CN115127533A - Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation - Google Patents

Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation Download PDF

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CN115127533A
CN115127533A CN202211050065.8A CN202211050065A CN115127533A CN 115127533 A CN115127533 A CN 115127533A CN 202211050065 A CN202211050065 A CN 202211050065A CN 115127533 A CN115127533 A CN 115127533A
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CN115127533B (en
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赵坤
张海峰
罗巍
王兴岭
贾晨凯
张广拓
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707th Research Institute of CSIC
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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
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Abstract

The invention relates to a resonance gyroscope, in particular to an error fitting compensation method based on resonance gyroscope vibration mode rotation modulation, which deducts the vibration mode rotation modulation rate from resonance gyroscope output according to the preset vibration mode rotation modulation rate, and the obtained residual output of the resonance gyroscope comprises external angular rate information and resonance gyroscope errors, wherein the resonance gyroscope errors are scale errors and drift errors; the method solves the output fluctuation problem of the resonance system after adopting the resonance gyroscope vibration type rotation modulation technology, effectively reduces the output fluctuation level of the resonance gyroscope through modeling compensation of periodic scale errors, periodic drift and constant errors in the resonance gyroscope output, and has obvious effect.

Description

Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation
Technical Field
The invention relates to a resonant gyroscope, in particular to an error fitting compensation method based on resonant gyroscope vibration mode rotation modulation.
Background
When the quartz hemispherical resonator gyroscope works in a full-angle mode, the vibration mode of the harmonic oscillator can precess freely when the angular rate is input from the outside, and in the process of traversing the full angle of the vibration mode, the output of the quartz hemispherical resonator gyroscope has regular drift, namely periodic drift, and regular scale error, namely periodic scale error. The periodic drift is generally in the magnitude of dozens of degrees/hour, the navigation precision of the system is greatly influenced, and the vibration mode rotation modulation of the resonant gyroscope can inhibit the influence of the periodic drift and the periodic scale factor error on the system precision.
Disclosure of Invention
The invention designs an output error fitting compensation technology under the vibration mode rotation modulation of a resonant gyroscope. Because the original output information after the vibration mode rotation modulation of the resonant gyroscope can be used for system alignment and navigation only by two-step processing, firstly, the actively applied rotation control force is removed from the output of the resonant gyroscope, and secondly, the error fitting compensation is carried out on the residual part of the output of the resonant gyroscope, so that the influence of periodic fluctuation in the output of the resonant gyroscope on the system alignment and navigation is reduced. By the adoption of the output error fitting compensation technology of the resonant gyroscope, output accuracy of the resonant gyroscope can be remarkably improved, and system navigation requirements are met.
The technical scheme for realizing the aim of the invention is an error fitting compensation method based on the vibration mode rotation modulation of the resonant gyroscope, which comprises the following steps:
s1, presetting a vibration mode rotation modulation rate, and deducting the preset vibration mode rotation modulation rate from the output of the resonant gyroscope to obtain the residual output of the resonant gyroscope, wherein the residual output of the resonant gyroscope comprises external angular rate information and a resonant gyroscope error, and the resonant gyroscope error is a scale error and a drift error;
s2, respectively modeling the scale error in the output of the resonant gyroscope in the step S1 by adopting a least square method, and modeling the drift error;
s3, fixedly installing the resonance gyroscope on the single-shaft turntable, and carrying out forward and reverse rotation modulation to obtain the output of the resonance gyroscope;
s4, substituting the output of the resonant gyroscope obtained in the step S3 into the scale error model and the drift error model established in the step S2, calibrating coefficients in the scale error model and the drift error model, and obtaining the scale error model and the drift error model;
and S5, compensating the output of the resonant gyroscope according to the scale error model and the drift error model obtained in the S4 and the measured standing wave mode angle of the resonant gyroscope.
The scale errors include periodic scale errors and constant scale errors.
The drift error includes a periodic drift error and a constant drift error.
In step 2, the scale error model is
Figure 353710DEST_PATH_IMAGE001
In which
Figure 208534DEST_PATH_IMAGE002
、
Figure 690069DEST_PATH_IMAGE003
、
Figure 554119DEST_PATH_IMAGE004
、
Figure 571754DEST_PATH_IMAGE005
、
Figure 863058DEST_PATH_IMAGE006
For the scale error model coefficients to be calibrated,
Figure 598933DEST_PATH_IMAGE007
representing the resonant gyro standing wave mode angle.
In step 2, the drift error model is
Figure 1095DEST_PATH_IMAGE008
Wherein
Figure 138816DEST_PATH_IMAGE009
、
Figure 833977DEST_PATH_IMAGE010
、
Figure 57148DEST_PATH_IMAGE011
And the drift error model coefficient to be calibrated.
In step S3, the rotation modulation process includes:
s31, rotating the turntable to make the resonant gyroscope rotating shaft coincide with the turntable outer frame shaft,
s32, making the angular velocity of the resonant gyroscope in the positive direction of the outer frame shaft of the turntable be
Figure 263001DEST_PATH_IMAGE012
Recording the output of the forward rotation resonant gyro as
Figure 255228DEST_PATH_IMAGE013
；
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyro have the angular velocity of
Figure 888335DEST_PATH_IMAGE014
Recording the output of the inverted resonator gyro as
Figure 598802DEST_PATH_IMAGE015
；
And S34, repeating the steps S32 and S33 for multiple times to obtain the output of the resonant gyroscope corresponding to the angular velocity of the resonant gyroscope.
In step S4, the resonator gyro outputs
Figure 342767DEST_PATH_IMAGE016
In which
Figure 688035DEST_PATH_IMAGE017
In order to resonate the gyro angular velocity,
Figure 492043DEST_PATH_IMAGE018
in order to provide a resonant gyro scale error,
Figure 689806DEST_PATH_IMAGE019
is the resonant gyro drift error.
In step 5, the method for compensating the output of the resonant gyroscope comprises the following steps:
Figure 971883DEST_PATH_IMAGE020
wherein
Figure 673123DEST_PATH_IMAGE021
In order to compensate for the output of the rear resonator gyro,
Figure 913611DEST_PATH_IMAGE022
obtained from the raw output of the resonant gyro,
Figure 333091DEST_PATH_IMAGE023
and calculating the resonant gyro angular velocity through the calibration error model and the drift error model in the step S4 and the measured resonant gyro standing wave mode angle.
The invention has the beneficial effects that:
the invention designs an output error fitting compensation technology under vibration type rotation modulation of a resonant gyroscope, solves the problem of output fluctuation of a resonant system after the vibration type rotation modulation technology of the resonant gyroscope is adopted, and effectively reduces the output fluctuation level of the resonant gyroscope through modeling compensation on periodic scale errors, periodic drift and constant errors in the output of the resonant gyroscope, and has obvious effect.
Drawings
FIG. 1 is a graph of the original output of a resonant gyroscope of the present invention;
FIG. 2 is the output curve of the resonator gyro after eliminating the rotation force value;
FIG. 3 is a graph of the output of a resonant gyroscope according to the present invention after a curve-fitting compensation scheme;
FIG. 4 is a partial enlarged view of a resonant gyroscope output curve after the use of a curve-fit compensation scheme in accordance with the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.
Establishing a resonance gyroscope complete error model according to a non-ideal harmonic oscillator and a line error thereof
The production and manufacturing process of the harmonic oscillator is limited by the current process, the circumferential mass distribution of the harmonic oscillator is uneven due to workpiece clamping eccentricity, cutter vibration or uneven cutter abrasion in the manufacturing process, the circumferential rigidity uniformity of the harmonic oscillator is influenced, and the circumferential rigidity and mass unevenness can cause frequency cracking; in addition, the actual hemispherical resonance gyro harmonic oscillator has damping, the damping can lead to harmonic oscillator can lose energy when vibrating, and the kinetic energy of vibration is converted into heat energy and is dissipated, and the amplitude attenuates gradually along with time. Meanwhile, the production and manufacturing process of the harmonic oscillator is limited by the current process, and circumferential damping of the harmonic oscillator is unequal in size. In addition, since the hemispherical resonator gyro needs to detect the vibration of the resonator and apply the excitation force control, the surface of the resonator needs to be metallized, and the uniformity of the plating film also affects the symmetry of the resonator, thereby affecting the uniformity of the circumferential damping.
In the actual operation of the resonant gyroscope, not only is an nonideal error of a harmonic oscillator present, but also an error is present in the design of the relevant circuit and the force application and detection of signals of the resonant gyroscope through the electrodes, which can cause the mutual coupling of the force application and detection signals of 4 loops of the resonant gyroscope, and thus the output of the resonant gyroscope has an error.
After the analysis by the averaging method, neglecting the second order small quantity, the following can be obtained:
Figure 917394DEST_PATH_IMAGE024
（1）
wherein the content of the first and second substances,
Figure 738720DEST_PATH_IMAGE025
-an external angular rate of motion;
Figure 884530DEST_PATH_IMAGE007
-resonant gyro standing wave mode angle;
Figure 791306DEST_PATH_IMAGE026
-harmonic oscillator damping is not mean;
Figure 415186DEST_PATH_IMAGE027
-harmonic oscillator frequency cracking value;
Figure 356597DEST_PATH_IMAGE028
the resonant gyroscope detects line gain inconsistency errors;
Figure 171844DEST_PATH_IMAGE029
-the resonant gyroscope detects line phase delay errors;
Figure 565916DEST_PATH_IMAGE030
the axis of the maximum damping value of the harmonic oscillator forms an included angle with the detection electrode axis;
Figure 993486DEST_PATH_IMAGE031
the axis of the maximum harmonic oscillator frequency cracking value and the detection electrode axis form an included angle;
Figure 258246DEST_PATH_IMAGE032
-the resonant gyro blaine coefficient;
Figure 11438DEST_PATH_IMAGE033
-a quadrature control signal;
Figure 627227DEST_PATH_IMAGE034
-an amplitude control signal;
Figure 357023DEST_PATH_IMAGE035
-a precession control signal.
2) Determining periodic errors in resonant gyro output
In the actual resonant gyroscopic control process,
Figure 7448DEST_PATH_IMAGE036
and
Figure 400383DEST_PATH_IMAGE037
for quadrature signals, in the time domain, can be written as
Figure 769047DEST_PATH_IMAGE038
And
Figure 803999DEST_PATH_IMAGE039
substituting equation (1), the expression of the obtained periodic error is as follows:
periodic scale error:
Figure 308930DEST_PATH_IMAGE040
（2）
periodic drift error:
Figure 371302DEST_PATH_IMAGE041
（3）
constant drift error:
Figure 227262DEST_PATH_IMAGE042
（4）
constant scale error:
Figure 800326DEST_PATH_IMAGE043
（5）
and obtaining the expression forms of various errors of the resonant gyroscope after the vibration mode rotation modulation, and carrying out periodic error modeling fitting compensation according to the expression forms.
Establishing a resonant gyroscope output compensation model
The invention carries out online compensation on the output information of the resonant gyroscope after vibration mode rotation modulation, deducts the information from the output of the resonant gyroscope according to the preset vibration mode rotation modulation rate, and obtains the residual output of the resonant gyroscope, wherein the residual output of the resonant gyroscope comprises external angular rate information and resonant gyroscope errors, and the resonant gyroscope errors comprise periodic scale errors, periodic drift errors, constant drift errors and constant scale errors. As shown in fig. 1 and 2.
And (3) performing curve fitting by adopting a least square method, and modeling and compensating errors (periodic errors and constant errors) in the output of the resonant gyroscope. The model is as follows:
Figure 894184DEST_PATH_IMAGE044
(6)
Figure 160080DEST_PATH_IMAGE045
（7）
wherein, the formula (6) is a drift error model, and the formula (7) is a scale error model
Figure 237758DEST_PATH_IMAGE009
、
Figure 614512DEST_PATH_IMAGE010
、
Figure 592570DEST_PATH_IMAGE011
、
Figure 29368DEST_PATH_IMAGE002
、
Figure 328762DEST_PATH_IMAGE003
、
Figure 509208DEST_PATH_IMAGE004
、
Figure 843237DEST_PATH_IMAGE005
、
Figure 185357DEST_PATH_IMAGE006
The undetermined coefficient is used.
The rotation modulation process comprises the following steps:
s31, after the system is started up, before the initial alignment, the rotary table is rotated to enable the resonant gyroscope rotary shaft to be superposed with the rotary table outer frame shaft,
s32, making the angular velocity of the resonant gyroscope in the positive direction of the outer frame shaft of the turntable be
Figure 237627DEST_PATH_IMAGE012
Recording the output of a positive rotation resonant gyro as
Figure 454719DEST_PATH_IMAGE046
；
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyro have the angular velocity of
Figure 643255DEST_PATH_IMAGE014
Recording the output of the inverted resonator gyro as
Figure 421855DEST_PATH_IMAGE015
；
S34, repeating the steps S32 and S33 for multiple times to obtain multiple resonant gyro angular velocities and corresponding resonant gyro outputs.
Wherein the content of the first and second substances,
Figure 695842DEST_PATH_IMAGE047
（8）
wherein
Figure 218090DEST_PATH_IMAGE017
For the resonant gyro angular velocity,
Figure 526711DEST_PATH_IMAGE018
in order to provide a resonant gyro scale error,
Figure 476213DEST_PATH_IMAGE019
is the resonant gyro drift error.
(6) (7) (8) solving simultaneous equations to obtain
Figure 470451DEST_PATH_IMAGE048
、
Figure 796391DEST_PATH_IMAGE010
、
Figure 693939DEST_PATH_IMAGE011
、
Figure 814342DEST_PATH_IMAGE049
、
Figure 328500DEST_PATH_IMAGE003
、
Figure 926972DEST_PATH_IMAGE004
、
Figure 177562DEST_PATH_IMAGE050
And
Figure 734445DEST_PATH_IMAGE006
。
the method for compensating the output of the resonant gyroscope comprises the following steps:
Figure 204741DEST_PATH_IMAGE051
in which
Figure 606904DEST_PATH_IMAGE052
In order to compensate for the output of the rear resonator gyro,
Figure 213465DEST_PATH_IMAGE022
obtained from the raw output of the resonant gyro,
Figure 941250DEST_PATH_IMAGE053
through the calibration error model and the drift error model in the step S4 and the measured resonant gyro standing wave mode angleAnd calculating the angular speed of the resonant gyroscope. The compensated output of the resonant gyroscope can be obtained by substituting the original output of the resonant gyroscope, the resonant gyroscope standing wave vibration mode angle obtained by the measurement of the resonant gyroscope and the resonant gyroscope angular velocity into a formula (8). As shown in fig. 3 and 4.
The invention designs an output error fitting compensation technology under vibration type rotation modulation of a resonant gyroscope, solves the problem of output fluctuation of a resonant system after the vibration type rotation modulation technology of the resonant gyroscope is adopted, and effectively reduces the output fluctuation level of the resonant gyroscope through modeling compensation on periodic scale errors, periodic drift and constant errors in the output of the resonant gyroscope, and has obvious effect.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (8)

1. An error fitting compensation method based on resonance gyroscope vibration mode rotation modulation is characterized by comprising the following steps:
s1, presetting a vibration mode rotation modulation rate, and deducting the preset vibration mode rotation modulation rate from the output of the resonant gyroscope to obtain the residual output of the resonant gyroscope, wherein the residual output of the resonant gyroscope comprises external angular rate information and a resonant gyroscope error, and the resonant gyroscope error is a scale error and a drift error;
s2, respectively modeling the scale error in the output of the resonant gyroscope in the step S1 by adopting a least square method, and modeling the drift error;
s3, fixedly installing the resonance gyroscope on the single-shaft turntable, and carrying out forward and reverse rotation modulation to obtain the output of the resonance gyroscope;
s4, substituting the output of the resonant gyroscope obtained in the step S3 into the scale error model and the drift error model established in the step S2, calibrating coefficients in the scale error model and the drift error model, and obtaining the scale error model and the drift error model;
and S5, compensating the output of the resonant gyroscope according to the scale error model and the drift error model obtained in the S4 and the measured standing wave mode angle of the resonant gyroscope.
2. The method of claim 1, wherein the scaling errors comprise periodic scaling errors and constant scaling errors.
3. The method of claim 1, wherein the drift error comprises a periodic drift error and a constant drift error.
4. The error fitting compensation method based on resonance gyroscope mode-rotating modulation as claimed in any of claims 1 to 3, characterized in that in step 2, the scale error model is
Figure DEST_PATH_IMAGE001
In which
Figure 816020DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE003
、
Figure 438762DEST_PATH_IMAGE004
、
Figure DEST_PATH_IMAGE005
、
Figure 993371DEST_PATH_IMAGE006
For the scale error model coefficients to be calibrated,
Figure DEST_PATH_IMAGE007
representing the resonant gyro standing wave mode angle.
5. The method according to claim 4, wherein in step 2, the drift error model is determined by using a model of the error fit under the rotational modulation of the vibratory mode of the resonator gyroscope
Figure 782074DEST_PATH_IMAGE008
Wherein
Figure DEST_PATH_IMAGE009
、
Figure 396726DEST_PATH_IMAGE010
、
Figure DEST_PATH_IMAGE011
And the drift error model coefficient to be calibrated.
6. The method of claim 5, wherein in step S3, the rotation modulation process comprises:
s31, rotating the turntable to make the resonance gyroscope rotating shaft coincide with the turntable outer frame shaft,
s32, making the angular velocity of the resonant gyroscope in the positive direction of the outer frame shaft of the turntable be
Figure 506764DEST_PATH_IMAGE012
Recording the output of the forward rotation resonant gyro as
Figure DEST_PATH_IMAGE013
；
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyro have the angular velocity of
Figure 363600DEST_PATH_IMAGE014
Recording the output of the inverted resonator gyro as
Figure DEST_PATH_IMAGE015
；
And S34, repeating the steps S32 and S33 for multiple times to obtain the output of the resonant gyroscope corresponding to the angular velocity of the resonant gyroscope.
7. The method of claim 6, wherein in step S4, the output of the resonator gyroscope is
Figure 508273DEST_PATH_IMAGE016
In which
Figure DEST_PATH_IMAGE017
In order to resonate the gyro angular velocity,
Figure 28247DEST_PATH_IMAGE018
in order to resonate the gyro scale error,
Figure DEST_PATH_IMAGE019
is the resonant gyro drift error.
8. The method of claim 7, wherein in step 5, the method of compensating for the resonator gyroscope output by fitting errors under resonator gyroscope mode-rotation modulation comprises:
Figure 891161DEST_PATH_IMAGE020
wherein
Figure DEST_PATH_IMAGE021
In order to compensate for the output of the rear resonator gyro,
Figure 309546DEST_PATH_IMAGE022
obtained from the raw output of the resonant gyro,
Figure DEST_PATH_IMAGE023
through the calibration error model and the drift error model in the step S4 and the measured standing wave vibration mode angle of the resonant gyroscope, the resonant gyroscopeAnd (4) calculating the angular speed.
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CN116026298A (en) * 2023-03-27 2023-04-28 中国人民解放军国防科技大学 Vibration gyro measurement and control method and device based on vibration mode control
CN116608890A (en) * 2023-07-21 2023-08-18 中国船舶集团有限公司第七〇七研究所 Scale error compensation method of full-angle mode hemispherical resonator gyroscope
CN116608890B (en) * 2023-07-21 2023-10-13 中国船舶集团有限公司第七〇七研究所 Scale error compensation method of full-angle mode hemispherical resonator gyroscope

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