TY - GEN
T1 - Real-Time Identification and Compensation of Phase Error for Whole-Angle Hemispherical Resonator Gyroscope Based on Forgetting Filter and Virtual Rotation
AU - Yan, Kaichen
AU - Wang, Xiaoxu
AU - Wang, Xiquan
AU - Lu, Qianbo
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - The drive, sense, phase, anisoelasticity, and anisodamping errors of whole-angle hemispherical resonator gyroscope (WA-HRG) have the temperature dependence. Among these errors, the phase error is the most seriously affected by temperature, and severely affect WA-HRG’s full-temperature performance. A real-time identification and compensation method for WA-HRG phase error based on forgetting filter and virtual rotation is proposed in this paper. This method is experimentally verified in a 10∘C to 40∘C temperature cycle. The phase error’s real-time identification and compensation is able to maintain the convergence by the forgetting filter. The sense-mode control voltages’ coupling is amplified by the imposed virtual Coriolis voltage and is suppressed by the phase error compensation. This paper also experimentally verifies the variation of the anisoelasticity with temperature, the frequency difference at 10∘C, 25∘C, and 40∘C are 1.1788, 1.1974, and 1.2386 mHz. The further online elimination of the frequency difference and compensation of the phase error will completely eliminate the angle-dependence bias (ADB) generated by their coupling.
AB - The drive, sense, phase, anisoelasticity, and anisodamping errors of whole-angle hemispherical resonator gyroscope (WA-HRG) have the temperature dependence. Among these errors, the phase error is the most seriously affected by temperature, and severely affect WA-HRG’s full-temperature performance. A real-time identification and compensation method for WA-HRG phase error based on forgetting filter and virtual rotation is proposed in this paper. This method is experimentally verified in a 10∘C to 40∘C temperature cycle. The phase error’s real-time identification and compensation is able to maintain the convergence by the forgetting filter. The sense-mode control voltages’ coupling is amplified by the imposed virtual Coriolis voltage and is suppressed by the phase error compensation. This paper also experimentally verifies the variation of the anisoelasticity with temperature, the frequency difference at 10∘C, 25∘C, and 40∘C are 1.1788, 1.1974, and 1.2386 mHz. The further online elimination of the frequency difference and compensation of the phase error will completely eliminate the angle-dependence bias (ADB) generated by their coupling.
KW - Forgetting Filter
KW - Phase Error
KW - Virtual Rotation
KW - Whole-Angle Mode
UR - http://www.scopus.com/inward/record.url?scp=86000479384&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-2252-8_50
DO - 10.1007/978-981-96-2252-8_50
M3 - 会议稿件
AN - SCOPUS:86000479384
SN - 9789819622511
T3 - Lecture Notes in Electrical Engineering
SP - 504
EP - 513
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -