CN117664186A - Hemispherical resonant gyroscope standing wave angle calibration method - Google Patents
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
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Abstract
The invention relates to the technical field of resonant gyro control, and provides a hemispherical resonant gyro standing wave angle calibration method. The method comprises the following steps: acquiring an angle tracking signal of the resonance gyroscope through an FPGA module and a DA chip; establishing a resonant gyroscope analog standing wave position signal, and calculating by a multiplier according to the angle tracking signal and the analog standing wave position signal to obtain an angle error signal; the angle error signal is converged to zero through an FPGA module, and a matrix phase angle is obtained through calculation according to the angle error signal converged to zero; and calibrating the resonant gyroscope based on the array phase angle. The self-calibration circuit sine wave amplitude phase detection method of the hemispherical resonator gyroscope not only reduces hardware implementation difficulty, but also improves phase detection precision so as to more accurately detect and control the standing wave angle of the harmonic oscillator.
Description
Technical Field
The invention relates to the technical field of resonant gyro control, in particular to a hemispherical resonant gyro standing wave angle calibration method.
Background
The hemispherical resonator gyro is sensitive to external angular velocity based on the God effect, and has the characteristics of low cost, high reliability and long service life compared with the traditional mechanical gyro, and the core working part only comprises a quartz resonator and an electrode base and works by means of micro-amplitude vibration without mechanical abrasion. In order to improve the control precision of the gyroscope, breakthrough is made on the manufacturing and processing processes of the gyroscope and the harmonic oscillator, and higher requirements are put forward on the detection precision and the detection speed of a servo circuit in gyroscope control.
The accuracy of the method depends on the acquisition accuracy of the AD on the gyro signals, namely the gyro signal noise is limited by the resolution of the AD, and the effective bit number of the high-speed AD is limited generally, so that the detection and control accuracy of the standing wave angle of the harmonic oscillator is lower.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides a hemispherical resonant gyroscope standing wave angle calibration method.
The invention provides a hemispherical resonant gyroscope standing wave angle calibration method, which comprises the following steps:
s1: acquiring an angle tracking signal of the resonance gyroscope through an FPGA module and a DA chip;
s2: establishing a resonant gyroscope analog standing wave position signal, and calculating by a multiplier according to the angle tracking signal and the analog standing wave position signal to obtain an angle error signal;
s3: the angle error signal is converged to zero through an FPGA module, and a matrix phase angle is obtained through calculation according to the angle error signal converged to zero;
s4: and calibrating the resonant gyroscope based on the array phase angle.
According to the hemispherical resonator gyro standing wave angle calibration method provided by the invention, the expression of the angle tracking signal in the step S1 is as follows:
；
wherein,for angle tracking signal of resonant gyro X electrode, < >>For the angle tracking signal of the Y electrode of the resonant gyro,for main wave amplitude of resonance gyro, +.>Is the standing wave precession angle of the resonance gyro, +.>Is the natural frequency of harmonic oscillator->For sampling time, +.>For the initial phase of vibration>Is the quadrature wave amplitude of the resonant gyroscope.
According to the hemispherical resonator gyro standing wave angle calibration method provided by the invention, the step S1 further comprises the following steps:
s11: and quadrature control is applied to the resonant gyro, so that the angle tracking signal is simplified.
According to the hemispherical resonator gyro standing wave angle calibration method provided by the invention, the simplified angle tracking signal expression in the step S11 is as follows:
；
wherein,for a simplified angle tracking signal of the X electrode of the resonator gyro, < >>The angle tracking signal of the Y electrode of the resonance gyro is simplified.
According to the hemispherical resonator gyro standing wave angle calibration method provided by the invention, the expression of the angle error signal in the step S2 is as follows:
；
wherein,standing wave position signals are simulated for the resonant gyroscopes.
According to the hemispherical resonator gyro standing wave angle calibration method provided by the invention, the process of converging the angle error signal to zero through the FPGA module in the step S3 comprises the following steps:
s31: amplifying the angle error signal with high gain to obtain a high gain amplified signal;
s32: inputting the high-gain amplified signal to an AD chip;
s33: and the AD chip suppresses noise in the analog standing wave position signal through a closed loop feedback control algorithm so as to enable the high-gain amplified signal to be converged to zero and obtain an angle error signal after being converged to zero.
According to the hemispherical resonator gyro standing wave angle calibration method provided by the invention, the expression of the angle error signal converged to zero in the step S3 is as follows:
；
wherein,is an angle error signal after convergence to zero.
The invention provides a hemispherical resonator gyro standing wave angle calibration method, which is based on the basic principle of a hemispherical resonator gyro, provides a circuit sine wave amplitude phase detection method with a self-calibration function, reduces hardware implementation difficulty, improves phase detection precision, and can accurately detect and control the standing wave angle of a harmonic oscillator to identify external angular velocity or angle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a hemispherical resonator gyro standing wave angle calibration method according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
An embodiment of the present invention is described below with reference to fig. 1.
The invention provides a hemispherical resonant gyroscope standing wave angle calibration method, which comprises the following steps:
s1: acquiring an angle tracking signal of the resonance gyroscope through an FPGA module and a DA chip;
furthermore, the motion trail of the hemispherical resonant gyro harmonic oscillator is equivalent to a two-dimensional pendulum, and the gravity trail of the hemispherical resonant gyro harmonic oscillator is elliptical under the constant external angular velocity.
The expression of the angle tracking signal in step S1 is:
；
wherein,for angle tracking signal of resonant gyro X electrode, < >>For the angle tracking signal of the Y electrode of the resonant gyro,for main wave amplitude of resonance gyro, +.>Is the standing wave precession angle of the resonance gyro, +.>Is the natural frequency of harmonic oscillator->For sampling time, +.>For the initial phase of vibration>Is a harmonic waveQuadrature wave amplitude of the vibrating gyroscope.
Furthermore, in order to obtain the motion state of the harmonic oscillator, harmonic oscillator detection electrodes are respectively arranged in the x and y directions, and a phase-locked loop is adopted as an external reference signal generator to track the motion of the harmonic oscillator, so that the motion equation of the harmonic oscillator in the x and y directions, namely the angle tracking signal, can be obtained.
Wherein, step S1 further comprises:
s11: and quadrature control is applied to the resonant gyro, so that the angle tracking signal is simplified.
The simplified expression of the angle tracking signal in step S11 is:
；
wherein,for a simplified angle tracking signal of the X electrode of the resonator gyro, < >>The angle tracking signal of the Y electrode of the resonance gyro is simplified.
Furthermore, the motion track of the hemispherical resonator gyro harmonic oscillator is obtained through detecting the sine wave amplitude phase on different electrodes, and then quadrature control and frequency control are applied to the gyro, so that gyro signals can be simplified.
It should be noted that, the conventional process of reading the angle of the full angle gyro is as follows: sampling x and y electrode signals by AD, and calculating to obtain a gyro array angle, wherein the expression is as follows:
；
wherein,for obtaining gyro array angle by AD chip sampling method>For obtaining the resonant gyro X electrode signal by AD chip sampling, < >>And obtaining a Y electrode signal of the resonant gyroscope through sampling of the AD chip.
S2: establishing a resonant gyroscope analog standing wave position signal, and calculating by a multiplier according to the angle tracking signal and the analog standing wave position signal to obtain an angle error signal;
the expression of the angle error signal in step S2 is:
；
wherein,standing wave position signals are simulated for the resonant gyroscopes.
Further, the invention multiplies the gyro standing wave position signal by the estimated standing wave position signal through the multiplication circuit and the 14bit DA circuit, and then subtracts the products of the signals of the two electrodes to obtain an angle error signal.
S3: the angle error signal is converged to zero through an FPGA module, and a matrix phase angle is obtained through calculation according to the angle error signal converged to zero;
the process of converging the angle error signal to zero in step S3 through the FPGA module includes:
s31: amplifying the angle error signal with high gain to obtain a high gain amplified signal;
s32: inputting the high-gain amplified signal to an AD chip;
s33: and the AD chip suppresses noise in the analog standing wave position signal through a closed loop feedback control algorithm so as to enable the high-gain amplified signal to be converged to zero and obtain an angle error signal after being converged to zero.
The expression of the angle error signal converged to zero in step S3 is:
；
wherein,is an angle error signal after convergence to zero.
Further, the high-gain amplified voltage is output to the AD module so as to minimize noise in standing wave angle prediction, and the estimated standing wave angle position is corrected and simulated through a closed-loop feedback control algorithm so that the voltage is converged to 0, and at the moment, the estimated standing wave angle position can be considered to be infinitely close to the standing wave precession angle of the gyroscope, so that the detection resolution is effectively improved.
S4: and calibrating the resonant gyroscope based on the array phase angle.
Further, the gyro control period is divided into a detection period and a calibration period;
in the detection period, multiplying the gyro standing wave position signal by the estimated standing wave position signal through the multiplication circuit and the DA circuit, wherein the product of the two signals is close to 0, and then amplifying small voltage by using high gain to output to an AD circuit so as to minimize noise in standing wave angle prediction and effectively improve detection resolution;
in the calibration period, the gain changes of the AD chip, the DA chip and the multiplier are estimated through the reference signals, and the gain of the signal link is corrected, so that the real-time calibration of circuit errors is realized.
In some embodiments, the hemispherical resonator gyro standing wave angle calibration method provided by the invention is implemented by the following circuits, and specifically comprises the following steps:
circuit implementation of the multiplier: the multiplier circuit adopts AD835 to multiply the DA signal with the gyro signal or the reference signal to obtain a signal AD1, the signal AD1 is output to the adder, and the two paths of signals are added and sent to the AD chip for detection;
implementation of the correction circuit: in the circuit calibration period, a reference signal is replaced by a gyro signal through switching and is sent to the AD front end, and the circuit gain is compensated in an FPGA through calculation;
the reference signal is LM199, and the long-term stability is 20ppm/1000hr, so that the stability of the detection precision of the gyro signal can be calibrated to 20ppm;
implementation of the switching circuit: the switch circuit adopts ADG333 to alternately connect the gyro signal and the reference signal into the multiplier through the first port and the second port.
The hemispherical resonator gyro standing wave angle calibration method provided by the invention improves the array angle detection precision of the full-angle gyro, improves the AD equivalent detection precision of 10bit to the detection precision of 24bit equivalent precision, uses a high-precision voltage reference as a reference signal for calibration, improves the long-term gain stability of the gyro to 20ppm, and aims at accurately detecting and controlling the standing wave angle of a harmonic oscillator to identify the external angular velocity or angle.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The hemispherical resonant gyroscope standing wave angle calibration method is characterized by comprising the following steps of:
s1: acquiring an angle tracking signal of the resonance gyroscope through an FPGA module and a DA chip;
s2: establishing a resonant gyroscope analog standing wave position signal, and calculating by a multiplier according to the angle tracking signal and the analog standing wave position signal to obtain an angle error signal;
s3: the angle error signal is converged to zero through an FPGA module, and a matrix phase angle is obtained through calculation according to the angle error signal converged to zero;
s4: and calibrating the resonant gyroscope based on the array phase angle.
2. The method for calibrating the standing wave angle of a hemispherical resonator gyroscope according to claim 1, wherein the expression of the angle tracking signal in step S1 is:
；
wherein,for angle tracking signal of resonant gyro X electrode, < >>For angle tracking signal of Y electrode of resonant gyro, < >>For main wave amplitude of resonance gyro, +.>Is the standing wave precession angle of the resonance gyro, +.>Is the natural frequency of harmonic oscillator->In order to sample the time of the sample,for the initial phase of vibration>Is a resonance gyroscopeQuadrature wave amplitude of the screw.
3. The method for calibrating standing wave angle of hemispherical resonator gyroscope according to claim 2, wherein step S1 further comprises:
s11: and quadrature control is applied to the resonant gyro, so that the angle tracking signal is simplified.
4. The method for calibrating standing wave angle of hemispherical resonator gyroscope according to claim 3, wherein the simplified expression of the angle tracking signal in step S11 is:
；
wherein,for a simplified angle tracking signal of the X electrode of the resonator gyro, < >>The angle tracking signal of the Y electrode of the resonance gyro is simplified.
5. The method for calibrating standing wave angle of hemispherical resonator gyroscope according to claim 4, wherein the expression of the angle error signal in step S2 is:
；
wherein,standing wave position signals are simulated for the resonant gyroscopes.
6. The method according to claim 1, wherein the step S3 of converging the angle error signal to zero by the FPGA module comprises:
s31: amplifying the angle error signal with high gain to obtain a high gain amplified signal;
s32: inputting the high-gain amplified signal to an AD chip;
s33: and the AD chip suppresses noise in the analog standing wave position signal through a closed loop feedback control algorithm so as to enable the high-gain amplified signal to be converged to zero and obtain an angle error signal after being converged to zero.
7. The method for calibrating standing wave angle of hemispherical resonator gyroscope according to claim 5, wherein the expression of the angle error signal after convergence to zero in step S3 is:
；
wherein,is an angle error signal after convergence to zero.
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