, CH3 / CH5, CH4 / CH6, CH5 / CH7, CH6 / CH8, CH7 / CH1, and CH8 / CH2, as shown in Table 1.

[0061] Table 1 Eight-channel configuration table

[0062] The system follows The process is executed sequentially in groups. Each group selects one electrode pair as the excitation electrode pair and another as the detection electrode pair, while the remaining four physical electrodes remain idle with high resistance. Adjacent groups exchange the roles of the excitation and detection electrode pairs, allowing the same electrode pair to be inspected under both excitation and detection states.

[0063] Each configuration includes two excitation electrodes and two detection electrodes. The main control chip controls the excitation electrodes to output a preset excitation signal, and uses a unified conversion trigger signal to synchronously sample the corresponding ADC channels of the detection electrodes.

[0064] The configuration table stores the stimulus set corresponding to each configuration group. Detection set The system includes excitation mask, detection mask, analog switch address, and channel participation flag, while also storing the reference amplitude and reference phase corresponding to the detection channel under each configuration.

[0065] The main control chip controls the connection between each electrode and the excitation link, detection link, or high-impedance idle terminal according to the address of the analog switch.

[0066] The main control chip reads the configurations sequentially, starting from the first group, according to a pre-set order. When executing the kth group of configurations, the main control chip reads the excitation mask, detection mask, and analog switch address corresponding to that group of configurations.

[0067] The excitation mask ExciteMask(k) is used to characterize the physical electrodes that play the role of excitation in each physical electrode in the k-th configuration. It is represented by an 8-bit binary mask, with each bit corresponding to CH1 to CH8.

[0068] When a certain bit is 1, it indicates that the corresponding physical electrode is configured as the excitation electrode in this group configuration.

[0069] The detection mask SenseMask(k) is used to characterize the physical electrodes that play the detection role in each physical electrode in the k-th configuration. It is also represented by an 8-bit binary mask, with each bit corresponding to CH1 to CH8.

[0070] When a certain bit is 1, it indicates that the corresponding physical electrode is configured as a detection electrode in this group configuration.

[0071] The analog switch address is used to determine whether each electrode should be connected to the excitation link, the detection link, or remain disconnected.

[0072] The main control chip generates three types of hardware control instructions based on the configuration content of group k in the eight-channel configuration table: The first type is analog switch control commands, which are used to control the reconfigurable electrode interface, connect the current group of excitation electrodes to the excitation link, connect the current group of detection electrodes to the detection link, and set the remaining electrodes to an idle state. The second type is DAC output control commands, which are used to determine which DAC channels in this group need to output excitation signals and control the corresponding DAC channels to update their outputs; DAC channels that are not selected as excitation electrodes do not output the excitation signals of this group to the electrodes.

[0073] The third category is the valid detection data marker, which marks only the data from this group of detection electrodes as valid detection data.

[0074] For example, when the first group configuration is executed, the excitation mask is 0x05, indicating that CH1 and CH3 are used to apply excitation signals; the detection mask is 0x0A, indicating that CH2 and CH4 are used to acquire vibration signals.

[0075] The main control chip controls the analog switch accordingly, connecting physical electrodes CH1 and CH3 to the excitation link, connecting physical electrodes CH2 and CH4 to the detection link, and keeping the remaining electrodes idle with high impedance.

[0076] The main control chip controls the corresponding DAC channel to output excitation signals, and after the eight-channel ADC synchronous sampling is completed, only the data of CH2 and CH4 are marked as the valid detection data of the first group configuration.

[0077] Step 2 converts the arrangement of each electrode's purpose in the configuration table into hardware control instructions that can be directly executed by the analog switches, DACs, and FPGAs, thereby ensuring consistency in electrode purpose, hardware connections, and excitation output locations.

[0078] Therefore, step 2 ensures that all hardware components work collaboratively according to the same configuration, and also guarantees that each subsequent set of measurement data can be traced back to a specific excitation electrode and detection electrode. The output of step 2 includes the electrode application corresponding to the k-th configuration, analog switch control commands, DAC output control commands, and a valid detection data flag.

[0079] Step 3 will actually complete the electrode connection switching, excitation signal output and synchronous detection data acquisition according to the control instructions.

[0080] Step 3. Switch electrodes in the configuration order and complete the extraction of valid detection data.

[0081] According to the analog switch control command generated in step 2, the electrode states of the eight electrodes are changed one by one in the order specified in the eight-channel configuration table. In each configuration, an excitation signal is applied to the specified electrode, and the eight ADC channels are sampled synchronously. The valid detection data corresponding to the configuration (detection electrode) is extracted from the sampling results.

[0082] Before the system enters the formal dual-channel differential closed-loop control mode, it first enters the eight-channel auxiliary initialization and diagnostic mode. In this invention, the dual modes include the eight-channel auxiliary initialization and diagnostic mode and the dual-channel differential closed-loop control mode.

[0083] The eight-channel auxiliary initialization and diagnostic mode is used before closed-loop startup, after reset, during recalibration, or during closed-loop anomaly recovery; the dual-channel differential closed-loop control mode is used for normal operation after at least one set of qualified closed-loop candidate configurations has been obtained.

[0084] Before closed-loop startup, the electrode role configuration, excitation according to the configuration sequence, synchronous detection, construction of multi-configuration response matrix and generation of closed-loop startup parameters are first completed using the eight-channel auxiliary initialization and diagnostic mode.

[0085] Once the preset conditions are met, the dual-channel differential closed-loop control mode will enter normal closed-loop operation, ensuring that the dual-channel differential closed-loop control mode is started based on the confirmed excitation / detection combination, abnormal channel shielding position, and compensation initial value.

[0086] For the currently executed k-th group configuration, step 2 has determined the electrodes used to apply excitation signals, the electrodes used to acquire vibration signals, and the electrodes that are not currently in use.

[0087] Define the excitation set E(k) of this group of excitation electrodes and the detection set D(k) of this group of detection electrodes. For each group configuration, select two electrodes as excitation electrodes and two electrodes as detection electrodes, and keep the other four electrodes idle.

[0088] Therefore, instead of scanning CH1 to CH8 one by one with individual electrodes in sequence, this invention uses a set of excitation electrodes and a set of detection electrodes simultaneously in each configuration, and then replaces the next set of electrode combinations according to a preset order.

[0089] When the system begins to execute the k-th configuration, it first writes the generated analog switch control instructions into the electrode reconfigurable interface.

[0090] According to the control command, the analog switch connects the excitation electrodes in the excitation set E(k) to the excitation link, connects the detection electrodes in the detection set D(k) to the detection link, and keeps the remaining electrodes idle.

[0091] Thus, the electrode applications determined in step 2 are converted into actual hardware connection relationships.

[0092] After the electrode connection is switched, the system does not immediately collect valid detection data, but instead enters the protection interval.

[0093] After the protection interval ends, the excitation link begins to apply a preset resonant excitation signal to the excitation electrodes in the excitation set E(k), causing the hemispherical harmonic oscillator to generate a vibration response under the current electrode combination.

[0094] At the same time, the eight-channel synchronous sampling ADC simultaneously samples CH1 to CH8.

[0095] Based on the valid detection data flag generated in step 2, the main control chip selects the channel data corresponding to D(k) from the eight-channel sampling results as the valid detection data of the current k-th group configuration.

[0096] The sampling results from other channels are not included in the subsequent amplitude and phase calculations for this group.

[0097] Under the control of a unified conversion start signal, the ADC enables all eight channels to acquire sampled values ​​simultaneously. This ensures that two detection channels in the same configuration have the same sampling start time and observation time, thereby guaranteeing a unified sampling time base for the same group of detection channels and reducing the impact of switching transients and differences in sampling timing between channels on amplitude-phase comparison.

[0098] After the sampling of the k-th configuration is completed, the main control chip saves the configuration number, excitation electrode, detection electrode and corresponding valid sampling data of this group.

[0099] Subsequently, the system stops valid sampling for the current group, reads the control commands corresponding to the next group configuration, and repeats the electrode connection switching, protection interval, excitation signal output, and synchronous sampling process. Following this processing method, after completing the configurations for groups 1 through 8 in sequence, raw sampling data for eight different combinations of excitation and detection electrodes is obtained.

[0100] Step 3 converts the electrode configuration and control commands generated in Step 2 into actual electrode connections, excitation outputs, and synchronous sampling processes, obtaining the raw sampling data corresponding to each configuration.

[0101] By setting a protection interval after each electrode switch and completing data acquisition at a uniform sampling time and within a uniform observation time, the impact of switching transients and sampling time differences on measurement results can be reduced, ensuring that the data obtained under different configurations have a clear source and a consistent time reference.

[0102] Step 4. Extract the amplitude and phase of the detection channel and construct a multi-configuration response matrix.

[0103] The amplitude and phase of each detection channel in each configuration are calculated from the valid detection data extracted in step 3. After all configurations have been processed, a multi-configuration response matrix is ​​constructed. Specifically: First, coherent demodulation is performed on each group of valid detection data obtained in step 3. The in-phase component and quadrature component of each detection channel are calculated respectively. Then, the amplitude and phase of the detection channel are calculated from these two components. After all eight configurations are processed, the results of each group are arranged according to the correspondence between configuration number and detection channel to form a multi-configuration response matrix.

[0104] Step 3 above yields a digital sampling sequence for each detection channel that changes continuously over time. For example, in the... In the group configuration, the first Each detection channel will generate multiple sampling points within one observation time, denoted as: ; in, Indicates the current configuration number. Indicates the detection channel number. This indicates the number of sampling points included in this observation. To extract the amplitude and phase of each effective detection channel at the excitation frequency, coherent demodulation is performed on the effective detection data.

[0105] Coherent demodulation uses a set of sine and cosine reference signals with the same frequency as the excitation signal and with a definite phase reference. These signals are then processed with the original sampled data to extract the effective components in the original signal that correspond to the excitation frequency.

[0106] The demodulation reference signal and the system excitation or closed-loop reference signal come from the same clock source. This ensures that different configurations use the same frequency and phase reference, providing a unified frequency and phase reference for each configuration.

[0107] For the Group configuration For each valid detection channel, the system first calculates its in-phase component. and orthogonal components .

[0108] The formulas for calculating in-phase and quadrature components are: ; .

[0109] in The length of the observation window. As the reference angular frequency, The sampling period is The initial phase of the demodulation reference signal. In-phase component. This refers to the portion of the detected signal that is in the same direction as the cosine reference signal, the orthogonal component. This represents the portion of the detected signal that differs from the cosine reference signal by a quarter of a period.

[0110] and It can be understood as two coordinates describing the same detected signal. Only by retaining both coordinates can the amplitude and phase of the signal be completely determined.

[0111] The system combines in-phase and quadrature components into the first... Group configuration Complex response of each detection channel : ; Complex response is a mathematical representation that combines and stores in-phase and quadrature components. The symbol 'j' distinguishes between in-phase and quadrature directions. Complex response can simultaneously store the amplitude and phase relationship of the detection channel.

[0112] The amplitude and phase are extracted from the complex response, and a multi-configuration response matrix is ​​constructed.

[0113] The system according to Calculate the amplitude of the i-th detection channel under the k-th configuration. and phase : ; .

[0114] Among them amplitude This indicates the strength of the effective vibration signal received by the detection channel under the current configuration. The larger the amplitude, the stronger the effective response of the channel under the current excitation and detection combination; the smaller the amplitude, the weaker the effective response.

[0115] phase This indicates the temporal order of the detected signal relative to the unified reference signal.

[0116] All configurations use the same reference source for demodulation, and the phase results obtained from different configurations and different detection channels have a unified reference benchmark, so they can be compared in subsequent steps.

[0117] The system processes configurations from group 1 to group 8 sequentially using the same method. Once all configurations have been processed, the detection results for each group are arranged according to their configuration number and detection channel number, forming a multi-configuration response matrix. .

[0118] Multiple configuration response matrices Record the amplitude, phase, and complex response of each detection channel according to the configuration number, so as to compare the response changes under different excitation combinations, detection combinations, and electrode roles.

[0119] A multi-configuration response matrix can be understood as a correspondence table between electrode role configuration and detection response.

[0120] In the multi-configuration response matrix, each row corresponds to a set of stimulus and detection configurations, and each column corresponds to a detection channel. The elements in the matrix... The complex response result of the corresponding detection channel under this configuration can be represented as: ; in, This indicates the total number of configurations, in this embodiment. ; These correspond to CH1 through CH8 respectively.

[0121] In a certain configuration, not all eight channels are used as detection electrodes.

[0122] Taking the first configuration as an example, only the detection elements corresponding to CH2 and CH4 in the response matrix are valid.

[0123] Therefore, matrix elements should be understood according to the following relationship: .

[0124] in, Indicates a multi-configuration response matrix The Middle Group configuration and the first The matrix elements corresponding to each detection channel.

[0125] Indicates the first The group configuration corresponds to the set of valid detection channels; when hour, , indicating the first Group configuration The complex response obtained by orthogonal demodulation of each detection channel; when hour, Recorded as invalid.

[0126] The multi-configuration response matrix is ​​not simply about displaying eight waveforms together, but rather about establishing a clear correspondence between the electrode application determined in step 2, the original waveform obtained in step 3, and the amplitude and phase calculated in this step.

[0127] After step 4 is completed, a response table is obtained that clearly shows the electrode configuration and detection results of each group, providing input for step 5 to perform anomaly judgment and closed-loop access analysis.

[0128] Step 5. Determine the channel status and generate closed-loop candidate results based on single-set evaluation indicators and cross-configuration comparison.

[0129] This invention first determines the validity of each configuration group based on a multi-configuration response matrix, then determines the quality status of each physical channel, and finally filters each configuration group to obtain closed-loop candidate configurations.

[0130] like Figure 4 As shown, the multi-configuration response matrix constructed in step 4 is used as input, and single-group configuration evaluation and cross-configuration response comparison are performed in sequence. Based on the evaluation results, channel status, abnormal channel masking bits and closed-loop candidate configurations are generated.

[0131] First, calculate the average amplitude, average phase, amplitude error, phase error, signal-to-noise ratio, and amplitude variation coefficient of the detection channel under each configuration, and determine whether a single configuration is effective based on a preset threshold. Subsequently, the results of different configurations with the same detection electrode, the same excitation electrode pair, or the electrode role interchange relationship are compared to generate the detection channel status, excitation configuration status, abnormal channel shielding bit, closed-loop candidate configuration, and channel quality status code.

[0132] Step 4 has yielded the amplitude of each effective detection channel under the k-th configuration. Phase and complex response .

[0133] Step 5 checks the amplitude, phase, and data status mentioned above. To reduce misjudgments caused by single noise or transient disturbances, the system continuously acquires M observation windows while keeping the same electrode configuration unchanged.

[0134] For each observation window, the amplitude and phase are calculated once according to step 4, and then the results of multiple observation windows are statistically analyzed.

[0135] Step 5.1. Calculate the average amplitude and amplitude error.

[0136] The average amplitude of the i-th detection channel under the same electrode configuration is: ; in, This represents the average amplitude of the i-th detection channel under the k-th configuration. This represents the amplitude of the i-th detection channel in the k-th electrode configuration under the m-th observation window. .

[0137] Using multiple observation windows to calculate the average can reduce the impact of random noise and occasional disturbances on the results of a single measurement.

[0138] Amplitude error used for judgment for: ; Amplitude error indicates the percentage difference between the measured amplitude and the normal reference amplitude. This represents the reference amplitude of the i-th detection channel under the k-th configuration. A small quantity is set to prevent the denominator from being zero.

[0139] Step 5.2. Calculate the average phase and phase error.

[0140] Due to the existence of phase The phases of multiple observation windows cannot be directly averaged using ordinary arithmetic because of the periodic boundaries between them. For example, 179° and -179° are actually only 2° apart, but directly averaging them will yield an incorrect result close to 0°.

[0141] The system uses a circular averaging method to calculate the average phase of the i-th detection channel under the k-th configuration. : .

[0142] in, This represents the average phase of the i-th detection channel under the k-th configuration. This indicates the phase of the i-th detection channel in the k-th electrode configuration under the m-th observation window. .

[0143] Compare the average phase with the pre-saved reference phase under the current configuration. Comparison: ; in, This means that the phase difference is limited to the range of 180° to -180°.

[0144] Phase error used for judgment for: ; The phase error represents the angle difference between the measured phase and the normal reference phase.

[0145] Step 5.3. Calculate the signal-to-noise ratio.

[0146] The signal-to-noise ratio (SNR) is used to determine whether the detected resonant signal is significantly higher than the background noise. A higher SNR indicates that the amplitude and phase in step 4 are more reliable; if the SNR is too low, even if the amplitude and phase can be calculated, they may be mainly affected by noise.

[0147] For the i-th detection channel in the k-th configuration, the effective signal at the resonant frequency is reconstructed based on the in-phase and quadrature components. The formula is as follows: .

[0148] From raw sampling data Subtract the reconstructed effective resonant signal The remaining signal is obtained. : .

[0149] Remaining signal It contains background noise, non-target frequency components, and residual components not described by the target frequency reconstructed signal. The system uses its root mean square value. The equivalent noise estimate in this embodiment is given by the following formula: ; in This represents the sequence number of the nth sampling time.

[0150] The signal-to-noise ratio of the i-th detection channel under the k-th configuration for: .

[0151] in This represents the root mean square value of a valid sinusoidal signal. This represents the root mean square value of the residual noise.

[0152] .

[0153] For two valid detection channels in a set configuration, the lower signal-to-noise ratio is taken as the group-level judgment index, so that the group-level evaluation is constrained by the detection channel with weaker signal quality.

[0154] Step 5.4. Calculate the stability of repeated measures.

[0155] The amplitude variation coefficient is used to determine whether the amplitude is stable in multiple measurements under the same electrode configuration.

[0156] The standard deviation of the amplitude of the i-th detection channel under the k-th configuration for: ; Amplitude variation coefficient for: ; The smaller the value, the more stable the repeated measurements of the detection channel under the same electrode configuration; otherwise, it indicates that the detection results fluctuate significantly and may be affected by noise, unstable excitation, analog switch connection status, or detection front-end drift.

[0157] Step 5.5 Preset threshold.

[0158] In this embodiment, the preset thresholds shown in Table 2 are used to define each performance index.

[0159] Table 2 Preset Thresholds for Performance Indicators

[0160] The values ​​in Table 2 above are the configurable judgment thresholds used in this embodiment. The specific values ​​can be adjusted according to the characteristics of the table header, the detection link, and the calibration results. The detection results are evaluated using the above four indicators.

[0161] Among them, amplitude error and phase error are used to characterize the degree of deviation between the measured response and the corresponding reference response, signal-to-noise ratio is used to characterize the identifiability of the effective resonant response relative to background noise and residual components, and amplitude variation coefficient is used to characterize the stability of multiple observation results under the same electrode configuration.

[0162] For each indicator, separate qualified range, warning range, and severely abnormal range are set.

[0163] When an indicator is in the acceptable range, the corresponding measurement result is considered to meet the evaluation requirements of the current configuration. When it enters the warning range, the current configuration is re-verified by increasing the observation window or re-executing the current configuration. When it enters the severe abnormal range or still does not meet the requirements after retesting, the corresponding measurement result is used as the basis for subsequent configuration validity judgment and closed-loop candidate configuration screening.

[0164] Step 5.6. Determine if a single configuration group is valid.

[0165] For the k-th configuration, the system checks the amplitude error, phase error, signal-to-noise ratio, and amplitude variation coefficient of each valid detection channel in the detection set D(k) of this group.

[0166] When all indicators of the two detection channels in this group are within the qualified range, and there are no missing sampling data, incorrect configuration numbers, or communication errors, the system marks the configuration of this group as a valid configuration.

[0167] When an indicator enters the warning range, the system does not immediately determine a channel fault. Instead, it maintains the current electrode configuration and increases the number of observation windows or re-executes the current configuration. If the indicator recovers to the acceptable range after repeated measurements, the current configuration is retained; otherwise, it remains in the warning range or enters the severe abnormal range and is not used for subsequent closed-loop startup parameter calculations.

[0168] When a metric enters a severely abnormal range, or when data is missing, the system marks that configuration group as invalid. This group of data will not be directly used for subsequent closed-loop startup parameter calculations.

[0169] Step 5.7. Determine the source of the anomaly based on cross-configuration comparison.

[0170] Cross-configuration comparisons are performed as needed based on the measurement and evaluation results of the aforementioned eight basic configurations. When there are two or more configurations in the existing scan results that can form the same detection electrode, the same excitation electrode pair, or an interchangeable role relationship between the excitation electrode and the detection electrode, the system directly calls the corresponding measurement results for comparison. When the existing scan results are insufficient to form the required control relationship, the main control chip resets the excitation set and the detection set, generating one or more additional retest configurations. For the additional retest configurations, measurements are performed according to the electrode configuration, synchronous sampling, and amplitude and phase extraction processes described in steps 2 to 4, and the corresponding evaluation indicators are calculated according to steps 5.1 to 5.6. The additional retest results are only used as supplementary data for judging the source of anomalies and do not change the definition of the aforementioned eight basic scan configurations and the multi-configuration response matrix.

[0171] Cross-configuration comparison does not require that the amplitude and phase obtained under different configurations be exactly the same. Instead, it compares the measured results under each configuration with the reference results corresponding to that configuration, and determines whether the abnormality of amplitude error, phase error, signal-to-noise ratio or amplitude variation coefficient continues to follow the same detection electrode, the same excitation electrode pair or a certain excitation-detection configuration.

[0172] Step 5.7.1. Comparison of the same detection electrode under different excitation conditions.

[0173] For the same physical channel that repeatedly performs detection tasks under the action of two or more different excitation electrode pairs, the amplitude error, phase error, signal-to-noise ratio, and amplitude variation coefficient are compared under different configurations. For example, in the first configuration, CH2 is used as a detection electrode together with CH4 and is excited by the CH1 / CH3 electrode pair; in the seventh configuration, CH2 is used as a detection electrode together with CH8 and is excited by the CH7 / CH1 electrode pair.

[0174] If the same type of anomaly persists after retesting following changes to the excitation electrode pair and detection channel, and the relevant excitation configuration is not flagged as a suspected excitation configuration anomaly in subsequent cross-detection comparisons, then the anomaly is considered to continuously occur with that detection channel, and it is marked as a suspected detection link anomaly. The scope of the anomaly includes the corresponding physical electrode connection line, analog switch detection path, detection signal conditioning circuit, or ADC sampling channel. If the detection channel only exhibits an anomaly under a certain configuration but returns to normal under other excitation conditions, then the detection channel is not considered an anomaly at this time, and the judgment is further made in conjunction with the results of the corresponding excitation electrode pair and other detection channels for that configuration.

[0175] Step 5.7.2. Comparison of the same excitation electrode pair under different detection conditions.

[0176] When a certain excitation electrode pair is in a suspicious state, the main control chip keeps that excitation electrode pair unchanged and re-tests using two or more different detection electrode pairs by resetting the detection set. For example, to check the CH1 / CH3 excitation electrode pair, CH2 / CH4 and CH6 / CH8 can be used as detection electrode pairs respectively.

[0177] If, after replacing the detection electrode pair, the same anomaly persists across different detection electrodes, while the related detection channels function normally under other excitation conditions, then the anomaly is considered to continuously occur with that excitation electrode pair, and the excitation configuration corresponding to that electrode pair is marked as a suspected excitation configuration anomaly. The anomaly may be related to the excitation electrode pair, the corresponding DAC output channel, the analog switch excitation path, the excitation connection line, or the resonant response corresponding to the electrode's orientation. Since each group uses two physical electrodes for excitation simultaneously, the above comparison alone is usually insufficient to directly determine an anomaly in a single physical electrode; therefore, no direct anomaly shielding is applied to individual physical channels within the electrode pair.

[0178] Step 5.7.3. Comparison before and after the excitation electrode and detection electrode are interchanged.

[0179] In the eight basic configurations, groups 1 and 2, 3 and 4, 5 and 6, and 7 and 8 respectively constitute an interchangeable relationship between excitation and detection electrodes. The system combines the cross-excitation detection results from step 5.7.1, the cross-detection excitation results from step 5.7.2, and additional retest results when necessary, to compare the working status of the same electrode or electrode pair when they are respectively undertaking excitation and detection tasks.

[0180] If an electrode or electrode pair exhibits persistent anomalies when acting as a detection object, but enables other normal detection channels to achieve responses meeting evaluation requirements after switching to an excitation role, the anomaly is prioritized as a suspected detection link anomaly. Conversely, if it functions normally when acting as a detection object, but consistently exhibits anomalies when acting as an excitation electrode pair under different detection electrode pairs, the excitation configuration corresponding to that excitation electrode pair is marked as a suspected excitation configuration anomaly. If an electrode or electrode pair exhibits anomalies regardless of whether it acts as an excitation or detection object, it is marked as an object to be retested; the specific abnormal device is not determined solely based on the result of a single role swap.

[0181] After completing the cross-configuration comparison above, the system forms an anomaly judgment result based on the continuous following relationship of the anomaly: when the anomaly continuously follows the same detection channel, it is marked as a suspected detection link anomaly; when the anomaly continuously follows the same excitation electrode pair, it is marked as a suspected excitation configuration anomaly; when the anomaly only appears in a specific excitation-detection combination, but does not continuously follow the detection channel or excitation electrode pair, the configuration is marked as a specific configuration anomaly; when the existing comparison results are insufficient to distinguish the source of the anomaly, it is marked as a state to be retested, and the judgment is continued by adding retests.

[0182] For cases suspected of having abnormal excitation configurations, the system does not directly block the two physical channels in the corresponding excitation electrode pair. Instead, it records the abnormal state of the excitation configuration and marks the configuration using the excitation electrode pair as an unavailable configuration, excluding it from the subsequent closed-loop candidate range.

[0183] Step 5.8. Generate abnormal channel mask bit.

[0184] After completing the cross-configuration comparison, the system generates an abnormal channel mask bit, BadChannelMask. BadChannelMask is represented by an 8-bit binary mask, with each bit corresponding to CH1 to CH8.

[0185] A bit value of 1 indicates that the channel is currently not allowed to be used as a detection channel for subsequent dual-channel differential loop closure; a bit value of 0 indicates that the channel is not currently blocked. BadChannelMask is mainly used to block channels suspected of having abnormal detection links.

[0186] Once a physical channel is written to BadChannelMask, it indicates that the channel will not be used as a closed-loop detection channel for the time being, but it does not automatically prevent the physical electrode from being used as an excitation electrode in other configurations.

[0187] Whether this electrode can be used as an excitation electrode needs to be determined in conjunction with the excitation configuration status in step 5.7.

[0188] For example, if CH3 consistently exhibits abnormal behavior when used as a detection channel under different stimulus configurations, the position corresponding to CH3 in BadChannelMask will be set to 1. In step 6, when selecting a closed-loop detection channel, CH3 will not be included in the candidate range for closed-loop detection channels.

[0189] For cases exhibiting only suspected excitation configuration anomalies, since the existing configuration cannot directly identify a single electrode in the electrode pair, the system first records the suspected excitation configuration anomaly state and does not directly write both channels of the electrode pair into BadChannelMask. Only after additional retesting and confirmation of the specific abnormal channel is the corresponding channel masked.

[0190] Step 5.9. Generate quality status codes for each physical channel and filter closed-loop candidate configurations.

[0191] After completing the single-group indicator checks and cross-configuration comparisons for configurations 1 through 8, the system generates corresponding channel quality status codes for CH1 through CH8, denoted as QualityCode(i). Indicates the physical channel number.

[0192] Table 3. Channel Quality Status Code Definitions

[0193] In one specific implementation, QualityCode(i) uses an 8-bit status word, and the meaning of each status bit is shown in Table 3 above.

[0194] For the Each physical channel has a measurement channel whose measurement results are read when it is used as a detection channel under different excitation electrode pairs. In this embodiment, each physical channel undertakes the detection task in two different excitation configurations.

[0195] Only when a certain evaluation index still fails to meet the requirements after retesting the corresponding configuration, and the same type of anomaly continues to appear in the detection channel after replacing the excitation electrode pair, will the state position corresponding to the evaluation index in QualityCode(i) be set to 1.

[0196] If a certain evaluation metric is abnormal only in one set of configurations, but the channel recovers to normal in another set of different incentive configurations, then the abnormality will not be written to the channel's QualityCode(i) for the time being. Instead, the single set of configurations where the abnormality occurred will be marked as an invalid configuration or a specific configuration abnormality. The data validity abnormality represented by bit 4 is not subject to the above cross-configuration follow-up judgment condition.

[0197] If a channel still cannot obtain complete and valid data after retesting the corresponding configuration, set bit 4 of that channel to 1; if a data error affects the entire configuration group and cannot further distinguish specific channels, set bit 4 of both detection channels in that group to 1; if a configuration number or communication error affects all configurations in this round, set bit 4 of CH1 to CH8 to 1.

[0198] QualityCode(i) is used to represent the first... The overall quality status of each physical channel when used as a detection channel under different excitation conditions. For example, QualityCode(3) represents the overall status of CH3 after repeated measurements and cross-configuration comparisons in the multiple configurations in which it participates in detection. Each physical channel has a QualityCode(i), so the system generates a total of eight channel quality status codes.

[0199] Different states can coexist, so multiple state bits in QualityCode(i) can be set to 1 simultaneously. For example, when CH3 continuously exhibits amplitude error exceeding limits and insufficient signal-to-noise ratio under different excitation conditions, and cross-configuration comparison results indicate that the above anomalies continue to occur following the CH3 detection link, the system sets bit0, bit2, and bit5 to 1. Since bit5 indicates that the channel has been determined to be a suspected detection link anomaly, the system simultaneously sets bit6 to 1, indicating that CH3 is temporarily not allowed as a detection channel for dual-channel differential closed loop. At this time: QualityCode(3) = 0x65.

[0200] Among them, bit0 indicates that the amplitude error continues to exceed the limit, bit2 indicates that the signal-to-noise ratio continues to be lower than the preset threshold, bit5 indicates that the detection link is suspected to be abnormal, and bit6 indicates that the channel is prohibited from being used as a closed-loop detection channel.

[0201] When QualityCode(i) = 0x00, it indicates that no anomalies continuously following this detection channel have been found, and this channel can participate in the subsequent closed-loop candidate configuration screening. QualityCode(i) = 0x00 only indicates that no anomalies continuously following this detection channel have been found, and does not mean that all single configurations that this channel has participated in are valid. Whether a single configuration can be used as a closed-loop candidate configuration still needs to be judged in combination with the four evaluation indicators and incentive configuration status of that group.

[0202] When at least one bit from bits 0 to 3 in QualityCode(i) is set to 1 according to the cross-configuration judgment rule described above, it indicates that the corresponding indicator anomaly continues to appear in the detection channel under different stimulus conditions. The system sets bit 5 to 1, indicating that there is a suspected detection link anomaly in this channel. When bit 5 is set to 1, or when the invalid data state represented by bit 4 is not eliminated after retesting, the system sets bit 6 to 1, indicating that this channel is temporarily not allowed to be used as a detection channel for dual-channel differential closed loop.

[0203] When a channel is determined to be unsuitable as a dual-channel differential closed-loop detection channel, the system sets bit 6 of the channel's QualityCode(i) to 1, and simultaneously sets the corresponding position in BadChannelMask to 1. Therefore, QualityCode(i) indicates the specific anomaly type present in the channel, while BadChannelMask is used to quickly exclude the detection channel during closed-loop candidate configuration filtering.

[0204] For suspected excitation configuration anomalies identified in step 5.7, since each group in this embodiment uses two electrodes for excitation simultaneously, existing cross-configuration results usually cannot directly determine an anomaly in a single electrode pair. Therefore, the anomaly is not forcibly written into the QualityCode(i) of a physical channel. The system directly marks the configuration using the excitation electrode pair as an unavailable configuration and excludes it from the subsequent closed-loop candidate range.

[0205] After completing the quality status codes and abnormal configuration flags for each physical channel, the system filters configurations from group 1 to group 8. A configuration group is retained as a closed-loop candidate configuration if it simultaneously meets the following conditions: I. In this configuration, bit 6 of the QualityCode(i) corresponding to both detection channels is 0, and the corresponding bits of BadChannelMask are all 0; II. The excitation electrode pairs used in this configuration were not marked as suspected excitation configuration abnormalities in step 5.7; III. The amplitude error, phase error, signal-to-noise ratio, and amplitude variation coefficient of the two detection channels in this configuration meet the closed-loop admission requirements; IV. The sampling data for this group is complete, and the correspondence between the configuration number, excitation electrode, and detection electrode is correct.

[0206] If at least one closed-loop candidate configuration meets the above conditions, the system uploads the candidate configuration, its corresponding excitation electrode, detection electrode, amplitude and phase results, and eight QualityCodes(i) to the host computer, and proceeds to step 6 to generate dual-channel differential closed-loop startup parameters. If no closed-loop candidate configuration meets the requirements, the system remains in eight-channel auxiliary initialization and diagnostic mode, without updating the closed-loop startup parameters or entering the dual-channel differential closed loop.

[0207] Step 5 first uses indicators such as amplitude, phase, signal-to-noise ratio, and repeatability stability to determine whether the detection results under each configuration are reliable. Then, it uses the measurement results of the same physical channel under different excitation conditions, different detection combinations, and different electrode roles to compare across configurations, determine whether the anomaly is more likely to follow the detection channel, excitation electrode pair, or a specific electrode combination, and selects suitable closed-loop candidate configurations for entering the dual-channel differential closed loop.

[0208] Step 6. Generate dual-channel closed-loop start-up parameters based on the eight-channel auxiliary results, and perform amplitude and phase compensation.

[0209] This invention determines the excitation electrode and detection electrode to be used in this study; for the detection channel that has passed the check in step 5, the amplitude compensation coefficient and the initial value of phase compensation are calculated, and the corresponding closed-loop start-up parameters are obtained.

[0210] like Figure 5 As shown, the closed-loop candidate configuration, BadChannelMask, and QualityCode(i) output from step 5 are read to determine the excitation electrode and detection electrode to be used. The amplitude compensation coefficient and initial phase compensation value are calculated based on the corresponding measured and reference values ​​to generate the dual-channel differential closed-loop startup parameters. After completion, the amplitude compensation coefficient and initial phase compensation value are calculated, and the closed-loop startup parameters are written into the closed-loop startup parameter register.

[0211] Step 6 only corrects relatively stable link errors in the detection channel, including differences in detection front-end gain, phase delay, ADC sampling link gain, and fixed deviations introduced by the electrode reconfigurable interface. The compensation in Step 6 is used to fine-tune the detection link that is still within the acceptable range but has a small, stable deviation from the calibration reference value.

[0212] Step 6.1. Confirm whether there are available closed-loop candidate configurations.

[0213] First, the system reads the closed-loop candidate configurations generated in step 5. If no qualified closed-loop candidate configurations exist, the system remains in eight-channel auxiliary initialization and diagnostic mode, without generating new closed-loop startup parameters or using the current round of measurement results to overwrite existing closed-loop startup parameters. If at least one set of qualified closed-loop candidate configurations exists, the system proceeds to step 6.2 to determine the candidate configuration to be used.

[0214] Step 6.2. Read the closed-loop candidate configuration determined in Step 5.

[0215] Step 5 has already selected closed-loop candidate configurations that meet the quantitative index requirements from the eight configuration groups. When only one qualified closed-loop candidate configuration is obtained in Step 5, the system will use that configuration as the closed-loop configuration to be used this time. When multiple qualified closed-loop candidate configurations exist, the system will upload the excitation electrode, detection electrode, four evaluation indicators (i.e., amplitude error, phase error, signal-to-noise ratio, and amplitude variation coefficient) and cross-configuration judgment results (data from Step 5.7) corresponding to each candidate configuration to the host computer, whereby the user will confirm the final configuration to be adopted, and the finally selected candidate configuration will be recorded as the [number missing]. Group configuration.

[0216] Among them, symbols This indicates the configuration number selected for entering the dual-channel differential closed loop. It is not a new configuration, but one of the configurations that has already passed the checks in step 5. If the... If the two detection channels in the group configuration are channel p and channel q, then: ;in, This represents the set of detection electrodes in the candidate configuration. This step only uses the first... The compensation parameters are calculated based on the measurement results of channel p and channel q under the group configuration, without mixing in the amplitude and phase from other excitation configurations.

[0217] Step 6.3. Determine the measured values ​​and reference values ​​corresponding to the candidate configurations.

[0218] Step 5 has already been completed. Under the group configuration, statistics were performed on multiple observation windows, and the average measured amplitude and average measured phase of the two detection channels were obtained: , .

[0219] Based on the candidate configuration number, the system reads the reference amplitude and reference phase of the corresponding detection channel from the reference parameters pre-stored in the main control chip: , .

[0220] Each detection channel uses its own reference value under the current configuration, and it is not required that channel p and channel q have exactly the same reference amplitude or reference phase, so as to preserve the normal response differences inherent in different electrode positions.

[0221] When a candidate detection channel has passed the cross-configuration check in step 5, and its deviation relative to the reference value remains stable across multiple observation windows without showing significant changes with the excitation electrode pair, the system uses this deviation as a stable equivalent deviation in the detection link to calculate the amplitude compensation coefficient and the initial value for phase compensation.

[0222] Step 6.4. Calculate the amplitude compensation coefficient.

[0223] The system first calculates the first Amplitude compensation coefficient of the i-th detection channel under group configuration : .

[0224] Where i is the detection channel number in the candidate configuration, representing channel p or channel q; This is the reference amplitude for the channel under the candidate configuration; This represents the average measured amplitude of the channel under the candidate configuration; To prevent extremely small positive numbers with a denominator of zero.

[0225] The intuitive meaning of this formula is that the amplitude that should be obtained under normal circumstances is compared with the amplitude that was actually measured in this case. The ratio between the two determines the extent to which the detection results need to be scaled down.

[0226] Step 6.5. Calculate the initial value for phase compensation.

[0227] The system further calculates the first Initial phase compensation value for the i-th detection channel under the group configuration: ; in This indicates the reference phase of the channel under the candidate configuration; This indicates the average measured phase of the channel; This means that the phase difference is limited to ±180°. This indicates the initial phase compensation value used during closed-loop startup.

[0228] The formula means: calculate the correction angle of the measured phase relative to the reference phase, and rotate the detection result according to this angle during subsequent processing. The calculation here is the initial phase correction amount obtained before closed-loop startup.

[0229] Step 6.6. Apply amplitude and phase compensation to the I / Q components.

[0230] When performing amplitude compensation and phase compensation, the system directly scales and rotates the I / Q results of the selected detection channel.

[0231] For the i-th detection channel in the candidate configuration, the in-phase component and quadrature component before compensation are denoted as follows: The compensated in-phase and quadrature components are denoted as follows: The compensation is calculated as follows: ;

[0232] .

[0233] The above calculation involves two actions: the first action is amplitude scaling, that is, using... The first step is to correct the fixed gain difference in the detection link; the second step is phase rotation, which utilizes... Corrects fixed phase deviations caused by the detection front-end, filter, ADC sampling link, and electrode reconfigurable interface.

[0234] After these two processing steps, the equivalent amplitude and phase relationship of the detection channel are closer to the pre-calibrated state.

[0235] The initial phase compensation value is calculated and written into the closed-loop start-up parameter register before the closed-loop starts. It remains unchanged during this dual-channel differential closed-loop operation and is used to perform phase correction on the I / Q components of the real-time detection channel. The initial phase compensation value is only updated after the eight-channel auxiliary initialization and diagnostic mode is re-executed or after recalibration.

[0236] Let the two closed-loop detection channels selected in step 6.2 be denoted as channel p and channel q, respectively. Then, calculate using the formulas in step 6.6 above: ; Four parameters.

[0237] The compensated differential in-phase components are: .

[0238] The compensated difference orthogonal components are: .

[0239] in, and The differential detection I / Q components are fed into the dual-channel differential closed-loop control mode, which performs closed-loop control based on the I / Q data.

[0240] Step 6.7. Write the compensation parameters into the closed-loop startup parameter register.

[0241] After completing the above calculations, the system writes the following closed-loop startup parameters into the closed-loop startup parameter register of the main control chip: Selected candidate configuration number The two closed-loop detection channels are numbered p and q; the amplitude compensation coefficients for the two detection channels are... Initial values ​​for phase compensation of the two detection channels ; The abnormal channel mask bit BadChannelMask, channel quality status codes QualityCode (p) and QualityCode (q).

[0242] The specific amplitude compensation parameters written are as follows: The initial value for phase compensation is: .

[0243] When the dual-channel differential closed-loop control mode is started, the above parameters are read first, and then the detection results of channel p and channel q are compensated. Subsequently, differential detection quantities are formed and control loops such as phase-locked loop, amplitude stabilization, quadrature suppression and force balance are started.

[0244] After this step is completed, the hardware configuration, sampling results, amplitude and phase data, and diagnostic conclusions obtained from steps 1 to 5 have been converted into startup parameters that can be directly used in the dual-channel differential closed-loop operation. Step 7 will read the above parameters and enter normal dual-channel differential closed-loop operation. During closed-loop operation, the system will upload the operating status and abnormal prompts to the host computer; whether to exit the current closed loop and re-execute the eight-channel auxiliary initialization and diagnostic mode requires user confirmation.

[0245] Step 7. Enter the dual-channel differential closed loop, and the user can choose to continue running or execute the eight-channel auxiliary initialization and diagnostic mode.

[0246] Based on the excitation electrode, detection electrode, and closed-loop start-up parameters determined in step 6, the electrode reconfigurable interface is set to the electrode connection state corresponding to the finally selected candidate configuration. After completing the electrode connection switch, the system enters the dual-channel differential closed-loop control mode. After entering closed-loop operation, the system no longer switches electrode roles sequentially according to the configurations of groups 1 to 8, but maintains the currently selected excitation electrode and detection electrode configurations.

[0247] Step 7.1. Enter the dual-channel differential closed loop according to the selected electrode combination.

[0248] The system reads the candidate configuration number, the two closed-loop detection channel numbers, the amplitude compensation coefficient, the initial phase compensation value, the BadChannelMask, and the QualityCode written to the closed-loop startup parameter register in step 6. The main control chip then selects the candidate configuration number... Read the stimulus set corresponding to the candidate configuration. Detection set The system receives analog switch control information and controls the reconfigurable electrode interface to switch the corresponding electrode connections, connecting the selected excitation electrode to the excitation link and the selected detection electrode to the detection link, while the remaining electrodes do not participate in the current dual-channel differential closed-loop control. After the electrode connection switching is completed, a preset protection interval is set, and after the protection interval ends, the system enters dual-channel differential closed-loop operation.

[0249] Step 7.2. Continuously execute closed-loop control based on the dual-channel detection results.

[0250] During dual-channel differential closed-loop operation, the two detection channels continuously acquire the vibration signals of the hemispherical harmonic oscillator. The main control chip coherently demodulates the sampled signals from the two detection channels to obtain the corresponding I / Q components, and performs compensation according to the amplitude compensation coefficient and initial phase compensation value determined in step 6. The compensated I / Q components of the two detection channels form a differential I / Q detection quantity according to the relationship described in step 6, which serves as the detection input for the dual-channel differential closed-loop control mode.

[0251] The dual-channel differential closed-loop control mode continuously executes phase-locking, amplitude stabilization, quadrature suppression, and force balance control according to the preset control law, and outputs corresponding control signals to the selected excitation electrode based on the closed-loop control results, so that the hemispherical resonator maintains the closed-loop working state.

[0252] Step 7.3. Upload the closed-loop operation data to the host computer.

[0253] During dual-channel differential closed-loop operation, the system uploads the current closed-loop operation data and status information to the host computer. This closed-loop operation data and status information includes the currently used excitation and detection electrodes, the independent I / Q and amplitude-phase results of the two closed-loop detection channels, the differential detection quantity, the closed-loop control status, and any abnormality alerts. The channel quality status obtained in step 5 and the auxiliary inspection results before closed-loop startup are also retained, used to explain the basis for selecting the current closed-loop electrode combination.

[0254] Step 7.4. The user can choose to continue the current closed loop or re-execute the eight-channel auxiliary initialization and diagnostic mode.

[0255] When the closed-loop operation meets the usage requirements and the user chooses to continue running, the system maintains the current electrode connection relationship and dual-channel differential closed-loop control state.

[0256] When the user selects to re-execute the eight-channel auxiliary initialization and diagnosis based on the closed-loop status or abnormal prompts displayed by the host computer, the system first exits the current dual-channel differential closed-loop control and stops updating the current closed-loop control quantity, causing the excitation link to enter the preset mode switching state; then it returns to step 2, re-reads the eight-channel configuration table and generates the corresponding hardware control instructions; then it re-executes electrode connection switching, protection interval, excitation signal output and synchronous sampling according to step 3, and continues to execute the response analysis, channel status judgment and closed-loop candidate configuration screening process described in steps 4 to 5.

[0257] After re-inspection, if the original closed-loop electrode combination still meets the closed-loop admission requirements, the configuration can still be used as a candidate configuration for closed-loop. If there are other configurations that meet the requirements, the new candidate configuration for closed-loop and its corresponding excitation electrode, detection electrode and evaluation results are uploaded to the host computer, and the user confirms the final configuration to be used. Then, the corresponding closed-loop start-up parameters are regenerated according to step 6 and the dual-channel differential closed loop is entered.

[0258] If no configuration that meets the closed-loop access requirements is found after re-checking, the system remains in the eight-channel auxiliary initialization and diagnostic mode, without generating new closed-loop startup parameters or entering the dual-channel differential closed-loop control mode.

[0259] Step 7 calls the closed-loop startup parameters generated in Step 6 using the dual-channel differential closed-loop. During closed-loop operation, the system continuously monitors and displays the current status. Upon detecting an anomaly, it uploads the anomaly information to the host computer, allowing the user to choose to continue running the current closed loop or re-check the eight physical electrode channels.

[0260] This invention is based on eight physical electrode measurement and control channels. In addition to the main working link of the dual-channel differential closed-loop control mode, eight auxiliary measurement and control links are set up for electrode role configuration, excitation according to configuration sequence, synchronous detection, multi-configuration response analysis and closed-loop start-up parameter generation. It provides screened electrode configurations and start-up parameters for the dual-channel differential closed loop, reduces the impact of abnormal channels or unsuitable electrode combinations on closed-loop start-up and operation, and improves the reliability of closed-loop working configuration.

[0261] Of course, the above description is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. It should be noted that any equivalent substitutions or obvious modifications made by those skilled in the art under the guidance of this specification fall within the scope of this specification and should be protected by the present invention.

Claims

1. A dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination, characterized in that, Includes the following steps: Step 1. Construct a dual-mode measurement and control system for a hemispherical resonant gyroscope with eight physical electrode channels; each physical electrode is configured as an excitation electrode, detection electrode, or idle electrode depending on the access link. Step 2. Read the pre-stored eight-channel configuration table, determine the physical electrode configuration of each group in the eight-channel configuration table, and convert it into hardware control instructions that can be directly executed according to the physical electrode configuration; Step 3. According to the generated hardware control instructions, configure and change the electrode states of the eight electrodes one by one in the order of the eight-channel configuration table, and apply excitation signals to the specified electrodes in each configuration group. Simultaneously, eight ADC channels are sampled synchronously, and valid detection data corresponding to each detection channel in this configuration is extracted; Step 4. Calculate the amplitude and phase of each detection channel in each configuration from the valid detection data extracted in Step 3. After all configurations have been processed, construct the multi-configuration response matrix. Step 5. First, the validity of each group of configurations is determined based on the multi-configuration response matrix. Then, the quality status of each physical channel is determined. Finally, each group of configurations is filtered to obtain closed-loop candidate configurations. Step 6. Determine the excitation electrode and detection electrode to be used in this application; For the detection channels that have passed the inspection in step 5, calculate the amplitude compensation coefficient and the initial value of phase compensation, and obtain the corresponding closed-loop start-up parameters; Step 7. Based on the excitation electrode, detection electrode, and closed-loop start-up parameters determined in Step 6, enter the dual-channel differential closed-loop control mode to realize the closed-loop operation of the hemispherical resonant gyroscope.

2. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 1, characterized in that, In step 1, the dual-mode measurement and control system based on a multi-channel coordinated hemispherical resonant gyroscope includes: Hemispherical resonant gyroscope head, electrode interface circuit and main control chip; The hemispherical resonant gyroscope head includes a resonator and eight physical electrode channels arranged around the resonator; Each physical electrode is connected to the main control chip via an electrode interface circuit; The electrode interface circuit includes a detection link, an excitation link, and an electrode reconfigurable interface; The electrode reconfigurable interface is located between the physical electrode and the excitation / detection link; the electrode reconfigurable interface is implemented by an analog switch, which is used to selectively connect any physical electrode to the excitation link, the detection link, or a high-impedance idle state. Each of the eight physical electrodes can be controlled by the main control chip via an analog switch to select the way the physical electrode is connected to different links, and can be configured as an excitation electrode, a detection electrode, or an idle electrode. After the main control chip sends control commands to the analog switch, it determines which link a given electrode is currently connected to. Each physical electrode has the following three connection states: The first state is when the electrode is connected to the excitation link, that is, the physical electrode that receives the excitation signal output by the DAC through the excitation link. The electrode in this first state is called the excitation electrode. The second state is when connected to the detection link, that is, the detection signal output by the physical electrode is conditioned and synchronously sampled by the ADC through the detection link. The electrode in the second state is called the detection electrode. The third state is when both the excitation and detection links are disconnected and the electrode remains in a high-resistance state, which is called an idle electrode. The main control chip switches the connection states of each electrode by writing switch control words to the analog switch; The switch control word is a set of digital instructions sent by the main control chip to the analog switch; the switch control word is used to specify the electrodes that are connected to the excitation link, the electrodes that are connected to the detection link, and the electrodes that need to be kept disconnected.

3. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 2, characterized in that, Step 2 specifically involves: The main control chip first calls the pre-stored eight-channel configuration table, as follows: Read the configurations sequentially, starting from the first group in the eight-channel configuration table, according to the pre-set order. When executing the k-th configuration group, the main control chip reads the excitation mask, detection mask, and analog switch address corresponding to that configuration group; and generates three types of hardware control instructions based on the k-th configuration group content in the eight-channel configuration table: The first type is analog switch control commands, which are used to control the reconfigurable electrode interface, connect the current group of excitation electrodes to the excitation link, connect the current group of detection electrodes to the detection link, and set the remaining electrodes to an idle state. The second type is DAC output control commands, which are used to determine which DAC channels in this group need to output excitation signals and control the corresponding DAC channels to update their outputs; DAC channels that are not selected as excitation electrodes do not output the excitation signals of this group to the electrodes. The third category is the valid detection data marker, which marks only the data from this group of detection electrodes as valid detection data.

4. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 3, characterized in that, Step 3 specifically involves: Before the system enters the formal dual-channel differential closed-loop control mode, it first enters the eight-channel auxiliary initialization and diagnostic mode. Define the excitation set E(k) of this group of excitation electrodes and the detection set D(k) of this group of detection electrodes; for each group configuration, select two electrodes as excitation electrodes and two electrodes as detection electrodes at the same time, and keep the other four electrodes idle; When the system begins to execute the k-th configuration, it first writes the generated analog switch control instructions into the electrode reconfigurable interface; According to the control command, the analog switch connects the excitation electrodes in the excitation set E(k) to the excitation link, connects the detection electrodes in the detection set D(k) to the detection link, and keeps the remaining electrodes idle. After the electrode connection is switched, the excitation link begins to apply a preset resonant excitation signal to the excitation electrodes in the excitation set E(k), so that the hemispherical harmonic oscillator generates a vibration response under the current electrode combination. Simultaneously, eight ADC physical electrode channels CH1 to CH8 are sampled synchronously; Based on the valid detection data flag generated in step 2, the main control chip selects the detection channel data corresponding to the detection set D(k) from the eight-channel sampling results as the valid detection data of the current k-th group configuration; After the sampling of the k-th configuration is completed, the configuration number, excitation electrode, detection electrode and corresponding valid sampling data of this group are saved; after the sampling of each configuration is completed, multiple sets of original sampling data under different combinations of excitation electrode and detection electrode are obtained.

5. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 4, characterized in that, Step 4 specifically involves: For the Group configuration For each effective detection channel, first calculate its in-phase component. and orthogonal components Combine the in-phase components and quadrature components into the first... Group configuration Complex response of each detection channel : ； according to Calculate the amplitude of the i-th detection channel under the k-th configuration. and phase : ； ； Process the configurations from group 1 to group 8 sequentially in the manner described above; after all configurations have been processed, arrange the detection results of each group according to the configuration number and detection channel number to form a multi-configuration response matrix. ; In the multi-configuration response matrix, each row corresponds to a set of stimulus and detection configurations, and each column corresponds to a detection channel. The elements in the matrix... This represents the complex response result of the corresponding detection channel under this configuration, expressed as: ； in, Indicates the total number of configurations. ; Corresponding to CH1 to CH8 respectively; Therefore, multiple configuration response matrices The elements in the text should be understood according to the following relationships: ； in, Indicates a multi-configuration response matrix The Middle Group configuration and the first Matrix elements corresponding to each detection channel; Indicates the first The group configuration corresponds to the set of valid detection channels; when hour, , indicating the first Group configuration The complex response obtained by orthogonal demodulation of each detection channel; when hour, Recorded as invalid.

6. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 5, characterized in that, In step 5, the process of determining whether a single configuration is valid based on a preset threshold is as follows: Pre-set judgment thresholds for amplitude error, phase error, signal-to-noise ratio, and amplitude variation coefficient, and divide the evaluation results into qualified intervals, warning intervals, and severely abnormal intervals based on the relationship between each indicator and the corresponding judgment threshold. For the k-th configuration, check the amplitude error, phase error, signal-to-noise ratio and amplitude variation coefficient of each effective detection channel in the detection set D(k) of this group, and determine the effective status of the configuration group based on the interval of each indicator. When all indicators of the two detection channels in this group are within the preset qualified range, and there are no missing sampling data, incorrect configuration numbers, or communication errors, the configuration of this group is marked as a valid configuration. When an indicator enters the preset warning range, the channel is not immediately identified as faulty. Instead, the current electrode configuration is maintained and the number of observation windows is increased or the configuration group is re-executed. If the indicator recovers to the qualified range after repeated measurement, the configuration group is retained. If it continues to be in the warning range or enters the severe abnormal range, it will not be used for subsequent closed-loop start-up parameter calculation. When a certain indicator enters a severely abnormal range, or when data is missing, configuration number is incorrect, or communication error occurs, the system marks the group of configurations as invalid, and the data in this group will not be directly used for subsequent closed-loop startup parameter calculations.

7. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 6, characterized in that, In step 5, after determining the validity of each configuration, the measurement results of different configurations with the same detection electrode, the same excitation electrode pair, and the role interchange relationship between excitation electrode and detection electrode are compared across configurations to determine whether the abnormality continues to follow the same detection channel or the same excitation electrode pair. Based on the validity determination results of each group of configurations and the cross-configuration comparison results above, the channel quality status code QualityCode(i), the abnormal channel mask bit BadChannelMask, and the stimulus configuration status are generated for each physical channel. After completing the above status determination, each group of configurations is filtered. When a group of configurations meets the following conditions simultaneously, that group of configurations is retained as a closed-loop candidate configuration: I. In this configuration, the quality status code (i) of the two detection channels is 0 in bit 6, which means that the channel is allowed to be used as the detection channel in the dual-channel differential closed-loop control mode, and the corresponding bits of the abnormal channel mask bit BadChannelMask are all 0. II. The incentive configuration corresponding to this group of configurations has not been marked as a suspected incentive configuration anomaly; III. All indicators of the two detection channels in this configuration are within the preset qualified range; IV. The sampling data for this group is complete, and the correspondence between the configuration number, excitation electrode, and detection electrode is correct; If there is at least one closed-loop candidate configuration that simultaneously satisfies the above conditions, retain the closed-loop candidate configuration and its corresponding excitation electrode, detection electrode, amplitude and phase results and eight QualityCode(i), and proceed to step 6; If no closed-loop candidate configuration meets the above requirements, the system remains in the eight-channel auxiliary initialization and diagnostic mode, without updating the closed-loop start parameters or entering the dual-channel differential closed-loop control mode.

8. The dual-mode measurement and control method for a hemispherical resonant gyroscope based on multi-channel coordination according to claim 7, characterized in that, Step 6 specifically involves: Step 6.

1. The system reads the closed-loop candidate configuration generated in step 5 and confirms whether there is an available closed-loop candidate configuration; Step 6.

2. If a closed-loop candidate configuration exists, read the closed-loop candidate configuration determined in Step 5; The final selected candidate configuration is denoted as the first one. Group configuration; if the first If the two detection channels in the group configuration are channel p and channel q, then: ;in, This represents the set of detection electrodes in the candidate configuration; Step 6.

3. Determine the measured values ​​and reference values ​​corresponding to the candidate configurations; Step 5 has already been completed. Under the group configuration, statistics were performed on multiple observation windows, and the average measured amplitude and average measured phase of the two detection channels were obtained: , ; Read the reference amplitude and reference phase corresponding to this candidate configuration: , ; Step 6.

4. Calculate the amplitude compensation coefficient; The system first calculates the first Amplitude compensation coefficient of the i-th detection channel under group configuration : ； Where i is the detection channel number in the candidate configuration, representing channel p or channel q; This is the reference amplitude for the channel under the candidate configuration; This represents the average measured amplitude of the channel under the candidate configuration; To prevent extremely small positive numbers with a denominator of zero; Step 6.

5. Calculate the initial value for phase compensation; The system further calculates the first Initial phase compensation value for the i-th detection channel under the group configuration: ； in This indicates the reference phase of the channel under the candidate configuration; This indicates the average measured phase of the channel; This means that the phase difference is limited to ±180°. This indicates the initial phase compensation value used during closed-loop startup; Step 6.

6. For the i-th detection channel in the candidate configuration, the in-phase component and quadrature component before compensation are denoted as follows: The compensated in-phase and quadrature components are denoted as follows: The compensation is calculated as follows: ； ； Let the two closed-loop detection channels selected in step 6.2 be denoted as channels p and q, respectively. Then, calculate according to the formula given in step 6.6 above. Four parameters; The compensated differential in-phase components are: ; The compensated difference orthogonal components are: ; in, and Differential detection of I / Q components for input into dual-channel differential closed-loop control mode; Step 6.

7. After completing the above calculations, write the closed-loop startup parameters into the closed-loop startup parameter register of the main control chip: The closed-loop startup parameters include the selected candidate configuration number. Two closed-loop detection channels, numbered p and q, and their amplitude compensation coefficients. Initial values ​​of phase compensation for the two detection channels The abnormal channel mask bit BadChannelMask, channel quality status codes QualityCode(p) and QualityCode(q), and the specific amplitude compensation parameters written are as follows: The specific initial phase compensation value written is: .

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