Analysis of fiber optic gyroscope dynamic error based on CEEMDAN

The fiber optic gyroscope (FOG) is an angular rate sensor based on Sagnac effect. It has been widely used in aviation, unmanned, robot, and other fields due to its benefits of all solid state, high precision, and low cost. However, the photoelectric devices inside the FOG will produce a non-negligible error in the dynamic environment, resulting in zero bias drift and increased noise. Currently, research on the dynamic error of FOG focuses primarily on linear vibration, assuming that no input angular rate exists at this moment. However, the dynamic errors caused by angular vibration are more complicated in the practical application environment. The output of FOG includes both effective angular information and dynamic error at this moment, which means that the dynamic error should be removed while the effective angular information must be retained. In this paper, we focus on the effect of angular vibration on FOG, and propose a dynamic error compensation method of FOG based on complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN) that properly separates the effective signal and dynamic error. We also consider the amplitude frequency characteristics of FOG under dynamic conditions and utilize the FOG bandwidth test experiment to verify the effectiveness of our method. The experimental results show that the compensated signal can correctly calculate the bandwidth of FOG. It indicates that our method can effectively compensate the dynamic error in angular vibration environment while improving the performance of FOG in dynamic environment.