Improvement of Methods of Solid-State Wave Gyroscope Parameter Estimation

Abstract

The paper investigates methods ofparameterestimation of a solid-state wave gyroscope (VTG). They are based on change in the resonator phase variables under constant environmental conditions (angular velocity, vibrations, temperature, etc.). This makes it possible to determine the parameters characterizing the imperfection of the gyroscope subsystemsaccurately. A mathematical model of VTG is proposed in the form of a dynamic system with measuring and computing components. The model takes into account the phase variablevector of the sensing element dynamics, the vector of phase variableobservation, the vector of resonator dynamics control generated in the digital-analog subsystem, and the control vector created in the computing component by the function V, depending on the signal processing algorithms. This model differs from the existing ones in that it takes into account the basic errors of measurement. This allows not only to determine the mechanical parameters, but also the parameters associated with measurement imperfection. Quality criteria have been selected for product customization that minimize the estimation error rateof angular velocity with respect to the given value. The up-to-date literature review of shown that the basis of principal quadratic forms is convenient for developing methods for estimating physical parameters. It is used to estimate parameters based on data in the free run mode. The main aspects of parameter estimation and the disadvantages of existing methods are described. Mathematical transformations were carried out, resulted in a mathematical model of the solid-state wave gyroscope dynamics based on the resonator oscillationbasic form within the basis of principal quadratic forms. Possible distortions of the analog measurement error are taken into account. A special case for the basic errors of the measurement, such as the heterogeneity of the gain coefficients and the mismatch of the phase delays of the information channels,is considered. It is established that the obtained model accurately describes the relation of mechanical parameters, distortion parameters of the measurement errors, wave parameters and their derivatives. The results of the numerical experiment confirm the adequacy of the obtained expressions. Accuracy numerical assessment of the solid-state wave gyroscope parameters is given. The prospects for improving mathematical models and approaches are also described.