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Идентификация параметров волнового твердотельного гироскопа…
Инженерный журнал: наука и инновации
# 10·2017 13
Identification of solid state wave gyroscope parameters at
slowly varying forced oscillation frequency
© D.A. Maslov
National Research University “Moscow Power Engineering Institute”,
Moscow, 111250, Russia
Currently, the solid state wave gyroscope (SSWG) is one of the prospective transducers
of the inertial data, as it shows high reliability and has small overall dimensions at rela-
tively low cost. The navigation and traffic control systems for the objects of various ap-
plications designed on the base of SSWG have a wide range of usage. To increase the
SSWG characteristics of precision is an up-to-date line of research. The problem of iden-
tifying the SSWG parameters is connected with increasing the SSWG precision and aimed
at estimating the tolerance caused by both the resonator manufacturing imperfections
and nonlinear nature of the oscillations. There is a technique which allows defining the
nonlinearity factor along with the linear model parameters. It uses a time-consuming
measure procedure which is carried out at stationary modes of constrained oscillations
corresponding to various adjustable frequencies of the generator. The conduct of such
measurements requires numerous frequency manipulations and waiting for the transition
processes ending. This work suggests a technique for identifying the gyroscope parame-
ters with consideration for nonlinearity at slowly varying frequency of the constrained
oscillations. The identified parameters include the frequency difference, the versatility,
the parameters of the external action onto the resonator and the nonlinearity factor.
These parameters are needed for the quality control and technological advancement of
gyroscope manufacturing as well as for its drift cancellation. The allowance for the non-
linear nature of the resonator oscillations enables testing at high oscillations amplitudes
when the signal-to-noise ratio is fairly high, which helps to increase the accuracy of the
parameters identification. In order to estimate the parameters of the obtained mathemati-
cal model for the resonator oscillations at slowly varying frequency of the constrained
oscillations we use a Kalman optimum filtering algorithm. The developed technique will
allow automating the parameters identification process at slowly varying frequency of
the constrained oscillations and reducing the time for defining the parameters of the
working gyroscope.
Keywords:
solid state wave gyroscope, nonlinear oscillations, parameters identification,
Kalman filter
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