On the Theory of Hemispherical Resonator Gyro

Dmitry Klimov, Oleg Babich, Sergey Perelyaev

Abstract:	We consider the major approaches of the HRG dynam- ics. The device dynamics is analyzed with allowance for nonlinear effects and imperfections due to resonator manufacturing. For the HRG incorporated in a strapdown inertial navi- gation system, we analyze the influence of random errors in times of picking up information from gyro sensors and suggest optimizing algorithms for processing the data. Various aspects of using information picked up from multi-channel GPS receivers are considered. The combining of inertial and navigation sensors creates a new navigation system, which by its reliability and pre- cision is by far superior to the separately working sensors. In this paper the three following groups of problems will be reviewed: - the determination of the attitude of a plane by the phases of the signals coming from four antennas; - computing by inertial information of the distances s,(t), n = 1,2,3 or 4 between the plane and each of the navigation satellites. There can be three or four satel- lites in the field of vision. Computing of the derivatives e,(t) and s,(t) and the introduction of s,, s,, and s’, into the GPS receiver considerably improves the quality of the reception of the signals in the conditions of active maneuvering, radio noises and interrupted intermittent reception of signals; - the algorithm of correction of gimballess INS by the information received from GPS on the location, speed and attitude of the plane. Four systems of coordinate are used. The first Oxyz is the greenwich system with the point 0 in the center of the Earth. The second one MJi J2 53 is based on the geodesic system of coordinates, where the point A4 is located at the plane, J3 is vertical directed, 52 is directed towards the North and J1 towards the East. The third M
Published in:	Proceedings of the 52nd Annual Meeting of The Institute of Navigation (1996) June 19 - 21, 1996 Royal Sonesta Hotel Cambridge, MA
Pages:	465 - 467
Cite this article:	Klimov, Dmitry, Babich, Oleg, Perelyaev, Sergey, "On the Theory of Hemispherical Resonator Gyro," Proceedings of the 52nd Annual Meeting of The Institute of Navigation (1996), Cambridge, MA, June 1996, pp. 465-467.
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