CN-121994274-A - Hemispherical resonator gyroscope phase lag error compensation method and system

Abstract

The invention provides a hemispherical resonator gyroscope phase lag error compensation method and a hemispherical resonator gyroscope phase lag error compensation system, wherein the method comprises the steps of establishing a phase lag error model; the method comprises the steps of applying virtual rotation control forces with the same amplitude and opposite directions to a hemispherical resonator gyroscope, respectively collecting actual orthogonal control forces under two conditions, calculating the difference between the actual orthogonal control forces under the two conditions, identifying and obtaining an actual phase lag error according to the difference between the actual orthogonal control forces based on an established phase lag error model, and changing the phase of a control force modulation signal according to the actual phase lag error when each control force is applied, so as to realize the compensation of the phase lag error. By applying the technical scheme of the invention, the technical problem that the hemispherical resonator gyro phase lag error influences the gyro control error in the prior art is solved.

Inventors

• XU HAIGANG
• Du Shanyu
• YANG LI
• SUN KAILI
• Niu chang
• XIE ZIYU
• Minakata Osamu
• CHEN JIAYING
• LI FANGCHEN
• FAN MIAO
• ZHONG RUNWU
• LIANG WENWEI
• ZHANG CHAO
• QIU LILING
• LI QINGCHENG
• WANG TIANMIN
• MA QIHAN

Assignees

• 北京自动化控制设备研究所

Dates

Publication Date

20260508

Application Date

20251229

Claims (5)

1. 1. A method for compensating for phase lag errors in hemispherical resonator gyroscopes, the method comprising: Establishing a phase lag error model; Applying theoretical virtual rotation control forces with the same amplitude and opposite directions to the hemispherical resonator gyroscope in sequence, respectively collecting actual orthogonal control forces under two conditions, and calculating the difference between the actual orthogonal control forces under the two conditions; Based on the established phase lag error model, identifying and obtaining an actual phase lag error according to the difference of the actual quadrature control forces; when each control force is applied, the phase of the control force modulation signal is changed according to the actual phase lag error, so that the compensation of the phase lag error is realized.
2. 2. The method of claim 1, wherein the phase lag error model is established as: In the above-mentioned method, the step of, For the actual phase lag error, Δf q is the difference between the actual quadrature control forces, and f s is the magnitude of the theoretical virtual rotational control force applied.
3. 3. A method according to claim 1 or 2, characterized in that the phase of the control force modulation signal is changed in accordance with the actual phase lag error when the quadrature control force is applied by the following formula: In the above formula, F qx ″、F qy ″ is the quadrature control force after phase lag error compensation applied by the x and y channels, F q is the theoretical quadrature control force, θ is the vibration standing wave azimuth angle, ω 0 is the harmonic oscillator vibration frequency, and t is time.
4. 4. A method according to claim 3, characterized in that the phase of the control force modulation signal is changed in accordance with the actual phase lag error when the virtual rotational control force is applied by the following formula: in the above equation, F sx ″、F sy ″ is the virtual rotation control force after the phase lag error compensation applied by the x and y channels, respectively.
5. 5. The hemispherical resonator gyroscope phase lag error compensation system is characterized by comprising a model building unit, an actual quadrature control force acquisition unit and an actual phase lag error identification compensation unit; The model building unit is used for building a phase lag error model; The actual orthogonal control force acquisition unit is used for sequentially applying virtual rotation control forces with the same amplitude and opposite directions to the hemispherical resonator gyroscope, respectively acquiring actual orthogonal control forces under two conditions, and calculating the difference between the actual orthogonal control forces under the two conditions; The actual phase lag error identification and compensation unit is used for identifying and obtaining the actual phase lag error according to the difference of the actual orthogonal control forces based on the established phase lag error model, and when each control force is applied, the phase of the control force modulation signal is changed according to the actual phase lag error, so that the compensation of the phase lag error is realized.

Description

Hemispherical resonator gyroscope phase lag error compensation method and system Technical Field The invention relates to the technical field of inertial measurement, in particular to a hemispherical resonator gyroscope phase lag error compensation method and system. Background The hemispherical resonator gyro is used as a new generation of vibrating gyro, has the comprehensive advantages of high precision potential, low manufacturing cost, small volume, low power consumption and the like, is a preferred scheme for meeting the continuous development of various novel weaponry to high precision, low cost and miniaturization directions, and becomes a research hotspot in the current inertia technical field. The related technology of the hemispherical resonator gyroscope comprises a gauge outfit technology and a control technology, the control technology determines the accuracy of the gyroscope under the condition of the gauge outfit technology, and the hemispherical resonator gyroscope has the outstanding characteristic that the improvement of the accuracy of measurement does not depend on the change of the gauge outfit volume. Therefore, the hemispherical resonator gyro control technology is continuously researched, the precision coverage range of the hemispherical resonator gyro control technology is continuously improved, a wider application space is created for the hemispherical resonator gyro, the hemispherical resonator gyro technology is further promoted, and the inertial navigation system performance improvement and iterative optimization are supported. The core component of the hemispherical resonator gyroscope is a hemispherical resonator and a flat electrode, and in a working state, the hemispherical resonator keeps stable vibration, and the gyroscope signal detection is completed through a current signal generated by the change of the distance between the lip edge of the sensitive resonator and the flat electrode. The current signal is usually in microampere level, so links such as an operational amplifier, a filter, an analog-to-digital converter and the like are arranged in the hemispherical resonator gyro detection and control circuit, the functions of amplifying signals, eliminating high-frequency noise, converting the high-frequency noise into digital signals and transmitting the digital signals to control software are realized, phase lag errors are introduced in the signal transmission process in the links, phase differences generated by the links are accumulated in the signals, and finally, a larger phase difference exists between detection signals and actual signals obtained by the control software. The detection signal is the basis of the hemispherical resonator gyroscope for subsequent resolving and controlling work, the gyroscope control software tracks the frequency according to the detection signal to obtain a reference signal with the same frequency as the detection signal, the resolving of the vibration state of the harmonic oscillator, the calculation of the angular rate and the generation of modulated control force (comprising amplitude control force, quadrature control force, virtual rotation control force and the like) are realized through the reference signal, and the electrostatic force is generated by acting on the panel electrode so as to maintain the stable working state of the harmonic oscillator. Since the phase of the control force is obtained from the phase of the detection signal, and there is a phase difference between the detection signal and the signal generated by the actual vibration of the harmonic oscillator, there is a phase difference between the control force applied to the hemispherical harmonic oscillator and the actual vibration, causing gyro control errors. Disclosure of Invention The invention provides a hemispherical resonator gyroscope phase lag error compensation method and a hemispherical resonator gyroscope phase lag error compensation system, which can solve the technical problem that the hemispherical resonator gyroscope phase lag error influences gyroscope control errors in the prior art. According to an aspect of the present invention, there is provided a hemispherical resonator gyro phase lag error compensation method, the method comprising: s1, establishing a phase lag error model; S2, applying virtual rotation control forces with the same amplitude and opposite directions to the hemispherical resonator gyroscope in sequence, respectively acquiring actual orthogonal control forces under two conditions, and calculating the difference between the actual orthogonal control forces under the two conditions; S3, based on the established phase lag error model, identifying and obtaining an actual phase lag error according to the difference of the actual quadrature control forces; and S4, when each control force is applied, changing the phase of the control force modulation signal according to the actual phase lag error, so as to realize the compensation