半球谐振陀螺阻尼不均匀误差补偿方法

半球谐振陀螺是基于哥氏效应测量角速度的新型固态陀螺,全角模式下具有低噪声、高带宽和大动态范围,并且可以直接读取角度信号,具有良好的应用前景。针对全角模式下的主要误差来源——阻尼不均匀项,在二维谐振子振动模型的基础上,简要介绍了Lynch平均法,结合驻波进动方程,重点梳理了“四力控制”法、方位角自适应补偿法和“虚拟旋转”法等误差补偿方法,并对各补偿方法进行了总结,最后对半球谐振陀螺误差补偿技术的发展趋势进行了展望。

Damping Mismatch Compensation Methods for Hemispherical Resonator Gyroscope

Hemispherical resonator gyroscope (HRG) is a novel kind of solid-state gyroscope that measures angular velocity through the Coriolis effect. In the whole-angle mode, it has advantages of low noise, high bandwidth and large dynamic range, and can directly measure the angle signal, which has a good prospect for application. Aiming at the damping mismatch that is the main source of measurement errors in the whole-angle mode, based on the two-dimensional harmonic oscillator vibration model, Lynch average method is firstly introduced, and then the "four-force control" method, azimuth angle adaptive compensation method and virtual-rotation method are analyzed and summarized based on the dynamic equation. Finally, the future trends of error compensation methods for HRG are discussed.