Hemispherical resonator gyro control

摘要

Embodiments of the present system encompass: a hemispherical resonator gyro (HRG); digital control loop algorithms which operate in two, distinct modes, Force to Rebalance (FTR) and Whole Angle (WA); and a closed-loop slewing-voltage phase control that reduces quadrature error when the hemispherical resonator gyro transitions from WA to FTR.