Micromechanical Rate Integrating Gyroscope With Angle-Dependent Bias Compensation Using a Self-Precession Method

• Published in: IEEE sensors journal 2018-05, Vol.18 (9), p.3533-3543
• Main Authors: Taheri-Tehrani, Parsa, Challoner, Anthony Dorian, Horsley, David A.
• Format: Article
• Language: English
• Subjects: Damping; disk resonator gyroscope; Force; gyroscope; Gyroscopes; inertial sensors; MEMS; Micromechanical devices; Oscillators; rate integrating gyroscope; Sensors; Vibrations
• ISSN: 1530-437X; 1558-1748
• DOI: 10.1109/JSEN.2018.2810843

Toward the objective of direct angle measurement using a rate integrating gyroscope (RIG) without a minimum rate threshold and with performance limited only by electrical and mechanical thermal noise, in this paper, we present the implementation of a generalized electronic feedback method for the compensation of MEMS gyroscope damping asymmetry (anisodamping) and stiffness asymmetry (anisoelasticity) on a stand-alone digital signal processing platform. Using the new method, the precession angle-dependent bias error and minimum rate threshold, two issues identified by Lynch for a MEMS RIG [1] due to anisodamping are overcome. To minimize angle-dependent bias, we augment the electronic feedback force of the amplitude regulator with a non-unity gain output distribution matrix selected to correct for anisodamping. Using this method, we have decreased the angle-dependent bias error by a factor of 12, resulting in a minimum rate threshold of ~3 °/s. To further improve RIG performance, an electronically induced self-precession rate is incorporated and successfully demonstrated to lower the rate threshold.