Electronic bias compensation for a gyroscope
First Claim
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1. A method for controlling 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 an output 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
identifying an inertial rate of the gyroscope using the set of equations and measurements generated for the selected drive angle by subtracting the estimated bias from the measurements.
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Abstract
A method for simultaneously identifying an inertial rate of a gyroscope and a bias for a gyroscope. A set of equations for an output of the gyroscope is identified using a model for motion of the gyroscope. The set of equations includes a set of parameters for the bias of the gyroscope. The inertial rate of the gyroscope and a set of values for the set of parameters for the bias of the gyroscope are identified using the set of equations and measurements generated by the gyroscope for a plurality of drive angles.
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Citations
14 Claims
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1. A method for controlling a gyroscope, the method comprising:
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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 an output 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 identifying an inertial rate of the gyroscope using the set of equations and measurements generated for the selected drive angle by subtracting the estimated bias from the measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus comprising:
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a gyroscope configured to be operated at a plurality of drive angles; and a compensation system configured to; identify a set of equations for an output of the gyroscope using a model for motion of the gyroscope in which the set of equations includes a set of parameters for a bias of the gyroscope; receive measurements of a force rebalance signal for the plurality of drive angles from the gyroscope, wherein the measurements include the bias; estimate a set of values for the parameters using the measurements, the set of equations, and an iterative algorithm; select 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; operate the gyroscope at the selected drive angle to form an estimated bias using the set of equations and the measurements for the selected drive angle; and identify an inertial rate of the gyroscope using the set of equations and the measurements generated for the selected drive angle by subtracting the estimated bias from the measurements. - View Dependent Claims (11, 12, 13, 14)
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Specification