Strapdown electrostatic gyro with and without self-compensation

B.E Landau,S.G Romanenko,S.L Levin,A.A Belash,A.A Medvedkov

doi:10.1088/1742-6596/1864/1/012008

Abstract

Various applications of strapdown electrostatic gyroscopes (ESG), depending on the type and purpose of the vehicle on which the gyro is installed, as well as operation conditions, impose substantially different requirements on this gyro, including accuracy of information it provides. One of traditional methods used to ensure the gyro accuracy is self-compensating rotation of the housing. The paper considers some applications of a strapdown ESG with a solid rotor and the self-compensation methods used in these applications. This gyroscope was developed 20 years ago at the CSRI Elektropribor, but the work on its improvement goes on continuously. Theoretical aspects of the ESG operation are discussed, taking into account the developed drift model, as well as their experimental validation based on the analysis of ESG operation in polar orientations.

Highlights

Consider a strapdown electrostatic gyroscopes (ESG), hereinafter referred to as ESG developed at the CSRI Elektropribor [1], the10-mm beryllium spherical rotor of which is suspended in the electric field generated by several pairs of orthogonally arranged electrodes (Fig. 1)
Consider a strapdown ESG, hereinafter referred to as ESG developed at the CSRI Elektropribor [1], the
In (1), ki are coefficients of the drift model (DMC), characterizing the moments due to axial disbalance and rotor nonsphericity harmonics, i – direction cosines, Vi – relative control voltages across the suspension electrodes; ij – coefficients characterizing the conservative part of the moment caused by the interaction between the uneven-stiffness suspension and the unbalanced rotor, and vij are coefficients characterizing the dissipative part of this moment; Cij are coefficients caused by the rotor displacement with respect to the electrodes

Summary

Introduction

Consider a strapdown ESG, hereinafter referred to as ESG developed at the CSRI Elektropribor [1], the. In (1), ki are coefficients of the drift model (DMC), characterizing the moments due to axial disbalance and rotor nonsphericity harmonics, i – direction cosines, Vi – relative control voltages across the suspension electrodes (ratio between the control voltages and reference voltage V0 ); ij – coefficients characterizing the conservative part of the moment caused by the interaction between the uneven-stiffness suspension and the unbalanced rotor, and vij are coefficients characterizing the dissipative part of this moment; Cij are coefficients caused by the rotor displacement with respect to the electrodes In accordance with this drift model, the equations of the gyro motion in the axes of the body-fixed coordinate frame take the following form:. The accuracy characteristics were estimated by determining the coefficients of model (1) with the use of the Kalman filter and uncompensated residual between the real and predicted motion

ESG without self-compensation

ESG with uniaxial self-compensating rotation

ESG with biaxial self-compensating rotation

Conclusion