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
Summary
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.
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.
Keywords:
Kalman filterhemispherical resonator gyro (HRG)inertial navigation system (INS)system-level calibrationwhole-angle (WA) modeMore Related Videos
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