An Angle-Dependent Bias Compensation Method for Hemispherical Resonator Gyro Inertial Navigation Systems

In the whole-angle mode of a hemispherical resonator gyro (HRG), the external input rotation angle is obtained by detecting the standing-wave rotation angle through electrodes. Due to this operational principle and manufacturing constraints of HRGs, the gyro output in an HRG inertial navigation syst...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Vol. 25; no. 21; p. 6639
Main Authors: Liu, Chao, Lou, Qixin, Li, Ding, Li, Huiping, Lan, Tian, Wu, Yutao, Meng, Hongjie, Li, Jingyu, Xia, Tao, Yu, Xudong
Format: Journal Article
Language:English
Published: Switzerland MDPI AG 29.10.2025
Subjects:
Accelerometers
Accuracy
Bias
Calibration
Design
Electronics in navigation
hemispherical resonator gyro (HRG)
Inertial navigation
Inertial navigation (Aeronautics)
inertial navigation system (INS)
Kalman filter
Methods
Navigation systems
Sensors
system-level calibration
Telematics
Wavelet transforms
whole-angle (WA) mode
China
whole-angle (WA) mode
inertial navigation system (INS)
hemispherical resonator gyro (HRG)
system-level calibration
Kalman filter
ISSN:1424-8220, 1424-8220
Online Access:Get full text
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Summary:In the whole-angle mode of a hemispherical resonator gyro (HRG), the external input rotation angle is obtained by detecting the standing-wave rotation angle through electrodes. Due to this operational principle and manufacturing constraints of HRGs, the gyro output in an HRG inertial navigation system exhibits angle-dependent errors that are highly sensitive to temperature variations. To address this issue, this paper proposes a system-level calibration scheme to characterize and compensate for these correlated errors. Angle-dependent bias models were established through multi-temperature point experiments. A Kalman filter was subsequently designed, and a calibration path satisfying observability requirements was developed. System-level calibration experiments were conducted to determine and compensate for the identified errors. Finally, navigation experiments demonstrated the effectiveness of the proposed method, showing that the navigation accuracy of the HRG inertial navigation system was improved by up to 94.35%.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s25216639