CN115127533B - 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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CN115127533B
CN115127533B CN202211050065.8A CN202211050065A CN115127533B CN 115127533 B CN115127533 B CN 115127533B CN 202211050065 A CN202211050065 A CN 202211050065A CN 115127533 B CN115127533 B CN 115127533B
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gyroscope
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resonant
resonant gyroscope
error
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CN115127533A (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
    • G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719

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 mode of vibration 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 mode of vibration, the output of the 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 resonance 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 resonance gyroscope output error fitting compensation technology designed by the invention, the output precision of the resonance gyroscope can be obviously improved, and the navigation requirement of a system is met.
The technical scheme of the invention is realized, and the error fitting compensation method based on the resonance gyroscope vibration mode rotation modulation 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 establishing a model for the scale error and the drift error in the output of the resonant gyroscope in the step S1 by adopting a least square method;
s3, fixedly installing the resonant gyroscope on the single-shaft turntable, and performing forward and reverse rotation modulation to obtain output of the resonant 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 vibration 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
Wherein
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
In which
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 is:
s31, rotating the turntable to enable the resonant gyroscope rotating shaft to be superposed with the turntable outer frame shaft,
s32, making the angular speed of the resonant gyroscope in the forward rotation 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 gyroscope have the angular speed of
Figure 888335DEST_PATH_IMAGE014
Recording the output of the inverted resonator gyro as
Figure 598802DEST_PATH_IMAGE015
；
And S34, repeating 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 output of the resonant gyroscope is
Figure 342767DEST_PATH_IMAGE016
In which
Figure 688035DEST_PATH_IMAGE017
In order to resonate the angular velocity of the gyroscope,
Figure 492043DEST_PATH_IMAGE018
in order to resonate the 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
in which
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 gyroscope angular velocity through the scale error model and the drift error model in the step S4 and the measured resonant gyroscope standing wave vibration mode angle.
The beneficial effects of the invention are:
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 raw output of a resonator gyroscope according to the present invention;
FIG. 2 is the output curve of the resonator gyroscope after the rotating force value is removed;
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 not uniform due to eccentric clamping of a workpiece, vibration of a cutter or uneven abrasion of the cutter in the manufacturing process, the circumferential rigidity uniformity of the harmonic oscillator is influenced, and the frequency cracking is caused due to the circumferential rigidity and mass nonuniformity; in addition, there is damping in the real hemisphere resonance top harmonic oscillator, and the damping can lead to the harmonic oscillator can lose the energy when the vibration, and the kinetic energy of vibration converts heat energy into and scatters, and the amplitude attenuates gradually 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 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 are non-ideal errors of the harmonic oscillator exist, but also errors exist in the design of the relevant circuit and the force application and detection of signals of the resonant gyroscope through the electrodes, so that the mutual coupling of the force application and detection signals of 4 loops of the resonant gyroscope can be caused, and the output of the resonant gyroscope has errors.
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
-angular rate of external movement;
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 resonator gyro output
In the actual resonant gyro 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 speed of the resonant gyroscope in the forward rotation of the outer frame shaft of the turntable be
Figure 237627DEST_PATH_IMAGE012
Recording the output of the forward rotation resonant gyro as
Figure 454719DEST_PATH_IMAGE046
；
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyroscope have the angular speed of
Figure 643255DEST_PATH_IMAGE014
Recording the output of the inverted resonator gyro as
Figure 421855DEST_PATH_IMAGE015
；
S34, repeating S32 and S33 for multiple times to obtain a plurality of resonant gyroscope angular velocities and corresponding resonant gyroscope outputs.
Wherein the content of the first and second substances,
Figure 695842DEST_PATH_IMAGE047
（8）
wherein
Figure 218090DEST_PATH_IMAGE017
In order to resonate the 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) 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
and calculating the angular speed of the resonant gyroscope 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 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 amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.

Claims (5)

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 and the drift error in the output of the resonant gyroscope in the step S1 by adopting a least square method, wherein the scale error model is
Figure 81650DEST_PATH_IMAGE001
Wherein
Figure 870615DEST_PATH_IMAGE002
、
Figure 300459DEST_PATH_IMAGE003
、
Figure 807664DEST_PATH_IMAGE004
、
Figure 82788DEST_PATH_IMAGE005
、
Figure 991838DEST_PATH_IMAGE006
For the scale error model coefficients to be calibrated,
Figure 327004DEST_PATH_IMAGE007
representing the standing wave mode angle of the resonant gyroscope and the drift error model is
Figure 321505DEST_PATH_IMAGE008
Wherein
Figure 400319DEST_PATH_IMAGE009
、
Figure 898297DEST_PATH_IMAGE010
、
Figure 201102DEST_PATH_IMAGE011
The drift error model coefficient to be calibrated;
s3, fixedly installing the resonant gyroscope on the single-shaft turntable, and performing forward and reverse rotation modulation to obtain output of the resonant gyroscope;
and 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: the output of the resonant gyroscope is
Figure 151741DEST_PATH_IMAGE012
Wherein
Figure 311544DEST_PATH_IMAGE013
In order to resonate the angular velocity of the gyroscope,
Figure 929607DEST_PATH_IMAGE014
in order to provide a resonant gyro scale error,
Figure 137735DEST_PATH_IMAGE015
is the resonant gyro drift error;
and S5, compensating the output of the resonant gyroscope according to the scale error model, the drift error model and the measured resonant gyroscope standing wave vibration mode angle obtained in the S4 and the resonant gyroscope angular velocity.
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-vibration rotation modulation according to any claim 1 to 3, characterized in that in step S3, the rotation modulation process is:
s31, rotating the turntable to enable the resonant gyroscope rotating shaft to be superposed 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 575669DEST_PATH_IMAGE016
Recording the output of the forward rotation resonant gyro as
Figure 996286DEST_PATH_IMAGE017
；
S33, making the outer frame shaft of the turntable rotate reversely to make the resonant gyroscope have the angular speed of
Figure 734435DEST_PATH_IMAGE018
Recording the output of the inverted resonator gyro as
Figure 847885DEST_PATH_IMAGE019
；
And S34, repeating S32 and S33 for multiple times to obtain the output of the resonant gyroscope corresponding to the angular velocity of the resonant gyroscope.
5. The method of claim 4, wherein in step 5, the method of compensating for the resonator gyroscope output by fitting errors under resonator gyroscope mode-rotation modulation comprises:
Figure 38694DEST_PATH_IMAGE020
in which
Figure 263002DEST_PATH_IMAGE021
In order to compensate for the output of the rear resonator gyro,
Figure 324499DEST_PATH_IMAGE022
obtained from the raw output of the resonant gyro,
Figure 874429DEST_PATH_IMAGE023
and calculating the resonant gyroscope angular velocity through the scale error model and the drift error model in the step S4 and the measured resonant gyroscope standing wave vibration mode angle.
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