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
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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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.
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