Baseband control electronics for inertial wave angle gyroscope
First Claim
1. A gyroscope comprising:
- a resonator having a defined self-precession rate of a vibration pattern of the resonator; and
readout electronics coupled to the resonator for generating the defined self-precession rate of the vibration pattern of the resonator, the readout electronics measuring a total precession rate of the resonator, and subtracting the defined self-precession rate of the vibration pattern of the resonator from the measured total precession rate to yield an inertial rate output;
wherein the readout electronics compute feedback forces to induce the defined self-precession rate and compensate for the residual asymmetry at baseband and the feedback forces are applied at a resonator frequency in phase with resonator velocity.
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Accused Products
Abstract
A compact Inertial Wave Angle Gyroscope (IWAG) is operated using a phase lock loop to track resonator phase and a baseband regulator to null quadrature. The resonator velocity or its components computed from precession angle are first determined at baseband and then applied to gain matrices in order to generate the feedback control forces for self-precession, cancellation of damping and compensation of anisodamping. The inertial rotation input is determined from the measured total precession angle by removing the computed or calibrated self-precession angle. The resonator energy can be regulated to a fixed magnitude and the baseband feedback force for self-precession at a fixed rate determined from components computed from precession angle such that the total force is in phase with baseband velocity but has fixed magnitude. The IWAG inertial rotation input can be determined from the measured total precession rate by removing the computed self-precession rate.
12 Citations
20 Claims
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1. A gyroscope comprising:
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a resonator having a defined self-precession rate of a vibration pattern of the resonator; and readout electronics coupled to the resonator for generating the defined self-precession rate of the vibration pattern of the resonator, the readout electronics measuring a total precession rate of the resonator, and subtracting the defined self-precession rate of the vibration pattern of the resonator from the measured total precession rate to yield an inertial rate output; wherein the readout electronics compute feedback forces to induce the defined self-precession rate and compensate for the residual asymmetry at baseband and the feedback forces are applied at a resonator frequency in phase with resonator velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of operating a gyroscope comprising:
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providing a resonator able to precess a vibration pattern of the resonator with a defined self-precession rate; generating the defined precession rate of the vibration pattern of the resonator with readout electronics coupled to the resonator; measuring a total precession rate of the resonator; and subtracting the defined self-precession rate of the vibration pattern of the resonator from the measured total precession rate to yield an inertial rate output; wherein the readout electronics compute feedback forces to induce the defined self-precession rate and compensate for the residual asymmetry at baseband and the feedback forces are applied at a resonator frequency in phase with resonator velocity. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification