Волновой твердотельный гироскоп и его применение в морском приборостроении

Abstract

Sagem improvements made in the design, the process and in the control of the HRG help to reach high performances while keeping the intrinsic simplicity of the Coriolis Vibrating Gyros family. Therefore it allows the HRG to challenge the Sagnac Effect Gyros for Strap-Down inertial navigation.

The simplicity derives from many patented innovations which lead to a very com-pact gyro with a very low number of components. The manufacturing takes advantage of this simplified design and of a new automatic tuning and balancing process which reduces sensitivities to mechanical environment. While using a Whole Angle mode of control which allows for a very good scale factor, a new full digital electronics provides gain and phase accuracy at the level needed by the 0,01°/h class of bias performance. The paper explains these choices and presents the results obtained by the Sagem HRG during tests. Thanks to these characteristics, new applications are developed, especially when compactness, low consumption, reliability and maintenance free long term performances are needed as it is the case with Marine Gyrocompass or Marine Attitude and Heading Reference Systems. An automatic calibration during operation, using the ability of the Sagem HRG to change the direction of the vibration while in Whole Angle mode, allows for maintaining the long term performance during all the life of the system. The architecture of the Sagem marine AHRS Blue Naute is presented and many test results are given, including those obtained on marine vessel.