半球形谐振陀螺仪装配误差的自校正方法

IF 9.4 1区工程技术 Q1 ENGINEERING, MECHANICAL

International Journal of Mechanical Sciences Pub Date : 2025-09-09 DOI:10.1016/j.ijmecsci.2025.110811

Ruiqi Wang , Guoxing Yi , Weinan Xie , Zhennan Wei , Shengwei Dong

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引用次数: 0

摘要

基于速率波动的科里奥利振动陀螺仪装配误差标定方法严重依赖外部设备，不能实时跟踪装配误差的变化。针对这一问题，提出了一种基于虚拟旋转调制（VRM）的装配误差自标定方法。首先，建立了时分复用控制方案下装配姿态误差与信道耦合误差的系统关联模型；在此基础上，建立了考虑通道耦合误差的半球形谐振陀螺仪耦合漂移模型，揭示了装配误差引起的控制电压耦合机理。最后，根据幅控电压的演化规律，提出了一种基于VRM的装配误差自标定方法，消除了标定过程中对外部设备的依赖。实验结果表明，该方法将导航级HRG的预热时间从2 h减少到5 min，同时将尺度因子非线性和偏置不稳定性分别降低12.5和4.3倍，分别降至0.79 ppm和0.0108°/h。该研究为轴对称振动陀螺仪的有效标定提供了一种新的方法，具有重要的理论价值和广阔的应用潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Self-calibration method for assembly errors of hemispherical resonator gyroscope

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Self-calibration method for assembly errors of hemispherical resonator gyroscope

The assembly error calibration methods for Coriolis vibrating gyroscopes based on rate fluctuation heavily rely on external equipment and cannot track changes in assembly errors in real time. To address this issue, this paper proposes a self-calibration method for assembly errors based on virtual rotation modulation (VRM). First, a systematic association model between assembly attitude errors and channel coupling errors under the time-division multiplexing control scheme is established. Based on this, a coupling drift model of the hemispherical resonator gyroscope (HRG), incorporating channel coupling errors, is developed, revealing the control voltage coupling mechanism induced by assembly errors. Finally, a self-calibration method for assembly errors based on VRM is proposed according to the evolution pattern of the amplitude control voltage, eliminating the dependence on external equipment during the calibration process. Experimental results demonstrate that this method reduces the preheating time of a navigation-grade HRG from 2 h to 5 min, while decreasing the scale factor nonlinearity and bias instability by factors of 12.5 and 4.3, respectively, to only 0.79 ppm and 0.0108°/h. This study provides a new approach for the efficient calibration of axisymmetric vibrating gyroscopes, offering significant theoretical value and broad application potential.

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来源期刊

International Journal of Mechanical Sciences 工程技术-工程：机械

CiteScore

12.80

自引率

17.80%

发文量

769

审稿时长

19 days

期刊介绍： The International Journal of Mechanical Sciences (IJMS) serves as a global platform for the publication and dissemination of original research that contributes to a deeper scientific understanding of the fundamental disciplines within mechanical, civil, and material engineering. The primary focus of IJMS is to showcase innovative and ground-breaking work that utilizes analytical and computational modeling techniques, such as Finite Element Method (FEM), Boundary Element Method (BEM), and mesh-free methods, among others. These modeling methods are applied to diverse fields including rigid-body mechanics (e.g., dynamics, vibration, stability), structural mechanics, metal forming, advanced materials (e.g., metals, composites, cellular, smart) behavior and applications, impact mechanics, strain localization, and other nonlinear effects (e.g., large deflections, plasticity, fracture). Additionally, IJMS covers the realms of fluid mechanics (both external and internal flows), tribology, thermodynamics, and materials processing. These subjects collectively form the core of the journal's content. In summary, IJMS provides a prestigious platform for researchers to present their original contributions, shedding light on analytical and computational modeling methods in various areas of mechanical engineering, as well as exploring the behavior and application of advanced materials, fluid mechanics, thermodynamics, and materials processing.