A Rate Integrating Hemispherical Resonant Gyro Angular Rate Output Method Based on Frequency Demodulation

The rate integrating hemispherical gyro is a new type of solid vibration gyro, and the output method of the gyro directly affects its performance. In this paper, the control method of rate integrating hemispherical gyro is introduced at first, and the existing angular rate output method is given. On this basis, an angular rate output method based on frequency demodulation is proposed. This method decomposes the standing wave of the hemispherical resonator into clockwise and counter-clockwise traveling waves, and the angular rate output is realized by caulating the frequency of the clockwise and counter-clockwise traveling waves. This article compares two angular rate output methods through experiments, and the experimental results demonstrate that the angular rate output method based on frequency demodulation effectively suppresses the output noise, and further improves the angular rate output accuracy of the rate integral hemispherical gyro.