Hemispherical resonator gyroscope temperature error indirect compensation method

Abstract

The invention discloses a hemispherical resonator gyroscope temperature error indirect compensation method which is characterized by comprising the following steps: acquiring gyroscope output and resonance frequency of a hemispherical resonator gyroscope at a constant temperature; calculating the output drift of the hemispherical resonator gyroscope at each temperature point, and taking the output drift as a reference value for evaluating the temperature error compensation effect; indirectly measuring the temperature of the harmonic oscillator based on the hemispherical resonant frequency; and establishing an indirect compensation model of the temperature error and the resonant frequency based on a multiple regression theory. From the perspective of reducing the temperature error of the hemispherical resonator gyroscope, the resonant frequency of the hemispherical resonator is used for indirectly measuring the internal temperature of the resonator based on the corresponding relation between the internal temperature of the resonator and the resonant frequency, and in a temperature model, an independent variable is replaced by the resonant frequency from temperature, so that the temperature error of the hemispherical resonator gyroscope is reduced. A temperature error model and a multiple regression model of resonant frequency and resonant frequency change rate are established, and the temperature error model is used for compensating gyroscope output, so that the gyroscope output precision can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of inertial instruments, in particular to an indirect compensation method for temperature errors of hemispherical resonant gyroscopes. Background technique [0002] Hemispherical resonant gyroscopes have many advantages such as long life, high precision, radiation resistance, low power consumption, overload tolerance, high stability, and high reliability. Wide application prospects. However, due to the limitation of the current technology level and the temperature characteristics of the material, the output of the hemispherical resonant gyroscope changes with the change of temperature, that is, the measurement accuracy of the gyroscope is more sensitive to the temperature change. Therefore, it is necessary to compensate the temperature error of the gyroscope to improve the measurement accuracy of the gyroscope under the condition of temperature change. [0003] Hemispherical resonant gyro temperature error...

AI Technical Summary

Problems solved by technology

[0004] There are two problems in the temperature error compensation of the hemispherical resonant gyroscope: one is that the ambient temperature is not available, the interior of the gyroscope is in a vacuum state, and there are only two ways of heat exchange: heat radiation and heat conduction, which makes the ambient temperature of the hemispherical resonant gyroscope inconsistent and out of sync with the internal temperature , so the ambient temperature cannot be used to model the temperature error of the gyroscope

In the current research on the modeling and compensation of the temperature error of the hemispherical resonator gyro, most of the temperature error models are established with the ambient temperature as the independent variable, which is obviously unscientific

Second, the internal temperature of the gyro cannot be measured. The hemispherical resonant gyro is in a vacuum environment and there is no temperature sensor installed, so the internal temperature of the gyro is unmeasurable. If a temperature sensor is installed inside the resonant gyro, it will occupy space, design difficulties, and affect the resonance state. And many other problems, so the internal temperature of the gyro is difficult to measure

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