72 results about "Hemispherical resonator gyroscope" patented technology

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.

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 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.

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 hemispherical resonator gyroscope assembly method and device based on machine vision, and belongs to the field of hemispherical resonator gyroscope precision assembly. After the harmonic oscillator in the hemispherical resonator gyroscope and the base are clamped, the fixed coaxial camera lens assembly is used for achieving shaft hole image collection of a to-be-assembled part-hemispherical harmonic oscillator and a base part-electrode base, and shaft hole movement deviation extraction is completed. Meanwhile, two gap cameras with the included angle of 150 degrees are used for obtaining local gap images and calculating rotation pose errors, a micropositioner drives a harmonic oscillator to complete error adjustment, then a temperature controller controls temperature linear change to conduct indium welding, and assembling is completed. According to the invention, the camera vision detection system is utilized to calculate and adjust the relative pose error of the harmonic oscillator and the electrode base in the assembly process, and meanwhile, the temperature control system is utilized to realize heating at a specified temperature gradient, so that the assembly and connection of the hemispherical harmonic oscillator and the electrode base are realized. The assembly precision of the hemispherical resonator and the electrode base is improved, and the current high-precision assembly requirement for the hemispherical resonator gyroscope is met.

The invention discloses a hemispherical harmonic oscillator anchor rod size optimization method and device, and the method comprises the steps: S1, obtaining the size and attribute parameters of a hemispherical harmonic oscillator, S2, sampling the parameters of an anchor rod, and obtaining the parameter sampling value of the anchor rod; s3, calculating the frequency of the hemispherical harmonic oscillator to obtain a calculation frequency value of the hemispherical harmonic oscillator, judging whether the calculation frequency value is smaller than or equal to a set frequency upper limit value or not, if yes, turning to step S4, and if not, turning to step S2; and S4, constructing a two-dimensional axisymmetric finite element model of the hemispherical harmonic oscillator, performing two-dimensional thermal field transient simulation after obtaining simulated boundary conditions, judging whether the temperature difference between the lip edge of the hemispherical harmonic oscillator and the center of the top end of the anchor rod meets the requirement within specified time or not after simulation is completed, if yes, outputting a specific parameter value of the anchor rod, and if not, turning to the step S2. The anchor rod is optimized, and the performance of the hemispherical resonator gyroscope can be comprehensively improved while the strength requirement is met.

The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a heat dissipation device of a hemispherical resonator gyro, the heat dissipation device comprises a hemispherical resonator and a getter which are arranged in a sealed shell, the sealed shell comprises a first barrel section and a second barrel section, the first barrel section and the second barrel section are in sealed connection through a folding heat dissipation plate, and the folding heat dissipation plate is arranged in the sealed shell. A thermal actuator and a heat conduction rod are further arranged in the second barrel section, the thermal actuator is connected with a getter heated through electricity through the heat conduction rod, the thermal actuator comprises a driving end and a positioning end, a positioning plate is arranged at the connecting end of the first barrel section and the folding heat dissipation plate, and the end portion of the positioning end is fixedly connected with the positioning plate. According to the invention, after the first cylinder section is far away from the second cylinder section, the folding heat dissipation plate is unfolded, so that the heat dissipation surface area is greatly increased, heat dissipation is enhanced, meanwhile, the hemispherical harmonic oscillator is far away from the getter, and the whole process is driven and controlled by heat generated by the getter.

A kind of hemispherical resonator gyro assembly tool and assembly method, tool includes installation platform, installation platform table top is equipped with the circular groove of clamping and positioning electrode base and the reference round hole coaxial with circular groove, the outer periphery of circular groove is horizontally equipped with a adjusting screw rod, the top of installation platform is equipped with a horizontal clamping lead screw, a horizontal adjusting lead screw, visual microscope lens, the lower portion of installation platform is provided with inclination measuring instrument, heater, and inclination measuring instrument, heater can be alternately set in reference round hole;Assembly method: through alcohol, remove impurities and, cylindrical indium piece is in order with the lower end of hemispherical resonator central column, then hemispherical resonator is inserted in electrode base central hole, and the measured value of inclination measuring instrument and visual microscope lens is combined to adjust horizontal clamping lead screw and horizontal adjusting lead screw, so that hemispherical resonator is in optimal assembly position, to reduce the stress generated in assembly process, reduce stress damage, and then guarantee the use precision, life of gyro.

The invention relates to a hemispherical resonator gyroscope capable of changing the height of a planar electrode plate and an error compensation method of the hemispherical resonator gyroscope, and belongs to the technical field of hemispherical resonator gyroscopes. The hemispherical resonator gyroscope comprises a hemispherical resonator shell, the planar electrode plate, a bottom plate and a temperature sensor, the planar electrode plate is movably installed on the bottom plate and located between the bottom plate and the hemispherical resonance shell, a plurality of electric lifting mechanisms used for synchronously adjusting the height of the planar electrode plate are evenly installed between the bottom plate and the planar electrode plate, the temperature sensor is fixedly installed on the bottom plate, and the temperature sensor and the electric lifting mechanisms are electrically connected to the controller. The temperature sensor collects the temperature of the hemispherical resonator gyroscope in real time, and the controller controls the electric lifting mechanism to drive the planar electrode plate to lift according to the temperature of the hemispherical resonator gyroscope, so that the height of the planar electrode plate is changed, and the temperature drift error of the hemispherical resonator gyroscope is compensated; and the compensation real-time performance and the compensation precision are high.

This invention provides a segmented vibration control method for a hemispherical resonator gyroscope. It analyzes the different requirements for amplitude and orthogonal control at different operating stages of the hemispherical resonator gyroscope and designs a segmented control method. From the perspective of drive detection cycle allocation, it provides control methods for the startup and stabilization stages respectively. This method comprehensively improves the speed and accuracy of the hemispherical resonator gyroscope vibration control to a certain extent, simultaneously meeting the speed and accuracy requirements of vibration control, and providing a foundation for improving the performance of hemispherical resonator gyroscopes.

The application discloses a kind of hemispherical resonator gyro temperature characteristic calibration method and system.The method comprises: after hemispherical resonator gyro starts, output calibration module sends instruction to electrode excitation detection module in hemispherical resonator gyro according to to-be-calibrated parameter;Electrode excitation detection module receives instruction, and additional excitation related to to-be-calibrated parameter is superimposed to resonator in hemispherical resonator gyro, and hemispherical resonator gyro generates output signal related to to-be-calibrated parameter;Phase-locked loop sends to output calibration module after processing output signal;Temperature detection module sends temperature signal to output calibration module;Output calibration module receives the output signal output by phase-locked loop, and the temperature signal output by temperature detection module, establishes multivariate temperature model, and the calibration parameter of hemispherical resonator gyro is obtained by iterative calculation using gradient descent algorithm;Output calibration module saves calibration parameter, and calibrates the temperature characteristic of hemispherical resonator gyro using calibration parameter.

The invention relates to a hemispherical resonator gyroscope flexibility testing device, which comprises a testing base and a flexible connecting section, the test base is of a cylindrical structure; the flexible connection section is mounted on the test base; the flexible connecting section comprises connecting columns, a gyroscope mounting surface and a base, the upper surface of the flexible connecting section is the gyroscope mounting surface, and the base is connected with the gyroscope mounting surface through the connecting columns which are uniformly distributed along the circumference. According to the invention, a flexible link is added in the structure, and rigidity optimization is carried out in combination with the gyroscope structure and the working frequency of the harmonic oscillator, so that the structural mode avoids the working frequency and the system bandwidth of the hemispherical resonator gyroscope, thereby realizing isolation of the structural vibration of the working frequency band between the harmonic oscillator header and the base by adopting a simple structure; and the influence of the external environment on the test precision is reduced.

The invention discloses a eutectic soldering furnace for packaging a hemispherical resonator gyroscope and a packaging method, and belongs to the field of production and manufacturing of hemispherical resonator gyroscopes. The eutectic welding furnace comprises a vacuum system, heating systems and a lifting mechanism, the vacuum system vacuumizes a closed space formed by a vacuum cavity and the lifting mechanism through a vacuum pump set, and the two heating systems heat an upper cover assembly and a lower cover assembly of the hemispherical resonator gyroscope respectively, so that the upper cover assembly and the lower cover assembly reach the temperature required by packaging; an upper cover assembly of the hemispherical resonator gyroscope is fastened at the tail end of the lifting mechanism, so that the upper and lower cover assemblies are assembled. According to the eutectic soldering furnace and the packaging method, packaging of the hemispherical resonator gyroscope header can be achieved, the packaging efficiency is high, and the sealing reliability is high.

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

This invention discloses a bonding device for a hemispherical resonator gyroscope housing and its base, comprising a worktable, a three-axis moving module, a clamping module, and a bonding module. The clamping module clamps the base on the worktable and releases it after reaching the lower heating platform under the drive of the three-axis moving module. It also clamps the housing on the worktable and releases it after reaching the lower heating platform or the base under the drive of the three-axis moving module. A second Z-axis sliding mechanism allows the upper heating platform to move in the Z-axis direction. The upper heating platform, driven by the three-axis moving module, abuts against the housing on the lower heating platform to preheat the housing or perform bonding heating on the assembly of the housing and the base. This invention, through the design of the clamping module and heating module, and in conjunction with a specific motion mechanism, achieves automated heating and pressure bonding of the micro-hemispherical housing and the electrode base. It is applicable not only to conventional pressureless gold-indium bonding but also to high-pressure copper-tin bonding.