TY - GEN
T1 - Calibration of Nonlinear Error Caused by Detection Model Inaccuracy in Rate-Integrating Hemispherical Resonator Gyro
AU - Wu, Hongbo
AU - Wei, Zhennan
AU - Wang, Ning
AU - Yi, Guoxing
AU - Guan, Zeyuan
AU - Sun, Yiwei
N1 - Publisher Copyright:
© 2025 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2025
Y1 - 2025
N2 - The angular rate output of the Rate-Integrating Hemispherical Resonator Gyro (RI-HRG) is obtained by detecting standing wave vibrations through detection capacitors, and inaccuracy in the vibration detection model inevitably affects the gyro's performance. To address this issue, in this paper, a precise standing wave vibration detection model is proposed. Based on this model, the impact of nonlinear error on the multi-loop control and angular rate calculating of the RI-HRG is examined. Furthermore, the drift error resulting from the deviations in the calculated standing wave azimuth is analyzed, leading to the derivation of the gyro output error. Finally, a calibration method is designed, and its effectiveness is validated through experiments. The experimental results demonstrate that the proposed method effectively suppresses nonlinear error.
AB - The angular rate output of the Rate-Integrating Hemispherical Resonator Gyro (RI-HRG) is obtained by detecting standing wave vibrations through detection capacitors, and inaccuracy in the vibration detection model inevitably affects the gyro's performance. To address this issue, in this paper, a precise standing wave vibration detection model is proposed. Based on this model, the impact of nonlinear error on the multi-loop control and angular rate calculating of the RI-HRG is examined. Furthermore, the drift error resulting from the deviations in the calculated standing wave azimuth is analyzed, leading to the derivation of the gyro output error. Finally, a calibration method is designed, and its effectiveness is validated through experiments. The experimental results demonstrate that the proposed method effectively suppresses nonlinear error.
KW - Hemispherical Resonator Gyro
KW - Rate-Integrating mode
KW - identification and compensation
KW - variable-gap detection model
UR - https://www.scopus.com/pages/publications/105020310712
U2 - 10.23919/CCC64809.2025.11178838
DO - 10.23919/CCC64809.2025.11178838
M3 - 会议稿件
AN - SCOPUS:105020310712
T3 - Chinese Control Conference, CCC
SP - 4214
EP - 4219
BT - Proceedings of the 44th Chinese Control Conference, CCC 2025
A2 - Sun, Jian
A2 - Yin, Hongpeng
PB - IEEE Computer Society
T2 - 44th Chinese Control Conference, CCC 2025
Y2 - 28 July 2025 through 30 July 2025
ER -