LAUSR

During in-run mode matching under a dual-mode gyro scheme, the stability of the closed-loop control system has a boundary. This phenomenon will lead to the failure of the in-run frequency split calibration scheme when the initial mode mismatch is too severe to exceed the stability boundary. This paper gives a detailed analysis of this stability boundary through simulations and experiments. Results show that the length of the stable region will be affected by the resonant frequency and the Q value. High resonant frequency and low Q value will widen the stable region, but also reduce the sensitivity and rapidity of the calibration. In order to remove the limitation of the stability boundary while applying the in-run frequency split calibration under dual-mode architecture, this paper proposes an enhanced solution that combines both the dual-mode scheme and technology of mode switching. The application of mode switching achieves a pre-calibration of frequency split before the normal gyro operation. This solution is implemented in engineering on a hybrid gyro interface circuit prototype with single-mode and dual-mode. Validation experiments confirmed the effectiveness of this solution.