Time division multiplexing hemispherical resonator gyroscope circuit phase error testing device
By designing a phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit, the phase error during switching is detected and measured, solving the phase error problem caused by the time difference between channels and improving the system accuracy.
Patent Information
- Application Number
- CN202423264627.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2026-01-13
- Estimated Expiration
- 2034-12-27
AI Technical Summary
The difference in the on and off times of the switching signals in different channels of the time-division multiplexed hemispherical resonant gyroscope circuit introduces additional phase errors, affecting the accuracy of the gyroscope system.
A phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit was designed, including an excitation signal amplification module, a switching module, electrodes, and a detection signal amplification module. By detecting and measuring the phase error during switching, a numerical reference is provided to compensate for system errors.
It effectively reduces the gain error introduced by the differences in channel circuits, simplifies the testing process, and only requires the addition of sampling resistors and phase-locked loops to the original hardware, thereby improving the phase error testing accuracy of the system.
Smart Images
Figure CN223796040U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of hemispherical resonant gyroscope error testing technology, and discloses a time-division multiplexed hemispherical resonant gyroscope circuit phase error testing device. Background Technology
[0002] As the most accurate Gorilla gyroscope currently available, the hemispherical resonator gyroscope has advantages over the widely used optical gyroscope, such as high resolution, small size, low power consumption, fewer parts, and short startup time. In particular, in recent years, research institutions in the United States, France and other countries have successively launched ultra-high precision gyroscope systems with zero bias stability better than 0.0001° / h, making the hemispherical resonator gyroscope a promising "disruptive technology" that will change the field of inertial navigation in the 21st century.
[0003] Axial non-uniformity, assembly errors, and differences in circuit hardware during the manufacturing process of hemispherical resonator gyroscopes severely restrict the improvement of gyroscope accuracy. These errors can be decomposed into detection and excitation gain errors, phase errors, and damping non-uniformity errors. Error suppression methods mainly include improving the quality of resonator manufacturing, refining assembly processes, optimizing hardware circuit schemes, and using software algorithm compensation. Time-division multiplexing (TDM) technology is one of the most effective methods in circuit optimization. By using switching control, the electrodes operate in different modes such as excitation or detection at different times, effectively avoiding crosstalk between the excitation signal and the detection loop. Simultaneously, the X-direction and Y-direction signal detection and excitation of the resonator use the same circuit multiplexing form, solving the gain error caused by differences in different channel circuits.
[0004] Time-division multiplexed hemispherical resonator gyroscopes require switching chips to switch states during operation. However, the signal turn-on and turn-off times of different channel switches differ, which introduces additional phase errors between the X and Y channels, limiting the accuracy of the gyroscope system. Utility Model Content
[0005] This invention addresses the technical problem of phase error in time-division multiplexed hemispherical resonator gyroscope circuits by detecting phase error and measuring their long-term stability and temperature variation characteristics, thus providing a numerical reference for system phase error compensation.
[0006] This utility model discloses a phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit. The time-division multiplexed hemispherical resonant gyroscope circuit phase error testing device includes an excitation signal amplification module, a switching module, electrodes, and a detection signal amplification module.
[0007] The excitation signal amplification module is used to provide excitation signals for the electrodes in the X and Y channels;
[0008] The detection signal amplification module is used to sample and amplify the X and Y channel signals and then input them to the SOC control module;
[0009] The electrode consists of eight sets of discrete electrodes, which are evenly distributed around the resonator at 45° intervals. The eight sets of discrete electrodes are divided into four directions: X+, X-, Y+, and Y-. Two electrodes are arranged opposite each other in each direction, and the opposite electrodes are short-circuited in pairs.
[0010] The switching module responds to the control signal generated by the switching signal generation module to ensure that the system switches between the X and Y working states.
[0011] The switch module includes four sets of switches: switch S1, switch S2, switch S3, and switch S4; and is divided into a first switch group and a second switch group. The first switch group includes first switch S3, first switch S4, second switch S3, and second switch S4, and the second switch group includes first switch S1, first switch S2, second switch S1, and second switch S2. Two switches in the same group of the four sets of switches are turned on and off simultaneously.
[0012] The first X-electrode is connected to the X channel of the detection signal amplification module via the first switch S1; the first X+electrode is connected to the X channel of the detection signal amplification module via the second switch S1; the first Y-electrode is connected to the Y channel of the detection signal amplification module via the first switch S2; the first Y+electrode is connected to the Y channel of the detection signal amplification module via the second switch S2; the second X-electrode is connected to the excitation signal amplification module via the first switch S4; the second X+electrode is connected to the excitation signal amplification module via the second switch S4; the second Y-electrode is connected to the excitation signal amplification module via the first switch S3; and the second Y+electrode is connected to the excitation signal amplification module via the second switch S3.
[0013] Furthermore, the time-division multiplexing hemispherical resonant gyroscope circuit phase error testing device includes a SOC control module;
[0014] The SOC control module includes a phase-locked loop (PLL), an excitation signal generation module, a switching signal generation module, and a detection signal sampling module. The sinusoidal signal generated by the excitation signal generation module serves as both the input to the excitation amplification module and the reference signal for the PLL. The switching signal generation module generates control signals for switching the working states in the X and Y directions. The output of the detection signal sampling module serves as another input signal for the PLL. The PLL outputs the phase error between the X and Y channels.
[0015] Furthermore, the excitation signal amplification module includes a first high-voltage amplifier circuit, a second high-voltage amplifier circuit, and an inverting circuit, wherein the combination of the inverting circuit and the second high-voltage amplifier circuit can provide inverted excitation signals for the X- and Y- electrodes in the X and Y channels; the first high-voltage amplifier circuit provides inverted excitation signals for the X+ and Y+ electrodes in the X and Y channels.
[0016] Furthermore, the detection signal amplification module includes a first sampling circuit, a second sampling circuit, and a differential amplifier circuit; the first sampling circuit includes a first sampling resistor and a first operational amplifier; the second sampling circuit includes a second sampling resistor and a second operational amplifier; the output terminals of the first operational amplifier and the second operational amplifier are connected to the differential amplifier circuit.
[0017] Furthermore, the first X-electrode is connected to the negative input of the second operational amplifier via the first switch S1; the first X+electrode is connected to the negative input of the first operational amplifier via the second switch S1; the first Y-electrode is connected to the negative input of the second operational amplifier via the first switch S2; the first Y+electrode is connected to the negative input of the first operational amplifier via the second switch S2; the second X-electrode is connected to the second high-voltage amplifier circuit via the first switch S4; the second X+electrode is connected to the first high-voltage amplifier circuit via the second switch S4; the second Y-electrode is connected to the second high-voltage amplifier circuit via the first switch S3; and the second Y+electrode is connected to the first high-voltage amplifier circuit via the second switch S3.
[0018] Furthermore, the four sets of switching signals include three state switching modes: X-channel detection and excitation, idle state, and Y-channel detection and excitation.
[0019] The control logic sequence is: [S1=1,S2=0,S3=0,S4=1], [S1=0,S2=0,S3=0,S4=0], [S1=0,S2=1,S3=1,S4=0];
[0020] The number 1 indicates that the switch is on, and the number 0 indicates that the switch is off.
[0021] The beneficial effects achieved by this utility model are:
[0022] The hemispherical resonator gyroscope of this invention, which adopts a time-division multiplexing scheme, can effectively avoid the coupling crosstalk of the excitation signal to the detection loop, while reducing the gain error caused by the differences in the circuits of different channels.
[0023] This invention tests the phase error of circuits under a time-division multiplexing scheme, and can measure the impact of hardware circuit characteristics such as detection and excitation amplification modules on the system phase error.
[0024] During the testing process of this utility model, the working state is switched between the X channel and the Y channel, which can measure the system phase error caused by the difference in the opening and closing time of the two channel switching modules.
[0025] The testing device of this invention is simple, requiring only the addition of a sampling resistor and a phase-locked loop to the existing hardware. Attached Figure Description
[0026] Figure 1 This is a diagram of a phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit.
[0027] Figure 2 This is a schematic diagram of the switch control signal and gyroscope operating status under phase error testing. Detailed Implementation
[0028] The present invention will be further described below with reference to specific embodiments, and the advantages and features of the present invention will become clearer as a result of the description. However, these embodiments are merely exemplary and do not constitute any limitation on the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and form of the technical solution of the present invention without departing from the spirit and scope of the present invention, but all such modifications and substitutions fall within the protection scope of the present invention.
[0029] As attached Figure 1 As shown, the purpose of this utility model is to provide a phase error testing device for a time-division multiplexed hemispherical resonator gyroscope circuit. The hardware system of the time-division multiplexed hemispherical resonator gyroscope includes a SOC control module, an excitation signal amplification module, a switching module, electrodes, and a detection signal amplification module.
[0030] The SOC control module includes a phase-locked loop (PLL), an excitation signal generation module, a switching signal generation module, and a detection signal sampling module. The sinusoidal signal generated by the excitation signal generation module serves as both the input to the excitation amplification module and the reference signal for the PLL. The switching signal generation module generates control signals for switching the operating states in the X and Y directions. The output of the detection signal sampling module serves as another input signal to the PLL and calculates the phase error between the X and Y channels.
[0031] The excitation signal amplification module includes a first high-voltage amplifier circuit, a second high-voltage amplifier circuit, and an inverting circuit. The combination of the inverting circuit and the second high-voltage amplifier circuit can provide inverted excitation signals for the X- and Y- electrodes in the X and Y channels.
[0032] The detection signal amplification module includes a first sampling circuit, a second sampling circuit, and a differential amplification circuit. The two sampling circuits sample and amplify the two-channel signals after passing through the excitation signal amplification module, the switching module, and the electrodes, and then input them to the SOC control module.
[0033] The first and second sampling circuits are based on the original first and second current-to-voltage conversion circuits by adding a sampling resistor to the input terminal of the operational amplifier. The first current-to-voltage conversion circuit includes a first transimpedance, a first capacitor, a first sampling resistor, and a first operational amplifier. The negative input terminal of the first operational amplifier is connected to a corresponding switch through the first sampling resistor. The first transimpedance and the first capacitor are connected in parallel at the negative input and output terminals of the first operational amplifier, respectively. The positive input terminal of the first operational amplifier is grounded.
[0034] The electrode consists of eight sets of discrete electrodes, evenly distributed around the resonator at 45° intervals. They are divided into four directions: X+, X-, Y+, and Y-. Two electrodes are set opposite each other in each direction, and the opposing electrodes are short-circuited.
[0035] The switching module responds to the control signals generated by the switching signal generation module, ensuring the system switches between the X and Y operating states. The switching module includes four sets of switches: S1, S2, S3, and S4; divided into a first switch group and a second switch group. The first switch group includes first switch S3, first switch S4, second switch S3, and second switch S4; the second switch group includes first switch S1, first switch S2, second switch S1, and second switch S2. Two switches in the same group are simultaneously turned on and off. The first X- is connected to the negative input of the second operational amplifier via first switch S1; the first X+ is connected to the negative input of the first operational amplifier via second switch S1; the first Y- is connected to the negative input of the second operational amplifier via first switch S2; the first Y+ is connected to the negative input of the first operational amplifier via second switch S2; the second X- is connected to the second high-voltage amplifier circuit via first switch S4; the second X+ is connected to the first high-voltage amplifier circuit via second switch S4; the second Y- is connected to the second high-voltage amplifier circuit via first switch S3; and the second Y+ is connected to the first high-voltage amplifier circuit via second switch S3.
[0036] As attached Figure 2 As shown, a schematic diagram of the switch control signals and gyroscope operating state under phase error testing is given. The control logic sequence of the four sets of switch signals is: [S1=1,S2=0,S3=0,S4=1], [S1=0,S2=0,S3=0,S4=0], [S1=0,S2=1,S3=1,S4=0], which correspond to the switching of three states: X-channel detection and excitation, idle state, and Y-channel detection and excitation, respectively. The number 1 indicates the switch is on and the number 0 indicates the switch is off. The output of the detection signal sampling module serves as another input signal of the phase-locked loop and outputs the phase error of the X and Y channels.
[0037] The above are merely specific steps of this utility model and do not constitute any limitation on the scope of protection of this utility model; all technical solutions formed by equivalent transformation or equivalent substitution fall within the scope of protection of this utility model; the parts of this utility model not described in detail are common knowledge to those skilled in the art.
Claims
1. A phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit, characterized in that, The time-division multiplexing hemispherical resonant gyroscope circuit phase error testing device includes an excitation signal amplification module, a switching module, electrodes, and a detection signal amplification module; The excitation signal amplification module is used to provide excitation signals for the electrodes in the X and Y channels; The detection signal amplification module is used to sample and amplify the X and Y channel signals and then input them to the SOC control module; The electrode consists of eight sets of discrete electrodes, which are evenly distributed around the resonator at 45° intervals. The eight sets of discrete electrodes are divided into four directions: X+, X-, Y+, and Y-. Two electrodes are arranged opposite each other in each direction, and the opposite electrodes are short-circuited in pairs. The switching module responds to the control signal generated by the switching signal generation module to ensure that the system switches between the X and Y working states. The switch module includes four sets of switches: switch S1, switch S2, switch S3, and switch S4; and is divided into a first switch group and a second switch group. The first switch group includes first switch S3, first switch S4, second switch S3, and second switch S4, and the second switch group includes first switch S1, first switch S2, second switch S1, and second switch S2. Two switches in the same group of the four switches are turned on and off simultaneously. The first X-electrode is connected to the X channel of the detection signal amplification module via the first switch S1; the first X+electrode is connected to the X channel of the detection signal amplification module via the second switch S1; the first Y-electrode is connected to the Y channel of the detection signal amplification module via the first switch S2; and the first Y+electrode is connected to the Y channel of the detection signal amplification module via the second switch S2. The second X-electrode is connected to the excitation signal amplification module via the first switch S4; the second X+electrode is connected to the excitation signal amplification module via the second switch S4; the second Y-electrode is connected to the excitation signal amplification module via the first switch S3; and the second Y+electrode is connected to the excitation signal amplification module via the second switch S3.
2. The phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit according to claim 1, characterized in that, The time-division multiplexed hemispherical resonant gyroscope circuit phase error testing device includes a SOC control module; The SOC control module includes a phase-locked loop (PLL), an excitation signal generation module, a switching signal generation module, and a detection signal sampling module. The sinusoidal signal generated by the excitation signal generation module serves as both the input to the excitation amplification module and the reference signal for the PLL. The switching signal generation module generates control signals for switching the working states in the X and Y directions. The output of the detection signal sampling module serves as another input signal for the PLL. The PLL outputs the phase error between the X and Y channels.
3. The phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit according to claim 1, characterized in that, The excitation signal amplification module includes a first high-voltage amplifier circuit, a second high-voltage amplifier circuit, and an inverting circuit. The combination of the inverting circuit and the second high-voltage amplifier circuit can provide inverted excitation signals for the X- and Y- electrodes in the X and Y channels. The first high-voltage amplifier circuit provides inverted excitation signals for the X+ and Y+ electrodes in the X and Y channels.
4. The phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit according to claim 3, characterized in that, The detection signal amplification module includes a first sampling circuit, a second sampling circuit, and a differential amplifier circuit; the first sampling circuit includes a first sampling resistor and a first operational amplifier; the second sampling circuit includes a second sampling resistor and a second operational amplifier; the output terminals of the first operational amplifier and the second operational amplifier are connected to the differential amplifier circuit.
5. The phase error testing device for a time-division multiplexed hemispherical resonator gyroscope circuit according to claim 4, characterized in that, The first X- electrode is connected to the negative input of the second operational amplifier via the first switch S1; the first X+ electrode is connected to the negative input of the first operational amplifier via the second switch S1; the first Y- electrode is connected to the negative input of the second operational amplifier via the first switch S2; the first Y+ electrode is connected to the negative input of the first operational amplifier via the second switch S2; the second X- electrode is connected to the second high-voltage amplifier circuit via the first switch S4; the second X+ electrode is connected to the first high-voltage amplifier circuit via the second switch S4; the second Y- electrode is connected to the second high-voltage amplifier circuit via the first switch S3; and the second Y+ electrode is connected to the first high-voltage amplifier circuit via the second switch S3.
6. The phase error testing device for a time-division multiplexed hemispherical resonant gyroscope circuit according to claim 1, characterized in that, The switching signal includes three state switching modes: X-channel detection and excitation, idle state, and Y-channel detection and excitation. The control logic sequence is: [S1=1,S2=0,S3=0,S4=1], [S1=0,S2=0,S3=0,S4=0], [S1=0,S2=1,S3=1,S4=0]; The number 1 indicates that the switch is on, and the number 0 indicates that the switch is off.