RU2012129753A - METHOD FOR DETERMINING AN ANGLE OF ORIENTATION OF A STANDING WAVE IN A SOLID WAVE GYROSCOPE - Google Patents

Abstract

A method for determining the angle of orientation of a standing wave in a solid-state wave gyroscope, including measuring signals from the sine and cosine channels of the gyro angle sensor, extracting in-phase and quadrature components of these signals, determining the trigonometric functions of the sine and cosine of the angle of orientation of the standing wave, using in-phase and quadrature components of the signals, calculating angle of wave orientation relative to the gyroscope resonator at each step of calculations by the formula with the use of trigonometric sine functions and the cosine of the wave angle obtained for the k-1st and k-th clocks, as well as the value of the angle of the orientation of the wave on the k-1-th clock, characterized in that the gyroscope is preliminarily placed on the turntable platform so that its input the axis coincided in the direction with the axis of rotation of the platform and was directed vertically, set the platform to the first reference value of the angular velocity and in the angular range of orientation of the standing wave relative to the resonator ± 90 °, read the gyroscope, set the second reference value of the angular velocity of the plate forms and on the same angular range of orientation of the wave, the gyro readings are measured, the difference in the width of the tubes of the gyro readings changes in the given angular range of its orientation at different angular velocities of the platform, the correction coefficients are selected for the generated instrumental values of the in-phase and quadrature components of the sinus and cosine channels of the angle sensor a gyroscope minimizing this difference in the width of the tubes changes the gyroscope readings, and then in the operating mode, using the correct ones

Claims (1)

A method for determining the angle of orientation of a standing wave in a solid-state wave gyroscope, including measuring signals from the sine and cosine channels of the gyro angle sensor, extracting in-phase and quadrature components of these signals, determining the trigonometric functions of the sine and cosine of the angle of orientation of the standing wave, using in-phase and quadrature components of the signals, calculating angle of wave orientation relative to the gyroscope resonator at each step of calculations by the formula with the use of trigonometric sine functions and the cosine of the wave angle obtained for the k-1st and k-th clocks, as well as the value of the angle of the orientation of the wave on the k-1-th clock, characterized in that the gyroscope is preliminarily placed on the turntable platform so that its input the axis coincided in the direction with the axis of rotation of the platform and was directed vertically, set the platform to the first reference value of the angular velocity and in the angular range of orientation of the standing wave relative to the resonator ± 90 °, read the gyroscope, set the second reference value of the angular velocity of the plate forms and on the same angular range of orientation of the wave, the gyro readings are measured, the difference in the width of the tubes of the gyro readings changes in the given angular range of its orientation at different angular velocities of the platform, the correction coefficients are selected for the generated instrumental values of the in-phase and quadrature components of the sinus and cosine channels of the angle sensor a gyroscope minimizing this difference in the width of the tubes changes the gyroscope readings, and then in the operating mode, using the correct ones ruyuschie coefficients determined angle relative to the orientation of a standing wave resonator according to the formula φ _{0, k} = 0.25 · (n _to m _k-1 -m _to n _k-1 ) + φ ₀ , _k-1 , Where

C _{fp, k} is the _in -phase instrument component of the signal of the gyroscope angle sensor along the cosine channel at the kth computation step; With _{kvp, k} - instrument quadrature component of the signal of the angle sensor along the cosine channel at the k-th beat; S _{fp, k} - instrument common-mode component of the signal of the angle sensor along the sine channel at the k-th clock; S _{kvp, k} - instrument quadrature component of the signal of the angle sensor along the sine channel at the k-th beat; With _{fp, k-1} - instrument in-phase component of the signal of the angle sensor along the cosine channel at the k-1-th clock; With _{kvp, k-1} - instrument quadrature component of the signal of the angle sensor along the cosine channel at the k-1-st cycle; S _{fp, k-1} - instrument common-mode component of the signal of the angle sensor along the sine channel at the k-1-st cycle; S _{kvp, k-1} - instrument quadrature component of the signal of the angle sensor along the sinus channel at the k-1-st cycle; ΔС _f - coefficient correcting a constant error in determining the in-phase component of the angle sensor signal along the cosine channel; ΔС _sq - coefficient correcting the constant error in determining the quadrature component of the signal of the angle sensor through the cosine channel; ΔS _f - coefficient correcting a constant error in determining the in-phase component of the signal of the angle sensor via the sine channel; ΔS _sq - coefficient correcting the constant error in determining the quadrature component of the signal of the angle sensor through the sine channel; φ _{0, k-1} - the angle of orientation of the wave relative to the resonator, determined at the k-1-st cycle.