High Precision Hemispherical Resonator Gyroscopes With Oven Control Systems

This work presents a high reliable hemispherical resonator gyroscope (HRG) with a solution of an oven control system. The dynamics and thermal characteristics are firstly analyzed with a indication that the conventional look-up table (LUT) method can not fully compensate the HRG errors. The temperature cycling experiments show the hysteresis effect of the key parameters of HRG and fit the theoretical analysis. Then an advanced oven control approach is proposed to solve the challenges with optimized mechanical isolation, sensing and actuation electronics. The experimental verification results illustrate a comprehensive improvement for the HRG. Particularly, the bias instability (BI) is one order of magnitude better than uncompensated HRG that reaches a sub 0.001°/hr level. The daily bias and scale factor repeatability is 6× and 3× improved with a 1 week measurement, respectively. It also shows an excellent robustness to the environmental variation by doing a temperature cycling test. The bias level error of the uncompensated system is improved by 40×, and the scale factor stability can be also increased up to 19×. The BI and rate random walk (RRW) are all significantly enhanced to show a good environmental adaptability of the proposed ovenized HRG.