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High rate rotation sensing

  • US 9,587,943 B2
  • Filed: 01/29/2015
  • Issued: 03/07/2017
  • Est. Priority Date: 10/04/2014
  • Status: Active Grant
First Claim
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1. An inertial measurement unit (IMU) for measuring an input rate of rotation about an input axis, the IMU comprising:

  • a first three dimensional gyroscope, the first gyroscope configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first gyroscope is disposed such that a first axis of the first set of three axes is oriented at a skew angle in degrees away from a reference plane, the reference plane normal to the input axis;

    a second three dimensional gyroscope, the second gyroscope having one of its axes parallel to the input axis;

    wherein a skew constant is equal to a maximum rate of rotation that the first gyroscope is rated to sense about the first axis divided by a maximum rate of rotation that is to be measured about the input axis;

    wherein the skew angle is an angle less than or equal to the arcsine of the skew constant;

    one or more processing devices coupled to the first gyroscope and the second gyroscope; and

    one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate the input rate of rotation based on dividing a sensed rate of rotation about the first axis by the sine of the skew angle.

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