Calibration method for the scale factor of an axisymmetric vibratory gyroscope or gyrometer

• US 9,574,902 B2
• Filed: 10/14/2011
• Issued: 02/21/2017
• Est. Priority Date: 10/14/2011
• Status: Active Grant

• Current Assignee: InnaLabs Limited
• Original Assignee: InnaLabs Limited
• Inventors: Renault, Alain, Okon, Isaak Markovich
• Primary Examiner(s): Larkin, Daniel S
• Assistant Examiner(s): Kolb, Nathaniel
• Application Number:
  US14/351,602
• Publication Number:
  US 20140331740A1
• Time in Patent Office: 1,957 Days
• Field of Search: 73/17.7, 702/151, 702/150, 702/104
• US Class Current: 1/1
• CPC Class Codes: G01C 19/5691 of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
• 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

The invention relates to gyroscopic instruments. The method for calibrating the scale factor of an angular velocity sensor or an axisymmetric vibratory gyroscope, which method uses a control amplitude signal, a control precessional signal CP and a control quadrature signal CQ for exciting the vibration of a resonator on a resonant frequency, involves a first step of pre-calibration which consists of measuring and recording an initial scale factor and the value of an initial control signal, and a second step of measuring the value of the current control signal and establishing a scale factor SF that is corrected on the basis of a proportional relationship involving the initial scale factor SF°, the initial value of the control signal Y° and the current value of the control signal Y° according to the formula SF=SF°Y/Y°.

Claims

1. A calibration method for the scale factor of an axisymmetric vibratory gyroscope or gyrometer, the method comprising:

applying an amplitude control signal CA to an amplitude control loop;

applying a precession control signal CP to a precession control loop;

applying a quadrature control signal CQ to a quadrature control loop,

the signals CA, CP and CQ being applied to a resonator so as to set it into vibration at its resonant frequency, and further performing the following steps;

(1) a first step of pre-calibration, including measuring and storing in memory an initial scale factor SF° and

an initial control signal value detected when a modulated signal is added to one of the amplitude control loop, the precession control loop or the quadrature control loop; and

(2) a second step of measuring the current control signal value detected when the modulated signal is added to one of the amplitude control loop, the precession control loop or the quadrature control loop; and

calculating a corrected scale factor SF according to a relationship of proportionality including the initial scale factor SF°

, the initial control signal value and the current control signal value, according to the formula;

2. The method of claim 1, wherein the control signal is a quadrature amplitude modulated signal based on a modulated quadrature signal applied to the quadrature control loop.

3. The method of claim 1, wherein the control signal is an amplitude modulated signal based on the modulated signal is applied to the amplitude control loop.

4. The method of claim 1, wherein the control signal is a detected modulated signal with an amplitude in quadrature to the signal applied to the amplitude control loop.

5. The method of claim 1, wherein the control signal is an amplitude modulated precession signal based on a modulation applied to the precession control loop, and wherein the modulation is subtracted from the precession signal prior to outputting the angular velocity measurement.

6. A calibration method for the scale factor of an axisymmetric vibratory gyroscope or gyrometer, the method comprising:

applying an excitation signal to a resonator of the vibratory gyroscope or the gyrometer so as to set it into vibration at its resonant frequency;

wherein an amplitude of the vibration at the resonant frequency is controlled by an amplitude control signal, and

wherein a precession control signal (CP) and a quadrature control signal (CQ) are based an output of the gyroscope or gyrometer, and are added together to generate a correction to the amplitude control signal for removing a quadrature component of the vibration and to measure an angular rotation velocity of the resonator;

wherein the calibration also includes

(1) a first step of pre-calibration that includes measuring and storing in a memory an initial scale factor and an initial calibration signal value detected when a modulated signal is added to one of the amplitude control loop, the precession control loop or the quadrature control loop, and

(2) a second step of measuring a current calibration signal value, and calculating a corrected scale factor SF according to a proportionate relationship, including an initial scale factor SF°

, the initial calibration signal value and the current calibration signal value, according to a formula;

7. The method of claim 6, wherein the control signal is a quadrature amplitude modulated signal based on a modulated quadrature signal applied to the quadrature control loop.

8. The method of claim 6, wherein the control signal is an amplitude modulated signal based on the modulated signal is applied to the amplitude control loop.

9. The method of claim 6, wherein the control signal is a detected modulated signal with an amplitude in quadrature to the signal applied to the amplitude control loop.

10. The method of claim 6, wherein the control signal is an amplitude modulated precession signal based on a modulation applied to the precession control loop, and wherein the modulation is subtracted from the precession signal prior to outputting the angular velocity measurement.