Full Digital Control of Hemispherical Resonator Gyro Under Force-to-Rebalance Mode

The signal processing of the hemispherical resonator gyro (HRG) plays a key role in realizing the function and improving the performance of HRG. In this paper, a novel signal processing method for HRG is proposed and the basic principle of this method is introduced. The hardware and software design for the system are implemented based on the given method. The system realizes the full digital circuit control strategy for HRG under force-to-rebalance mode based on the digital signal processor and field programmable gate array framework. The effectiveness of the proposed control strategy is verified by simulations and experimental results. The experimental results show that the gyro bias stability is better than 0.02°/h.