CN116576885A - Hemispherical resonator gyro starting method and hemispherical resonator gyro starting system based on temperature calibration and compensation - Google Patents
Hemispherical resonator gyro starting method and hemispherical resonator gyro starting system based on temperature calibration and compensation Download PDFInfo
- Publication number
- CN116576885A CN116576885A CN202310502302.8A CN202310502302A CN116576885A CN 116576885 A CN116576885 A CN 116576885A CN 202310502302 A CN202310502302 A CN 202310502302A CN 116576885 A CN116576885 A CN 116576885A
- Authority
- CN
- China
- Prior art keywords
- hemispherical resonator
- temperature
- virtual
- angular velocity
- resonator gyro
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000009191 jumping Effects 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 3
- 230000017105 transposition Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computational Mathematics (AREA)
- Remote Sensing (AREA)
- Mathematical Analysis (AREA)
- Radar, Positioning & Navigation (AREA)
- Data Mining & Analysis (AREA)
- Computing Systems (AREA)
- Algebra (AREA)
- Manufacturing & Machinery (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Gyroscopes (AREA)
Abstract
A hemispherical resonator gyro starting method and system based on temperature calibration and compensation belong to the technical field of inertia. The application solves the problem that the output performance of the gyroscope is influenced due to the fact that the control circuit applies virtual precession angular velocity to be influenced by temperature to continuously change before the harmonic oscillator is thermally stable. According to the method, the hemispherical resonator vibration frequency and the virtual precession angular velocity are calibrated at different temperatures, the calibrated hemispherical resonator vibration frequency and the virtual precession angular velocity are subjected to function fitting by adopting a fitting method, and finally the hemispherical resonator vibration frequency and the virtual precession angular velocity are compensated into a gyro control system, so that the quick stability of the gyro output performance in the starting process of the hemispherical resonator gyro is realized. The method can be applied to the starting process of the hemispherical resonator gyroscope.
Description
Technical Field
The application belongs to the technical field of inertia, and particularly relates to a hemispherical resonator gyro starting method and system based on temperature calibration and compensation.
Background
The hemispherical resonator is a hemispherical resonator gyro core sensitive element, and after the hemispherical resonator gyro starts to start, the resonant frequency of the hemispherical resonator gyro rises along with the rise of the temperature of the resonator. The full angle mode hemispherical resonator gyro usually adopts a virtual precession control mode, a harmonic oscillator standing wave is rotated at a constant angular velocity by applying a driving force to achieve the purpose of balancing periodic errors, and the partial precession angular velocity is removed in the final gyro output, so that the stability of the virtual precession angular velocity plays a decisive role in the overall performance of the hemispherical resonator gyro. The hemispherical resonator gyro usually needs a preheating time of several hours to tens of hours, after preheating, the harmonic oscillator reaches thermal balance, and the virtual precession rotating speed is also kept stable. However, the long-time preheating process cannot meet the complex actual application scene.
In summary, since the virtual precession angular velocity applied by the control circuit is continuously changed under the influence of temperature before the resonator reaches thermal stability after the hemispherical resonator gyroscope head starts to work, and finally the output performance of the gyroscope is affected, how to reduce the preheating time of the hemispherical resonator gyroscope is a problem to be solved in the present day.
Disclosure of Invention
The application aims to solve the problem that the output performance of a gyroscope is influenced due to the fact that the virtual precession angular speed applied by a control circuit is continuously changed under the influence of temperature before a harmonic oscillator is thermally stabilized, and provides a hemispherical resonator gyroscope starting method and system based on temperature calibration and compensation.
The technical scheme adopted by the application for solving the technical problems is as follows:
based on one aspect of the application, a hemispherical resonator gyro starting method based on temperature calibration and compensation comprises the following steps:
step 1, placing a hemispherical resonator gyroscope in a high-low temperature test box, and starting the hemispherical resonator gyroscope;
step 2, highThe temperature in the low-temperature test chamber is set to be the lowest temperature t of the hemispherical resonator gyro in actual use 0 And maintaining at least T at a set temperature 0 Time;
recording the vibration frequency of a harmonic oscillator and the virtual precession angular velocity of the hemispherical resonator gyroscope when the current temperature is stable by adopting the hemispherical resonator gyroscope data acquisition upper computer;
step 3, judging whether the temperature of the high-low temperature test chamber reaches the highest temperature t of the hemispherical resonator gyro in actual use M If not, jumping to the step 4, otherwise jumping to the step 5;
step 4, raising the temperature of the high-low temperature test chamber by delta T and maintaining at least T 0 The hemispherical resonator gyro data acquisition upper computer is used for recording the vibration frequency and the virtual precession angular velocity of a harmonic oscillator when the hemispherical resonator gyro is stable at the current temperature, and then the step 3 is performed;
step 5, performing function fitting on virtual precession angular velocity and harmonic oscillator vibration frequency at each temperature recorded by a hemispherical resonator gyro data acquisition upper computer;
and 6, compensating the virtual precession angular velocity in the hemispherical resonator gyro control algorithm according to the function fitting result in the step 5.
Further, the T is 0 The value of (2) is 4 hours.
Further, the functional relationship between the virtual precession angular velocity and the vibration frequency of the harmonic oscillator is as follows:
wherein omega is the vibration frequency of the harmonic oscillator, omega is the virtual precession angular velocity, a i Is the i-th order coefficient of the function, i=0, 1, …, n, n being the number of times the function is fitted.
Further, the coefficient a i The identification method of (2) is as follows:
step S1, setting a coefficient a i The initial value of (a) is a i (0)＝0；
Step S2, meterCalculating the current temperature T k The following value function r (k):
r(k)＝Ω d (k)-Ω r (k)
wherein Ω d (k) At the current temperature T k Virtual precession angular velocity actual detection value omega after lower acquisition signal processing r (k) At the current temperature T k A theoretical value of the lower virtual precession angular velocity;
step S3, calculating the current temperature T k The following jacobian matrix J r (k)：
Step S4, calculating the coefficient a i At the current temperature T k The increment Δa below i (k)：
[Δa i (k)]＝[J r (k) T J r (k)] -1 J r (k) T r(k)
Wherein, the upper corner mark T represents the transposition of the matrix, and the upper corner mark-1 represents the inverse of the matrix;
step S5, updating the coefficient of the next temperature:
[a i (k+1)]＝[a i (k)]+[Δa i (k)]
wherein a is i (k) Is the current temperature T k Coefficient of a i (k+1) is the next temperature T k+1 The coefficients below;
and S6, judging whether data are input, if so, making k=k+1, and jumping to the step S2, otherwise, completing fitting.
Based on another aspect of the application, a hemispherical resonator gyro starting system based on temperature calibration and compensation comprises a high-low temperature test box, a hemispherical resonator gyro data acquisition upper computer, a data fitting unit and a hemispherical resonator gyro control unit; wherein:
the high-low temperature test box is used for adjusting the working temperature of the hemispherical resonator gyroscope;
the hemispherical resonator gyro data acquisition upper computer is used for acquiring harmonic oscillator vibration frequency and virtual precession angular velocity when the hemispherical resonator gyro is stable at each temperature; transmitting the collected data to a data fitting unit;
the data fitting unit is used for fitting the received vibration frequency and virtual precession angular velocity of the harmonic oscillator and transmitting the fitting result to the hemispherical resonator gyro control unit;
the hemispherical resonator gyro control unit is used for controlling the hemispherical resonator gyro according to the fitting result.
The beneficial effects of the application are as follows:
the application provides a hemispherical resonator gyro starting method based on temperature calibration and compensation, which is characterized in that the hemispherical resonator vibration frequency and the virtual precession angular velocity are calibrated at different temperatures, then the calibrated hemispherical resonator vibration frequency and the virtual precession angular velocity are subjected to function fitting by adopting a fitting method, and finally the hemispherical resonator vibration frequency and the virtual precession angular velocity are compensated into a gyro control system, so that the rapid stability of gyro output performance in the hemispherical resonator gyro starting process is realized.
Drawings
FIG. 1 is a flow chart of a hemispherical resonator gyro starting method based on temperature calibration and compensation.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the application. Based on the embodiments of the present application, other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
Detailed description of the applicationin the first embodiment, this embodiment will be described with reference to fig. 1. The hemispherical resonator gyro starting method based on temperature calibration and compensation specifically comprises the following steps:
step 1, placing a hemispherical resonator gyroscope in a high-low temperature test box, and starting the hemispherical resonator gyroscope;
step 2Setting the temperature in the high-low temperature test box as the lowest temperature t of the hemispherical resonator gyro in actual use 0 And maintaining at least T at a set temperature 0 Time;
recording the vibration frequency of a harmonic oscillator and the virtual precession angular velocity of the hemispherical resonator gyroscope when the current temperature is stable by adopting the hemispherical resonator gyroscope data acquisition upper computer;
step 3, judging whether the temperature of the high-low temperature test chamber reaches the highest temperature t of the hemispherical resonator gyro in actual use M If not, jumping to the step 4, otherwise jumping to the step 5;
step 4, raising the temperature of the high-low temperature test chamber by delta T and maintaining at least T 0 Time;
the temperature rise delta t can be selected according to the actual gyro precision requirement, and the calibration and compensation precision can be improved by reducing the delta t.
Recording the harmonic oscillator vibration frequency and the virtual precession angular velocity of the hemispherical resonator gyroscope when the hemispherical resonator gyroscope is stable at the current temperature by adopting the hemispherical resonator gyroscope data acquisition upper computer, and then jumping to the step 3;
step 5, performing function fitting on virtual precession angular velocity and harmonic oscillator vibration frequency at each temperature recorded by a hemispherical resonator gyro data acquisition upper computer;
the nonlinear least square method is used for fitting the relation between the virtual precession angular velocity and the vibration frequency of the harmonic oscillator to the polynomial functions of three times and more, so that the optimal compensation effect can be obtained, and the quick stability of the gyro output performance in the starting process of the hemispherical resonator gyro is realized;
and 6, compensating the virtual precession angular velocity in the hemispherical resonator gyro control algorithm according to the function fitting result in the step 5 so as to ensure that the virtual precession angular velocity of the hemispherical resonator gyro is kept consistent under different vibration frequencies of the harmonic oscillator.
The parameters compensated in the traditional method are fixed, so that the gyro output performance can be guaranteed only when the gyro is thermally stable, but the method and the device can achieve the aim of quick start by calibrating the hemispherical harmonic oscillator vibration frequency and the virtual precession angular velocity at different temperatures, performing function fitting on the calibrated hemispherical harmonic oscillator vibration frequency and the virtual precession angular velocity by adopting a fitting method and compensating the hemispherical harmonic oscillator vibration frequency and the virtual precession angular velocity into a gyro control system in real time.
The second embodiment is as follows: this embodiment differs from the specific embodiment in that the T 0 The value of (2) is 4 hours.
Other steps and parameters are the same as in the first embodiment.
And a third specific embodiment: the first or second embodiment of the present application is different from the first or second embodiment in that a functional relationship between the virtual precession angular velocity and the vibration frequency of the harmonic oscillator is:
wherein omega is the vibration frequency of the harmonic oscillator, omega is the virtual precession angular velocity, a i Is the i-th order coefficient of the function, i=0, 1, …, n, n being the number of times the function is fitted.
The fitting method is not limited to the least square method, but may be other fitting methods such as kalman filtering. Besides the polynomial function of three or more times, other function models which conform to the trend of data change, such as exponential function, logarithmic function and the like, can be selected.
Other steps and parameters are the same as in the first or second embodiment.
The specific embodiment IV is as follows: this embodiment differs from one to three embodiments in that the coefficient a i The identification method of (2) is as follows:
step S1, setting a coefficient a i The initial value of (a) is a i (0)＝0；
Step S2, calculating the current temperature T k The following value function r (k):
r(k)＝Ω d (k)-Ω r (k)
wherein Ω d (k) At the current temperature T k Virtual precession angular velocity actual detection value omega after lower acquisition signal processing r (k) At the current temperatureDegree T k A theoretical value of the lower virtual precession angular velocity;
step S3, calculating the current temperature T k The following jacobian matrix J r (k)：
Step S4, calculating the coefficient a i At the current temperature T k The increment Δa below i (k)：
[Δa i (k)]＝[J r (k) T J r (k)] -1 J r (k) T r(k)
Wherein, the upper corner mark T represents the transposition of the matrix, and the upper corner mark-1 represents the inverse of the matrix;
step S5, updating the coefficient of the next temperature:
[a i (k+1)]＝[a i (k)]+[Δa i (k)]
wherein a is i (k) Is the current temperature T k Coefficient of a i (k+1) is the next temperature T k+1 The coefficients below;
and S6, judging whether data are input, if so, making k=k+1, and jumping to the step S2, otherwise, completing fitting.
Other steps and parameters are the same as in one to three embodiments.
The hemispherical resonator gyro starting system based on temperature calibration and compensation comprises a high-low temperature test box, a hemispherical resonator gyro data acquisition upper computer, a data fitting unit and a hemispherical resonator gyro control unit; wherein:
the high-low temperature test box is used for adjusting the working temperature of the hemispherical resonator gyroscope;
the hemispherical resonator gyro data acquisition upper computer is used for acquiring harmonic oscillator vibration frequency and virtual precession angular velocity when the hemispherical resonator gyro is stable at each temperature; transmitting the collected data to a data fitting unit;
the data fitting unit is used for fitting the received vibration frequency and virtual precession angular velocity of the harmonic oscillator and transmitting the fitting result to the hemispherical resonator gyro control unit;
the hemispherical resonator gyro control unit is used for controlling the hemispherical resonator gyro according to the fitting result.
And compensating the virtual precession angular velocity in the hemispherical resonator gyro control algorithm according to the fitting result so as to ensure that the virtual precession angular velocity of the hemispherical resonator gyro is kept consistent under different vibration frequencies of the harmonic oscillator.
The above examples of the present application are only for describing the calculation model and calculation flow of the present application in detail, and are not limiting of the embodiments of the present application. Other variations and modifications of the above description will be apparent to those of ordinary skill in the art, and it is not intended to be exhaustive of all embodiments, all of which are within the scope of the application.
Claims (5)
1. The hemispherical resonator gyro starting method based on temperature calibration and compensation is characterized by comprising the following steps of:
step 1, placing a hemispherical resonator gyroscope in a high-low temperature test box, and starting the hemispherical resonator gyroscope;
step 2, setting the temperature in the high-low temperature test box as the lowest temperature t of the hemispherical resonator gyro in actual use 0 And maintaining at least T at a set temperature 0 Time;
recording the vibration frequency of a harmonic oscillator and the virtual precession angular velocity of the hemispherical resonator gyroscope when the current temperature is stable by adopting the hemispherical resonator gyroscope data acquisition upper computer;
step 3, judging whether the temperature of the high-low temperature test chamber reaches the highest temperature t of the hemispherical resonator gyro in actual use M If not, jumping to the step 4, otherwise jumping to the step 5;
step 4, willThe temperature of the high-low temperature test chamber is increased by delta T and maintained at least T 0 The hemispherical resonator gyro data acquisition upper computer is used for recording the vibration frequency and the virtual precession angular velocity of a harmonic oscillator when the hemispherical resonator gyro is stable at the current temperature, and then the step 3 is performed;
step 5, performing function fitting on virtual precession angular velocity and harmonic oscillator vibration frequency at each temperature recorded by a hemispherical resonator gyro data acquisition upper computer;
and 6, compensating the virtual precession angular velocity in the hemispherical resonator gyro control algorithm according to the function fitting result in the step 5.
2. The hemispherical resonator gyro starting method based on temperature calibration and compensation according to claim 1, wherein the T is 0 The value of (2) is 4 hours.
3. The hemispherical resonator gyro starting method based on temperature calibration and compensation according to claim 2, wherein the functional relationship between the virtual precession angular velocity and the vibration frequency of the harmonic oscillator is:
wherein omega is the vibration frequency of the harmonic oscillator, omega is the virtual precession angular velocity, a i Is the i-th order coefficient of the function, i=0, 1, …, n, n being the number of times the function is fitted.
4. A hemispherical resonator gyro starting method based on temperature calibration and compensation according to claim 3, characterized in that the coefficient a i The identification method of (2) is as follows:
step S1, setting a coefficient a i The initial value of (a) is a i (0)＝0；
Step S2, calculating the current temperature T k The following value function r (k):
r(k)＝Ω d (k)-Ω r (k)
wherein Ω d (k) At the current temperature T k Virtual precession angular velocity actual detection value omega after lower acquisition signal processing r (k) At the current temperature T k A theoretical value of the lower virtual precession angular velocity;
step S3, calculating the current temperature T k The following jacobian matrix J r (k)：
Step S4, calculating the coefficient a i At the current temperature T k The increment Δa below i (k)：
[Δa i (k)]＝[J r (k) T J r (k)] -1 J r (k) T r(k)
Wherein, the upper corner mark T represents the transposition of the matrix, and the upper corner mark-1 represents the inverse of the matrix;
step S5, updating the coefficient of the next temperature:
[a i (k+1)]＝[a i (k)]+[Δa i (k)]
wherein a is i (k) Is the current temperature T k Coefficient of a i (k+1) is the next temperature T k+1 The coefficients below;
and S6, judging whether data are input, if so, making k=k+1, and jumping to the step S2, otherwise, completing fitting.
5. The hemispherical resonator gyro starting system based on temperature calibration and compensation is characterized by comprising a high-low temperature test box, a hemispherical resonator gyro data acquisition upper computer, a data fitting unit and a hemispherical resonator gyro control unit; wherein:
the high-low temperature test box is used for adjusting the working temperature of the hemispherical resonator gyroscope;
the hemispherical resonator gyro data acquisition upper computer is used for acquiring harmonic oscillator vibration frequency and virtual precession angular velocity when the hemispherical resonator gyro is stable at each temperature; transmitting the collected data to a data fitting unit;
the data fitting unit is used for fitting the received vibration frequency and virtual precession angular velocity of the harmonic oscillator and transmitting the fitting result to the hemispherical resonator gyro control unit;
the hemispherical resonator gyro control unit is used for controlling the hemispherical resonator gyro according to the fitting result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310502302.8A CN116576885A (en) | 2023-05-06 | 2023-05-06 | Hemispherical resonator gyro starting method and hemispherical resonator gyro starting system based on temperature calibration and compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310502302.8A CN116576885A (en) | 2023-05-06 | 2023-05-06 | Hemispherical resonator gyro starting method and hemispherical resonator gyro starting system based on temperature calibration and compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116576885A true CN116576885A (en) | 2023-08-11 |
Family
ID=87542520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310502302.8A Pending CN116576885A (en) | 2023-05-06 | 2023-05-06 | Hemispherical resonator gyro starting method and hemispherical resonator gyro starting system based on temperature calibration and compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116576885A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117190997A (en) * | 2023-11-06 | 2023-12-08 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10527419B1 (en) * | 2016-02-17 | 2020-01-07 | Inertialwave | Baseband control electronics for inertial wave angle gyroscope |
| US20210348503A1 (en) * | 2020-05-11 | 2021-11-11 | Institute Of Geology And Geophysics, Chinese Academy Of Sciences | Self-calibration method and system of solid-state resonator gyroscope |
| WO2021227013A1 (en) * | 2020-05-11 | 2021-11-18 | 中国科学院地质与地球物理研究所 | Solid-state resonant gyroscope self-calibration method and system |
| CN114440852A (en) * | 2022-03-15 | 2022-05-06 | 哈尔滨工业大学 | Hemispherical resonator gyroscope X/Y path drive gain asymmetry error identification method |
| CN114485601A (en) * | 2022-01-21 | 2022-05-13 | 中国人民解放军火箭军工程大学 | Hemispherical resonator gyroscope temperature error indirect compensation method |
| CN114964195A (en) * | 2022-07-27 | 2022-08-30 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonant gyroscope angular velocity signal temperature compensation method |
-
2023
- 2023-05-06 CN CN202310502302.8A patent/CN116576885A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10527419B1 (en) * | 2016-02-17 | 2020-01-07 | Inertialwave | Baseband control electronics for inertial wave angle gyroscope |
| US20210348503A1 (en) * | 2020-05-11 | 2021-11-11 | Institute Of Geology And Geophysics, Chinese Academy Of Sciences | Self-calibration method and system of solid-state resonator gyroscope |
| WO2021227013A1 (en) * | 2020-05-11 | 2021-11-18 | 中国科学院地质与地球物理研究所 | Solid-state resonant gyroscope self-calibration method and system |
| CN114485601A (en) * | 2022-01-21 | 2022-05-13 | 中国人民解放军火箭军工程大学 | Hemispherical resonator gyroscope temperature error indirect compensation method |
| CN114440852A (en) * | 2022-03-15 | 2022-05-06 | 哈尔滨工业大学 | Hemispherical resonator gyroscope X/Y path drive gain asymmetry error identification method |
| CN114964195A (en) * | 2022-07-27 | 2022-08-30 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonant gyroscope angular velocity signal temperature compensation method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117190997A (en) * | 2023-11-06 | 2023-12-08 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
| CN117190997B (en) * | 2023-11-06 | 2024-01-05 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116576885A (en) | Hemispherical resonator gyro starting method and hemispherical resonator gyro starting system based on temperature calibration and compensation | |
| US7466209B2 (en) | System and method for providing temperature correction in a crystal oscillator | |
| CN105387859B (en) | MEMS sensor combination temp drift error compensation method | |
| CN107870000A (en) | Raising optical fibre gyro bias instaility method based on Polynomial Fitting Technique | |
| CN114485601A (en) | Hemispherical resonator gyroscope temperature error indirect compensation method | |
| CN117109637B (en) | Temperature drift error correction compensation method for hemispherical resonator gyroscope | |
| US20070255521A1 (en) | Tm Method for Controlling Dynamic Apparatus and Apparatus Thereof | |
| CN108827294A (en) | The temperature-compensation method of inertial navigation system | |
| KR102629170B1 (en) | System and method for modeling and correcting frequency of quartz crystal oscillator | |
| CN115704697A (en) | Temperature calibration compensation method, device, equipment and medium of gyroscope | |
| CN116576886B (en) | Hemispherical resonator gyro damping non-uniformity identification method | |
| CN117387611A (en) | Inertial measurement unit temperature compensation method and device based on double-shaft temperature control turntable | |
| CN111308881B (en) | Rubidium clock temperature characteristic calibration method and calibration compensation device | |
| CN114815588B (en) | PICS compensator and PID controller design method and device | |
| CN114518109B (en) | Zero offset compensation method of gyroscope | |
| CN116026328A (en) | Construction method and compensation method of zero-bias hysteresis effect compensation model of micro inertial navigation | |
| CN114440866B (en) | Sensor data calibration method and calibration system | |
| CN117782163A (en) | Hemispherical resonator gyro virtual precession calibration method and system based on decay time constant | |
| CN111947683B (en) | Off-line measurement and on-line compensation method and device for radius error of precision centrifuge | |
| CN104748747A (en) | Positioning and orientating device and method applicable to armored car | |
| CN114509058B (en) | Optical gyroscope starting section zero temperature error compensation method and device | |
| CN114280097B (en) | Temperature stability time acceleration test method based on Arrhenius model | |
| CN117589160A (en) | Gyro real-time dynamic temperature compensation method suitable for optical fiber strapdown inertial navigation system | |
| CN118090102A (en) | Real-time hybrid test loading device time lag compensation method based on fuzzy neural network | |
| CN117949124A (en) | Control moment gyro output moment measuring device and method based on overturn method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |