周向漂移对全角模式半球陀螺性能的影响

Influence of Circumferential Drift on the Performance of Hemispherical Resonator Gyro in Whole Angle Mode

全角模式半球陀螺在海陆空领域有广泛的应用前景。制造误差的存在将导致陀螺存在周向漂移。该文分析了周向漂移的特点,讨论了陀螺零偏对惯导系统定位误差的影响,从系统角度对周向漂移的影响进行了分析,并对周向漂移两种处理方法的可行性进行了分析。分析表明,周向漂移影响舒拉周期振荡的幅度,但不会引起经度误差发散,经度误差发散由残余零偏引起。陀螺周向漂移的大小不等同于陀螺最终性能的漂移,对于精度为0.05~0.1(°)/h的陀螺,周向漂移控制在30(°)/h内即可。

The whole angle mode hemispherical resonator gyro(HRG)has a wide application prospects in the field of sea,land and air.The gyroscope has circumferential drift due to the existence of manufacturing error.This paper analyzes the characteristics of circumferential drift,discusses the influence of bias of gyro on the positioning error of the inertial navigation system(INS).The influence of circumferential drift is analyzed from a systemic point of view,and the feasibility of two processing methods of circumferential drift is analyzed.The analysis shows that the circumferential drift affects the amplitude of Schuler periodic oscillation and does not cause the divergence of longitude error,which is caused by residual bias.The size of circumferential drift of gyro is not equal to the drift of gyro’s final performance.For a gyro with an accuracy of 0.05~0.1(°)/h,the circumferential drift can be controlled within 30(°)/h.