Modeling, Characterization, and Compensation of Detection and Actuation Coupling Errors for Whole-Angle Micro Hemispherical Resonant Gyroscope

Accurately modeling, characterizing, and compensating for detection and actuation coupling errors is essential for enhancing the performance of micro hemispherical resonator gyroscopes (
$\mu $
HRGs) under whole-angle (WA) mode. This article proposes a novel coupling error simultaneous and quantitative characterization method by utilizing the relationships between amplitude control force and force balance control force with input angular velocity during mode inversion under force-to-rebalance (FTR) mode. The sources causing detection and actuation coupling errors in
$\mu $
HRG are analyzed first. Subsequently, through theoretical derivation, this article, for the first time, establishes a dynamic model of WA
$\mu $
HRG incorporating detection and actuation coupling errors, and the impact of the coupling errors in the WA mode is investigated thoroughly based on the derived model. The coupling error characterization is carried out by utilizing the presented coupling error characterization method, and the compensatory experiments are implemented using the characterization results. The results demonstrate that the oscillation error of the WA
$\mu $
HRG’s angular velocity reduced from 5.61°/s to 0.55°/s after compensation, which is decreased by 90.2%; the angle-dependent bias (ADB) reduced from 2.635° to 0.2142°, which is decreased by 91.87%. Experimental findings confirm the efficacy of the presented coupling error characterization method and the accuracy of the established coupling error model for the WA mode. The proposed coupling error characterization and compensation method can be applied to the gyroscopes with symmetric structures operating in the WA or FTR mode.