Abstract
Damping asymmetry is one of the most important factors that determines the performance of the hemispherical resonator gyroscope. In this paper, the error mechanism of damping asymmetry in the Whole Angle (WA) mode is investigated, and an adaptive compensation method is proposed to eliminate the angle drift induced by the damping asymmetry. This adaptive compensation approach adopts the recursive least-squares method to identify the damping asymmetry, and the optimal parameters can be calculated through simulation. Furthermore, a self-precession method is applied to make this compensation method available for more occasions. This compensation method is able to automatically complete the compensation process without any angular input or a priori information on damping distribution. According to the experimental results, the angle-dependent bias has been reduced from 0.0316 s−1 to 0.0051 s−1 by this method. The presented method is widely applicable for gyroscopes working in the WA mode, which may be useful for further research on inertial sensors with high accuracy.
Highlights
Hemispherical Resonator Gyroscope (HRG) is a typical Coriolis vibratory gyroscope with high accuracy and low power consumption
The conventional HRG works in the Force to Rebalanced (FTR) mode as a rate gyroscope
Compared to the FTR mode, the Whole Angle (WA) mode has the advantages of direct angular output, stable scale factor, and wide dynamic range.[9]
Summary
Hemispherical Resonator Gyroscope (HRG) is a typical Coriolis vibratory gyroscope with high accuracy and low power consumption. The conventional HRG works in the Force to Rebalanced (FTR) mode as a rate gyroscope In this mode, a feedback force is generated by the control system to suppress the vibration caused by the Coriolis force and keep the vibration pattern at a fixed point.[1–4] At the same time, the angular rate is calculated from the modulation of the feedback-force signal. Among these approaches to handle the damping mismatch, the way of characterizing the anisodamping always cost a lot of time and is inefficient for the gyroscopes with a large time-constant; the self-precess method has to be based on a large precess rate, which is difficult for gyroscopes of high quality factor.[18,19]. This paper proposed an adaptive compensator based on the recursive least-squares method for a resonant gyroscope. The research results of this paper are of great significance to the other kinds of WA mode gyroscopes
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