Aiming at the problem of significant changes in bias stability and repeatability of hemispherical resonant gyroscopes(HRGs)in force balance mode due to processing technology,processing conditions,and external environmental factors,a self-calibration method for gyroscopes based on mode switching is proposed.Based on the second-order vibration mode of HRG,the motion equation of resonator under ideal condition is established,and the motion model and parameter control equation of resonator under nonideal factors such as nonuniform damping and frequency splitting are analyzed and derived.According to the drift characteristics of HRG,a self-calibration method based on electrode mode switching is proposed.The bias stability and repeatability of HRG before and after electrode mode switching are compared by relevant experiments.The experimental results show that the bias stability is improved by more than 1.8 times,and the bias repeatability of HRG is increased by 90.5%in different states.The proposed method can effectively estimate and compensate the HRG drift,and improve the stability and repeatability of the output of HRG.
hemispherical resonator gyroforce to rebalance modeself-calibrationmode switching
万方数据
维普
