Research on modeling and simulation of digital closed-loop FOG

The dynamic model and stochastic model of digital closed-loop FOG were developed. The nonlinear dynamic model was simplified into a linear discrete model with a number of reasonable approximations. The digital control algorithm in the closed-loop control was designed, and the dynamic simulation was conducted. In the stochastic modeling, various stochastic processes were built to simulate various types of random noise exiting in the FOG. A novel method was investigated to simulate 1/f noise with the orthogonal wavelet transform. Angular random walk noise was simulated with one-order discrete integrating of white noise, and the exponentially correlated noise was simulated with one-order Markov Process or exponentially correlated stochastic sequence. The stochastic simulations were conducted. The effectiveness of the stochastic modeling and simulation was validated with power spectrum density and Allan variance analysis.