118 results about "Hemispherical resonator gyroscope" patented technology

The invention discloses an error self-calibration method of a hemispherical resonator gyroscope. The error self-calibration method comprises the following steps: realizing mapping and transition between modals; identifying and eliminating transient errors generated in the mode switching process; the error compensation process is optimized, and the adaptive capacity of the system to complex dynamic changes is enhanced; the control parameters of the gyroscope in different modes are automatically adjusted; the correction of an error mode is optimized, and the output precision is improved; transient errors are recognized and eliminated in real time, and system output signals are smoothed; constructing a mode switching decision support and prediction algorithm, judging a mode switching opportunity, predicting an error after switching and compensating the error in advance; system control and calibration parameters are adjusted in real time; layered optimization is carried out on errors of different modal hierarchies; and error self-learning and system optimization are realized by combining adaptive learning and a global optimization strategy. According to the method, the transient error problem caused in the mode switching process can be effectively solved, and global optimization and error correction can be carried out in real time.

The invention discloses a hemispherical gyroscope phase-locking control optimization method and device, and the method comprises the steps: changing the vibration mode azimuth angles of a hemispherical resonator gyroscope, collecting the phase-locking frequency in real time for each vibration mode azimuth angle, and calculating the phase-locking optimization control force in real time according to the collection result, substituting the phase locking frequency and the phase locking optimization control force into an electrode driving excitation model to calculate a driving signal in real time and transmit the driving signal to a driving electrode, and after the phase locking frequency is stable, collecting a stable phase locking optimization control force corresponding to the vibration mode azimuth angle; according to all the vibration mode azimuth angles and the corresponding stable phase-locking optimization control force, constructing a relation model of the two, solving the relation model to obtain phase-locking optimization parameters, calculating the phase-locking optimization control force according to the phase-locking optimization parameters and the relation model, and substituting the phase-locking optimization control force into an electrode driving excitation model to calculate a driving signal. Therefore, the compensation for the driving signal when the hemispherical resonator gyroscope works normally is realized. According to the invention, the influence of the circumferential frequency difference on the output precision of the harmonic oscillator can be eliminated.

The invention relates to an automatic test method and system for the zero offset of a hemispherical resonator gyroscope. The automatic test system composed of a double-shaft servo turntable control module, a gyroscope control module and a PC (Personal Computer) upper computer is built; a servo turntable control instruction and a gyroscope control instruction are sent through a serial port according to a certain program through an automatic test logic built in a PC upper computer, a gyroscope vibration mode angle is controlled to be automatically switched from 0 degree to 360 degrees (the step length can be set), and turntable angle and gyroscope vibration mode angle data under each vibration mode angle are synchronously collected; and substituting the acquired data into the error model, completing zero offset error parameter identification by adopting a nonlinear least square method, generating an error compensation formula, and writing the error compensation formula into a gyroscope control unit in real time to realize compensation.

The invention relates to a hemispherical resonator and hemispherical gyroscope parameter and defect identification system and method, and belongs to the technical field of hemispherical resonator gyroscopes. According to the invention, automatic identification of damping non-uniformity, rigidity non-uniformity and 1-3-order quality defect parameters is respectively carried out on the fused quartz hemispherical resonator before and after film coating and the gyroscope header after base assembly, so that the full-flow coverage test of the hemispherical resonator gyroscope is realized; various parameters are identified in the whole process from harmonic oscillator machining forming to the gauge outfit state, the testing precision, the system reusability, the operation convenience and consistency are greatly improved, and the production efficiency is improved.

The invention discloses a detection device and a detection system for harmonic oscillator capacitors of a hemispherical resonator gyroscope, and relates to the technical field of capacitor detection, the detection device comprises a signal detection circuit, a modulation compensation circuit, a differential amplification circuit and a control circuit, the signal detection circuit is connected with the output ends of the two harmonic oscillator capacitors; the modulation compensation circuit is correspondingly connected with two input ends of the signal detection circuit; the differential amplification circuit is correspondingly connected with two output ends of the signal detection circuit; the control circuit is configured to output modulation voltage to the two input ends of the modulation compensation circuit according to a voltage signal of the output end of the differential amplification circuit, and zero setting is carried out on voltage at the connecting positions of the two output ends of the modulation compensation circuit and the two input ends of the signal detection circuit. According to the invention, the modulation compensation circuit is adopted to enable the output ends of the two harmonic oscillator capacitors to work near zero voltage, the circuit has the characteristics of ultrahigh linearity, extremely low temperature drift, rapidness and stability, errors caused by power supply drift can be eliminated, and the detection precision is improved.

In order to solve the problems that in an existing hemispherical harmonic oscillator quality leveling technology, the inherent rigid axis positioning efficiency is low, and manual intervention is relied on, the invention provides a method for rapidly positioning the azimuth of an inherent rigid axis of a hemispherical harmonic oscillator based on pulse broadband excitation and quasi standing wave response and a corresponding leveling device. Through an analytical expression of a main standing wave and an auxiliary wave in a second-order four-amplitude resonance working mode, a double-excitation vibration stopping system (comprising two knocking hammers and a vibration stopping hammer with the azimuth difference of 22.5 degrees odd times) is ingeniously designed, and the azimuth of an inherent rigid shaft is quickly positioned by combining orthogonal detection signals. According to the method, the limitation on the excitation direction and the detection direction is relaxed, and through the design of the vibration stopping hammer, the positioning efficiency of the inherent rigid shaft is improved, and the extraction precision of residual vibration on the characteristic parameters can be avoided. The formed hemispherical resonator leveling device provides reliable technical support for batch production of high-precision hemispherical resonator gyroscopes.

1. The name of the design product: hemispherical resonator gyro flat plate electrode. 2. The use of the design product: inertial measurement. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The invention discloses a micro-hemispherical electrode, a preparation method thereof and a micro-hemispherical resonator gyro, and the preparation method comprises the following steps: separating a high-pressure film layer and a metal bottom film layer on a quartz surface by a bottom layer pattern with a set line width; forming an insulating film layer with an annular main body structure on the high-voltage film layer; a plurality of electrode film layers and GND film layers are formed on the insulating film layer and the metal bottom film layer, the plurality of electrode film layers are located on the insulating layer and are distributed at intervals in the circumferential direction by taking the high-voltage film layer enclosed by the inner ring of the insulating layer as the center, and the electrode film layers and the GND film layers are separated by frame patterns with set line widths; the GND film layer extends inwards from the edge of the quartz surface to the inner ring close to the insulating layer. According to the invention, the problems of signal instability and circuit board short circuit damage caused by uneven electric field of the micro hemispherical resonator gyroscope can be effectively improved.

The invention discloses a spherical surface standing wave three-dimensional procession effect three-axis integrated miniature gyroscope spherical shell resonance structure, the structure comprises a spherical harmonic oscillator, a plurality of electrodes and a shell, and the electrodes are used for measuring the vibration mode of the spherical harmonic oscillator to realize the measurement of the angular velocity of three-axis rotation; a supporting column is arranged in the center of the spherical harmonic oscillator, an inner spherical shell is arranged on the outer layer of the spherical harmonic oscillator, the supporting column comprises a plurality of U-shaped supporting beams, an anchor area sphere and a base, the inner spherical shell is constructed to be in a thickness non-uniform distribution form, and the lower end of the inner spherical shell is provided with a hole structure for the supporting column to penetrate through. Wherein the lower boundary of the hole is overlapped with the upper boundary of the base. The electrodes are arranged on the outer side of the spherical harmonic oscillator, a gap between the outer wall of the spherical harmonic oscillator and the inner wall of each electrode is a capacitance gap, the electrodes are arranged around the equator of the spherical harmonic oscillator every 45 degrees, the electrodes are arranged at the 45-degree positions of an upper hemisphere and a lower hemisphere every 90 degrees, and the electrodes are embedded in the upper face of the shell. The three-axis angular velocity measuring device has the remarkable effects that the structure is simple, the space limitation of two-dimensional precession of a traditional hemispherical resonant gyroscope is broken through, and the three-axis angular velocity measurement is realized under a single structure by utilizing the space precession characteristic of spherical harmonic standing waves under the action of multi-degree-of-freedom inertia force.

The utility model discloses a kind of hemispherical resonator gyroscopes and flat plate electrodes, flat plate electrode includes quartz sheet, its upper surface is equipped with by the frame pattern with set line width is separated GND film layer and multiple electrode film layers, multiple electrode film layers are arranged in circumferential interval, GND film layer is extended from quartz upper surface edge to surround multiple electrode film layers by inside;Multiple grooves are equipped on the lateral wall surface of quartz sheet, groove extends to the lower surface of quartz sheet and is penetrated, groove includes a ground groove and multiple electrode grooves, multiple electrode grooves and multiple electrode film layers one-to-one correspondence, each electrode film layer extends to the groove wall of corresponding electrode groove by inside, ground groove is located between two adjacent electrode grooves, the region corresponding to GND film layer and ground groove extends to the groove wall layer covering ground groove by inside.The utility model can solve the problem that hemispherical resonator gyroscope assembly reverse welding is difficult, vibration is easy to fall off.

The invention discloses a control method and system of a hemispherical resonator gyroscope. The control method of the hemispherical resonator gyroscope comprises the following steps: acquiring an interrupt signal of a fixed period; synchronously starting a driving loop task and a detection loop task according to the interrupt signal; in the driving loop task, the driving loop is controlled to form a driving signal, and the driving signal is used for controlling the hemispherical resonator gyroscope; in the detection loop task, a detection signal is formed according to detection information provided by the detection loop. The driving loop task and the detection loop task are synchronously started according to the interrupt signal, so that the driving loop task and the detection loop task can be directly synchronized with the interrupt signal and run at the highest priority, and time sequence jitter caused by task scheduling and interrupt delay in the prior art can be eliminated. A driving loop task and a detection loop task are operated at a fixed frequency of nanosecond jitter, so that phase and amplitude noise introduced due to time sequence uncertainty is greatly reduced, and the core performance index of the hemispherical resonator gyroscope is improved.

The invention discloses a noise component calculation method and device of a hemispherical resonator gyroscope. The method comprises the following steps: acquiring a test result of the zero-bias stability of the hemispherical resonator gyroscope; carrying out ALLAN variance analysis on the test result of the zero bias stability, and determining a quantization noise coefficient, an angle random walk coefficient, a zero bias instability coefficient, a rate random walk coefficient and a rate slope noise coefficient; and calculating and determining a quantization noise component, an angle random walk noise component, a zero offset instability noise component, a rate random walk noise component and a rate slope noise component according to the quantization noise coefficient, the angle random walk coefficient, the zero offset instability coefficient, the rate random walk coefficient and the rate slope noise coefficient. According to the method, contributions of different noise components in the zero offset error source of the hemispherical resonator gyroscope can be obtained, and the long-term stability and the measurement precision of the hemispherical resonator gyroscope are improved.

The invention aims to solve the technical problems that a hemispherical resonator gyroscope in the prior art is difficult to adapt to a high-dynamic environment, cannot realize full-circumferential high-precision measurement and is insufficient in anti-interference capability, and provides a three-axis inertially stabilized platform system based on a full-angle mode hemispherical resonator gyroscope and a control method thereof. The system adopts a three-axis two-frame structure, and the method adopts a Y-axis stable control loop and an XZ double-axis stable control loop to realize three-axis stable control of the inertially stabilized platform; a stable control loop adopts a double-loop control mode of'a rate inner loop + a position outer loop ', angle change information sensed by a corresponding hemispherical resonator gyroscope is calculated by a correction network to generate a driving signal, a corresponding torque motor is driven to generate an electromagnetic torque for counteracting an interference torque, and the method can isolate the disturbance caused by the movement of a carrier; a six-position calibration method of a mixed mode is invented based on the stable control loop, and the method is characterized in that the gyroscope is stabilized at the optimal standing wave angle position during stable acquisition, so that the optimal measurement precision of the gyroscope is exerted.

The application discloses a kind of based on CadencePspice software's hemispherical resonator gyro circuit model, is realized by calling the built-in element of CadencePspice software;Including: drive module, for providing an excitation signal;First conversion module, for converting excitation signal into the first signal f (x) representing x-axis electrostatic force;First simulation module, for simulating the second signal x representing the vibration displacement of x-axis and y-axis based on first signal f (x), third signal y;Second simulation module, for simulating the change of the capacitance value between resonator and detection electrode based on second signal x and third signal y, ninth signal v0, tenth signal v90, eleventh signal v45, twelfth signal v135;And second conversion module, for carrying out charge amplification processing based on ninth signal v0, tenth signal v90, eleventh signal v45, twelfth signal v135 and output corresponding detection signal.The application can improve the accuracy of simulation.

The invention relates to a wide-temperature low-power-consumption temperature control system suitable for a hemispherical resonator gyroscope inertial measurement unit. The wide-temperature low-power-consumption temperature control system comprises a heat shielding unit and a temperature control unit, the heat shielding unit comprises a heat shielding cover and a heat insulation support; the temperature control unit comprises a PID (Proportion Integration Differentiation) signal processing unit, a power amplification unit, a heating element and a heat sensor; the plurality of heat insulation supports penetrate through the bottom of the heat shielding cover in a sealing manner, the upper ends of the plurality of heat insulation supports are positioned in the heat shielding cover and are arranged at equal height, the upper ends of the plurality of heat insulation supports form an inertial component mounting surface, and the inertial component is fixedly mounted in the heat shielding cover by penetrating screws into inner holes of the heat insulation supports; the PID signal processing unit and the power amplification unit are arranged outside the heat shielding case, and the heating element and the heat sensor are arranged inside the heat shielding case and are fixedly mounted on the inertia assembly; the heating element and the heat sensor are respectively connected with the power amplification and PID signal processing unit through respective signal lines, and the signal lines hermetically penetrate through line passing holes formed in the heat shielding cover.

The application relates to the technical field of hemispherical resonator gyroscopes, and provides a hemispherical resonator gyroscope scale nonlinearity error compensation method and system, which comprises the following steps: installing a hemispherical resonator gyroscope on a turntable, the input shaft of the hemispherical resonator gyroscope coincides with the rotating shaft of the turntable, controlling the turntable to rotate at two speeds with equal values and opposite directions respectively, recording the resonator gyroscope mode angle output by the hemispherical resonator gyroscope, based on the flat plate capacitance detection principle of the hemispherical resonator gyroscope, deducing an error model by combining the complete Taylor expansion, the Fourier series expansion and the binomial theorem with the relationship between the precession angular velocity and the mode angle of the hemispherical resonator gyroscope, performing multiple linear fitting according to the resonator gyroscope mode angle and the error model, solving the scale nonlinearity term according to the identifiable parameters of the nonlinearity error, and performing feedback compensation according to the scale nonlinearity term. The application can estimate the scale nonlinearity error and perform feedback compensation, thereby improving the output precision of the hemispherical resonator gyroscope.

This invention discloses a hemispherical resonator gyroscope based on interdigital electrode excitation and optical detection, comprising an excitation base and a hemispherical resonator. Interdigital electrodes and an optical detection device are mounted on the base of the resonator, respectively positioned on the circumferences of two concentric circles, serving to support the excitation base, the vacuum-sealed resonator assembly, and the vacuum connector for the interdigital electrode leads. The interdigital electrodes are connected to the vacuum connector via conductive pins. The invention also discloses its excitation and detection method. The interdigital electrode excitation of this invention is a non-contact electrical excitation, requiring no coating on the resonator, thus ensuring a high Q value and low-frequency fragmentation of the resonator. Within the gyroscope design framework of interdigital electrode excitation and optical detection, signal processing and error compensation are performed using full-angle tracking mode, which can improve the overall performance of the gyroscope, including accuracy, dynamic range, and environmental adaptability.

The invention provides an all-angle mode hemispherical resonator gyroscope electrode structure. The all-angle mode hemispherical resonator gyroscope electrode structure comprises a quartz glass substrate and a signal guide pin, on the basis of an independent electrode structure, a complete annular electrode area in the circumferential direction is added and used for amplitude control stress application of the full-angle mode hemispherical resonator gyroscope, and control errors introduced by machining errors when electrodes are segmented in the circumferential direction and stress application efficiency reduction and control noise caused by time division multiplexing of the electrodes can be effectively avoided. Through the design of the electrode size and the electrode signal path, the signal extraction of the independent electrode and the annular electrode is realized, the coupling interference is avoided, and the control efficiency is optimized.

The present invention relates to a circumferential multipole spectral ranging hemispherical resonator gyroscope assembly clearance detection device and method. By arranging multiple dispersive confocal probes along the circumference of a hemispherical resonator gyroscope having a spherical electrode structure and rationally adjusting the posture and position of the dispersive confocal probes using an adjustment table and a motion table, the present invention can accurately measure the spatial radial assembly clearance between the hemispherical resonator and the resonator gyroscope base at multiple circumferential points, providing an effective adjustment basis for subsequent assembly and adjustment. Without relying on any capacitance detection information, the present invention can invert multipole spatial radial assembly clearance data to obtain key system assembly parameters such as the transverse and longitudinal assembly clearances and assembly coaxiality between the hemispherical resonator and the resonator gyroscope base. Furthermore, the measurement results are stable and have low requirements for working environment conditions, thus avoiding the problem in existing capacitance detection where the measured value is easily affected by ambient temperature, humidity, and other conditions.

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

This invention discloses a method for optimizing the design of a hemispherical resonator structure, an electronic device, and a computer-readable storage medium. The optimization method includes: establishing a parameterized model of the hemispherical resonator based on its design parameters; defining the design parameters to be optimized as design variables; setting attribute parameters and constraints; and optimizing the parameterized model of the hemispherical resonator by simulation, with the optimization objectives being to minimize the frequency and maximize the effective modal mass. This invention can achieve the maximum modal mass without significantly increasing the frequency, thereby improving the accuracy of the hemispherical resonator gyroscope.

The application relates to the technical field of hemispherical resonator gyroscopes, in particular to a heat dissipation device of a hemispherical resonator gyroscope, which comprises a hemispherical resonator and a getter arranged in a sealed shell, the sealed shell comprises a first cylinder section and a second cylinder section, the first cylinder section and the second cylinder section are sealingly connected through a folding heat dissipation plate, a thermal actuator and a heat conduction rod are further arranged in the second cylinder section, the thermal actuator is connected with the getter heated by electricity through the heat conduction rod, the thermal actuator comprises a driving end and a positioning end, a positioning plate is arranged on the connecting end of the first cylinder section and the folding heat dissipation plate, and the end of the positioning end is fixedly connected with the positioning plate. The first cylinder section and the second cylinder section of the application are away from each other, the folding heat dissipation plate is unfolded, the heat dissipation surface area is greatly increased, heat dissipation is strengthened, and the hemispherical resonator is far away from the getter, the whole process is driven and controlled by the heat generated by the getter itself.

This invention relates to an online calibration method for the detection error of a hemispherical resonator gyroscope, belonging to the field of inertial technology. This invention solves the problems of traditional offline calibration of hemispherical resonator gyroscope detection errors, which cannot overcome the influence of external factors on the hemispherical resonator gyroscope and cannot provide real-time compensation for X / Y channel gain errors and misalignment angles in the hemispherical resonator gyroscope detection circuit. This invention utilizes a cosine reference signal V generated by a phase-locked loop. c and sinusoidal reference signal V s The vibration signals detected by the X and Y channels of the preprocessed hemispherical resonant gyroscope are demodulated in real time to obtain C. x C y S x and S y Using the X / Y channel gain ratio k yx and the misalignment angle α relative to C x C y S x and S y Compensation will be made, based on the compensated C. x C y S x and S y The X-channel and Y-channel control quantities are generated and applied to the X and Y channel excitation electrodes of the hemispherical resonator gyroscope, respectively, thereby completing the online self-calibration of the hemispherical resonator gyroscope's detection error. This is primarily used for online calibration of hemispherical resonator gyroscopes.

This invention belongs to the technical field of hemispherical resonator gyroscope manufacturing and discloses a laser polishing method for hemispherical resonators. The method includes: cleaning a ground hemispherical resonator to remove surface impurities, followed by drying; clamping the hemispherical resonator on a five-axis linkage platform, and sequentially scanning the outer and inner surfaces of the hemispherical resonator according to a set trajectory using a controlled laser, thereby performing melt polishing of the outer and inner surfaces, reducing surface roughness while repairing subsurface damage; finally, annealing the laser-polished hemispherical resonator to eliminate residual stress. Compared with existing technologies, this invention effectively solves the problems of low processing efficiency and inability to completely remove subsurface damage layers in existing polishing methods for hemispherical resonators. Furthermore, it eliminates the chemical corrosion step in existing processes, thus improving the production efficiency of hemispherical resonators and being more environmentally friendly.

The invention discloses a hemispherical resonator gyroscope temperature characteristic calibration method and system. The method comprises the following steps: after the hemispherical resonator gyroscope is started, an output calibration module sends an instruction to an electrode excitation detection module in the hemispherical resonator gyroscope according to a to-be-calibrated parameter; the electrode excitation detection module receives the instruction and superposes additional excitation related to parameters to be calibrated on a harmonic oscillator in the hemispherical resonator gyroscope, and the hemispherical resonator gyroscope generates an output signal related to the parameters to be calibrated; the phase-locked loop processes the output signal and then sends the output signal to the output calibration module; the temperature detection module sends a temperature signal to the output calibration module; the output calibration module is used for receiving an output signal output by the phase-locked loop and a temperature signal output by the temperature detection module, establishing a multi-element temperature model, and carrying out iterative calculation by adopting a gradient descent algorithm to obtain calibration parameters of the hemispherical resonator gyroscope; and the output calibration module is used for storing the calibration parameters and calibrating the temperature characteristics of the hemispherical resonator gyroscope by adopting the calibration parameters.

The invention discloses an evaporation tool, system and method for a metalized film layer of an electrode detection base of a hemispherical resonator gyroscope, and solves the problems that the metalized film layer evaporated on the surface of the electrode detection base is rough and poor in uniformity in the prior art. The metalized film evaporation tool and the heat insulation plate assembly are arranged on the evaporation equipment, and parameters such as vacuum degree, baking temperature and evaporation current suitable for evaporation of the electrode detection base are set, so that the electrode detection base can rotate in all directions during evaporation in a vacuum cavity; the semi-spherical resonator gyroscope has the advantages that partial area is prevented from being shielded, the temperature and vacuum degree distribution of the upper area and the lower area in the vacuum cavity tends to be uniform, the heat transfer rate is increased, the consistency and stability of the quality of the metallized film layer are guaranteed, the uniformity and binding force of the metallized film layer are improved, and the measurement and control precision of the semi-spherical resonator gyroscope is further improved.

The invention discloses a dual-mode control method of a hemispherical resonator gyroscope, which comprises the following steps of: firstly calculating an angle theta value of a position where a vibration mode is located, and then calculating a rotation angular velocity omega in a force feedback control mode or a full-angle control mode through theta; therefore, the method can be suitable for calculation of a force feedback control mode, and can also be suitable for calculation of an all-angle control mode. Under different working conditions, the control system can switch two modes for corresponding application, and the complementary effect of the two control modes is achieved.

This invention belongs to the field of inertial navigation technology, specifically relating to a low-precision gyroscope-assisted self-calibration method for a rate integral hemispherical resonator (HRG), applicable to various applications of the HRG. This invention uses a low-precision gyroscope coaxial with the HRG for assistance, and employs a Kalman filter method to estimate and compensate for the damping mismatch error of the HRG in real time, thus achieving self-calibration of the HRG. The final output (ω′) HRG ) k The accuracy is higher than the original accuracy of the rate integral HRG, and also higher than the measurement accuracy of the auxiliary gyroscope. This invention achieves real-time calibration and compensation of the damping mismatch error parameter of the HRG without excessively increasing the size and cost by using a low-precision gyroscope as an aid. This significantly reduces the impact of the damping mismatch error on the accuracy of the HRG, can accurately calibrate the damping mismatch error parameter of the HRG under dynamic conditions, can significantly reduce the impact of environmental changes on the compensation effect, and improve the environmental adaptability of the HRG.

The invention discloses a hemispherical resonator gyroscope circuit model based on Cadence Pspice software. The hemispherical resonator gyroscope circuit model is realized by calling a built-in element of the Cadence Pspice software. Comprising a driving module used for providing an excitation signal; the first conversion module is used for converting the excitation signal into a first signal f (x) representing x-axis electrostatic force; the first simulation module is used for simulating a second signal x and a third signal y which represent the vibration displacement of the x axis and the y axis based on the first signal f (x); the second simulation module is used for simulating a ninth signal v0, a tenth signal v90, an eleventh signal v45 and a twelfth signal v135 of capacitance value changes formed between the harmonic oscillator and the detection electrode based on the second signal x and the third signal y; and the second conversion module is used for carrying out charge amplification processing based on the ninth signal v0, the tenth signal v90, the eleventh signal v45 and the twelfth signal v135 and outputting corresponding detection signals. According to the invention, the simulation accuracy can be improved.

The present invention relates to the field of high-precision gyroscope devices, and particularly to a high-performance hemispherical resonator gyroscope measurement system. The system includes: a measurement module that measures the measurement angular velocity of the object to be measured through a hemispherical resonator gyroscope; a temperature monitoring module that includes a temperature sensor and is used to monitor the housing temperature of the sealed housing; a temperature conversion module, where the temperature monitoring module and the temperature conversion module are electrically connected, and the temperature conversion module is used to convert the housing temperature into the oscillator temperature of the resonator; and an output correction module, where the measurement module and the temperature conversion module are both electrically connected to the output correction module, and the output correction module can correct the measurement angular velocity according to the oscillator temperature, obtain the corrected angular velocity of the measurement object and output it. It is possible to balance the influence of temperature changes on the output data of the hemispherical resonator gyroscope through compensation means, thereby improving the measurement accuracy of the hemispherical resonator gyroscope.