Errors of the dynamically tuned strapdown gyroscope to constant and harmonic rate inputs

Abstract

The drift errors for constant and harmonic rotational rate inputs are derived for the dynamically tuned strapdown gyroscope with a single gimbal and orthogonally placed double gimbals. To account for the recent design tendencies of higher rate input, higher acceleration capability and smaller size, the analytic expressions for the drift errors, which include the influences of gimbal moments of inertia, asymmetries of flexure stiffnesses and rotor moments of inertia, and higher order terms related to misalignments, are presented. The drift errors are classified according to the sources and the characteristics of each error are investigated. The compensation and design to develop a more accurate sensor by reducing the drift errors are also discussed.