Two frequency gyroscope compensation system and method

• US 10,088,315 B2
• Filed: 08/01/2016
• Issued: 10/02/2018
• Est. Priority Date: 12/10/2015
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Coronato, Luca, Gafforelli, Giacomo, Ruohio, Jaakko
• Primary Examiner(s): Schmitt, Benjamin
• Application Number:
  US15/225,272
• Publication Number:
  US 20170167873A1
• Time in Patent Office: 792 Days
• Field of Search: 73 137, 73 138, 7350402, 7350412, 7351416
• CPC Class Codes: G01C 19/02 Rotary gyroscopes
• CPC Class Codes: G01C 19/5776 Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A gyroscope is driven at a drive frequency and senses a Coriolis force caused by rotation of the gyroscope. The response of the gyroscope to a given Coriolis force may change due to changes in the gyroscope over time. A plurality of test frequencies are applied to the gyroscope, and the response of the gyroscope to those test frequencies is analyzed in order to track changes in the response of the gyroscope. Operational parameters of the gyroscope may be altered in order to compensate for those changes.

Claims

1. A method for testing a frequency response of a sense oscillator of a gyroscope, the method comprising:

driving a drive oscillator of the gyroscope at a drive frequency;

driving the sense oscillator at a first test frequency simultaneously with driving the drive oscillator, wherein the first test frequency is distinct from the drive frequency;

driving the sense oscillator at a second test frequency simultaneously with driving the drive oscillator, wherein the second test frequency is distinct from the drive frequency and the first test frequency;

measuring a first test response of the sense oscillator at the first test frequency;

measuring a second test response of the sense oscillator at the second test frequency;

determining a change in the frequency response of the sense oscillator based on the first test response and the second test response, wherein determining the change in the frequency response of the sense oscillator comprises determining a first gain change for the first test response, a second gain change for the second test response, and a ratio of the first gain change and the second gain change; and

modifying one or more operational parameters of the gyroscope based on the change in the frequency response.

2. The method of claim 1, wherein both the first test frequency and the second test frequency are located on the same side of a sense mode resonant frequency.

3. The method of claim 2, wherein a difference between the first test frequency and the second test frequency is greater than 2 percent of the sense mode resonant frequency and less than 6 percent of the sense mode resonant frequency.

4. The method of claim 2, wherein the drive frequency is located on the other side of the sense mode resonant frequency from the first test frequency and the second test frequency.

5. The method of claim 2, wherein the drive frequency is located at least 6 percent away from the sense mode resonant frequency.

6. The method of claim 1, wherein the first test frequency and the second test frequency are both located at least 6 percent of a sense mode resonant frequency of the sense oscillator away from the sense mode resonant frequency.

7. The method of claim 1, wherein both a first test gain associated with the first test frequency and a second test gain associated with the second test frequency are within 75% of a sense gain at the drive frequency.

8. The method of claim 1, wherein one of a first test gain associated with the first test frequency or a second test gain associated with the second test frequency is within 25% of a sense gain at the drive frequency.

9. The method of claim 1, wherein the driving of the sense oscillator at the first test frequency and the driving of the sense oscillator at the second test frequency are both generated by sense electrodes of the gyroscope.

10. The method of claim 1, wherein determining the first gain change and the second gain change comprises:

determining the first gain change based on a difference between a magnitude of the first test response and a first baseline magnitude; and

determining the second gain change based on a difference between a magnitude of the second test response and a second baseline magnitude.

11. The method of claim 1, wherein determining the change in the frequency response of the sense oscillator comprises determining that a shift in a sense mode resonant frequency of the sense oscillator has occurred when the first gain change exceeds a first threshold, the second gain change exceeds a second threshold, and the ratio exceeds a ratio threshold.

12. The method of claim 1, wherein determining the change in the frequency response of the sense oscillator comprises determining that a shift in a sense mode resonant frequency of the sense oscillator has occurred when the ratio exceeds a ratio threshold and at least one of the first gain change or the second gain change exceeds a gain threshold.

13. The method of claim 1, wherein determining the change in the frequency response of the sense oscillator comprises determining that a shift in the gain of the sense oscillator has occurred, based on the first gain change exceeding a first threshold, the second gain change exceeding a second threshold, and the ratio being less than a ratio threshold.

14. The method of claim 1, wherein modifying one or more operational parameters of the gyroscope based on the change in frequency response comprises adjusting the magnitude of the driving of the drive oscillator based on the change in frequency response.

15. The method of claim 1, wherein modifying one or more operational parameters of the gyroscope based on the change in frequency response comprises adjusting one or more scaling parameters based on the change in frequency response.

16. The method of claim 1, further comprising determining angular velocity based on a sense signal received at the drive frequency.

17. The method of claim 1, wherein a change in a gain of the sense oscillator at the drive frequency due to the driving of the sense oscillator at the first test frequency and the second test frequency is less than a threshold.

18. The method of claim 17, wherein the driving of the sense oscillator at the first test frequency is at a first magnitude, and the driving of the sense oscillator at the second test frequency is at a second magnitude.

19. A gyroscope, comprising:

a drive oscillator;

one or more drive electrodes to drive the drive oscillator at a drive frequency;

a sense oscillator, wherein the sense oscillator is driven at a first test frequency and a second test frequency, wherein the first test frequency is distinct from the drive frequency, wherein the second test frequency is distinct from the drive frequency and the first test frequency, and wherein the sense oscillator is driven at the first test frequency and second test frequency simultaneously with the driving of the drive oscillator at the drive frequency;

one or more sense electrodes to provide a first test response signal in response to an oscillation of the sense oscillator at the first test frequency and a second test response signal in response to an oscillation of the sense oscillator at the second test frequency;

processing circuitry configured to determine a change in the frequency response of the sense oscillator based on the first test response signal and the second test response signal, and to modify one or more operational parameters of the gyroscope based on the change in the frequency response, wherein the determination of the change in the frequency response of the sense oscillator comprises a determination of a first gain change for the first test response signal, a second gain change for the second test response signal, and a ratio of the first gain change and the second gain change.

20. The gyroscope of claim 19, wherein the determination of the first gain change is based on a difference between a magnitude of the first test response and a first baseline magnitude and the determination of the second gain change is based on a difference between a magnitude of the second test response and a second baseline magnitude.

21. The gyroscope of claim 19, wherein the determination of the change in the frequency response of the sense oscillator comprises a determination that a shift in a sense mode resonant frequency of the sense oscillator has occurred when the first gain change exceeds a first threshold, the second gain change exceeds a second threshold, and the ratio exceeds a ratio threshold.

22. The gyroscope of claim 19, wherein the determination of the change in the frequency response of the sense oscillator comprises a determination that a shift in a sense mode resonant frequency of the sense oscillator has occurred when the ratio exceeds a ratio threshold and at least one of the first gain change or the second gain change exceeds a gain threshold.

23. The gyroscope of claim 19, wherein the determination of the change in the frequency response of the sense oscillator comprises a determination that a shift in the gain of the sense oscillator has occurred, based on the first gain change exceeding a first threshold, the second gain change exceeding a second threshold, and the ratio being less than a ratio threshold.

24. The gyroscope of claim 19, wherein the modification of the one or more operational parameters of the gyroscope based on the change in frequency response comprises adjustment of the magnitude of the driving of the drive oscillator based on the change in frequency response.

25. The gyroscope of claim 19, wherein the modification of the one or more operational parameters of the gyroscope based on the change in frequency response comprises an adjustment of one or more scaling parameters based on the change in frequency response.

26. The gyroscope of claim 19, wherein the processing circuitry is further configured to determine angular velocity based on a sense signal received at the drive frequency.

27. The gyroscope of claim 19, wherein a change in a gain of the sense oscillator at the drive frequency due to the driving of the sense oscillator at the first test frequency and the second test frequency is less than a threshold.

28. The gyroscope of claim 27, wherein the drive of the sense oscillator at the first test frequency is at a first magnitude, and the drive of the sense oscillator at the second test frequency is at a second magnitude.