Research on Missile Borne Hemispherical Resonance/ Micro Electromechanical System Gyroscopic Navigation Technology Based on Coarse Fine Coupling

This study focuses on the coarse-precision coupling of Hemispherical Resonator Gyro (HRG) and Micro Electromechanical System (MEMS) Gyro for the new requirements of high controllability, high degree of automation, and diversification of combat modes for navigation systems in future wars, with the aim of enhancing the utility of Hemispherical Resonator Gyro and laying the technical foundation for the ballistic applications. Through the in-depth analysis of the error mechanism during the coaxial assembly of the two gyroscopes, this paper establishes an installation error model and optimizes the coupling accuracy of the two through the rotary scheme of the rotary table. The study improves the measurement accuracy by fusing the outputs of the two gyros through dual-channel measurement and Kalman filtering algorithm in order to estimate and correct the bias error of the MEMS gyro. It is experimentally verified that the method in this paper can effectively estimate and compensate the zero bias of the MEMS gyro in a low dynamic environment, thus improving the measurement accuracy of the MEMS gyro and the overall performance of the navigation system. The research results are of great significance to enhance the autonomous navigation capability of tactical missiles in complex electromagnetic environment.