基于模态反转的半球谐振陀螺零位自校准方法

针对半球谐振陀螺的零位漂移问题，本文研究了基于模态反转电路控制技术的零位自校准方法。首先，从动力学模型引入阻尼不对称、频率裂解等非理想因素，讨论半球谐振陀螺的工作机理及驻波漂移特性。其次，通过理论分析模态反转的零位校准以及虚拟进动控制的模态反转技术。最后，基于FPGA数字控制平台，设计并实现了半球谐振陀螺零位自校准半实物仿真实验。实验结果表明，基于模态反转的半球谐振陀螺零位校准，实现了半球谐振陀螺的零位从15 降低至2 ，短期零偏稳定性和长期稳定性也分别提高了11.8％和45.86％，有效地抑制了零位漂移，提高了半球谐振陀螺测量精度。

Bias Self-Calibration Method of Hemispherical Resonator Gyroscope Based on Mode Reversal

In order to suppress the drift error, the bias of hemispherical resonator gyroscope (HRG) is calibrated periodically based on the control technology of mode reversal. Firstly, non-ideal factors such as damping asymmetry and frequency splitting are introduced into the dynamic model to discuss the working mechanism and bias characteristics of HRG. Secondly, the bias calibration method of mode reversal and the mode reversal control of virtual precession is established. Finally, based on the FPGA digital control platform, the simulation and experiment of bias calibration are designed and implemented. The experimental results show that the bias of HRG is reduced from 15 to 2 with the improvement of 11.8% and 45.86% in the short-term stability and long-term stability respectively by the bias self-calibration method. It can effectively suppress the bias drift and improve the measurement accuracy of gyroscopes.