Angular Rate Measurement Method of Magnetically Suspended Control and Sensing Gyroscope Using Component-Level Rotation Modulation

Magnetically suspended control and sensing gyroscope (MSCSG) is a novel concept gyroscope with attitude control and attitude measurement. In order to eliminate constant drift error and improve the angular rate measurement accuracy of MSCSG, a high-precision angular rate measurement method based on component-level rotation modulation (CLRM) is proposed in this article. First, the structure of MSCSG, the Lorentz force magnetic bearing (LFMB), and the angular rate measurement principle of MSCSG are analyzed. Second, the basic principle of rotational modulation is introduced. Third, based on the principle of CLRM angle measurement, the high-precision measurement of angular rate based on MSCSG is realized by taking the derivative of the angle and sliding smoothing. After CLRM processing, the angular rate measurement error of MSCSG is quantified and the installation error is analyzed and compensated. Finally, the error compensation of CRLM and installation error compensation effect is verified by simulation. The feasibility of the proposed method is verified by experiments. The method of CLRM can reduce the MSCSG drift error by two orders of magnitude. The method proposed in this article can be used as a reference for MSCSG attitude measurement and attitude control integration.