CN114370887B - Zero self-calibration method of force balance mode vibration gyro based on virtual rotation - Google Patents
Zero self-calibration method of force balance mode vibration gyro based on virtual rotation Download PDFInfo
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- CN114370887B CN114370887B CN202111394717.5A CN202111394717A CN114370887B CN 114370887 B CN114370887 B CN 114370887B CN 202111394717 A CN202111394717 A CN 202111394717A CN 114370887 B CN114370887 B CN 114370887B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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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
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Abstract
The invention provides a zero self-calibration method of a vibration gyro in a force balance mode based on virtual rotation, which comprises the following steps of: step S1, in the first time, applying a virtual precession voltage V to the vibration gyro, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR1 The method comprises the steps of carrying out a first treatment on the surface of the Step S2, applying a reverse virtual precession voltage-V to the vibration gyro in a second time, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR2 The method comprises the steps of carrying out a first treatment on the surface of the Step S3, according to V FTR1 And V FTR2 And carrying out zero calibration on the vibrating gyroscope. The invention utilizes the control loop to apply virtual precession, thereby realizing zero self-calibration of the gyroscope under different use environments and time.
Description
Technical Field
The invention relates to the technical field of vibration gyro calibration, in particular to a zero self-calibration method of a force balance mode vibration gyro based on virtual rotation.
Background
The solid vibration gyro has the characteristics of high precision, long service life and high reliability. However, as the environment and the time of use change, the key parameters of the gyroscope such as scale factors, zero offset and the like are unstable. The gyroscope must therefore be calibrated to reduce the measurement errors. The traditional gyroscope calibration method requires special calibration personnel and equipment and has no autonomy.
Disclosure of Invention
Aiming at the calibration problem of the existing gyroscope, the invention provides a zero self-calibration method of a force balance mode vibration gyroscope based on virtual rotation, which utilizes a control loop to apply virtual precession so as to realize zero self-calibration of the gyroscope under different use environments and time.
In order to achieve the above object, the present invention is realized by the following technical scheme:
a zero self-calibration method of a vibration gyro in a force balance mode based on virtual rotation comprises the following steps of:
step S1, in the first time, applying a virtual precession voltage V to the vibration gyro, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR1 ；
Step S2, applying a reverse virtual precession voltage-V to the vibration gyro in a second time, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR2 ；
Step S3, according to V FTR1 And V FTR2 And carrying out zero calibration on the vibrating gyroscope.
Further, in step S3, zero calibration is performed by using the following formula:
in omega 0 And k is a gyro scale factor in a force balance mode for zero offset of the vibrating gyro.
Further, the mode of applying the virtual precession voltage to the vibrating gyroscope is as follows:
the driving electrode of the vibrating gyroscope is divided into an x driving electrode and a y driving electrode, and a driving signal applied to the x driving electrode is V virt sin 2-theta cos omega t, the driving signal applied to the y driving electrode is V virt cos 2. Theta. Cos ωt, which isIn V virt And the virtual precession voltage amplitude is represented, θ is the standing wave azimuth angle of the vibrating gyroscope, ω is the vibration frequency of the harmonic oscillator, and t is time.
Further, in both steps S1 and S2, a virtual precession voltage is applied to the vibrating gyroscope when the vibrating gyroscope is in a stationary state.
Compared with the prior art, the invention has the following advantages:
the invention applies a forward virtual precession voltage V and a reverse virtual precession voltage-V to the vibrating gyroscope respectively under a force balance mode, and controls the voltage V according to a force balance loop FTR1 And V FTR2 And carrying out zero calibration on the vibrating gyroscope. The invention does not need special calibration personnel and equipment, can realize zero self-calibration of the gyroscope under different use environments and time, and has simple operation and simple calculation.
Drawings
For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
FIG. 1 is a flow chart of a method for zero self-calibration of a vibratory gyroscope in a force balance mode based on virtual rotation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a hemispherical resonator gyroscope;
FIG. 3 is a schematic diagram of deformation of a resonator while vibrating;
fig. 4 is a schematic diagram of self-calibrating virtual precession voltage application.
Detailed Description
The following provides a further detailed description of the proposed solution of the invention with reference to the accompanying drawings and detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
As shown in FIG. 1, the invention provides a zero self-calibration method of a vibration gyro in a force balance mode based on virtual rotation, which comprises the following steps:
step S1, in the first time, applying a virtual precession voltage V to the vibration gyro, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR1 ；
Step S2, applying a reverse virtual precession voltage-V to the vibration gyro in a second time, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR2 ；
Step S3, according to V FTR1 And V FTR2 And carrying out zero calibration on the vibrating gyroscope.
The present invention will be described in detail below using a hemispherical resonator gyro as an example. It will be appreciated that the method of the present invention is not limited to hemispherical resonator gyroscopes, but may be other types of gyroscopes.
As shown in fig. 2, a hemispherical resonator gyro generally includes a resonator, a driving electrode, and a detection electrode. Wherein the driving electrodes are divided into x driving electrodes and y driving electrodes. When the gyroscope works, a vibrating standing wave exists on the harmonic oscillator, as shown in figure 3. Hemispherical resonator gyroscopes have two modes of operation: force balance mode and full angle mode. In the full angle mode, the standing wave azimuth can be arbitrarily precessed, and the external rotation angle can be obtained by measuring the precession angle of the standing wave.
In the force balance mode, the standing wave direction is constantly directed at the 0-degree direction by applying the force balance control voltage, and the external rotation angular speed can be obtained by measuring the magnitude of the force balance control voltage. At this time, the output of the hemispherical resonator gyro is:
Ω＝kV FTR -Ω 0 ，
wherein omega is the external input angular velocity, V FTR For force balance control voltage, k is gyro scale factor in force balance mode, Ω 0 Is zero offset of the top. Omega shape 0 The measurement accuracy of the gyroscope is directly affected by the change of the gyroscope under different environments and different use time lengths, so that the zero offset of the gyroscope is required to be calibrated.
The virtual precession angular velocity is applied by: the driving signal applied to the x driving electrode is V virt sin 2-theta cos omega t, the driving signal applied to the y driving electrode is V virt cos2θ cos ωt. Wherein V is virt And the virtual precession voltage amplitude is represented, θ is the standing wave azimuth angle of the gyroscope, ω is the vibration frequency of the harmonic oscillator, and t is time. At this time, the virtual precession angular velocity omega can be obtained virt ＝kV virt 。
As shown in fig. 4, the zero offset self-calibration process of the vibration gyro based on virtual precession is as follows:
1. at the time T1-t1+T, applying virtual precession voltage V virt ＝V 1 At this time, the control voltage of the force balance loop is V FTR1 At this time there is
kV 1 ＝kV FTR1 -Ω 0 ；
2. Applying virtual precession voltage V in time T1+T to T1+2T virt ＝V 2 ＝-V 1 At this time, the control voltage of the force balance loop is V FTR2 At this time there is
-kV 1 ＝kV FTR2 -Ω 0 ；
The two formulas are combined to obtain
Thus, based on V FTR1 And V FTR2 The zero offset omega of the vibrating gyroscope can be calculated 0 Thus, the zero position calibration of the vibrating gyroscope is realized.
In the above steps S1 and S2, a virtual precession voltage is applied to the vibrating gyroscope when the vibrating gyroscope is in a stationary state.
In summary, the present invention applies the forward virtual precession voltage V and the reverse virtual precession voltage-V to the vibrating gyroscope in the force balance mode, respectively, and controls the voltage V according to the force balance loop FTR1 And V FTR2 And carrying out zero calibration on the vibrating gyroscope. The invention does not need special calibration personnel and equipment, can realize zero self-calibration of the gyroscope under different use environments and time, and has simple operation and simple calculation.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (3)
1. A zero self-calibration method of a vibration gyro in a force balance mode based on virtual rotation is characterized by comprising the following steps of:
step S1, in the first time, applying a virtual precession voltage V to the vibration gyro, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR1 ；
Step S2, applying a reverse virtual precession voltage-V to the vibration gyro in a second time, and obtaining a control voltage of a force balance loop of the vibration gyro, which is denoted as V FTR2 ；
Step S3, according to V FTR1 And V FTR2 Zero calibration is carried out on the vibrating gyroscope;
step S3 carries out zero calibration by adopting the following formula:
in omega 0 And k is a gyro scale factor in a force balance mode for zero offset of the vibrating gyro.
2. The method for zero self-calibration of a vibrating gyroscope in a force balance mode based on virtual rotation according to claim 1, wherein the mode of applying virtual precession voltage to the vibrating gyroscope is as follows:
the driving electrode of the vibrating gyroscope is divided into an x driving electrode and a y driving electrode, and a driving signal applied to the x driving electrode is V virt sin 2-theta cos omega t, the driving signal applied to the y driving electrode is V virt cos 2. Theta. Cos ωt, where V virt And the virtual precession voltage amplitude is represented, θ is the standing wave azimuth angle of the vibrating gyroscope, ω is the vibration frequency of the harmonic oscillator, and t is time.
3. The zero self-calibration method of the vibration gyro based on the virtual rotation force balance mode according to claim 1, wherein the steps S1 and S2 are both to apply virtual precession voltage to the vibration gyro when the vibration gyro is in a static state.
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