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Precision Enhancement by Compensation of Hemispherical Resonator Gyroscope Dynamic Output Errors.

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT(2023)

Harbin Inst Technol

Cited 14|Views24
Abstract
In order to compensate for the hemispherical resonator gyroscope (HRG) dynamic output drift errors, a novel compensation method is presented. Through deriving the resonator motion equations and analyzing the mechanism of HRG dynamic output drift errors, it is found that the resonator defect nonuniformity is the main cause of the HRG dynamic output errors. By analyzing the mechanisms of these errors, the influence of these error sources is interacted and coupled, and it is difficult to analyze the HRG output error mechanism and establish an error model comprehensively. We proposed a compensation prediction model for the HRG dynamic output to suppress the influence of these errors comprehensively. To establish the high-precision HRG dynamic output compensation model, we proposed an improved variational mode decomposition (VMD) method to achieve an accurate HRG output. First, we used VMD to decompose the HRG output, and the optimal VMD decomposition parameters are achieved by a genetic algorithm. In order to better achieve the effective information, the decomposed components of HRG drift are classified using the sample entropy. Then, the mixed components are further processed using time–frequency peak filtering. Finally, the accurate HRG output is achieved by reconstructing all the effective components. The accurate HRG output is used to construct the training set, and the high-precision HRG dynamic output prediction model is established by long short-term memory (LSTM). The software compensation of the HRG dynamic output drift is realized by the prediction model. The experiment shows that the HRG dynamic output drift is mainly produced by the resonator nonuniformity, and it is strongly correlated with the standing wave azimuth, which verifies the correctness of the mechanism analysis. The HRG dynamic drift peak-to-peak value decreases to $5.715\times 10^{-3 \circ }$ /s, which verifies the effectiveness of the compensation method.
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Error analysis,error compensation,error modeling,hemispherical resonator gyroscope (HRG),signal denoising
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要点】:本文提出了一种新型补偿方法,以补偿半球谐振陀螺仪(HRG)动态输出的漂移误差,并通过改进变分模态分解(VMD)方法和长短期记忆(LSTM)神经网络建立高精度的预测模型。

方法】:采用改进的变分模态分解(VMD)方法对HRG输出进行准确分解,并使用遗传算法优化VMD参数,通过样本熵分类处理漂移分解成分,进而利用时频峰值滤波处理混合成分,最后通过重构有效成分实现准确HRG输出。

实验】:使用HRG动态输出的准确数据构建训练集,通过LSTM建立高精度HRG动态输出预测模型,并通过软件补偿实现HRG动态输出的漂移误差补偿。实验结果表明,HRG动态输出的漂移主要由谐振器非均匀性产生,与驻波方位角强烈相关,HRG动态漂移峰值降低到5.715×10(-3)/s,验证了补偿方法的有效性。