Systems and methods for determining rotation from nonlinear periodic signals
First Claim
1. A gyroscope for determining a rotation rate, the gyroscope comprising:
- a drive frame springedly coupled to a base of the gyroscope, wherein;
the drive frame comprises a first plurality of equally spaced teeth, andthe base comprises a second plurality of equally spaced teeth;
a drive structure configured for causing the drive frame to oscillate with respect to a first axis;
a sense mass springedly coupled to the drive frame;
a sense mass sense structure configured for measuring a displacement of the sense mass along a second axis orthogonal to the first axis; and
measurement circuitry configured for;
measuring an analog signal corresponding to a displacement of the drive frame, wherein monotonic motion of the first plurality of equally spaced teeth relative to the second plurality of equally spaced teeth causes a non-monotonic change in the analog signal,converting the analog signal to a voltage,determining time intervals between times at which the voltage crosses a threshold, wherein;
the times are associated with specific physical locations of the drive frame, andthe time intervals are based on motion of the first plurality of equally spaced teeth past an aligned position with the second plurality of equally spaced teeth, determining, based on the time intervals, a drive velocity of the drive frame, extracting a Coriolis component from the measured displacement, anddetermining, based on the determined drive velocity and the extracted Coriolis component, the rotation rate.
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Accused Products
Abstract
Systems and methods are disclosed herein for determining rotation. A gyroscope includes a drive frame and a base, the drive frame springedly coupled to the base. The gyroscope includes a drive structure configured for causing a drive frame to oscillate along a first axis. The gyroscope includes a sense mass springedly coupled to the drive frame. The gyroscope includes a sense mass sense structure configured for measuring a displacement of the sense mass along a second axis orthogonal to the first axis. The gyroscope includes measurement circuitry configured for determining a velocity of the drive frame, extracting a Coriolis component from the measured displacement, and determining, based on the determined velocity and extracted Coriolis component, a rotation rate of the gyroscope.
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Citations
28 Claims
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1. A gyroscope for determining a rotation rate, the gyroscope comprising:
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a drive frame springedly coupled to a base of the gyroscope, wherein; the drive frame comprises a first plurality of equally spaced teeth, and the base comprises a second plurality of equally spaced teeth; a drive structure configured for causing the drive frame to oscillate with respect to a first axis; a sense mass springedly coupled to the drive frame; a sense mass sense structure configured for measuring a displacement of the sense mass along a second axis orthogonal to the first axis; and measurement circuitry configured for; measuring an analog signal corresponding to a displacement of the drive frame, wherein monotonic motion of the first plurality of equally spaced teeth relative to the second plurality of equally spaced teeth causes a non-monotonic change in the analog signal, converting the analog signal to a voltage, determining time intervals between times at which the voltage crosses a threshold, wherein; the times are associated with specific physical locations of the drive frame, and the time intervals are based on motion of the first plurality of equally spaced teeth past an aligned position with the second plurality of equally spaced teeth, determining, based on the time intervals, a drive velocity of the drive frame, extracting a Coriolis component from the measured displacement, and determining, based on the determined drive velocity and the extracted Coriolis component, the rotation rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for determining a rotation rate of an inertial sensor, the method comprising:
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causing a drive frame to oscillate with respect to a first axis, wherein; the drive frame is springedly coupled to a base of the gyroscope, the drive frame comprises a first plurality of equally spaced teeth, and the base comprises a second plurality of equally spaced teeth; measuring an analog signal corresponding to a displacement of the drive frame, wherein monotonic motion of the first plurality of equally spaced teeth relative to the second plurality of equally spaced teeth causes a non-monotonic change in the analog signal; converting the analog signal to a voltage; determining time intervals between times at which the voltage crosses a threshold, wherein; the times are associated with specific physical locations of the drive frame, and the time intervals are based on motion of the first plurality of equally spaced teeth past an aligned position with the second plurality of equally spaced teeth; determining, based on the time intervals, a drive velocity of the drive frame; measuring a displacement of a sense mass springedly coupled to the drive frame, the displacement being along a second axis orthogonal to the first axis; extracting a Coriolis component from the measured displacement; and determining, based on the determined drive velocity and the extracted Coriolis component, the rotation rate of the inertial sensor. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification