【摘要】 针对全角模式下半球谐振陀螺闭环检测回路中控制系统固有延迟与信号检测端增益失配导致的角度估计误差，提出了控制量运算与角度解算的优化方法。传统检测算法基于lynch平均法建立控制量与谐振子进动参数的关系，通过检测算法输出的控制量进行振型控制与方位角的解算，在此基础上，直接提取检测信号中的余弦分量进行方位角解算并忽略振幅控制量中的正交分量，缩减了控制量计算过程并抑制了检测端增益失配导致的角度输出误差。仿真结果表明：与传统算法相比，优化后的检测算法在振幅控制上有更优良的控制精度，角度输出误差显著降低。更多还原

【Abstract】 Aiming at the angle estimation error caused by inherent delay of control system and gain mismatch error of detection end in close-loop of the hemispherical resonator gyroscope in whole angle mode, an optimization method of control quantity and angle calculation was proposed.The traditional detection algorithm established the relationship between the volume and the precession parameter of the harmonic resonator, which was based on lynch average method, and the vibrating mode control and azimuth angle calculation were carried out through the control variable output by the detection algorithm.On this basis, the cosine component in the detection signal was directly extracted to calculate the azimuth angle and the quadrature component in the amplitude control variable was ignored, which reduced the calculation process of the control variable and suppressed the angle output error caused by the gain mismatch at the detection end.The simulation results show that compared with the traditional algorithm, the optimized detection algorithm has better control accuracy in amplitude control, and the angle output error is significantly reduced.更多还原