半球谐振陀螺控制及补偿技术

首先介绍了半球谐振陀螺(HRG)发展历程，分析国内外研究现状并总结了现阶段半球谐振陀螺发展趋势；其次讨论了半球谐振陀螺控制技术，包括不同条件下驻波的激励检测方法、陀螺工作模式、驻波控制方案，以及一种全新的频率调制控制方案；另外，分别以驻波调制补偿、电极增益补偿、多陀螺补偿以及环境载荷补偿为例，分析了控制方案补偿、器件补偿、系统补偿以及场景补偿等四种半球谐振陀螺补偿技术；最后通过对现有技术和研究的分析，提出了半球谐振陀螺控制及补偿技术未来的发展方向。

Hemispherical Resonator Gyro Control and Compensation Technology

The development history of hemispherical resonator gyro (HRG) is introduced briefly in the first place, and the development tendency of HRG is summarized by analyzing both the overseas and domestic research status. The current HRG control technologies are discussed in the next place, including the excitation & detection methods of a standing wave under different situations, the gyro work patterns, the control methods of the standing wave, and a brand new frequency modulation control method. Then, four HRG compensation technologies including the control method compensation, the device compensation, the system compensation and the scenario compensation are analyzed with examples, such as the standing wave modulation compensation, the electrode gain compensation, the multi-gyro compensation and the environment load compensation. Finally, the development tendency of the HRG control and compensation technologies is proposed by analyzing the current technologies and research.