Method, device, system and medium for identifying error of rate-integrating gyroscope detection electrode

Abstract

A method, device, system, and medium for identifying an error in a rate-integrating gyro detection electrode, comprising: collecting actual output data of a rate-integrating gyroscope with a detection electrode error under high-speed rotation, and obtaining an angle estimation error of a mode shape angle; Composition analysis to obtain the in-phase component and quadrature component of the angle estimation error; judge whether the detection electrode error parameter identification has reached the expected accuracy based on the magnitude of the angle estimation error; value and the amplitude of the quadrature component, adjust the detection electrode error compensation parameter, and compensate the detection electrode error in the measured output data until the detection electrode error parameter identification reaches the expected accuracy, and output the corresponding detection electrode error compensation parameter. The invention has the characteristics of high speed, high precision and high degree of automation, and is suitable for the batch debugging process of the rate integrating gyroscope.

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...

AI Technical Summary

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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