一种适用于旋转载体自动驾驶仪的硅微机械陀螺

Silicon Micromachined Gyroscope for Autopilot of Rotating Carrier

介绍了一种适用于旋转载体自动驾驶仪的硅微机械陀螺。该陀螺的特点是陀螺本身不包含驱动结构,利用旋转载体自旋作为驱动,陀螺输出信号中包含旋转载体自旋、偏航和俯仰角速率信息。根据陀螺的结构和工作原理,建立了陀螺的运动学方程。针对陀螺信号的特点,给出了从陀螺信号中同时解调旋转载体自旋、偏航和俯仰的角速率的算法,以及消除旋转载体自旋角速率变化对陀螺标度因数变化的算法。实验证明了解理论分析和算法的可行性。

This paper presented a silicon micromachined gyroscope for the autopilot of the spinning projectile. The characteristics of the gyroscope is that gyroscope replaces a drive force from the drive conformation with a rotating force from the spinning projectile and that the output signal contains the information of the self-rolling, yawing and pitching angular rate of the spinning projectile. According to the conformation and working principle of the gyroscope, the motion equation is established. For gyroscope signal characteristics, the algorithm which can simultaneity extract the self-rolling, yawing and pitching angular rate of the spinning projectile from a output signal and the algorithm which can eliminate the change of the gyroscope scale factor resulted from the change of the self-rolling angular rate of the spinning projectile are presented. Both the principle and the algorithm are validated by the experiments.