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Rate integrating gyroscope detection electrode error identification method, device and system and medium

A detection electrode and identification method technology, applied in the field of rate integration gyro detection electrode error identification, can solve problems such as the influence of rate integration gyro performance, control loop detection gain, gyro detection electrode error, etc., to achieve rapid identification of detection electrode error compensation parameters, Intuitive and high-precision error parameter identification

Active Publication Date: 2021-09-28
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, due to the influence of processing and assembly errors, gyroscopes usually have detection electrode errors, resulting in detection gain and angle errors in the control loop, which have a greater impact on the performance of rate-integrating gyroscopes

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  • Rate integrating gyroscope detection electrode error identification method, device and system and medium
  • Rate integrating gyroscope detection electrode error identification method, device and system and medium
  • Rate integrating gyroscope detection electrode error identification method, device and system and medium

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Embodiment Construction

[0057] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0058] The method for identifying the error of the detection electrode of the rate-integrating gyroscope provided in an embodiment of the present invention includes the following steps:

[0059] S1. Collect the measured output data of the rate-integrating gyroscope with detection electrode errors under high-speed rotation, and obtain the angle estimation error of the mode shape angle;

[0060] S2. Perform component analysis based on the angle estimation error to obtain the in-phase component and quadrature component of the angle estimation error;

[0061] S3. Calculate the magnitude of the angle e...

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Abstract

The invention relates to a rate integrating gyroscope detection electrode error identification method, device and system and a medium, and the method comprises the following steps: collecting actual measurement output data of a rate integrating gyroscope having a detection electrode error under high-speed rotation, and obtaining an angle estimation error of a vibration mode angle; performing composition analysis on the angle estimation error to obtain an in-phase component and an orthogonal component of the angle estimation error; and judging whether the detection electrode error parameter identification reaches the expected precision or not based on the amplitude of the angle estimation error, if the detection electrode error parameter identification does not reach the expected precision, adjusting the detection electrode error compensation parameter according to the magnitude relationship between the in-phase component amplitude and the orthogonal component amplitude of the angle estimation error, and compensating for the detection electrode error in the actually measured output data, and outputting a corresponding detection electrode error compensation parameter until the detection electrode error parameter identification reaches the expected precision. The method has the characteristics of high speed, high precision, high automation degree and the like, and is suitable for the batch debugging process of the rate integrating gyroscopes.

Description

technical field [0001] The invention relates to the technical field of solid-state vibrating gyroscopes, in particular to a method, device, system and medium for identifying errors in detection electrodes of rate-integrating gyroscopes. Background technique [0002] The gyroscope is a sensor that detects the angular motion of the carrier. It plays a key role in the fields of inertial navigation and attitude control. Its performance directly determines the accuracy of the inertial navigation and attitude control system. [0003] The current gyroscopes include: mechanical rotor gyroscopes, solid-state vibration gyroscopes and optical gyroscopes. Compared with mechanical rotor gyroscopes, solid-state vibration gyroscopes have simple structures and no rotating parts, so they have outstanding advantages such as high reliability, good impact resistance, small size, and low cost. Compared with optical gyroscopes, solid-state vibrating gyroscopes only need a single resonant structu...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张勇猛孙江坤余升肖定邦吴学忠吴宇列席翔李青松卢坤石岩周鑫
Owner NAT UNIV OF DEFENSE TECH
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