CN117490729A - Orthogonal drift error detection method of hemispherical resonator gyroscope - Google Patents
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Abstract
The invention relates to the technical field of gyroscope detection, in particular to an orthogonal drift error detection method of a hemispherical resonator gyroscope, which comprises the following steps: step 1, two hemispherical resonator gyroscopes are connected in a collinear way through a detection estimator and respectively defined as a master gyroscope and a slave gyroscope; step 2, the master gyroscope and the slave gyroscope perform starting and preheating, the force balance is respectively stabilized at 0 degrees and 45 degrees, step 3, the master gyroscope sends a handshake signal to the slave gyroscope through a detection estimator, communication connection is established after the slave gyroscope receives the handshake signal, one detection period of the master gyroscope is divided into eight time sequences after the communication connection is established, switching and detection are performed according to the eight time sequences, and the slave gyroscope also performs detection based on the eight time sequences of the master gyroscope; the detection problem of drift errors is converted into the conversion problem of the phase of the electrode shaft, adverse factor influence in the traditional detection process is avoided, and the detection process is simpler, more convenient and more accurate due to the fixed phase conversion relation of the electrode shaft.
Description
Technical Field
The invention relates to the technical field of gyroscope detection, in particular to an orthogonal drift error detection method of a hemispherical resonator gyroscope.
Background
Hemispherical resonator gyroscopes (Hemispherical Resonator Gyroscope, HRG for short), also known as wineglass gyroscopes, are devices that use conservation of angular momentum of the resonator to measure angular velocity, and were first developed by Thomson-CSF (now Thales Group) in the 80 th century.
The core of HRG is a hemispherical resonator, usually made of quartz or other high quality material, which vibrates at a specific frequency under the drive of electrodes, and when the gyroscope rotates, the vibration mode of the resonator changes due to conservation of angular momentum, and by detecting this change, the angular velocity of the gyroscope can be calculated.
Ideally, the two modes of vibration in the HRG (commonly referred to as the drive mode and the sense mode) should be orthogonal, however, for various reasons such as manufacturing defects, temperature variations, mechanical vibrations, etc., the two modes may not be perfectly orthogonal, and the difference is referred to as an orthogonal drift or an orthogonal offset. The quadrature drift may lead to reduced performance of the gyroscope, since vibrations in the sense mode may be erroneously interpreted as vibrations in the drive mode and vice versa, which would lead to erroneous outputs of the gyroscope, and even a small quadrature drift may lead to larger errors, and therefore for applications requiring high accuracy, such as aerospace navigation, the quadrature drift needs to be detected and compensated for in order to optimize the performance of the gyroscope.
Disclosure of Invention
The invention aims to provide a method for detecting quadrature drift errors of hemispherical resonator gyroscopes, which is used for simultaneously carrying out self-detection on quadrature drift errors of two hemispherical resonator gyroscopes in a detection system.
The invention is realized by the following technical scheme:
the quadrature drift error detection method of the hemispherical resonator gyroscope comprises the following steps of: step 1, two hemispherical resonator gyroscopes are connected in a collinear way through a detection estimator, wherein one hemispherical resonator gyroscope is defined as a master gyroscope, and the other hemispherical resonator gyroscope is defined as a slave gyroscope; step 2, after the step 1 is completed, the main gyroscope performs vibration starting and preheating, and stabilizes the force balance at 0 degrees, and meanwhile, the auxiliary gyroscope performs vibration starting and preheating, and stabilizes the force balance at 45 degrees; step 3, after the step 2 is completed, the master gyroscope sends a handshake signal to the slave gyroscope through the detection estimator, communication connection is established after the slave gyroscope receives the handshake signal, one detection period of the master gyroscope is divided into eight time sequences after the communication connection is established, switching and detection are carried out according to the eight time sequences, and the slave gyroscope also carries out detection based on the eight time sequences of the master gyroscope; step 4, after the detection periods in the step 3 are completed, the detection estimator outputs an error value of the orthogonal drift; the main gyroscope outputs a detected main angular velocity signal to the detection estimator in a detection period, the detection estimator transmits the main angular velocity signal to the auxiliary gyroscope, the auxiliary gyroscope processes the main gyroscope to obtain the phase of a 0-degree electrode shaft or a 45-degree electrode shaft of the main gyroscope, and the detection estimator receives the phase post-processing of the 0-degree electrode shaft or the 45-degree electrode shaft of the main gyroscope to obtain an error value of quadrature drift of the main gyroscope.
It should be noted that, the power equation based on the hemispherical resonator gyroscope may be deduced, when the frequency splitting is eliminated, the quadrature output of the gyroscope is 0, the output and the input of the gyroscope are kept in phase, and when the quadrature drift error exists in the output signal of the gyroscope, the phase of the vibration mode signals on the 0 ° electrode axis and the 45 ° electrode axis may be continuously changed, so the phase difference on the 0 ° electrode axis and the 45 ° electrode axis may be used as the error value of the quadrature drift of the hemispherical resonator gyroscope. Based on the above process, through carrying out colinear connection with two hemispheric resonance gyroscopes through detecting the estimator to make two hemispheric resonance gyroscopes establish communication connection based on handshake protocol, after establishing communication connection, carry out self-detection in the detecting system taking main gyro, slave gyro and detecting the estimator as main module, the self-detection process is roughly: and (3) carrying out cyclic detection for a plurality of detection periods after communication connection is established, wherein in one detection period, the main gyroscope outputs a detected main angular velocity signal to the detection estimator, the detection estimator transmits the main angular velocity signal to the auxiliary gyroscope, and the auxiliary gyroscope obtains the phase of the 0-degree electrode shaft or the 45-degree electrode shaft of the main gyroscope through processing, wherein the phase difference between the 0-degree electrode shaft and the 45-degree electrode shaft of the main gyroscope is the error value of quadrature drift of the hemispherical resonator gyroscope. Based on the above, the advantages of a dynamic detection method, a multiple measurement method and a model-based detection method are fully integrated, in a detection system formed, the influence of external environmental factors is avoided, the error value of orthogonal drift can be obtained under the condition that a gyroscope is not directly measured, the detection problem of drift error is converted into the conversion problem of the phase of an electrode shaft by another path, the adverse factor influence in the traditional detection process is avoided, and the detection process is simpler, more convenient and more accurate due to the fixed phase conversion relation of the electrode shaft.
Further, in step 3, the slave gyro outputs a detected slave angular velocity signal in the same detection period to the detection estimator, the detection estimator transmits the slave angular velocity signal to the master gyro, the phase of the slave gyro 45 ° electrode axis or the 0 ° electrode axis is obtained through the master gyro processing, and the detection estimator receives the phase post-processing of the slave gyro 45 ° electrode axis or the 0 ° electrode axis and obtains an error value of the slave gyro quadrature drift.
Further, in step 3, one detection period includes eight time sequences formed by 4 working phases and 4 transition phases in turn, in the working phases, the polarities of the master gyro and the slave gyro are the same, and in the transition phases, the polarities of the master gyro and the slave gyro are opposite, wherein in one detection period, the eight time sequences of the master gyro and the slave gyro are alternately switched through the detection estimator.
Further, based on the Lynch averaging method and the dynamics equation of the hemispherical resonator gyroscope, the master angular velocity signal and the slave angular velocity signal satisfy:wherein, the method comprises the steps of, wherein,yis the main angle signal;xis a slave angle signal;ais the main antinode;qis an orthogonal wave antinode; />Is a precession angle; />Is the initial azimuth; t is the timing.
Further, the processing procedure of the slave gyroscope comprises demodulation filtering of the master angle signal, and the expression is as follows:wherein->；C y Is the quadrature component of the main gyroscope; LPF is demodulation filtering process; v (V) c Demodulating the filtered amplitude for the primary gyro; />The phase difference between the 0-degree electrode axis and the 45-degree electrode axis of the main gyroscope.
Further, the phase difference between the 0-degree electrode axis and the 45-degree electrode axis of the main gyroscope is the error value of the orthogonal drift of the main gyroscope.
Further, in step 3, in one detection period, the phase difference of the main gyro in the first and third transition phases is invalid.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention converts the detection problem of drift error into the conversion problem of the phase of the electrode shaft, avoids the adverse factor influence in the traditional detection process, and has simpler, more convenient and more accurate detection process because the phase conversion relation of the electrode shaft is fixed;
2. the invention integrates the advantages of a dynamic detection method, a multiple measurement method and a detection method based on a model, avoids the influence of external environmental factors in a detection system, and can obtain an error value of orthogonal drift under the condition of not directly measuring a gyroscope;
3. the quadrature drift of the main gyroscope is reduced to 0.0015 degrees per second from 0.0865 degrees per second before detection compensation, and the quadrature drift is obviously improved by orders of magnitude.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of a self-test process according to the present invention;
FIG. 3 is a schematic diagram showing the timing division of a detection period according to the present invention;
FIG. 4 is a graph of the main gyroscope without detection compensation in the error suppression experiment of the present invention;
FIG. 5 is a graph of the detection compensation of the main gyroscope in the error suppression experiment of the present invention.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
Examples:
as shown in fig. 1 and fig. 2, the quadrature drift error detection method of the hemispherical resonator gyroscope comprises the following steps:
step 1, two hemispherical resonator gyroscopes are connected in a collinear way through a detection estimator, wherein one hemispherical resonator gyroscope is defined as a master gyroscope, and the other hemispherical resonator gyroscope is defined as a slave gyroscope; one of definition rules of the master gyroscope and the slave gyroscope is the detection priority of the orthogonal drift error, and the hemispherical resonator gyroscope does not refer to hardware of the gyroscope, but is an integral system of the hemispherical resonator gyroscope and mainly comprises a capacitance detection circuit, a capacitance driving circuit, an SOC circuit, a high-voltage amplifying circuit and the like.
Step 2, after the step 1 is completed, the main gyroscope performs vibration starting and preheating, and stabilizes the force balance at 0 degrees, and meanwhile, the auxiliary gyroscope performs vibration starting and preheating, and stabilizes the force balance at 45 degrees; before the quadrature drift error detection of the gyroscope, the working state of the gyroscope needs to be improved as much as possible, and the vibration starting pre-heating can enable all parts of the gyroscope to reach a stable working state, so that the influence on the working of the gyroscope due to the changes of instantaneous pressure, temperature and the like caused by sudden starting is avoided; after the stable working state is reached, the measurement precision can be improved, and under the stable state, error sources such as drift, noise and the like of the gyroscope can be constrained to the greatest extent, so that the measurement precision is improved. Hemispherical resonator gyroscopes are very sensitive to temperature changes and preheating can help the device to reach a stable operating temperature, thereby reducing the effect of temperature changes on gyroscope performance. In the detection system, preheating can ensure that the gyroscope provides high-precision angular velocity measurement immediately when the system is started, the performance of the whole system is ensured, and the stable angle for force balance corresponds to the detection phase of the electrode shaft.
Step 3, after the step 2 is completed, the master gyroscope sends a handshake signal to the slave gyroscope through the detection estimator, communication connection is established after the slave gyroscope receives the handshake signal, one detection period of the master gyroscope is divided into eight time sequences after the communication connection is established, switching and detection are carried out according to the eight time sequences, and the slave gyroscope also carries out detection based on the eight time sequences of the master gyroscope; as shown in fig. 3, the eight timings of one detection period are respectively corresponding to 4 working phases, i.e., T1, T2, T3 and T4, and also corresponding to 4 transition phases, i.e., T12, T23, T34 and T41, where the state timings of the different detection timings are the signs of phase transition.
Step 4, after the detection periods in the step 3 are completed, the detection estimator outputs an error value of the orthogonal drift;
the main gyroscope outputs a detected main angular velocity signal to the detection estimator in a detection period, the detection estimator transmits the main angular velocity signal to the auxiliary gyroscope, the auxiliary gyroscope processes the main gyroscope to obtain the phase of a 0-degree electrode shaft or a 45-degree electrode shaft of the main gyroscope, and the detection estimator receives the phase post-processing of the 0-degree electrode shaft or the 45-degree electrode shaft of the main gyroscope to obtain an error value of quadrature drift of the main gyroscope.
It should be noted that, the power equation based on the hemispherical resonator gyroscope may be deduced, when the frequency splitting is eliminated, the quadrature output of the gyroscope is 0, the output and the input of the gyroscope are kept in phase, and when the quadrature drift error exists in the output signal of the gyroscope, the phase of the vibration mode signals on the 0 ° electrode axis and the 45 ° electrode axis may be continuously changed, so the phase difference on the 0 ° electrode axis and the 45 ° electrode axis may be used as the error value of the quadrature drift of the hemispherical resonator gyroscope. Based on the above process, through carrying out colinear connection with two hemispheric resonance gyroscopes through detecting the estimator to make two hemispheric resonance gyroscopes establish communication connection based on handshake protocol, after establishing communication connection, carry out self-detection in the detecting system taking main gyro, slave gyro and detecting the estimator as main module, the self-detection process is roughly: and (3) carrying out cyclic detection for a plurality of detection periods after communication connection is established, wherein in one detection period, the main gyroscope outputs a detected main angular velocity signal to the detection estimator, the detection estimator transmits the main angular velocity signal to the auxiliary gyroscope, and the auxiliary gyroscope obtains the phase of the 0-degree electrode shaft or the 45-degree electrode shaft of the main gyroscope through processing, wherein the phase difference between the 0-degree electrode shaft and the 45-degree electrode shaft of the main gyroscope is the error value of quadrature drift of the hemispherical resonator gyroscope. Based on the above, the advantages of a dynamic detection method, a multiple measurement method and a model-based detection method are fully integrated, in a detection system formed, the influence of external environmental factors is avoided, the error value of orthogonal drift can be obtained under the condition that a gyroscope is not directly measured, the detection problem of drift error is converted into the conversion problem of the phase of an electrode shaft by another path, the adverse factor influence in the traditional detection process is avoided, and the detection process is simpler, more convenient and more accurate due to the fixed phase conversion relation of the electrode shaft.
In step 3, the slave gyro outputs a detected slave angular velocity signal in the same detection period to the detection estimator, the detection estimator transmits the slave angular velocity signal to the master gyro, the phase of the slave gyro 45 ° electrode axis or the slave gyro 0 ° electrode axis is obtained through the master gyro processing, and the detection estimator receives the phase post-processing of the slave gyro 45 ° electrode axis or the slave gyro 0 ° electrode axis and obtains an error value of the slave gyro quadrature drift. The detection estimator is preferably a zero offset estimator capable of performing signal transmission, based on which, in step 3, the zero offset estimator can analyze the zero offset of the main gyro and the slave gyro, and the main angular velocity signal received from the gyro is a value obtained by eliminating the zero offset, so that the main angular velocity signal value detected by the output of the main gyro can be significantly improved.
In the step 3, the detection period includes eight time sequences formed by 4 working phases and 4 transition phases in turn, in the working phases, the polarities of the master gyro and the slave gyro are the same, and in the transition phases, the polarities of the master gyro and the slave gyro are opposite, wherein in the detection period, the eight time sequences of the master gyro and the slave gyro are alternately switched by the detection estimator. It should be further noted that, eight time sequences included in one detection period are respectively T1 to T41 in turn, wherein, in the working phase of T1, the main gyro enters a mode reversal working state, and the slave gyro maintains a normal working state; in the transition stage T12, the detection output of the main gyroscope is subjected to invalidation, and the detection output of the auxiliary gyroscope is effective; the working state of T2, the main top and the auxiliary top keep the normal working state; in the transition stage T23, the detection output of the main gyroscope is effective, the detection output of the auxiliary gyroscope is subjected to invalidation treatment, in the working stage T3, the main gyroscope is kept in a normal working state, and the auxiliary gyroscope enters a modal inversion working stage; in the transition stage T34, the detection output of the main gyroscope is subjected to invalidation treatment, and the detection output of the auxiliary gyroscope is effective; in the working stage T4, the main gyro and the auxiliary gyro both keep a normal working state; in the transition stage T41, the detection output of the main gyro is valid, and the detection output of the auxiliary gyro is invalidated. The sequential stages of the master gyroscope and the slave gyroscope are sequentially converted based on the figure 3 and the conversion process, so that the phases of the master gyroscope and the slave gyroscope in the 0-degree electrode shaft or the 45-degree electrode shaft are obtained.
The main angular velocity signal and the auxiliary angular velocity signal satisfy the following conditions based on the Lynch averaging method and the dynamics equation of the hemispherical resonator gyroscope:wherein, the method comprises the steps of, wherein,
yis the main angle signal;
xis a slave angle signal;
ais the main antinode;
qis an orthogonal wave antinode;
is a precession angle;
is the initial azimuth;
t is the timing.
It should be noted that, the processing procedure of the slave gyroscope includes demodulation filtering of the master angle signal, and the expression is:
wherein, the method comprises the steps of, wherein,
；
C y is the quadrature component of the main gyroscope;
LPF is demodulation filtering process;
V c demodulating the filtered amplitude for the primary gyro;
the phase difference between the 0-degree electrode axis and the 45-degree electrode axis of the main gyroscope.
The phase difference between the 0-degree electrode axis and the 45-degree electrode axis of the main gyro is the error value of the quadrature drift of the main gyro. It should be noted that, in the prior art, the method for detecting the partial orthogonal drift error has some problems, such as a static detection method, and the orthogonal drift error can be obtained by measuring the output of the gyroscope without an external angular velocity. The method is simple and easy to implement, but because the gyroscope always works at a certain angular velocity in the practical use environment, the result obtained by the method may not accurately reflect the quadrature drift error in the practical use. In another example, the method is a dynamic detection method, in the process of rotating the gyroscope, the quadrature drift error is obtained by measuring the output change of the gyroscope, and the method can reflect the quadrature drift error in actual use more accurately, but is complex to implement. For example, the method is to perform multiple measurements on the gyroscope and then perform statistical analysis on the measurement result to obtain the quadrature drift error, which can improve the detection accuracy but requires a long time. The method is completely different from the detection method in the prior art, in the application, a new way is developed to convert the detection problem of drift errors into the conversion problem of the phase of the electrode shaft, adverse factor influence in the traditional detection process is avoided, and the detection process is simpler, more convenient and more accurate due to the fixed phase conversion relation of the electrode shaft.
In the step 3, in one detection period, the phase difference of the main gyro in the first and third transition phases is invalid. It should be further noted that the first and third transition phases specifically refer to a T12 transition phase and a T34 transition phase.
Based on the content of the detection method, a hemispherical resonator gyroscope and a detection estimator are connected to form a detection system, and an upper computer is connected to perform an error suppression experiment, wherein a main gyroscope and a slave gyroscope are fixedly arranged on a large optical platform, the main gyroscope and the slave gyroscope are controlled to rotate at an angular speed of 5 degrees per second to perform the experiment, the angular speed output change of the gyroscope is observed, a graph before quadrature drift error value detection and compensation is performed is shown in fig. 4, then the quadrature drift error value detection and compensation are performed on the main gyroscope and the slave gyroscope according to the content of the detection method, the obtained graph is shown in fig. 5, and the graphs are all corresponding graphs of the main gyroscope. With reference to fig. 4 and fig. 5, the quadrature drift of the main gyroscope is reduced from 0.0865 degrees per second to 0.0015 degrees per second before detection and compensation, which has an obvious order of magnitude improvement, and the feasibility of the detection method is verified.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A quadrature drift error detection method of a hemispherical resonator gyroscope is characterized by comprising the following steps of: the method comprises the following steps:
step 1, two hemispherical resonator gyroscopes are connected in a collinear way through a detection estimator, wherein one hemispherical resonator gyroscope is defined as a master gyroscope, and the other hemispherical resonator gyroscope is defined as a slave gyroscope;
step 2, after the step 1 is completed, the main gyroscope performs vibration starting and preheating, and stabilizes the force balance at 0 degrees, and meanwhile, the auxiliary gyroscope performs vibration starting and preheating, and stabilizes the force balance at 45 degrees;
step 3, after the step 2 is completed, the master gyroscope sends a handshake signal to the slave gyroscope through the detection estimator, communication connection is established after the slave gyroscope receives the handshake signal, one detection period of the master gyroscope is divided into eight time sequences after the communication connection is established, switching and detection are carried out according to the eight time sequences, and the slave gyroscope also carries out detection based on the eight time sequences of the master gyroscope;
step 4, after the detection periods in the step 3 are completed, the detection estimator outputs an error value of the orthogonal drift;
the main gyroscope outputs a detected main angular velocity signal to the detection estimator in a detection period, the detection estimator transmits the main angular velocity signal to the auxiliary gyroscope, the auxiliary gyroscope processes the main gyroscope to obtain the phase of a 0-degree electrode shaft or a 45-degree electrode shaft of the main gyroscope, and the detection estimator receives the phase post-processing of the 0-degree electrode shaft or the 45-degree electrode shaft of the main gyroscope to obtain an error value of quadrature drift of the main gyroscope.
2. The method for detecting quadrature drift error of a hemispherical resonator gyroscope according to claim 1, wherein: in step 3, the slave gyro outputs a detected slave angular velocity signal in the same detection period to the detection estimator, the detection estimator transmits the slave angular velocity signal to the master gyro, the phase of a slave gyro 45-degree electrode shaft or a slave gyro 0-degree electrode shaft is obtained through the processing of the master gyro, and the detection estimator receives the phase post-processing of the slave gyro 45-degree electrode shaft or the slave gyro 0-degree electrode shaft and obtains an error value of the slave gyro orthogonal drift.
3. The method for detecting quadrature drift error of a hemispherical resonator gyroscope according to claim 2, wherein: in the step 3, one detection period comprises eight time sequences formed by 4 working phases and 4 transition phases in sequence, in the working phases, the polarities of the master gyroscope and the slave gyroscope are the same, and in the transition phases, the polarities of the master gyroscope and the slave gyroscope are opposite, wherein in one detection period, the eight time sequences of the master gyroscope and the slave gyroscope are alternately switched through the detection estimator.
4. The method for detecting quadrature drift error of a hemispherical resonator gyroscope according to claim 1, wherein: based on Lynch's average method and hemispherical resonator gyroscope's kinetic equation, the master angular velocity signal and slave angular velocity signal satisfy:wherein, the method comprises the steps of, wherein,
yis the main angle signal;
xis a slave angle signal;
ais the main antinode;
qis an orthogonal wave antinode;
is a precession angle;
is the initial azimuth;
t is the timing.
5. The method for detecting quadrature drift error of a hemispherical resonator gyroscope according to claim 4, wherein: the processing process of the slave gyroscope comprises demodulation and filtering of a master angle signal, and the expression is as follows:
wherein, the method comprises the steps of, wherein,
；
C y is the quadrature component of the main gyroscope;
LPF is demodulation filtering process;
V c demodulating the filtered amplitude for the primary gyro;
the phase difference between the 0-degree electrode axis and the 45-degree electrode axis of the main gyroscope.
6. The method for detecting quadrature drift error of a hemispherical resonator gyroscope according to claim 5, wherein: the phase difference between the 0-degree electrode axis and the 45-degree electrode axis of the main gyroscope is the error value of the quadrature drift of the main gyroscope.
7. The method for detecting quadrature drift error of a hemispherical resonator gyroscope according to claim 5, wherein: in the step 3, in one detection period, the phase difference of the main gyroscope in the first transition stage and the third transition stage is invalid.
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