Detection Error Compensation Method for Frequency Modulation Hemispherical Resonator Gyro

The frequency modulation control for Hemispherical Resonator Gyro (HRG) has many advantages in noise and temperature drift suppression. The detection error of gyro control circuit is one of the major factors affecting the control accuracy of HRG. In this work, a frequency modulation control method for HRG is proposed, a compensation method for the detection error is designed, and the effectiveness of the method is verified. Firstly, a multi-loop frequency modulation control method for HRG is proposed, and the angular rate and azimuth could be output directly. Secondly, the impact of detection error on the clockwise and counterclockwise rotation waves and angular velocity output is analyzed. Finally, a method for detection error identification and compensation is designed and verified through experiments. The results show that the detection errors could be identified accurately and suppressed effectively with proposed method in this paper, and the drift error in output angular velocity is decreased notably.