Design Method Of Digital Quartz Gyroscope And Its Application In MEMS Integrated Navigation System

With the progress of science and technology,unmanned combat system has become an important option for major military powers and countries in wartime areas.UAV and intelligent guided weapons have become the new favorite in modern warfare.The microminiaturized navigation system with high performance is the key equipment of the precision guided weapons.Due to the military application requirements of small guided weapon systems,the inertial measurement unit(IMU)based on MEMS technology has been greatly developed.The integrated navigation system based on MEMS INS and global navigation satellite system(GNSS)has the advantages of small volume,light weight,low power consumption,low cost,high reliability and high integration.The MEMS INS/GNSS integrated System has become the key direction in the navigation field and is of great significance to the navigation,attitude control and guidance of small carriers.As an important branch of MEMS gyroscope,quartz micromachined gyroscope has been successfully applied abroad.There is an obvious technical gap between China and developed countries in quartz MEMS gyroscope technology.In this paper,the quartz micro gyroscope measurement and control technology has been studied,math model of the digital quartz gyroscope based on FPGA has been established,the simulation and experiment have been carried out.The measurement and control technology of digital quartz gyroscope mainly includes driving loop control and pickup loop demodulation.The driving control loop is composed of a reference signal generator,an amplitude controller and a frequency controller.PI based control method is adopted in frequency regulation and amplitude control of driving loop.By picking up the phase difference between pick up output and driving signal accurately,the fixed time delay method is used to obtain precise angular rate output.The MEMS integrated system hardware is constructed based on digital quartz gyro,silicon accelerometer and miniaturized satellite navigation receiver.On the basis,the MIMU mathematical model is established.Through the bias temperature compensation,scale factor temperature compensation and calibration experiment of the inertial sensors,the parameters of the MIMU mathematical model are obtained.The state equation and error equation are established,the system software is designed,the static experiment and dynamic experiment of the integrated system are completed.The correctness and rationality of the system design are verified.