基于RLS算法的全角模式半球谐振陀螺自补偿控制

Self-compensation control method of whole angle mode HRG based on RLS algorithm

针对全角模式半球谐振陀螺驻波的非线性漂移严重影响陀螺输出精度,且该漂移会受温度、驻波位置、老化程度等因素影响的问题,提出了一种基于递归最小二乘(RLS)算法的半球谐振陀螺自补偿控制方法,分析了全角模式半球谐振陀螺的输出误差补偿机理,基于RLS算法,推导出了误差自补偿控制过程表达式,并进行了仿真和实验验证,结果表明经自补偿后陀螺输出偏移峰峰值从0.0104°/s降至0.0013°/s。实验证明所提方法能够有效地抑制全角模式陀螺驻波的非线性漂移,实现对陀螺自身状态的监测和实时补偿,可提高全角模式半球谐振陀螺的输出精度,并增强陀螺的长期稳定性以及环境适应性。

Aiming at the problem that the nonlinear drift of the standing wave of the whole angle mode hemispherical resonator gyro seriously affects the output accuracy of the gyroscope,and the drift will be affected by temperature,standing wave position,aging degree and other factors,a self-compensation control method of the HRG based on the recursive least square(RLS)algorithm is proposed,and the output error compensation mechanism of the whole angle mode HRG is analyzed.Based on the RLS algorithm,the expression of error self-compensation control process is derived and verified by simulation and experiment,and the results show that the offset peak-to-peak of the gyroscope output decreases to 0.0013/s°from 0.0104/s°.The experiment shows that the proposed method can effectively suppress the nonlinear drift of the standing wave of the whole angle mode gyro,realize the monitoring and real-time compensation of the gyro's own state,improve the output accuracy of the whole angle mode HRG,and enhance the long-term stability and environmental adaptability of HRG.