Error Model and Compensation of Bell-Shaped Vibratory Gyro

Abstract

A bell-shaped vibratory angular velocity gyro (BVG), inspired by the Chinese traditional bell, is a type of axisymmetric shell resonator gyroscope. This paper focuses on development of an error model and compensation of the BVG. A dynamic equation is firstly established, based on a study of the BVG working mechanism. This equation is then used to evaluate the relationship between the angular rate output signal and bell-shaped resonator character, analyze the influence of the main error sources and set up an error model for the BVG. The error sources are classified from the error propagation characteristics, and the compensation method is presented based on the error model. Finally, using the error model and compensation method, the BVG is calibrated experimentally including rough compensation, temperature and bias compensation, scale factor compensation and noise filter. The experimentally obtained bias instability is from 20.5°/h to 4.7°/h, the random walk is from 2.8°/h1/2 to 0.7°/h1/2 and the nonlinearity is from 0.2% to 0.03%. Based on the error compensation, it is shown that there is a good linear relationship between the sensing signal and the angular velocity, suggesting that the BVG is a good candidate for the field of low and medium rotational speed measurement.

Theoretical and Experimental Study of Radial Velocity Generation for Extending Bandwidth of Magnetohydrodynamic Angular Rate Sensor at Low Frequency

“…In Figure 1 b, radial velocity is introduced in addition to the relative circumferential velocity between the conducting fluid and rotating case. At low rotating frequency, relative circumferential velocity is weakened by the viscous and electromagnetic force but accelerated due to Coriolis acceleration similar to other Coriolis vibratory gyroscopes [ 33 , 34 ] and then a radially-oriented electric field is generated, whereas the MHD effects illustrated in the basic MHD ARS dominate at high frequency. The measurement through the whole bandwidth is achieved by combing the Coriolis effect at low frequency and MHD effect at high frequency.…”

An Indoor Positioning Error Correction Method of Pedestrian Multi-Motions Recognized by Hybrid-Orders Fraction Domain Transformation

“…In summary, the errors of IMU inertial devices can be divided into four categories: zero-position error, scale factor error, cross-coupling error, and random error. In the process of pedestrian heading attitude calculation, the accuracy and stability of gyro output play a more critical role (the stability is relatively poor, and it is easy to be interfered by external environment and its own device characteristics) [19]. Therefore, this section focuses on the gyro calibration description.…”