Research on the Influence of Temperature on Errors of Resonator Gyroscopes Related to Damping Imperfections

The Coriolis vibratory gyroscopes (CVGs) have prominent advantages in high measurement accuracy, outstanding reliability, and relatively small cost, size, weight and power (C-SWaP), etc. For this type of gyroscopes, control scheme and error compensation technology are equally important to precision manufacturing of the key elements of resonator gyroscopes. This paper aims to compensate for the angle-dependent bias induced by anisodamping and investigate the effect of temperature on anisodamping compensation parameters of CVGs working in the whole-angle mode. In this paper, an identification and compensation method for the anisodamping errors was demonstrated based on fitting the energy maintaining force around the circumferential direction. The influence of anisodamping errors on the amplitude maintaining force is theoretically and experimentally investigated. Experimental results reveal that with anisodamping compensation, the fluctuation of the energy maintaining force along the circumferential direction is greatly decreased, and the $4 \theta$ harmonics in ADB of two RIGs were decreased by 95% from $0.0206^{\circ} / \mathrm{s}$ to $0.001^{\circ} / \mathrm{s}$, and by 94.4% from $0.0011^{\circ} / \mathrm{s}$ to $0.00006^{\circ} / \mathrm{s}$, respectively. The anisodamping coefficient and the azimuth angle of the primary damping axes changed irregularly for two CVGs, and exhibiting a second-order correlation with temperature for the third one. Results show that compensation for anisodamping at this stage is hardly feasible by applying a force to directly cancels the angle drift caused by anisodamping through one-time characterization of error parameters with temperature.Suggestions are made for future efforts.