Research on Test Plan of Hemispherical Resonator Gyro’s Error Model Coefficients based on D一optimal Criterion

Abstract

In order to calibrate hemispherical resonator gyro(HRG)error model coefficients on three-axis turntable，the method of calibrating the error model coefficients of gyro on the three-axis turntable was designed. Firstly，error model of gyro wad described，then the limitation of the method of single spherical test was analyzed. The double spherical test plan of single-axis rate and two-axis position tumble test was designed. Through simulation and calculation，based on D-optimal criterion，the optimal test rate and the number of tests were given，the method of calibrating the error model coefficients of HRG on the three-axis turntable was designed and coefficients was analyzed at last. The work of the paper can help to determine the specifications for the turntable and provide some bases for the improvement of gyro calibration accuracy.

Keywords

• hemispherical resonator gyro; D-optimal; error model; three-axis turntable