Virtual precession-enabled phase error mitigation in high-precision hemispherical resonator gyroscopes

This study proposes a novel virtual precession method to achieve real-time phase error identification in hemispherical resonator gyroscopes (HRGs) without turntables. By employing an Exponentially Weighted Recursive Least Squares (EWRLS) algorithm during self-precession, we dynamically extract phase...

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Vydáno v:Sensors and actuators. A. Physical. Ročník 395; s. 116976
Hlavní autoři: Li, Yida, Li, Heng, Gao, Feng, Shan, Yanhu, Wang, Xiaoyi, Cao, Huiliang, Xie, Huikai
Médium: Journal Article
Jazyk:angličtina
Vydáno: Elsevier B.V 01.12.2025
Témata:
Exponentially Weighted Recursive Least Squares
Hemispherical resonator gyroscope
Phase correction
Virtual precession
Whole angle gyroscope
Virtual precession
Hemispherical resonator gyroscope
Exponentially Weighted Recursive Least Squares
Whole angle gyroscope
Phase correction
ISSN:0924-4247
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Shrnutí:This study proposes a novel virtual precession method to achieve real-time phase error identification in hemispherical resonator gyroscopes (HRGs) without turntables. By employing an Exponentially Weighted Recursive Least Squares (EWRLS) algorithm during self-precession, we dynamically extract phase-delay errors and structural errors caused by frequency splitting and damping asymmetry from angular velocity outputs and compensate Phase-Locked Loop (PLL). This approach eliminates coupling errors induced by quadrature control voltages and overcomes the dead-zone limitation in Whole-Angle mode. Experimental results demonstrate significant performance improvements: 34.05% reduction in bias instability (from 0.584°/h to 0.385°/h) and 85.81% suppression of scale factor nonlinearity (from 559.9 ppm to 79.4 ppm). The scheme enables autonomous compensation of HRG phase errors, enhancing long-term precision for inertial navigation applications. [Display omitted] •Virtual precession uses self-generated Coriolis forces for continuous error extraction at low angular rates.•Real-time phase error identification via Exponentially Weighted Recursive Least Squares (EWRLS) algorithm..•Closed-loop system enables real-time phase compensation by injecting EWRLS-identified errors.
ISSN:0924-4247
DOI:10.1016/j.sna.2025.116976