101 results about "Hemispherical resonator gyroscope" patented technology

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 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.

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 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 micro-hemisphere electrode, a micro-hemisphere gyroscope and a preparation method thereof, a micro-hemisphere electrode substrate and a functional film layer arranged on the surface of the substrate, the substrate is provided with a plurality of through holes, the functional film layer is composed of a high-voltage film layer and a first GND film layer on the bottom layer, an insulating film layer on the middle layer, and an electrode film layer and a second GND film layer on the top layer, the problem that stray capacitance coupling noise is generated due to the fact that a high-voltage electrode and an electrode film layer are coplanar is solved, high voltage and sensitive signals are isolated through an insulating layer, a micro-hemisphere electrode is of an array hollow structure, a sacrificial layer with the thickness consistent with the distance between the lip edge of the hemispherical resonator gyroscope and the electrode film layer is arranged on the surface of the micro-hemisphere electrode, and a gap can be effectively controlled through the sacrificial layer; the capillary force constraint can be broken through by adopting the hollow electrode, and efficient cleaning under the submicron gap condition is realized, so that the problems of bonding assembly gap control and cleaning after assembly of the micro-hemispherical resonator gyroscope are solved, and the method is suitable for batch production of the micro-hemispherical resonator gyroscope.

The invention discloses a transimpedance amplification circuit-based capacitance detection method and a transimpedance amplification circuit-based capacitance detection system for a metal resonant gyroscope. The method comprises the following steps: converting periodic weak capacitance change generated by vibration displacement between a plate electrode and a metal harmonic oscillator of the metal resonant gyroscope in a resonant state into a corresponding alternating current signal; converting the alternating current signal into a corresponding voltage signal by using a transimpedance amplification circuit, and amplifying the voltage signal to obtain an amplified voltage signal; suppressing low-frequency drift and high-frequency noise interference in the amplified voltage signal through a filter to obtain a filtered voltage signal; and demodulating the filtered voltage signal, extracting amplitude information of a detection mode of the metal harmonic oscillator, and converting the amplitude information into an angular velocity signal of the metal resonant gyroscope. The technical problem that weak capacitance signals in the metal micro-hemispherical resonator gyroscope are difficult to effectively extract is solved.

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 present invention discloses a micro-hemispherical electrode, a method for fabricating the same, and a micro-hemispherical resonant gyroscope. The fabrication method comprises: forming a high-voltage film layer and a metal base film layer on a quartz surface, the two being separated by a base pattern having a predetermined line width; forming an insulating film layer having a ring-shaped main structure on the high-voltage film layer; and forming multiple electrode film layers and a grounding device (GND) film layer on the insulating film layer and the metal base film layer. The multiple electrode film layers are located on the insulating layer and are circumferentially spaced about the high-voltage film layer enclosed by an inner ring of the insulating layer. The electrode film layers and the grounding device (GND) film layer are separated by a frame pattern having a predetermined line width, and the grounding device (GND) film layer extends inward from the edge of the quartz surface to the inner ring near the insulating layer. The present invention can effectively alleviate the problems of signal instability and circuit board short-circuit damage caused by uneven electric fields in micro-hemispherical resonant gyroscopes.

The utility model belongs to the technical field of precision manufacturing of hemispherical resonator gyroscopes, and particularly relates to a tool for detecting coating uniformity of a harmonic oscillator. The tool comprises two clamps A1, two clamps B2 and a plurality of test pieces 3, each clamp A1 and each clamp B2 are in a quarter hemisphere shape, and the two clamps A1 and the two clamps B2 are assembled at intervals to form a hemispherical clamp whole body; the same sides of the two clamps A1 and the two clamps B2 are respectively provided with a preset number of grooves 4, the other sides of the two clamps A1 and the two clamps B2 are smooth surfaces, and the preset number of grooves 4 are arranged along the sphere center direction; the width and the thickness of the grooves 4 are matched with those of the test pieces, and one groove 4 is used for placing one test piece 3.

The invention discloses a control system and a control method of a hemispherical resonator gyroscope. The control system comprises a carrier generation module, a control module, an excitation synthesis module, a driving output module and a signal detection module, the carrier generation module is used for providing at least two carrier signals with different frequencies; the signal detection module is used for acquiring and processing a vibration response signal of the harmonic oscillator and outputting a first detection signal and a second detection signal to the control module; wherein the control module is also used for adjusting the force applying signal according to the first detection signal to maintain the vibration stability of the harmonic oscillator, and adjusting the standing wave calculation azimuth angle according to the second detection signal, so that the standing wave calculation azimuth angle is the same as an actual value. According to the invention, the hemispherical resonator gyroscope can realize angular velocity measurement at high dynamic rate and high-precision and low-noise angle reading at the same time on the premise that working modes are not switched, so that the performance integration level and the output continuity of the gyroscope are improved.

The invention relates to an angular rate related error model coefficient identification method suitable for a hemispherical gyroscope. The method comprises the following steps: step 1, establishing a gyroscope angular speed output error model based on a rate integration hemispherical gyroscope error mechanism; 2, designing the rotation position and the rotation speed of a double-shaft rate rotary table in an angular velocity error identification experiment according to the requirement of coefficient identification; step 3, driving the standing wave vibration mode angle of the gyroscope to rotate according to a set angular velocity through a rotation modulation technology, and ensuring that the vibration mode angle of the gyroscope rotates by 360 degrees under each transposition of the experiment; 4, mounting the gyroscope on a rotary table through a special hexahedron tool, and completing an angular velocity error identification experiment; 5, designing a method for identifying an error model coefficient, and identifying an error model parameter by using experimental data; and 6, writing the error model compensation formula into a gyroscope control unit to realize real-time compensation.