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Sensors 2015, 15(9), 23684-23705; doi:10.3390/s150923684

Error Model and Compensation of Bell-Shaped Vibratory Gyro

1,2,* , 1,2
and
2
1
School of Automation, Beijing Institute of Technology, Beijing 100081, China
2
Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technological University, Beijing 100101, China
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 19 June 2015 / Revised: 27 August 2015 / Accepted: 7 September 2015 / Published: 17 September 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
View Full-Text   |   Download PDF [2611 KB, uploaded 17 September 2015]   |  

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. View Full-Text
Keywords: Coriolis vibratory gyro; error model; error compensation; bell-shaped vibratory gyro Coriolis vibratory gyro; error model; error compensation; bell-shaped vibratory gyro
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Su, Z.; Liu, N.; Li, Q. Error Model and Compensation of Bell-Shaped Vibratory Gyro. Sensors 2015, 15, 23684-23705.

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