Whole-angle hemispherical resonator gyroscope drift model caused by nonlinear detection

被引：0
|
作者：
Xu R. [1 ,2 ]
Gao Z. [1 ,2 ]
Nan F. [1 ,2 ]
Han Y. [2 ]
Zhang Y. [1 ]
机构：
[1] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin
[2] Qingdao Innovation and Development Center of Harbin Engineering University, Qingdao
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2022年 / 30卷 / 05期
关键词：
Electrode; Hemispherical shell resonator; Variable gap detection; Whole-angle HRG;
D O I：
10.13695/j.cnki.12-1222/o3.2022.05.019
中图分类号：
学科分类号：
摘要：
The method of sensing the standing wave position by changing the capacitance gap between the hemispherical shell resonator and electrode causes nonlinear distortion of the detection signal, and then leads to drift of the hemispherical resonator gyroscope (HRG). Aiming at the problem, a mathematical model to describe the drift is proposed and simulated. Firstly, the principle of variable gap detection is explained, and the nonlinear error source of detection signal is analyzed. Secondly, the mathematical model of nonlinear angular drift in the whole-angle HRG is established based on the demodulation principle of the standing wave position. Finally, the source of 8th harmonic term is verified by turntable experiment and the correctness of proposed error model is verified by the Simulink program. The experimental results show that the nonlinearity of the detection signal can lead to the error term, which is related to the 8th harmonic of the circumferential angle. When the gyroscope rotates at 400°/s, the normalized amplitude of the 8th harmonic term is 14.52% of the normalized amplitude of the 4th harmonic term. The simulation results show that the amplitude of the 8th harmonic error term is high order polynomial positive correlation with the amplitude gap ratio of the resonator, and is linear positive correlation with the rotation rate of standing wave. The proposed mathematical model of nonlinearity provides a theoretical foundation for the error analysis and error compensation of the 8th harmonic error in whole-angle HRG theoretically. © 2022, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：683 / 689
页数：6
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