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Acceleration drift mechanism analysis and compensation for hemispherical resonant gyro based on dynamics

机译：基于动力学的加速漂移机制分析与半球谐振陀螺仪的补偿

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摘要

This paper proposes a procedure to analyze the mechanism of the hemispherical resonator gyro (HRG) drift caused by the acceleration. It is suggested that the deformation of the resonator due to acceleration results in the drift of HRG. The analytical solution to the dynamic model of the resonator is obtained using the Bubnov-Galerkin method. Compared with the numerical solution of finite element simulation, the analytical solution of dynamic modeling is verified to be available. In addition, the relationship between the deformation of the resonator and the HRG drift is established by the harmonic analysis. The HRG drift is approximately linearly increased with the increase of the magnitude of acceleration, and periodically varied with the increase of the phase of acceleration. A drift compensation model is built based on the HRG drift mechanism. The effectiveness of the proposed compensation method is validated through the position tumble experiment using the three-axis turntable. By compensating for the HRG drift, the HRG drift is reduced to one-sixth of its original size, which improves the output precision of the HRG.
机译：本文提出了一种分析加速引起的半球谐振器陀螺仪（HRG）漂移的机理的程序。建议由于加速而导致谐振器的变形导致HRG的漂移。使用Bubnov-Galerkin方法获得谐振器的动态模型的分析解决方法。与有限元仿真的数值解相比，验证了动态建模的分析解决方案可用。此外，通过谐波分析建立了谐振器的变形与HRG漂移之间的关系。随着加速度的增加，HRG漂移大致线性地增加，随着加速相的增加而定期变化。基于HRG漂移机制构建漂移补偿模型。通过使用三轴转盘的位置翻滚实验验证了所提出的补偿方法的有效性。通过补偿HRG漂移，HRG漂移减少到其原始尺寸的六分之一，这提高了HRG的输出精度。

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