Abstract
In recent years, hemispherical resonator gyroscopes (HRGs) have been implemented in aerospace navigation systems (ANSs). This paper proposes a high-precision driving-detecting control scheme for HRGs suffering from various errors. First, a novel dynamic model of the driving-detecting control system is introduced into the control system for the first time, which considers error sources. Second, the multi-loop digital control technology is presented to address the multi-loop coupling problem, which improves the precision and performance of HRGs. Third, the error suppression and fault tolerance performances of the proposed scheme are improved by designing a reasonable configuration of capacitances. Furthermore, the influences of three major error sources on HRG are clarified. The experimental results of the angular rate and drift stability demonstrate of the HRG applied to ANSs that the proposed scheme is superior to the original scheme in precision and performance. By comparison of the experimental results, the proposed scheme significantly reduces the HRG drifts caused by the three error sources.
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