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Electronic bias compensation for a gyroscope

  • US 9,417,066 B2
  • Filed: 01/11/2012
  • Issued: 08/16/2016
  • Est. Priority Date: 01/11/2012
  • Status: Active Grant
First Claim
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1. A method for compensating measurements of a gyroscope, the method comprising:

  • operating the gyroscope at a plurality of drive angles to generate measurements of a force rebalance signal, wherein the measurements include a bias;

    using a computer system to perform the steps of;

    identifying a set of equations for the bias of the gyroscope using a model for motion of the gyroscope in which the set of equations includes a set of parameters for the bias of the gyroscope;

    estimating, a set of values for the set of parameters using the measurements, the set of equations, and an iterative algorithm; and

    selecting a drive angle in the plurality of drive angles that reduces an in-quadrature bias of the gyroscope to substantially zero using the set of equations;

    operating the gyroscope at the selected drive angle;

    forming, using the computer system, an estimated bias using the set of equations and the measurements for the selected drive angle; and

    subtracting, using the computer system, the estimated bias from the measurements to substantially compensate for the bias of the gyroscope.

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