一种速率积分半球谐振陀螺自校准方法  

A self-calibration method of rate integrating hemispherical resonator gyroscope

作　　者：肖凯[1] 王灵草 韩世川[1] 陈朝春[1] 雷霆[1] 卜继军[1] XIAO Kai;WANG Lingcao;HAN Shichuan;CHEN Chaochun;LEI Ting;BU Jijun(26th Institute of China Electronics Technology group Corporation,Chongqing 40060,China)

机构地区：[1]中国电子科技集团公司第26研究所,重庆400060

出　　处：《中国惯性技术学报》2023年第1期80-84,106,共6页Journal of Chinese Inertial Technology

基　　金：装备发展预研重点项目(50923021502,50917010704)。

摘　　要：速率积分模式下半球谐振陀螺具备大测量范围、高带宽及极佳的标度因数等优良特性,但阻尼不均匀及其随温度、老化等的变化导致的驻波周向漂移及其不稳定性限制了速率积分半球谐振陀螺的工程应用。为减小这种驻波周向漂移的影响,基于半球谐振陀螺的二维振动模型和控制模型,通过驻波角周期性自进动与频率调制结合的自校准方法实现了模型参数的实时辨识、周向漂移的实时补偿及载体转速的实时解算。自校准速率积分半球谐振陀螺实测20小时的数据表明,启动2小时后,从0时刻开始的平均零偏为0.06°/h,10小时后稳定在0.018°/h以内,零偏不受周向漂移影响,陀螺的长时工作精度得到了大幅提高。Hemispherical resonator gyroscope(HRG)in rate integrating mode has many advantages,such as large input rate range,wide bandwidth and excellent scale factor performance.But the circumferential drift of standing wave and drift instability,which results from damping anisotropic and damping changing over temperature and ageing,limits its engineering applications.In order to reduce the influence of the drift,a real-time self-calibration method based on 2-D oscillator and control model of HRG is proposed through combining periodic self-precession and frequency modulation to realize real-time parameter identification,circumferential drift compensation and rotation rate computation.The 20 hours experiment results of self-calibration HRG in rate integrating mode show that average bias from startup is 0.06°/h 2 hours after power on,and is better than 0.018°/h 10 hours after power on.The experiment results show that bias is no longer influenced by circumferential drift,and the long-term performance of HRG is greatly improved.

关 键 词：半球谐振陀螺 阻尼不均匀性 自校准 频率调制 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计]