CN114894216A - Precision improving method for micro-electromechanical gyro north seeker and micro-electromechanical gyro north seeker - Google Patents
Precision improving method for micro-electromechanical gyro north seeker and micro-electromechanical gyro north seeker Download PDFInfo
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- 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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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a precision improving method of a micro-electromechanical gyro north seeker and the micro-electromechanical gyro north seeker, and the method comprises the following steps: s1, carrying out periodic virtual rotation on a driving working mode and a detection working mode of a micro-electromechanical gyroscope to obtain a first output result of the micro-electromechanical gyroscope in the driving working mode and a second output result of the micro-electromechanical gyroscope in the detection working mode; s2, carrying out difference on the first output result and the second output result to obtain zero offset drift compensation of the micro-electromechanical gyroscope, and summing the first output result and the second output result to obtain a carrier azimuth angle phi; s3, acquiring a local earth gravity vector based on a micro-mechanical accelerometer, and solving north information by combining zero offset drift compensation of the micro-electromechanical gyroscope and the carrier azimuth angle phi.
Description
Technical Field
The invention relates to the technical field of inertial north seeking, in particular to a precision improving method of a micro-electromechanical gyro north seeker and the micro-electromechanical gyro north seeker.
Background
The north finder is a measuring instrument for measuring the true north direction, can provide an accurate azimuth angle for a carrier, is widely applied to civil scenes such as unmanned driving, underground exploration and geodetic survey, and plays an important role in military weaponry such as positioning, aiming, dead reckoning and inertial guidance and combat styles.
The methods for measuring the true north direction are various, and mainly include astronomical north finding, GPS north finding, magnetic north finding, inertial north finding and the like according to different measurement principles. The astronomical north finding is that the true north direction is calculated by observing the position of a fixed star by an optical instrument, but the method is easily influenced by environmental factors such as weather and the like; the north seeking of the GPS can accurately measure the north information through a differential antenna, but fails under the condition that satellite signals are rejected; magnetic north is calculated by utilizing the sensitive earth magnetic field of a magnetic sensor, and then the true north direction is obtained through magnetic declination information, although the current magnetic sensor can conveniently and quickly measure the true north, the magnetic north has larger error in a magnetic damage environment; inertial north seeking measures the earth's rotation vector and gravity vector through a gyroscope and an accelerometer to solve the true north direction inversely, and is also commonly referred to as a gyro north finder. From the measurement principle, the inertia north-seeking has the advantages of strong anti-interference capability, high measurement precision, short measurement time and the like, and is widely applied to various occasions such as military use, civil use and the like.
The gyroscope is a core device of the gyro north finder, and directly determines important indexes such as measurement accuracy, measurement time and the like of the gyro north finder. The traditional gyro north finder mainly adopts a dynamic tuning gyro, a laser gyro and a fiber optic gyro to measure the earth rotation vector. However, the spinning top has the problems of large volume, heavy weight and high cost. Although the technology of traditional coriolis vibratory gyroscopes (e.g., hemispherical resonator gyroscopes) continues to advance, high precision gyro north finders developed based on such gyroscopes remain costly.
In recent years, due to rapid development of MEMS technology, micro-electromechanical gyroscopes have exhibited unique advantages in realizing miniaturized, handheld gyro north finders due to their inherent characteristics of small size, low weight, low power consumption, low cost, and the like. However, the zero offset drift of the micro-electromechanical gyroscope becomes a bottleneck in developing a high-precision micro-electromechanical gyroscope north finder. Although the rotation modulation technology, the multi-position error compensation and other methods adopted in the field at present can effectively identify and compensate the zero offset error of the micro-electromechanical gyro in the micro-electromechanical gyro north finder, the methods all need physical rotating mechanisms, increase the complexity of the micro-electromechanical gyro north finder and are not beneficial to the miniaturization and light weight of the micro-electromechanical gyro north finder.
Disclosure of Invention
The invention aims to provide a method for improving the precision of a micro-electromechanical gyro north seeker and the micro-electromechanical gyro north seeker.
In order to achieve the above object, the present invention provides a method for improving the precision of a micro electromechanical gyro north seeker, comprising:
s1, carrying out periodic virtual rotation on a driving working mode and a detection working mode of a micro-electromechanical gyroscope to obtain a first output result of the micro-electromechanical gyroscope in the driving working mode and a second output result of the micro-electromechanical gyroscope in the detection working mode;
s2, carrying out difference on the first output result and the second output result to obtain zero offset drift compensation of the micro-electromechanical gyroscope, and summing the first output result and the second output result to obtain a carrier azimuth angle phi;
s3, acquiring a local earth gravity vector based on a micro-mechanical accelerometer, and solving north information by combining zero offset drift compensation of the micro-electromechanical gyroscope and the carrier azimuth angle phi.
According to an aspect of the invention, in step S1, in the step of performing periodic virtual rotation on the driving working mode and the detection working mode of the micro-electromechanical gyroscope, the micro-electromechanical gyroscope is periodically and virtually rotated based on a virtual rotation controller;
the virtual rotation controller comprises a rotation control module and a time sequence control module.
According to an aspect of the present invention, in step S1, the step of performing periodic virtual rotation on the driving operation mode and the detection operation mode of the micro-electromechanical gyroscope includes:
issuing a time sequence control instruction to the rotation control module through the time sequence control module; sending the adjacent time sequence control instructions by preset transition time T;
the rotation control module controls the rotation angles alpha of the driving working mode and the detection working mode to be periodically and alternately changed between 0 DEG and 90 DEG based on the time sequence control instruction.
According to one aspect of the invention, the rotation control module periodically controls the switching between an automatic gain control loop and a force balance loop built in the micro-electromechanical gyroscope so as to realize the periodic alternate transformation of the rotation angle alpha of the driving working mode and the detection working mode between 0 DEG and 90 DEG; or the rotation control module realizes the virtual rotation of the rotation angle alpha through modal vibration by adopting a rate integral control scheme, and then switches to a gyro force balance mode to carry out north seeking measurement.
According to an aspect of the invention, in step S1, the first output result and the second output result are expressed as:
G out (0°)＝Ω ie cosLcosφ+Bsin2θ τ
G out (90°)＝Ω ie cosLcosφ-Bsin2θ τ
in step S2, the carrier azimuth angle Φ is expressed as:
in order to achieve the above object, the present invention provides a micro-electromechanical gyro north finder for use in the method for improving the precision of the micro-electromechanical gyro north finder, comprising: a virtual rotation controller, a micro-electromechanical gyroscope, a micro-mechanical accelerometer and a north analyzer;
the virtual rotation controller is connected with the micro-electromechanical gyroscope;
the micro-electromechanical gyroscope and the micro-mechanical accelerometer are respectively connected with the north analyzer;
the virtual rotation controller periodically and virtually rotates the driving working mode and the detection working mode of the micro-electromechanical gyroscope;
the micro-mechanical accelerometer is used for acquiring a local earth gravity vector;
the north analyzer acquires a result output by the micro-electromechanical gyroscope through virtual rotation, and obtains zero offset drift compensation and a carrier azimuth angle phi of the micro-electromechanical gyroscope based on the result; and the number of the first and second groups,
and the north analyzer calculates north information based on the zero offset drift compensation, the carrier azimuth phi and the earth gravity vector.
According to an aspect of the present invention, the virtual rotation controller includes: the timing control module and the rotation control module;
the time sequence control module sends a time sequence control instruction with a time interval to the rotation control module;
the rotation control module controls the rotation angle alpha of the driving working mode and the detection working mode of the micro-electromechanical gyroscope to be periodically and alternately changed between 0 degree and 90 degrees on the basis of the time sequence control instruction;
the micro-electromechanical gyroscope includes: the FPGA module is connected with the resonance structure part;
the resonant structure part adopts a bionic honeycomb topology structure, including: the center anchor point, the spokes, the suspension mass block and the electrodes;
the FPGA module comprises: an automatic gain control loop and an internal balancing loop connected to the resonant structure portion;
the north analyzer includes: the gyroscope zero-offset estimation module and the north direction calculation module;
the gyro zero offset estimation module is used for receiving a result output by the micro-electromechanical gyro through virtual rotation and obtaining zero offset drift compensation and a carrier azimuth angle phi of the micro-electromechanical gyro based on the result;
the north resolving module resolves north information based on the output result of the gyro zero offset estimation module and the earth gravity vector;
the micro-mechanical accelerometer is provided with at least two.
According to one aspect of the invention, the rotation control module periodically controls the switching between an automatic gain control loop and a force balance loop built in the micro-electromechanical gyroscope so as to realize the periodic alternate transformation of the rotation angle alpha of the driving working mode and the detection working mode between 0 DEG and 90 DEG; the rotary control module is used for controlling the on-off of the virtual switch to realize the switching of the automatic gain control loop and the force balance loop; or the rotation control module realizes the virtual rotation of the rotation angle alpha through modal vibration by adopting a rate integral control scheme, and then switches to a gyro force balance mode to carry out north seeking measurement.
According to one scheme of the invention, the method utilizes a virtual rotation technology to perform self-compensation on the gyro zero-offset error of the micro-electromechanical gyro north finder, does not need to introduce a physical rotation mechanism, and is easy to miniaturize, carry and integrate the micro-electromechanical gyro north finder.
According to one scheme of the invention, the precision improvement method of the micro-electromechanical gyro north finder utilizes the virtual rotation controller to control the working mode of the micro-electromechanical gyro to periodically rotate, and the zero offset error of the micro-electromechanical gyro is solved and compensated, so that the measurement precision of the micro-electromechanical gyro north finder is improved.
According to the scheme, the north seeker disclosed by the invention does not need to introduce any physical rotating mechanism, is easy to operate, stable and reliable, has a wide application range, and can effectively meet the requirements of military and civil markets on high-precision micro-electromechanical gyro north seekers.
Drawings
FIG. 1 is a block diagram schematically illustrating steps of a method for precision improvement of a micro-electromechanical gyro north seeker according to one embodiment of the present invention;
FIG. 2 is a block diagram schematically illustrating the structure of a north seeker according to one embodiment of the present invention;
FIG. 3 is a three-dimensional perspective view schematically illustrating a reference coordinate system "North-east-sky" in accordance with an embodiment of the present invention;
FIG. 4 is a coordinate plane diagram schematically representing a reference coordinate system "North-sky" in accordance with an embodiment of the present invention;
FIG. 5 is a coordinate plane diagram schematically representing a reference coordinate system "North-east" according to one embodiment of the present invention;
FIG. 6 is a diagram schematically illustrating a resonant structure of a microelectromechanical gyroscope according to one embodiment of the present invention;
FIG. 7 is a diagram schematically illustrating a zero offset error model of a microelectromechanical gyroscope according to an embodiment of the invention;
FIG. 8 is a schematic representation of a virtual rotation schematic according to an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating the principle of virtual rotation timing control and zero offset drift compensation according to an embodiment of the present invention;
FIG. 10 is a schematic diagram schematically illustrating a virtual rotary controller measurement and control circuit in accordance with an embodiment of the present invention;
FIG. 11 is a graph schematically illustrating the results of a virtual rotating microelectromechanical gyroscope north finder test in accordance with one embodiment of the present invention in comparison to a conventional north finder.
Detailed Description
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
Referring to fig. 1 and fig. 2, according to an embodiment of the present invention, a method for improving the precision of a micro-electromechanical gyroscope north seeker includes:
s1, carrying out periodic virtual rotation on a driving working mode and a detection working mode of the micro-electromechanical gyroscope to obtain a first output result of the micro-electromechanical gyroscope in the driving working mode and a second output result of the micro-electromechanical gyroscope in the detection working mode;
s2, carrying out difference on the first output result and the second output result to obtain zero offset drift compensation of the micro electro mechanical gyroscope, and summing the first output result and the second output result to obtain a carrier azimuth angle phi;
s3, acquiring a local earth gravity vector based on the micro-mechanical accelerometer, and solving north information by combining zero offset drift compensation of the micro-electromechanical gyroscope and a carrier azimuth angle phi.
According to an embodiment of the present invention, in step S1, the method specifically includes the following steps:
constructing a reference coordinate system based on the geographic position, and establishing a first relational expression between the local earth rotation angular velocity omega detected in the direction of the sensitive axis of the micro-electromechanical gyroscope and the carrier azimuth angle phi of the micro-electromechanical gyroscope in the reference coordinate system;
establishing a dynamic model of the micro-electromechanical gyroscope, and acquiring an output expression of the micro-electromechanical gyroscope working in a force balance mode based on the dynamic model;
the driving working mode and the detection working mode of the micro-electromechanical gyroscope are periodically and virtually rotated based on the virtual rotation controller, and a first output result of the micro-electromechanical gyroscope in the driving working mode and a second output result of the micro-electromechanical gyroscope in the detection working mode are obtained based on the first relational expression and the output expression;
as shown in fig. 3, in the step of constructing the reference coordinate system based on the geographical location according to one embodiment of the present invention,and constructing a three-dimensional reference coordinate system of 'north-east-sky' in three directions of north, east and sky in the geographical position of the local area. In the reference coordinate system, L and λ are defined as the local latitude and longitude, respectively, and Ω is defined ie Is the rotational angular velocity of the earth.
In this embodiment, in the step of establishing a first relation between the local earth rotation angular velocity ω detected in the direction of the sensitive axis of the micro-electromechanical gyroscope and the carrier azimuth angle Φ of the micro-electromechanical gyroscope in the reference coordinate system, the method includes:
as shown in fig. 4, a vector projection relationship of the angular velocity of rotation of the earth on a reference coordinate system is obtained by using a "north-sky" coordinate plane in the reference coordinate system, and is expressed as:
Ω N ＝Ω ie cosL (1)
wherein omega N Is omega ie A horizontal component of (a);
as shown in fig. 5, a first relation between the local earth rotation angular velocity ω and the carrier azimuth angle Φ of the micro-electromechanical gyroscope is obtained based on the obtained vector projection relation in the "north-east" coordinate plane in the reference coordinate system, and is expressed as:
ω＝Ω N cosφ＝Ω ie cosLcosφ (2)
the local earth rotation angular velocity omega is obtained by detecting the direction of a sensitive axis of the micro-electromechanical gyroscope. In the present embodiment, the earth rotation angular velocity Ω is normally set ie The local latitude L can be easily obtained by a table look-up or an auxiliary device, for example, the latitude of Changsha city in Hunan province of the people's republic of China can be 28N.
With reference to fig. 6 and 7, in the step of establishing a dynamic model of the micro-electromechanical gyroscope and obtaining an output expression of the micro-electromechanical gyroscope in a force balance mode based on the dynamic model according to an embodiment of the present invention, the micro-electromechanical gyroscope adopts a bionic honeycomb topology, and a resonant structure of the micro-electromechanical gyroscope mainly includes a central anchor point, a spoke a1, a hanging mass a2, and an electrode A3. In the embodiment, the bionic honeycomb topological structure can improve the whole processing symmetry and robustness of the resonance structure, and the quality factor Q of the resonance structure can be effectively improved by the design of the suspension mass block. In this embodiment, the mems gyroscope operates in an n-2 wine glass mode with an operating frequency of about 4.2kHz and Q of about 310 k. The initial frequency of the working mode is about 2 Hz.
Further, in this embodiment, the dynamic model of the micro-electromechanical gyroscope can be simplified to a two-degree-of-freedom lumped mass vibration model, as shown in fig. 6.
In this embodiment, the step of obtaining an output expression of the mems gyroscope in the force balance mode based on the dynamic model includes:
establishing a general output expression of the micro-electromechanical gyroscope in a force balance mode:
-ωΔωx 0 sin2(α-θ ω )cosω x t
wherein, alpha is the rotation angle of the driving working mode and the detection working mode, and x 0 For driving the amplitude of vibration of the working mode, omega x In order to drive the working frequency of the working mode, omega is the external angular speed output, k is the angle gain factor, omega is the average natural frequency, tau is the average decay time constant, delta represents the difference value, theta ω For rigidity to correct axis, theta τ A damping simple shaft;
according to the formula (3), zero offset drift of the micro-electromechanical gyroscope caused by the nonuniform stiffness error Δ ω can be suppressed by the quadrature error control loop because of the phase relationship cos ω of the micro-electromechanical gyroscope x t and external angular velocity output phase sin omega x t has an orthogonal relationship. Further, based on the stiffness non-uniformity error Δ ω and the phase relationship cos ω x t and external angular velocity output phase sin omega x t, transforming the general output expression to obtain an output expression, which is expressed as:
G out (α)＝SF·Ω-Bsin2(α-θ τ ) (4)
wherein, SF is a scale factor, and B is zero offset;
as shown in fig. 8, in step S1, in the step of performing periodic virtual rotation on the driving operation mode and the detection operation mode of the micro-electromechanical gyro, the driving operation mode and the detection operation mode of the micro-electromechanical gyro are periodically and virtually rotated based on a virtual rotation controller, where the virtual rotation controller includes a rotation control module and a timing control module; it includes:
sending a time sequence control instruction to the rotation control module through the time sequence control module; sending adjacent sequential control instructions by preset transition time T; in this embodiment, the timing control module in the virtual rotation controller is used to control the rotation control module to perform the switching operation according to the expected timing, so as to implement the periodic transformation. In this embodiment, the timing control module may be implemented by a circuit, or may be implemented by writing a computer program. Referring to fig. 9, in actual operation, the micro-electromechanical gyroscope can be ensured to be in a stable operating state before and after virtual rotation by setting a certain length of transition time T. In the present embodiment, the transition time T is controlled to be on the order of minutes. If the transition time T is too long, the zero offset drift of the micro-electromechanical gyroscope is not easy to accurately identify and correct; if the transition time T is too short, each control loop of the micro-electromechanical gyroscope is not stable, and large low-frequency noise is introduced into the control system. Therefore, the transition time T is controlled within the minute order, the stability of the virtual rotation process of the invention is effectively ensured, the working precision of the micro-electromechanical gyroscope is effectively ensured, and the north-seeking precision of the invention is further improved.
The rotation control module controls the rotation angle alpha of the driving working mode and the detection working mode to be periodically and alternately changed between 0 degrees and 90 degrees based on the time sequence control instruction.
According to an embodiment of the present invention, the rotation control module periodically controls the switching between the automatic gain control loop and the force balance loop built in the micro-electromechanical gyroscope, so as to realize the periodic alternate transformation of the rotation angle α between 0 ° and 90 ° between the driving working mode and the detection working mode, as shown in fig. 10; or the rotation control module realizes the virtual rotation of the rotation angle alpha through modal vibration by adopting a rate integral control scheme, and then switches to a gyro force balance mode to carry out north seeking measurement.
According to an embodiment of the present invention, in step S1, when the driving operation mode and the detecting operation mode of the micro-electromechanical gyroscope are periodically and virtually rotated, the output result of the micro-electromechanical gyroscope in the driving operation mode (i.e., the rotation angle α is 0 °) can be obtained based on the formula (2) and the formula (4), i.e., the output result can be expressed as the first output result. Similarly, the output result of the micro-electromechanical gyroscope in the detection operation mode (i.e., the rotation angle α is 90 °) can be obtained based on the formula (2) and the formula (4), i.e., the output result can be expressed in the form of the second output result. Wherein the first output result and the second output result are expressed as:
according to an embodiment of the present invention, in step S2, the zero offset drift of the micro-electromechanical gyroscope can be identified and compensated by differentiating the equation (5), that is, the zero offset drift compensation of the micro-electromechanical gyroscope can be obtained by differentiating the first output result and the second output result,
meanwhile, the carrier azimuth angle phi of the micro-electromechanical gyroscope at the local place can be obtained by summing the two formulas of formula (5), which is expressed as:
referring to fig. 1 and 2, according to an embodiment of the present invention, in step S3, local earth gravity vectors are obtained based on a plurality of micro-mechanical accelerometers, and north information is calculated by combining the compensation of zero offset drift and carrier azimuth angle Φ of the micro-electromechanical gyroscope obtained in the previous step.
According to the invention, the method for identifying and compensating the zero offset error of the micro-electromechanical gyroscope can be realized without a physical rotating mechanism, and the system complexity of the micro-electromechanical gyroscope is effectively reduced while the precision of the micro-electromechanical gyroscope north finder is improved.
As shown in fig. 2, according to an embodiment of the present invention, a micro-electromechanical gyro north finder for use in the foregoing method for improving the precision of a micro-electromechanical gyro north finder includes: virtual rotation controllers, micro-electromechanical gyroscopes, micro-mechanical accelerometers and north analyzers. In the embodiment, the virtual rotation controller is connected with the micro-electromechanical gyroscope; the micro-electromechanical gyroscope and the micro-mechanical accelerometer are respectively connected with the north analyzer. In the embodiment, the virtual rotation controller periodically and virtually rotates the driving working mode and the detection working mode of the micro-electromechanical gyroscope; the micro-mechanical accelerometer is used for acquiring a local earth gravity vector; the north analyzer acquires a result output by the micro-electromechanical gyroscope through virtual rotation, and obtains zero offset drift compensation and a carrier azimuth angle phi of the micro-electromechanical gyroscope based on the result; and the north analyzer calculates the north information based on the zero offset drift compensation, the carrier azimuth angle phi and the earth gravity vector. In this embodiment, at least one micro-electromechanical gyro is provided. At least two micro-mechanical accelerometers are provided.
Based on the arrangement, the north seeker controls the working mode of the micro-electromechanical gyro to periodically rotate through the virtual rotation controller, namely, the zero offset drift compensation for compensating the zero offset error of the micro-electromechanical gyro can be identified and solved by adopting data of the front working state and the rear working state of the micro-electromechanical gyro, meanwhile, the earth rotation vector (namely the acquired carrier azimuth angle phi) acquired by the data of the front working state and the rear working state of the micro-electromechanical gyro and the earth gravity vector measured by the micro-electromechanical accelerometer are received through the north analyzer, the data output by the micro-electromechanical gyro and the accelerometer are identified and compensated through the gyro zero offset estimation module, and the north direction is solved through the north estimation module.
Referring to fig. 2 and 6, according to an embodiment of the present invention, a virtual rotation controller includes: the device comprises a time sequence control module and a rotation control module. In the present embodiment, the timing control module issues a timing control command with a time interval to the rotation control module; the rotation control module controls the rotation angle alpha of the driving working mode and the detection working mode of the micro-electromechanical gyroscope to be periodically and alternately changed between 0 degree and 90 degrees based on the time sequence control instruction.
In this embodiment, a microelectromechanical gyroscope includes: a resonant structure portion and an FPGA module connected to the resonant structure portion. In this embodiment, the resonant structure portion adopts a bionic honeycomb topology, including: a central anchor point, spoke a1, hanging mass a2, and electrode A3. In the embodiment, the whole processing symmetry and robustness of the resonance structure can be improved by adopting the bionic honeycomb topological structure, and the quality factor Q of the resonance structure can be effectively improved by the design of the suspension mass block. The micro-electromechanical gyroscope works in an n-2 wine glass mode, the working frequency is about 4.2kHz, and Q is about 310 k. The initial frequency of the working mode is about 2 Hz. In this embodiment, the FPGA module includes: an automatic gain control loop and an inner balance loop connected to the resonant structure portion.
In the present embodiment, the north analyzer includes: the gyroscope zero-offset estimation module and the north direction calculation module; the gyroscope zero offset estimation module is used for receiving a result output by the micro-electromechanical gyroscope through virtual rotation, and obtaining zero offset drift compensation and a carrier azimuth angle phi of the micro-electromechanical gyroscope based on the result; and the north direction resolving module is used for resolving the north direction information based on the output result of the gyro zero offset estimation module and the earth gravity vector.
According to one embodiment of the invention, the rotation control module periodically controls the switching between the automatic gain control loop and the force balance loop built in the micro-electromechanical gyroscope, so as to realize the periodic alternate transformation of the rotation angle alpha of the driving working mode and the detection working mode between 0 degree and 90 degrees; referring to fig. 10, virtual switches connected to the automatic gain control loop and the force balance loop are constructed based on a circuit on the FPGA module, and the rotation control module is configured to control the opening and closing of the virtual switches to switch to different loops, so as to exchange two control loops (the automatic gain control loop and the force balance loop) of the micro-electromechanical gyroscope, and further exchange of a driving working mode and a detection working mode of the micro-electromechanical gyroscope by a rotation angle α of 0 ° and 90 °. Or the rotation control module realizes the virtual rotation of the rotation angle alpha through modal vibration by adopting a rate integral control scheme, and then switches to a gyro force balance mode to carry out north seeking measurement.
As shown in fig. 11, to further illustrate the beneficial effects of the present solution, the test result of the virtual rotating micro-electromechanical gyroscope north seeker of the present invention is compared with the test result of the existing north seeker. During the test, the test duration was 1 entire day (24 hours), and one set of data tests was performed every 1 hour interval. Each set of tests adopts a comparison experiment mode, experiments without the virtual rotation technology and experiments with the virtual rotation technology are respectively carried out, and both the experiments adopt 5 minutes of average time to carry out data processing. The test result shows that the north-seeking precision of the virtual rotation micro-electromechanical gyro north-seeking instrument is improved by about one order of magnitude, so that the feasibility and the effectiveness of the virtual rotation-based micro-electromechanical gyro north-seeking instrument are effectively verified through the experiment.
According to the invention, the virtual rotation can be realized by utilizing the micro-electromechanical gyro measurement and control circuit, the advantages of simple operation, stability, reliability and convenient use are achieved, and the complexity and the volume of the structure of the north seeker are further effectively reduced under the condition of effectively improving the north seeking precision.
The foregoing is merely exemplary of particular aspects of the present invention and devices and structures not specifically described herein are understood to be those of ordinary skill in the art and are intended to be implemented in such conventional ways.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The precision improving method of the micro-electromechanical gyro north seeker comprises the following steps:
s1, carrying out periodic virtual rotation on a driving working mode and a detection working mode of a micro-electromechanical gyroscope to obtain a first output result of the micro-electromechanical gyroscope in the driving working mode and a second output result of the micro-electromechanical gyroscope in the detection working mode;
s2, carrying out difference on the first output result and the second output result to obtain zero offset drift compensation of the micro-electromechanical gyroscope, and summing the first output result and the second output result to obtain a carrier azimuth angle phi;
s3, acquiring a local earth gravity vector based on a micro-mechanical accelerometer, and solving north information by combining zero offset drift compensation of the micro-electromechanical gyroscope and the carrier azimuth angle phi.
2. The method for improving the precision of the micro-electromechanical gyro north seeker according to claim 1, wherein in step S1, in the step of periodically virtually rotating the driving operation mode and the detection operation mode of the micro-electromechanical gyro, the driving operation mode and the detection operation mode of the micro-electromechanical gyro are periodically virtually rotated based on a virtual rotation controller;
the virtual rotation controller comprises a rotation control module and a time sequence control module.
3. The method for improving the precision of the micro-electromechanical gyro north seeker of claim 2, wherein in step S1, the step of periodically virtually rotating the driving mode and the detecting mode of the micro-electromechanical gyro includes:
issuing a time sequence control instruction to the rotation control module through the time sequence control module; sending the adjacent time sequence control instructions by preset transition time T;
the rotation control module controls the rotation angles alpha of the driving working mode and the detection working mode to be periodically and alternately changed between 0 DEG and 90 DEG based on the time sequence control instruction.
4. The method for improving the precision of the micro-electromechanical gyro north seeker according to claim 3, wherein the rotation control module is configured to periodically control the switching between an automatic gain control loop and a force balance loop built in the micro-electromechanical gyro so as to realize the periodic alternate transformation of the rotation angles α of the driving operation mode and the detection operation mode between 0 ° and 90 °; or the rotation control module realizes the virtual rotation of the rotation angle alpha by adopting a rate integral control scheme to realize modal vibration, and then switches to a gyro force balance mode to carry out north seeking measurement.
5. The method for improving the precision of the micro-electromechanical gyro north seeker of claim 4, wherein in step S1, the first output result and the second output result are expressed as:
G out (0°)＝Ω ie cosL cosφ+B sin2θ τ
G out (90°)＝Ω ie cosL cosφ-B sin2θ τ
in step S2, the carrier azimuth angle Φ is expressed as:
6. a microelectromechanical gyroscope north seeker used in the method for precision improvement of microelectromechanical gyroscope north seeker of any of claims 1-5, comprising: a virtual rotation controller, a micro-electromechanical gyroscope, a micro-mechanical accelerometer and a north analyzer;
the virtual rotation controller is connected with the micro-electromechanical gyroscope;
the micro-electromechanical gyroscope and the micro-mechanical accelerometer are respectively connected with the north analyzer;
the virtual rotation controller periodically and virtually rotates the driving working mode and the detection working mode of the micro-electromechanical gyroscope;
the micro-mechanical accelerometer is used for acquiring a local earth gravity vector;
the north analyzer acquires a result output by the micro-electromechanical gyroscope through virtual rotation, and obtains zero offset drift compensation and a carrier azimuth angle phi of the micro-electromechanical gyroscope based on the result; and the number of the first and second groups,
and the north analyzer calculates north information based on the zero offset drift compensation, the carrier azimuth angle phi and the earth gravity vector.
7. The microelectromechanical gyroscopic north finder of claim 6, wherein the virtual rotation controller comprises: the timing control module and the rotation control module;
the time sequence control module sends a time sequence control instruction with a time interval to the rotation control module;
the rotation control module controls the rotation angle alpha of the driving working mode and the detection working mode of the micro-electromechanical gyroscope to be periodically and alternately changed between 0 degree and 90 degrees on the basis of the time sequence control instruction;
the micro-electromechanical gyroscope includes: the FPGA module is connected with the resonance structure part;
the resonant structure part adopts a bionic honeycomb topology structure, including: the center anchor point, the spokes, the suspension mass block and the electrodes;
the FPGA module comprises: an automatic gain control loop and an internal balancing loop connected to the resonant structure portion;
the north analyzer includes: the gyroscope zero-offset estimation module and the north direction calculation module;
the gyro zero offset estimation module is used for receiving a result output by the micro-electromechanical gyro through virtual rotation and obtaining zero offset drift compensation and a carrier azimuth angle phi of the micro-electromechanical gyro based on the result;
the north resolving module resolves north information based on the output result of the gyro zero offset estimation module and the earth gravity vector;
the micro-mechanical accelerometer is provided with at least two.
8. The micro-electromechanical gyro north seeker of claim 7, wherein the rotation control module periodically controls the switching between an automatic gain control loop and a force balance loop built in the micro-electromechanical gyro so as to realize periodic alternate transformation of the rotation angles α of the driving mode of operation and the detection mode of operation between 0 ° and 90 °; the rotary control module is used for controlling the on-off of the virtual switch to realize the switching of the automatic gain control loop and the force balance loop; or the rotation control module realizes the virtual rotation of the rotation angle alpha through modal vibration by adopting a rate integral control scheme, and then switches to a gyro force balance mode to carry out north seeking measurement.
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