temperature drift compensation for hemispherical resonator gyro based on natural frequency温度漂移补偿半球谐振陀螺基于固有频率.pdf

Sensors 2012, 12, 6434-6446; doi:10.3390/s120506434 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Temperature Drift Compensation for Hemispherical Resonator Gyro Based on Natural Frequency Xu Wang 1,*, Wenqi Wu 1, Zhen Fang 2, Bing Luo 1, Yun Li 1 and Qingan Jiang 1 1 College of Mechanical Engineering and Automation, National University of Defense Technology, Changsha 410073, Hunan Province, China; E-Mails: wenqiwu_lit@ (W.W.); ruobing@ (B.L.); l163.com (Y.L.); jqa1987@163.com(Q.J.) 2 Institution of Piezoelectric and Acousto-optic Technology, Chongqing 400060, China; E-Mail: hrg@ * Author to whom correspondence should be addressed; E-Mail: wangxu-lit@163.com; Tel./Fax: +86-731-8457-6463. Received: 12 March 2012; in revised form: 4 May 2012 / Accepted: 9 May 2012 / Published: 15 May 2012 Abstract: Temperature changes have a strong effect on Hemispherical Resonator Gyro (HRG) output; therefore, it is of vital importance to observe their influence and then make necessary compensations. In this paper, a temperature compensation model for HRG based on the natural frequency of the resonator is established and then temperature drift compensations are accomplished. To begin with, a math model of the relationship between the temperature and the natural frequency of HRG is set up. Then, the math model is written into a Taylor expansion expression and the expansion coefficients are calibrated through te