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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Bibliographic Details
Published in:	Sensors and actuators. A. Physical. Vol. 395; p. 116976
Main Authors:	Li, Yida, Li, Heng, Gao, Feng, Shan, Yanhu, Wang, Xiaoyi, Cao, Huiliang, Xie, Huikai
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01.12.2025
Subjects:	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
Online Access:	Get full text
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Summary:	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