Nonlinear Drift Analysis of Standing Waves in Hemispherical Resonant Gyroscopes Operating in Full-angle Mode
LIU Xue
CAO Huiliang
WENG Haiquan
GAO Feng
LIU Yupeng
Abstract：The whole-angle mode hemispherical resonant gyroscope exhibits impressive dynamic characteristics.However,the presence of nonlinear drift in the standing wave of the gyro is attributed to the circumferential non-uniformity in the quality fac-tor of the harmonic oscillator.To address this issue,a scheme for suppressing the drift of the standing wave based on the virtual Cori-olis force is proposed.Firstly,the mechanism behind the anchor drift in the gyro is deduced in the presence of uneven circumferen-tial quality factors.Secondly,a scheme for suppressing the drift of the standing wave in the hemispherical resonant gyro based on the virtual Coriolis force is proposed.Finally,this method is employed to suppress the standing wave drift in the full-angle mode hemispherical resonant gyro,and its effectiveness is verified through experiments.The experimental results unequivocally demon-strate that implementing the full-angle mode control scheme leads to a substantial reduction in the maximum drift rate of the hemi-spherical resonant gyroscope.Specifically,the drift rate decreases remarkably from 66.59°/h to an impressively low 7.46°/s.This re-markable achievement translates to a staggering decrease of 88.79%when compared to the corresponding period last year.
Keywords：hemispherical resonant gyroscopevirtual Coriolis forcerate integration gyroscopecircumferential damping error
Publication Date：2025-11-20
Online Publishing Date：2026-01-28(First online date of this platform, not the publication date of the document)
Pages：5( 61-65 )