陀螺飞轮是一种适用于微小航天器的新型姿态控制执行与测量一体化装置。不同于传统陀螺仪，陀螺飞轮转子需长期处于变速倾侧状态，系统呈现较强非线性、耦合性且受多误差源干扰，使其误差分析、测量与误差建模、测试标定面临挑战，实际测量精度很难满足空间应用需求。本项目拟解决以上问题，首先通过多体动力学理论与仿真分析，研究变速倾侧陀螺飞轮的测量误差机理，为误差抑制与补偿提供理论依据；然后拟利用深度网络强大的非线性逼近能力，解决多误差源影响下非线性耦合系统的动态建模问题，研究基于机理与数据驱动的角速度测量方法，以满足陀螺飞轮全工况下的测量需求；最后综合考虑试验成本和精度需求，研究陀螺飞轮系统测试方案的优化设计方法，解决陀螺飞轮测量模型参数和误差参数的一体化辨识问题。通过本项目研究，揭示变速倾侧陀螺飞轮误差机理，大幅提升其作为角速度敏感器的实际使用精度，对于推动其在空间应用、加速其产业化进程具有重要意义。

Gyrowheel is an innovative attitude control and determination instrument for micro-spacecraft and small spacecraft. Unlike the traditional gyroscopes, its rotor should always operate at time-varying spin rates and tilt angles, leading to nonlinear coupled dynamic characteristics. Meanwhile, the gyrowheel system is interfered by multiple error sources. These factors induce difficulties in error analysis, measurement and error modelling, calibration test for the gyrowheel, which restrict its practical applications. Motivated by the above facts, this research will attempt to improve the measurement accuracy of the gyrowheel. Firstly, based on multi-body dynamics theory and simulation analysis, the error mechanism of the gyrowheel will be investigated, which will provide theoretical basis for error suppression and compensation. Secondly, owing to the powerful approximation ability for nonlinear relations, deep neural networks are introduced to deal with the measurement and error modelling problem of the gyrowheel system. Combining the mechanism and data-driven model, a novel external rate sensing method will be developed, which is capable of high-accuracy measurement within the whole operating range of the gyrowheel. Finally, considering the test cost and accuracy requirement, an optimization design method of the test scheme will be presented, and the model parameters as well as the error parameters of the gyrowheel system will be efficiently identified. The research will reveal the error mechanism of the gyrowheel, and significantly enhance the angular rate sensing accuracy. Hence, it is of great significance to promote the gyrowheel for space application and accelerate its industrialization process.