CN117782163A - Hemispherical resonator gyro virtual precession calibration method and system based on decay time constant - Google Patents
Hemispherical resonator gyro virtual precession calibration method and system based on decay time constant Download PDFInfo
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Abstract
The invention discloses a hemispherical resonator gyro virtual precession calibration method and system based on an attenuation time constant, belongs to the technical field of inertia, and aims to solve the problem that the hemispherical resonator gyro virtual precession speed is difficult to compensate in real time along with the change of environmental temperature. According to the method, the hemispherical harmonic oscillator resonant frequency and the decay time constant at different temperatures are accurately calibrated, and then the calibration data are subjected to function fitting by using a fitting method. Through the process, a correlation model of the resonant frequency of the harmonic oscillator and the decay time constant is obtained. Then, the invention monitors the environment temperature in real time, and adjusts the virtual precession control force in real time by using the decay time constant based on the calibration model, so that the precession speed is stable. The method is applied to the starting and calibrating process of the hemispherical resonator gyroscope.
Description
Technical Field
The invention relates to a virtual precession calibration process of an axisymmetric vibrating gyroscope, and belongs to the technical field of inertia.
Background
With the rapid development of navigation technology, the demand for inertial sensors with high accuracy, low power consumption, and long lifetime is increasing. Hemispherical resonator gyroscopes are attracting attention because of their simple structure, high reliability, long service life and the like. The hemispherical resonator is used as a core element of the hemispherical resonator gyro, and the resonant frequency and decay time constant of the hemispherical resonator gyro can change regularly along with the change of temperature. The new generation rate integral hemispherical resonator gyro utilizes the virtual coriolis force to control standing waves to rotate at a constant speed under the condition of no external rate input, thereby completing the self calibration of the assembly error, scale factor and gyro bias of the hemispherical resonator gyro and further reducing the gyro threshold value. However, after the hemispherical resonator gyro is powered on, the circumferential heat balance of the harmonic oscillator needs to be completed in several hours or even more than ten hours, and before the heat balance is completed, the virtual precession speed of the hemispherical resonator gyro is difficult to compensate in real time under the change of the ambient temperature, so that the calibration process can only be realized by utilizing the virtual precession after waiting for the completion of the heat balance for a long time in the prior art.
In summary, before the hemispherical resonator gyro is powered on and reaches circumferential thermal balance, the virtual precession speed of the resonator fluctuates with the ambient temperature, so that the performance of the gyro is limited, and the virtual precession speed cannot be compensated in real time. Therefore, a new precession calibration method is urgently needed to meet the long-term stability requirement of the gyroscope in a variable-temperature environment.
Disclosure of Invention
Aiming at the problem that the virtual precession speed of the hemispherical resonator gyroscope is difficult to compensate in real time along with the change of the ambient temperature, the invention provides a hemispherical resonator gyroscope virtual precession calibration method and system based on an attenuation time constant.
According to one aspect of the invention, a hemispherical resonator gyro virtual precession calibration method based on an attenuation time constant comprises the following steps:
step 1, placing a hemispherical resonator gyroscope and a matched control circuit thereof in an incubator and powering on the gyroscope;
step 2, setting the temperature of the incubator to be the lowest temperature of the gyroscope in actual useDegree T 0 And maintained at this temperature for at least 4 hours;
then using the upper computer to record the resonant frequency omega of the harmonic oscillator at the temperature 0 Amplitude control voltage V a0 Virtual precession control voltage V w0 ；
Step 3, cutting off amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope to enable the phase-locked loop to keep a working state;
recording the lowest temperature T by using an upper computer 0 The amplitude value is attenuated, and then the attenuation time constant tau of the harmonic oscillator in the initial temperature control testing stage is obtained 0 ；
Step 4, the set temperature of the incubator is increased by delta T to enter the next temperature control testing stage, and after the temperature is maintained for at least 4 hours, the resonance frequency omega at the temperature is recorded by the upper computer k ；
Step 5, cutting off amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope to enable the phase-locked loop to keep a working state;
recording the amplitude attenuation at the temperature by using an upper computer, and further obtaining the attenuation time constant tau of the harmonic oscillator in the kth temperature control testing stage k ；
Step 6, judging whether the set temperature of the incubator reaches the upper limit T of the service temperature of the hemispherical resonator gyroscope max If not, making k=k+1 and jumping to step 4, if so, jumping to step 7;
step 7, fitting the harmonic oscillator resonant frequency and the attenuation time constant at different temperatures acquired by the upper computer by using a nonlinear least square algorithm to obtain a resonant frequency-attenuation time constant relation model by adopting a polynomial of three times or more;
and 8, adjusting the virtual precession control voltage according to the resonant frequency-decay time constant relation model obtained in the step 7, so as to keep the virtual precession speed stable.
Preferably, Δt=0.5 to 1 degree in step 4, the temperature control test stage is divided by Δt, and in the initial temperature control test stage of k=0, the temperature of the incubator is set to be the lowest temperature when the gyro is actually usedTemperature T 0 In different temperature control testing stages of k=1 and 2 …, the temperature setting of the incubator is sequentially increased by deltat, and the corresponding temperature of each stage is T k 。
Preferably, the harmonic oscillator decay time constant is a function of data sampling time:
wherein t is i Is the data sampling time, i=0, 1,2 r (i) Is the current time t i Theoretical value of lower amplitude τ k K=0, 1, 2..is the harmonic oscillator decay time constant, a, of the kth temperature-controlled test stage k Is the initial amplitude of the harmonic oscillator at the kth temperature control test stage.
Preferably, the decay time constant τ of the harmonic oscillator of the kth temperature-controlled test stage k K=0, 1,2 k The identification process of (2) is as follows:
a1, the identified parameter a when i=0 is set k (i)、τ k (i) Is the initial value of (2): a, a k (0)＝0、τ k (0)＝0；
A2, calculating the current time t i Amplitude error r (i) below:
r(i)＝a' r (i)-a r (i)
wherein a' r (i) For the current time t i The actual amplitude of the lower;
a3, calculating the current time t i The following jacobian matrix J r (i)：
A4, calculating the current time t i The following parameter increment:
in the method, in the process of the invention,Δa k (i) For the amplitude increment of the next moment compared with the current moment, deltaτ k (i) Increasing the decay time constant for the next moment compared with the current moment;
a5, updating the parameter vector at the next moment:
wherein a is k (i+1)、τ k (i+1) is the next time t i+1 Amplitude and time decay constants below;
a6, judging whether amplitude attenuation data are input, if so, making i=i+1, and jumping to the step A2. Otherwise, completing fitting to obtain a parameter vector a of the kth temperature control testing stage k And τ k Is a single-chip microcomputer.
Preferably, in step 7, the harmonic oscillator resonant frequency ω is acquired according to the upper computer at different temperatures k And decay time constant τ k Fitting the nonlinear least square algorithm by adopting a polynomial with three or more times, wherein the resonant frequency and the decay time constant satisfy the functional relation:
wherein τ r (k) At the current temperature T k Theoretical value of decay time constant of lower harmonic oscillator;
b j is the j th order coefficient of the function, j=0, 1, …, n, n is the fitting order of the function.
Preferably, the harmonic oscillator resonant frequency omega at different temperatures k And decay time constant τ k K=0, 1,2 j The identification process comprises the following steps:
b1, identified parameter B when k=0 is set j (k) Initial value b of (2) j (0)＝0；
B2, calculating the current temperature T k The decay time constant error m (k) below:
m(k)＝τ k -τ r (k)
b3, calculating the current temperature T k The following jacobian matrix J m (k)：
B4, calculating the current temperature T k The following parameter increment:
[Δb j (k)]＝[J m (k) T J m (k)] -1 J m (k) T m(k)
wherein: Δb j (k) A coefficient increment for the next temperature compared to the current temperature;
b5, updating the parameter vector of the next temperature:
[b j (k+1)]＝[b j (k)]+[Δb j (k)]
b j (k+1) is the next temperature T k+1 The coefficients below;
and B6, judging whether data are input, if so, enabling k=k+1, and jumping to the step B2. Otherwise, completing fitting to obtain a parameter vector b j Is a single-chip microcomputer.
Preferably, the virtual precession control voltage in step 8 is adjusted as follows:
wherein V is w0 For the virtual precession control voltage recorded in the initial temperature control test phase, V a0 For the amplitude control voltage recorded during the initial temperature control test phase, τ 0 It is the decay time constant that is fitted in the initial temperature control test phase,
τ is the current decay time constant, the acquisition mode: inputting the resonant frequency omega obtained by the current system measurement into a fitted resonant frequency-decay time constant relation model to obtain a corresponding decay time constant;
V a the current amplitude control output voltage is obtained according to the following formula:
where K is the control gain and a the current system measures the resulting amplitude.
Preferably, the virtual precession control loop adopts open loop control, and the virtual precession speed omega w Expressed as:
virtual precession speed Ω w Follow the virtual precession output voltage V w And stably rotates.
Based on another aspect of the invention, a hemispherical resonator gyro virtual precession calibration system based on an attenuation time constant is used for realizing the hemispherical resonator gyro virtual precession calibration method based on the attenuation time constant, and the calibration system comprises a temperature box, a hemispherical resonator gyro, a gyro matched circuit board and an upper computer; the hemispherical resonator gyroscope and the gyroscope matched circuit board are arranged in an incubator;
the incubator is used for adjusting the working temperature of the hemispherical resonator gyroscope;
the hemispherical resonance gyro matched circuit board is used for realizing amplitude control, quadrature control and virtual precession control of the gyro, and transmitting resonance frequency, amplitude attenuation and virtual precession speed information to the upper computer through a serial port;
the upper computer is used for receiving resonance frequency, amplitude attenuation and virtual precession speed information sent by the hemispherical resonator gyro matched circuit board. Fitting the acquired resonance frequency and amplitude attenuation information, so as to obtain the relationship between the resonance frequency and the attenuation time constant at different temperatures, and programming the fitting result into a hemispherical resonance gyro matched circuit board.
The invention has the beneficial effects that: according to the method, the vibration frequency and the damping time constant of the hemispherical harmonic oscillator at different temperatures are calibrated, the calibrated vibration frequency and the calibrated damping time constant are subjected to function fitting by adopting a fitting method, and the virtual precession control force is adjusted in real time by utilizing the damping time constant, so that the virtual precession speed of the gyroscope is finally enabled not to receive the influence of the ambient temperature, and the gyroscope is rapidly started under the variable-temperature condition.
The invention solves the problem that the real-time calibration of the gyro virtual precession speed along with the change of the ambient temperature is difficult, and improves the stability of the precession speed in the variable-temperature environment for long-time operation.
Drawings
FIG. 1 is a flow chart of a hemispherical resonator gyro virtual precession calibration method based on an decay time constant according to the invention;
FIG. 2 is a block diagram of a hemispherical resonator gyro virtual precession calibration system based on decay time constants according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
The first embodiment is as follows: next, referring to fig. 1, a method for calibrating virtual precession of a hemispherical resonator gyro based on an decay time constant according to the present embodiment will be described, where the method includes the following steps:
step 1, placing a hemispherical resonator gyroscope and a matched control circuit thereof in an incubator and powering on the gyroscope;
step 2, setting the temperature of the incubator to be the lowest temperature T of the gyro in actual use 0 And maintained at this temperature for at least 4 hours;
then using the upper computer to record the resonant frequency omega of the harmonic oscillator at the temperature 0 Amplitude control voltage V a0 Virtual precession control voltage V w0 ；
Step 3, cutting off amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope to enable the phase-locked loop to keep a working state;
recording the lowest temperature T by using an upper computer 0 The amplitude value is attenuated, and then the attenuation time constant tau of the harmonic oscillator in the initial temperature control testing stage is obtained 0 ；
Step 4, the set temperature of the incubator is increased by delta T to enter the next temperature control testing stage, and after the temperature is maintained for at least 4 hours, the resonance frequency omega at the temperature is recorded by the upper computer k ；
At=0.5 to 1 degree, the temperature control test stage is divided by Δt, and in the initial temperature control test stage of k=0, the temperature of the incubator is set to be the lowest temperature T when the gyro is actually used 0 In different temperature control testing stages of k=1 and 2 …, the temperature setting of the incubator is sequentially increased by deltat, and the corresponding temperature of each stage is T k 。
Step 5, cutting off amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope to enable the phase-locked loop to keep a working state;
recording the amplitude attenuation at the temperature by using an upper computer, and further obtaining the attenuation time constant tau of the harmonic oscillator in the kth temperature control testing stage k ；
The damping time constant and the initial amplitude acquisition method of the harmonic oscillator in the initial temperature control testing stage and the k=1, 2 … isothermal control testing stage are consistent, and are combined into a k 、τ k ,k＝0,1,2...。
The harmonic oscillator decay time constant has a functional relationship with the data sampling time of:
wherein t is i Is the data sampling time, i=0, 1,2 r (i) Is the current time t i Theoretical value of lower amplitude τ k K=0, 1, 2..is the harmonic oscillator decay time constant, a, of the kth temperature-controlled test stage k Is the initial amplitude of the harmonic oscillator at the kth temperature control test stage.
4. The method for calibrating virtual precession of hemispherical resonator gyroscope based on decay time constant according to claim 3, wherein the decay time constant τ of the resonator in the kth temperature control test stage k K=0, 1,2 k The identification process of (2) is as follows:
a1, the identified parameter a when i=0 is set k (i)、τ k (i) Is the initial value of (2): a, a k (0)＝0、τ k (0)＝0；
A2, calculating the current time t i Amplitude error r (i) below:
r(i)＝a' r (i)-a r (i)
wherein a' r (i) For the current time t i The actual amplitude of the lower;
a3, calculating the current time t i The following jacobian matrix J r (i)：
A4, calculating the current time t i The following parameter increment:
wherein Δa k (i) For the amplitude increment of the next moment compared with the current moment, deltaτ k (i) Increasing the decay time constant for the next moment compared with the current moment;
a5, updating the parameter vector at the next moment:
wherein a is k (i+1)、τ k (i+1) is the next time t i+1 Amplitude and time decay constants below;
a6, judging whether amplitude attenuation data are input, if so, making i=i+1, and jumping to the step A2. Otherwise, completing fitting to obtain a parameter vector a of the kth temperature control testing stage k And τ k Is a single-chip microcomputer.
Fitting to obtain a when k=0 0 、τ 0 Similarly, fitting to obtain a when k=1 1 、τ 1 Fitting to obtain a when k=2 2 、τ 2 … … and simultaneously recording the resonant frequency ω of each temperature-controlled test stage k The method comprises the steps of carrying out a first treatment on the surface of the Preparing for subsequent model construction.
Step 6, judging whether the set temperature of the incubator reaches the upper limit T of the service temperature of the hemispherical resonator gyroscope max If not, making k=k+1 and jumping to step 4, if so, jumping to step 7;
step 7, fitting the harmonic oscillator resonant frequency and the attenuation time constant at different temperatures acquired by the upper computer by using a nonlinear least square algorithm to obtain a resonant frequency-attenuation time constant relation model by adopting a polynomial of three times or more;
the resonant frequency and decay time constant satisfy the functional relationship:
wherein τ r (k) At the current temperature T k Theoretical value of decay time constant of lower harmonic oscillator;
b j is the j th order coefficient of the function, j=0, 1, …, n, n is the fitting order of the function.
The harmonic oscillator resonant frequency omega at different temperatures k And decay time constant τ k K=0, 1,2 j The identification process comprises the following steps:
b1, set k=0Identification parameter b j (k) Initial value b of (2) j (0)＝0；
B2, calculating the current temperature T k The decay time constant error m (k) below:
m(k)＝τ k -τ r (k)
b3, calculating the current temperature T k The following jacobian matrix J m (k)：
B4, calculating the current temperature T k The following parameter increment:
[Δb j (k)]＝[J m (k) T J m (k)] -1 J m (k) T m(k)
wherein: Δb j (k) A coefficient increment for the next temperature compared to the current temperature;
b5, updating the parameter vector of the next temperature:
[b j (k+1)]＝[b j (k)]+[Δb j (k)]
b j (k+1) is the next temperature T k+1 The coefficients below;
and B6, judging whether data are input, if so, enabling k=k+1, and jumping to the step B2. Otherwise, completing fitting to obtain a parameter vector b j Is a single-chip microcomputer.
And 8, adjusting the virtual precession control voltage according to the resonant frequency-decay time constant relation model obtained in the step 7, so as to maintain the stability of the virtual precession speed.
The calibration work of the hemispherical resonator gyroscope in a variable temperature environment can be realized by acquiring a resonant frequency-decay time constant relation model, and when the temperature changes, the resonant frequency and the decay time constant change, and the invention reflects the change by utilizing a model building mode, so that the stable rotation of the virtual precession speed can be realized by adjusting the virtual precession control voltage, and the self calibration of the assembly error, the scale factor and the gyroscope bias of the hemispherical resonator gyroscope is further completed.
The virtual precession control voltage is adjusted as follows:
wherein V is w0 For the virtual precession control voltage recorded in the initial temperature control test phase, V a0 For the amplitude control voltage recorded during the initial temperature control test phase, τ 0 It is the decay time constant that is fitted in the initial temperature control test phase,
τ is the current decay time constant, the acquisition mode: inputting the resonant frequency omega obtained by the current system measurement into a fitted resonant frequency-decay time constant relation model to obtain a corresponding decay time constant;
V a the current amplitude control output voltage is obtained according to the following formula:
where K is the control gain and a the current system measures the resulting amplitude.
The virtual precession control loop adopts open loop control, and the virtual precession speed omega w Expressed as:
virtual precession speed Ω w Follow the virtual precession output voltage V w And stably rotates.
The second embodiment is as follows: the following describes the present embodiment with reference to fig. 2, and the hemispherical resonator gyro virtual precession calibration system based on an attenuation time constant according to the present embodiment is implemented by using the method described in the first embodiment, where the calibration system includes a incubator, a hemispherical resonator gyro, a gyro matching circuit board, and an upper computer; the hemispherical resonator gyroscope and the gyroscope matched circuit board are arranged in an incubator;
the incubator is used for adjusting the working temperature of the hemispherical resonator gyroscope;
the hemispherical resonance gyro matched circuit board is used for realizing amplitude control, quadrature control and virtual precession control of the gyro, and transmitting resonance frequency, amplitude attenuation and virtual precession speed information to the upper computer through a serial port;
the upper computer is used for receiving resonance frequency, amplitude attenuation and virtual precession speed information sent by the hemispherical resonator gyro matched circuit board. Fitting the acquired resonance frequency and amplitude attenuation information, so as to obtain the relationship between the resonance frequency and the attenuation time constant at different temperatures, and programming the fitting result into a hemispherical resonance gyro matched circuit board.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (9)
1. The hemispherical resonator gyro virtual precession calibration method based on the decay time constant is characterized by comprising the following steps of:
step 1, placing a hemispherical resonator gyroscope and a matched control circuit thereof in an incubator and powering on the gyroscope;
step 2, setting the temperature of the incubator to be the lowest temperature T of the gyro in actual use 0 And maintained at this temperature for at least 4 hours;
then using the upper computer to record the resonant frequency omega of the harmonic oscillator at the temperature 0 Amplitude control voltage V a0 Virtual precession control voltage V w0 ；
Step 3, cutting off amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope to enable the phase-locked loop to keep a working state;
recording the lowest temperature T by using an upper computer 0 The amplitude value is attenuated, and then the attenuation time constant tau of the harmonic oscillator in the initial temperature control testing stage is obtained 0 ；
Step 4, the set temperature of the incubator is increased by delta T to enter the next temperature control testing stage, and after the temperature is maintained for at least 4 hours, the resonance frequency omega at the temperature is recorded by the upper computer k ；
Step 5, cutting off amplitude control, quadrature control and virtual precession control of the hemispherical resonator gyroscope to enable the phase-locked loop to keep a working state;
recording the amplitude attenuation at the temperature by using an upper computer, and further obtaining the attenuation time constant tau of the harmonic oscillator in the kth temperature control testing stage k ；
Step 6, judging whether the set temperature of the incubator reaches the upper limit T of the service temperature of the hemispherical resonator gyroscope max If not, making k=k+1 and jumping to step 4, if so, jumping to step 7;
step 7, fitting the harmonic oscillator resonant frequency and the attenuation time constant at different temperatures acquired by the upper computer by using a nonlinear least square algorithm to obtain a resonant frequency-attenuation time constant relation model by adopting a polynomial of three times or more;
and 8, adjusting the virtual precession control voltage according to the resonant frequency-decay time constant relation model obtained in the step 7, so as to keep the virtual precession speed stable.
2. The method for calibrating virtual precession of hemispherical resonator gyro based on decay time constant according to claim 1, wherein Δt=0.5 to 1 degree in step 4 is used to divide the temperature control test phase by Δt, and the temperature of the incubator is set to be the lowest temperature T when the gyro is actually used in the initial temperature control test phase of k=0 0 In different temperature control testing stages of k=1 and 2 …, the temperature setting of the incubator is sequentially increased by deltat, and the corresponding temperature of each stage is T k 。
3. The hemispherical resonator gyro virtual precession calibration method based on an attenuation time constant according to claim 2, wherein the function relationship of the attenuation time constant of the harmonic oscillator and the data sampling time is:
wherein t is i Is the data sampling time, i=0, 1,2 r (i) Is the current time t i Theoretical value of lower amplitude τ k K=0, 1, 2..is the harmonic oscillator decay time constant, a, of the kth temperature-controlled test stage k Is the initial amplitude of the harmonic oscillator at the kth temperature control test stage.
4. The method for calibrating virtual precession of hemispherical resonator gyroscope based on decay time constant according to claim 3, wherein the decay time constant τ of the resonator in the kth temperature control test stage k K=0, 1,2 k The identification process of (2) is as follows:
a1, the identified parameter a when i=0 is set k (i)、τ k (i) Is the initial value of (2): a, a k (0)＝0、τ k (0)＝0；
A2, calculating the current time t i Amplitude error r (i) below:
r(i)＝a' r (i)-a r (i)
wherein a' r (i) For the current time t i The actual amplitude of the lower;
a3, calculating the current time t i The following jacobian matrix J r (i)：
A4, calculating the current time t i The following parameter increment:
wherein Δa k (i) For the amplitude increment of the next moment compared with the current moment, deltaτ k (i) Increasing the decay time constant for the next moment compared with the current moment;
a5, updating the parameter vector at the next moment:
wherein a is k (i+1)、τ k (i+1) is the next time t i+1 Amplitude and time decay constants below;
a6, judging whether amplitude attenuation data are input, if so, making i=i+1, and jumping to the step A2. Otherwise, completing fitting to obtain a parameter vector a of the kth temperature control testing stage k And τ k Is a single-chip microcomputer.
5. The method for calibrating virtual precession of hemispherical resonator gyro based on decay time constant according to claim 1, wherein in step 7, the harmonic oscillator resonant frequency ω is acquired according to the upper computer at different temperatures k And decay time constant τ k Fitting the nonlinear least square algorithm by adopting a polynomial with three or more times, wherein the resonant frequency and the decay time constant satisfy the functional relation:
wherein τ r (k) At the current temperature T k Theoretical value of decay time constant of lower harmonic oscillator;
b j is the j th order coefficient of the function, j=0, 1, …, n, n is the fitting order of the function.
6. According toThe method for calibrating virtual precession of hemispherical resonator gyroscope based on decay time constant as claimed in claim 5, wherein the harmonic oscillator resonant frequencies omega at different temperatures are used for calibrating virtual precession of hemispherical resonator gyroscope based on decay time constant k And decay time constant τ k K=0, 1,2 j The identification process comprises the following steps:
b1, identified parameter B when k=0 is set j (k) Initial value b of (2) j (0)＝0；
B2, calculating the current temperature T k The decay time constant error m (k) below:
m(k)＝τ k -τ r (k)
b3, calculating the current temperature T k The following jacobian matrix J m (k)：
B4, calculating the current temperature T k The following parameter increment:
[Δb j (k)]＝[J m (k) T J m (k)] -1 J m (k) T m(k)
wherein: Δb j (k) A coefficient increment for the next temperature compared to the current temperature;
b5, updating the parameter vector of the next temperature:
[b j (k+1)]＝[b j (k)]+[Δb j (k)]
b j (k+1) is the next temperature T k+1 The coefficients below;
and B6, judging whether data are input, if so, enabling k=k+1, and jumping to the step B2. Otherwise, completing fitting to obtain a parameter vector b j Is a single-chip microcomputer.
7. The method for calibrating virtual precession of a hemispherical resonator gyro based on an decay time constant according to claim 5, wherein the virtual precession control voltage in step 8 is adjusted according to the following formula:
wherein V is w0 For the virtual precession control voltage recorded in the initial temperature control test phase, V a0 For the amplitude control voltage recorded during the initial temperature control test phase, τ 0 It is the decay time constant that is fitted in the initial temperature control test phase,
τ is the current decay time constant, the acquisition mode: inputting the resonant frequency omega obtained by the current system measurement into a fitted resonant frequency-decay time constant relation model to obtain a corresponding decay time constant;
V a the current amplitude control output voltage is obtained according to the following formula:
where K is the control gain and a the current system measures the resulting amplitude.
8. The method for calibrating virtual precession of hemispherical resonator gyroscope based on decay time constant according to claim 7, wherein the virtual precession control loop adopts open loop control, and the virtual precession speed Ω w Expressed as:
virtual precession speed Ω w Follow the virtual precession output voltage V w And stably rotates.
9. The hemispherical resonator gyro virtual precession calibration system based on the decay time constant is used for realizing the hemispherical resonator gyro virtual precession calibration method based on the decay time constant according to any one of claims 1-8, and is characterized in that the calibration system comprises a temperature box, a hemispherical resonator gyro, a gyro matching circuit board and an upper computer; the hemispherical resonator gyroscope and the gyroscope matched circuit board are arranged in an incubator;
the incubator is used for adjusting the working temperature of the hemispherical resonator gyroscope;
the hemispherical resonance gyro matched circuit board is used for realizing amplitude control, quadrature control and virtual precession control of the gyro, and transmitting resonance frequency, amplitude attenuation and virtual precession speed information to the upper computer through a serial port;
the upper computer is used for receiving resonance frequency, amplitude attenuation and virtual precession speed information sent by the hemispherical resonator gyro matched circuit board. Fitting the acquired resonance frequency and amplitude attenuation information, so as to obtain the relationship between the resonance frequency and the attenuation time constant at different temperatures, and programming the fitting result into a hemispherical resonance gyro matched circuit board.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311857096.9A CN117782163A (en) | 2023-12-29 | 2023-12-29 | Hemispherical resonator gyro virtual precession calibration method and system based on decay time constant |
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