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

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 similar to 3 degrees/s. To further improve RIG performance, an electronically induced selfprecession rate is incorporated and successfully demonstrated to lower the rate threshold.