半球谐振陀螺零偏温度漂移的自补偿

摘要： 针对半球谐振陀螺零偏受温度影响容易发生漂移的问题，提出一种基于陀螺自身谐振频率的自补偿方法.通过分析陀螺谐振频率与温度的关系特性说明陀螺谐振频率用作温度信息进行补偿的可行性，建立陀螺零偏的温度补偿模型及方案，采集陀螺驱动回路的谐振频率对零偏进行实时补偿.此方案中，陀螺谐振频率检测的分辨率为0.03 Hz，对应的温度分辨率为0.075 ℃，在-10 ℃～60 ℃温度范围内，陀螺的零偏漂移由补偿前的30（°）/h降低到2.8（°）/h.实验结果证明该方案的有效性.

Self Compensation of Bias Temperature Drift in Hemispherical Resonator Gyro

Abstract：Variation of temperature has a strong effect on Hemispherical Resonator Gyro（HRG）output. In this paper, we propose a self compensation scheme based on the drive mode resonant frequency. The analysis of relationship between resonant frequency and temperature is used to illustrate the feasibility of frequency used as temperature. The bias temperature drift mode is established and the drive mode resonant frequency is used to compensate the bias drift real timely. The resolution of the resonant frequency is 0.03 Hz which means a resolution of 0.075 ℃ for temperature. The self compensation yielded a total bias error of 2.8（°）/h over temperature range of -10 ℃~60 ℃, corresponding to a 30（°）/h bias error before compensation. These results show that the scheme is valid.