Acceleration drift mechanism analysis and compensation for hemispherical resonant gyro based on dynamics

This paper proposes a procedure to analyze the mechanism of the hemispherical resonator gyro (HRG) drift caused by the acceleration. It is suggested that the deformation of the resonator due to acceleration results in the drift of HRG. The analytical solution to the dynamic model of the resonator is obtained using the Bubnov-Galerkin method. Compared with the numerical solution of finite element simulation, the analytical solution of dynamic modeling is verified to be available. In addition, the relationship between the deformation of the resonator and the HRG drift is established by the harmonic analysis. The HRG drift is approximately linearly increased with the increase of the magnitude of acceleration, and periodically varied with the increase of the phase of acceleration. A drift compensation model is built based on the HRG drift mechanism. The effectiveness of the proposed compensation method is validated through the position tumble experiment using the three-axis turntable. By compensating for the HRG drift, the HRG drift is reduced to one-sixth of its original size, which improves the output precision of the HRG.