Abstract
A bell-shaped vibratory angular velocity gyro (BVG), inspired by the Chinese traditional bell, is a type of axisymmetric shell resonator gyroscope. This paper focuses on development of an error model and compensation of the BVG. A dynamic equation is firstly established, based on a study of the BVG working mechanism. This equation is then used to evaluate the relationship between the angular rate output signal and bell-shaped resonator character, analyze the influence of the main error sources and set up an error model for the BVG. The error sources are classified from the error propagation characteristics, and the compensation method is presented based on the error model. Finally, using the error model and compensation method, the BVG is calibrated experimentally including rough compensation, temperature and bias compensation, scale factor compensation and noise filter. The experimentally obtained bias instability is from 20.5°/h to 4.7°/h, the random walk is from 2.8°/h1/2 to 0.7°/h1/2 and the nonlinearity is from 0.2% to 0.03%. Based on the error compensation, it is shown that there is a good linear relationship between the sensing signal and the angular velocity, suggesting that the BVG is a good candidate for the field of low and medium rotational speed measurement.
Highlights
The vibratory gyroscope is a specialized branch of the gyro research field, which is gaining more attention from researchers [1,2]
A dynamic equation is firstly established, based on a study of the bell-shaped vibratory angular velocity gyro (BVG) working mechanism. This equation is used to evaluate the relationship between the angular rate output signal and the bell-shaped resonator characteristics, analyze the influence of the main error sources and set up an error model for the BVG
This paper focuses on error modeling and compensation of the BVG
Summary
The vibratory gyroscope is a specialized branch of the gyro research field, which is gaining more attention from researchers [1,2]. In [10], the disadvantages of traditional BVG signal processing are addressed by presenting a novel signal processing method using a variable structure sliding mode controller to evaluate the angular velocity. In [11,12], the effects of frequency split on error are studied and a restraint method is presented based on structure balance and circuit control. Matveev wrote a book on the Solid Vibratory Gyro, which studies mainly the HRG including the mathematic model, signal processing method, error characteristics and application. A dynamic equation is firstly established, based on a study of the BVG working mechanism This equation is used to evaluate the relationship between the angular rate output signal and the bell-shaped resonator characteristics, analyze the influence of the main error sources and set up an error model for the BVG. The error model and compensation method are used to experimentally calibrate the BVG, including rough compensation, temperature and bias compensation, scale factor compensation and noise filter
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