Systems and methods for controlling oscillation of a gyroscope
First Claim
1. A system for controlling oscillation of a 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 that causes the drive frame to oscillate relative to the base by applying an oscillation voltage between the drive frame and the base; and
a sense structure that measures an analog signal corresponding to displacement of the drive frame due to the oscillation, 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,an analog front end that converts the analog signal to a voltage;
a comparator that determines times at which the voltage crosses a threshold;
a time to digital converter that determines respective time intervals between the times, wherein the respective 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;
drive velocity detection circuitry that determines, based on the respective time intervals, an amplitude of the oscillation of the drive frame; and
a controller that;
compares the amplitude to a setpoint that is based on a predetermined value, andcontrols the oscillation of the gyroscope by adjusting the oscillation voltage between the drive frame and the base, based on the comparing of the amplitude and the setpoint.
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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
25 Claims
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1. A system for controlling oscillation of a 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 that causes the drive frame to oscillate relative to the base by applying an oscillation voltage between the drive frame and the base; and a sense structure that measures an analog signal corresponding to displacement of the drive frame due to the oscillation, 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, an analog front end that converts the analog signal to a voltage; a comparator that determines times at which the voltage crosses a threshold; a time to digital converter that determines respective time intervals between the times, wherein the respective 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; drive velocity detection circuitry that determines, based on the respective time intervals, an amplitude of the oscillation of the drive frame; and a controller that; compares the amplitude to a setpoint that is based on a predetermined value, and controls the oscillation of the gyroscope by adjusting the oscillation voltage between the drive frame and the base, based on the comparing of the amplitude and the setpoint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling oscillation of a gyroscope, comprising:
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causing a drive frame of the gyroscope to oscillate relative to a base of the gyroscope by applying an oscillation voltage between the drive frame and the base, wherein; 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 displacement of the drive frame due to the oscillation, 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 respective time intervals between times at which the voltage crosses a threshold, wherein the respective 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 respective time intervals, an amplitude of the oscillation of the drive frame; comparing the amplitude to a setpoint that is based on a predetermined value; and controlling the oscillation of the gyroscope by adjusting the oscillation voltage between the drive frame and the base, based on the comparing of the amplitude to the setpoint. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A system for controlling oscillation of a 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; and means for; causing the drive frame to oscillate relative to the base by applying an oscillation voltage between the drive frame and the base, measuring an analog signal corresponding to displacement of the drive frame due to the oscillation, 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 respective time intervals between times at which the voltage crosses a threshold, wherein the respective 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 respective time intervals, an amplitude of the oscillation of the drive frame, comparing the amplitude to a setpoint that is based on a predetermined value, and controlling the oscillation of the gyroscope by adjusting the drive voltage between the drive frame and the base, based on the comparing of the amplitude and the setpoint.
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Specification