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An Angle-Dependent Bias Compensation Method for Hemispherical Resonator Gyro Inertial Navigation Systems.

Chao Liu1,2, Qixin Lou1,2, Ding Li1,2

  • 1College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China.

Sensors (Basel, Switzerland)
|November 13, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a new calibration method to fix angle-dependent errors in hemispherical resonator gyros (HRGs), significantly improving navigation accuracy by up to 94.35%. The technique addresses temperature-sensitive errors in HRG inertial navigation systems.

Keywords:
Kalman filterhemispherical resonator gyro (HRG)inertial navigation system (INS)system-level calibrationwhole-angle (WA) mode

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Area of Science:

  • Inertial Navigation Systems
  • Sensor Calibration
  • Mechanical Engineering

Background:

  • Hemispherical Resonator Gyros (HRGs) are crucial for inertial navigation.
  • HRGs exhibit angle-dependent errors sensitive to temperature, impacting accuracy.
  • Existing calibration methods struggle with these correlated errors.

Purpose of the Study:

  • To develop a system-level calibration scheme for HRGs.
  • To characterize and compensate for angle-dependent, temperature-sensitive errors.
  • To enhance the navigation accuracy of HRG inertial navigation systems.

Main Methods:

  • Established angle-dependent bias models using multi-temperature experiments.
  • Designed a Kalman filter for error compensation.
  • Developed a calibration path ensuring system observability.
  • Conducted system-level calibration and navigation experiments.

Main Results:

  • Successfully characterized and compensated for angle-dependent errors in HRGs.
  • Demonstrated significant improvement in navigation accuracy.
  • Achieved up to 94.35% enhancement in navigation accuracy.

Conclusions:

  • The proposed system-level calibration scheme effectively mitigates HRG errors.
  • This method enhances the reliability and precision of HRG-based navigation.
  • The approach offers a practical solution for improving inertial navigation system performance.