Online Calibration of the Virtual Rotation Rate for Whole-Angle Hemispherical Resonator Gyroscopes Based on a Dual-Gyro Configuration

IF 4.3 2区综合性期刊 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Sensors Journal Pub Date : 2025-08-11 DOI:10.1109/JSEN.2025.3595162

Changda Xing;Jie Yuan;Tao Xia;Pengbo Xiao;Xingyuan Tang;Yao Pan;Jingyu Li;Hui Luo

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Abstract

Virtual rotation plays a crucial role in compensating for circumferential errors of the hemispherical resonator gyroscope (HRG) operating in whole-angle (WA) mode. To eliminate undesirable effects introduced by rotation modulation, online virtual rotation rate estimation becomes the primary challenge. However, the difficulty lies in accurately resolving virtual rotation rate amidst the mixed outputs of virtual rotation and external rotation. This article provides a systematic analysis of the error mechanism in virtual rotation. To address the challenge of online virtual rotation rate estimation, a novel solution based on a dual-gyro configuration with an asynchronous virtual rotation modulation scheme is proposed and implemented. Experimental results demonstrate the superior performance enhancement achieved by this calibration scheme. In the presence of external disturbances, the signal-to-noise ratio (SNR) of precession angle measurements exhibits a remarkable 12.28-fold improvement. The maximum residual ranges of angular rate also show an average 13.86-fold improvement.

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基于双陀螺结构的全角半球形谐振陀螺仪虚拟转速在线标定

虚旋转对半球面谐振陀螺仪在全角模式下的周向误差补偿起着至关重要的作用。为了消除旋转调制带来的不良影响，在线虚拟旋转速率估计成为主要的挑战。然而，难点在于在虚拟旋转和外旋转的混合输出中，如何准确求解虚拟旋转速率。本文系统地分析了虚拟旋转中的误差机理。为了解决在线虚拟转速估计的难题，提出并实现了一种基于双陀螺结构的异步虚拟转速调制方案。实验结果表明，该标定方案取得了较好的性能提升。在有外界干扰的情况下，测得的进动角信噪比提高了12.28倍。角速率的最大剩余范围平均提高了13.86倍。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Sensors Journal 工程技术-工程：电子与电气

CiteScore

7.70

自引率

14.00%

发文量

2058

审稿时长

5.2 months

期刊介绍： The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following: -Sensor Phenomenology, Modelling, and Evaluation -Sensor Materials, Processing, and Fabrication -Chemical and Gas Sensors -Microfluidics and Biosensors -Optical Sensors -Physical Sensors: Temperature, Mechanical, Magnetic, and others -Acoustic and Ultrasonic Sensors -Sensor Packaging -Sensor Networks -Sensor Applications -Sensor Systems: Signals, Processing, and Interfaces -Actuators and Sensor Power Systems -Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting -Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data) -Sensors in Industrial Practice