Error identification method for open-loop hemispherical resonator gyroscope

The invention discloses an error identification method for an open-loop hemispherical resonator gyro, which mainly collects the vibration energy of a harmonic oscillator as the input of an algorithm and comprises the following steps: 1) reducing the initial error by tracking a differentiator, effectively solving the contradiction between overshoot and rapidity, reducing the external compensation energy and reducing the driving voltage consumption; 2) the expansion state observer is used for tracking the variable trend of the hemispherical gyroscope in real time, and the dependence degree on the model is low; and 3) noise is eliminated through a non-linear state error feedback control law, and the anti-interference performance and the robustness are high. The technical problems of poor system stability and low control precision in the prior art are solved. 本发明公开了一种开环半球谐振陀螺误差辨识方法，该方法主要采集的谐振子的振动能量作为算法的输入，并经过如下处理：1)通过跟踪微分器降低初始误差，有效地解决超调与快速性矛盾，减少外界补偿能量，减小驱动电压消耗；2)通过扩张状态观测器来实时跟踪半球陀螺的变量趋势，对模型的依赖程度低；3)通过非线性状态误差反馈控制律来