CN112595302A - All-digital hemispherical resonant gyroscope frequency tracking loop based on Costas loop - Google Patents
All-digital hemispherical resonant gyroscope frequency tracking loop based on Costas loop Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5691—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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Abstract
The invention relates to a frequency tracking loop of a full-digital hemispherical resonance gyroscope based on a Costas loop.A gyroscope electrode vibration signal sampling circuit respectively collects vibration signals on an x electrode and a y electrode of the gyroscope; the two paths of vibration signals are respectively subjected to multiplication phase discrimination with output signals of a sin branch and a cos branch of the voltage-controlled oscillator through a multiplier, and then are filtered through low-pass filters; the filtered signal is sent to a loop filter after being calculated by a phase error signal arithmetic unit to obtain a phase error signal; the loop filter generates a control signal according to the input phase error signal, and the control signal adjusts the phase of the NCO output signal of the voltage-controlled oscillator so that the phase difference between the vibration signal and the output signal is continuously reduced to the loop locking steady-state phase difference
Is 0; the frequency tracking loop design of the all-digital hemispherical resonator gyro is realized in the FPGA based on the Costas loop technology, the design can improve the frequency tracking precision, and the frequency tracking loop has the advantages of simple structure and strong universality.
Description
Technical Field
The invention relates to the field of hemispherical resonator gyro digital signal processing, in particular to a full-digital hemispherical resonator gyro frequency tracking loop based on a Costas loop.
Background
The hemispherical resonator gyroscope is a solid vibrating gyroscope based on a Coriolis effect, has the characteristics of high precision, long service life, high reliability, small mass, small volume and the like, is applied to the fields of spaceflight, navigation, tactics and the like at present, and becomes a research hotspot in the field of current inertial navigation.
The hemispherical resonance gyroscope has two working modes of force balance and full angle, and can be respectively used for measuring angular velocity or angle, and the control circuit corresponding to the two working modes relates to multiple links such as gyroscope signal acquisition, signal processing, filtering, amplitude control, quadrature control, frequency tracking and the like. The demodulation of the gyro vibration signal generally needs to track the resonance frequency of the gyro to generate a local oscillation signal, carry out demodulation based on the local oscillation signal, and calculate the information such as the amplitude, the azimuth angle and the like of the gyro vibration signal according to the demodulation amount; and in addition, the tracked local oscillator signals are used for gyro signal modulation. Therefore, the stability and tracking accuracy of the frequency tracking loop directly influence the stability of the gyro control and the accuracy of the resolving angle.
The vibration mode of the gyroscope is controlled in the direction of the fixed electrode in the force balance mode, and the frequency tracking of signals on a single electrode of an antinode axis of the vibration mode of the gyroscope can be carried out; in the full-angle mode, because the gyroscope is free to precess in vibration mode, the signals on two electrodes which form an angle of 45 degrees with each other on a harmonic oscillator are used for frequency tracking. The frequency tracking method has various methods, and the phase discrimination mode based on the analog circuit does not need the support of a digital circuit, but depends on the precision of a hardware circuit and is greatly influenced by signal interference; the problem that how to realize high-precision frequency tracking needs to be solved at present is to realize phase discrimination and filtering of digital signals based on the requirement of full digital frequency tracking.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a full-digital hemispherical resonant gyroscope frequency tracking loop based on a Costas loop, and solves the problem of low hemispherical resonant gyroscope frequency tracking precision in the prior art.
The technical scheme for solving the technical problems is as follows: a full-digital hemispherical resonator gyro frequency tracking loop based on a Costas loop comprises: the gyroscope electrode vibration signal sampling circuit comprises a gyroscope electrode vibration signal sampling circuit, a voltage-controlled oscillator, a multiplier, a low-pass filter, a phase error signal arithmetic unit and a loop filter;
the gyro electrode vibration signal sampling circuit is used for respectively acquiring vibration signals on an x electrode and a y electrode of a gyro;
the two paths of vibration signals are respectively multiplied and phase-discriminated with output signals of a sin branch and a cos branch of the voltage-controlled oscillator through the multipliers, and then are filtered through the low-pass filters;
the filtered signal is sent to the loop filter after being calculated by the phase error signal arithmetic unit to obtain a phase error signal;
the loop filter generates a control signal according to the input phase error signal, and the control signal adjusts the phase of the output signal of the voltage-controlled oscillator, so that the phase difference between the vibration signal and the output signal of the voltage-controlled oscillator is continuously reduced to a loop locking steady-state phase difference
Is 0.
The invention has the beneficial effects that: the frequency tracking loop design of the all-digital hemispherical resonator gyro is realized in the FPGA based on the Costas loop technology, the frequency tracking precision can be improved, and the frequency tracking method has the advantages of simple structure and strong universality.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the gyro electrode vibration signal sampling circuit comprises two paths of AD sampling circuits which are respectively connected with a gyro x electrode and a gyro y electrode;
the two AD sampling circuits carry out synchronous acquisition through synchronous trigger signals.
Further, the signals of the sin branch and the cos branch of the voltage-controlled oscillator are respectively:
Vcis a cos branch signal, VsIs sin branch signal, A omega1In order for the voltage controlled oscillator to output a signal frequency,
is the initial phase of the voltage controlled oscillator.
Further, the phase error signal L is obtained according to parameters obtained by filtering through four low-pass filters:
wherein, four parameters Cx、Sx、CyAnd SyThe calculation formula of (2) is as follows:
x is the vibration signal of the x electrode, y is the vibration signal of the y electrode, a is the dominant antinode, q is the orthogonal antinode, theta is the dominant antinode and the azimuth angle of the x electrode,
ω0in order to be the resonance frequency of the gyroscope,
is the initial phase.
Further, the frequency tracking loop further comprises an alpha-beta filter;
and the phase error signal is subjected to alpha-beta filtering by the alpha-beta filter and then is sent to the loop filter.
Further, the digitizing system function of the loop filter in the z-domain is:
C1and C2Is the loop filter parameter.
Further, the voltage controlled oscillator is realized by adopting a DDS in the FPGA, and the frequency of an output signal of the DDS is as follows:
fout＝(M0+ΔM)*fclk/2^N；
M0is a loop center frequency control word,. DELTA.M is a loop filter output frequency difference control word,. fclkAnd N is the bit width of the DDS frequency control word.
The beneficial effect of adopting the further scheme is that: two AD sampling circuits for acquiring vibration signals on an x electrode and a y electrode of a gyro electrode synchronously acquire the vibration signals through synchronous trigger signals, so that the two acquired signals are prevented from having phase difference; the quantization bit width of the low-pass filter needs simulation test, so that the performance of the low-pass filter is prevented from being influenced when the bit width of the coefficient is insufficient; the phase error signal L is subjected to alpha-beta filtering to realize smooth processing of the phase error signal, so that the frequency tracking precision can be improved.
Drawings
FIG. 1 is a schematic block diagram of a frequency tracking loop of a full-digital hemispherical resonator gyroscope based on a Costas loop according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an orthogonal decomposition of a gyro vibration signal according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a loop filter FPGA according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic block diagram of a frequency tracking loop of a Costas-based all-digital hemispherical resonator gyroscope according to an embodiment of the present invention, and as can be seen from fig. 1, the frequency tracking loop includes:
the gyroscope electrode vibration signal sampling circuit comprises a gyroscope electrode vibration signal sampling circuit, a voltage-controlled oscillator NCO, a multiplier, a low-pass filter, a phase error signal arithmetic unit and a loop filter.
And the gyro electrode vibration signal sampling circuit respectively collects vibration signals on an x electrode and a y electrode of the gyro.
The two vibration signals are respectively multiplied and phase-discriminated with output signals of a sin branch and a cos branch of the voltage-controlled oscillator NC0 through multipliers, and then filtered through low-pass filters.
The filtered signal is sent to a loop filter after being calculated by a phase error signal arithmetic unit to obtain a phase error signal.
The loop filter generates a control signal according to the input phase error signal, and the control signal adjusts the phase of the output signal so that the phase difference between the vibration signal and the output signal is continuously reduced to a loop locking steady-state phase difference
Is 0.
The frequency tracking loop design of the all-digital hemispherical resonator gyro is realized in the FPGA based on the Costas loop technology, the frequency tracking precision can be improved, and the frequency tracking method has the advantages of simple structure and strong universality.
Example 1
The embodiment provided by embodiment 1 of the present invention is an embodiment of a frequency tracking loop of a full-digital hemispherical resonator gyroscope based on a Costas loop, and the embodiment of the frequency tracking loop includes:
the gyroscope electrode vibration signal sampling circuit comprises a gyroscope electrode vibration signal sampling circuit, a voltage-controlled oscillator NCO, a multiplier, a low-pass filter, a phase error signal arithmetic unit, an alpha-beta filter and a loop filter.
And the gyro electrode vibration signal sampling circuit respectively collects vibration signals on an x electrode and a y electrode of the gyro.
Specifically, the gyro electrode vibration signal sampling circuit comprises two paths of AD sampling circuits which are respectively connected with an x electrode and a y electrode of the gyro.
The two AD sampling circuits carry out synchronous acquisition through synchronous trigger signals, and the phase difference of the two acquisition signals is avoided.
Fig. 2 is a schematic diagram illustrating orthogonal decomposition of a gyro vibration signal according to an embodiment of the present invention, and with reference to fig. 2, an expression of vibration signals of an x electrode and a y electrode is as follows:
wherein a is a dominant antinode, q is an orthogonal antinode, theta is the azimuth angle between the dominant antinode and the x electrode, and omega0In order to be the resonance frequency of the gyroscope,
is the initial phase.
And the two vibration signals and output signals of a sin branch and a cos branch of the voltage-controlled oscillator NCO respectively carry out multiplication phase discrimination through each multiplier, and then filtering is carried out through each low-pass filter.
Specifically, sin branch signals and cos branch signals of the voltage-controlled oscillator NC0 are respectively:
Vcis a cos branch signal, VsIs sin branch signal, omega1In order to output the signal frequency for the voltage controlled oscillator,
is the initial phase of the voltage controlled oscillator.
The filtered signal is sent to a loop filter after being calculated by a phase error signal arithmetic unit to obtain a phase error signal.
Specifically, the phase error signal L is obtained from parameters obtained by filtering through four low-pass filters:
wherein, four parameters Cx、Sx、CyAnd SyThe calculation formula of (2) is as follows:
in the formula (I), the compound is shown in the specification,
the vibration signals of the x electrode and the y electrode are respectively multiplied by the cos branch signal and the sin branch signal of a Direct Digital Synthesis (DDS), and four parameters C are obtained through low-pass filteringx、Sx、CyAnd Sy。
The low pass filter LPF can filter frequency multiplication components and out-of-band noise in multiplication demodulation, the low pass filter LPF needs to quantize filter coefficients into fixed points in the FPGA, and when the bit width of the coefficients is insufficient, the performance of the filter is affected, so that simulation test of the bit width of the quantization is needed.
The phase error signal is subjected to alpha-beta filtering by an alpha-beta filter and then sent to a loop filter.
The phase error signal L is subjected to alpha-beta filtering, the alpha-beta filtering is a filter which can be used for state estimation and data smoothing, the filter has good stability, the smoothing processing of the phase error signal can be realized, and the frequency tracking precision can be improved.
The loop filter generates a control signal according to the input phase error signal, and the control signal adjusts the phase of the output signal of the voltage-controlled oscillator, so that the phase difference between the vibration signal and the output signal of the voltage-controlled oscillator is continuously reduced to a loop locking steady-state phase difference
Is 0.
In the design of the loop, a Costas loop is a second-order loop, the Costas loop is a carrier tracking loop, the loop only tracks the change of an input signal carrier, does not track the change of a modulation signal, has narrow loop bandwidth, and is suitable for extracting a low-signal-to-noise-ratio signal carrier. During the capture of the loop, the loop filter is fed with an alpha-beta filtered phase error signal VdGenerating a control signal VeControl signal VeAdjusting the phase of the DDS output signal to make the phase difference between the gyro vibration signal and the DDS output signal continuously reduced along with the time until the loop locks the steady phase difference
Is 0.
Preferably, as shown in fig. 3, which is a schematic structural diagram of the FPGA of the loop filter provided in the embodiment of the present invention, as can be seen from fig. 3, a digitized system function of the z-domain of the loop filter is:
in the above formula, C1And C2Is the loop filter parameter, C1、C2Damping coefficient xi and natural frequency omega of loopnThe total gain K of the loop is related to the sampling period T of the loop, C1、C2The smaller the loop steady state error, the slower the loop tracking speed.
Further, the voltage controlled oscillator NC0 is implemented by using a DDS in an FPGA, and the frequency of an output signal of the DDS is:
fout＝(M0+ΔM)*fclk/2^N。
in the above formula, M0Is a loop center frequency control word,. DELTA.M is a loop filter output frequency difference control word,. fclkAnd N is the bit width of the DDS frequency control word.
Voltage controlled oscillator NCO output frequency along with input control signal VeThe voltage-controlled oscillator NCO is an integral device, and the output signal of the voltage-controlled oscillator NCO is fed back to a multiplier (phase discriminator, four parameters are resolved), so that closed-loop control is realized.
The embodiment of the invention provides a Costas loop-based full-digital hemispherical resonator gyro frequency tracking loop, which collects vibration signals on gyro electrodes through two analog-to-digital (AD) chips; the two acquired digital signals are respectively subjected to multiplication phase discrimination with sin and cos branches of the voltage-controlled oscillator NC0, and then are filtered by a low-pass filter; the filtered parameters are combined and calculated to obtain a phase difference signal; the phase difference signal is subjected to signal smoothing treatment through alpha-beta filtering; the processed signals are sent to a loop filter, and the loop filter is designed according to loop parameters (AD acquisition digit, AD sampling rate, system clock frequency, low-pass filter coefficient and output data bit width); and the output signal of the loop filter is used for adjusting the signal output by the rear-end DDS, so that the frequency of the gyro vibration signal carrier is consistent with the frequency of the NCO output signal of the voltage-controlled oscillator, and the frequency tracking of the hemispherical resonance gyro is realized.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A Costas loop-based all-digital hemispherical resonator gyroscope frequency tracking loop, the frequency tracking loop comprising: the gyroscope electrode vibration signal sampling circuit comprises a gyroscope electrode vibration signal sampling circuit, a voltage-controlled oscillator, a multiplier, a low-pass filter, a phase error signal arithmetic unit and a loop filter;
the gyro electrode vibration signal sampling circuit is used for respectively acquiring vibration signals on an x electrode and a y electrode of a gyro;
the two paths of vibration signals are respectively multiplied and phase-discriminated with output signals of a sin branch and a cos branch of the voltage-controlled oscillator through the multipliers, and then are filtered through the low-pass filters;
the filtered signal is sent to the loop filter after being calculated by the phase error signal arithmetic unit to obtain a phase error signal;
the loop filter generates a control signal according to the input phase error signal, and the control signal adjusts the phase of the output signal of the voltage-controlled oscillator, so that the phase difference between the vibration signal and the output signal of the voltage-controlled oscillator is continuously reduced to a loop locking steady-state phase difference
Is 0.
2. The frequency tracking loop of claim 1, wherein the gyro electrode vibration signal sampling circuit comprises two paths of AD sampling circuits respectively connected with a gyro x electrode and a gyro y electrode;
the two AD sampling circuits carry out synchronous acquisition through synchronous trigger signals.
3. The frequency tracking loop of claim 1, wherein the signals of sin branch and cos branch of the vco are respectively:
Vcis a cos branch signal, VsIs sin branch signal, omega1In order for the voltage controlled oscillator to output a signal frequency,
is the initial phase of the voltage controlled oscillator.
4. The frequency tracking loop of claim 3, wherein the phase error signal L is derived from a parameter filtered by four of the low-pass filters:
wherein, four parameters Cx、Sx、CyAnd SyThe calculation formula of (2) is as follows:
x is the vibration signal of the x electrode, y is the vibration signal of the y electrode, a is the dominant antinode, q is the orthogonal antinode, theta is the dominant antinode and the azimuth angle of the x electrode,
ω0in order to be the resonance frequency of the gyroscope,
is the initial phase.
5. The frequency tracking loop of claim 1, further comprising an alpha-beta filter;
and the phase error signal is subjected to alpha-beta filtering by the alpha-beta filter and then is sent to the loop filter.
6. The frequency tracking loop of claim 1, wherein the digitizing system function of the loop filter in the z-domain is:
C1and C2Is the loop filter parameter.
7. The frequency tracking loop of claim 1, wherein the voltage controlled oscillator is implemented in an FPGA by using a DDS, and a frequency of an output signal of the DDS is:
fout＝(M0+ΔM)*fclk/2^N；
M0is a loop center frequency control word,. DELTA.M is a loop filter output frequency difference control word,. fclkAnd N is the bit width of the DDS frequency control word.
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