Rate-integrating Hemispherical Resonator Gyro Dual-channel Synchronous Measurement and Control System

WU Hongbo; WEI Zhennan; YI Guoxing; WANG Ning; GUAN Zeyuan

doi:10.15892/j.cnki.djzdxb.2024.05.007

Journal of Projectiles, Rockets, Missiles and Guidance >

2024 , Vol. 44 >Issue 5: 54 - 62

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2024.05.007

Rate-integrating Hemispherical Resonator Gyro Dual-channel Synchronous Measurement and Control System

WU Hongbo ,
WEI Zhennan ,
YI Guoxing ,
WANG Ning ,
GUAN Zeyuan

Expand

Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, Heilongjiang, China

Received date: 2024-07-27

Online published: 2024-12-18

Fold

Abstract

Accurate detection and excitation of standing wave vector on hemispherical resonator are crucial for achieving rate-integrating hemispherical resonator gyro (RI-HRG). In this work, a dual-channel synchronous measurement and control scheme based on synchronous detection and excitation of orthometric azimuth vibration signals is proposed for RI-HRG and the effectiveness of this scheme has been verified with experiment. Firstly, the demodulation scheme for the standing wave on resonator is optimized. Secondly, a multi-loop control method suitable for the dual-channel synchronous measurement and control mode of RI-HRG is designed, achieving frequency tracking, amplitude and quadrature control of the standing wave,and an angular position prediction scheme is involved to ensure the synchronization of detection and driving. Then, to overcome the weak capabilities of FPGA floating-point computation and the difficulties in parameter debugging and algorithm optimization, a dual-digital-core control circuit based on “FPGA+DSP” is designed and implemented. The dual-digital-core control circuit greatly enhances computational accuracy and compilation efficiency while ensuring the timing characteristics of the synchronous measurement and control system. Finally, the proposed multi-loop control method for the RI-HRG is validated with experiments. The experimental results show that the rate-integrating control mode of the HRG is implemented effectively with dual-channel synchronous measurement and control system designed in this paper, and the performances of gyro, such as angular rate output noise and scale factor nonlinearity, has been improved. The gyro's angular rate output noise standard deviation reaches below 0.001°/s, and the scale factor nonlinearity reaches 1.298×10^-5.

Key words： hemispherical resonator gyro; rate-integrating mode; dual-channel synchronous measurement and control; standing wave control; mixed-signal circuits

Cite this article

WU Hongbo , WEI Zhennan , YI Guoxing , WANG Ning , GUAN Zeyuan . Rate-integrating Hemispherical Resonator Gyro Dual-channel Synchronous Measurement and Control System[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2024 , 44(5) : 54 -62 . DOI: 10.15892/j.cnki.djzdxb.2024.05.007

[an error occurred while processing this directive]

References

Publishing order | Descend order by publishing year | Descend order by cited within

[1]	ROZELLE D M. The hemispherical resonator gyro: From wineglass to the planets[C]// AIAA. Proceedings of the 19th AAS/AIAA Space Flight Mechanics Meeting. Reston: AIAA, 2009: 1157-1178.

[2]	BROWN T S. In-flight performance of the Cassini hemispherical quartz resonator gyro inertial reference units: AIAA 2013-4630[R]. Reston: AIAA, 2013.

[3]	DELHAYE F. HRG by SAFRAN: the game-changing technology[C]// IEEE. Proceedings of the 2018 IEEE International Symposium on Inertial Sensors and Systems. New York: IEEE, 2018: 1-4.

[4]	刘付成, 赵万良, 杨浩, 等. 半球谐振陀螺技术[J]. 导航与控制, 2020, 19(增刊1):208-215. LIU F C, ZHAO W L, YANG H, et al. Technology of hemispherical resonator gyroscope[J]. Navigation and Control, 2020, 19(S1): 208-215

[5]	MATTHEWS A D, BAUER D A. Hemispherical resonator gyro for precision pointing applications[J]. Space Guidance, Control, and Tracking II, 1995, 2466: 128-139.

[6]	严隆辉, 江黎, 蒋春桥, 等. 力反馈模式半球谐振陀螺幅度控制方法优化[J]. 压电与声光, 2020, 42(2):197-199. YAN L H, JIANG L, JIANG C Q, et al. Optimization of amplitude control method of hemispherical resonator gyroscopes under force-to-rebalance mode[J]. Piezoelectrics & Acoustooptics, 2020, 42(2): 197-199.

[7]	FOLOPPE Y, LENOIR Y. HRG Crystal? dual core: rebooting the INS revolution[C]// IEEE. Proceedings of the 2019 DGON Inertial Sensors and Systems. New York: IEEE, 2019: 1-24.

[8]	JEANROY A, GROSSET G, GOUDON J C, et al. HRG by Sagem from laboratory to mass production[C]// IEEE. Proceedings of the 2016 IEEE International Symposium on Inertial Sensors and Systems. New York: IEEE, 2016: 1-4.

[9]	SUN Y, WEI Z, YI G, et al. A rate integrating hemispherical resonant gyro angular rate output method based on frequency demodulation[C]// IEEE. Proceedings of the 2nd International Symposium on Sensor Technology and Control. New York: IEEE, 2023: 119-123.

[10]	DELEAUX B, LENOIR Y. The world smallest, most accurate and reliable pure inertial navigator: ONYX[C]// IEEE. Proceedings of the 2018 DGON Inertial Sensors and Systems. New York: IEEE, 2018: 1-24.

[11]	WEI Z, SUN Y, YI G, et al. Standing wave vector control error analysis and suppression method for rate integrating hemispherical resonator gyro[C]/IEEE. Proceedings of the 30th Saint Petersburg International Conference on Integrated Navigation Systems. New York: IEEE, 2023: 1-5.

[12]	XU R, GAO Z, NAN F, et al. Single-channel control for hemispherical resonator gyro based on time division multiplexing and demultiplexing[J]. IEEE Sensors Journal, 2021, 21(19): 21342-21348.

[13]	LEE J S, YUN S W, RHIM J W. Design and verification of a digital controller for a 2-piece hemispherical resonator gyroscope[J]. Sensors, 2016, 16(4): 16040555.

[14]	ZHANG Y, YU S, GUO K, et al. A high-performance rate-integrating hemispherical resonant gyros with 0.00753/h bias instability[C]// IEEE. Proceedings of the 2021 IEEE International Symposium on Inertial Sensors and Systems. New York: IEEE, 2021: 1-4.

[15]	吕志清. 半球谐振陀螺(HRG)信号处理技术[J]. 中国惯性技术学报, 2000(3):59-62. LYU Z Q. Signal proceesing technique for hemispherical resonant gyro(HRG)[J]. Journal of Chinese Inertial of Technology, 2000(3): 59-62.

[16]	赵万良, 杨浩, 王伟, 等. 半球谐振陀螺全角模式控制技术研究[J]. 导航定位与授时, 2019, 6(6): 8-13. ZHAO W L, YANG H, WANG W, et al. Study on whole angle mode control method of hemispherical resonator gyros[J]. Navigation Positioning and Timing, 2019, 6(6): 8-13.

[17]	王泽宇. 全角模式半球谐振陀螺建模与控制算法研究[D]. 哈尔滨: 哈尔滨工业大学, 2018. WANG Z Y. Research on modeling and control algorithm of whole-angle mode hemispherical resonator gyro[D]. Harbin:Harbin Institute of Technology, 2018.

[18]	魏振楠. 速率积分半球谐振陀螺建模、测试及误差补偿技术[D]. 哈尔滨: 哈尔滨工业大学, 2022. WEI Z N. Modeling, testing and error compenzation technology of whole angle hemispherical resonator gyro[D]. Harbin:Harbin Institute of Technology, 2022.

[19]	伊国兴, 魏振楠, 王常虹, 等. 半球谐振陀螺控制及补偿技术[J]. 宇航学报, 2020, 41(6): 780-789. YI G X, WEI Z N, WANG C H, et al. Hemispherical resonator gyro control and compensation technology[J]. Journal of Astronautics, 2020, 41(6): 780-789.

[20]	YAN K, WANG X, ZOU K, et al. Self-excitation enabled decoupling, calibration, and compensation of errors for whole-angle hemispherical resonator gyroscope[J]. IEEE Transactions on Instrumentation and Measurement, 2023.

[21]	HU Z, GALLACHER B J. Effects of nonlinearity on the angular drift error of an electrostatic MEMS rate integrating gyroscope[J]. IEEE Sensors Journal, 2019, 19(22): 10271-10280.

Options

Outlines