Angular Rate Sensor Based on Hemispherical Resonator Gyro: Development and Test Results

摘要

The paper is devoted to the development of angular rate sensor (ARS) based on hemispherical resonator gyro (HRG). Simplified gyro model in the form of two equations for mathematical oscillator is proved to be sufficient. Physical parameters of the metal resonator are compared with the mathematical model to select the equations' coefficients and to introduce the additional terms describing external perturbations in the right side of equation. The obtained gyro mathematical model can be used to synthesize the sensor controller with the preset parameters. Three-axis angular rate sensor assembly is manufactured and calibrated using the generating filter in self-oscillation circuit.