基于Kalman滤波解调的半球谐振陀螺全角控制方案及仿真

Whole Angle Control Scheme and Simulation of Hemispherical Resonator Gyro Based on Kalman Filter Demodulation

针对半球谐振陀螺全角模式控制中的信号处理与控制环节复杂、高精度数字解算对全角控制效果和陀螺精度有直接影响的问题,对半球谐振陀螺全角控制方法进行研究.以非理想半球谐振子为控制对象,给出一种半球谐振陀螺的全角控制方案.针对振型信号的高精度解算问题,提出一种基于Kalman滤波的数字解调方法.仿真结果表明,基于Kalman滤波解调的全角控制系统能实现快速解调和稳定控制.

In view of the complex signal processing and control process in the whole angle mode control method of hemispherical resonator gyro(HRG),a high-precision digital solution has a direct impact on the whole angle mode control and gyro accuracy.The whole angle mode control method of HRG is studied.Taking the non-ideal hemispherical resonator as the control object,a whole angle mode control scheme of HRG is proposed.A digital demodulation method based on Kalman filter is proposed to solve the problem of high-precision demodulation of signals.By building the whole angle control system model,the simulation results show that the control system can realize fast demodulation and stable control,and verify the feasibility of the digital demodulation scheme and whole angle control scheme.