CN-122015906-A - Static angular velocity filtering method and system based on virtual rotation force

CN122015906ACN 122015906 ACN122015906 ACN 122015906ACN-122015906-A

Abstract

The invention provides a static angular velocity filtering method and a system based on virtual rotational force, wherein the method comprises the steps of establishing a hemispherical resonator gyro angular velocity model, and discretizing the hemispherical resonator gyro angular velocity model to obtain a discrete hemispherical resonator gyro angular velocity model; the method comprises the steps of establishing a Kalman filtering equation based on a discrete hemispherical resonator gyroscope angular velocity model, applying virtual rotation force to the hemispherical resonator gyroscope, filtering the acquired virtual rotation force and standing wave rotation angular velocity at each moment into the established Kalman filtering equation to obtain an angular velocity observation value, and carrying out sliding average on the angular velocity observation value in a complete period to obtain a final angular velocity output value. By applying the technical scheme of the invention, the technical problem that the output angular speed error of the full-angle mode hemispherical resonator gyroscope is difficult to accurately calibrate in the prior art is solved.

Inventors

XU HAIGANG
WANG TIANMIN
LIANG WENWEI
ZHANG CHAO
FAN MIAO
QIU LILING
MA QIHAN
YANG LI
Du Shanyu

Assignees

北京自动化控制设备研究所

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (6)

1. A static angular velocity filtering method based on virtual rotational force, the method comprising: establishing a hemispherical resonator gyro angular velocity model, and discretizing the hemispherical resonator gyro angular velocity model to obtain a discrete hemispherical resonator gyro angular velocity model; Establishing a Kalman filtering equation based on the discrete hemispherical resonator gyroscope angular velocity model; applying virtual rotation force to the hemispherical resonator gyroscope, and introducing the acquired virtual rotation force and standing wave rotation angular velocity at each moment into an established Kalman filtering equation for filtering to obtain an angular velocity observation value; And carrying out sliding average on the angular velocity observation value in a complete period to obtain a final angular velocity output value.
2. The method of claim 1, wherein the established hemispherical resonator gyro angular velocity model is: In the above-mentioned method, the step of, Is the rotation angular velocity of the standing wave of the gyroscope, k is the Blaine coefficient, omega is the external input angular velocity, For non-uniform damping of the harmonic oscillator, θ τ is the angle between the damping angle of the harmonic oscillator and the x-axis of the electrode, θ is the azimuth angle of the standing wave, k 0 is the voltage scale factor corresponding to the virtual rotation voltage, and Vs is the virtual rotation force applied actively.
3. The method according to claim 1 or 2, characterized in that the discretized hemispherical resonator gyro angular velocity model is: In the above-mentioned method, the step of, The rotation angular velocity of the standing wave obtained by differential collection at the moment t 0 ,t 1 ,...,t n in sequence, omega (t 0 ),Ω(t 1 ),...,Ω(t n ) is an angular velocity input from the outside at the moment t 0 ,t 1 ,...,t n in sequence, theta (t 0 ),θ(t 1 ),...,θ(t n ) is a calculated standing wave azimuth angle at the moment t 0 ,t 1 ,...,t n in sequence, vs (t 0 ),Vs(t 1 ),...,Vs(t n ) is a virtual rotation force actively applied at the moment t 0 ,t 1 ,...,t n in sequence, and k 0 (t 0 ),k 0 (t 1 ),...,k 0 (t n ) is a voltage scale factor corresponding to the virtual rotation force at the moment t 0 ,t 1 ,...,t n in sequence.
4. A method according to claim 3, wherein the kalman filter equation is established as: X k/k-1 ＝AX k-1 +u, Z k ＝H k X k +w, A=I 2*2 、 H k ＝[Vs(t k )1], In the above formula, X k/k+1 is a one-step prediction state quantity from k time to k+1 time, A is a state transition matrix, X k-1 is a k-1 time state vector, u is system noise, Z k is a k time observation vector, H k is a k time observation parameter matrix, X k is a k time state vector, w is white noise, I 2*2 is a unit matrix of 2X 2, For the rotation angular velocity of the standing wave obtained by differential acquisition at the time t k , vs (t k ) is a virtual rotation force actively applied at the time t k , k 0 (t k ) is a voltage scale factor corresponding to the virtual rotation force at the time t k , Ω (t k ) is an angular velocity externally input at the time t k , and θ (t k ) is a calculated standing wave azimuth angle at the time t k .
5. The method of any one of claims 1 to 4, wherein applying a virtual rotational force to the hemispherical resonator gyroscope comprises: Determining the magnitude of a standard voltage applied by the virtual rotational force; a positive standard voltage is applied in the first half period of each cycle and a negative standard voltage is applied in the second half period of each cycle.
6. A static angular velocity filtering system based on virtual rotation force, which is characterized by comprising a model building unit, a Kalman filtering unit and a moving average unit; the model building unit is used for building a hemispherical resonator gyro angular velocity model, discretizing the hemispherical resonator gyro angular velocity model, and obtaining a discrete hemispherical resonator gyro angular velocity model; The Kalman filtering unit is used for establishing a Kalman filtering equation based on the discrete hemispherical resonator gyroscope angular velocity model, applying virtual rotating force to the hemispherical resonator gyroscope, and filtering the acquired virtual rotating force and standing wave rotational angular velocity at each moment into the established Kalman filtering equation to obtain an angular velocity observation value; The moving average unit is used for carrying out moving average on the angular velocity observation value in a complete period to obtain a final angular velocity output value.

Description

Static angular velocity filtering method and system based on virtual rotation force Technical Field The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a static angular velocity filtering method and system based on virtual rotation force. Background The hemispherical resonator gyroscope is a novel gyroscope which uses the precession of the hemispherical resonator vibrating standing wave along the circumferential direction to sense the angular motion of a carrier. Under the full angle mode, the hemispherical resonator gyro can effectively measure angular velocity in a larger range. The hemispherical resonator gyro can generate standing wave precession phenomenon when working, and at the moment, errors such as damping non-uniformity, frequency splitting and the like can cause circumferential drift of standing waves, so that drift errors related to azimuth angles of resonators can be generated. This error is continuously accumulated in the long-term task, affecting the accuracy of the navigation solution. Due to the operating characteristics of hemispherical resonator gyroscopes, the drift error exhibits periodic variability. In order to suppress the influence of such periodic drift on the output accuracy, the angular velocity may be integrated over the entire period, thereby achieving homogenization of the drift error. Based on the basic principle of the hemispherical resonator gyroscope, a virtual rotating force with a certain characteristic can be applied, so that the standing wave vibration mode continuously precesses in the running process, drift errors can be converted into periodic changes, and as the errors cancel each other out, the integral result shows the characteristic that the mean value is 0 in the period, thereby remarkably reducing the time accumulation of the errors and improving the stability and measurement accuracy of the gyroscope. In the process of driving the standing wave to rotate, an additional angular velocity component is introduced into the angular velocity output of the hemispherical resonator gyroscope, and the component is also perceived by the harmonic oscillator, so that a certain filtering method is required to be used for improving the accuracy when the external actual input angular velocity is calculated. Disclosure of Invention The invention provides a static angular velocity filtering method and a static angular velocity filtering system based on virtual rotating force, which can solve the technical problem that the output angular velocity error of a full-angle mode hemispherical resonator gyroscope is difficult to accurately calibrate in the prior art. According to an aspect of the present invention, there is provided a static angular velocity filtering method based on a virtual rotational force, the method comprising: Establishing a hemispherical resonant gyroscope angular velocity model, and discretizing the hemispherical resonant gyroscope angular velocity model to obtain a discrete hemispherical resonant gyroscope angular velocity model; Establishing a Kalman filtering equation based on the discrete hemispherical resonator gyroscope angular velocity model; applying virtual rotation force to the hemispherical resonator gyroscope, and introducing the acquired virtual rotation force and standing wave rotation angular velocity at each moment into an established Kalman filtering equation for filtering to obtain an angular velocity observation value; And carrying out sliding average on the angular velocity observation value in a complete period to obtain a final angular velocity output value. Further, the established hemispherical resonator gyro angular velocity model is as follows: In the above-mentioned method, the step of, Is the rotation angular velocity of the standing wave of the gyroscope, k is the Blaine coefficient, omega is the external input angular velocity,For non-uniform damping of the harmonic oscillator, θ τ is the angle between the damping angle of the harmonic oscillator and the x-axis of the electrode, θ is the azimuth angle of the standing wave, k 0 is the voltage scale factor corresponding to the virtual rotation voltage, and Vs is the virtual rotation force applied actively. Further, the discrete hemispherical resonator gyro angular velocity model is: In the above-mentioned method, the step of, The rotation angular velocity of the standing wave obtained by differential collection at the moment t 0,t1,...,tn in sequence, omega (t 0),Ω(t1),...,Ω(tn) is an angular velocity input from the outside at the moment t 0,t1,...,tn in sequence, theta (t 0),θ(t1),...,θ(tn) is a calculated standing wave azimuth angle at the moment t 0,t1,...,tn in sequence, vs (t 0),Vs(t1),...,Vs(tn) is a virtual rotation force actively applied at the moment t 0,t1,...,tn in sequence, and k 0(t0),k0(t1),...,k0(tn) is a voltage scale factor corresponding to the virtual rotation force at the moment t 0,t1,...,tn in sequence. Further,