Accounting for Nonlinearity of Resonator Oscillations in the Identification of Parameters of Solid-State Wave Gyroscopes of Different Types

Consideration is given to taking into account the nonlinearity of resonator oscillations in methods for identifying the parameters of wave solid-state gyroscopes. The parameters that characterize damping, damping anisotropy, different frequencies, as well as the nonlinearity coefficients of mathematical models of the dynamics of resonators of wave solid-state gyroscopes are identified. Depending on the type of resonators and control sensors, methods are proposed for identifying parameters in free run-out and forced oscillation modes, taking into account different types of non-linearities: non-linearities of the third, fifth degree, non-linearity that affects control. Algorithms for determining parameter estimates and their confidence intervals for random measurement errors are given. Based on the results of data processing, it is shown that taking into account the nonlinearity of resonator oscillations significantly improves the accuracy of determining the parameters of wave solid-state gyroscopes. Equations are presented that show the influence of the nonlinearity coefficients and parameters characterizing the different frequencies and anisotropy of damping on the angular velocity of the gyroscope drift.