基于驱动振型进动的半球谐振陀螺旋转调制方法  

Rotation modulation method of hemispherical resonant gyroscope based on driving vibration mode precession

作　　者：陈刚[1] 唐明浩 张海峰[1] 杨松普[1] 贾晨凯 CHEN Gang;TANG Minghao;ZHANG Haifeng;YANG Songpu;JIA Chenkai(Tianjin Navigation Instrument Research Institute,Tianjin 300131,China)

机构地区：[1]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2021年第5期589-593,603,共6页Journal of Chinese Inertial Technology

基　　金：工信部高技术船舶科研项目(CB04N20)。

摘　　要：针对半球谐振陀螺工作在全角模式时陀螺漂移会随谐振子振型位置不同而变化的问题,提出一种基于驱动振型进动的半球谐振陀螺旋转调制方法。基于Lynch推导的半球谐振陀螺误差模型,推导了全角模式下半球谐振陀螺椭圆参数控制力对误差抑制的表达式;根据半球谐振陀螺的漂移特性,提出了一种主动驱动振型进动的半球谐振陀螺旋转调制方法。通过实验,比较了常规全角模式和旋转调制模式下的陀螺漂移Allan方差以及基于陀螺静态数据的半实物仿真定位误差的结果。试验结果表明,旋转调制模式下的陀螺零偏稳定性(Allan方差)相比常规全角模式提高了一个数量级以上。所提出的方法可以有效均和陀螺漂移,提高系统的定位精度。To solve the problem that the gyro drift will periodically change with the vibration mode when the hemispherical resonator gyroscope(HRG)works in the whole angle mode,a HRG rotation modulation method based on driving vibration mode precession is proposed.An error analysis is carried out on the basis of the HRG error model derived by Lynch.The expression of HRG ellipse parameter control force on error suppression in whole angle mode is given so as to get the characteristic of the gyro drift.According to the drift characteristics of the HRG,a method of HRG rotation modulation drift which actively drives the precession of vibration mode is proposed.In experiment,the Allan variance of the gyro drift and inertial navigation simulation positioning error of hardware in the loop based on gyro static data in conventional whole angle mode and rotation modulation mode is compared,which turns out the gyro bias stability(Allan variance)in rotation modulation mode increased more than one order of magnitude.Experiment results show that the proposed method can effectively balance the gyro drift and improve the positioning accuracy of the system.

关 键 词：半球谐振陀螺 全角模式 旋转调制 振型驱动 

分 类 号：U666.1[交通运输工程—船舶及航道工程]