半球谐振陀螺阻尼不均匀误差补偿方法

Damping Mismatch Compensation Methods for Hemispherical Resonator Gyroscope

半球谐振陀螺是利用哥氏效应测量角速度的新型固态陀螺,在全角模式下具有噪声低、带宽高和动态范围大的特点,并且可以直接用于读取角度信号,拥有良好的应用前景。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,并结合驻波进动方程,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。

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.