Abstract
Temperature changes have a strong effect on Hemispherical Resonator Gyro (HRG) output; therefore, it is of vital importance to observe their influence and then make necessary compensations. In this paper, a temperature compensation model for HRG based on the natural frequency of the resonator is established and then temperature drift compensations are accomplished. To begin with, a math model of the relationship between the temperature and the natural frequency of HRG is set up. Then, the math model is written into a Taylor expansion expression and the expansion coefficients are calibrated through temperature experiments. The experimental results show that the frequency changes correspond to temperature changes and each temperature only corresponds to one natural frequency, so the output of HRG can be compensated through the natural frequency of the resonator instead of the temperature itself. As a result, compensations are made for the output drift of HRG based on natural frequency through a stepwise linear regression method. The compensation results show that temperature-frequency method is valid and suitable for the gyroscope drift compensation, which would ensure HRG's application in a larger temperature range in the future.
Highlights
The hemispherical resonator gyro (HRG) is a solid state gyroscope whose sensing property is based on a standing vibration wave precession
As long as the frequency of resonator is obtained by the digital control loops of the Hemispherical Resonator Gyro (HRG), temperature compensation for the output of the gyroscope can be realized in real time [11,12]
Since the natural frequency signal is continuously given by the HRG output, on the basis of frequency changes and its change rates induced by the temperature variation, a compensation model for HRG is established, and the compensations are realized by using a stepwise linear regression method
Summary
The hemispherical resonator gyro (HRG) is a solid state gyroscope whose sensing property is based on a standing vibration wave precession. In reference [10], a smart temperature sensor which employs the change of the quartz natural frequency realizes the temperature measurement with a precision of. It is feasible to employ the natural frequency change of the HRG resonator to realize the temperature measurement This method can improve the performance of the HRG over the whole temperature range, but is inexpensive and easy to adopt since it needs no additional hardware. As long as the frequency of resonator is obtained by the digital control loops of the HRG, temperature compensation for the output of the gyroscope can be realized in real time [11,12]
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