Modeling, Identification and Compensation for Assembly Error of Whole-Angle Mode Hemispherical Resonator Gyro

The hemispherical resonator and the electrode base are prone to tilt and eccentricity during the assembly pro-cess, which greatly restricts the working accuracy of gyro. In order to reduce this impact, the influence of the resonator assembly error on gyro drift under different electrode configuration schemes is analyzed. Secondly, an error parameters identification method based on nonlinear optimization is proposed, which can realize the synchronous identification of the two channels' gain ratio and misalignment angle. Finally, a signal demodu-lation compensation scheme is designed to compensate the error parameters. The experimental results show that after the feedforward compensation, the angular rate oscillation amplitude under dynamic conditions is reduced by two orders of magnitude, and the bias stability of gyro output is improved by 5 times.