基于平板电极的半球谐振陀螺全角技术研究

全角模式下的半球谐振陀螺是速率积分陀螺，具有测量范围宽、带宽高和精度高等特点。该文对由谐振子和平板电极组成的两件套半球谐振陀螺的全角模式进行了研究，介绍了全角模式振型控制与信号解算方法；通过FPGA+DSP的构架，实现了全角模式半球谐振陀螺振型控制，并解算了驻波方位角。实验数据证实，研制的两件套半球谐振陀螺样机能够实现速率积分陀螺的功能，测量范围达±400 (°)/s，陀螺最大系统漂移20 (°)/h。相对于力平衡模式半球谐振陀螺，其拓宽了半球谐振陀螺的测量范围，为进一步提升全角半球谐振陀螺的精度奠定了基础。

Study on Whole Angle Technology of Hemispherical Resonator Gyroscope Based on Surface Electrodes

The hemispherical resonant gyro in the whole angle mode is a rate integrating gyro, which has the characteristics of wide measurement range, high bandwidth and high accuracy. In this paper, the whole angle mode of a two piece hemispherical resonator gyro composed of resonators and surface electrodes is studied. The pattern control and the single solution method are introduced and implemented through the FPGA and DSP architecture and the standing wave azimuth is resolved. The experimental data show that the developed two piece hemispherical resonance gyro prototype can realize the function of rate integrating gyro, with the measurement range of ± 400 (°)/s and the maximum system drift of 20 (°)/h. Compared with the hemispherical resonant gyro in the force balance mode, it broadens the measuring range of the hemispherical resonant gyro, and lays a foundation for further improving the accuracy of the full angle hemispherical resonant gyro.