Identification and Compensation Method for Detection Signal Unbalanced-Phase-Delay-Error of Hemispherical Resonator Gyro

High precision vector control is an important guarantee for the performance of Hemispherical Resonator Gyros(HRG). In this paper, the control method of HRG is introduced at first, and the negative impact caused by detection signal unbalanced-phase-delay-error(UPDE) of HRG on multi-loop amplitude-modulation control, standing wave azimuth calculation and control vector decomposition is analyzed. On this basis, the error identification method and a closed-loop error compensation method are proposed based on the control circuit. The effectiveness of the proposed methods were verified through experiments in kind, and the experimental results demonstrate that the performance of each control loop were significantly optimized and the non-ideal precession of hemispherical resonator standing wave was effectively suppressed. Ultimately, the accuracy of gyro under two output forms of angular position and angular rate are further improved and the method proposed is also widely applicable to other kinds of Coriolis Vibrating Gyros(CVG).