Identification Method for Assembly Pose Errors of Flat Electrode Hemispherical Resonator Gyro

Hemispherical resonator gyro (HRG) is a high-precision gyro developed on the traditional mechanical gyro and optical gyro. The precise assembly of the resonator and the electrode base is a key technology to ensure the working performance of the HRG. In this article, a method for identifying the assembly pose error of HRG with flat electrode is proposed. First, the specific definition and quantitative description of the assembly pose error of the resonator were given, and the mathematical model between the assembly pose error and the equivalent capacitance was established. Then, a finite-element simulation model between assembly pose error and equivalent capacitance was established in COMSOL multiphysics, which verified the mathematical model. In addition, on the basis of the mathematical model, the influence of the assembly error on the equivalent capacitance was explored, and the sensitivity of the assembly movement error and rotation error to the equivalent capacitance was analyzed. Finally, the nonlinear relationship between the equivalent capacitance and the assembly pose error is established based on the support vector regression (SVR) model; therefore, the assembly pose error identification was efficiently and reliably realized. The method establishes the quantitative relationship between the assembly pose error and the equivalent capacitance and realizes the accurate and rapid identification of the assembly pose error, which provides a theoretical basis and realization method for the precise assembly process of the high-precision HRG.