Optimizing HRG assembly through mathematical modeling of pose adjustment

The alignment accuracy between the hemispherical resonator and the electrode carrier directly impacts the assembly performance of the hemispherical resonator gyro. Currently, the assembly process suffers from low efficiency as well as accuracy due to its reliance on manual pose adjustment based on capacitance uniformity. To address this issue, a mathematical model is developed in the spherical coordinate system to calculate capacitance considering non-ideal poses, allowing us to analyze the effect of pose errors on capacitance. Additionally, a finite element model is established using COMSOL Multiphysics software to account for assembly pose errors and capacitance. The accuracy of the mathematical model for assembly pose errors and capacitance is validated through this approach. This research provides a theoretical basis for adjusting the assembly pose between the hemispherical resonator and electrode carrier, resulting in significant improvements in both the assembly quality and efficiency of the hemispherical resonator gyro.