title: Error Model and Compensation of Bell-Shaped Vibratory Gyro.
abstract: A bell-shaped vibratory angular velocity gyro (BVG), inspired by the Chinese traditional bell, is a type of axisymmetric shell resonator gyroscope. This paper focuses on development of an error model and compensation of the BVG. A dynamic equation is firstly established, based on a study of the BVG working mechanism. This equation is then used to evaluate the relationship between the angular rate output signal and bell-shaped resonator character, analyze the influence of the main error sources and set up an error model for the BVG. The error sources are classified from the error propagation characteristics, and the compensation method is presented based on the error model. Finally, using the error model and compensation method, the BVG is calibrated experimentally including rough compensation, temperature and bias compensation, scale factor compensation and noise filter. The experimentally obtained bias instability is from 20.5°/h to 4.7°/h, the random walk is from 2.8°/h(1/2) to 0.7°/h(1/2) and the nonlinearity is from 0.2% to 0.03%. Based on the error compensation, it is shown that there is a good linear relationship between the sensing signal and the angular velocity, suggesting that the BVG is a good candidate for the field of low and medium rotational speed measurement.
authors.affiliation: School of Automation, Beijing Institute of Technology, Beijing 100081, China. sz@bistu.edu.cn.|Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technological University, Beijing 100101, China. sz@bistu.edu.cn.
authors.forename: Zhong
authors.initials: Z
authors.lastname: Su
authors.affiliation: School of Automation, Beijing Institute of Technology, Beijing 100081, China. liuning1898@bit.edu.cn.|Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technological University, Beijing 100101, China. liuning1898@bit.edu.cn.
authors.forename: Ning
authors.initials: N
authors.lastname: Liu
authors.affiliation: Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technological University, Beijing 100101, China. liqing@bistu.edu.cn.
authors.forename: Qing
authors.initials: Q
authors.lastname: Li
keywords: Coriolis vibratory gyro; bell-shaped  vibratory gyro; error compensation; error model