Method for detecting signal nonlinearity of self-calibration hemispherical resonator gyroscope

The invention discloses a method for self-calibrating nonlinearity of a detection signal of a hemispherical resonator gyroscope, which explains and calculates a nonlinearity term of the detection signal, and deduces a parameter resolving process again on the basis that the detection signal has nonlinearity, thereby obtaining the influence of the nonlinearity of the detection signal on angle resolving. And finally, according to the recalculated angle calculation formula, carrying out error identification and self-calibration on an angle calculation error caused by nonlinearity of the detection signal of the hemispherical resonator gyroscope. According to the method, the angle calculation error caused by nonlinearity of the detection signal is eliminated, and an effective method is provided for improving the precision of the full-angle hemispherical resonator gyroscope. 本发明公开了一种用于自校准半球谐振陀螺检测信号非线性的方法，本发明对于检测信号的非线性项进行了阐释与计算，并且在检测信号存在非线性的基础上重新推导了参数解算过程，得到了检测信号非线性对于角度解算的影响。最后，根据重新计算得到的角度解算公式，对于半球谐振陀螺检测信号非线性导致的角度解算误