Analysis And Compensation Of The Error Of Hemispherical Resonator Gyro

Hemispherical Resonator Gyro(HRG) is a comparatively new type solid rotation-sensing instrument and has a few specific feature such as highprecision 、 high reliability and longevity of service.Sensing the rotation of the method is the use of the base hemispherical shell lip of the radial vibration of the standing wave precession effect.Firstly, the principle of viberation and the dynamics of the resonator’s fluctuation mathematics model are analyed in this paper. Secondly, the two modes of the HRG’s circuit controls are analyed,and the force to rebalance(FTR) model is studied.Thirdly, the mechanism of the drift is analyed, and the drift mode is established.Finally, the unit circuitries are studied and optimized, which are important to the HRG’s performance. The circuitries of the rectiflier filter, the weak signal process and filter technology are researched. The compensation circutries of the quadrature,the scale factor error and the phase shifter with a frequency tracking are designed.It is shown, all the work are helpful to improve the HRG’s performance.Base on the control theory, the control systems of the HRG are designed and studied, and this systems are simulated and analysed by the Matlab software. Simulationresults show that the control parameter is satisfied the dynamic requirement.The methods of the data procession and analysis are discussed. Allan variance is compared with standard deviation.The application of Allan variance means in the HRG data procession has been researched in this paper, and the result has proved the advantage of Allan variance means.