Microelectromechanical gyroscope
Garcia, Ernest J.
1999-01-01
A gyroscope powered by an engine, all fabricated on a common substrate in the form of an integrated circuit. Preferably, both the gyroscope and the engine are fabricated in the micrometer domain, although in some embodiments of the present invention, the gyroscope can be fabricated in the millimeter domain. The engine disclosed herein provides torque to the gyroscope rotor for continuous rotation at varying speeds and direction. The present invention is preferably fabricated of polysilicon or other suitable materials on a single wafer using surface micromachining batch fabrication techniques or millimachining techniques that are well known in the art. Fabrication of the present invention is preferably accomplished without the need for assembly of multiple wafers which require alignment and bonding, and without piece-part assembly.
Azarova, V V; Golyaev, Yu D; Saveliev, I I [Open Joint-Stock Company M.F. Stel' makh Polyus Research Institute, Moscow (Russian Federation)
2015-02-28
The history of invention and development of Zeeman laser gyroscopes, specific features of their optical scheme and operation principle are described. The construction and element base of modern laser angular velocity sensors with Zeeman-based frequency biasing are considered. The problems and prospects of their development are discussed. (laser gyroscopes)
Fiberless Optical Gyroscope Project
National Aeronautics and Space Administration — We propose a radical new approach for to the design and fabrication of a fiber-less Interferometric Optical Gyroscope (IOG) that enables the production of a very...
Fiberless Optical Gyroscope Project
National Aeronautics and Space Administration — We propose a radical new approach for to the design and fabrication of a fiber-less Interferometric Optical Gyroscope (IOG) that enables the production of a...
V. N. Saxena
1983-04-01
Full Text Available Comparative study of mechanical, ring-laser and fibre-optic gyroscopes has been made. The single mode fibre-optic gyroscope having a large number of turns of the optical fibre in the spool, replacing He-Ne gas laser by a GaAs laser diode, there by reducing the noise level, and using fully integrated fibre-optics, works out to be the best in the final analysis, for safe navigation and homing of the guided missiles.
2015-07-15
Progress Report (ONR Award No. N00014-14-1-0804) Quantum Spin Gyroscope August 2014-July 2015 Report Type: Annual Report Primary Contact E-mail... Quantum Spin Gyroscope Grant/Contract Number: N00014-14-1-0804 Principal Investigator Name: Paola Cappellaro Program Manager: Richard Tommy Willis...required large volumes. Our project aims at overcoming these drawbacks by developing a novel solid-state quantum spin gyro- scope associated with the
Instability of Gyroscopic Systems
Lancaster, Peter; Kliem, Wolfhard
1997-01-01
A conjecture of Renshaw and Mote concerning gyroscopic systems with parameters predicts the eigenvalue locus in the neighbourhood of a double zero eigenvalue. In the present paper this conjecture is reformulated in the language of generalized eigenvectors, angular splitting and analytic behaviour...
Advances in Gyroscope Technologies
Armenise, Mario N; Dell'Olio, Francesco; Passaro, Vittorio MN
2011-01-01
This monograph collects and critically reviews the main results obtained by the scientific community in gyroscope technologies research field. It describes architectures, design techniques and fabrication technology of angular rate sensors proposed in literature. MEMS, MOEMS, optical and mechanical technologies are discussed together with achievable performance. The book also considers future research trends aimed to cover special applications. The book is intended for researchers and Ph.D. students interested in modelling, design and fabrication of gyros. The book may be a useful education su
Nuclear Magnetic Resonance Gyroscope
Larsen, Michael; Griffith, Robert; Bulatowicz, Michael
2014-03-01
The navigation grade micro Nuclear Magnetic Resonance Gyroscope (micro-NMRG) being developed by the Northrop Grumman Corporation (NGC) has concluded the fourth and final phase of the DARPA Navigation Grade Integrated Micro Gyro (NGIMG) program. Traditional MEMS gyros utilize springs as an inherent part of the sensing mechanism, leading to bias and scale factor sensitivity to acceleration and vibration. As a result, they have not met performance expectations in real world environments and to date have been limited to tactical grade applications. The Nuclear Magnetic Resonance Gyroscope (NMRG) utilizes the fixed precession rate of a nuclear spin in a constant magnetic field as an inertial reference for determining rotation. The nuclear spin precession rate sensitivity to acceleration and vibration is negligible for most applications. Therefore, the application of new micro and batch fabrication methods to NMRG technology holds great promise for navigation grade performance in a low cost and compact gyro. This presentation will describe the operational principles, design basics, and demonstrated performance of the NMRG including an overview of the NGC designs developed and demonstrated in the DARPA gyro development program.
Design of a Novel MEMS Gyroscope Array
Feng Sun; Wei Wang; Xiaoyong Lv
2013-01-01
This paper reports a novel four degree-of-freedom (DOF) MEMS vibratory gyroscope. A MEMS gyroscope array is then presented using the novel gyroscope unit. In the design of the proposed 4-DOF MEMS vibratory gyroscope, the elements of the drive-mode are set inside the whole gyroscope architecture, and the elements of sense-mode are set around the drive-mode, which thus makes it possible to combine several gyroscope units into a gyroscope array through sense-modes of all the units. The complete ...
The development of micromachined gyroscope structure and circuitry technology.
Xia, Dunzhu; Yu, Cheng; Kong, Lun
2014-01-14
This review surveys micromachined gyroscope structure and circuitry technology. The principle of micromachined gyroscopes is first introduced. Then, different kinds of MEMS gyroscope structures, materials and fabrication technologies are illustrated. Micromachined gyroscopes are mainly categorized into micromachined vibrating gyroscopes (MVGs), piezoelectric vibrating gyroscopes (PVGs), surface acoustic wave (SAW) gyroscopes, bulk acoustic wave (BAW) gyroscopes, micromachined electrostatically suspended gyroscopes (MESGs), magnetically suspended gyroscopes (MSGs), micro fiber optic gyroscopes (MFOGs), micro fluid gyroscopes (MFGs), micro atom gyroscopes (MAGs), and special micromachined gyroscopes. Next, the control electronics of micromachined gyroscopes are analyzed. The control circuits are categorized into typical circuitry and special circuitry technologies. The typical circuitry technologies include typical analog circuitry and digital circuitry, while the special circuitry consists of sigma delta, mode matching, temperature/quadrature compensation and novel special technologies. Finally, the characteristics of various typical gyroscopes and their development tendency are discussed and investigated in detail.
The Development of Micromachined Gyroscope Structure and Circuitry Technology
Dunzhu Xia
2014-01-01
Full Text Available This review surveys micromachined gyroscope structure and circuitry technology. The principle of micromachined gyroscopes is first introduced. Then, different kinds of MEMS gyroscope structures, materials and fabrication technologies are illustrated. Micromachined gyroscopes are mainly categorized into micromachined vibrating gyroscopes (MVGs, piezoelectric vibrating gyroscopes (PVGs, surface acoustic wave (SAW gyroscopes, bulk acoustic wave (BAW gyroscopes, micromachined electrostatically suspended gyroscopes (MESGs, magnetically suspended gyroscopes (MSGs, micro fiber optic gyroscopes (MFOGs, micro fluid gyroscopes (MFGs, micro atom gyroscopes (MAGs, and special micromachined gyroscopes. Next, the control electronics of micromachined gyroscopes are analyzed. The control circuits are categorized into typical circuitry and special circuitry technologies. The typical circuitry technologies include typical analog circuitry and digital circuitry, while the special circuitry consists of sigma delta, mode matching, temperature/quadrature compensation and novel special technologies. Finally, the characteristics of various typical gyroscopes and their development tendency are discussed and investigated in detail.
The Development of Micromachined Gyroscope Structure and Circuitry Technology
Xia, Dunzhu; Yu, Cheng; Kong, Lun
2014-01-01
This review surveys micromachined gyroscope structure and circuitry technology. The principle of micromachined gyroscopes is first introduced. Then, different kinds of MEMS gyroscope structures, materials and fabrication technologies are illustrated. Micromachined gyroscopes are mainly categorized into micromachined vibrating gyroscopes (MVGs), piezoelectric vibrating gyroscopes (PVGs), surface acoustic wave (SAW) gyroscopes, bulk acoustic wave (BAW) gyroscopes, micromachined electrostatically suspended gyroscopes (MESGs), magnetically suspended gyroscopes (MSGs), micro fiber optic gyroscopes (MFOGs), micro fluid gyroscopes (MFGs), micro atom gyroscopes (MAGs), and special micromachined gyroscopes. Next, the control electronics of micromachined gyroscopes are analyzed. The control circuits are categorized into typical circuitry and special circuitry technologies. The typical circuitry technologies include typical analog circuitry and digital circuitry, while the special circuitry consists of sigma delta, mode matching, temperature/quadrature compensation and novel special technologies. Finally, the characteristics of various typical gyroscopes and their development tendency are discussed and investigated in detail. PMID:24424468
Smith, David D.
2015-01-01
Next-generation space missions are currently constrained by existing spacecraft navigation systems which are not fully autonomous. These systems suffer from accumulated dead-reckoning errors and must therefore rely on periodic corrections provided by supplementary technologies that depend on line-of-sight signals from Earth, satellites, or other celestial bodies for absolute attitude and position determination, which can be spoofed, incorrectly identified, occluded, obscured, attenuated, or insufficiently available. These dead-reckoning errors originate in the ring laser gyros themselves, which constitute inertial measurement units. Increasing the time for standalone spacecraft navigation therefore requires fundamental improvements in gyroscope technologies. One promising solution to enhance gyro sensitivity is to place an anomalous dispersion or fast light material inside the gyro cavity. The fast light essentially provides a positive feedback to the gyro response, resulting in a larger measured beat frequency for a given rotation rate as shown in figure 1. Game Changing Development has been investing in this idea through the Fast Light Optical Gyros (FLOG) project, a collaborative effort which began in FY 2013 between NASA Marshall Space Flight Center (MSFC), the U.S. Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC), and Northwestern University. MSFC and AMRDEC are working on the development of a passive FLOG (PFLOG), while Northwestern is developing an active FLOG (AFLOG). The project has demonstrated new benchmarks in the state of the art for scale factor sensitivity enhancement. Recent results show cavity scale factor enhancements of approx.100 for passive cavities.
Stability Analysis of MEMS Gyroscope Dynamic Systems
M. Naser-Moghadasi; S. A. Olamaei; F. Setoudeh
2013-01-01
In this paper, the existence of a common quadratic Lyapunov function for stability analysis of MEMS Gyroscope dynamic systems has been studied then a new method based on stochastic stability of MEMS Gyroscope system has been proposed.
Design of a Novel MEMS Gyroscope Array
Feng Sun
2013-01-01
Full Text Available This paper reports a novel four degree-of-freedom (DOF MEMS vibratory gyroscope. A MEMS gyroscope array is then presented using the novel gyroscope unit. In the design of the proposed 4-DOF MEMS vibratory gyroscope, the elements of the drive-mode are set inside the whole gyroscope architecture, and the elements of sense-mode are set around the drive-mode, which thus makes it possible to combine several gyroscope units into a gyroscope array through sense-modes of all the units. The complete 2-DOF vibratory structure is utilized in both the drive-mode and sense-mode of the gyroscope unit, thereby providing the desired bandwidth and inherent robustness. The gyroscope array combines several gyroscope units by using the unique detection mass, which will increase the gain of sense-mode and improve the sensitivity of the system. The simulation results demonstrate that, compared to a single gyroscope unit, the gain of gyroscope array (n = 6 is increased by about 8 dB; a 3 dB bandwidth of 100 Hz in sense-mode and 190 Hz in drive-mode are also provided. The bandwidths of both modes are highly matched with each other, providing a bandwidth of 100 Hz for the entire system, thus illustrating that it could satisfy the requirements in practical applications.
High performance MEMS micro-gyroscope
Bae, S. Y.; Hayworth, K. J.; Yee, K. Y.; Shcheglov, K.; Challoner, A. D.; Wiberg, D. V.
2002-01-01
This paper reports on JPL's on-going research into MEMS gyroscopes. This paper will describe the gyroscope's fabrication-methods, a new 8-electrode layout developed to improve performance, and performance statistics of a batch of six gyroscopes recently rate tested.
Design of a novel MEMS gyroscope array.
Wang, Wei; Lv, Xiaoyong; Sun, Feng
2013-01-28
This paper reports a novel four degree-of-freedom (DOF) MEMS vibratory gyroscope. A MEMS gyroscope array is then presented using the novel gyroscope unit. In the design of the proposed 4-DOF MEMS vibratory gyroscope, the elements of the drive-mode are set inside the whole gyroscope architecture, and the elements of sense-mode are set around the drive-mode, which thus makes it possible to combine several gyroscope units into a gyroscope array through sense-modes of all the units. The complete 2-DOF vibratory structure is utilized in both the drive-mode and sense-mode of the gyroscope unit, thereby providing the desired bandwidth and inherent robustness. The gyroscope array combines several gyroscope units by using the unique detection mass, which will increase the gain of sense-mode and improve the sensitivity of the system. The simulation results demonstrate that, compared to a single gyroscope unit, the gain of gyroscope array (n = 6) is increased by about 8 dB; a 3 dB bandwidth of 100 Hz in sense-mode and 190 Hz in drive-mode are also provided. The bandwidths of both modes are highly matched with each other, providing a bandwidth of 100 Hz for the entire system, thus illustrating that it could satisfy the requirements in practical applications.
Controllable Dispersion in an Optical Laser Gyroscope
Wolfe, Owen; Du, Shuangli; Rochester, Simon; Budker, Dmitry; Novikova, Irina; Mikhailov, Eugeniy
2016-05-01
Optical gyroscopes use Sagnac interferometry to make precise measurements of angular velocity. Increased gyroscope sensitivity will allow for more accurate control of aerospace systems and allow for more precise measurements of the Earth's rotation. Severalfold improvements to optical gyroscope sensitivity were predicted for fast light regimes (ng gyroscope response via tuning the experimental parameters. Gyroscope sensitivity was shown to be dependent on several parameters including pump power, pump detunning, and vapor density. This work was supported by the NSF and Naval Air Warfare Center STTR program N68335-11-C-0428.
The Gravity Probe B Gyroscopes
Buchman, Saps; Clarke, Bruce; Keiser, Mac; Gill, Dale; Marcelja, Frane; Brumley, Robert
2007-04-01
The four redundant GP-B electrostatically suspended gyroscopes measure the orientation of the local inertial frame of reference as influenced by the spinning Earth. The GP-B gyros are designed to improve the drift performance of ground based instruments by a factor of about 10^6 or 0.3 milliarcsec/year. Four factors make possible this improvement: 1) low (10-11 m/s^2) acceleration environment provided by the drag free system, 2) averaging of suspension related torques provided by the roll of the spacecraft, 3) geometry of the sensors, and 4) low gas pressure environment. The gyros are fused quartz spheres of 19 mm radius, coated with 1.3 μm niobium, with a peak to valley surface uniformity of better than 1 ppm and a separation of centers of geometry and mass of better than 1 ppm of the radius. The gyroscopes were spun to ˜70 Hz and exhibited characteristic spin down times of 7000 to 25,700 years. The gyroscopes potential was maintained to within 15 mV of local ground (15 pC charge) using a fiber coupled mercury vapor lamp to produce UV photoemission at 254 nm. The system allowed charge management and measurement to 2 mV. We present engineering data of the gyroscope and UV systems, as well as novel technologies employed and lessons learned.
Rate Gyroscopic Wellbore Survey System
Sheng Limin
1997-01-01
@@ The rate gyroscopic wellbore survey system as a new type of survey instruments adopts the inertial-grade rate gyro and quartz flexible accelerometers to compose a gyrocompassing system, transiting data to surface instrument by single core cable. The azimuth, inclination and tool-face angle can be computed from these data by surface computer.
Development of Vibrating Disc Piezoelectric Gyroscope
A.K. Singh
2004-07-01
Full Text Available The paper presents an indigenously developed vibrating disc piezoelectric gyroscope, in which both excitation and detection have been done through piezoelectric, using PZT-5H material. The gyroscope has been driven to resonant state by direct piezoelectric effect, using 20 V ac signal at 93 kHz, and the output has been detected by the reverse piezoelectric effect.The performance of this gyroscope has been tested with 3 microprocessor-controlled turntable, and the output of the gyroscope has been found" to be linearly proportional to the rotationspeed within a range ± 150 °/s. The sensitivity of the gyroscope is about 0.5 mV/°/s, which is comparable to that of other gyroscopes of similar category
GEC Ferranti piezo vibratory gyroscope
Nuttall, J. D.
1993-01-01
Prototypes of a piezo-electric vibratory angular rate transducer (gyroscope) (PVG) have been constructed and evaluated. The construction is on the lines suggested by Burdess. The sensitive element is a cylinder of radially poled piezo-electric ceramic. The cylinder is metallized inside and out, and the outer metallization is divided into eight electrodes. The metallization on the inside is earthed. A phase locked loop, using pairs of the electrodes, causes the cylinder to vibrate in one of its two fundamental, degenerate modes. In the presence of rotation, some of the vibration is coupled into the outer mode. This can be detected, or suppressed with a closed-up technique and provides a measure of rotation rate. The gyroscope provides a number of advantages over rotating mass and optical instruments: low size and mass, lower power consumption, potentially high reliability, potentially good dormancy, low cost and high maximum rate.
Thermal MEMS gyroscope design and characteristics analysis
Zarei, Nilgoon
2013-01-01
Thermal MEMS gyroscope characteristics have been studied to optimize gyroscope performance. Different parameters such as gas properties, heaters power and switching frequency have been optimized to increase the device sensitivity. A new Thermal MEMS gyroscope model referred to as “Forced Convection MEMS Gyroscope” has been introduced. In this design the output signal has been increased by adding external force to the system. Parameter optimization to increase the device efficiency has also...
Precise laser gyroscope for autonomous inertial navigation
Kuznetsov, A G; Molchanov, A V; Izmailov, E A [Joint Stock Company ' Moscow Institute of Electromechanics and Automatics' , Moscow (Russian Federation); Chirkin, M V [Ryazan State Radio Engineering University (Russian Federation)
2015-01-31
Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium – neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented. (laser gyroscopes)
Aerodynamic Drag and Gyroscopic Stability
Courtney, Elya R
2013-01-01
This paper describes the effects on aerodynamic drag of rifle bullets as the gyroscopic stability is lowered from 1.3 to 1.0. It is well known that a bullet can tumble for stability less than 1.0. The Sierra Loading Manuals (4th and 5th Editions) have previously reported that ballistic coefficient decreases significantly as gyroscopic stability, Sg, is lowered below 1.3. These observations are further confirmed by the experiments reported here. Measured ballistic coefficients were compared with gyroscopic stabilities computed using the Miller Twist Rule for nearly solid metal bullets with uniform density and computed using the Courtney-Miller formula for plastic-tipped bullets. The experiments reported here also demonstrate a decrease in aerodynamic drag near Sg = 1.23 +/- 0.02. It is hypothesized that this decrease in drag over a narrow band of Sg values is due to a rapid damping of coning motions (precession and nutation). Observation of this drag decrease at a consistent value of Sg demonstrates the relati...
Gravity Probe B Gyroscope Rotor
2003-01-01
The Gravity Probe B (GP-B) is the relativity experiment developed at Stanford University to test two extraordinary predictions of Albert Einstein's general theory of relativity. The experiment will measure, very precisely, the expected tiny changes in the direction of the spin axes of four gyroscopes contained in an Earth-orbiting satellite at a 400-mile altitude. So free are the gyroscopes from disturbance that they will provide an almost perfect space-time reference system. They will measure how space and time are very slightly warped by the presence of the Earth, and, more profoundly, how the Earth's rotation very slightly drags space-time around with it. These effects, though small for the Earth, have far-reaching implications for the nature of matter and the structure of the Universe. This photograph is a close up of a niobium-coated gyroscope motor and its housing halves. GP-B is among the most thoroughly researched programs ever undertaken by NASA. This is the story of a scientific quest in which physicists and engineers have collaborated closely over many years. Inspired by their quest, they have invented a whole range of technologies that are already enlivening other branches of science and engineering. Launched April 20, 2004 , the GP-B program was managed for NASA by the Marshall Space Flight Center. Development of the GP-B is the responsibility of Stanford University along with major subcontractor Lockheed Martin Corporation. (Image credit to Don Harley.)
Design and analysis of a novel virtual gyroscope with multi-gyroscope and accelerometer array
Luo, Zhang; Liu, Chaojun; Yu, Shuai; Zhang, Shengzhi; Liu, Sheng
2016-08-01
A new virtual gyroscope with multi-gyroscope and accelerometer array (MGAA) is proposed in this article for improving the performance of angular rate measurement. Outputs of the virtual gyroscope are obtained by merging the signals from gyroscopes and accelerometers through a novel Kalman filter, which intentionally takes the consideration of the MEMS gyroscope error model and kinematics theory of rigid body. A typical configuration of the virtual gyroscope, consisting of four accelerometers and three gyroscopes mounted on designated positions, is initiated to verify the feasibility of the virtual gyroscope with MGAA. Static test and dynamic test are performed subsequently to evaluate its performance. The angular random walk (ARW) and bias instability, two static performance parameters of gyroscope, are reduced from 0.019°/√s and 14.4°/h to 0.0074°/√s and 8.7°/h, respectively. The average root mean square error (RMSE) is reduced from 0.274°/s to 0.133°/s under dynamic test. Compared with the published multi-gyroscope array method, the virtual gyroscope proposed here has a better performance both in static and dynamic tests, with improvement factors of ARW and RMSE about 44.1% and 44.5% higher, respectively.
Nonlinear fiber gyroscope for quantum metrology
Luis, Alfredo; Rivas, Ángel
2016-01-01
We examine the performance of a nonlinear fiber gyroscope for improved signal detection beating the quantum limits of its linear counterparts. The performance is examined when the nonlinear gyroscope is illuminated by practical field states, such as coherent and quadrature squeezed states. This is compared with the case of more ideal probes such as photon-number states.
Design and Fabrication of a Micromechanical Gyroscope
1995-12-01
Background 2.1 Vibrating Gyroscopes In 1851 a French scientist named Leon Focault studied the earth’s rotation through the use of a large pendulum [11...Workshop, Ft. Lauderdale, FL, Feb. 1993, pp. 143-148. 9. A. Boxenhorn and P. Greiff , "A vibratory micromechanical gyroscope," in AIAA Guidance, Navigation
A Precise Bound for Gyroscopic Stabilization
Hryniv, Rostyslav; Kliem, Wolfhard; Lancaster, Peter;
1998-01-01
ABSTRACT: We consider gyroscopic systems $M\\ddot x(t) + hG\\dot x(t) + Kx(t) = 0$ where $M>0,\\;G^T=-G$, and $K......ABSTRACT: We consider gyroscopic systems $M\\ddot x(t) + hG\\dot x(t) + Kx(t) = 0$ where $M>0,\\;G^T=-G$, and $K...
Gyroscopic Motion: Show Me the Forces!
Kaplan, Harvey; Hirsch, Andrew
2014-01-01
Gyroscopes are frequently used in physics lecture demonstrations and in laboratory activities to teach students about rotational dynamics, namely, angular momentum and torque. Use of these powerful concepts makes it difficult for students to fully comprehend the mechanism that keeps the gyroscope from falling under the force of gravity. The…
Nonlinear fiber gyroscope for quantum metrology
Luis, Alfredo; Morales, Irene; Rivas, Ángel
2016-07-01
We examine the performance of a nonlinear fiber gyroscope for improved signal detection beating the quantum limits of its linear counterparts. The performance is examined when the nonlinear gyroscope is illuminated by practical field states, such as coherent and quadrature squeezed states. This is compared with the case of more ideal probes such as photon-number states.
On the Late Invention of the Gyroscope
Brecher, Kenneth
2012-03-01
The invention of the gyroscope is usually attributed to the French physicist Jean-Bernard-Leon Foucault in 1852. He certainly invented the word and also used his gyroscope to demonstrate the rotation of the Earth. However, the gyroscope was actually invented around 1812 by German physicist Johann Bohnenberger who called his device simply the ``machine''. Several others, including American physicist Walter R. Johnson (who called his apparatus the ``rotascope''), independently invented the gyroscope in the 1830's. Each of these devices employed a central object (sphere or disc) that could spin freely on a shaft. This was placed between three independent gimbals, which could also move freely. Bohnenberger's ``machine'' has much the same appearance as an armillary sphere. Such devices had been produced for at least the preceding three centuries. They were used to display the movements of various celestial bodies. However, armillary spheres are only simulations of celestial appearances, not actual demonstrations of physical phenomena. Gimbal systems similar to those found in gyroscopes were used on ships to level oil lamps from at least the sixteenth century and the ideas behind armillary spheres date back at least a millennium before that. So why was the gyroscope invented so late? Some possible reasons will be presented for the long delay between the development of the individual underlying components and the eventual appearance of the gyroscope in its modern form.
Local spacetime effects on gyroscope systems
Wohlfarth, Mattias N R
2012-01-01
We give a precise theoretical description of initially aligned sets of orthogonal gyroscopes which are transported along different paths from some initial point to the same final point in spacetime. These gyroscope systems can be used to synchronize separated observers' spatial frames by free fall along timelike geodesics. We find that initially aligned gyroscope systems, or spatial frames, lose their synchronization due to the curvature of spacetime and their relative motion. On the basis of our results we propose a simple experiment which enables observers to determine locally whether their spacetime is described by a rotating Kerr or a non-rotating Schwarzschild metric.
Local spacetime effects on gyroscope systems
Wohlfarth, Mattias N. R.; Pfeifer, Christian
2013-01-01
We give a precise theoretical description of initially aligned sets of orthogonal gyroscopes which are transported along different paths from some initial point to the same final point in spacetime. These gyroscope systems can be used to synchronize separated observers’ spatial frames by free fall along timelike geodesics. We find that initially aligned gyroscope systems, or spatial frames, lose their synchronization due to the curvature of spacetime and their relative motion. On the basis of our results we propose a simple experiment that enables observers to determine locally whether their spacetime is described by a rotating Kerr or a nonrotating Schwarzschild metric.
GYROSCOPIC MANAGEMENT AND GENERATION Y
Orhei Loredana
2012-12-01
Full Text Available In the professional field of business and management there is still little research done on the possibility if the Generation Y members (born between 1980 and 2000, which are the managers off the future, need a different approach in education and training to be prepared for the future. The authors will explain how a new didactical approach in business and management called â€œGyroscopic Managementâ€ can prepare these new managers to be of added value for the business. This specific approach was the start in 2007 of a specific (international HRQM Bachelor study programme at Arnhem Business School, HAN University in the Netherlands. During this study programme, students are confronting this specific training and didactical approach with characteristics as self-reliance, self-study, and Socratic dialogue, ethical and â€œgyroscopicâ€ management. The programme has a clear vision and mission and didactical approach that triggers the above-mentioned elements. The approach focuses on the need for development of specific competencies like â€œIntercultural adaptabilityâ€, â€œInternational business awarenessâ€ and â€œSocial entrepreneurshipâ€ as added to the existing competencies needed for a Bachelor level in business and management education. As researchers, lecturers and trainers, the authors used and researched this approach during many lectures, seminars, trainings and workshops in the last years at Universities in Romania and The Netherlands. The authors present the characteristics of the members of the new Y generation and relate them to main elements of gyroscopic management as practice and the results of this practice for students. For this, the authors did a so-called â€œGrounded action researchâ€, from 2009 until 2012, among students of business and management studies. Further, the research was supported by focus groups over the same period. The authors have the opinion that this research is
Carbon Nanotube Tape Vibrating Gyroscope
Tucker, Dennis Stephen (Inventor)
2016-01-01
A vibrating gyroscope includes a piezoelectric strip having length and width dimensions. The piezoelectric strip includes a piezoelectric material and carbon nanotubes (CNTs) substantially aligned and polled along the strip's length dimension. A spindle having an axis of rotation is coupled to the piezoelectric strip. The axis of rotation is parallel to the strip's width dimension. A first capacitance sensor is mechanically coupled to the spindle for rotation therewith. The first capacitance sensor is positioned at one of the strip's opposing ends and is spaced apart from one of the strip's opposing faces. A second capacitance sensor is mechanically coupled to the spindle for rotation therewith. The second capacitance sensor is positioned at another of the strip's opposing ends and is spaced apart from another of the strip's opposing faces. A voltage source applies an AC voltage to the piezoelectric strip.
Fiber Ring Optical Gyroscope (FROG)
1979-01-01
The design, construction, and testing of a one meter diameter fiber ring optical gyro, using 1.57 kilometers of single mode fiber, are described. The various noise components: electronic, thermal, mechanical, and optical, were evaluated. Both dc and ac methods were used. An attempt was made to measure the Earth rotation rate; however, the results were questionable because of the optical and electronic noise present. It was concluded that fiber ring optical gyroscopes using all discrete components have many serious problems that can only be overcome by discarding the discrete approach and adapting an all integrated optic technique that has the laser source, modulator, detector, beamsplitters, and bias element on a single chip.
Model Design of Piezoelectric Micromachined Modal Gyroscope
Xiaojun Hu
2011-01-01
Full Text Available This paper reports a novel kind of solid-state microgyroscope, which is called piezoelectric micromachined modal gyroscope (PMMG. PMMG has large stiffness and robust resistance to shake and strike because there is no evident mass-spring component in its structure. This work focused on quantitative optimization of the gyroscope, which is still blank for such gyroscope. The modal analysis by the finite element method (FEM was firstly conducted. A set of quantitative indicators were developed to optimize the operation mode. By FEM, the harmonic analysis was conducted to find the way to efficiently actuate the operational mode needed. The optimal configuration of driving electrodes was obtained. At last, the Coriolis analysis was conducted to show the relation between angular velocity and differential output voltage by the Coriolis force under working condition. The results obtained in this paper provide theoretical basis for realizing this novel kind of micromachined gyroscope.
MEMS Gyroscope with Interferometric Detection Project
National Aeronautics and Space Administration — This SBIR Phase I project will develop a MEMS gyroscope that uses an ultra high resolution sensing technique for measuring proof mass motion. The goal is to...
Miniaturized High Performance Optical Gyroscope Project
National Aeronautics and Space Administration — We propose a new approach for to the design and fabrication of miniaturized Interferometric Fiber Optical Gyroscope (FOG) that enables the production of smaller IRU...
MEMS Gyroscope with Interferometric Detection Project
National Aeronautics and Space Administration — The proposed innovation is a novel MEMS gyroscope that uses micro-interferometric detection to measure the motion of the proof mass. Using an interferometric...
Wireless tuning fork gyroscope for biomedical applications
Abraham, Jose K.; Varadan, Vijay K.; Whitchurch, Ashwin K.; Sarukesi, K.
2003-07-01
This paper presents the development of a Bluetooth enabled wireless tuning fork gyroscope for the biomedical applications, including gait phase detection system, human motion analysis and physical therapy. This gyroscope is capable of measuring rotation rates between -90 and 90 and it can read the rotation information using a computer. Currently, the information from a gyroscope can trigger automobile airbag deployment during rollover, improve the accuracy and reliability of GPS navigation systems and stabilize moving platforms such as automobiles, airplanes, robots, antennas, and industrial equipment. Adding wireless capability to the existing gyroscope could help to expand its applications in many areas particularly in biomedical applications, where a continuous patient monitoring is quite difficult. This wireless system provides information on several aspects of activities of patients for real-time monitoring in hospitals.
Parametrically disciplined operation of a vibratory gyroscope
Shcheglov, Kirill V. (Inventor); Hayworth, Ken J. (Inventor); Challoner, A. Dorian (Inventor); Peay, Chris S. (Inventor)
2008-01-01
Parametrically disciplined operation of a symmetric nearly degenerate mode vibratory gyroscope is disclosed. A parametrically-disciplined inertial wave gyroscope having a natural oscillation frequency in the neighborhood of a sub-harmonic of an external stable clock reference is produced by driving an electrostatic bias electrode at approximately twice this sub-harmonic frequency to achieve disciplined frequency and phase operation of the resonator. A nearly symmetric parametrically-disciplined inertial wave gyroscope that can oscillate in any transverse direction and has more than one bias electrostatic electrode that can be independently driven at twice its oscillation frequency at an amplitude and phase that disciplines its damping to zero in any vibration direction. In addition, operation of a parametrically-disciplined inertial wave gyroscope is taught in which the precession rate of the driven vibration pattern is digitally disciplined to a prescribed non-zero reference value.
Nonlinear oscillations in coriolis based gyroscopes
Dag Kristiansen
1999-01-01
Full Text Available In this paper we model and analyze nonlinear oscillations which are known to exist in some Coriolis based gyroscopes due to large amplitude excitation in the drive loop. A detailed derivation of a dynamic model for a cylinder gyroscope which includes geometric nonlinearities is given, and energy transfer between the system's modes are analyzed using perturbation theory and by proposing a simplified model. The model is also simulated, and the results are shown to give an accurate description of the experimental results. This work is done in order to gain a better understanding of the gyroscope's dynamics, and is intended to be a starting point for designing nonlinear observers and vibration controllers for the gyroscope in order to increase the performance.
System Identification of MEMS Vibratory Gyroscope Sensor
Juntao Fei; Yuzheng Yang
2011-01-01
Fabrication defects and perturbations affect the behavior of a vibratory MEMS gyroscope sensor, which makes it difficult to measure the rotation angular rate. This paper presents a novel adaptive approach that can identify, in an online fashion, angular rate and other system parameters. The proposed approach develops an online identifier scheme, by rewriting the dynamic model of MEMS gyroscope sensor, that can update the estimator of angular rate adaptively and converge to its true value asy...
Dispersion-Enhanced Laser Gyroscope
Smith, David D.; Chang, Hongrok; Arissian, L.; Diels, J. C.
2008-01-01
We analyze the effect of a highly dispersive element placed inside a modulated optical cavity on the frequency and amplitude of the output modulation to determine the conditions for enhanced gyroscopic sensitivities. The element is treated as both a phase and amplitude filter, and the time-dependence of the cavity field is considered. Both atomic gases (two-level and multi-level) and optical resonators (single and coupled) are considered and compared as dispersive elements. We find that it is possible to simultaneously enhance the gyro scale factor sensitivity and suppress the dead band by using an element with anomalous dispersion that has greater loss at the carrier frequency than at the side-band frequencies, i.e., an element that simultaneously pushes and intensifies the perturbed cavity modes, e.g. a two-level absorber or an under-coupled optical resonator. The sensitivity enhancement is inversely proportional to the effective group index, becoming infinite at a group index of zero. However, the number of round trips required to reach a steady-state also becomes infinite when the group index is zero (or two). For even larger dispersions a steady-state cannot be achieved, and nonlinear dynamic effects such as bistability and periodic oscillations are predicted in the gyro response.
Dispersion-enhanced laser gyroscope
Smith, David D.; Chang, Hongrok; Arissian, L.; Diels, J. C.
2008-11-01
We analyze the effect of a highly dispersive element placed inside a modulated optical cavity on the frequency and amplitude of the output modulation to determine the conditions for enhanced gyroscopic sensitivities. The element is treated as both a phase and amplitude filter, and the time dependence of the cavity field is considered. Both atomic gases (two level and multilevel) and optical resonators (single and coupled) are considered and compared as dispersive elements. We find that it is possible to simultaneously enhance the gyro scale factor sensitivity and suppress the dead band by using an element with anomalous dispersion that has greater loss at the carrier frequency than at the sideband frequencies, i.e., an element that simultaneously pushes and intensifies the perturbed cavity modes, e.g. a two-level absorber or an undercoupled optical resonator. The sensitivity enhancement is inversely proportional to the effective group index, becoming infinite at a group index of zero. However, the number of round trips required to reach a steady state also becomes infinite when the group index is zero (or two). For even larger dispersions a steady state cannot be achieved, and nonlinear dynamic effects such as bistability and periodic oscillations are predicted in the gyro response.
Gas Damping Coefficient Research for MEMS Comb Linear Vibration Gyroscope
Qiufen, G; Feng, S; Fuqiang, L
2008-01-01
Silicon-MEMS gyroscope is an important part of MEMS (Micro Electrical Mechanical System). There are some disturb ignored in traditional gyroscope that must be evaluated newly because of its smaller size (reach the level of micron). In these disturb, the air pressure largely influences the performance of MEMS gyroscope. Different air pressure causes different gas damping coefficient for the MEMS comb linear vibration gyroscope and different gas damping coefficient influences the quality factor of the gyroscope directive. The quality factor influences the dynamic working bandwidth of the MEMS comb linear vibration gyroscope, so it is influences the output characteristic of the MEMS comb linear vibration gyroscope. The paper shows the relationship between the air pressure and the output amplified and phase of the detecting axis through analyzing the air pressure influence on the MEMS comb linear vibration gyroscope. It discusses the influence on the frequency distribute and quality factor of the MEMS comb linear...
Direct comparison of nuclear-spin-gyroscope schemes
Dong, Haifeng; Gao, Yang
2016-01-01
We demonstrate that NMR gyroscope and comagnetometer SERF gyroscope can be described with a common model, which explains the compensation and enhancement effects in the same way. The error models and the advantage/disadvantage of two kinds of atomic spin gyroscope are also discussed.
Dynamics of micromachined vibrating gimbal and wheel gyroscope
TijingCAI
2000-01-01
We deduce dynamic equations of micromachined vibrating gimbal and wheel gyroscope and give an approximate solution of enough accuracy. The comparison between the approximate solution and the solution used often in the literature is given. According to property of the approximate solution a decoupled two-axes gyroscope will be composed of two single-axes gyroscopes.
Passive, free-space laser gyroscope
Korth, W Zach; Hall, Evan D; Arai, Koji; Gustafson, Eric K; Adhikari, Rana X
2015-01-01
Laser gyroscopes making use of the Sagnac effect have been used as highly accurate rotation sensors for many years. First used in aerospace and defense applications, these devices have more recently been used for precision seismology and in other research settings. In particular, mid-sized (~1 m-scale) laser gyros have been under development as tilt sensors to augment the adaptive active seismic isolation systems in terrestrial interferometric gravitational wave detectors. The most prevalent design is the "active" gyroscope, in which the optical ring cavity used to measure the Sagnac degeneracy breaking is itself a laser resonator. In this article, we describe another topology: a "passive" gyroscope, in which the sensing cavity is not itself a laser but is instead tracked using external laser beams. While subject to its own limitations, this design is free from the deleterious lock-in effects observed in active systems, and has the advantage that it can be constructed using commercially available components. ...
System Identification of MEMS Vibratory Gyroscope Sensor
Juntao Fei
2011-01-01
Full Text Available Fabrication defects and perturbations affect the behavior of a vibratory MEMS gyroscope sensor, which makes it difficult to measure the rotation angular rate. This paper presents a novel adaptive approach that can identify, in an online fashion, angular rate and other system parameters. The proposed approach develops an online identifier scheme, by rewriting the dynamic model of MEMS gyroscope sensor, that can update the estimator of angular rate adaptively and converge to its true value asymptotically. The feasibility of the proposed approach is analyzed and proved by Lyapunov's direct method. Simulation results show the validity and effectiveness of the online identifier.
Problem of the gyroscopic stabilizer damping
Šklíba J.
2009-06-01
Full Text Available The gyroscopic stabilization of the vibro-isolation system of an ambulance couch is analyzed. This paper follows several previous papers, which concern the derivation of the complete system of appropriate differential equations and some analyses were provided there, as well. It was supposed that mass matrix, stiffness matrix and gyroscope impulse-moment remain constant and the stability of equilibrium state was solved according to different alternatives of the damping and of the radial correction. Little known theorems of the stability were used there. With respect to these theorems, vibro-isolation systems can be classified according to odd or even number of generalized coordinates.
High-performance micromachined gyroscope with a slanted suspension cantilever
Xiao Dingbang; Wu Xuezhong; Hou Zhanqiang; Chen Zhihua; Dong Peitao; Li Shengyi, E-mail: Dingbangxiao@yahoo.com.c [Microsystem Laboratory, National University of Defense Technology, Changsha 410073 (China)
2009-04-15
This paper presents a novel structure for improving the stability and the mechanical noise of micromachined gyroscopes. Only one slanted cantilever is used for suspension in this gyroscope, so the asymmetry spring and the thermal stress, which most micromachined gyroscopes suffer from, are reduced. In order to reduce the mechanical noise, the proof masses are designed to be much larger than in most micromachined gyroscopes. The gyroscope chip is sealed at 0.001 Pa vacuum. A gyroscope sample and its read-out circuit are fabricated. The scale factor of this gyroscope is measured as 57.6 mV/(deg/sec) with a nonlinearity better than 0.12% in a measurement range of +-100 deg/sec. The short-term bias stability in 20 min is 60 deg/h.
High-performance micromachined gyroscope with a slanted suspension cantilever
Xiao Dingbang; Wu Xuezhong; Hou Zhanqiang; Chen Zhihua; Dong Peitao; Li Shengyi
2009-01-01
This paper presents a novel structure for improving the stability and the mechanical noise of micromachined gyroscopes.Only one slanted cantilever is used for suspension in this gyroscope,so the asymmetry spring and the thermal stress,which most micromachined gyroscopes suffer from,are reduced.In order to reduce the mechanical noise,the proof masses are designed to be much larger than in most micromachined gyroscopes.The gyroscope chip is sealed at 0.00 1 Pa vacuum.A gyroscope sample and its read-out circuit are fabricated.The scale factor of this gyroscope is measured as 57.6 mV/(deg/sec) with a nonlinearity better than 0.12%in a measurement range of ±100 deg/sec.The short-term bias stability in 20 min is 60 deg/h.
Gyroscopic stabilization of non-conservative systems
Kirillov, Oleg N. [Dynamics Group, Department of Mechanical Engineering, Technical University of Darmstadt, Hochschulstr. 1, 64289 Darmstadt (Germany) and Institute of Mechanics, Moscow State Lomonosov University, Michurinskii pr. 1, 119192 Moscow (Russian Federation)]. E-mail: kirillov@dyn.tu-darmstadt.de
2006-11-20
Gyroscopic stabilization of a linear conservative system, which is statically unstable, can be either improved or destroyed by weak damping and circulatory forces. This is governed by Whitney umbrella singularity of the boundary of the asymptotic stability domain of the perturbed system.
Design and analysis of a micromachined gyroscope
Zarei, Nilgoon; Leung, Albert; Jones, John D.
2012-03-01
This paper describes the simulation and design of a MEMS thermal gyroscope and optimizing the design for increased sensitivity through the use of the Comsol Multiphysics software package. Two different designs are described, and the effects of working fluid properties are explored. A prototype of this device has been fabricated using techniques for rapid prototyping of MEMS transducers.
EIGENVALUE PROBLEM OF A LARGE SCALE INDEFINITE GYROSCOPIC DYNAMIC SYSTEM
SUI Yong-feng; ZHONG Wan-xie
2006-01-01
Gyroscopic dynamic system can be introduced to Hamiltonian system. Based on an adjoint symplectic subspace iteration method of Hamiltonian gyroscopic system,an adjoint symplectic subspace iteration method of indefinite Hamiltonian function gyroscopic system was proposed to solve the eigenvalue problem of indefinite Hamiltonian function gyroscopic system. The character that the eigenvalues of Hamiltonian gyroscopic system are only pure imaginary or zero was used. The eigenvalues that Hamiltonian function is negative can be separated so that the eigenvalue problem of positive definite Hamiltonian function system was presented, and an adjoint symplectic subspace iteration method of positive definite Hamiltonian function system was used to solve the separated eigenvalue problem. Therefore, the eigenvalue problem of indefinite Hamiltonian function gyroscopic system was solved, and two numerical examples were given to demonstrate that the eigensolutions converge exactly.
Coriolis vibratory gyroscopes theory and design
Apostolyuk, Vladislav
2016-01-01
This book provides the latest theoretical analysis and design methodologies of different types of Coriolis vibratory gyroscopes (CVG). Together, the chapters analyze different types of sensitive element designs and their kinematics, derivation of motion equations, analysis of sensitive elements dynamics in modulated and demodulated signals, calculation and optimization of main performance characteristics, and signal processing and control. Essential aspects of numerical simulation of CVG using Simulink® are also covered. This is an ideal book for graduate students, researchers, and engineers working in fields that require gyroscope application, including but not limited to: inertial sensors and systems, automotive and consumer electronics, small unmanned aircraft control systems, personal mobile navigation systems and related software development, and augmented and virtual reality systems.
Relative Pose Estimation Algorithm with Gyroscope Sensor
Shanshan Wei
2016-01-01
Full Text Available This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter. Our contributions are in two aspects. (1 Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope sensor and image data. (2 Our S2fM algorithm is efficient and suitable for smart devices. Experimental results validate efficiency of the proposed S2fM algorithm.
Passive ring resonator micro-optical gyroscopes
Venediktov, V. Yu; Filatov, Yu V.; Shalymov, E. V.
2016-05-01
This paper reviews recent advances in passive micro-optical gyroscopes. In the last decade, most research effort in the area of micro-optical gyros has been concentrated on a configuration that takes advantage of a single-mode passive ring resonator, which is usually fabricated using integrated optical technologies. The dimensions of such micro-optical gyros are comparable to those of micromechanical gyroscopes (area of 10 to 100 mm2) and their sensitivity is considerably better than the sensitivity of the latter, approaching that of fibre-optic and laser gyros. Moreover, microoptical gyros can be made as a single integrated circuit, like the micromechanical gyros, but they have no movable parts, in contrast to their micromechanical counterparts. We also describe the development and investigation of micro-optical gyros produced in our studies.
Klein-Gordon and Dirac gyroscopes
SadurnI, E [Instituto de Ciencias Fisicas, Universidad Nacional Autonoma de Mexico, Cuernavaca, Morelos (Mexico)], E-mail: sadurni@fis.unam.mx
2009-01-09
The formulation of a rigid body in relativistic quantum mechanics is studied. Departing from an alternate approach at the relativistic classical level, the corresponding Klein-Gordon and Dirac operators for the rigid body are obtained in covariant form. The resulting wave equations are shown to be consistent, by construction, with earlier definitions of a relativistic rigid body by Aldinger et al (1983 Phys. Rev. D 28 3020). Wavefunctions and spectra for both cases are obtained explicitly, including the Dirac gyroscope with asymmetries.
Gas Damping Coefficient Research for MEMS Comb Linear Vibration Gyroscope
Qiufen, G.; Yuansheng, G.; Feng, S.; Fuqiang, L.
2007-01-01
Submitted on behalf of EDA Publishing Association (http://irevues.inist.fr/EDA-Publishing); International audience; Silicon-MEMS gyroscope is an important part of MEMS ( Micro Electrical Mechanical System). There are some disturb ignored in traditional gyroscope that must be evaluated newly because of its smaller size (reach the level of micron). In these disturb, the air pressure largely influences the performance of MEMS gyroscope. Different air pressure causes different gas damping coeffic...
Evolutionary Computation Applied to the Tuning of MEMS Gyroscopes
Keymeulen, Didier; Fink, Wolfgang; Ferguson, Michael I.; Peay, Chris; Oks, Boris; Terrile, Richard; Yee, Karl
2005-01-01
We propose a tuning method for MEMS gyroscopes based on evolutionary computation to efficiently increase the sensitivity of MEMS gyroscopes through tuning and, furthermore, to find the optimally tuned configuration for this state of increased sensitivity. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation.
System Dynamics and Adaptive Control for MEMS Gyroscope Sensor
Juntao Fei; Hongfei Ding
2010-01-01
This paper presents an adaptive control approach for Micro-Electro-Mechanical Systems (MEMS) z-axis gyroscope sensor. The dynamical model of MEMS gyroscope sensor is derived and adaptive state tracking control for MEMS gyroscope is developed. The proposed adaptive control approaches can estimate the angular velocity and the damping and stiffness coefficients including the coupling terms due to the fabrication imperfection. The stability of the closed-loop systems is established with the propo...
A Large Area Fiber Optic Gyroscope on multiplexed fiber network
Clivati, Cecilia; Calonico, Davide; Costanzo, Giovanni A.; Mura, Alberto; Pizzocaro, Marco; Levi, Filippo
2012-01-01
We describe a fiber optical gyroscope based on the Sagnac effect realized on a multiplexed telecom fiber network. Our loop encloses an area of 20 km^2 and coexists with Internet data traffic. This Sagnac interferometer achieves a sensitivity of about 1e-8 (rad/s)/sqrt(Hz), thus approaching ring laser gyroscopes without using narrow-linewidth laser nor sophisticated optics. The proposed gyroscope is sensitive enough for seismic applications, opening new possibilities for this kind of optical f...
A Large Area Fiber Optic Gyroscope on multiplexed fiber network
Clivati, Cecilia; Costanzo, Giovanni A; Mura, Alberto; Pizzocaro, Marco; Levi, Filippo
2012-01-01
We describe a fiber optical gyroscope based on the Sagnac effect realized on a multiplexed telecom fiber network. Our loop encloses an area of 20 km^2 and coexists with Internet data traffic. This Sagnac interferometer achieves a sensitivity of about 1e-8 (rad/s)/sqrt(Hz), thus approaching ring laser gyroscopes without using narrow-linewidth laser nor sophisticated optics. The proposed gyroscope is sensitive enough for seismic applications, opening new possibilities for this kind of optical fiber sensors
A Silicon Micromachined Gyroscope Driven by the Rotating Carrier Self
Fuxue Zhang; Xu Mao; Yu Liu; Nan Zhang; Wei Zhang
2006-01-01
This paper reported a silicon micromachined gyroscope which is driven by the rotating carrier's angular velocity, the silicon was manufactured by anisotropy etching. The design, fabrication and packing of the sensing element were introduced in the paper. The imitation experimentation and performance test have certificated that the principle of the gyroscope is correct and the gyroscope can be used to sense yawing or pitching angular velocity of the rotating carrier, and the angular velocity of the rotating carrier itself.
System Dynamics and Adaptive Control for MEMS Gyroscope Sensor
Juntao Fei; Hongfei Ding
2011-01-01
This paper presents an adaptive control approach for Micro-Electro-Mechanical Systems (MEMS) z-axis gyroscope sensor. The dynamical model of MEMS gyroscope sensor is derived and adaptive state tracking control for MEMS gyroscope is developed. The proposed adaptive control approaches can estimate the angular velocity and the damping and stiffness coefficients including the coupling terms due to the fabrication imperfection. The stability of the closed-loop systems is established with the propo...
Gyroscopic Inertial Micro-Balance Azimuth Locator (GIMBAL) Project
National Aeronautics and Space Administration — Research Support Instruments, Inc. (RSI) proposes the Gyroscopic Inertial Micro-Balance Azimuth Locator (GIMBAL) program to use an innovative encapsulated spinning...
The development of piezoelectric crystal gyroscopes in China
Chen, Feng-Yu; Qing, Rong-Kang
The operation principles and basic characteristics of a newly-developed vibrating-beam piezoelectric crystal angular rate gyroscope are discussed along with the gyroscope applications. Several applications of piezoelectric gyroscopes are described, including its use as a telemetering sensor, attidude measuring device in automobiles, in geological exploraton drilling, and as a sensing element in ship and aircraft control systems. Specifications are presented for several gyroscopes, including those for two piezoelectric angular rate gyros with different applications (telemetering and control), a typical piezoelectric angular displacement gyro, and a piezoelectric inclinometer.
Applications of Fuzzy Sliding Mode Control for a Gyroscope System
Shih-Chung Chen
2013-01-01
Full Text Available The study proposed the application of the fuzzy sliding mode for a gyroscope system status control. The state response analysis of the gyroscope system revealed highly nonlinear and chaotic subharmonic motions of 2T during state formation. The current study discussed the use of tracking control on the sliding mode control and fuzzy sliding mode control of a gyroscope control system. Consequently, the gyroscope system drives from chaotic motion to periodic motion. The numerical simulation results confirm that the proposed controller provides good system stability and convergence without chattering phenomena.
Selecting Aquifer Wells for Planned Gyroscopic Logging
Rohe, Michael James; Studley, Gregory Wayne
2002-04-01
Understanding the configuration of the eastern Snake River Plain aquifer's water table is made difficult, in part, due to borehole deviation in aquifer wells. A borehole has deviation if it is not vertical or straight. Deviation impairs the analysis of water table elevation measurements because it results in measurements that are greater than the true distance from the top of the well to the water table. Conceptual models of the water table configuration are important to environmental management decision-making at the INEEL; these models are based on measurements of depth to the water table taken from aquifer wells at or near the INEEL. When accurate data on the amount of deviation in any given borehole is acquired, then measurements of depth-to-water can be adjusted to reflect the true depth so more accurate conceptual models can be developed. Collection of additional borehole deviation data with gyroscopic logging is planned for selected wells to further our confidence in the quality of water level measurements. Selection of wells for the planned logging is based on qualitative and quantitative screening criteria. An existing data set from magnetic deviation logs was useful in establishing these criteria however, are considered less accurate than gyroscopic deviation logs under certain conditions. Population distributions for 128 aquifer wells with magnetic deviation data were used to establish three quantitative screening thresholds. Qualitative criteria consisted of administrative controls, accessibility issues, and drilling methods. Qualitative criteria eliminated all but 116 of the 337 aquifer wells, in the vicinity of the INEEL, that were initially examined in this screening effort. Of these, 72 have associated magnetic deviation data; 44 do not. Twenty-five (25) of the 72 wells with magnetic deviation data have deviation greater than one of the three quantitative screening thresholds. These 25 are recommended for the planned gyroscopic borehole deviation
An Integrated MEMS Gyroscope Array with Higher Accuracy Output.
Chang, Honglong; Xue, Liang; Qin, Wei; Yuan, Guangmin; Yuan, Weizheng
2008-04-28
In this paper, an integrated MEMS gyroscope array method composed of two levels of optimal filtering was designed to improve the accuracy of gyroscopes. In the firstlevel filtering, several identical gyroscopes were combined through Kalman filtering into a single effective device, whose performance could surpass that of any individual sensor. The key of the performance improving lies in the optimal estimation of the random noise sources such as rate random walk and angular random walk for compensating the measurement values. Especially, the cross correlation between the noises from different gyroscopes of the same type was used to establish the system noise covariance matrix and the measurement noise covariance matrix for Kalman filtering to improve the performance further. Secondly, an integrated Kalman filter with six states was designed to further improve the accuracy with the aid of external sensors such as magnetometers and accelerometers in attitude determination. Experiments showed that three gyroscopes with a bias drift of 35 degree per hour could be combined into a virtual gyroscope with a drift of 1.07 degree per hour through the first-level filter, and the bias drift was reduced to 0.53 degree per hour after the second-level filtering. It proved that the proposed integrated MEMS gyroscope array is capable of improving the accuracy of the MEMS gyroscopes, which provides the possibility of using these low cost MEMS sensors in high-accuracy application areas.
An Integrated MEMS Gyroscope Array with Higher Accuracy Output
Weizheng Yuan
2008-04-01
Full Text Available In this paper, an integrated MEMS gyroscope array method composed of two levels of optimal filtering was designed to improve the accuracy of gyroscopes. In the firstlevel filtering, several identical gyroscopes were combined through Kalman filtering into a single effective device, whose performance could surpass that of any individual sensor. The key of the performance improving lies in the optimal estimation of the random noise sources such as rate random walk and angular random walk for compensating the measurement values. Especially, the cross correlation between the noises from different gyroscopes of the same type was used to establish the system noise covariance matrix and the measurement noise covariance matrix for Kalman filtering to improve the performance further. Secondly, an integrated Kalman filter with six states was designed to further improve the accuracy with the aid of external sensors such as magnetometers and accelerometers in attitude determination. Experiments showed that three gyroscopes with a bias drift of 35 degree per hour could be combined into a virtual gyroscope with a drift of 1.07 degree per hour through the first-level filter, and the bias drift was reduced to 0.53 degree per hour after the second-level filtering. It proved that the proposed integrated MEMS gyroscope array is capable of improving the accuracy of the MEMS gyroscopes, which provides the possibility of using these low cost MEMS sensors in high-accuracy application areas.
Split-resonator integrated-post MEMS gyroscope
Bae, Youngsam (Inventor); Hayworth, Ken J. (Inventor); Shcheglov, Kirill V. (Inventor)
2004-01-01
A split-resonator integrated-post vibratory microgyroscope may be fabricated using micro electrical mechanical systems (MEMS) fabrication techniques. The microgyroscope may include two gyroscope sections bonded together, each gyroscope section including resonator petals, electrodes, and an integrated half post. The half posts are aligned and bonded to act as a single post.
Vibration Control of Tower Structure with Multiple Cardan Gyroscopes
Haoxiang He
2017-01-01
Full Text Available Tower structure is sensitive to hurricane and earthquake, and it is easy to generate large deflection and dynamic response. The multiple cardan gyroscope has two rotational degrees of freedom, which can generate strong moments to constrain the two horizontal orthogonal deflections if the rotor operates in high speeds, so the structural dynamic responses can be decreased. Hence, the method of dynamic control of the tower structure under wind load and earthquake action is proposed by using the multiple cardan gyroscopes as the dampers. The dynamic mechanism and the fixed axis principle of the multiple cardan gyroscope are introduced, and the dynamic equation of the gyroscope is established. The damping mechanism of the gyroscope is also described. For the tower structure equipped with the multiple cardan gyroscope dampers, the multidimensional control equation considering torsion effect is established, and the equivalent state space equation is presented. Taking a TV Tower with a number of gyroscope dampers as an analysis example, the structural dynamic responses and damping performance under fluctuating wind loads and earthquake action is studied. The results show that the multiple cardan gyroscope dampers with suitable parameters can effectively decrease the structural vibration in horizontal directions and torsional direction.
Coupled Thermal Field of the Rotor of Liquid Floated Gyroscope
Wang Zhengjun
2015-01-01
Full Text Available Inertial navigation devices include star sensor, GPS, and gyroscope. Optical fiber and laser gyroscopes provide high accuracy, and their manufacturing costs are also high. Magnetic suspension rotor gyroscope improves the accuracy and reduces the production cost of the device because of the influence of thermodynamic coupling. Therefore, the precision of the gyroscope is reduced and drift rate is increased. In this study, the rotor of liquid floated gyroscope, particularly the dished rotor gyroscope, was placed under a thermal field, which improved the measurement accuracy of the gyroscope. A dynamic theory of the rotor of liquid floated gyroscope was proposed, and the thermal field of the rotor was simulated. The maximum stress was in x, 1.4; y, 8.43; min 97.23; and max 154.34. This stress occurred at the border of the dished rotor at a high-speed rotation. The secondary flow reached 5549 r/min, and the generated heat increased. Meanwhile, the high-speed rotation of the rotor was volatile, and the dished rotor movement was unstable. Thus, nanomaterials must be added to reduce the thermal coupling fluctuations in the dished rotor and improve the accuracy of the measurement error and drift rate.
Micromachined dual input axis rate gyroscope
Juneau, Thor Nelson
The need for inexpensive yet reliable angular rate sensors in fields ranging from automotive to consumer electronics has motivated prolific micromachined rate gyroscope research. The vast majority of research has focused on single input axis rate gyroscopes based upon either translational resonance, such as tuning forks, or structural mode resonance, such as vibrating rings. However, this work presents a novel, contrasting approach based on angular resonance of a rotating rigid rotor suspended by torsional springs. The inherent symmetry of the circular design allows angular rate measurement about two axes simultaneously, hence the name micromachined dual-axis rate gyroscope. The underlying theory of operation, mechanical structure design optimization, electrical interface circuitry, and signal processing are described in detail. Several operational versions were fabricated using two different fully integrated surface micromachining processes as proof of concept. The heart of the dual-axis rate gyroscope is a ˜2 mum thick polysilicon disk or rotor suspended above the substrate by a four beam suspension. When this rotor in driven into angular oscillation about the axis perpendicular to the substrate, a rotation rate about the two axes parallel to the substrate invokes an out of plane rotor tilting motion due to Coriolis acceleration. This tilting motion is capacitively measured and on board integrated signal processing provides two output voltages proportional to angular rate input about the two axes parallel to the substrate. The design process begins with the derivation of gyroscopic dynamics. The equations suggest that tuning sense mode frequencies to the drive oscillation frequency can vastly increase mechanical sensitivity. Hence the supporting four beam suspension is designed such that electrostatic tuning can match modes despite process variations. The electrostatic tuning range is limited only by rotor collapse to the substrate when tuning-voltage induced
Structure optimization and simulation analysis of the quartz micromachined gyroscope
Wu, Xuezhong; Wang, Haoxu; Xie, Liqiang; Dong, Peitao
2014-03-01
Structure optimization and simulation analysis of the quartz micromachined gyroscope are reported in this paper. The relationships between the structure parameters and the frequencies of work mode were analysed by finite element analysis. The structure parameters of the quartz micromachined gyroscope were optimized to reduce the difference between the frequencies of the drive mode and the sense mode. The simulation results were proved by testing the prototype gyroscope, which was fabricated by micro-electromechanical systems (MEMS) technology. Therefore, the frequencies of the drive mode and the sense mode can match each other by the structure optimization and simulation analysis of the quartz micromachined gyroscope, which is helpful in the design of the high sensitivity quartz micromachined gyroscope.
Structure optimization and simulation analysis of the quartz micromachined gyroscope
Xuezhong Wu
2014-02-01
Full Text Available Structure optimization and simulation analysis of the quartz micromachined gyroscope are reported in this paper. The relationships between the structure parameters and the frequencies of work mode were analysed by finite element analysis. The structure parameters of the quartz micromachined gyroscope were optimized to reduce the difference between the frequencies of the drive mode and the sense mode. The simulation results were proved by testing the prototype gyroscope, which was fabricated by micro-electromechanical systems (MEMS technology. Therefore, the frequencies of the drive mode and the sense mode can match each other by the structure optimization and simulation analysis of the quartz micromachined gyroscope, which is helpful in the design of the high sensitivity quartz micromachined gyroscope.
Gait event detection during stair walking using a rate gyroscope.
Formento, Paola Catalfamo; Acevedo, Ruben; Ghoussayni, Salim; Ewins, David
2014-01-01
Gyroscopes have been proposed as sensors for ambulatory gait analysis and functional electrical stimulation systems. These applications often require detection of the initial contact (IC) of the foot with the floor and/or final contact or foot off (FO) from the floor during outdoor walking. Previous investigations have reported the use of a single gyroscope placed on the shank for detection of IC and FO on level ground and incline walking. This paper describes the evaluation of a gyroscope placed on the shank for determination of IC and FO in subjects ascending and descending a set of stairs. Performance was compared with a reference pressure measurement system. The absolute mean difference between the gyroscope and the reference was less than 45 ms for IC and better than 135 ms for FO for both activities. Detection success was over 93%. These results provide preliminary evidence supporting the use of a gyroscope for gait event detection when walking up and down stairs.
Gait Event Detection during Stair Walking Using a Rate Gyroscope
Formento, Paola Catalfamo; Acevedo, Ruben; Ghoussayni, Salim; Ewins, David
2014-01-01
Gyroscopes have been proposed as sensors for ambulatory gait analysis and functional electrical stimulation systems. These applications often require detection of the initial contact (IC) of the foot with the floor and/or final contact or foot off (FO) from the floor during outdoor walking. Previous investigations have reported the use of a single gyroscope placed on the shank for detection of IC and FO on level ground and incline walking. This paper describes the evaluation of a gyroscope placed on the shank for determination of IC and FO in subjects ascending and descending a set of stairs. Performance was compared with a reference pressure measurement system. The absolute mean difference between the gyroscope and the reference was less than 45 ms for IC and better than 135 ms for FO for both activities. Detection success was over 93%. These results provide preliminary evidence supporting the use of a gyroscope for gait event detection when walking up and down stairs. PMID:24651724
Fiber optic gyroscopes for vehicle navigation systems
Kumagai, Tatsuya; Soekawa, Hirokazu; Yuhara, Toshiya; Kajioka, Hiroshi; Oho, Shigeru; Sonobe, Hisao
1994-03-01
Fiber optic gyroscopes (FOGs) have been developed for vehicle navigation systems and are used in Toyota Motor Corporation models Mark II, Chaser and Cresta in Japan. Use of FOGs in these systems requires high reliability under a wide range of conditions, especially in a temperature range between -40 and 85 degree(s)C. In addition, a high cost-performance ratio is needed. We have developed optical and electrical systems that are inexpensive and can perform well. They are ready to be mass-produced. FOGs have already been installed in luxury automobiles, and will soon be included in more basic vehicles. We have developed more inexpensive FOGs for this purpose.
Vortex gyroscope imaging of planar superfluids.
Powis, A T; Sammut, S J; Simula, T P
2014-10-17
We propose a robust imaging technique that makes it possible to distinguish vortices from antivortices in quasi-two-dimensional Bose-Einstein condensates from a single image of the density of the atoms. Tilting the planar condensate prior to standard absorption imaging excites a generalized gyroscopic mode of the condensate, revealing the sign and location of each vortex. This technique is anticipated to enable experimental measurement of the incompressible kinetic energy spectrum of the condensate and the observation of a negative-temperature phase transition of the vortex gas, driven by two-dimensional superfluid turbulence.
Microwave gyroscope-novel rotation sensor
Karapetyan, G G
2000-01-01
High performance microwave gyroscope (MG) is theoretically developed for the first time to our knowledge. MG is based on Sagnac effect in microwave ring resonator (RR), where a specially taylored phase shifter (PS) on the basis of surface acoustic waves is inserted. Due to that beat frequency becomes proportional to square (or cubic) root upon rotation rate and therefore hugely increases. In the result MG has few order higher sensitivity and dynamic range than state-of-the-art laser gyros, so it can serve as an advanced rotation sensor in navigation and fundamental sciences.
Space Station Control Moment Gyroscope Lessons Learned
Gurrisi, Charles; Seidel, Raymond; Dickerson, Scott; Didziulis, Stephen; Frantz, Peter; Ferguson, Kevin
2010-01-01
Four 4760 Nms (3510 ft-lbf-s) Double Gimbal Control Moment Gyroscopes (DGCMG) with unlimited gimbal freedom about each axis were adopted by the International Space Station (ISS) Program as the non-propulsive solution for continuous attitude control. These CMGs with a life expectancy of approximately 10 years contain a flywheel spinning at 691 rad/s (6600 rpm) and can produce an output torque of 258 Nm (190 ft-lbf)1. One CMG unexpectedly failed after approximately 1.3 years and one developed anomalous behavior after approximately six years. Both units were returned to earth for failure investigation. This paper describes the Space Station Double Gimbal Control Moment Gyroscope design, on-orbit telemetry signatures and a summary of the results of both failure investigations. The lessons learned from these combined sources have lead to improvements in the design that will provide CMGs with greater reliability to assure the success of the Space Station. These lessons learned and design improvements are not only applicable to CMGs but can be applied to spacecraft mechanisms in general.
A novel differential frequency micro-gyroscope
Nayfeh, A. H.
2013-07-10
We present a frequency-domain method to measure angular speeds using electrostatic micro-electro-mechanical system actuators. Towards this end, we study a single-axis gyroscope made of a micro-cantilever and a proof-mass coupled to two fixed electrodes. The gyroscope possesses two orthogonal axes of symmetry and identical flexural mode shapes along these axes. We develop the equations of motion describing the coupled bending modes in the presence of electrostatic and Coriolis forces. Furthermore, we derive a consistent closed-form higher-order expression for the natural frequencies of the coupled flexural modes. The closed-form expression is verified by comparing its results to those obtained from numerical integration of the equations of motion. We find that rotations around the beam axis couple each pair of identical bending modes to produce a pair of global modes. They also split their common natural frequency into a pair of closely spaced natural frequencies. We propose the use of the difference between this pair of frequencies, which is linearly proportional to the speed of rotation around the beam axis, as a detector for the angular speed.
Jieyu Liu
2015-06-01
Full Text Available A signal processing technique is presented to improve the angular rate accuracy of Micro-Electro-Mechanical System (MEMS gyroscope by combining numerous gyroscopes. Based on the conditional correlation between gyroscopes, a dynamic data fusion model is established. Firstly, the gyroscope error model is built through Generalized Autoregressive Conditional Heteroskedasticity (GARCH process to improve overall performance. Then the conditional covariance obtained through dynamic conditional correlation (DCC estimator is used to describe the correlation quantitatively. Finally, the approach is validated by a prototype of the virtual gyroscope, which consists of six-gyroscope array. The experimental results indicate that the weights of gyroscopes change with the value of error. Also, the accuracy of combined rate signal is improved dramatically compared to individual gyroscope. The results indicate that the approach not only improves the accuracy of the MEMS gyroscope, but also discovers the fault gyroscope and eliminates its influence.
Modeling and Formulation of a Novel Microoptoelectromechanical Gyroscope
Bohua Sun
2008-01-01
Full Text Available This paper proposed a novel design of microgyroscope based on MEMS structures and optic interferometric microdisplacement measurement technique. The gyroscope consists of microvibrator and interferometric readout. Using Coriolis force, the vibrator transfers the system rotation into a forced vibration; the induced vibration can be sensed by the interferometric microdisplacement measurement system. The optic measurement system has two mirrors which will reflect two rays into a detector. The comprehensive studies on the formulation and analysis of the proposed gyroscope have been undertaken; two key sensor equations have been derived in the first time in the world: (1 relation between rotation and phase shift of light Δφ=(4πl0/λ+(8π/λ(xmaxQy/ωyΩ(tsin(ωdt, (2 relation between rotation and interferometric intensity of light I(t≈(8π/λ(xmaxQy/ωyΩ(tsin(ωdtsin(4πl0/λ. The comparison of the proposed gyroscope and well-know Sagnac formulation has been investigated; it shown that the proposed model is much better than Sagnac ones. The new model has finally get rid of needing very long fiber in the case of Sagnac gyroscope. The innovative model gives a new hope to fabricate high accurate and cheaper gyroscope. To date, the proposed gyroscope is the most accurate gyroscope.
The Gravity Probe B electrostatic gyroscope suspension system (GSS)
Bencze, W. J.; Brumley, R. W.; Eglington, M. L.; Hipkins, D. N.; Holmes, T. J.; Parkinson, B. W.; Ohshima, Y.; Everitt, C. W. F.
2015-11-01
A spaceflight electrostatic suspension system was developed for the Gravity Probe B (GP-B) Relativity Mission’s cryogenic electrostatic vacuum gyroscopes which serve as an indicator of the local inertial frame about Earth. The Gyroscope Suspension System (GSS) regulates the translational position of the gyroscope rotors within their housings, while (1) minimizing classical electrostatic torques on the gyroscope to preserve the instrument’s sensitivity to effects of General Relativity, (2) handling the effects of external forces on the space vehicle, (3) providing a means of precisely aligning the spin axis of the gyroscopes after spin-up, and (4) acting as an accelerometer as part of the spacecraft’s drag-free control system. The flight design was tested using an innovative, precision gyroscope simulator Testbed that could faithfully mimic the behavior of a physical gyroscope under all operational conditions, from ground test to science data collection. Four GSS systems were built, tested, and operated successfully aboard the GP-B spacecraft from launch in 2004 to the end of the mission in 2008.
Online camera-gyroscope autocalibration for cell phones.
Jia, Chao; Evans, Brian L
2014-12-01
The gyroscope is playing a key role in helping estimate 3D camera rotation for various vision applications on cell phones, including video stabilization and feature tracking. Successful fusion of gyroscope and camera data requires that the camera, gyroscope, and their relative pose to be calibrated. In addition, the timestamps of gyroscope readings and video frames are usually not well synchronized. Previous paper performed camera-gyroscope calibration and synchronization offline after the entire video sequence has been captured with restrictions on the camera motion, which is unnecessarily restrictive for everyday users to run apps that directly use the gyroscope. In this paper, we propose an online method that estimates all the necessary parameters, whereas a user is capturing video. Our contributions are: 1) simultaneous online camera self-calibration and camera-gyroscope calibration based on an implicit extended Kalman filter and 2) generalization of the multiple-view coplanarity constraint on camera rotation in a rolling shutter camera model for cell phones. The proposed method is able to estimate the needed calibration and synchronization parameters online with all kinds of camera motion and can be embedded in gyro-aided applications, such as video stabilization and feature tracking. Both Monte Carlo simulation and cell phone experiments show that the proposed online calibration and synchronization method converge fast to the ground truth values.
System Dynamics and Adaptive Control for MEMS Gyroscope Sensor
Juntao Fei
2011-01-01
Full Text Available This paper presents an adaptive control approach for Micro-Electro-Mechanical Systems (MEMS z-axis gyroscope sensor. The dynamical model of MEMS gyroscope sensor is derived and adaptive state tracking control for MEMS gyroscope is developed. The proposed adaptive control approaches can estimate the angular velocity and the damping and stiffness coefficients including the coupling terms due to the fabrication imperfection. The stability of the closed-loop systems is established with the proposed adaptive control strategy. Numerical simulation is investigated to verify the effectiveness of the proposed control scheme.
Design of a LC-tuned magnetically suspended rotating gyroscope
Jin, Lichuan; Zhang, Huaiwu; Zhong, Zhiyong
2011-04-01
A inductor-capacitor (LC) tuned magnetically suspended rotating gyroscope prototype is designed and analyzed. High permeability ferrite cores are used for providing suspension force, and the rotation system is designed using the switched reluctance motor (SRM) principle. According to the LC-tuned principle, magnetic suspension force expression has been derived. The electromagnetic properties of the gyroscope are simulated by the Ansoft Maxwell software. And our result is expected to be able to serve as a prototype of micro-electromechanical system (MEMS) magnetically suspended rotating gyroscope in future practical applications.
Analysis of mathematical model for micromechanical vibratory wheel gyroscope
LUO Yue-sheng; FAN Chong-jin; TAN Zhen-fan
2003-01-01
By the sketch of structure of MVWG,the working laws of this kind of gyroscope were explained.To the aid of Euler′s Dynamics Equation,a mathematical model of the gyroscope was constructed,and then by the basic working laws of MVWG the model was simplified.Under the conditions of the three axial direction rotations and general rotation,the mathematical model was resolved.And finally by the solutions, the working laws of the gyroscope, the working disparity among all sorts of gyrations and the influences from the gyrations in the axial directions were analysed.
A superconducting gyroscope to test Einstein's general theory of relativity
Everitt, C. W. F.
1978-01-01
Schiff (1960) proposed a new test of general relativity based on measuring the precessions of the spin axes of gyroscopes in earth orbit. Since 1963 a Stanford research team has been developing an experiment to measure the two effects calculated by Schiff. The gyroscope consists of a uniform sphere of fused quartz 38 mm in diameter, coated with superconductor, electrically suspended and spinning at about 170 Hz in vacuum. The paper describes the proposed flight apparatus and the current state of development of the gyroscope, including techniques for manufacturing and measuring the gyro rotor and housing, generating ultralow magnetic fields, and mechanizing the readout.
GPS-Aided Gyroscope-Free Inertial Navigation Systems
Park, Sungsu; Tan, Chin-Woo
2002-01-01
A gyroscope-free inertial navigation system uses only accelerometers to compute navigation trajectories. It is a low-cost navigation system, but its output error diverges at a rate that is an order faster than that of a conventional gyroscope-based system. So integration with an external reference system, such as the Global Positioning System, is necessary for long-term navigation applications. In this pa-per, an integrated GPS and gyroscope-free INS system is designed to achieve stable long-...
MEMS Gyroscopes Based on Acoustic Sagnac Effect
Yuanyuan Yu
2016-12-01
Full Text Available This paper reports on the design, fabrication and preliminary test results of a novel microelectromechanical systems (MEMS device—the acoustic gyroscope. The unique operating mechanism is based on the “acoustic version” of the Sagnac effect in fiber-optic gyros. The device measures the phase difference between two sound waves traveling in opposite directions, and correlates the signal to the angular velocity of the hosting frame. As sound travels significantly slower than light and develops a larger phase change within the same path length, the acoustic gyro can potentially outperform fiber-optic gyros in sensitivity and form factor. It also promises superior stability compared to vibratory MEMS gyros as the design contains no moving parts and is largely insensitive to mechanical stress or temperature. We have carried out systematic simulations and experiments, and developed a series of processes and design rules to implement the device.
Gyroscopic g factor of rare earth metals
Ogata, Y.; Chudo, H.; Ono, M.; Harii, K.; Matsuo, M.; Maekawa, S.; Saitoh, E.
2017-02-01
We develop the in situ magnetization measurement apparatus for observing the Barnett effect consisting of a fluxgate sensor, a high speed rotor with frequencies of up to 1.5 kHz, and a magnetic shield at room temperature. The effective magnetic field (Barnett field) in a sample arising from rotation magnetizes the sample and is proportional to the rotational frequency. The gyroscopic g factor, g ' , of rare earth metals, in particular, Gd, Tb, and Dy, was estimated to be 2.00 ± 0.08, 1.53 ± 0.17, and 1.15 ± 0.32, respectively, from the slopes of the rotation dependence of the Barnett field. This study provides a technique to determine the g ' factor even in samples where the spectroscopic method may not be available.
Solid-state ring laser gyroscope
Schwartz, S.
The ring laser gyroscope is a rotation sensor used in most kinds of inertial navigation units. It usually consists in a ring cavity filled with a mixture of helium and neon, together with high-voltage pumping electrodes. The use of a gaseous gain medium, while resulting naturally in a stable bidirectional regime enabling rotation sensing, is however the main industrially limiting factor for the ring laser gyroscopes in terms of cost, reliability and lifetime. We study in this book the possibility of substituting for the gaseous gain medium a solid-state medium (diode-pumped Nd-YAG). For this, a theoretical and experimental overview of the lasing regimes of the solid-state ring laser is reported. We show that the bidirectional emission can be obtained thanks to a feedback loop acting on the states of polarization and inducing differential losses proportional to the difference of intensity between the counterpropagating modes. This leads to the achievement of a solid-state ring laser gyroscope, whose frequency response is modified by mode coupling effects. Several configurations, either mechanically or optically based, are then successively studied, with a view to improving the quality of this frequency response. In particular, vibration of the gain crystal along the longitudinal axis appears to be a very promising technique for reaching high inertial performances with a solid-state ring laser gyroscope. Gyrolaser à état solide. Le gyrolaser est un capteur de rotation utilisé dans la plupart des centrales de navigation inertielle. Dans sa forme usuelle, il est constitué d'une cavité laser en anneau remplie d'un mélange d'hélium et de néon pompé par des électrodes à haute tension. L'utilisation d'un milieu amplificateur gazeux, si elle permet de garantir naturellement le fonctionnement bidirectionnel stable nécessaire à la mesure des rotations, constitue en revanche la principale limitation industrielle des gyrolasers actuels en termes de coût, fiabilit
The carrier-generating analysis of MEMS gyroscope interface circuit
GuangMin Yuan
2014-03-01
Full Text Available In this paper, the main factors which influence the noise ratio of gyroscope output signal were analysed, according to the MEMS gyro interface circuit technology. A working principle of a carrier in the gyroscope circuit was discussed, the process formula of the carrier amplitude and frequency in the interface circuit of modulation and demodulation was deduced, and the error components lead-in from carrier to gyroscope circuit was distinguished. Several commonly used carrier-generating circuit schemes were analysed and compared, and a carrier-generating program in the interface circuits of the micro-gyroscope was designed, which was applied in a MEMS gyro developed by our laboratory. The measurement results show that the amplitude stability and frequency stability is 1.3 ppm and 12 ppm, respectively, meeting the performance requirements of carrier generating in the MEMS gyro circuit.
Temperature Dependent Characteristics of the JPL Silcon MEMS Gyroscope
Shcheglov, K.; Evans, C.; Gutierrez, R.; Tang, T.
2000-01-01
Advances in aeronautics and space technology have created a need for miniaturized navigation instruments such as gyroscopes, a need wich is currently beig addressed by a number of micromachined designs.
The carrier-generating analysis of MEMS gyroscope interface circuit
Yuan, GuangMin; Yuan, Weizheng; Zhu, Xiaobo; Chang, HongLong
2014-03-01
In this paper, the main factors which influence the noise ratio of gyroscope output signal were analysed, according to the MEMS gyro interface circuit technology. A working principle of a carrier in the gyroscope circuit was discussed, the process formula of the carrier amplitude and frequency in the interface circuit of modulation and demodulation was deduced, and the error components lead-in from carrier to gyroscope circuit was distinguished. Several commonly used carrier-generating circuit schemes were analysed and compared, and a carrier-generating program in the interface circuits of the micro-gyroscope was designed, which was applied in a MEMS gyro developed by our laboratory. The measurement results show that the amplitude stability and frequency stability is 1.3 ppm and 12 ppm, respectively, meeting the performance requirements of carrier generating in the MEMS gyro circuit.
Dual axis operation of a micromachined rate gyroscope
Juneau, T. [BSAC, Berkeley, CA (United States); Pisano, A.P. [Univ. California, Berkeley, CA (United States). Dept. of Mechanical Engineering; Smith, J. [Sandia National Lab., Albuquerque, NM (United States)
1997-04-01
Since micromachining technology has raised the prospect of fabricating high performance sensors without the associated high cost and large size, many researchers have investigated micromachined rate gyroscopes. The vast majority of research has focused on single input axis rate gyroscopes, but this paper presents work on a dual input axis micromachined rate gyroscope. The key to successful simultaneous dual axis operation is the quad symmetry of the circular oscillating rotor design. Untuned gyroscopes with mismatched modes yielded random walk as low as 10{degrees}/{radical}hour with cross sensitivity ranging from 6% to 16%. Mode frequency matching via electrostatic tuning allowed performance better than 2{degrees}/{radical}hour, but at the expense of excessive cross sensitivity.
Modification of piezoelectric vibratory gyroscope resonator parameters by feedback control
Loveday, PW
1998-09-01
Full Text Available A method for analyzing the effect of feedback control on the dynamics of piezoelectric resonators used in vibratory gyroscopes has been developed. This method can be used to determine the feasibility of replacing the traditional mechanical balancing...
Miniature, Variable-Speed Control Moment Gyroscope Project
National Aeronautics and Space Administration — The overall goal of this project is to design, develop, demonstrate, and deliver a miniature, variable speed control moment gyroscope (MVS CMG) for use on small...
Dynamics of an all-optical atomic spin gyroscope.
Fang, Jiancheng; Wan, Shuangai; Yuan, Heng
2013-10-20
We present the transfer function of an all-optical atomic spin gyroscope through a series of differential equations and validate the transfer function by experimental test. A transfer function is the basis for further control system design. We build the differential equations based on a complete set of Bloch equations describing the all-optical atomic spin gyroscope, and obtain the transfer function through application of the Laplace transformation to these differential equations. Moreover, we experimentally validate the transfer function in an all-optical Cs-Xe129 atomic spin gyroscope through a series of step responses. This transfer function is convenient for analysis of the form of control system required. Furthermore, it is available for the design of the control system specifically to improve the performance of all-optical atomic spin gyroscopes.
Surface Roughness Effects on Vortex Torque of Air Supported Gyroscope
LIANG Yingchun; LIU Jingshi; SUN Yazhou; LU Lihua
2011-01-01
In order to improve the drift precision of air supported gyroscope, effects of surface roughness magnitude and direction on vortex torque of air supported gyroscope are studied. Based on Christensen's rough surface stochastic model and consistency transformation method, Reynolds equation of air supported gyroscope containing surface roughness information is established.Also effects of mathematical models of main machining errors on vortex torque are established. By using finite element method,the Reynolds equation is solved numerically and the vortex torque in the presence of machining errors and surface roughness is calculated. The results show that surface roughness of slit has a significant effect on vortex torque. Transverse surface roughness makes vortex torque greater, while longitudinal surface roughness makes vortex torque smaller. The maximal difference approaches 11.4％ during the range analyzed in this article. However surface roughness of journal influences vortex torque insignificantly. The research is of great significance for designing and manufacturing air supported gyroscope and predicting its performance.
Resonant microsphere gyroscope based on a double Faraday rotator system.
Xie, Chengfeng; Tang, Jun; Cui, Danfeng; Wu, Dajin; Zhang, Chengfei; Li, Chunming; Zhen, Yongqiu; Xue, Chenyang; Liu, Jun
2016-10-15
The resonant microsphere gyroscope is proposed based on a double Faraday rotator system for the resonant microsphere gyroscope (RMSG) that is characterized by low insertion losses and does not destroy the reciprocity of the gyroscope system. Use of the echo suppression structure and the orthogonal polarization method can effectively inhibit both the backscattering noise and the polarization error, and reduce them below the system sensitivity limit. The resonance asymmetry rate dropped from 34.2% to 2.9% after optimization of the backscattering noise and the polarization noise, which greatly improved the bias stability and the scale factor linearity of the proposed system. Additionally, based on the optimum parameters for the double Faraday rotator system, a bias stability of 0.04°/s has been established for an integration time of 10 s in 1000 s in a resonator microsphere gyroscope using a microsphere resonator with a diameter of 1 mm and a Q of 7.2×106.
Gyroscope based on a crystalline optical WGM microresonator (Conference Presentation)
Liang, Wei; Ilchenko, Vladimir S.; Eliyahu, Danny; Savchenkov, Anatoliy A.; Matsko, Andrey B.; Maleki, Lute
2017-02-01
We report on a study of performance of both active and passive optical gyroscopes based on high finesse crystalline whispering gallery mode (WGM) resonators. We show that the sensitivity of the devices is ultimately limited due to the nonlinearity of the resonator host material. A gyroscope characterized with 0.02 deg/hr^1/2 angle random walk and 2 deg/hr bias drift is demonstrated.
Vorticity, Gyroscopic precession, and Spin-Curvature Force
Liang, Wei Chieh; Lee, Si Chen
2012-01-01
In investigating the relation between vorticity and gyroscopic precession, we calculate the vorticity vector in Godel, Kerr, Lewis, Schwarzschild, Minkowski metric and find out the vorticity vector of the specific observers is the angular velocity of gyroscopic precession. Furthermore, considering space-time torsion will flip the vorticity and spin-curvature force to opposite sign. This result is very similar to the behavior of positive and negative helicity of quantum spin in Stern-Gerlach f...
Ring-laser gyroscope system using dispersive element(s)
Smith, David D. (Inventor)
2010-01-01
A ring-laser gyroscope system includes a ring-laser gyroscope (RLG) and at least one dispersive element optically coupled to the RLG's ring-shaped optical path. Each dispersive element has a resonant frequency that is approximately equal to the RLG's lasing frequency. A group index of refraction defined collectively by the dispersive element(s) has (i) a real portion that is greater than zero and less than one, and (ii) an imaginary portion that is less than zero.
Optimal design of SAW-based gyroscope to improve sensitivity
Oh, Haekwan; Yang, Sangsik; Lee, Keekeun
2010-02-01
A surface acoustic wave (SAW)-based gyroscope was developed on a piezoelectric substrate. The developed gyroscope consists of two SAW oscillators, metallic dots, and absorber. Coupling of mode (COM) modeling was conducted to determine the optimal device parameters prior to fabrication. Depending on the angular velocity, the difference of the oscillation frequency was modulated. The obtained sensitivity was approximately 52.35 Hz/deg.s at an angular rate range of 0~1000 deg/s.
Initial Test Results from a 3-axis Vibrating Ring Gyroscope
Gallacher, B J; Neasham, J A; Burdess, J S; Harris, A J [INSAT University of Newcastle upon Tyne NE1 7RU (United Kingdom)
2006-04-01
There are several application areas where the simultaneous measurement of rates of rotation about three mutually orthogonal axes is required. In this paper the principle features of a 3-axis vibrating ring gyroscope are described. The fabrication process for the gyroscope is presented and employs standard MEMS techniques. The modal properties for the ring are measured experimentally using laser vibrometry and electrostatic sensing and compared with the design predictions. In operation as a rate gyroscope it is necessary to excite the primary motion of the gyroscope and control is amplitude. As Q-factors of vibratory gyroscope are typically of the order 10{sup 3}-10{sup 4} slight variations in environmental conditions will perturb the natural frequency of the primary mode significantly. To ensure the primary motion of the gyroscope is maintained with constant amplitude a control scheme employing both frequency tracking and amplitude control is required. An electronic control system using digital signal processing (DSP) has been developed to ensure excitation of the primary motion occurs at resonance with controlled amplitude. The control scheme employs an embedded processor to generate the drive frequency (via a D/A converter) and to monitor the primary vibration (via an A/D converter). Experimental results from the control scheme highlighting its effectiveness over conventional PLL approaches are presented.
Stellar Gyroscope for Determining Attitude of a Spacecraft
Pain, Bedabrata; Hancock, Bruce; Liebe, Carl; Mellstrom, Jeffrey
2005-01-01
A paper introduces the concept of a stellar gyroscope, currently at an early stage of development, for determining the attitude or spin axis, and spin rate of a spacecraft. Like star trackers, which are commercially available, a stellar gyroscope would capture and process images of stars to determine the orientation of a spacecraft in celestial coordinates. Star trackers utilize chargecoupled devices as image detectors and are capable of tracking attitudes at spin rates of no more than a few degrees per second and update rates typically gyroscope would utilize an activepixel sensor as an image detector and would be capable of tracking attitude at a slew rate as high as 50 deg/s, with an update rate as high as 200 Hz. Moreover, a stellar gyroscope would be capable of measuring a slew rate up to 420 deg/s. Whereas a Sun sensor and a three-axis mechanical gyroscope are typically needed to complement a star tracker, a stellar gyroscope would function without them; consequently, the mass, power consumption, and mechanical complexity of an attitude-determination system could be reduced considerably.
Molecular quantum rotors in gyroscopic motion with a nonspreading rotational wavepacket
Yun, Sang Jae
2015-01-01
We provide a way of generating and observing molecular quantum gyroscopic motion that resembles gyroscopic motion of classical rotors. After producing a nonspreading rotational wavepacket called a cogwheel state, one can generate a gyroscopic precession motion by applying an external magnetic field interacting through a rotational magnetic dipole moment. The quantum rotors, realized with linear nonparamagnetic ionic molecules trapped in an ion trap, can keep their gyroscopic motion for a long time in a collectively synchronized fashion. A Coulomb-explosion technique is suggested to observe the gyroscopic motion. Despite limited molecular species, the observation of the gyroscopic motion can be adopted as a method to measure rotational g factors of molecules.
Gyroscopic stabilization and indefimite damped systems
Pommer, Christian
a class of feasibel skew-Hermitian matrices A depending on the choise of M. The theory can be applied to dynamical systems of the form x''(t) + ( dD + g G) x'(t) + K x(t) = 0 where G is a skew symmetric gyrocopic matrix, D is a symmetric indefinite damping matrix and K > 0 is a positive definite stiffness......An important issue is how to modify a given unstable matrix in such a way that the resulting matrix is stable. We investigate in general under which condition a matrix M+A is stable,where M is an arbitrary matrix and A is skew-Hermitian. We show that if trace(M) > 0 it is always possible to find...... matrix. d and g are scaling factors used to control the stability of the system. It is quite astonnishing that when the damping matrix D is indefinite the system can under certain conditions be stable even if there are no gyroscopic forces G present The Lyapunov matrix equation is used to predict...
Modeling and optimizing of the random atomic spin gyroscope drift based on the atomic spin gyroscope
Quan, Wei; Lv, Lin; Liu, Baiqi
2014-11-01
In order to improve the atom spin gyroscope's operational accuracy and compensate the random error caused by the nonlinear and weak-stability characteristic of the random atomic spin gyroscope (ASG) drift, the hybrid random drift error model based on autoregressive (AR) and genetic programming (GP) + genetic algorithm (GA) technique is established. The time series of random ASG drift is taken as the study object. The time series of random ASG drift is acquired by analyzing and preprocessing the measured data of ASG. The linear section model is established based on AR technique. After that, the nonlinear section model is built based on GP technique and GA is used to optimize the coefficients of the mathematic expression acquired by GP in order to obtain a more accurate model. The simulation result indicates that this hybrid model can effectively reflect the characteristics of the ASG's random drift. The square error of the ASG's random drift is reduced by 92.40%. Comparing with the AR technique and the GP + GA technique, the random drift is reduced by 9.34% and 5.06%, respectively. The hybrid modeling method can effectively compensate the ASG's random drift and improve the stability of the system.
Modeling and optimizing of the random atomic spin gyroscope drift based on the atomic spin gyroscope
Quan, Wei; Lv, Lin, E-mail: lvlinlch1990@163.com; Liu, Baiqi [School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191 (China)
2014-11-15
In order to improve the atom spin gyroscope's operational accuracy and compensate the random error caused by the nonlinear and weak-stability characteristic of the random atomic spin gyroscope (ASG) drift, the hybrid random drift error model based on autoregressive (AR) and genetic programming (GP) + genetic algorithm (GA) technique is established. The time series of random ASG drift is taken as the study object. The time series of random ASG drift is acquired by analyzing and preprocessing the measured data of ASG. The linear section model is established based on AR technique. After that, the nonlinear section model is built based on GP technique and GA is used to optimize the coefficients of the mathematic expression acquired by GP in order to obtain a more accurate model. The simulation result indicates that this hybrid model can effectively reflect the characteristics of the ASG's random drift. The square error of the ASG's random drift is reduced by 92.40%. Comparing with the AR technique and the GP + GA technique, the random drift is reduced by 9.34% and 5.06%, respectively. The hybrid modeling method can effectively compensate the ASG's random drift and improve the stability of the system.
Quan, Wei; Lv, Lin; Liu, Baiqi
2014-11-01
In order to improve the atom spin gyroscope's operational accuracy and compensate the random error caused by the nonlinear and weak-stability characteristic of the random atomic spin gyroscope (ASG) drift, the hybrid random drift error model based on autoregressive (AR) and genetic programming (GP) + genetic algorithm (GA) technique is established. The time series of random ASG drift is taken as the study object. The time series of random ASG drift is acquired by analyzing and preprocessing the measured data of ASG. The linear section model is established based on AR technique. After that, the nonlinear section model is built based on GP technique and GA is used to optimize the coefficients of the mathematic expression acquired by GP in order to obtain a more accurate model. The simulation result indicates that this hybrid model can effectively reflect the characteristics of the ASG's random drift. The square error of the ASG's random drift is reduced by 92.40%. Comparing with the AR technique and the GP + GA technique, the random drift is reduced by 9.34% and 5.06%, respectively. The hybrid modeling method can effectively compensate the ASG's random drift and improve the stability of the system.
Nuclear-Spin Gyroscope Based on an Atomic Co-Magnetometer
Romalis, Michael; Komack, Tom; Ghost, Rajat
2008-01-01
An experimental nuclear-spin gyroscope is based on an alkali-metal/noblegas co-magnetometer, which automatically cancels the effects of magnetic fields. Whereas the performances of prior nuclear-spin gyroscopes are limited by sensitivity to magnetic fields, this gyroscope is insensitive to magnetic fields and to other external perturbations. In addition, relative to prior nuclear-spin gyroscopes, this one exhibits greater sensitivity to rotation. There is commercial interest in development of small, highly sensitive gyroscopes. The present experimental device could be a prototype for development of nuclear spin gyroscopes suitable for navigation. In comparison with fiber-optic gyroscopes, these gyroscopes would draw less power and would be smaller, lighter, more sensitive, and less costly.
Gyroscope precession in special and general relativity from basic principles
Jonsson, Rickard M.
2007-05-01
In special relativity a gyroscope that is suspended in a torque-free manner will precess as it is moved along a curved path relative to an inertial frame S. We explain this effect, which is known as Thomas precession, by considering a real grid that moves along with the gyroscope, and that by definition is not rotating as observed from its own momentary inertial rest frame. From the basic properties of the Lorentz transformation we deduce how the form and rotation of the grid (and hence the gyroscope) will evolve relative to S. As an intermediate step we consider how the grid would appear if it were not length contracted along the direction of motion. We show that the uncontracted grid obeys a simple law of rotation. This law simplifies the analysis of spin precession compared to more traditional approaches based on Fermi transport. We also consider gyroscope precession relative to an accelerated reference frame and show that there are extra precession effects that can be explained in a way analogous to the Thomas precession. Although fully relativistically correct, the entire analysis is carried out using three-vectors. By using the equivalence principle the formalism can also be applied to static spacetimes in general relativity. As an example, we calculate the precession of a gyroscope orbiting a static black hole.
Jieyu Liu; Qiang Shen; Weiwei Qin
2015-01-01
A signal processing technique is presented to improve the angular rate accuracy of Micro-Electro-Mechanical System (MEMS) gyroscope by combining numerous gyroscopes. Based on the conditional correlation between gyroscopes, a dynamic data fusion model is established. Firstly, the gyroscope error model is built through Generalized Autoregressive Conditional Heteroskedasticity (GARCH) process to improve overall performance. Then the conditional covariance obtained through dynamic conditional cor...
Yang, Xiao-Dong; An, Hua-Zhen; Qian, Ying-Jing; Zhang, Wei; Melnik, Roderick V. N.
2016-12-01
The synchronous in-unison motions in vibrational mechanics and the non-synchronous out-of-unison motions are the most frequently found periodic motions in every fields of science and everywhere in the universe. In contrast to the in-unison normal modes, the out-of-unison complex modes feature a π/2 phase difference. By the complex mode analysis we classify the out-of-unison planar motion into two types, gyroscopic motions and elliptic motions. It is found that the gyroscopic and elliptic motions have different characteristics for a two degree-of-freedom (2DOF) system. The gyroscopic motion involves two distinct frequencies with, respectively, two corresponding complex modes. However, the elliptic motion the nonlinear non-gyroscopic 2DOF system with repeated frequencies involves only single frequency with corresponding two complex modes. The study of the differences and similarities of the gyroscopic and elliptic modes sheds new light on the in-depth mechanism of the planar motions in the universe and the man-made engineering systems.
A Micro-Machined Gyroscope for Rotating Aircraft
Yan, Qingwen; Zhang, Fuxue; Zhang, Wei
2012-01-01
In this paper we present recent work on the design, fabrication by silicon micromachining, and packaging of a new gyroscope for stabilizing the autopilot of rotating aircraft. It operates based on oscillation of the silicon pendulum between two torsion girders for detecting the Coriolis force. The oscillation of the pendulum is initiated by the rolling and deflecting motion of the rotating carrier. Therefore, the frequency and amplitude of the oscillation are proportional to the rolling frequency and deflecting angular rate of the rotating carrier, and are measured by the sensing electrodes. A modulated pulse with constant amplitude and unequal width is obtained by a linearizing process of the gyroscope output signal and used to control the deflection of the rotating aircraft. Experimental results show that the gyroscope has a resolution of 0.008 °/s and a bias of 56.18 °/h. PMID:23012572
Hybrid fiber resonator employing LRSPP waveguide coupler for gyroscope
Qian, Guang; Fu, Xing-Chang; Zhang, Li-Jiang; Tang, Jie; Liu, Yi-Ran; Zhang, Xiao-Yang; Zhang, Tong
2017-01-01
Polarization error and temperature noise are two main limits to the performance of resonant fiber optic gyroscope (RFOG). To overcome these limits, we demonstrated a hybrid resonator consisting of a polymer-based long-range surface plasmon polariton (LRSPP) waveguide coupler and a silica fiber. Single-polarization property of LRSPP waveguide and the offsetting of the opposite thermo-optical characteristics between the polymer-based LRSPP waveguide and the silica fiber can effectively inhibit both the polarization error and the temperature noise of RFOG. The measured resonance spectrum of the hybrid resonator shows the absence of polarization noise. The temperature dependence of wavelength shift (TDWS) of resonator dropped to about 2 pm/°C, or even to 0 pm/°C with optimal structure, which dramatically improves the temperature stability of gyroscope system. In addition, the hybrid resonator also shows tremendous application potential in rate-grade and tactical-grade gyroscopes. PMID:28117412
Light-shift measurement and suppression in atomic spin gyroscope.
Fang, Jiancheng; Wan, Shuangai; Chen, Yao; Li, Rujie
2012-11-01
We present a method to determine and suppress the light shift in an atomic spin gyroscope. This method doesn't require additional drive source or frequency modulation, and it is based on the dynamics of an atomic spin gyroscope to determine a clean curve as a function of the frequency of the pump beam that predicts the zero light shift. We experimentally validate the method in a Cs-(129)Xe atomic spin gyroscope and verify the results through numerical simulations. This method can also be applied to an atomic spin magnetometer based on the spin-exchange relaxation-free exchange that experiences light shift. The method is useful for atomic spin devices because it can improve long-term performance and reduce the influence of the laser.
Optical gyroscope with controllable dispersion in four wave mixing regime.
Mikhailov, Eugeniy; Wolfe, Owen; Du, Shuangli; Rochester, Simon; Budker, Dmitry; Novikova, Irina
2016-05-01
We present our work towards realization of the fast-light gyroscope prototype, in which the sensitivity enhancement (compared to a regular laser gyroscopes) is achieved by adjusting the intra-cavity dispersion. We discuss schematics and underlying nonlinear effects leading to the negative dispersion in Rb vapor: level structure, optically addressed transitions, and configuration of the resonant cavity. We investigate dependence of the pulling factor (i.e., the ratio of the lasing frequency shift with the change of the cavity length to the equivalent resonance frequency shift in the empty cavity) on pump lasers detunings, power, and density of the atomic vapor. The observation of the pulling factor exceeding unity implies the gyroscope sensitivity improvement over the regular system This work is supported by Naval Air Warfare Center STTR program N68335-11-C-0428.
Thermal and Quantum Mechanical Noise of a Superfluid Gyroscope
Chui, Talso; Penanen, Konstantin
2004-01-01
A potential application of a superfluid gyroscope is for real-time measurements of the small variations in the rotational speed of the Earth, the Moon, and Mars. Such rotational jitter, if not measured and corrected for, will be a limiting factor on the resolution potential of a GPS system. This limitation will prevent many automation concepts in navigation, construction, and biomedical examination from being realized. We present the calculation of thermal and quantum-mechanical phase noise across the Josephson junction of a superfluid gyroscope. This allows us to derive the fundamental limits on the performance of a superfluid gyroscope. We show that the fundamental limit on real-time GPS due to rotational jitter can be reduced to well below 1 millimeter/day. Other limitations and their potential mitigation will also be discussed.
Scale factor characteristics of laser gyroscopes of different sizes
Fan, Zhenfang; Lu, Guangfeng; Hu, Shomin; Wang, Zhiguo; Luo, Hui
2016-04-01
The scale factor correction characteristics of two ring laser gyroscopes of different sizes are investigated systematically in this paper. The variation in the scale factor can reach 144 or 70 ppm for square gyroscopes with arm lengths of 8.4 cm or 15.6 cm, respectively, during frequency tuning. A dip in the scale factor is observed at the line center of the gain characteristic for both gyroscope sizes. When a different longitudinal mode is excited, the scale factor behavior remains the same, but the scale factor values differ slightly from those derived from geometric prediction. The scale factor tends to decrease with increasing discharge current, but the sensitivity of the scale factor to variations in the excitation decreases with increasing discharge current.
Periodic Error Compensation for Quartz MEMS Gyroscope Drift of INS
Xu Jianmao; Zhang Haipeng; Sun Junzhong
2007-01-01
In order to improve the navigation accuracy of an inertial navigation system (INS), composed of quartz gyroscopes, the existing real-time compensation methods for periodic errors in quartz gyroscope drift and the periodic error term relationship between sampled original data and smoothed data are reviewed. On the base of the results, a new compensation method called using former period characteristics to compensate latter smoothness data (UFCL for short) method is proposed considering the INS working characteristics. This new method uses the original data without smoothing to work out an error conversion formula at the INS initial alignment time and then compensate the smoothed data errors by way of the formula at the navigation time. Both theoretical analysis and experimental results demonstrate that this method is able to cut down on computational time and raise the accuracy which makes it a better real-time compensation approach for periodic error terms of quartz micro electronic mechanical system (MEMS) gyroscope's zero drift.
A Micro-Machined Gyroscope for Rotating Aircraft
Fuxue Zhang
2012-07-01
Full Text Available In this paper we present recent work on the design, fabrication by silicon micromachining, and packaging of a new gyroscope for stabilizing the autopilot of rotating aircraft. It operates based on oscillation of the silicon pendulum between two torsion girders for detecting the Coriolis force. The oscillation of the pendulum is initiated by the rolling and deflecting motion of the rotating carrier. Therefore, the frequency and amplitude of the oscillation are proportional to the rolling frequency and deflecting angular rate of the rotating carrier, and are measured by the sensing electrodes. A modulated pulse with constant amplitude and unequal width is obtained by a linearizing process of the gyroscope output signal and used to control the deflection of the rotating aircraft. Experimental results show that the gyroscope has a resolution of 0.008 °/s and a bias of 56.18 °/h.
Miniature, Variable-Speed Control Moment Gyroscope
Bilski, Steve; Kline-Schoder, Robert; Sorensen, Paul
2011-01-01
The Miniature Variable-Speed Control Moment Gyroscope (MVS-CMG) was designed for small satellites (mass from less than 1 kg up to 500 kg). Currently available CMGs are too large and heavy, and available miniature CMGs do not provide sufficient control authority for use on practical satellites. This primarily results from the need to greatly increase the speed of rotation of the flywheel in order to reduce the flywheel size and mass. This goal was achieved by making use of a proprietary, space-qualified, high-speed (100,000 rpm) motor technology to spin the flywheel at a speed ten times faster than other known miniature CMGs under development. NASA is supporting innovations in propulsion, power, and guidance and navigation systems for low-cost small spacecraft. One of the key enabling technologies is attitude control mechanisms. CMGs are particularly attractive for spacecraft attitude control since they can achieve higher torques with lower mass and power than reaction wheels, and they provide continuous torque capability that enables precision pointing (in contrast to on-off thruster control). The aim of this work was to develop a miniature, variable-speed CMG that is sized for use on small satellites. To achieve improved agility, these spacecraft must be able to slew at high rate, which requires attitude control actuators that can apply torques on the order of 5 N-m. The MVS-CMG is specifically designed to achieve a high-torque output with a minimum flywheel and system mass. The flywheel can be run over a wide range of speeds, which is important to help reduce/eliminate potential gimbal lock, and can be used to optimize the operational envelope of the CMG.
Microfibrous metallic cloth for acoustic isolation of a MEMS gyroscope
Dean, Robert; Burch, Nesha; Black, Meagan; Beal, Aubrey; Flowers, George
2011-04-01
The response of a MEMS device that is exposed to a harsh environment may range from an increased noise floor to a completely erroneous output to temporary or even permanent device failure. One such harsh environment is high power acoustic energy possessing high frequency components. This type of environment sometimes occurs in small aerospace vehicles. In this type of operating environment, high frequency acoustic energy can be transferred to a MEMS gyroscope die through the device packaging. If the acoustic noise possesses a sufficiently strong component at the resonant frequency of the gyroscope, it will overexcite the motion of the proof mass, resulting in the deleterious effect of corrupted angular rate measurement. Therefore if the device or system packaging can be improved to sufficiently isolate the gyroscope die from environmental acoustic energy, the sensor may find new applications in this type of harsh environment. This research effort explored the use of microfibrous metallic cloth for isolating the gyroscope die from environmental acoustic excitation. Microfibrous cloth is a composite of fused, intermingled metal fibers and has a variety of typical uses involving chemical processing applications and filtering. Specifically, this research consisted of experimental evaluations of multiple layers of packed microfibrous cloth composed of sintered nickel material. The packed cloth was used to provide acoustic isolation for a test MEMS gyroscope, the Analog Devices ADXRS300. The results of this investigation revealed that the intermingling of the various fibers of the metallic cloth provided a significant contact area between the fiber strands and voids, which enhanced the acoustic damping of the material. As a result, the nickel cloth was discovered to be an effective acoustic isolation material for this particular MEMS gyroscope.
A New MEMS Gyroscope Used for Single-Channel Damping.
Zhang, Zengping; Zhang, Wei; Zhang, Fuxue; Wang, Biao
2015-04-30
The silicon micromechanical gyroscope, which will be introduced in this paper, represents a novel MEMS gyroscope concept. It is used for the damping of a single-channel control system of rotating aircraft. It differs from common MEMS gyroscopes in that does not have a drive structure, itself, and only has a sense structure. It is installed on a rotating aircraft, and utilizes the aircraft spin to make its sensing element obtain angular momentum. When the aircraft is subjected to an angular rotation, a periodic Coriolis force is induced in the direction orthogonal to both the angular momentum and the angular velocity input axis. This novel MEMS gyroscope can thus sense angular velocity inputs. The output sensing signal is exactly an amplitude-modulation signal. Its envelope is proportional to the input angular velocity, and the carrier frequency corresponds to the spin frequency of the rotating aircraft, so the MEMS gyroscope can not only sense the transverse angular rotation of an aircraft, but also automatically change the carrier frequency over the change of spin frequency, making it very suitable for the damping of a single-channel control system of a rotating aircraft. In this paper, the motion equation of the MEMS gyroscope has been derived. Then, an analysis has been carried to solve the motion equation and dynamic parameters. Finally, an experimental validation has been done based on a precision three axis rate table. The correlation coefficients between the tested data and the theoretical values are 0.9969, 0.9872 and 0.9842, respectively. These results demonstrate that both the design and sensing mechanism are correct.
A New MEMS Gyroscope Used for Single-Channel Damping
Zengping Zhang
2015-04-01
Full Text Available The silicon micromechanical gyroscope, which will be introduced in this paper, represents a novel MEMS gyroscope concept. It is used for the damping of a single-channel control system of rotating aircraft. It differs from common MEMS gyroscopes in that does not have a drive structure, itself, and only has a sense structure. It is installed on a rotating aircraft, and utilizes the aircraft spin to make its sensing element obtain angular momentum. When the aircraft is subjected to an angular rotation, a periodic Coriolis force is induced in the direction orthogonal to both the angular momentum and the angular velocity input axis. This novel MEMS gyroscope can thus sense angular velocity inputs. The output sensing signal is exactly an amplitude-modulation signal. Its envelope is proportional to the input angular velocity, and the carrier frequency corresponds to the spin frequency of the rotating aircraft, so the MEMS gyroscope can not only sense the transverse angular rotation of an aircraft, but also automatically change the carrier frequency over the change of spin frequency, making it very suitable for the damping of a single-channel control system of a rotating aircraft. In this paper, the motion equation of the MEMS gyroscope has been derived. Then, an analysis has been carried to solve the motion equation and dynamic parameters. Finally, an experimental validation has been done based on a precision three axis rate table. The correlation coefficients between the tested data and the theoretical values are 0.9969, 0.9872 and 0.9842, respectively. These results demonstrate that both the design and sensing mechanism are correct.
Vorticity, gyroscopic precession, and spin-curvature force
Liang, Wei Chieh; Lee, Si Chen
2013-02-01
In investigating the relationship between vorticity and gyroscopic precession, we calculate the vorticity vector in Godel, Kerr, Lewis, Schwarzschild, and Minkowski metrics and find that the vorticity vector of the specific observers is the angular velocity of the gyroscopic precession. Furthermore, when space-time torsion is included, the vorticity and spin-curvature force change sign. This result is very similar to the behavior of the positive and negative helicities of quantum spin in the Stern-Gerlach force. It implies that the inclusion of torsion will lead to an analogous property of quantum spin even in classical treatment.
Vorticity, Gyroscopic precession, and Spin-Curvature Force
Liang, Wei Chieh
2012-01-01
In investigating the relation between vorticity and gyroscopic precession, we calculate the vorticity vector in Godel, Kerr, Lewis, Schwarzschild, Minkowski metric and find out the vorticity vector of the specific observers is the angular velocity of gyroscopic precession. Furthermore, considering space-time torsion will flip the vorticity and spin-curvature force to opposite sign. This result is very similar to the behavior of positive and negative helicity of quantum spin in Stern-Gerlach force. It implies that the inclusion of torsion will lead to analogous property of quantum spin even in classical treatment.
Studying rotational dynamics with a smartphone—accelerometer versus gyroscope
Braskén, Mats; Pörn, Ray
2017-07-01
The wide-spread availability of smartphones makes them a valuable addition to the measurement equipment of both the physics classroom and the instructional physics laboratory, encouraging an active interaction between measurements and modeling activities. Two useful sensors, available in most modern smartphones and tablets, are the 3-axis acceleration sensor and the 3-axis gyroscope. We explore the strengths and weaknesses of each type of sensor and use them to study the rotational dynamics of objects rotating about a fixed axis. Care has to be taken when interpreting acceleration sensor data, and in some cases the gyroscope will allow for rotational measurements not easily replicated using the acceleration sensor.
Droogendijk, H; Brookhuis, R A; de Boer, M J; Sanders, R G P; Krijnen, G J M
2014-10-06
Flies use so-called halteres to sense body rotation based on Coriolis forces for supporting equilibrium reflexes. Inspired by these halteres, a biomimetic gimbal-suspended gyroscope has been developed using microelectromechanical systems (MEMS) technology. Design rules for this type of gyroscope are derived, in which the haltere-inspired MEMS gyroscope is geared towards a large measurement bandwidth and a fast response, rather than towards a high responsivity. Measurements for the biomimetic gyroscope indicate a (drive mode) resonance frequency of about 550 Hz and a damping ratio of 0.9. Further, the theoretical performance of the fly's gyroscopic system and the developed MEMS haltere-based gyroscope is assessed and the potential of this MEMS gyroscope is discussed.
Construction of Lyapunov Function for Dissipative Gyroscopic System
XU Wei; YUAN Bo; AO Ping
2011-01-01
@@ We introduce a force decomposition to construct a potential function in deterministic dynamics described by ordinary differential equations in the context of dissipative gyroscopic systems.Such a potential function serves as the corresponding Lyapunov function for the dynamics,hence it gives both quantitative and qualitative descriptions for stability of motion.As an example we apply our force decomposition to a four-dimensional dissipative gyroscopic system.We explicitly obtain the potential function for all parameter regimes in the linear limit,including those regimes where the Lyapunov function was previously believed not to exist.%We introduce a force decomposition to construct a potential function in deterministic dynamics described by ordinary differential equations in the context of dissipative gyroscopic systems. Such a potential function serves as the corresponding Lyapunov function for the dynamics, hence it gives both quantitative and qualitative descriptions for stability of motion. As an example we apply our force decomposition to a four-dimensional dissipative gyroscopic system. We explicitly obtain the potential function for all parameter regimes in the linear limit, including those regimes where the Lyapunov function was previously believed not to exist.
Understanding Organizational Culture and Communication through a Gyroscope Metaphor
Bisel, Ryan S.; Messersmith, Amber S.; Keyton, Joann
2010-01-01
To fill a critical void in organizational culture pedagogy, the authors present an instructional system that employs the metaphor of a gyroscope to help students understand implicit assumptions in culture research. Working from Martin's nexus approach to organizational culture and Fairhurst and Putnam's tripartite theory of organizational…
Laser gyroscopes. Citations from the NTIS data base
Young, C. G.
1980-05-01
Laser inertial rotation sensors are discussed in approximately 27 citations. Ring lasers, fiber optic ring lasers, and laser or optical gyroscopes are discussed. Technical problems, such as mode coupling and competition, stray scattering, error sources, and analyses, are treated. The design, engineering, construction, and performance of operational hardware are described.
Fiber gyroscope with a double sensitivity employing a polarization splitter.
Zhou, Kejiang; Pan, Shuming; Liu, Shujun; Hu, Keke
2013-04-15
An effective method for enhancing the sensitivity of interferometric fiber-optic gyroscope (IFOG) is presented. Light waves propagate twice along the same sensing coil made of polarization-maintaining fiber in different polarization states by inducing a fiber polarization splitter/combining in the IFOG. Preliminary performance data of a gyro prototype exhibits 0.006°/h bias stability.
Gravity Probe B Gyroscope Electrostatic Suspension System (GSS)
Bencze, William; Hipkins, David; Holmes, Tom; Buchman, Saps; Brumley, Robert
2007-04-01
Presented here is a hybrid digital/analog electrostatic suspension control system for the Gravity Probe B Relativity Mission's science gyroscopes. The chief challenge for this system is to operate over 8 orders of force magnitude while minimizing classical torques on the gyroscope. A novel, adaptive LQE digital control algorithm was developed to meet the high dynamic range requirements for rotor suspension, while minimizing suspension-induced torques. A set of three backup, all-analog proportional-derivative (PD) controllers were provided to maintain rotor centering in the event of computer faults during all phases of the mission. The capacitive position sensing system measured rotor position to a noise floor of 0.15 nm/Hz in the science band (5 - 30 mHz). In addition, this system also applied controlled torques to perform a post spin-up alignment of the gyroscope spin axes to within 10 arc-sec of a desired orientation, and measured the rotor charge to the 2 pC (2 mV) level. The GSS contributed to drag-free operation of the space vehicle by using one of the gyroscopes as an isolated, inertial proof mass and was able to resolve accelerations to the 10-12 g level. On-orbit performance of this system will be discussed in detail.
Understanding Organizational Culture and Communication through a Gyroscope Metaphor
Bisel, Ryan S.; Messersmith, Amber S.; Keyton, Joann
2010-01-01
To fill a critical void in organizational culture pedagogy, the authors present an instructional system that employs the metaphor of a gyroscope to help students understand implicit assumptions in culture research. Working from Martin's nexus approach to organizational culture and Fairhurst and Putnam's tripartite theory of organizational…
General problems of dynamics and control of vibratory gyroscopes
Shatalov, MY
2008-05-01
Full Text Available A general model of operation of vibratory gyroscopes, which is applicable to a broad class of instruments, including cylindrical, disc and micro-machined gyros, is formulated on the basis of analysis of dynamics and control of a hemispherical...
Comments on Stability Properties of Conservative Gyroscopic Systems
Lancaster, Peter; Kliem, Wolfhard
1999-01-01
A conjecture of Renshaw and Mote concerning gyroscopic systems with parameters predicts the eigenvalue locus in the neighborhood of a double-zero eigenvalue. In the present paper, this conjecture is reformulated in the language of generalized eigenvectors, angular splitting, and analytic behavior...
14 CFR 23.371 - Gyroscopic and aerodynamic loads.
2010-01-01
... Flight Loads § 23.371 Gyroscopic and aerodynamic loads. (a) Each engine mount and its supporting... engine mount and its supporting structure must meet the requirements of paragraph (a) of this section and.... (c) For airplanes certificated in the commuter category, each engine mount and its...
Coupled electromechanical model of an imperfect piezoelectric vibrating cylinder gyroscope
Loveday, PW
1996-01-01
Full Text Available which is closed at one end with discrete piezoceramic actuation and sensing elements bonded close to the open end. The operation of the gyroscope and the effect of imperfections are briefly described. The model allows direct comparison with experimental...
Noise Reduction for a MEMS-Gyroscope-Based Head Mouse.
Du, Jiaying; Gerdtman, Christer; Lindén, Maria
2015-01-01
In this paper, four different signal processing algorithms which can be applied to reduce the noise from a MEMS-gyroscope-based computer head mouse are presented. MEMS-gyroscopes are small, light, cheap and widely used in many electrical products. MultiPos, a MEMS-gyroscope-based computer head mouse system was designed for persons with movement disorders. Noise such as physiological tremor and electrical noise is a common problem for the MultiPos system. In this study four different signal processing algorithms were applied and evaluated by simulation in MATLAB and implementation in a dsPIC, with aim to minimize the noise in MultiPos. The algorithms were low-pass filter, Least Mean Square (LMS) algorithm, Kalman filter and Weighted Fourier Linear Combiner (WFLC) algorithm. Comparisons and system tests show that these signal processing algorithms can be used to improve the MultiPos system. The WFLC algorithm was found the best method for noise reduction in the application of a MEMS-gyroscope-based head mouse.
Introducing Gyroscopes Quantitatively without Putting Students into a Spin
McGlynn, Enda
2007-01-01
The uniform precession of a simple form of gyroscope is analysed via a direct application of Newton's laws, using only concepts generally taught to physics and engineering students in the first two years of an undergraduate programme, with an emphasis on understanding the forces and torques acting on the system. This type of approach, in the…
Design and analysis of a gyroscopically controlled micro air vehicle
Thorne, Christopher Everett
Much of the current research on micro air vehicle design relies on aerodynamic forces for attitude control. The aerodynamic environment in which micro air vehicles operate is characterized by a low Reynolds number and is not fully understood, resulting in decreased performance and efficiency when compared to large-scale vehicles. In this work, we propose a new rotary-wing micro air vehicle design that utilizes gyroscopic dynamics for attitude control. Unlike traditional micro air vehicles where attitude control moments are generated by aerodynamic control surfaces, the proposed vehicle will leverage the existing angular momentum of its rotating components to generate gyroscopic moments for controlling attitude. We explore this paradigm in an effort to reduce mechanical complexity that is inherent in blade pitch modulation mechanisms such as the swashplate, and to increase agility and possibly even efficiency when compared to state-of-the-art micro vertical-take-off-and-landing vehicles. The evolution of the mechanical design, including the evaluation of three prototypes that explore the use of gyroscopic attitude control, is presented along with a comprehensive dynamic and aerodynamic model of the third prototype. Two controllers that utilize gyroscopic moments are developed and tested in simulation. In addition, several experiments were performed using a VICON motion tracking system and off-board control. These results will also be presented.
Robust MEMS gyroscope for oil and gas exploration
Lin, David; Miller, Todd
2014-06-01
To satisfy the performance and reliability requirement of a MEMS based harsh environment sensor, the sensor development needs to depart from the classic method of single-discipline technology improvement. In this paper, the authors will describe a Microsystem-based design methodology which considers simultaneous multiple technology domain interaction and achieves performance optimization at the system level to address the harsh environment sensing challenge. This is demonstrated through specific examples of investigating a robust MEMS gyroscope suitable for high temperature and high vibration environments such as down-hole drilling for Oil and Gas applications. In particular, the different mechanisms of temperature-induced errors in MEMS gyroscope are discussed. The error sources include both the direct impact of the gyroscope dynamics by temperature and the indirect perturbation by temperature-induced package stress. For vibration and shock induced failure, the error contributions from the low frequency and high frequency contents are discussed. Different transducer designs with equivalent rate sensitivity can vary with several orders of magnitude in terms of the susceptibility to mechanical vibration. Also shown are the complex interactions among the gyroscopic transducer, packaging and the control electronics, resulting from these temperature and vibration error sources. The microsystem-based design methodology is able to capture such complex interactions and improve the gyroscope temperature and vibration performance. In contrast to other efforts in harsh environment sensing which focus on specific technology domains, the authors strive to demonstrate the need and advantage of addressing MEMS performance and reliability in harsh environment from a microsystem perspective.
Wang, Yang-Yang; Zhang, Tong
2014-01-01
Spontaneous emission noise is an important limit to the performance of active plasmonic devices. Here, we investigate the spontaneous emission noise in the long-range surface plasmon-polariton waveguide based optical gyroscope. A theoretical model of the sensitivity is established to study the incoherent multi-beam interference of spontaneous emission in the gyroscope. Numerical results show that spontaneous emission produces a drift in the transmittance spectra and lowers the signal-to-noise-ratio of the gyroscope. It also strengthens the shot noise to be the main limit to the sensitivity of the gyroscope for high propagation loss. To reduce the negative effects of the spontaneous emission noise on the gyroscope, an external feedback loop is suggested to estimate the drift in the transmittance spectra and therefor enhance the sensitivity. Our work lays a foundation for the improvement of long-range surface plasmon-polariton gyroscope and paves the way to its practical application.
Robust adaptive control of MEMS triaxial gyroscope using fuzzy compensator.
Fei, Juntao; Zhou, Jian
2012-12-01
In this paper, a robust adaptive control strategy using a fuzzy compensator for MEMS triaxial gyroscope, which has system nonlinearities, including model uncertainties and external disturbances, is proposed. A fuzzy logic controller that could compensate for the model uncertainties and external disturbances is incorporated into the adaptive control scheme in the Lyapunov framework. The proposed adaptive fuzzy controller can guarantee the convergence and asymptotical stability of the closed-loop system. The proposed adaptive fuzzy control strategy does not depend on accurate mathematical models, which simplifies the design procedure. The innovative development of intelligent control methods incorporated with conventional control for the MEMS gyroscope is derived with the strict theoretical proof of the Lyapunov stability. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control scheme and demonstrate the satisfactory tracking performance and robustness against model uncertainties and external disturbances compared with conventional adaptive control method.
Sliding mode control of a simulated MEMS gyroscope.
Batur, C; Sreeramreddy, T; Khasawneh, Q
2006-01-01
The microelectromechanical systems (MEMS) are penetrating more and more into measurement and control problems because of their small size, low cost, and low power consumption. The vibrating gyroscope is one of those MEMS devices that will have a significant impact on the stability control systems in transportation industry. This paper studies the design and control of a vibrating gyroscope. The device has been constructed in a Pro-E environment and its model has been simulated in the finite-element domain in order to approximate its dynamic characteristics with a lumped model. A model reference adaptive feedback controller and the sliding mode controller have been considered to guarantee the stability of the device. It is shown that the sliding mode controller of the vibrating proof mass results in a better estimate of the unknown angular velocity than that of the model reference adaptive feedback controller.
Coriolis effects are principally caused by gyroscopic angular acceleration.
Isu, N; Yanagihara, M; Mikuni, T; Koo, J
1994-07-01
A cause of nausea evoked by cross-coupled rotation (termed Coriolis stimulus) was determined. Subjects were provided with two types of cross-coupled rotations: neck-forward flexion (Neck Flx) and upper body-forward flexion (Body Flx) during horizontal whole body rotation at a constant angular velocity. These Coriolis stimuli were given alternatively in an experimental sequence, and the severity of the nausea they evoked was compared by the subjects. The results indicated that the same quality of nausea was evoked by a slightly higher angular velocity during Body Flx (100.5 degrees/s) than during Neck Flx (90 degrees/s). While Body Flx generated Coriolis linear acceleration several times larger than Neck Flx, both the stimuli generated a similar magnitude of gyroscopic angular acceleration in this condition. Therefore, it was inferred that the nausea evoked by a Coriolis stimulus is principally caused by gyroscopic angular acceleration.
A Multi-Fork Z-Axis Quartz Micromachined Gyroscope
Aiying Yang
2013-09-01
Full Text Available A novel multi-fork z-axis gyroscope is presented in this paper. Different from traditional quartz gyroscopes, the lateral electrodes of the sense beam can be arranged in simple patterns; as a result, the fabrication is simplified. High sensitivity is achieved by the multi-fork design. The working principles are introduced, while the finite element method (FEM is used to simulate the modal and sensitivity. A quartz fork is fabricated, and a prototype is assembled. Impedance testing shows that the drive frequency and sense frequency are similar to the simulations, and the quality factor is approximately 10,000 in air. The scale factor is measured to be 18.134 mV/(°/s and the nonlinearity is 0.40% in a full-scale input range of ±250 °/s.
High resolution capacitance detection circuit for rotor micro-gyroscope
Ming-Yuan Ren
2014-03-01
Full Text Available Conventional methods for rotor position detection of micro-gyroscopes include common exciting electrodes (single frequency and common sensing electrodes (frequency multiplex, but they have encountered some problems. So we present a high resolution and low noise pick-off circuit for micro-gyroscopes which utilizes the time multiplex method. The detecting circuit adopts a continuous-time current sensing circuit for capacitance measurement, and its noise analysis of the charge amplifier is introduced. The equivalent output noise power spectral density of phase-sensitive demodulation is 120 nV/Hz1/2. Tests revealed that the whole circuitry has a relative capacitance resolution of 1 × 10−8.
Quantum Spin Gyroscope using NV centers in Diamond
Jaskula, Jean-Christophe; Saha, Kasturi; Ajoy, Ashok; Cappellaro, Paola
2015-05-01
Gyroscopes find wide applications in everyday life from navigation and inertial sensing to rotation sensors in hand-held devices and automobiles. Current devices, based on either atomic or solid-state systems, impose a choice between long-time stability and high sensitivity in a miniaturized system. We are building a solid-state spin gyroscope associated with the Nitrogen-Vacancy (NV) centers in diamond to overcome these constraints. More specifically, we will take advantage of the 14N nuclear spin coherence properties of NV centers and side-collection techniques to achieve high sensitivity of about 1 (mdeg s-1) /√{ (} Hz mm3) . Moreover, by exploiting the four classes of the NV axes, we will be able to determine axis of rotation as well as its rate.
Design and Optimization of Composite Gyroscope Momentum Wheel Rings
Bednarcyk, Brett A.; Arnold, Steven M.
2007-01-01
Stress analysis and preliminary design/optimization procedures are presented for gyroscope momentum wheel rings composed of metallic, metal matrix composite, and polymer matrix composite materials. The design of these components involves simultaneously minimizing both true part volume and mass, while maximizing angular momentum. The stress analysis results are combined with an anisotropic failure criterion to formulate a new sizing procedure that provides considerable insight into the design of gyroscope momentum wheel ring components. Results compare the performance of two optimized metallic designs, an optimized SiC/Ti composite design, and an optimized graphite/epoxy composite design. The graphite/epoxy design appears to be far superior to the competitors considered unless a much greater premium is placed on volume efficiency compared to mass efficiency.
A multi-fork z-axis quartz micromachined gyroscope.
Feng, Lihui; Zhao, Ke; Sun, Yunan; Cui, Jianmin; Cui, Fang; Yang, Aiying
2013-01-01
A novel multi-fork z-axis gyroscope is presented in this paper. Different from traditional quartz gyroscopes, the lateral electrodes of the sense beam can be arranged in simple patterns; as a result, the fabrication is simplified. High sensitivity is achieved by the multi-fork design. The working principles are introduced, while the finite element method (FEM) is used to simulate the modal and sensitivity. A quartz fork is fabricated, and a prototype is assembled. Impedance testing shows that the drive frequency and sense frequency are similar to the simulations, and the quality factor is approximately 10,000 in air. The scale factor is measured to be 18.134 mV/(°/s) and the nonlinearity is 0.40% in a full-scale input range of ±250 °/s.
Analytic solution of differential equation for gyroscope's motions
Tyurekhodjaev, Abibulla N.; Mamatova, Gulnar U.
2016-08-01
Problems of motion of a rigid body with a fixed point are one of the urgent problems in classical mechanics. A feature of this problem is that, despite the important results achieved by outstanding mathematicians in the last two centuries, there is still no complete solution. This paper obtains an analytical solution of the problem of motion of an axisymmetric rigid body with variable inertia moments in resistant environment described by the system of nonlinear differential equations of L. Euler, involving the partial discretization method for nonlinear differential equations, which was built by A. N. Tyurekhodjaev based on the theory of generalized functions. To such problems belong gyroscopic instruments, in particular, and especially gyroscopes.
A Low-Noise Readout Circuit for Gyroscopes
Guanshi Wang; Xiaowei Liu; Changchun Dong
2015-01-01
In order to suppress the noise of gyroscopes, the method based on lock⁃in amplifier and capacitor matching of the low⁃noise readout circuit is proposed. Firstly, the principle to suppress the noise by lock⁃in amplifier is analyzed, and the noise model of front end is proposed. Secondly, the noise optimization for the charge amplifier is presented according to the noise model of front end. Finally, a readout circuit is constructed by this approach. The measurement results show that the parasitic capacitance of front end is 18 pF, and the noise at resonant frequency ( 4 kHz) is 133 nV/Hz1/2 , and the overall bias stability is 30°/h, and the noise level is 0�003°/( s·Hz1/2 ) . The noise of the gyroscope with the low⁃noise readout by this method is suppressed effectively.
From the Foucault pendulum to the galactical gyroscope and LHC
Pardy, M
2006-01-01
We consider the Foucault pendulum, isosceles triangle pendulum and the general triangle pendulum rotating on the Earth. As an analogue, planet orbiting in the rotating galaxy is considered as the giant galactical gyroscope. The Lorentz and the Bargman-Michel-Telegdi equations are generalized for the rotating system. These equations are inevitable for LHC where orbital photons "feels" the Coriolis force caused by the rotation ofthe Earth.
Vibration Control of Tower Structure with Multiple Cardan Gyroscopes
Haoxiang He; Xin Xie; Wentao Wang
2017-01-01
Tower structure is sensitive to hurricane and earthquake, and it is easy to generate large deflection and dynamic response. The multiple cardan gyroscope has two rotational degrees of freedom, which can generate strong moments to constrain the two horizontal orthogonal deflections if the rotor operates in high speeds, so the structural dynamic responses can be decreased. Hence, the method of dynamic control of the tower structure under wind load and earthquake action is proposed by using the ...
The Gyroscope Sensor Test by Using Arduino Platform
Yi-Jen Mon
2015-06-01
Full Text Available Abstract The gyroscope has ability to get accurate data of motions for space of three dimensions such as axes of x y and z. Its applications are covered very widely such as in mobile phone consumer electronics etc. due to the robust sense abilities of direction and motion. In this paper it is used to get data from motion and these data are shown in window and LCD screen. The experiment results show that it has good performance.
Gyroscope Pivot Bearing Dimension and Surface Defect Detection
2011-01-01
Because of the perceived lack of systematic analysis in illumination system design processes and a lack of criteria for design methods in vision detection a method for the design of a task-oriented illumination system is proposed. After detecting the micro-defects of a gyroscope pivot bearing with a high curvature glabrous surface and analyzing the characteristics of the surface detection and reflection model, a complex illumination system with coaxial and ring lights is proposed. The illumin...
The role of entanglement in calibrating optical quantum gyroscopes
Kok, Pieter; Dunningham, Jacob; Ralph, Jason F.
2015-01-01
We consider the calibration of an optical quantum gyroscope by modeling two Sagnac interferometers, mounted approximately at right angles to each other. Reliable operation requires that we know the angle between the interferometers with high precision, and we show that a procedure akin to multi-position testing in inertial navigation systems can be generalized to the case of quantum interferometry. We find that while entanglement is a key resource within an individual Sagnac interferometer, i...
Optimized geometric configuration of active ring laser gyroscopes
Gormley, John; Salloum, Tony
2016-05-01
We present a thorough derivation of the Sagnac effect for a ring laser gyroscope of any arbitrary polygonal configuration. We determine optimized alternative geometric configurations for the mirrors. The simulations incur the implementation of a lasing medium with the standard square system, triangular, pentagonal, and oblongated square configuration (diamond). Simulations of possible new geometric configurations are considered, as well as the possibility of adjusting the concavity of the mirrors.
Design of integrated hybrid silicon waveguide optical gyroscope.
Srinivasan, Sudharsanan; Moreira, Renan; Blumenthal, Daniel; Bowers, John E
2014-10-20
We propose and analyze a novel highly integrated optical gyroscope using low loss silicon nitride waveguides. By integrating the active optical components on chip, we show the possibility of reaching a detection limit on the order of 19°/hr/√Hz in an area smaller than 10 cm(2). This study examines a number of parameters, including the dependence of sensitivity on sensor area.
Mobile Robot Integrated with Gyroscope by Using IKF
Surachai Panich; Nitin Afzulpurkar
2011-01-01
This paper mainly proposes absolute positioning instruments using camera positioning system and compass.The absolute positioning systems are used to estimate absolute position and orientation errors combined with estimated position and orientation from differential odometry integrated with gyroscope to calculate absolute position and orientation of mobile robot. In the method, the indirect Kalman filter is used to estimate absolute position and orientation errors and the estimated errors are ...
Polarization decoherence differential frequency-modulated continuous-wave gyroscope.
Zheng, Chao; Zheng, Gang; Han, Liwei; Luo, Jianhua; Teng, Fei; Wang, Bing; Song, Ping; Gao, Kun; Hou, Zhiqing
2014-12-01
A polarization decoherence differential frequency-modulated continuous-wave (FMCW) gyroscope is presented. The impact of coherent polarization crosstalk noise on the differential FMCW gyro is analyzed. In order to suppress coherent polarization crosstalk noise, a novel method was proposed to produce two incoherent orthogonal polarization narrow band beams from laser diode. In this way, the random drift has been reduced about one order.
Fabrication and characterization of an SOI MEMS gyroscope
Weiwei, Zhong; Guowei, Han; Chaowei, Si; Jin, Ning; Fuhua, Yang
2013-06-01
This paper presents an SOI (silicon on insulator) MEMS (micro-electro-mechanical systems) vibratory gyroscope that was fabricated using bulk micromachining processes. In the gyroscope architecture, a frame structure that nests the proof mass is used to decouple the drive motion and sense motion. This approach ensures that the drive motion is well aligned with the designed drive axis, and minimizes the actual drive motion component along the sense detection axis. The thickness of the structural layer of the device is 100 μm, which induces a high elastic stiffness in the thickness direction, so it can suppress the high-order out-of-plane resonant modes to reduce deviation. In addition, the dynamics of the gyroscope indicate that higher driving mass brings about higher sensing displacements. The thick structural layer can improve the output of the device by offering a sufficient mass weight and large sensing capacitance. The preliminary test results of the vacuum packaged device under atmospheric pressure will be provided. The scale factor is 1.316 × 10-4 V/(deg/s), the scale factor nonlinearity and asymmetry are 1.87% and 0.36%, the zero-rate offset is 7.74 × 10-4 V, and the zero-rate stability is 404 deg/h, respectively.
Estimates of errors of a gyroscope stabilized platform
Zbrutskiy, A. V.; Balabanov, I. V.
1984-08-01
A gyrostabilized platform has a four-frame cardan suspension in which one of the dynamically adjusted gyroscopes placed on the stabilized platform measures the angle of its deviation in the plane of the platform, while the second such gyroscope measures the deviation relative to this plane. The redundant first gyro can be used to correct the system and may also be a closed system itself. This paper studies the errors in the gyro stabilized platform due to the nonperpendicularity of the axes of the cardan suspension of the platform due to the nonperpendicularity of the axes of the cardan suspension of the platform as well as the disbalance of the components and dynamically adjustable gyroscopes. The cumbersome equations of motion for the system are written, neglecting dry frictional forces in the shafts of platform suspension, second order nonlinearities relative to the angular coordinates and their derivatives as well as terms with periodic coefficients which can affect the dynamics of the platform only in narrow ranges of frequency variations at parametric resonances.
A New Hybrid Gyroscope with Electrostatic Negative Stiffness Tuning
Xian Chu
2013-05-01
Full Text Available A variety of gyroscopes have been extensively studied due to their capability of precision detection of rotation rates and extensive applications in navigation, guidance and motion control. In this work, a new Hybrid Gyroscope (HG which combines the traditional Dynamically Tuned Gyroscope (DTG with silicon micromachined technology is investigated. The HG not only has the potentiality of achieving the same high precision as the traditional DTG, but also features a small size and low cost. The theoretical mechanism of the HG with a capacitance transducer and an electrostatic torquer is derived and the influence of the installation errors from the capacitance plate and the disc rotor module is investigated. A new tuning mechanism based on negative stiffness rather than the traditional dynamic tuning is proposed. The experimental results prove that the negative stiffness tuning is practicable and a tuning voltage of as high as 63 V is demonstrated. Due to the decreased installation error, the non-linearity of the scale factor is reduced significantly from 11.78% to 0.64%, as well as the asymmetry from 93.3% to 1.56% in the open loop condition. The rebalancing close-loop control is simulated and achieved experimentally, which proves that the fundamental principle of the HG is feasible.
A new hybrid gyroscope with electrostatic negative stiffness tuning.
Yang, Bo; Guan, Yumei; Wang, Shourong; Zou, Qi; Chu, Xian; Xue, Haiyan
2013-01-01
A variety of gyroscopes have been extensively studied due to their capability of precision detection of rotation rates and extensive applications in navigation, guidance and motion control. In this work, a new Hybrid Gyroscope (HG) which combines the traditional Dynamically Tuned Gyroscope (DTG) with silicon micromachined technology is investigated. The HG not only has the potentiality of achieving the same high precision as the traditional DTG, but also features a small size and low cost. The theoretical mechanism of the HG with a capacitance transducer and an electrostatic torquer is derived and the influence of the installation errors from the capacitance plate and the disc rotor module is investigated. A new tuning mechanism based on negative stiffness rather than the traditional dynamic tuning is proposed. The experimental results prove that the negative stiffness tuning is practicable and a tuning voltage of as high as 63 V is demonstrated. Due to the decreased installation error, the non-linearity of the scale factor is reduced significantly from 11.78% to 0.64%, as well as the asymmetry from 93.3% to 1.56% in the open loop condition. The rebalancing close-loop control is simulated and achieved experimentally, which proves that the fundamental principle of the HG is feasible.
An Advanced Micromachined Package for the Quartz Disk Resonant Gyroscope Project
National Aeronautics and Space Administration — The objective of this proposal is to demonstrate the feasibility of a fully packaged microelectromechanical (MEMS) gyroscope with a 7 milliarcsecond pointing...
Unger, Glenn; Kaufman, David M.; Krainak, Michael; Sanders, Glenn; Taylor, Bill; Schulze, Norman R.
1993-01-01
A technology experiment on the X-ray Timing Explorer spacecraft to determine the feasibility of Interferometric Fiber Optic Gyroscopes for space flight navigation is described. The experiment consists of placing a medium grade fiber optic gyroscope in parallel with the spacecraft's inertial reference unit. The performance of the fiber optic gyroscope will be monitored and compared to the primary mechanical gyroscope's performance throughout the two-year mission life.
Design and fabrication of a biomimetic gyroscope inspired by the fly's haltere
Droogendijk, H.; Brookhuis, R.A.; Boer, de M.J.; Sanders, R.G.P.; Krijnen, G.J.M.
2012-01-01
We report on the design and fabrication of a MEMS-based gyroscopic system inspired by the fly's haltere system. Two types of so-called biomimetic gyroscopes have been designed, fabricated and their drive mode has been characterized. First measurements indicate excitable gyropscopes with natural freq
A gyroscope fabrication method for high sensitivity and robustness to fabrication tolerances
Sung, Jungwoo; Kim, Jin Young; Seok, Seyeong; Kwon, Hyuckjin J.; Kim, Minseo; Kim, Geonhwee; Lim, Geunbae
2014-07-01
MEMS gyroscopes have favorable characteristics, including small size, high throughput, and low cost. The performance of MEMS gyroscopes depends on the displacement sensitivity of the capacitors. In this paper, we describe the fabrication of 300-µm-thick gyroscopes that can provide high displacement sensitivity and are robust to fabrication tolerances, i.e. deep reactive ion etch (DRIE) rate uniformity. When thick structures are perforated using DRIE to achieve high-aspect-ratio features, footing is commonly observed. However, we describe a fabrication method that circumvents problems associated with footing and side-wall etching, so that the gyroscopes can have uniform dimensions and small variations across the wafer. Using a post-fabrication translation approach, the position of capacitors is modified following DRIE, and the gap in the gyroscopes can be reduced to 3 μm, which leads to an aspect ratio of 100. Using this method, we fabricated MEMS gyroscopes that can overcome the DRIE aspect ratio limit and have capacitors with higher sensitivities than those of other gyroscopes, which typically employ substrates that are less than 100 µm thick. The gyroscope had a resonant frequency of 9.91 kHz, a quality factor of 2500 and a sensitivity of 23 mV/[deg/s].
Design and fabrication of a biomimetic gyroscope inspired by the fly’s haltere
Droogendijk, H.; Brookhuis, R.A.; Boer, de M.J.; Sanders, R.G.P.; Krijnen, G.J.M.
2013-01-01
We report on the design and fabrication of a MEMS-based gyroscopic system inspired by the fly’s haltere system. Two types of so-called biomimetic gyroscopes have been designed, fabricated and partially characterized. First measurements indicate excitable gyropscopes with natural frequencies in the o
Droogendijk, H.; Brookhuis, R.A.; Boer, de M.J.; Sanders, R.G.P.; Krijnen, G.J.M.
2014-01-01
Flies use so-called halteres to sense body rotation based on Coriolis forces for supporting equilibrium reflexes. Inspired by these halteres, a biomimetic gimbal-suspended gyroscope has been developed using microelectromechanical systems (MEMS) technology. Design rules for this type of gyroscope are
Gyroscopes and gyro-stabilized systems. Citations from the NTIS data base
Young, C. G.
1980-05-01
The theory, design, construction, applications, and uses of gyroscopes are described in approximately 188 citations. Fiberoptic, electrostatic, microelectrostatic, cryogenic or super conducting, nuclear magnetic gyroscopes are discussed. Geophysical measurements, verifications of Einstein's theories, missile guidance, inertial navigation, platform stabilization are included.
1.3μm Superluminescence Diode with Butterfly Package for Fiber Gyroscope
无
2001-01-01
Superluminescence diode(SLD) modules with wide spectrum characteristics are required in fiber gyroscopes. A 1.3μm butterfly packaged superluminescence diode with the spectrum width over 30nm is reported and recent advances in process of SLD is described in the paper. The SLD modules have been applied to fiber gyroscopes.
Range, Shannon K'doah; Mullins, Jennifer
This teaching guide introduces a relativity gyroscope experiment aiming to test two unverified predictions of Albert Einstein's general theory of relativity. An introduction to the theory includes the following sections: (1) "Spacetime, Curved Spacetime, and Frame-Dragging"; (2) "'Seeing' Spacetime with Gyroscopes"; (3)…
Reproducibility of a 3-dimensional gyroscope in measuring shoulder anteflexion and abduction
Penning, L.I.F.; Guldemond, N.A.; De Bie, R.A.; Walenkamp, G.H.I.M.
2012-01-01
Background: Few studies have investigated the use of a 3-dimensional gyroscope for measuring the range of motion (ROM) in the impaired shoulder. Reproducibility of digital inclinometer and visual estimation is poor. This study aims to investigate the reproducibility of a tri axial gyroscope in measu
Stability analysis of the Gyroscopic Power Take-Off wave energy point absorber
Nielsen, Søren R. K.; Zhang, Zili; Kramer, Morten Mejlhede
2015-01-01
The Gyroscopic Power Take-Off (GyroPTO) wave energy point absorber consists of a float rigidly connected to a lever. The operational principle is somewhat similar to that of the so-called gyroscopic hand wrist exercisers, where the rotation of the float is brought forward by the rotational partic...
Digital Readout System for Micromachined Gyroscope and Analysis for its Demodulation Algorithm
ZHOU Bin; GAO Zhong-yu; CHEN Huai; ZHANG Rong; CHEN Zhi-yong
2006-01-01
A new digital readout system for micromachined gyroscope has been proposed to implement flexible parameter adiustment,improve the control performance of gyroscope,and make error compensation.By digitalizing the output of the gyroscope,this system uses a floatingtype digital signal processor(DSP)to process the signal demodulation and achieve the feedback conffol of the gyroscope.Therefore.the small change of capacitance in the micromachined gyroscope Can be detected.A new demodulation algorithm of least mean square demodulation(LMSD)has been developed inside DSP Simulation and measurement results show that LMSD Can improve 29%of the noise performance compared with the typical multiplication method.In air pressure.a kind ofvibration-wheel micmmachined over the 100-Hz bandwidth by using this digital readout technology.
Fan Shang-Chun; Li Yan; Guo Zhan-She; Li Jing; Zhuang Hai-Han
2012-01-01
Dynamic characteristics of the resonant gyroscope are studied based on the Mathieu equation approximate solution in this paper.The Mathieu equation is used to analyze the parametric resonant characteristics and the approximate output of the resonant gyroscope.The method of small parameter perturbation is used to analyze the approximate solution of the Mathieu equation.The theoretical analysis and the numerical simulations show that the approximate solution of the Mathieu equation is close to the dynamic output characteristics of the resonant gyroscope.The experimental analysis shows that the theoretical curve and the experimental data processing results coincide perfectly,which means that the approximate solution of the Mathieu equation can present the dynamic output characteristic of the resonant gyroscope.The theoretical approach and the experimental results of the Mathieu equation approximate solution are obtained,which provides a reference for the robust design of the resonant gyroscope.
Z-Axis Micromachined Tuning Fork Gyroscope with Low Air Damping
Minh Ngoc Nguyen
2017-02-01
Full Text Available This paper reports on the design and fabrication of a z-axis tuning fork gyroscope which has a freestanding architecture. In order to improve the performance of the tuning fork gyroscope by eliminating the influence of the squeeze-film air damping, the driving and sensing parts of the gyroscope were designed to oscillate in-plane. Furthermore, by removing the substrate underneath the device, the slide-ﬁlm air damping in the gap between the proof masses and the substrate was eliminated. The proposed architecture was analyzed by the finite element method using ANSYS software. The simulated frequencies of the driving and sensing modes were 9.788 and 9.761 kHz, respectively. The gyroscope was fabricated using bulk micromachining technology. The quality factor and sensitivity of the gyroscope operating in atmospheric conditions were measured to be 111.2 and 11.56 mV/°/s, respectively.
Measuring the Virgo area tilt noise with a laser gyroscope
Belfi, Jacopo; Bosi, Filippo; Carelli, Giorgio; Di Virgilio, Angela; Maccioni, Enrico; Stefani, Fabio
2011-01-01
We report on the measurements of tilt noise performed at the Virgo site with a ring laser gyroscope. The apparatus is a He-Ne laser operating in a square cavity mounted on a vertical plane perpendicular to the north-south arm of the inteferometer. We discuss the possibility of using the ring laser signal to improve the performances of the control system of the Virgo seismic suspensions. The comparison between the ring laser signal and the control signals for the longitudinal translations of the inverted pendulum (IP) shows remarkable coherence in the frequency range 20-200 mHz.
Motion of the Tippe Top : Gyroscopic Balance Condition and Stability
Ueda, Takahiro(Nikhef Theory Group, Science Park 105, 1098 XG, Amsterdam, The Netherlands); Sasaki, Ken; Watanabe, Shinsuke
2005-01-01
We reexamine a very classical problem, the spinning behavior of the tippe top on a horizontal table. The analysis is made for an eccentric sphere version of the tippe top, assuming a modified Coulomb law for the sliding friction, which is a continuous function of the slip velocity $\\vec v_P$ at the point of contact and vanishes at $\\vec v_P=0$. We study the relevance of the gyroscopic balance condition (GBC), which was discovered to hold for a rapidly spinning hard-boiled egg by Moffatt and S...
Smooth Archimedean-spiral ring waveguide for cold atomic gyroscope
Xiaojun Jiang; Xiaolin Li; Haichao Zhang; Yuzhu Wang
2016-01-01
We propose a robust scheme that creates a toroidal magnetic potential on a single-layer atom chip.The wire layout consists of two interleaved Archimedean spirals,which avoids the trapping perturbation caused by the input and output ports.By using a rotation bias field,the minimum of the time-averaged orbiting potential is lifted from zero,and then a relatively smooth and harmonic ring trap is formed.The location of the waveguide is immune to the magnetic variations,as it is only determined by the wire layout.The ring waveguide offers an ideal solution to developing a compact and portable atomic gyroscope.
Temperature compensation method using readout signals of ring laser gyroscope.
Li, Geng; Wang, Fei; Xiao, Guangzong; Wei, Guo; Zhang, Pengfei; Long, Xingwu
2015-05-18
Traditional compensation methods using temperature-related parameters have little effect when the ring laser gyroscope (RLG) bias changes rapidly. To solve this problem, a novel RLG bias temperature compensation method using readout signals is proposed in this paper. Combined with the least squares support vector machine (LS-SVM) algorithm, the novel method can improve the precision of the RLG bias. Experiments show that by utilizing the readout signals in the LS-SVM model, the RLG bias stability can be significantly raised compared to the original data. The novel method proposed in this paper is shown to be feasible, even when the RLG bias changes rapidly.
Indefinite damping in mechanical systems and gyroscopic stabilization
Kliem, Wolfhard; Pommer, Christian
2009-01-01
This paper deals with gyroscopic stabilization of the unstable system Mx + D(x) over dot + K-x = 0, with positive definite mass and stiffness matrices M and K, respectively, and an indefinite damping matrix D. The main question if for which skew-symmetric matrices G the system Mx (D+ G)(x) over d...... + K-x = 0 can become stable? After investigating special cases we find an appropriat solution of the Lyapunov matrix equation for the general case. Examples show the deviation of the stability limit found by the Lyapunov method from the exact value....
Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors
Miguel A. López
2012-11-01
Full Text Available The paper presents a two-step technique for real-time track detection in single-track railway sidings using low-cost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive low-pass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speed-dependent cut-off frequency to maximize the signal-to-noise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for real-time operation. The detector has been tested with both simulated data and real data acquired in railway campaigns.
Track detection in railway sidings based on MEMS gyroscope sensors.
Broquetas, Antoni; Comerón, Adolf; Gelonch, Antoni; Fuertes, Josep M; Castro, J Antonio; Felip, Damià; López, Miguel A; Pulido, José A
2012-11-23
The paper presents a two-step technique for real-time track detection in single-track railway sidings using low-cost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive low-pass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speed-dependent cut-off frequency to maximize the signal-to-noise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for real-time operation. The detector has been tested with both simulated data and real data acquired in railway campaigns.
Design, modelling and simulation of vibratory micromachined gyroscopes
Mohite, Suhas; Patil, Nishad; Pratap, Rudra [CranesSci MEMS Lab, Department of Mechanical Engineering, Indian Institute of Science, Bangalore, 560012 (India)
2006-04-01
Among various MEMS sensors, a rate gyroscope is one of the most complex sensors from the design point of view. The gyro normally consists of a proof mass suspended by an elaborate assembly of beams that allow the system to vibrate in two transverse modes. The structure is normally analysed and designed using commercial FEM packages such as ANSYS or MEMS specific commercial tools such as Coventor or Intellisuite. In either case, the complexity in analysis rises manyfolds when one considers the etch hole topography and the associated .uid flow calculation for damping. In most cases, the FEM analysis becomes prohibitive and one resorts to equivalent electrical circuit simulations using tools like SABER in Coventor. Here, we present a simpli.ed lumped parameter model of the tuning fork gyro and show how easily it can be implemented using a generic tool like SIMULINK. The results obtained are compared with those obtained from more elaborate and intense simulations in Coventor. The comparison shows that lumped parameter SIMULINK model gives equally good results with fractional e.ort in modelling and computation. Next, the performance of a symmetric and decoupled vibratory gyroscope structure is also evaluated using this approach and a few modifications are made in this design to enhance the sensitivity of the device.
The signal detection for the levitated rotor micro gyroscope
Huang Xiaogang; Chen Wenyuan; Liu Wu; Zhang Weiping; Wu Xiaosheng [National Key Laboratory of Nano/Micro Fabrication Technology, Key Laboratory for Thin Film and Microfabrication Technology of Ministry of Education, Institute of Micro/Nano Science and Technology, Shanghai Jiao Tong University, Shanghai, 200030 (China)
2006-04-01
In the novel prototype of micro gyroscope structure, the new configured capacitance sensing scheme for the micro gyroscope is analyzed and the virtual instrument based detection scheme is implemented. The digital lock-in amplifier is employed in the capacitance detection to restrain the noise interference. The capacitance analysis shows that 1000aF capacitance variation corresponds to 0.1 degree of the turn angle. The differential capacitance bridge and the charge integral amplifier are used as the front signal input interface. In the implementation of digital lock-in amplifier, a new routine which warranted the exactly matching of the reference phase to signal phase was proposed. The result of the experiment shows that digital lock-in amplifier can greatly eliminate the noise in the output signal. The linearity of the turn angle output is 2.3% and the minimum resolution of turn angle is 0.04 degree. The application of the digital lock-in amplifier in the field of micro-electro-mechanical-system (MEMS) device signal detection is a new attempt, and it shows the prospective for a high-performance application.
Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors
Broquetas, Antoni; Comerón, Adolf; Gelonch, Antoni; Fuertes, Josep M.; Castro, J. Antonio; Felip, Damià; López, Miguel A.; Pulido, José A.
2012-01-01
The paper presents a two-step technique for real-time track detection in single-track railway sidings using low-cost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive low-pass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speed-dependent cut-off frequency to maximize the signal-to-noise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for real-time operation. The detector has been tested with both simulated data and real data acquired in railway campaigns. PMID:23443376
Optimal Design of a Center Support Quadruple Mass Gyroscope (CSQMG
Tian Zhang
2016-04-01
Full Text Available This paper reports a more complete description of the design process of the Center Support Quadruple Mass Gyroscope (CSQMG, a gyro expected to provide breakthrough performance for flat structures. The operation of the CSQMG is based on four lumped masses in a circumferential symmetric distribution, oscillating in anti-phase motion, and providing differential signal extraction. With its 4-fold symmetrical axes pattern, the CSQMG achieves a similar operation mode to Hemispherical Resonant Gyroscopes (HRGs. Compared to the conventional flat design, four Y-shaped coupling beams are used in this new pattern in order to adjust mode distribution and enhance the synchronization mechanism of operation modes. For the purpose of obtaining the optimal design of the CSQMG, a kind of applicative optimization flow is developed with a comprehensive derivation of the operation mode coordination, the pseudo mode inhibition, and the lumped mass twisting motion elimination. The experimental characterization of the CSQMG was performed at room temperature, and the center operation frequency is 6.8 kHz after tuning. Experiments show an Allan variance stability 0.12°/h (@100 s and a white noise level about 0.72°/h/√Hz, which means that the CSQMG possesses great potential to achieve navigation grade performance.
Bias Drift Estimation for MEMS Gyroscope Used in Inertial Navigation
Cechowicz Radosław
2017-06-01
Full Text Available MEMS gyroscopes can provide useful information for dead-reckoning navigation systems if suitable error compensation algorithm is applied. If there is information from other sources available, usually the Kalman filter is used for this task. This work focuses on improving the performance of the sensor if no other information is available and the integration error should be kept low during periods of still (no movement operation. A filtering algorithm is proposed to follow bias change during sensor operation to reduce integration error and extend time between successive sensor calibrations. The advantage of the proposed solution is its low computational complexity which allows implementing it directly in the micro-controller of controlling the MEMS gyroscope. An intelligent sensor can be build this way, suitable for use in control systems for mobile platforms. Presented results of a simple experiment show the improvement of the angle estimation. During the 12 hours experiment with a common MEMS sensor and no thermal compensation, the maximum orientation angle error was below 8 degrees.
Optimal Design of a Center Support Quadruple Mass Gyroscope (CSQMG).
Zhang, Tian; Zhou, Bin; Yin, Peng; Chen, Zhiyong; Zhang, Rong
2016-01-01
This paper reports a more complete description of the design process of the Center Support Quadruple Mass Gyroscope (CSQMG), a gyro expected to provide breakthrough performance for flat structures. The operation of the CSQMG is based on four lumped masses in a circumferential symmetric distribution, oscillating in anti-phase motion, and providing differential signal extraction. With its 4-fold symmetrical axes pattern, the CSQMG achieves a similar operation mode to Hemispherical Resonant Gyroscopes (HRGs). Compared to the conventional flat design, four Y-shaped coupling beams are used in this new pattern in order to adjust mode distribution and enhance the synchronization mechanism of operation modes. For the purpose of obtaining the optimal design of the CSQMG, a kind of applicative optimization flow is developed with a comprehensive derivation of the operation mode coordination, the pseudo mode inhibition, and the lumped mass twisting motion elimination. The experimental characterization of the CSQMG was performed at room temperature, and the center operation frequency is 6.8 kHz after tuning. Experiments show an Allan variance stability 0.12°/h (@100 s) and a white noise level about 0.72°/h/√Hz, which means that the CSQMG possesses great potential to achieve navigation grade performance.
Optimization of the geometrical stability in square ring laser gyroscopes
Santagata, R; Belfi, J; Beverini, N; Cuccato, D; Di Virgilio, A; Ortolan, A; Porzio, A; Solimeno, S
2014-01-01
Ultra sensitive ring laser gyroscopes are regarded as potential detectors of the general relativistic frame-dragging effect due to the rotation of the Earth: the project name is GINGER (Gyroscopes IN GEneral Relativity), a ground-based triaxial array of ring lasers aiming at measuring the Earth rotation rate with an accuracy of 10^-14 rad/s. Such ambitious goal is now within reach as large area ring lasers are very close to the necessary sensitivity and stability. However, demanding constraints on the geometrical stability of the laser optical path inside the ring cavity are required. Thus we have started a detailed study of the geometry of an optical cavity, in order to find a control strategy for its geometry which could meet the specifications of the GINGER project. As the cavity perimeter has a stationary point for the square configuration, we identify a set of transformations on the mirror positions which allows us to adjust the laser beam steering to the shape of a square. We show that the geometrical s...
An Overview of A Perturbation Analysis for Uni-directionally Coupled Vibratory Gyroscopes
Vu, Huy; Palacios, Antonio; In, Visarath; Longhini, Patrick; Neff, Joseph
2011-04-01
The complex behaviours of gyroscope systems have been scientifically researched and thoroughly studied for decades. Most of scientific research involving gyroscopes specifically concentrates on studying the designs and fabrications at the circuitry level. Although gaining a recent popularity with the low cost of MEMS device that offers an attractive approach for gyroscope fabrications, its performance is far from meeting the requirements for an inertial grade guidance system. To improve the performance, our current research is theoretically focusing upon investigating the dynamics of vibratory gyroscopes coupled in a ring configuration. Particularly, a certain topology of arrangements among coupled gyroscopes can be designed and studied to enhance robustness. The main operation depends mostly on an external source for a stable oscillation in the drive axis, while an oscillatory motion in the sense axis, which is used to detect an angular rate of rotation, is enabled through the transfers of energy from the drive via the Coriolis force. With the mathematical model depicted as Duffing oscillators, however, by adding a certain coupling among gyroscopes, a similar behavior to a Duffing oscillator is expected, only with more complicated dynamics at a higher dimension. A number of Perturbation methods have popularly been carried out, to seek for a general asymptotic solution of typical Duffing oscillators. In this work as an overview, the two-time scale Perturbation expansion is asymptotically applied on the uni-directionally coupled vibratory gyroscopes to find an analytical solution which is then compared to the numerical one.
Miyake, Yoshinori; Hirata, Masaki; Suzuki, Kenichiro
2012-09-01
Over the past ten years, much effort to develop microelectromechanical system (MEMS) gyroscopes with the “tactical” and “inertial” grade has been made. Although several techniques are proposed to increase the sensitivity, each of them has serious tradeoffs with other characteristics. We propose a new approach to accomplish the increase in sensitivity. The overall gyroscope consists of gyroscope elements arrayed in an X-Y matrix. Each gyroscope element is connected with two types of beams, coupling and connecting beams, and is excited in the antiphase vibration mode. First, this array configuration takes the advantage of the large scale factor of N2, the square of the number of elements, for the sensitivity over a simply large chip (the sensitivity is proportional to N). Second, the vibrational characteristics are not changed from those for a single element irrespective of the number of elements. Therefore, much effort in design can be saved. 1×2 and 2×2 arrays with the resonant frequency of approximately 5 kHz were fabricated and evaluated in terms of the resonant frequency and amplitude for each element. They agreed well with those of a single gyroscope. This indicates that the proposed array helps to reduce the task of frequency tuning, which is needed for conventional 1×2 gyroscope arrays. It is also useful to fabricate a highly resonant gyroscope, which is immune to environmental noise.
A novel ring vibrating gyroscope based on side piezo-electrodes
ZHOU Xin; WU Yu-lie; WU Xue-zhong; ZHANG Yong-meng; ZHENG Yu
2016-01-01
Solid-state wave gyroscope is one kind of high-performance vibrating gyroscopes. The present work develops a new type of solid-state wave gyroscope—a ring vibrating gyroscope driven by piezo-electrodes located on the sidewall of the structure. It has advantages of large vibrating amplitude, high energy conversion efficiency and compact structure. The working principle of the piezoelectric ring vibrating gyroscope is based on the inertia effect of the standing wave in the axisymmetric resonator caused by Coriolis force. The finite element method (FEM) analysis has been implemented to characterize the ring type resonator. The prototypal gyroscope was manufactured and has been trimmed by mechanical way. The harmonic response of the ring vibrating gyroscope has been tested. The resonating frequency of the ring type resonator is 3715.6 Hz and the frequency split of the two working modes before trimming was about 5 Hz and was reduced to sub-0.01 Hz after trimming procedure. The Q-factor of the ring type resonator was 2504. Then, the turntable experiment was implemented. The measured scale factor k is 9.24 mV/[(°)·s] and the full scale range of the gyroscope is larger than ±300 (°)/s.
Error analysis and compensation research of scale factor for MEMS gyroscope
Liu, Chang-zheng; Wang, Xiangjun; Tang, Qi-jian
2014-11-01
In dynamic condition, scale factor has been one of the main errors for MEMS (micro electromechanical system) gyroscopes. This paper, based on one kind of gyroscope in the airborne optoelectronic pod, studies the variation law of the scale factor and its compensation under different environment temperature and operating speed, and then puts forward to the method of combination of ambient temperature and actual angular velocity when compensating the MEMS gyroscope's scale factor error. Test result demonstrates that the scale factor error can be effectively suppressed, and compared with compensation method only based on temperature or angular velocity separately, this new method is easy practical and presents better performance.
Large-area fiber-optic gyroscope on a multiplexed fiber network.
Clivati, C; Calonico, D; Costanzo, G A; Mura, A; Pizzocaro, M; Levi, F
2013-04-01
We describe a fiber-optic gyroscope based on the Sagnac effect, realized on a multiplexed telecom fiber network. Our loop encloses an area of 20 km² and coexists with Internet data traffic. This Sagnac interferometer is capable of detecting signals that are larger than 10(-8) (rad/s)/√Hz, thus approaching ring laser gyroscopes without using a narrow-linewidth laser or sophisticated optics. The proposed gyroscope could be useful for seismic applications, opening new possibilities for this kind of optical fiber sensor.
Disc resonator gyroscope fabrication process requiring no bonding alignment
Shcheglov, Kirill V. (Inventor)
2010-01-01
A method of fabricating a resonant vibratory sensor, such as a disc resonator gyro. A silicon baseplate wafer for a disc resonator gyro is provided with one or more locating marks. The disc resonator gyro is fabricated by bonding a blank resonator wafer, such as an SOI wafer, to the fabricated baseplate, and fabricating the resonator structure according to a pattern based at least in part upon the location of the at least one locating mark of the fabricated baseplate. MEMS-based processing is used for the fabrication processing. In some embodiments, the locating mark is visualized using optical and/or infrared viewing methods. A disc resonator gyroscope manufactured according to these methods is described.
Role of entanglement in calibrating optical quantum gyroscopes
Kok, Pieter; Dunningham, Jacob; Ralph, Jason F.
2017-01-01
We consider the calibration of an optical quantum gyroscope by modeling two Sagnac interferometers, mounted approximately at right angles to each other. Reliable operation requires that we know the angle between the interferometers with high precision, and we show that a procedure akin to multiposition testing in inertial navigation systems can be generalized to the case of quantum interferometry. We find that while entanglement is a key resource within an individual Sagnac interferometer, its presence between the interferometers is a far more complicated story. The optimum level of entanglement depends strongly on the sought parameter values, and small but significant improvements may be gained from choosing states with the optimal amount of entanglement between the interferometers.
Asymmetric coherent transmission for single particle diode and gyroscope
Yang, S; Sun, C P
2009-01-01
We study the single particle scattering process in a coherent multi-site system consisting of a tight-binding ring threaded by an Aharonov-Bohm flux and several attaching leads. The asymmetric behavior of scattering matrix is discovered analytically in the framework of both Bethe Ansatz and Green's function formalism. It is found that, under certain conditions, a three-site electronic system can behave analogous to a perfect semiconductor diode where current flows only in one direction. The general result is also valid for a neutral particle system since the effective magnetic flux may be implemented by a globe rotation. This observation means that the three-site system can serve as an orientation measuring gyroscope due to the approximate linear dependence of the current difference of two output leads on the rotational angular velocity.
SIMULASI FILTER KALMAN UNTUK ESTIMASI SUDUT DENGAN MENGGUNAKAN SENSOR GYROSCOPE
Wahyudi Wahyudi
2012-02-01
Full Text Available The Kalman filter is a recursive solution to the process linear filtering problem that can remove the noisefrom signal and then the information can useful. The process that use Kalman filter must be approximatedas two equations of linear system, state equation and output equation. Computation of Kalman filter isminimizes the mean of the square error. This paper explore the basic consepts of the Kalman filteralgorithm and simulate its to filter data of gyroscope to get a rotation. The measurement noise covariancedetermines how much information from the sample is used. If measurement noise covariance is high showthat the measurement isn’t very accurate. The process noise covariance contributes to the overalluncertainty of the estimate as it is added to the error covariance matrix in each time step. If the errorcovariance matrix is small the Kalman filter incorporates a lot less of the measurement into estimate ofrotation.
Digitalization optical open loop test system for fiber optic gyroscope
ZHANG Deng-wei; SHU Xiao-wu; MU Xu-dong; LIU Cheng
2006-01-01
In order to receive and process the open loop signal from fiber optic gyroscopes speedily,stably and expediently,and to realize the amity interface between human and machine,a digital system that can convert GPIB (general purpose interface bus ) parallel bus into Universal Serial Bus is developed.All the interface functions of GP1B and the hardware system are realized through FPGA.With a digital sampling and processing system designed with VC++ in Windows platform,the real-time controlling procedure,high-speed receiving and sending data can be carried out,and the results can be displayed too.So the design of the system is flexible,the reliability and the stability are improved,error rate is no more than 10-11,the highest bit rate is 8 MB/s and the open loop detection system for optic fiber gyros achieves standardization and complete digitalization simultaneously.
Model of a laser gyroscope with frequency dithering
Sakharov, V. K.
2016-06-01
The model of a laser gyroscope (LG) with frequency dithering is described by a system of recurrent equations for the electric fields of counterpropagating waves. The phenomenon of frequency locking is taken into account in the form of the wave coupling through backward scattering; the frequency bias factor is the controlled phase nonreciprocity. The character of the output signal is considered, which corresponds to two types of frequency dithering, namely, sinusoidal and in the form of meander that are produced by various methods, including intracavity phase modulation. Results of calculation of a frequency characteristic of the LG are presented as functions of frequency dithering, rotational velocity and LG parameters. It is shown that the method of processing an output signal by measuring the time interval between intensity oscillations has an advantage due to the absence of so-called dynamic lock-in zones in the output characteristic.
Optical system components for navigation grade fiber optic gyroscopes
Heimann, Marcus; Liesegang, Maximilian; Arndt-Staufenbiel, Norbert; Schröder, Henning; Lang, Klaus-Dieter
2013-10-01
Interferometric fiber optic gyroscopes belong to the class of inertial sensors. Due to their high accuracy they are used for absolute position and rotation measurement in manned/unmanned vehicles, e.g. submarines, ground vehicles, aircraft or satellites. The important system components are the light source, the electro optical phase modulator, the optical fiber coil and the photodetector. This paper is focused on approaches to realize a stable light source and fiber coil. Superluminescent diode and erbium doped fiber laser were studied to realize an accurate and stable light source. Therefor the influence of the polarization grade of the source and the effects due to back reflections to the source were studied. During operation thermal working conditions severely affect accuracy and stability of the optical fiber coil, which is the sensor element. Thermal gradients that are applied to the fiber coil have large negative effects on the achievable system accuracy of the optic gyroscope. Therefore a way of calculating and compensating the rotation rate error of a fiber coil due to thermal change is introduced. A simplified 3 dimensional FEM of a quadrupole wound fiber coil is used to determine the build-up of thermal fields in the polarization maintaining fiber due to outside heating sources. The rotation rate error due to these sources is then calculated and compared to measurement data. A simple regression model is used to compensate the rotation rate error with temperature measurement at the outside of the fiber coil. To realize a compact and robust optical package for some of the relevant optical system components an approach based on ion exchanged waveguides in thin glass was developed. This waveguides are used to realize 1x2 and 1x4 splitter with fiber coupling interface or direct photodiode coupling.
Ahrens, Markus; Kucera, Ladislav
1996-01-01
For flywheel rotors or other rotors with significant ratios of moments of inertia, the influence of gyroscopic effects has to be considered. While conservative or damped systems remain stable even under gyroscopic effects, magnetically suspended rotors can be destabilized with increasing rotational speed. The influence of gyroscopic effects on the stability and behavior of a magnetic bearing system is analyzed. The analysis is carried out with a rigid body model for the rotor and a nonlinear model for the magnetic bearing and its amplifier. Cross feedback control can compensate gyroscopic effects. This compensation leads to better system performance and can avoid instability. Furthermore, the implementation of this compensation is simple. The main structure of a decentralized controller can still be used. It has only to be expanded by the cross feedback path.
Li, Rongsheng (Inventor); Kurland, Jeffrey A. (Inventor); Dawson, Alec M. (Inventor); Wu, Yeong-Wei A. (Inventor); Uetrecht, David S. (Inventor)
2004-01-01
Methods and structures are provided that enhance attitude control during gyroscope substitutions by insuring that a spacecraft's attitude control system does not drive its absolute-attitude sensors out of their capture ranges. In a method embodiment, an operational process-noise covariance Q of a Kalman filter is temporarily replaced with a substantially greater interim process-noise covariance Q. This replacement increases the weight given to the most recent attitude measurements and hastens the reduction of attitude errors and gyroscope bias errors. The error effect of the substituted gyroscopes is reduced and the absolute-attitude sensors are not driven out of their capture range. In another method embodiment, this replacement is preceded by the temporary replacement of an operational measurement-noise variance R with a substantially larger interim measurement-noise variance R to reduce transients during the gyroscope substitutions.
Hoots, F. R.; Fitzpatrick, P. M.
1979-01-01
The classical Poisson equations of rotational motion are used to study the attitude motions of an earth orbiting, rapidly spinning gyroscope perturbed by the effects of general relativity (Einstein theory). The center of mass of the gyroscope is assumed to move about a rotating oblate earth in an evolving elliptic orbit which includes all first-order oblateness effects produced by the earth. A method of averaging is used to obtain a transformation of variables, for the nonresonance case, which significantly simplifies the Poisson differential equations of motion of the gyroscope. Long-term solutions are obtained by an exact analytical integration of the simplified transformed equations. These solutions may be used to predict both the orientation of the gyroscope and the motion of its rotational angular momentum vector as viewed from its center of mass. The results are valid for all eccentricities and all inclinations not near the critical inclination.
Adaptive tracking control of an MEMS gyroscope with H-infinity performance
无
2011-01-01
Microelectromechanical systems (MEMSs) pose unique measurement and control problems compared with conventional ones because of their small size,low cost,and low power consumption.The vibrating gyroscope is one of those MEMS devices that have significant potential in many industry applications.When the MEMS gyroscope system is considered simultaneously with the coupling terms,the exogenous disturbances and the parameter variations,the controller design of this system becomes very challenging.This paper inves...
Study of a MEMS Vibratory Gyroscope Using Adaptive Iterative Learning Control
Xiaochun Lu; Juntao Fei
2014-01-01
This paper proposes a framework, namely adaptive iterative learning control (AILC), which is used in the control of a microelectromechanical system (MEMS) gyroscope, to realize high-precision trajectory tracking control. According to the characteristics of the MEMS gyroscope’s model, the proposed AILC algorithm includes an adaptive law of parametric estimation and an iteration control law, which is updated in the iterative domain without any prior knowledge of MEMS gyroscopes. The convergence...
Noise Reduction of MEMS Gyroscope Based on Direct Modeling for an Angular Rate Signal
Liang Xue; Chengyu Jiang; Lixin Wang; Jieyu Liu; Weizheng Yuan
2015-01-01
In this paper, a novel approach for processing the outputs signal of the microelectromechanical systems (MEMS) gyroscopes was presented to reduce the bias drift and noise. The principle for the noise reduction was presented, and an optimal Kalman filter (KF) was designed by a steady-state filter gain obtained from the analysis of KF observability. In particular, the true angular rate signal was directly modeled to obtain an optimal estimate and make a self-compensation for the gyroscope witho...
1980-06-13
tue outer ring of Cardan joints for the suspension of this gyroscope can be attached to a stabilizing platform. Let the intrinsic Kinetic momant of...type of stabilization. The plane of the platform P, which is connected with the object by a three-dimensional cardan suspension (not shown in the figure...of the outer ring of this DOC = 0925 PAGE 15 gyroscope’s cardan suspension are arranged on the stabilized platform so that the axis itself lies in tn
Analysis of the gyroscopic stabilization of a system of rigid bodies
Kliem, Wolfhard; Seyranian, Alexander P.
1997-01-01
We study the gyroscopic stability of a three-body system. A new method of finding stability regions, based on mechanism and criteria for gyroscopic stabilization, is presented. Of particular interest in this connection is the theory of interaction of eigenvalues. This leads to a complete 3......-dimensional analysis, which shows the regions of stability, divergence, and flutter of a simple model of a rotating spaceship....
The Natural Frequency Analysis of Gyroscope%陀螺仪固有频率分析
朱鹏华; 荆建平; 白晓林
2012-01-01
Micro gyroscopes have very important application in the aircraft,missile and ships inertial navigation system.The natural frequency of the gyroscope is analyzed according to the principle and structure of the gyroscopes.Since the test of the missile gyroscope is not easy,the software ABAQUS is used to build the model of the gyroscope and analyzed the theoretic natural frequency of the gyroscope,also experimental test is done to measure the natural frequency of the gyroscope using the LMS device and software.The results show that the theoretical analysis and the experimental results are basically the same,which also indicates the finite model of gyroscope is effective.%微机械陀螺仪在飞机、导弹、轮船的惯性导航系统中具有重要应用。依据陀螺仪的结构和工作原理,对该微机械陀螺仪的固有频率进行了分析。由于单独的陀螺仪实验测试比较困难,利用ABAQUS有限元分析软件建立了陀螺仪的有限元模型,计算出了其各阶模态,并与陀螺仪试验模态分析进行了对比。结果显示：有限元分析结果和实验结果基本一致,表明所建立的陀螺仪有限元模型是正确的。
Oscillation control algorithms for resonant sensors with applications to vibratory gyroscopes.
Park, Sungsu; Tan, Chin-Woo; Kim, Haedong; Hong, Sung Kyung
2009-01-01
We present two oscillation control algorithms for resonant sensors such as vibratory gyroscopes. One control algorithm tracks the resonant frequency of the resonator and the other algorithm tunes it to the specified resonant frequency by altering the resonator dynamics. Both algorithms maintain the specified amplitude of oscillations. The stability of each of the control systems is analyzed using the averaging method, and quantitative guidelines are given for selecting the control gains needed to achieve stability. The effects of displacement measurement noise on the accuracy of tracking and estimation of the resonant frequency are also analyzed. The proposed control algorithms are applied to two important problems in a vibratory gyroscope. The first is the leading-following resonator problem in the drive axis of MEMS dual-mass vibratory gyroscope where there is no mechanical linkage between the two proof-masses and the second is the on-line modal frequency matching problem in a general vibratory gyroscope. Simulation results demonstrate that the proposed control algorithms are effective. They ensure the proof-masses to oscillate in an anti-phase manner with the same resonant frequency and oscillation amplitude in a dual-mass gyroscope, and two modal frequencies to match in a general vibratory gyroscope.
The Initial Flight Calibration of the Gyroscopes for the Relativity Mission, Gravity Probe B
Buchman, S.; Bencze, W. J.; Brumley, R. W.; Muhlfelder, B.
The Relativity Mission, Gravity Probe B (GP-B), uses four redundant high precision gyroscopes for measuring the relativistic precessions of the frame of reference in a 640 km polar orbit. The two precessions to be measured are predicted in General Relativity to be the geodetic effect, 6.6 arcsec/year, and the frame dragging effect, 0.042 arcsec/year. The principal performance requirement for the gyroscopes is an accuracy capability of better than 0.3 marcsec/year. Results from more than 120,000 hours of gyroscope operation, testing on simulators, and analysis indicate that the residual Newtonian drift will be about 0.05 marcsec/year for a supported gyroscope and 0.01 marcsec/year for an unsupported gyroscope in a fully inertial orbit. Further disturbance reduction is achievable by optimizing the preload suspension voltage using measured flight parameters. Consistent with the presently scheduled launch of the Gravity Probe on April 17 2004, preliminary results from the initial testing, calibration, and spin-up of the gyroscopes will be presented.
Instabilities of a gyroscope produced by rapidly rotating, highly viscous liquids
Damico, W. P., Jr.
1983-06-01
A series of experiments were conducted to determine the yaw behavior of a gyroscope that contained a liquid-filled rotor. Spin rates, liquid viscosities, and cylinder geometries were selected to produce a wide range of Reynolds numbers (5 aspect ratios (height/diameter) were tested: 1/1, 3/2, and 3/1. Coning frequencies for the free gyroscope were selected to be typical of spin-stabilized projectiles. Two distinct types of yaw behavior were observed with Reynolds number being the major controlling parameter. For RE > 1,000, the motion of the gyroscope was reasonably well predicted by classical liquid-filled shell theories that postulate a resonance between a natural frequency of the spinning liquid and the yaw frequency of the gyroscope. For these conditions the maximum yaw growth rate will occur when an eigenfrequency of the liquid is approximately equal to the gyroscope yaw frequency. For cases where RE< 1,000, the behavior of the gyroscope was not characterized by a resonant mechanism. Instead, the liquid-induced yaw moments and yaw growth rates grew monotonically with increasing yaw frequencies.
On Bandwidth Characteristics of Tuning Fork Micro-Gyroscope with Mechanically Coupled Sense Mode
Yunfang Ni
2014-07-01
Full Text Available The bandwidth characteristics of a tuning fork micro-gyroscope with mechanically coupled sense mode were investigated in this paper to provide some references for mechanical bandwidth design. The concept of sense mode mechanical coupling is introduced first. Theoretical frequency response analyses were then carried out on the mechanical part of the gyroscope. Equations representing the relationships between the differential output signal and the frequency of the input angular rate were deduced in full frequency range and further simplified in low frequency range. Based on these equations, bandwidth characteristics under ideal and non-ideal conditions are discussed. Analytical results show that under ideal conditions, the bandwidth characteristics of a tuning fork micro-gyroscope are similar to those of a single mass micro-gyroscope, but under non-ideal conditions, especially when sense mass and/or stiffness are asymmetric, the bandwidth characteristics would be quite different because the in-phase mode would participate in the anti-phase vibration response. Experimental verifications were carried out on two micro-gyroscope prototypes designed in our laboratory. The deduced equations and analytical results can be used in guiding the mechanical bandwidth design of tuning fork micro-gyroscopes with mechanically coupled sense mode.
On bandwidth characteristics of tuning fork micro-gyroscope with mechanically coupled sense mode.
Ni, Yunfang; Li, Hongsheng; Huang, Libin; Ding, Xukai; Wang, Haipeng
2014-01-01
The bandwidth characteristics of a tuning fork micro-gyroscope with mechanically coupled sense mode were investigated in this paper to provide some references for mechanical bandwidth design. The concept of sense mode mechanical coupling is introduced first. Theoretical frequency response analyses were then carried out on the mechanical part of the gyroscope. Equations representing the relationships between the differential output signal and the frequency of the input angular rate were deduced in full frequency range and further simplified in low frequency range. Based on these equations, bandwidth characteristics under ideal and non-ideal conditions are discussed. Analytical results show that under ideal conditions, the bandwidth characteristics of a tuning fork micro-gyroscope are similar to those of a single mass micro-gyroscope, but under non-ideal conditions, especially when sense mass and/or stiffness are asymmetric, the bandwidth characteristics would be quite different because the in-phase mode would participate in the anti-phase vibration response. Experimental verifications were carried out on two micro-gyroscope prototypes designed in our laboratory. The deduced equations and analytical results can be used in guiding the mechanical bandwidth design of tuning fork micro-gyroscopes with mechanically coupled sense mode.
Oscillation Control Algorithms for Resonant Sensors with Applications to Vibratory Gyroscopes
Sung Kyung Hong
2009-07-01
Full Text Available We present two oscillation control algorithms for resonant sensors such as vibratory gyroscopes. One control algorithm tracks the resonant frequency of the resonator and the other algorithm tunes it to the specified resonant frequency by altering the resonator dynamics. Both algorithms maintain the specified amplitude of oscillations. The stability of each of the control systems is analyzed using the averaging method, and quantitative guidelines are given for selecting the control gains needed to achieve stability. The effects of displacement measurement noise on the accuracy of tracking and estimation of the resonant frequency are also analyzed. The proposed control algorithms are applied to two important problems in a vibratory gyroscope. The first is the leading-following resonator problem in the drive axis of MEMS dual-mass vibratory gyroscope where there is no mechanical linkage between the two proof-masses and the second is the on-line modal frequency matching problem in a general vibratory gyroscope. Simulation results demonstrate that the proposed control algorithms are effective. They ensure the proof-masses to oscillate in an anti-phase manner with the same resonant frequency and oscillation amplitude in a dual-mass gyroscope, and two modal frequencies to match in a general vibratory gyroscope.
Velikoseltsev, A A; Luk' yanov, D P [St. Petersburg Electrotechnical University ' ' LETI' ' , St. Petersburg (Russian Federation); Vinogradov, V I [OJSC Tambov factory Elektropribor (Russian Federation); Shreiber, K U [Forschungseinrichtung Satellitengeodaesie, Technosche Universitaet Muenchen, Geodaetisches Observatorium Wettzell, Sackenrieder str. 25, 93444 Bad Koetzting (Germany)
2014-12-31
A brief survey of the history of the invention and development of super-large laser gyroscopes (SLLGs) is presented. The basic results achieved using SLLGs in geodesy, seismology, fundamental physics and other fields are summarised. The concept of SLLG design, specific features of construction and implementation are considered, as well as the prospects of applying the present-day optical technologies to laser gyroscope engineering. The possibilities of using fibre-optical gyroscopes in seismologic studies are analysed and the results of preliminary experimental studies are presented. (laser gyroscopes)
THE STABILIZATION SYSTEM ON PAYLOAD BUILT ON A DYNAMICALLY TUNED GYROSCOPE
D. M. Malyutin
2016-01-01
Full Text Available It is now widely distributed systems stabilization based on gyroscopes with three-degree-freedom and based on gyroscopes with ball suspension. The accuracy and resource of operation of such systems requires an increase. The problem of improving the accuracy and increasing the service life of information – measuring systems of stabilization can be solved by using as a sensitive element of a dynamically tuned gyroscope. Today the issue of achieving the potential of the metrological characteristics of information-measuring systems stabilization on dynamically tuned gyroscope is not fully resolved. It requires the development of mathematical models, different from the known, detailed description of the perturbations acting on a device. In addition, it is necessary to develop structures amplifying-transforming paths of the contours stabilization of information-measuring systems of stabilization on dynamically tuned gyroscopes, assuring higher accuracy and noise immunity of the system, what is the purpose of the work. In using the Euler equations obtained a complete mathematical model of functioning system with three motion bases, in detail taking into account the disturbances acting on the device. Considered are the peculiarities of mathematical description of dynamically tuned gyroscope. Dominant frequencies of components noise is identified in the output signal of the gyroscope. The original scheme of the contours stabilization is presented, that help increase the accuracy of stabilization at low frequencies and of providing the absence of systematic drift of the gyrostabilizer from the action of the permanent disturbing moment along the axis of stabilization. The dynamic calculations show the possibility of providing error of stabilization on payload not more than 0,0042 degree.
Design and Simulation of a New Decoupled Micromachined Gyroscope
Sharaf, Abdelhameed [NCRRT, EAEA, 3 Ahmed Elzomer Street, Nasr City, Cairo (Egypt); STRC, AUC, 113 Kasr El Eini Street, 11215, Cairo (Egypt); Sedky, Sherif [STRC, AUC, 113 Kasr El Eini Street, 11215, Cairo (Egypt); Physics Department, AUC, 113 Kasr El Eini Street, 11215, Cairo (Egypt); Habib, S E-D [Electronics and Communication Department, Faculty of Engineering, Cairo University, 12613, Giza (Egypt)
2006-04-01
This paper reports on a new decoupled micromachined gyroscope. The proposed sensor is a dual mass type, electrostatically driven to primary mode oscillation and senses, capacitively, the output signal. Full decoupling between drive and sense modes minimizes the mechanical crosstalk. Three different designs are introduced in this work. Drive and sense amplitudes, mechanical and electrical sensitivities, quality factors and approximate bandwidths are extracted analytically and the results are confirmed using finite element analysis. The first design shows drive and sense modes resonance frequencies of 4077 Hz and 4081 Hz respectively; with a frequency mismatch lower than 0.1%. The drive and sense capacitance are 0.213 pF and 0.142 pF respectively. The mechanical and electrical sensitivities are 0.011 {mu}m/ ({sup 0}/s) and 2.75 mV/ ({sup 0}/s) respectively. The third design shows significantly improved mechanical and electrical sensitivities of 0.027 {mu}m/ ({sup 0}/s) and 6.85 mV/ ({sup 0}/s) respectively.
Gyroscope Pivot Bearing Dimension and Surface Defect Detection
Xudong Li
2011-03-01
Full Text Available Because of the perceived lack of systematic analysis in illumination system design processes and a lack of criteria for design methods in vision detection a method for the design of a task-oriented illumination system is proposed. After detecting the micro-defects of a gyroscope pivot bearing with a high curvature glabrous surface and analyzing the characteristics of the surface detection and reflection model, a complex illumination system with coaxial and ring lights is proposed. The illumination system is then optimized based on the analysis of illuminance uniformity of target regions by simulation and grey scale uniformity and articulation that are calculated from grey imagery. Currently, in order to apply the Pulse Coupled Neural Network (PCNN method, structural parameters must be tested and adjusted repeatedly. Therefore, this paper proposes the use of a particle swarm optimization (PSO algorithm, in which the maximum between cluster variance rules is used as fitness function with a linearily reduced inertia factor. This algorithm is used to adaptively set PCNN connection coefficients and dynamic threshold, which avoids algorithmic precocity and local oscillations. The proposed method is used for pivot bearing defect image processing. The segmentation results of the maximum entropy and minimum error method and the one described in this paper are compared using buffer region matching, and the experimental results show that the method of this paper is effective.
Gyroscope pivot bearing dimension and surface defect detection.
Ge, Wenqian; Zhao, Huijie; Li, Xudong
2011-01-01
Because of the perceived lack of systematic analysis in illumination system design processes and a lack of criteria for design methods in vision detection a method for the design of a task-oriented illumination system is proposed. After detecting the micro-defects of a gyroscope pivot bearing with a high curvature glabrous surface and analyzing the characteristics of the surface detection and reflection model, a complex illumination system with coaxial and ring lights is proposed. The illumination system is then optimized based on the analysis of illuminance uniformity of target regions by simulation and grey scale uniformity and articulation that are calculated from grey imagery. Currently, in order to apply the Pulse Coupled Neural Network (PCNN) method, structural parameters must be tested and adjusted repeatedly. Therefore, this paper proposes the use of a particle swarm optimization (PSO) algorithm, in which the maximum between cluster variance rules is used as fitness function with a linearily reduced inertia factor. This algorithm is used to adaptively set PCNN connection coefficients and dynamic threshold, which avoids algorithmic precocity and local oscillations. The proposed method is used for pivot bearing defect image processing. The segmentation results of the maximum entropy and minimum error method and the one described in this paper are compared using buffer region matching, and the experimental results show that the method of this paper is effective.
Online technique for detecting state of onboard fiber optic gyroscope.
Miao, Zhiyong; Xu, Dingjie; He, Kunpeng; Pang, Shuwan; Tian, Chunmiao
2015-02-01
Although angle random walk (ARW) of fiber optic gyroscope (FOG) has been well modeled and identified before being integrated into the high-accuracy attitude control system of satellite, aging and unexpected failures can affect the performance of FOG after launch, resulting in the variation of ARW coefficient. Therefore, the ARW coefficient can be regarded as an indicator of "state of health" for FOG diagnosis in some sense. The Allan variance method can be used to estimate ARW coefficient of FOG, however, it requires a large amount of data to be stored. Moreover, the procedure of drawing slope lines for estimation is painful. To overcome the barriers, a weighted state-space model that directly models the ARW to obtain a nonlinear state-space model was established for FOG. Then, a neural extended-Kalman filter algorithm was implemented to estimate and track the variation of ARW in real time. The results of experiment show that the proposed approach is valid to detect the state of FOG. Moreover, the proposed technique effectively avoids the storage of data.
A Micro Dynamically Tuned Gyroscope with Adjustable Static Capacitance
Lun Kong
2013-02-01
Full Text Available This paper presents a novel micro dynamically tuned gyroscope (MDTG with adjustable static capacitance. First, the principle of MDTG is theoretically analyzed. Next, some simulations under the optimized structure parameters are given as a reference for the mask design of the rotor wafer and electrode plates. As two key components, the process flows of the rotor wafer and electrode plates are described in detail. All the scanning electron microscopy (SEM photos show that the fabrication process is effective and optimized. Then, an assembly model is designed for the static capacitance adjustable MDTG, whose static capacitance can be changed by rotating the lower electrode plate support and substituting gasket rings of different thicknesses. Thus, the scale factor is easily changeable. Afterwards, the digitalized closed-loop measurement circuit is simulated. The discrete correction and decoupling modules are designed to make the closed-loop stable and cross-coupling effect small. The dual axis closed-loop system bandwidths can reach more than 60 Hz and the dual axis scale factors are completely symmetrical. All the simulation results demonstrate the proposed fabrication of the MDTG can meet the application requirements. Finally, the paper presents the test results of static and dynamic capacitance values which are consistent with the simulation values.
A micro dynamically tuned gyroscope with adjustable static capacitance.
Xia, Dunzhu; Yu, Cheng; Kong, Lun
2013-02-06
This paper presents a novel micro dynamically tuned gyroscope (MDTG) with adjustable static capacitance. First, the principle of MDTG is theoretically analyzed. Next, some simulations under the optimized structure parameters are given as a reference for the mask design of the rotor wafer and electrode plates. As two key components, the process flows of the rotor wafer and electrode plates are described in detail. All the scanning electron microscopy (SEM) photos show that the fabrication process is effective and optimized. Then, an assembly model is designed for the static capacitance adjustable MDTG, whose static capacitance can be changed by rotating the lower electrode plate support and substituting gasket rings of different thicknesses. Thus, the scale factor is easily changeable. Afterwards, the digitalized closed-loop measurement circuit is simulated. The discrete correction and decoupling modules are designed to make the closed-loop stable and cross-coupling effect small. The dual axis closed-loop system bandwidths can reach more than 60 Hz and the dual axis scale factors are completely symmetrical. All the simulation results demonstrate the proposed fabrication of the MDTG can meet the application requirements. Finally, the paper presents the test results of static and dynamic capacitance values which are consistent with the simulation values.
Unstable transient response of gyroscopic systems with stable eigenvalues
Giannini, O.
2016-06-01
Gyroscopic conservative dynamical systems may exhibit flutter instability that leads to a pair of complex conjugate eigenvalues, one of which has a positive real part and thus leads to a divergent free response of the system. When dealing with non-conservative systems, the pitch fork bifurcation shifts toward the negative real part of the root locus, presenting a pair of eigenvalues with equal imaginary parts, while the real parts may or may not be negative. Several works study the stability of these systems for relevant engineering applications such as the flutter in airplane wings or suspended bridges, brake squeal, etc. and a common approach to detect the stability is the complex eigenvalue analysis that considers systems with all negative real part eigenvalues as stable systems. This paper studies analytically and numerically the cases where the free response of these systems exhibits a transient divergent time history even if all the eigenvalues have negative real part thus usually considered as stable, and relates such a behaviour to the non orthogonality of the eigenvectors. Finally, a numerical method to evaluate the presence of such instability is proposed.
The fiber optic gyroscope - a portable rotational ground motion sensor
Wassermann, J. M.; Bernauer, F.; Guattari, F.; Igel, H.
2016-12-01
It was already shown that a portable broadband rotational ground motion sensor will have large impact on several fields of seismological research such as volcanology, marine geophysics, seismic tomography and planetary seismology. Here, we present results of tests and experiments with one of the first broadband rotational motion sensors available. BlueSeis-3A, is a fiber optic gyroscope (FOG) especially designed for the needs of seismology, developed by iXBlue, France, in close collaboration with researchers financed by the European Research council project ROMY (Rotational motions - a new observable for seismology). We first present the instrument characteristics which were estimated by different standard laboratory tests, e.g. self noise using operational range diagrams or Allan deviation. Next we present the results of a field experiment which was designed to demonstrate the value of a 6C measurement (3 components of translation and 3 components of rotation). This field test took place at Mt. Stromboli volcano, Italy, and is accompanied by seismic array installation to proof the FOG output against more commonly known array derived rotation. As already shown with synthetic data an additional direct measurement of three components of rotation can reduce the ambiguity in source mechanism estimation and can be taken to correct for dynamic tilt of the translational sensors (i.e. seismometers). We can therefore demonstrate that the deployment of a weak motion broadband rotational motion sensor is in fact producing superior results by a reduction of the number of deployed instruments.
Modal Analysis of a Single-Structure Multiaxis MEMS Gyroscope
Muhammad Ali Shah
2016-01-01
Full Text Available This paper reports on designing a single-structure triaxes MEMS capacitive gyroscope which is capable of measuring the three angular velocities on a single drive. A Z-shaped beam for the support of folded coupling spring has been applied to suppress the unwanted mode and decrease the stress effect at the spring ends. The unique coupling spring has changed the driving motion, due to which slide film damping in the driving mode has been reduced. This reduction can lead to higher performance of the sensor with less requirements on vacuum level which decreases the cost of fabrication. Simulation analysis has been performed in COMSOL Multiphysics and Matlab Simulink to finalize the design for fabrication. After finite element analysis, the driving, x-sensing, z-sensing, and y-sensing are, respectively, found to be 13.30 KHz, 13.40 KHz, 13.47 KHz, and 13.51 KHz.
Development of fiber optic gyroscopes for industrial and consumer applications
Ikeda, Yukio; Yuhara, Toshiya; Kumagai, Tatsuya; Soekawa, Hirokazu; Kajioka, Hiroshi
1995-01-01
This paper will present the current status of the fiber optic gyroscope (FOG), a ring interferometric rotation sensor for commercial applications by industries and consumers. An open-loop FOG with all polarization-maintaining fiber components is being used in these applications. One primary application is in vehicle navigation systems for automobiles, and a mass-produced has already been installed in luxury automobiles in Japan. Another application is in sweeper robots, Other applications such as a route-measuring system for boreholes, an attitude-controlling system for industrial helicopters, and an optocompass or north-seeking instrument will also be described. These FOGs are compact and reliable and need only a +12 V or a +24 V DC power source. This bias error is determined by the electrical system rather than the optical system and varies between 0.01 and 36 deg/h depending on the design of the signal-processing unit. The scale factor error varies between 0.1% and 1% also depending on the design, however, it is stable over the temperature range from -30 to 85 degree(s)C.
Online technique for detecting state of onboard fiber optic gyroscope
Miao, Zhiyong; He, Kunpeng, E-mail: pengkhe@126.com; Pang, Shuwan [Department of Automation, Harbin Engineering University, Harbin, Heilongjiang 150000 (China); Xu, Dingjie [School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang 150000 (China); Tian, Chunmiao [Department of Information and Communication Engineering, Harbin Engineering University, Harbin, Heilongjiang 150000 (China)
2015-02-15
Although angle random walk (ARW) of fiber optic gyroscope (FOG) has been well modeled and identified before being integrated into the high-accuracy attitude control system of satellite, aging and unexpected failures can affect the performance of FOG after launch, resulting in the variation of ARW coefficient. Therefore, the ARW coefficient can be regarded as an indicator of “state of health” for FOG diagnosis in some sense. The Allan variance method can be used to estimate ARW coefficient of FOG, however, it requires a large amount of data to be stored. Moreover, the procedure of drawing slope lines for estimation is painful. To overcome the barriers, a weighted state-space model that directly models the ARW to obtain a nonlinear state-space model was established for FOG. Then, a neural extended-Kalman filter algorithm was implemented to estimate and track the variation of ARW in real time. The results of experiment show that the proposed approach is valid to detect the state of FOG. Moreover, the proposed technique effectively avoids the storage of data.
Atom gyroscope with disordered arrays of quantum rings
Dayon, Daniel J; Toland, John R E; Search, Chris P, E-mail: csearch@stevens.ed [Department of Physics and Engineering Physics, Stevens Institute of Technology, Hoboken, NJ 07030 (United States)
2010-06-14
Atom interferometry is of considerable interest in part because of the ability to interferometrically detect inertial rotations via the Sagnac effect with a potential sensitivity 10{sup 10} greater than optical gyroscopes. It has been shown recently that a coherently coupled array of identical interferometers can significantly enhance the sensitivity to rotations due to the appearance of transmission bands as a function of the inertial rotation rate {Omega}. Here we consider phase coherent transport of atomic matter waves in a chain of ring interferometers with a single occupied transverse mode in the presence of a rotation, {Omega}, and study the effect of variations in the size of the rings. We show that for randomly sized rings, the entire array functions as a highly sensitive Sagnac interferometer provided the level of random size fluctuations does not exceed a few per cent of the mean size. We also analyse how the use of individual defect states and controlled variations of the sizes in the array can be used to further enhance the sensitivity by creating narrow transmission resonances inside of a zero transmission gap.
Gyroscopic stimulation of the semicircular canals during sensory deprivation.
Newsom, B. D.; Brady, J. F.; Stumm, J. E.
1971-01-01
A static object revolving at a constant velocity is stationary with respect to that environment. When the object is rotated outside the plane of spin, a gyroscopic or cross-coupled acceleration is produced orthogonal to the two planes of rotation. In this situation, a man feels himself moving in a direction other than that which his visual or proprioceptive sensors perceive. The conflict in spatial orientation is the cross-coupled acceleration imposed on the semicircular canals. This perceptual conflict and the thresholds involved were studied by partial isolation of the physiological stimuli through sensory deprivation. Subjects weighted to neutral buoyancy were submerged in 94 F water in the dark. The subjects were then rotated while being revolved about a displaced axis. Thresholds for detection of angular acceleration were higher than those reported in the literature for detection of acceleration of a single plane. This discrepancy may be attributable to the length of time the stimuli are imposed to each of the canals and the cupular response periods.
Bandwidth optimization design of a multi degree of freedom MEMS gyroscope.
Si, Chaowei; Han, Guowei; Ning, Jin; Yang, Fuhua
2013-08-14
A new robust multi-degree of freedom (multi-DOF) MEMS gyroscope is presented in this paper. The designed gyroscope has its bandwidth and amplification factor of the sense mode adjusted more easily than the previous reported multi-DOF MEMS gyroscopes. Besides, a novel spring system with very small coupling stiffness is proposed, which helps achieve a narrow bandwidth and a high amplification factor for a 2-DOF vibration system. A multi-DOF gyroscope with the proposed weak spring system is designed, and simulations indicate that when the operating frequency is set at 12.59 kHz, the flat frequency response region of the sense mode can be designed as narrow as 80 Hz, and the amplification factor of the sense mode at the operating frequency is up to 91, which not only protects the amplification factor from instability against process and temperature variations, but also sacrifices less performance. An experiment is also carried out to demonstrate the validity of the design. The multi-DOF gyroscope with the proposed weak coupling spring system is capable of achieving a good tradeoff between robustness and the performance.
Bandwidth Optimization Design of a Multi Degree of Freedom MEMS Gyroscope
Fuhua Yang
2013-08-01
Full Text Available A new robust multi-degree of freedom (multi-DOF MEMS gyroscope is presented in this paper. The designed gyroscope has its bandwidth and amplification factor of the sense mode adjusted more easily than the previous reported multi-DOF MEMS gyroscopes. Besides, a novel spring system with very small coupling stiffness is proposed, which helps achieve a narrow bandwidth and a high amplification factor for a 2-DOF vibration system. A multi-DOF gyroscope with the proposed weak spring system is designed, and simulations indicate that when the operating frequency is set at 12.59 kHz, the flat frequency response region of the sense mode can be designed as narrow as 80 Hz, and the amplification factor of the sense mode at the operating frequency is up to 91, which not only protects the amplification factor from instability against process and temperature variations, but also sacrifices less performance. An experiment is also carried out to demonstrate the validity of the design. The multi-DOF gyroscope with the proposed weak coupling spring system is capable of achieving a good tradeoff between robustness and the performance.
Mian, Muhammad Umer, E-mail: umermian@gmail.com; Khir, M. H. Md.; Tang, T. B. [Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, Tronoh, Perak (Malaysia); Dennis, John Ojur [Department of Fundamental & Applied Sciences, Universiti Teknologi PETRONAS, Tronoh, Perak (Malaysia); Riaz, Kashif; Iqbal, Abid [Faculty of Electronics Engineering, GIK Institute of Engineering Sciences and Technology, Topi, Khyber Pakhtunkhaw (Pakistan); Bazaz, Shafaat A. [Department of Computer Science, Center for Advance Studies in Engineering, Islamabad (Pakistan)
2015-07-22
Pre-fabrication, behavioural and performance analysis with computer aided design (CAD) tools is a common and fabrication cost effective practice. In light of this we present a simulation methodology for a dual-mass oscillator based 3 Degree of Freedom (3-DoF) MEMS gyroscope. 3-DoF Gyroscope is modeled through lumped parameter models using equivalent circuit elements. These equivalent circuits consist of elementary components which are counterpart of their respective mechanical components, used to design and fabricate 3-DoF MEMS gyroscope. Complete designing of equivalent circuit model, mathematical modeling and simulation are being presented in this paper. Behaviors of the equivalent lumped models derived for the proposed device design are simulated in MEMSPRO T-SPICE software. Simulations are carried out with the design specifications following design rules of the MetalMUMPS fabrication process. Drive mass resonant frequencies simulated by this technique are 1.59 kHz and 2.05 kHz respectively, which are close to the resonant frequencies found by the analytical formulation of the gyroscope. The lumped equivalent circuit modeling technique proved to be a time efficient modeling technique for the analysis of complex MEMS devices like 3-DoF gyroscopes. The technique proves to be an alternative approach to the complex and time consuming couple field analysis Finite Element Analysis (FEA) previously used.
Mian, Muhammad Umer; Dennis, John Ojur; Khir, M. H. Md.; Riaz, Kashif; Iqbal, Abid; Bazaz, Shafaat A.; Tang, T. B.
2015-07-01
Pre-fabrication, behavioural and performance analysis with computer aided design (CAD) tools is a common and fabrication cost effective practice. In light of this we present a simulation methodology for a dual-mass oscillator based 3 Degree of Freedom (3-DoF) MEMS gyroscope. 3-DoF Gyroscope is modeled through lumped parameter models using equivalent circuit elements. These equivalent circuits consist of elementary components which are counterpart of their respective mechanical components, used to design and fabricate 3-DoF MEMS gyroscope. Complete designing of equivalent circuit model, mathematical modeling and simulation are being presented in this paper. Behaviors of the equivalent lumped models derived for the proposed device design are simulated in MEMSPRO T-SPICE software. Simulations are carried out with the design specifications following design rules of the MetalMUMPS fabrication process. Drive mass resonant frequencies simulated by this technique are 1.59 kHz and 2.05 kHz respectively, which are close to the resonant frequencies found by the analytical formulation of the gyroscope. The lumped equivalent circuit modeling technique proved to be a time efficient modeling technique for the analysis of complex MEMS devices like 3-DoF gyroscopes. The technique proves to be an alternative approach to the complex and time consuming couple field analysis Finite Element Analysis (FEA) previously used.
A systematic approach for precision electrostatic mode tuning of a MEMS gyroscope
Hu, Z. X.; Gallacher, B. J.; Burdess, J. S.; Bowles, S. R.; Grigg, H. T. D.
2014-12-01
In this paper a systematic approach to precision electrostatic frequency tuning of the operational modes of a MEMS ring vibratory gyroscope is presented. In both rate and rate integrating gyroscopes the frequency split between the two modes of vibration which detect the Coriolis acceleration is one of the principal factors in determining the sensitivity and noise floor of the sensor. In high precision applications in the defence/aerospace sector a frequency split of the order of 10 mHz or less is highly desirable. In the ground-breaking Hemispherical Resonator Gyroscope (HRG) electrostatic tuning has been employed as a tuning mechanism. However, a description of the procedure is not available in the literature. The tuning scheme described here involves assessing mode mistuning by the ratio of the in-phase and quadrature components of the response to an external force that has similar properties to the gyroscopic force resulting from Coriolis action, and choosing the tuning voltages so that independent modification of the elements of the system stiffness matrix can be achieved. Experiments on a commercially available gyroscope with a natural frequency of 14 kHz show that the frequency split can be reduced from 1.5 Hz to 6 mHz. This represents a frequency precision of better than 1 part in a million.
A Digitalized Gyroscope System Based on a Modified Adaptive Control Method
Dunzhu Xia
2016-03-01
Full Text Available In this work we investigate the possibility of applying the adaptive control algorithm to Micro-Electro-Mechanical System (MEMS gyroscopes. Through comparing the gyroscope working conditions with the reference model, the adaptive control method can provide online estimation of the key parameters and the proper control strategy for the system. The digital second-order oscillators in the reference model are substituted for two phase locked loops (PLLs to achieve a more steady amplitude and frequency control. The adaptive law is modified to satisfy the condition of unequal coupling stiffness and coupling damping coefficient. The rotation mode of the gyroscope system is considered in our work and a rotation elimination section is added to the digitalized system. Before implementing the algorithm in the hardware platform, different simulations are conducted to ensure the algorithm can meet the requirement of the angular rate sensor, and some of the key adaptive law coefficients are optimized. The coupling components are detected and suppressed respectively and Lyapunov criterion is applied to prove the stability of the system. The modified adaptive control algorithm is verified in a set of digitalized gyroscope system, the control system is realized in digital domain, with the application of Field Programmable Gate Array (FPGA. Key structure parameters are measured and compared with the estimation results, which validated that the algorithm is feasible in the setup. Extra gyroscopes are used in repeated experiments to prove the commonality of the algorithm.
A Digitalized Gyroscope System Based on a Modified Adaptive Control Method.
Xia, Dunzhu; Hu, Yiwei; Ni, Peizhen
2016-01-01
In this work we investigate the possibility of applying the adaptive control algorithm to Micro-Electro-Mechanical System (MEMS) gyroscopes. Through comparing the gyroscope working conditions with the reference model, the adaptive control method can provide online estimation of the key parameters and the proper control strategy for the system. The digital second-order oscillators in the reference model are substituted for two phase locked loops (PLLs) to achieve a more steady amplitude and frequency control. The adaptive law is modified to satisfy the condition of unequal coupling stiffness and coupling damping coefficient. The rotation mode of the gyroscope system is considered in our work and a rotation elimination section is added to the digitalized system. Before implementing the algorithm in the hardware platform, different simulations are conducted to ensure the algorithm can meet the requirement of the angular rate sensor, and some of the key adaptive law coefficients are optimized. The coupling components are detected and suppressed respectively and Lyapunov criterion is applied to prove the stability of the system. The modified adaptive control algorithm is verified in a set of digitalized gyroscope system, the control system is realized in digital domain, with the application of Field Programmable Gate Array (FPGA). Key structure parameters are measured and compared with the estimation results, which validated that the algorithm is feasible in the setup. Extra gyroscopes are used in repeated experiments to prove the commonality of the algorithm.
"It Has to Go down a Little, in Order to Go around"--Revisiting Feynman on the Gyroscope
Kostov, Svilen; Hammer, Daniel
2011-01-01
In this paper we show that with the help of accessible, teaching-quality equipment, some interesting and important details of the motion of a gyroscope, which are typically overlooked in introductory courses, can be measured and compared to theory. We begin by deriving a simple relation between the "dip angle" of a gyroscope released from rest and…
Setaka, Wataru; Ohmizu, Soichiro; Kira, Mitsuo
2014-02-01
Macrocage molecules with a bridged rotor have been synthesized as molecular gyroscopes. The kinetics of the oxidation reaction of the thiophene-bridged molecular gyroscope, whose thiophene ring was bridged inside a silaalkane cage, was investigated. A remarkable kinetic stabilization against the oxidation of the thiophene moiety induced by the molecular cage framework was observed.
Design and simulation of a tuning fork micromachined gyroscope with slide film damping
CHE Lu-feng; XIONG Bin; JIAO Ji-wei; WANG Yue-lin
2005-01-01
A novel tuning fork micromachined gyroscope, based on slide-film damping, is presented. The electrostatic driving gyroscope consists of two driving masses each of which supports one sensitive mass. The angular rate is sensed by the differential capacitances consisted of movable bar electrodes and fixed bar electrodes located on the glass wafer. The gyroscope can operate at atmospheric pressure with slide film damping in the driving and sensing directions, eliminate vacuum packaging and restrain cross-axis acceleration signal. The results of design and simulation show that the driving and sensing mode frequencies are 3 106 Hz and 3 175 Hz,respectively, and the Q-values in driving and sensitive modes are 1 721 and 1 450 respectively. The design resolution is 0.025°/s.
Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network
Yundi Chu
2015-01-01
Full Text Available An adaptive global sliding mode control (AGSMC using RBF neural network (RBFNN is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.
Integrated optical gyroscope using active long-range surface plasmon-polariton waveguide resonator.
Zhang, Tong; Qian, Guang; Wang, Yang-Yang; Xue, Xiao-Jun; Shan, Feng; Li, Ruo-Zhou; Wu, Jing-Yuan; Zhang, Xiao-Yang
2014-01-24
Optical gyroscopes with high sensitivity are important rotation sensors for inertial navigation systems. Here, we present the concept of integrated resonant optical gyroscope constructed by active long-range surface plasmon-polariton (LRSPP) waveguide resonator. In this gyroscope, LRSPP waveguide doped gain medium is pumped to compensate the propagation loss, which has lower pump noise than that of conventional optical waveguide. Peculiar properties of single-polarization of LRSPP waveguide have been found to significantly reduce the polarization error. The metal layer of LRSPP waveguide is electro-optical multiplexed for suppression of reciprocal noises. It shows a limited sensitivity of ~10(-4) deg/h, and a maximum zero drift which is 4 orders of magnitude lower than that constructed by conventional single-mode waveguide.
Anomalous Fiber Optic Gyroscope Signals Observed above Spinning Rings at Low Temperature
Tajmar, M; Seifert, B
2008-01-01
Precision fiber optic gyroscopes were mounted mechanically de-coupled above spinning rings inside a cryostat. Below a critical temperature (typically <30 K), the gyroscopes measure a significant deviation from their usual Earth rotation offset proportional to the applied angular ring velocity with maximum signals towards lower temperatures. The anomalous gyroscope signal is about 8 orders of magnitude smaller then the applied angular ring velocity, compensating about one third of the Earth rotation offset at an angular top speed of 420 rad/s. Moreover, our data shows a parity violation as the effect appears to be dominant for rotation against the Earth's spin. No systematic effect was found to explain this effect including the magnetic environment, vibration and helium gas friction suggesting that our observation is a new low temperature phenomenon. Tests in various configurations suggest that the anomalous signals is originating from the rotating helium in our facilities.
Deng, Yan; Zhou, Bin; Xing, Chao; Zhang, Rong
2014-10-17
A novel multifrequency excitation (MFE) method is proposed to realize rapid and accurate dynamic testing of micromachined gyroscope chips. Compared with the traditional sweep-frequency excitation (SFE) method, the computational time for testing one chip under four modes at a 1-Hz frequency resolution and 600-Hz bandwidth was dramatically reduced from 10 min to 6 s. A multifrequency signal with an equal amplitude and initial linear-phase-difference distribution was generated to ensure test repeatability and accuracy. The current test system based on LabVIEW using the SFE method was modified to use the MFE method without any hardware changes. The experimental results verified that the MFE method can be an ideal solution for large-scale dynamic testing of gyroscope chips and gyroscopes.
Bencze, W. J.; Eglington, M. E.; Brumley, R. W.; Buchman, S.
Presented here is a hybrid digital/analog electrostatic suspension control system for the NASA/Stanford University Gravity Probe B Relativity Mission’s science gyroscopes. An adaptive LQE algorithm, called Authority-on-Demand (AOD), has been developed to meet the high dynamic range requirements for mission’s electrostatic suspension, while minimizing suspension induced torques on the rotor. AOD is novel because it uses plant state estimates, rather than plant parameter estimates, as inputs for adaptation. In addition minimizing disturbance torques on the gyroscope, this suspension system can also maximize and control disturbances torques to perform a post spin-up alignment of the gyroscope spin axes. A backup all-analog proportional-derivative (PD) controller subsystem is provided to maintain control of the rotor in the event of computer faults/radiation induced upsets. A precision mechanical simulation of the gyroscope’s capacitive interface and dynamic response is used to verify performance of the overall system.
Zhentao Wang
2012-01-01
Full Text Available Fault detection and isolation (FDI in rotor systems often faces the problem that the system dynamics is dependent on the rotor rotary frequency because of the gyroscopic effect. In unbalance excited rotor systems, the continuously distributed unbalances are hard to be determined or estimated accurately. The unbalance forces as disturbances make fault detection more complicated. The aim of this paper is to develop linear time invariant (LTI FDI methods (i.e., with constant parameters for rotor systems under consideration of gyroscopic effect and disturbances. Two approaches to describe the gyroscopic effect, that is, as unknown inputs and as model uncertainties, are investigated. Based on these two approaches, FDI methods are developed and the results are compared regarding the resulting FDI performances. Results are obtained by the application in a rotor test rig. Restrictions for the application of these methods are discussed.
Research on Time-series Modeling and Filtering Methods for MEMS Gyroscope Random Drift Error
Wang, Xiao Yi; Meng, Xiu Yun
2017-03-01
The precision of MEMS gyroscope is reduced by random drift error. This paper applied time series analysis to model random drift error of MEMS gyroscope. Based on the model established, Kalman filter was employed to compensate for the error. To overcome the disadvantages of conventional Kalman filter, Sage-Husa adaptive filtering algorithm was utilized to improve the accuracy of filtering results and the orthogonal property of innovation in the process of filtering was utilized to deal with outliers. The results showed that, compared with conventional Kalman filter, the modified filter can not only enhance filter accuracy, but also resist to outliers and this assured the stability of filtering thus improving the performance of gyroscopes.
Study on digital correlation demodulation technology of micro quartz tuning fork gyroscope
Zhang, Zhixiong; Feng, Lihui; Sun, Yu-Nan
2010-11-01
A signal demodulation scheme for micro quartz tuning fork gyroscope based on digital correlation demodulation technology is proposed. In the operation of quartz gyroscope the reference signal should be in the resonance state with steady amplitude and the reference signal should be in-phase and has the same frequency with the driving signal. The quartz gyroscope signal processing platform is designed on the foundation of DEC6713 DSP development board successfully. The adaptive algorithm including the reference signal frequency tacking, the amplitude automatic gain controlling, the reference signal phase locking, and complex correlation demodulation are devised, and the algorithm is programmed. It is proved that the digital signal process scheme is feasible by means of experimentation.
Yan Deng
2014-10-01
Full Text Available A novel multifrequency excitation (MFE method is proposed to realize rapid and accurate dynamic testing of micromachined gyroscope chips. Compared with the traditional sweep-frequency excitation (SFE method, the computational time for testing one chip under four modes at a 1-Hz frequency resolution and 600-Hz bandwidth was dramatically reduced from 10 min to 6 s. A multifrequency signal with an equal amplitude and initial linear-phase-difference distribution was generated to ensure test repeatability and accuracy. The current test system based on LabVIEW using the SFE method was modified to use the MFE method without any hardware changes. The experimental results verified that the MFE method can be an ideal solution for large-scale dynamic testing of gyroscope chips and gyroscopes.
Tian, W.
2016-07-01
Ring laser gyroscope technique directly senses the Earth's instantaneous rotation pole (IRP), whose polar motion contains strong retrograde diurnal components induced by external torques due to the gravitational attraction of the Moon and Sun. The first direct measurement of this retrograde diurnal motion with three large ring lasers was reported by Schreiber et al. (J Geophys Res 109(B18):B06405, 2004). Since then many technical improvements led to a significant increase in precision and stability of ring laser gyroscopes; however, precise determination of amplitude and phase at main partial waves has not been given in the literature. In this paper, I will report on determination of the retrograde diurnal motion of the IRP at main partial waves (Oo_1, J_1, K_1, M_1, O_1, Q_1 ) by the ring laser "G", located in Wettzell, Germany, which is the most stable one amongst the currently running large ring laser gyroscopes.
Tian, W.
2017-01-01
Ring laser gyroscope technique directly senses the Earth's instantaneous rotation pole (IRP), whose polar motion contains strong retrograde diurnal components induced by external torques due to the gravitational attraction of the Moon and Sun. The first direct measurement of this retrograde diurnal motion with three large ring lasers was reported by Schreiber et al. (J Geophys Res 109(B18):B06405, significant increase in precision and stability of ring laser gyroscopes; however, precise determination of amplitude and phase at main partial waves has not been given in the literature. In this paper, I will report on determination of the retrograde diurnal motion of the IRP at main partial waves (Oo_1, J_1, K_1, M_1, O_1, Q_1) by the ring laser "G", located in Wettzell, Germany, which is the most stable one amongst the currently running large ring laser gyroscopes.
Anomalous fiber optic gyroscope signals observed above spinning rings at low temperature
Tajmar, M; Plesescu, F; Seifert, B [Space Propulsion and Advanced Concepts, Austrian Research Centers GmbH - ARC, A-2444 Seibersdorf (Austria)], E-mail: martin.tajmar@arcs.ac.at
2009-02-01
Precision fiber optic gyroscopes were mounted mechanically de-coupled above spinning rings inside a cryostat. Below a critical temperature (typically <30 K), the gyroscopes measure a significant deviation from their usual offset due to Earth's rotation. This deviation is proportional to the applied angular ring velocity with maximum signals towards lower temperatures. The anomalous gyroscope signal is about 8 orders of magnitude smaller then the applied angular ring velocity, compensating about one third of the Earth rotation offset at an angular top speed of 420 rad/s. Moreover, our data shows a parity violation as the effect appears to be dominant for rotation against the Earth's spin. No systematic effect was found to explain this effect including the magnetic environment, vibration and helium gas friction suggesting that our observation is a new low temperature phenomenon. Tests in various configurations suggest that the rotating low temperature helium may be the source of our anomalous signals.
Enhanced sensitivity in a butterfly gyroscope with a hexagonal oblique beam
Xiao, Dingbang; Cao, Shijie; Hou, Zhanqiang, E-mail: houzhanqiang@nudt.edu.cn; Chen, Zhihua; Wang, Xinghua; Wu, Xuezhong [College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha, Hunan, 410073 (China)
2015-04-15
A new approach to improve the performance of a butterfly gyroscope is developed. The methodology provides a simple way to improve the gyroscope’s sensitivity and stability, by reducing the resonant frequency mismatch between the drive and sense modes. This method was verified by simulations and theoretical analysis. The size of the hexagonal section oblique beam is the major factor that influences the resonant frequency mismatch. A prototype, which has the appropriately sized oblique beam, was fabricated using precise, time-controlled multilayer pre-buried masks. The performance of this prototype was compared with a non-tuned gyroscope. The scale factor of the prototype reaches 30.13 mV/ °/s, which is 15 times larger than that obtained from the non-tuned gyroscope. The bias stability of the prototype is 0.8 °/h, which is better than the 5.2 °/h of the non-tuned devices.
The mode matching technology for MEMS gyroscopes with mutually spaced eigenfrequencies
Morozov, O.; Postnikov, A.; Kozin, I.; Soloviev, A.; Tarasov, A.
2013-01-01
Paper presents a new technology for silicon micromachined gyroscope mode matching with mutually spaced eigenfrequencies. The fabrication of gyroscope sensing element is based on double-sided deep reactive ion etching (DRIE) of standard silicon wafer and allows full 3D control of the gimbals and flexures geometry. The developed finite element model allows predicting dynamic characteristics of sensing element versus geometry of flexible suspension beams. Oxidation and successive wet etching of SiO2 layer lead to flexure geometry change (thinning). One-to-one correspondence of measured resonant frequencies and flexures geometry defines the oxidation depth. The mode matching condition is achieved by repeated oxidation-wet etching cycles.
Real-Time Estimation of Pathological Tremor Parameters from Gyroscope Data
José L. Pons
2010-03-01
Full Text Available This paper presents a two stage algorithm for real-time estimation of instantaneous tremor parameters from gyroscope recordings. Gyroscopes possess the advantage of providing directly joint rotational speed, overcoming the limitations of traditional tremor recording based on accelerometers. The proposed algorithm first extracts tremor patterns from raw angular data, and afterwards estimates its instantaneous amplitude and frequency. Real-time separation of voluntary and tremorous motion relies on their different frequency contents, whereas tremor modelling is based on an adaptive LMS algorithm and a Kalman filter. Tremor parameters will be employed to drive a neuroprosthesis for tremor suppression based on biomechanical loading.
Modeling and Simulation of MOEMS Gyroscope Based on TE-TM Mode Converter
ZHAO Yi; CHEN Shu-fen
2009-01-01
A novel structure design of micro optic electro mechanical system (MOEMS) gyroscope is presented in this paper. The structure combining surface acoustic wave (SAW) sensor, optical waveguide diffractive component, electro-optical modulator etc. is integrated on a LiNbO3 substrate as the gyroscope for sensing rotating angular velocity, and an optical readout device is added on the traditional SAW typed TE-TM mode converter as the detecting device. The principles of the MOEMS are discussed in the paper, and simulation result shows that there would be apparent advantages of higher precision and stronger anti-vibration capacity.
The gyroscope testbed: A verification of the gravity probe B suspension system
Brumley, Robert Willard
The verification of precision control systems for use in space-based applications can be extremely challenging. Often, the presence of the 1-g field substantively changes the control problem, making it impossible to test directly on the Earth. This talk discusses a new approach to testing and verification of the gyroscope suspension system for the Gravity Probe B (GP-B) experimental test of General Relativity. The verification approach involves the creation of a new testbed that has the same input-output characteristics and dynamics as a GP-B gyroscope. This involves real physical hardware that moves like a real gyroscope, allowing the suspension system's performance to be measured directly without the need to break any internal connections or bypass internal subsystems. The user free to define any set of disturbances from a 1-g ground levitation to a 10-8 g science mission. The testbed has two main subsystems. The mechanical subsystem is comprised of six parallel plate capacitors whose spacing is controlled by precision actuators. These actuators are the physical interface to the suspension system and create the electrode-rotor capacitances present in a real gyroscope. The closed-loop positioning noise of the system is approximately 10 pm/√Hz, enabling the commanding of position variations a fraction the size of a single atom of Silicon. The control subsystem has a DSP-based high-speed nonlinear controller that forces the actuators to follow the dynamics of a gyroscope. The device has been shown to faithfully represent a gyroscope in 1-g levitation, and a robustness analysis has been performed to prove that it correctly tests the stability of the on-orbit system. The testbed is then used to measure directly suspension system performance in a variety of on-orbit scenarios. Gyroscope levitation in 10-8 g conditions is demonstrated. The robustness of gyroscope levitation to transient disturbances such as micrometeorite impacts on the space vehicle and transitions
Gyroscope vs. accelerometer measurements of motion from wrist PPG during physical exercise
Alexander J. Casson
2016-12-01
Full Text Available Many wearable devices include PPG (photoplethysmography sensors for non-invasive heart rate monitoring. However, PPG signals are heavily corrupted by motion interference, and rely on simultaneous motion measurements to remove the interference. Accelerometers are used commonly, but cannot differentiate between acceleration due to movement and acceleration due to gravity. This paper compares measurements of motion using accelerometers and gyroscopes to give a more complete estimate of wrist motion. Results show the two sensor signals are very different, with low correlations present. When used in a wrist PPG heart rate algorithm gyroscope motion estimates obtain better performance in half of the cases.
Techniques for searching first integrals by Lie group and application to gyroscope system
HU Yanxia; GUAN Keying
2005-01-01
In the paper, the methods of finding first integrals of an autonomous system using one-parameter Lie groups are discussed. A class of nontrivial one-parameter Lie groups admitted by the classical gyroscope system is found, and based on the properties of first integral determined by the one-parameter Lie group, the fourth first integral of the gyroscope system in Euler case, Lagrange case and Kovalevskaya case can be obtained in a uniform idea. An error on the fourth first integral in general Kovalevskaya case (A=B=2C,zG=0), which appeared in literature is found and corrected.
Low-Loss Polymer-Based Ring Resonator for Resonant Integrated Optical Gyroscopes
Guang Qian
2014-01-01
Full Text Available Waveguide ring resonator is the sensing element of resonant integrated optical gyroscope (RIOG. This paper reports a polymer-based ring resonator with a low propagation loss of about 0.476 dB/cm for RIOG. The geometrical parameters of the waveguide and the coupler of the resonator were optimally designed. We also discussed the optical properties and gyroscope performance of the polymer resonator which shows a high quality factor of about 105. The polymer-based RIOG exhibits a limited sensitivity of less than 20 deg/h for the low and medium resolution navigation systems.
Venediktov, V Yu [Department of Physics, St. Petersburg State University, St. Petersburg (Russian Federation); Filatov, Yu V; Shalymov, E V [St. Petersburg Electrotechnical University " LETI" , St. Petersburg (Russian Federation)
2014-12-31
The prototype schemes of a microoptical gyroscope (MOG) developed to date on the basis of passive ring cavities imply the use of the amplitude characteristic only, since they operate using the dip in the transmission coefficient. We have analysed the possibility of creating a MOG, in which the phase characteristic is used as well. The phase characteristic of a ring interferometer has distinctive features in the vicinity of the cavity eigenfrequencies, which may be used to determine the angular velocity. A method for the angular velocity determination using both the phase and the amplitude characteristics of the interferometer is considered. (laser gyroscopes)
On-chip tunable dispersion in a ring laser gyroscope for enhanced rotation sensing
Zhang, Hao; Liu, Jiaming; Lin, Jian; Li, Wenxiu; Xue, Xia; Huang, Anping; Xiao, Zhisong
2016-05-01
A gyroscope structure with tailored local dispersion profile to enhance sensitivity is proposed, which uses lithium niobate (LiNbO3) thin film as the on-chip material of gyroscope's resonator. A Mach-Zehnder interferometer (MZI) structure as a coupler, which induces a different reference phase shift in each arm, is inserted into the position between ring resonator and output bus waveguide. Through modulating reference phase shift in MZI, theoretical rotation sensitivity enhancement as large as one order of magnitude is presented.
The Use of Accelerometers and Gyroscopes to Estimate Hip and Knee Angles on Gait Analysis
Francesco Alonge
2014-05-01
Full Text Available In this paper the performance of a sensor system, which has been developed to estimate hip and knee angles and the beginning of the gait phase, have been investigated. The sensor system consists of accelerometers and gyroscopes. A new algorithm was developed in order to avoid the error accumulation due to the gyroscopes drift and vibrations due to the ground contact at the beginning of the stance phase. The proposed algorithm have been tested and compared to some existing algorithms on over-ground walking trials with a commercial device for assisted gait. The results have shown the good accuracy of the angles estimation, also in high angle rate movement.
Non-gyroscope DR and adaptive information fusion algorithm used in GPS/DR device
Li Qingli; Xue Yongqi; Shang Yanlei; Shi Pengfei
2006-01-01
In view of the problems existing in GPS, a non-gyroscope DR is introduced. The operating principle and the algorithm of the GPS/DR device are also presented. By operating measured data synthetically, linear observation equations are obtained for the information fusion algorithm. This approach avoids model error due to linearizing nonlinear observation equations in the conventional algorithm, so that the stability of information fusion algorithm is improved and computation expenses are reduced. Field running experiments show that satisfactory accuracy can be obtained by the proposed navigation model and algorithm for the non-gyroscope GPS/DR device.
Developments in Pursuit of a Micro-Optic Gyroscope
VAWTER, GREGORY A.; ZUBRZYCKI, WALTER J.; PEAKE, GREGORY M.; ALFORD, CHARLES; HARGETT, TERRY; SALTERS, BETTY; HUDGENS, JAMES J.; KINNEY, RAGON D.
2003-03-01
have developed the photonic elements necessary for a resonant micro-optical gyro. We individually designed an AlGaAs distributed Bragg reflector laser; GaAs phase modulator and GaAs photodiode detector. Furthermore, we have fabricated a breadboard gyroscope, which was used to confirm modeling and evaluate signal processing and control circuits.
A Highly Miniaturized Inertial Grade Gyroscope for Space Applications
Wiberg, D. V.; Challoner, A. D.; Shcheglov, K.; Hayworth, K.; Bae, S.; Yee, K.; Blaes, B.; DAgostino, S.; Stock, T.
2001-01-01
The evolution of inertial grade gyroscopes for space applications represents well over 50 years of technology development and an investment of hundreds of millions of dollars. The workhorse product which represents the current state-of-the art for commercially available high performance devices is the Litton-Hemishperical Resonator Gyro (HRG) Inertial Measurement Unit (IMU). This product has a performance figure of merit of 0.003 deg/hr bias drift, a volume of 567 cubic inches, weighs 19 pounds, draws about 30 watts and costs over 1 million each. Clearly devices of this magnitude are not conducive to the minimized mass, volume, power, and cost constraints of outer planet missions. An approach to breaking these potential barriers is the use of Microelectromechanical Systems (MEMS) based inertial devices. Although substantially reduced in size, mass power and cost, this approach has produced devices in the tactical performance range of greater than 1 deg/hour bias drift. This level of performance satisfies the preponderance of high market volume requirements such as automotive and tactical munitions but does not meet the limited market quantity requirements for the high precision space based market. Because of the very limited size of the space based market, there is little economic incentive for commercial fabricators of tactical grade devices to address the necessary performance improvements. The Jet Propulsion Laboratory (JPL) in conjunction with Boeing Space Systems (BSS) is addressing this void to satisfy our mutual requirements in this area. The project objective to is to achieve 0.01 deg/hr performance in an IMU which is less than 10 cubic inches in volume, weighs less than 0.5 pounds, draws less than 1 watt and is available in volume production for less than 2500. Reductions of this magnitude will be mission enabling capabilities for a variety of anticipated outer planet mission attributes such as autonomous control and docking, formation flying and robotic
Novel Kalman filtering algorithmfor virtual gyroscop%虚拟陀螺改进卡尔曼滤波设计
吕琦炜; 鲍其莲
2015-01-01
本文针对提高低精度微陀螺精度的问题展开研究，基于陀螺阵列的虚拟陀螺技术，利用滤波补偿算法，将多个具有相似特性的低精度陀螺组成陀螺阵列，提出改进的卡尔曼滤波算法将多个陀螺的输出进行数据融合，构成虚拟陀螺，并利用多陀螺数据间的相关性，对误差进行补偿消除。仿真实验结果表明，所构成的虚拟陀螺其估计残差比单陀螺减小80%以上。%This paper focuses on virtual gyroscope technology based algorithms. In order to improve accuracy of MEMS gyroscope, a virtual gyroscope system based on multiple MEMS gyroscopes is designed. A novel improved Kalman filtering algorithm is presented to integrated the outputs of those MEMS gyroscopes. The simulation results show that the presented virtual gyroscope can reduce 80%of the output error comparing to a single gyroscope.
Xukai Ding
2015-01-01
Full Text Available This paper presents a study of the frequency response and the scale-factor of a tuning fork micro-gyroscope operating at atmospheric pressure in the presence of an interference sense mode by utilizing the approximate transfer function. The optimal demodulation phase (ODP, which is always ignored in vacuum packaged micro-gyroscopes but quite important in gyroscopes operating at atmospheric pressure, is obtained through the transfer function of the sense mode, including the primary mode and the interference mode. The approximate transfer function of the micro-gyroscope is deduced in consideration of the interference mode and the ODP. Then, the equation describing the scale-factor of the gyroscope is also obtained. The impacts of the interference mode and Q-factor on the frequency response and the scale-factor of the gyroscope are analyzed through numerical simulations. The relationship between the scale-factor and the demodulation phase is also illustrated and gives an effective way to find out the ODP in practice. The simulation results predicted by the transfer functions are in close agreement with the results of the experiments. The analyses and simulations can provide constructive guidance on bandwidth and sensitivity designs of the micro-gyroscopes operating at atmospheric pressure.
Aono, T.; Suzuki, K.; Kanamaru, M.; Okada, R.; Maeda, D.; Hayashi, M.; Isono, Y.
2016-10-01
This research demonstrates a newly developed anodic bonding-based wafer-level-packaging technique to simultaneously seal an accelerometer in the atmosphere and a gyroscope in a vacuum with a glass cap for micro-electromechanical systems sensors. It is necessary for the accelerometer, with a damping oscillator, to be sealed in the atmosphere to achieve a high-speed response. As the gyroscope can achieve high sensitivity with a large displacement at the resonant frequency without air-damping, the gyroscope must be sealed in a vacuum. The technique consists of three processing steps: the first bonding step in the atmosphere for the accelerometer, the pressure control step and the second bonding step in a vacuum for the gyroscope. The process conditions were experimentally determined to achieve higher shear strength at the interface of the packaging. The packaging performance of the accelerometer and gyroscope after wafer-level packaging was also investigated using a laser Doppler velocimeter at room temperature. The amplitude at the resonant frequency of the accelerometer was reduced by air damping, and the quality factor of the gyroscope showed a value higher than 1000. The reliability of the gyroscope was also confirmed by a thermal cyclic test and an endurance test at high humidity and high temperature.
Svetoslav Ganchev Nikolov
2015-07-01
Full Text Available The study of the dynamic behavior of a rigid body with one fixed point (gyroscope has a long history. A number of famous mathematicians and mechanical engineers have devoted enormous time and effort to clarify the role of dynamic effects on its movement (behavior – stable, periodic, quasi-periodic or chaotic. The main objectives of this review are: 1 to outline the characteristic features of the theory of dynamical systems and 2 to reveal the specific properties of the motion of a rigid body with one fixed point (gyroscope.This article consists of six sections. The first section addresses the main concepts of the theory of dynamical systems. Section two presents the main theoretical results (obtained so far concerning the dynamic behavior of a solid with one fixed point (gyroscope. Section three examines the problem of gyroscopic stabilization. Section four deals with the non-linear (chaotic dynamics of the gyroscope. Section five is a brief analysis of the gyroscope applications in engineering. The final section provides conclusions and generalizations on why the theory of dynamical systems should be used in the study of the movement of gyroscopic systems.
Ding, Xukai; Li, Hongsheng; Ni, Yunfang; Sang, Pengcheng
2015-01-01
This paper presents a study of the frequency response and the scale-factor of a tuning fork micro-gyroscope operating at atmospheric pressure in the presence of an interference sense mode by utilizing the approximate transfer function. The optimal demodulation phase (ODP), which is always ignored in vacuum packaged micro-gyroscopes but quite important in gyroscopes operating at atmospheric pressure, is obtained through the transfer function of the sense mode, including the primary mode and the interference mode. The approximate transfer function of the micro-gyroscope is deduced in consideration of the interference mode and the ODP. Then, the equation describing the scale-factor of the gyroscope is also obtained. The impacts of the interference mode and Q-factor on the frequency response and the scale-factor of the gyroscope are analyzed through numerical simulations. The relationship between the scale-factor and the demodulation phase is also illustrated and gives an effective way to find out the ODP in practice. The simulation results predicted by the transfer functions are in close agreement with the results of the experiments. The analyses and simulations can provide constructive guidance on bandwidth and sensitivity designs of the micro-gyroscopes operating at atmospheric pressure.
A universal gyroscope driving circuit with 70dB amplitude control range
Abdelghany, Mohamed A.
2010-08-01
A CMOS variable gain driving circuit with output signal amplitude control for gyroscopes with wide range of quality factors is presented. The driving circuit can be used for gyroscopes with Q values higher than 500. The circuit uses a current-commutating switching mixer to control the gyroscope driving signal level. Conventional driving circuits use automatic gain control (AGC) which suffers from limited linear range and the need for an off-chip capacitor for the peak detector and loop filter. Two stage variable gain amplifier is used in the proposed design to ensure enough gain for oscillation for such a wide range of quality factors. Analog and digital amplitude control methods are used to cover wide range of driving signal amplitude with enough accuracy to hit the maximum driving signal level without sacrificing gyroscope linearity. Due to the high DC gain of the amplifier chain, DC offset resulting from mismatches might saturate the amplifier output. DC offset correction is employed using a secondary negative feedback loop. The proposed driving circuit is being fabricated in 0.6μm CMOS technology. © 2010 IEEE.
Electromagnetic fields and torque for a rotating gyroscope with a superconducting shield
Ebner, C.; Sung, C. C.
1975-01-01
In a proposed experiment, a measurement is to be made of the angular precession of a rotating superconducting gyroscope for the purpose of testing different general-relativity theories. For various reasons having to do with the design of the experiment, the superconducting shield surrounding the gyroscope is not spherically symmetric and produces a torque. There are two distinct features of the shield which lead to a torque on the gyroscope. First, its shape is a sphere intersected by a plane. If the angular momentum of the gyroscope is not parallel to the rotational symmetry axis of the shield, there is a torque which is calculated. Second, there are small holes in the spherical portion of the shield. The earth's field can penetrate through these holes and give an additional torque which is also calculated. In the actual experiment, these torques must be accurately known or made very small in order to obtain meaningful results. The present calculation is sufficiently general for application over a wide range of experimental design parameters.
Sadaghzadeh N, Nargess; Poshtan, Javad; Wagner, Achim; Nordheimer, Eugen; Badreddin, Essameddin
2014-03-01
Based on a cascaded Kalman-Particle Filtering, gyroscope drift and robot attitude estimation method is proposed in this paper. Due to noisy and erroneous measurements of MEMS gyroscope, it is combined with Photogrammetry based vision navigation scenario. Quaternions kinematics and robot angular velocity dynamics with augmented drift dynamics of gyroscope are employed as system state space model. Nonlinear attitude kinematics, drift and robot angular movement dynamics each in 3 dimensions result in a nonlinear high dimensional system. To reduce the complexity, we propose a decomposition of system to cascaded subsystems and then design separate cascaded observers. This design leads to an easier tuning and more precise debugging from the perspective of programming and such a setting is well suited for a cooperative modular system with noticeably reduced computation time. Kalman Filtering (KF) is employed for the linear and Gaussian subsystem consisting of angular velocity and drift dynamics together with gyroscope measurement. The estimated angular velocity is utilized as input of the second Particle Filtering (PF) based observer in two scenarios of stochastic and deterministic inputs. Simulation results are provided to show the efficiency of the proposed method. Moreover, the experimental results based on data from a 3D MEMS IMU and a 3D camera system are used to demonstrate the efficiency of the method.
Using a MEMS gyroscope to measure the Earth’s rotation for gyrocompassing applications
Iozan, L. I.; Kirkko-Jaakkola, M.; Collin, J.; Takala, J.; Rusu, C.
2012-02-01
In this paper, a method and system for gyrocompassing based on a low-cost micro-electro-mechanical (MEMS) gyroscope are described. The proposed setup is based on the choice of a gyroscope with specified bias instability better than 2 deg h-1 and on careful error compensation. The gyroscope is aligned parallel to the local level, which helps to eliminate the g-sensitivity effect but also sacrifices a fraction of the Earth’s rotation rate that can be observed. The additive bias is compensated for by rotating the sensor mechanically and by extended Kalman filtering. In this paper, it is demonstrated that the proposed system is capable of observing the Earth’s rotation, and the north finding results show that a two-sigma accuracy of 4.03° was attained at latitude 61°N. With current MEMS gyroscopes, the system requires hours of time to achieve this accuracy, but the results demonstrate the theoretical accuracy potential of these small self-contained, low-cost sensors.
An Adaptive Fuzzy Control Approach for the Robust Tracking of a MEMS Gyroscope Sensor
Juntao Fei
2011-11-01
Full Text Available In this paper, a direct adaptive fuzzy control using a supervisory compensator is designed for the robust tracking of a MEMS gyroscope sensor. The parameters of the membership functions are adjusted according to the designed adaptive law for the purpose of tracking a reference trajectory. A fuzzy controller that can approximate the unknown nonlinear function and compensate the system
Application of MEMS Accelerometers and Gyroscopes in Fast Steering Mirror Control Systems.
Tian, Jing; Yang, Wenshu; Peng, Zhenming; Tang, Tao; Li, Zhijun
2016-03-25
In a charge-coupled device (CCD)-based fast steering mirror (FSM) tracking control system, high control bandwidth is the most effective way to enhance the closed-loop performance. However, the control system usually suffers a great deal from mechanical resonances and time delays induced by the low sampling rate of CCDs. To meet the requirements of high precision and load restriction, fiber-optic gyroscopes (FOGs) are usually used in traditional FSM tracking control systems. In recent years, the MEMS accelerometer and gyroscope are becoming smaller and lighter and their performance have improved gradually, so that they can be used in a fast steering mirror (FSM) to realize the stabilization of the line-of-sight (LOS) of the control system. Therefore, a tentative approach to implement a CCD-based FSM tracking control system, which uses MEMS accelerometers and gyroscopes as feedback components and contains an acceleration loop, a velocity loop and a position loop, is proposed. The disturbance suppression of the proposed method is the product of the error attenuation of the acceleration loop, the velocity loop and the position loop. Extensive experimental results show that the MEMS accelerometers and gyroscopes can act the similar role as the FOG with lower cost for stabilizing the LOS of the FSM tracking control system.
Abedi, Maryam; Jin, Tian; Sun, Kewen
2015-08-31
In this paper, the efficiency of the gyroscopic mounting method is studied for a highly dynamic GNSS receiver's reference oscillator for reducing signal loss. Analyses are performed separately in two phases, atmospheric and upper atmospheric flights. Results show that the proposed mounting reduces signal loss, especially in parts of the trajectory where its probability is the highest. This reduction effect appears especially for crystal oscillators with a low elevation angle g-sensitivity vector. The gyroscopic mounting influences frequency deviation or jitter caused by dynamic loads on replica carrier and affects the frequency locked loop (FLL) as the dominant tracking loop in highly dynamic GNSS receivers. In terms of steady-state load, the proposed mounting mostly reduces the frequency deviation below the one-sigma threshold of FLL (1σ(FLL)). The mounting method can also reduce the frequency jitter caused by sinusoidal vibrations and reduces the probability of signal loss in parts of the trajectory where the other error sources accompany this vibration load. In the case of random vibration, which is the main disturbance source of FLL, gyroscopic mounting is even able to suppress the disturbances greater than the three-sigma threshold of FLL (3σ(FLL)). In this way, signal tracking performance can be improved by the gyroscopic mounting method for highly dynamic GNSS receivers.
Efficiency of a gyroscopic device for conversion of mechanical wave energy to electrical energy
Carlsen, Martin; Darula, Radoslav; Gravesen, Jens;
2011-01-01
We consider a recently proposed gyroscopic device for conversion of mechanical ocean wave energy to electrical energy. Two models of the device derived from standard engineering mechanics from the literature are analysed, and a model is derived from analytical mechanics considerations. From...
Analysis of Drift Errors in the JPL/UCLA Micromachined Gyroscope
Chakraborty, I.
1996-01-01
The model of the JPL/UCLA micromachined vibratory gyroscope will be enhanced to include time varying effects. First, they will be shown to exist through trends in the experimental results. Causes of mechanical error will be further explained by analyzing possible perturbations to the physical model.
Acar, Cenk; Shkel, Andrei M.
2002-07-01
This paper reports a design concept for MEMS gyroscopes that shifts the complexity of the design from control architecture to system dynamics, utilizing the passive disturbance rejection capability of the 4-DOF dynamical system. Specifically, a novel wide-bandwidth micromachined gyroscope design approach based on increasing the degrees-of-freedom of the oscillatory system by the use of two independently oscillating interconnected proof masses is presented along with preliminary experimental demonstration of implementation feasibility. With the concept of using a 4-DOF system, inherent disturbance rejection is achieved due to the wide operation frequency range of the dynamic system, providing reduced sensitivity to structural and thermal parameter fluctuations. Thus, less demanding active control strategies are required for operation under presence of perturbations. The fabricated prototype dual-mass gyroscopes successfully demonstrated a dramatically wide driving frequency range within where the drive direction oscillation amplitude varies insignificantly without any active control, in contrast to the conventional gyroscopes where the mass has to be sustained in constant amplitude oscillation in a very narrow frequency band. Mechanical amplification of driven mass oscillation by the sensing element was also experimentally demonstrated, providing large oscillation amplitudes, which is crucial for sensor performance.
Identification of Error Sources in High Precision Weight Measurements of Gyroscopes
Lőrincz, I
2015-01-01
A number of weight anomalies have been reported in the past with respect to gyroscopes. Much attention was gained from a paper in Physical Review Letters, when Japanese scientists announced that a gyroscope loses weight up to $0.005\\%$ when spinning only in the clockwise rotation with the gyroscope's axis in the vertical direction. Immediately afterwards, a number of other teams tried to replicate the effect, obtaining a null result. It was suggested that the reported effect by the Japanese was probably due to a vibration artifact, however, no final conclusion on the real cause has been obtained. We decided to build a dedicated high precision setup to test weight anomalies of spinning gyroscopes in various configurations. A number of error sources like precession and vibration and the nature of their influence on the measurements have been clearly identified, which led to the conclusive explanation of the conflicting reports. We found no anomaly within $\\Delta m/m<2.6 \\times 10^{-6}$ valid for both horizon...
Decoupling Control of Micromachined Spinning-Rotor Gyroscope with Electrostatic Suspension.
Sun, Boqian; Wang, Shunyue; Li, Haixia; He, Xiaoxia
2016-10-20
A micromachined gyroscope in which a high-speed spinning rotor is suspended electrostatically in a vacuum cavity usually functions as a dual-axis angular rate sensor. An inherent coupling error between the two sensing axes exists owing to the angular motion of the spinning rotor being controlled by a torque-rebalance loop. In this paper, a decoupling compensation method is proposed and investigated experimentally based on an electrostatically suspended micromachined gyroscope. In order to eliminate the negative spring effect inherent in the gyroscope dynamics, a stiffness compensation scheme was utilized in design of the decoupled rebalance loop to ensure loop stability and increase suspension stiffness. The experimental results show an overall stiffness increase of 30.3% after compensation. A decoupling method comprised of inner- and outer-loop decoupling compensators is proposed to minimize the cross-axis coupling error. The inner-loop decoupling compensator aims to attenuate the angular position coupling. The experimental frequency response shows a position coupling attenuation by 14.36 dB at 1 Hz. Moreover, the cross-axis coupling between the two angular rate output signals can be attenuated theoretically from -56.2 dB down to -102 dB by further appending the outer-loop decoupling compensator. The proposed dual-loop decoupling compensation algorithm could be applied to other dual-axis spinning-rotor gyroscopes with various suspension solutions.
On gyroscopic effects in vibrating and axially rotating solid and annular discs
Joubert, SV
2007-05-01
Full Text Available , such as cylindrical, hemispherical and planar circular disc rotational sensors. The model of a thin circular disc vibrating in its plane and subjected to inertial rotation is considered. The dynamics of the disc gyroscope are considered in terms of linear elasticity...
Analysis and design of the system of a total digital Si-gyroscope
Huang, Fuxiang; Liang, Yin
2017-03-01
In order to get a thorough understanding of the total digital silicon micro-gyroscope, a novel system-level model with details of both the sense and circuit is presented in this paper. Unlike the traditional structures of the digital part of the digital gyroscope, a structure with programmable delay units (PDUs) instead of DPLLs gives a brief and robust character of the whole system. And the PDUs coordinating with the FIR filter could lead to a removal of the IF filters of the sigma-delta DAC for feedback, which saves a lot of consumption. Two MASH sigma-delta ADCs are designed to convert the output of the charge-voltage converters to digital signals, which also bring a better stability. The ADCs achieve an SNR of 102.5 dB with a 10 kHz bandwidth. The stabilization of the closed drive mode has also been analyzed including how the noise caused by the quantization of the digital circuit is affecting the stabilization of both the amplitude and frequency of the driving signals. In the end, a final result of simulation of the gyroscope shows the correctness and accuracy of the whole model of the gyroscope.
Application of MEMS Accelerometers and Gyroscopes in Fast Steering Mirror Control Systems
Jing Tian
2016-03-01
Full Text Available In a charge-coupled device (CCD-based fast steering mirror (FSM tracking control system, high control bandwidth is the most effective way to enhance the closed-loop performance. However, the control system usually suffers a great deal from mechanical resonances and time delays induced by the low sampling rate of CCDs. To meet the requirements of high precision and load restriction, fiber-optic gyroscopes (FOGs are usually used in traditional FSM tracking control systems. In recent years, the MEMS accelerometer and gyroscope are becoming smaller and lighter and their performance have improved gradually, so that they can be used in a fast steering mirror (FSM to realize the stabilization of the line-of-sight (LOS of the control system. Therefore, a tentative approach to implement a CCD-based FSM tracking control system, which uses MEMS accelerometers and gyroscopes as feedback components and contains an acceleration loop, a velocity loop and a position loop, is proposed. The disturbance suppression of the proposed method is the product of the error attenuation of the acceleration loop, the velocity loop and the position loop. Extensive experimental results show that the MEMS accelerometers and gyroscopes can act the similar role as the FOG with lower cost for stabilizing the LOS of the FSM tracking control system.
Monaghan, C.C.; Riel, W.J.B.M.; Veltink, P.H.
2009-01-01
This article presents a stimulation control method using a uniaxial gyroscope measuring angular velocity of the shank in the sagittal plane, to control functional electrical stimulation of the triceps surae to improve push-off of stroke subjects during gait. The algorithm is triggered during each sw
The kinematics of the swing phase obtained from accelerometer and gyroscope measurements
Heyn, Andreas; Mayagoitia, Ruth E.; Nene, Anand V.; Veltink, Peter H.
1996-01-01
The kinematics needed to calculate the knee moment during the initial swing phase were obtained from a set of eight leg-mounted uni-axial accelerometers and two gyroscopes. The angular and linear accelerations of shank and thigh were calculated from the signals of two accelerometers mounted on each
Mechanical Coupling Error Suppression Technology for an Improved Decoupled Dual-Mass Micro-Gyroscope
Bo Yang
2016-04-01
Full Text Available This paper presents technology for the suppression of the mechanical coupling errors for an improved decoupled dual-mass micro-gyroscope (DDMG. The improved micro-gyroscope structure decreases the moment arm of the drive decoupled torque, which benefits the suppression of the non-ideal decoupled error. Quadrature correction electrodes are added to eliminate the residual quadrature error. The structure principle and the quadrature error suppression means of the DDMG are described in detail. ANSYS software is used to simulate the micro-gyroscope structure to verify the mechanical coupling error suppression effect. Compared with the former structure, simulation results demonstrate that the rotational displacements of the sense frame in the improved structure are substantially suppressed in the drive mode. The improved DDMG structure chip is fabricated by the deep dry silicon on glass (DDSOG process. The feedback control circuits with quadrature control loops are designed to suppress the residual mechanical coupling error. Finally, the system performance of the DDMG prototype is tested. Compared with the former DDMG, the quadrature error in the improved dual-mass micro-gyroscope is decreased 9.66-fold, and the offset error is decreased 6.36-fold. Compared with the open loop sense, the feedback control circuits with quadrature control loop decrease the bias drift by 20.59-fold and the scale factor non-linearity by 2.81-fold in the ±400°/s range.
Yang, Bo; Wang, Xingjun; Deng, Yunpeng; Hu, Di
2016-01-01
This paper presents technology for the suppression of the mechanical coupling errors for an improved decoupled dual-mass micro-gyroscope (DDMG). The improved micro-gyroscope structure decreases the moment arm of the drive decoupled torque, which benefits the suppression of the non-ideal decoupled error. Quadrature correction electrodes are added to eliminate the residual quadrature error. The structure principle and the quadrature error suppression means of the DDMG are described in detail. ANSYS software is used to simulate the micro-gyroscope structure to verify the mechanical coupling error suppression effect. Compared with the former structure, simulation results demonstrate that the rotational displacements of the sense frame in the improved structure are substantially suppressed in the drive mode. The improved DDMG structure chip is fabricated by the deep dry silicon on glass (DDSOG) process. The feedback control circuits with quadrature control loops are designed to suppress the residual mechanical coupling error. Finally, the system performance of the DDMG prototype is tested. Compared with the former DDMG, the quadrature error in the improved dual-mass micro-gyroscope is decreased 9.66-fold, and the offset error is decreased 6.36-fold. Compared with the open loop sense, the feedback control circuits with quadrature control loop decrease the bias drift by 20.59-fold and the scale factor non-linearity by 2.81-fold in the ±400°/s range.
Analysis of the Gyroscopic Stabilization of a System of Rigid Bodies
Kliem, Wolfhard
1996-01-01
We study the gyroscopic of a three-body system. A new method offinding stability regions, based on mechanism and criteria for gyroscopicstabilization, is presented. Of particular interest in this connection isthe theory of interaction of eigenvalues. This leads to a complete 3-dimensionalanalysis...
Reflection-induced bias error in an air-core photonic bandgap fiber optic gyroscope.
Zhang, Zuchen; Xu, Xiaobin; Zhang, Zhihao; Song, Ningfang; Zhang, Chunxi
2016-01-15
Analysis of the bias error induced by reflections in an air-core photonic bandgap fiber gyroscope is performed by both simulation and experiment. The bias error is sinusoidally periodic under modulation, and its intensity is related to the relative positions of the reflection points. A simple and effective method for the suppression of the error is proposed, and it has been verified experimentally.
Measuring general relativity effects in a terrestrial lab by means of laser gyroscopes
Beverini, N; Beghi, A; Belfi, J; Bouhadef, B; Calamai, M; Carelli, G; Cuccato, D; Di Virgilio, A; Maccioni, E; Ortolan, A; Porzio, A; Santagata, R; Solimeno, S; Tartaglia, A
2013-01-01
GINGER is a proposed tridimensional array of laser gyroscopes with the aim of measuring the Lense-Thirring effect, predicted by the General Relativity theory, in a terrestrial laboratory environment. We discuss the required accuracy, the methods to achieve it, and the preliminary experimental work in this direction.
Modeling and Simulation of Non-idealities in a Z-axis CMOS-MEMS Gyroscope
2003-04-01
Analog Hardware Description Language ( AHDL ) model implementation of mechanical second-order systems, such as the resonating structure in a gyroscope. AHDL ... AHDL ) was obtained by extend- ing time-discretized interpretation of electrical components such as resistors, inductors and capacitors to the...mechanical domain. Pointers for AHDL implementation with better simulation convergence and speed were deduced. Important guidelines to be considered during
Mayagoitia, Ruth E.; Nene, Anand V.; Veltink, Peter H.
2002-01-01
A general-purpose system to obtain the kinematics of gait in the sagittal plane based on body-mounted sensors was developed. It consisted of four uniaxial seismic accelerometers and one rate gyroscope per body segment. Tests were done with 10 young healthy volunteers, walking at five different speed
A new cantilever beam-rigid-body MEMS gyroscope: mathematical model and linear dynamics
Lajimi, Seyed Amir Mousavi; Abdel-Rahman, Eihab
2014-01-01
A new microbeam-rigid-body gyroscope is introduced and its static and dynamic behaviours are studied. The main structure includes a microbeam and an eccentric end-rigid-body influencing the dynamic and static characteristics of the sensor. The sensitivity of the device and the effect of system parameters on the microsystem's response are investigated.
Analysis and testing of gyroscope performance for the Gravity Probe B relativity mission
Ohshima, Yoshimi
2000-11-01
This dissertation describes the analysis and experimental testing of the performance of electrostatically suspended vacuum gyroscopes (ESVG) designed for the Gravity Probe B Relativity Experiment (GP-B). The GP-B mission is a satellite-based gyroscope experiment currently under joint development by NASA and Stanford University. It is designed to test two predictions of Einstein's General Theory of Relativity: the geodetic effect and the frame-dragging effect. They are predicted to be 6.6 and 0.042 arc-sec/year, respectively, for a planned circular polar orbit. The primary goal of the GP-B mission is to measure the geodetic effect to better than 0.01%, and the frame-dragging effect to better than 1%. In order to achieve this goal, the non-relativistic drift rate of the gyroscope must be less than 0.3 milli-arc-sec/year. Presented is the analysis of the part of the Newtonian torque on the gyroscope rotor that is due to the electrostatic support, estimation of the science-mission drift rate, and experimental validation of the theoretical torque modeling. The analysis of the electrostatic torque indicates that the torque depends on both the close-to-perfect rotor shape with very minor manufacturing asphericity, and the voltage applied to the electrodes. To estimate the science-mission drift rate, we used the measured asphericity of an existing rotor that was below flight quality. Throughout the analysis, the estimated drift rate of the gyroscope induced by the non-relativistic effect was less than the maximum allowed drift rate of 0.3 milli-arc-sec/year for this effect. This result is gratifying because the actual flight rotors will exhibit a much lower non-relativistic drift rate. In the laboratory, parameters that characterize the electrostatic torque were measured by changing the voltages applied to the electrodes and the position of the gyroscope rotor in its housing cavity. The results match well with the theoretical expectations, confirming the validity of the
On the Late Development and Possible Astronomical Origin of the Gyroscope
Brecher, Kenneth
2013-01-01
The invention of the gyroscope is usually attributed to the French physicist Jean-Bernard-Leon Foucault in the year 1852. He certainly created the word and also used his gyroscope to demonstrate the rotation of the Earth. However, the gyroscope was actually invented around 1812 by the German scientist Johann Bohnenberger who called his device simply the “machine”. Bohnenberger was a professor of astronomy and mathematics and published a book about astronomy in 1811. Several other scientists, including American physicist Walter R. Johnson (who called his apparatus the “rotascope”), independently invented the gyroscope. Each of these devices employed a central object (sphere or disc) that could spin on a shaft. This object was placed between three independent gimbals, two of which could move freely. Bohnenberger’s “machine” has much the same appearance as an armillary sphere. Those astronomical devices had been produced for at least the preceding three centuries and were widely dispersed and well known throughout Europe. They were used to display the apparent motion of celestial bodies. However, armillary spheres were used only as simulations of celestial appearances, not as actual demonstrations of physical phenomena. It is not known if the inertial properties of armillary spheres (and also of terrestrial and celestial globes) had been studied before about 1800. Nonetheless, as a matter of practice, gimbal systems similar to those found in gyroscopes were used on ships to level oil lamps at least as early as the sixteenth century AD. And the ideas behind armillary spheres date back at least a millennium before that. So why did the invention of the gyroscope in its modern form take such a long time when the individual underlying components had been around and utilized for some two millennia? Perhaps because the understanding of angular momentum, including its conservation, was not developed until the start of the 19th century and also because the
MEMS微陀螺仪研究进展%Research Development of MEMS Micro-Gyroscopes
成宇翔; 张卫平; 陈文元; 崔峰; 刘武; 吴校生
2011-01-01
回顾了MEMS微陀螺仪的研究进展,简单介绍了MEMS微陀螺仪的市场应用.微陀螺仪是MEMS器件中非常重要的一类器件.它的运用已经从单纯的航空领域逐渐转向汽车、消费电子行业等低端市场,这意味着微陀螺仪除了传统意义上的高精度高稳定性的要求,也可以向低精度商品化发展.传统的振动式陀螺,由于原理的局限性和加工技术的限制,很难达到战术级和惯性级的要求.导航级集成微陀螺(NGIMG)项目建议使用其他途径,以减少器件的可移动部件和降低工艺难度,从而提高其精度和抗干扰能力.各种设计方法近年来层出不穷,其中悬浮转子式微陀螺是目前精度最高的陀螺仪,微集成光学式陀螺也将在未来一段时间拥有巨大的研究潜力和发展空间.%The research progress of MEMS micro-gyroscopes are reviewed. The market applications of MEMS micro-gyroscopes are introduced briefly. Micro gyroscopes play a significant role in the MEMS devices. From aviation fields, its application has gradually shifted to the low-end market, such as automobile and consumer electronics, which means that instead of the high precision and stability, commercialization is another development direction. As the limitation of the principle and the fabrication technology, the traditional vibrating gyroscopes can hardly reach the tactical grade and the inertial grade. The NGIMG program, supported by DARPA, suggests to use other methods to reduce flexible components, decrease the processing difficulty and improve the precision and antijamming capability. In the recent years, endless varieties of designs are proposed. The micro levitated rotational gyroscope is the most precise gyroscope in the world now, and the MEOMS gyroscope also has a great research potential and development in the future.
Effect of axial force on the performance of micromachined vibratory rate gyroscopes.
Hou, Zhanqiang; Xiao, Dingbang; Wu, Xuezhong; Dong, Peitao; Chen, Zhihua; Niu, Zhengyi; Zhang, Xu
2011-01-01
It is reported in the published literature that the resonant frequency of a silicon micromachined gyroscope decreases linearly with increasing temperature. However, when the axial force is considerable, the resonant frequency might increase as the temperature increases. The axial force is mainly induced by thermal stress due to the mismatch between the thermal expansion coefficients of the structure and substrate. In this paper, two types of micromachined suspended vibratory gyroscopes with slanted beams were proposed to evaluate the effect of the axial force. One type was suspended with a clamped-free (C-F) beam and the other one was suspended with a clamped-clamped (C-C) beam. Their drive modes are the bending of the slanted beam, and their sense modes are the torsion of the slanted beam. The relationships between the resonant frequencies of the two types were developed. The prototypes were packaged by vacuum under 0.1 mbar and an analytical solution for the axial force effect on the resonant frequency was obtained. The temperature dependent performances of the operated mode responses of the micromachined gyroscopes were measured. The experimental values of the temperature coefficients of resonant frequencies (TCF) due to axial force were 101.5 ppm/°C for the drive mode and 21.6 ppm/°C for the sense mode. The axial force has a great influence on the modal frequency of the micromachined gyroscopes suspended with a C-C beam, especially for the flexure mode. The quality factors of the operated modes decreased with increasing temperature, and changed drastically when the micromachined gyroscopes worked at higher temperatures.
Effect of Axial Force on the Performance of Micromachined Vibratory Rate Gyroscopes
Zhengyi Niu
2010-12-01
Full Text Available It is reported in the published literature that the resonant frequency of a silicon micromachined gyroscope decreases linearly with increasing temperature. However, when the axial force is considerable, the resonant frequency might increase as the temperature increases. The axial force is mainly induced by thermal stress due to the mismatch between the thermal expansion coefficients of the structure and substrate. In this paper, two types of micromachined suspended vibratory gyroscopes with slanted beams were proposed to evaluate the effect of the axial force. One type was suspended with a clamped-free (C-F beam and the other one was suspended with a clamped-clamped (C-C beam. Their drive modes are the bending of the slanted beam, and their sense modes are the torsion of the slanted beam. The relationships between the resonant frequencies of the two types were developed. The prototypes were packaged by vacuum under 0.1 mbar and an analytical solution for the axial force effect on the resonant frequency was obtained. The temperature dependent performances of the operated mode responses of the micromachined gyroscopes were measured. The experimental values of the temperature coefficients of resonant frequencies (TCF due to axial force were 101.5 ppm/°C for the drive mode and 21.6 ppm/°C for the sense mode. The axial force has a great influence on the modal frequency of the micromachined gyroscopes suspended with a C-C beam, especially for the flexure mode. The quality factors of the operated modes decreased with increasing temperature, and changed drastically when the micromachined gyroscopes worked at higher temperatures.
Keymeulen, Didier; Ferguson, Michael I.; Fink, Wolfgang; Oks, Boris; Peay, Chris; Terrile, Richard; Cheng, Yen; Kim, Dennis; MacDonald, Eric; Foor, David
2005-01-01
We propose a tuning method for MEMS gyroscopes based on evolutionary computation to efficiently increase the sensitivity of MEMS gyroscopes through tuning. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation. We also report on the development of a hardware platform for integrated tuning and closed loop operation of MEMS gyroscopes. The control of this device is implemented through a digital design on a Field Programmable Gate Array (FPGA). The hardware platform easily transitions to an embedded solution that allows for the miniaturization of the system to a single chip.
Analysis of compensation for a g-sensitivity scale-factor error for a MEMS vibratory gyroscope
Park, Byung Su; Han, KyungJun; Lee, SangWoo; Yu, MyeongJong
2015-11-01
In this paper, we present recent work on the g-sensitivity error of the MEMS vibratory gyroscope. Generally, the g-sensitivity error has been ignored in the use of commercial MEMS vibratory gyroscopes, but it deserves our attention if we are to achieve tactical grade performance for military applications. First, we mathematically show the reason the g-sensitivity error occurs as an additional scale-factor error during the use of MEMS vibratory gyroscopes. Then, we estimate the g-sensitivity error using FEM simulation and verify it by experiment using a centrifugal machine. Consequently, we propose a compensation model to accommodate the g-sensitivity error of a gyroscope and confirm the theoretical prediction with experimental results.
Development of thin film encapsulation process for piezoresistive MEMS gyroscope with wide gaps
Ayanoor-Vitikkate, Vipin
The gyroscope is an inertial sensor used to measure the angular rate of a rotating object. This helps to determine the pitch and yaw rate of any moving body. A number of applications have been developed for consumer and automotive markets, for e.g. vehicle stability control, navigation assist, roll over detection. These are primarily used in high-end cars, where cost is not a major factor. Other areas where a MEMS Gyro can be used are robotics, camcorder stabilization, virtual reality, and more. Primarily due to cost and the size most of these applications have not reached any significant volume. One reason for this is the relatively high cost of MEMS gyros compared to other MEMS sensors like accelerometers or pressure sensors. Generally the cost of packaging a MEMS sensor is about 85-90% of the total cost. Currently most MEMS based gyroscopes are made using bulk or surface micromachining, after which they are packaged using wafer bonding. This unfortunately leads to wastage of silicon and increase in the package size, thus reducing the yield. One way to reduce the cost of packaging is by wafer scale thin film encapsulation of MEMS gyroscopes. The goal of the present work is to fabricate a rate grade MEMS gyroscope and encapsulate it by modifying an existing thin-film encapsulation technique. Packaging is an important step towards commercialization of the device and we plan to use thin wafer scale encapsulation technique developed previously in our group to package these devices. The silicon micro machined gyroscope will be fabricated on SOI (Silicon-on-Insulator) wafers using Bosch DRIE etching techniques. The encapsulation of the device is carried out using epitaxial polysilicon in order to provide a high vacuum inside the device chamber. The advantages offered by this technique are the reduction in area of the die and thus less silicon surface is wasted. In addition to this the encapsulation technique helps in creating a vacuum inside the micro device, which
'It Has to Go Down A Little, In Order to Go Around'- Following Feynman on the Gyroscope
Kostov, Svilen; Hammer, Daniel
2010-01-01
In this paper we show that with the help of accessible, teaching quality equipment, some interesting details of the motion of a gyroscope, typically overlooked in introductory courses, can be measured and compared to theory. We begin by deriving a simple relation between the asymptotic dip angle of a gyroscope released from rest and its precession velocity. We then describe an experiment which measures these parameters. The data gives excellent agreement with the model. The idea for this proj...
2015-01-01
In this paper, a gyroscopic mounting method for crystal oscillators to reduce the impact of dynamic loads on their output stability has been proposed. In order to prove the efficiency of this mounting approach, each dynamic load-induced instability has been analyzed in detail. A statistical study has been performed on the elevation angle of the g-sensitivity vector of Stress Compensated-cut (SC-cut) crystals. The analysis results show that the proposed gyroscopic mounting method gives good p...
Design and analysis of a dual-axis resonator fiber-optic gyroscope employing a single source.
Pinnoji, Prerana Dabral; Nayak, Jagannath
2013-08-01
In this paper, design of a resonator fiber-optic gyroscope comprised of a single laser source and two optical fiber resonator rings is presented. A typical gyroscope measures angular rotation around a fixed axis, whereas the proposed design can sense simultaneous rotation about two orthogonal axes. Two variants of the design are proposed and analyzed using a mathematical model based on Jones matrix methodology.
Brillouin/Raman compensation of the Kerr-effect-induced bias in a nonlinear ring laser gyroscope.
Luo, Zhang; Yuan, Xiaodong; Zhu, Zhihong; Liu, Ken; Ye, Weimin; Zeng, Chun; Ji, Jiarong
2013-04-01
In this Letter, the beat frequency at rest of a ring laser gyroscope with nonlinear effects is discussed in detail. Even without an additional intensity-stabilizing system, the random nullshift bias induced by the Kerr effect is compensated by the phase shift associated with the stimulated Brillouin/Raman scattering. And the nonlinear stimulated scattering also serves as the gain mechanism of the gyroscope. And thus the influence of the fluctuation of the injected pump intensity on the beat frequency is eliminated.
Yibo Feng
2015-05-01
Full Text Available We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF, the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to −2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation.
Feng, Yibo; Li, Xisheng; Zhang, Xiaojuan
2015-05-13
We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS) gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF), the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to -2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation.
Study of a MEMS Vibratory Gyroscope Using Adaptive Iterative Learning Control
Xiaochun Lu
2014-09-01
Full Text Available This paper proposes a framework, namely adaptive iterative learning control (AILC, which is used in the control of a microelectromechanical system (MEMS gyroscope, to realize high-precision trajectory tracking control. According to the characteristics of the MEMS gyroscope’s model, the proposed AILC algorithm includes an adaptive law of parametric estimation and an iteration control law, which is updated in the iterative domain without any prior knowledge of MEMS gyroscopes. The convergence of the method is proven by a Lyapunov-like approach, which shows that the designed controller can guarantee the stability of the system and make the output tracking errors to converge completely to zero while the iteration index tends to infinity. By comparing AILC and traditional PD-ILC, the simulation results demonstrate the effectiveness of AILC and its robustness against external random disturbance.
A precision closed-loop driving scheme of silicon micromachined vibratory gyroscope
Yang Bo; Zhou Bailing; Wang Shourong [Instrument Science and Engineering Department, Southeast University Nanjing 210096 (China)
2006-04-01
This paper describes a precision closed-loop driving scheme for Silicon Micromachined Vibratory Gyroscope (SMVG). It decouples the angle and gain of the selfoscillation- driven, optimizes the angle to reduce the relative difference between drive frequency and resonant frequency of the drive mode and achieves the closed-loop selfoscillation- driven by nonlinear relation between DC voltage using for control and drive force. The experiments show that the standard deviation of drive frequency is 0.009Hz, with relative drift 2.2ppm and the standard deviation of the amplitude is 0.0025mV, with relative drift 15ppm in one hour respectively. The closed-loop drive scheme improves the precision and stability of drive frequency and the amplitude of the gyroscope well. The paper analyses and tests the noise of the self-oscillation-driven. The result shows that the self-oscillation-driven has a rms noise below -100dB.
Impact of Thermal Behavior on Offset in a High-Q Gyroscope
Duan, Fei; Wang, Y
2007-01-01
In this paper, CFD approach is used to simulate the thermal behavior in a sensitive high-Q gyroscope. The electromagnetically driving wires, in which AC current flows, are treated as Joule heat sources in the model. We found that the differences of temperature, pressure and velocity along the driving direction and transversely across the proof masses increased as the gap height between the proof mass and top glass became smaller. Local pressure gradient is expected to possibly enhance the impact of any imperfect led by MEMS processes or designs on the offset of our tuning fork type gyroscope, which has been experimentally verified. A device with 200um gap gives a two-third offset down compared with that of its counterpart with 50um gap.
Tuning of MEMS Gyroscope using Evolutionary Algorithm and "Switched Drive-Angle" Method
Keymeulen, Didier; Ferguson, Michael I.; Breuer, Luke; Peay, Chris; Oks, Boris; Cheng, Yen; Kim, Dennis; MacDonald, Eric; Foor, David; Terrile, Rich; Yee, Karl
2006-01-01
We propose a tuning method for Micro-Electro-Mechanical Systems (MEMS) gyroscopes based on evolutionary computation that has the capacity to efficiently increase the sensitivity of MEMS gyroscopes through tuning and, furthermore, to find the optimally tuned configuration for this state of increased sensitivity. We present the results of an experiment to determine the speed and efficiency of an evolutionary algorithm applied to electrostatic tuning of MEMS micro gyros. The MEMS gyro used in this experiment is a pyrex post resonator gyro (PRG) in a closed-loop control system. A measure of the quality of tuning is given by the difference in resonant frequencies, or frequency split, for the two orthogonal rocking axes. The current implementation of the closed-loop platform is able to measure and attain a relative stability in the sub-millihertz range, leading to a reduction of the frequency split to less than 100 mHz.
A novel adaptive sliding mode control with application to MEMS gyroscope.
Fei, Juntao; Batur, Celal
2009-01-01
This paper presents a new adaptive sliding mode controller for MEMS gyroscope; an adaptive tracking controller with a proportional and integral sliding surface is proposed. The adaptive sliding mode control algorithm can estimate the angular velocity and the damping and stiffness coefficients in real time. A proportional and integral sliding surface, instead of a conventional sliding surface is adopted. An adaptive sliding mode controller that incorporates both matched and unmatched uncertainties and disturbances is derived and the stability of the closed-loop system is established. The numerical simulation is presented to verify the effectiveness of the proposed control scheme. It is shown that the proposed adaptive sliding mode control scheme offers several advantages such as the consistent estimation of gyroscope parameters including angular velocity and large robustness to parameter variations and external disturbances.
Seven phases of gait detected in real-time using shank attached gyroscopes.
Behboodi, A; Wright, H; Zahradka, N; Lee, S C K
2015-08-01
A new gyroscope-based gait phase detection system (GPDS) with ability to detect all seven phases of gait was proposed in this study. Gyroscopes were attached to each shank. Shank angular velocity, about the medio-lateral axis, was streamed to a PC and a rule-based algorithm was used to identify characteristics of the signals. Five subjects were asked to walk on treadmill at their self-selected speed while using this system. All 7 phases of gait: LR, MSt, TSt, PSw, ISw, MSw, and TSw were detected in real-time using only shank angular velocities. To quantify system performance, sensor data was compared to simultaneously collected motion capture data. Average gait phase detection delays of the system were less than 40ms except TSw (74ms). The present system, consisting of minimal sensors and decreased processing, is precise, cosmetic, economical, and a good alternative for portable stand-alone applications.
A single-ended CMOS sensing circuit for MEMS gyroscope with noise cancellation
Elsayed, Mohannad Yomn
2010-06-01
In this work, a complete single-ended readout circuit for capacitive MEMS gyroscope using chopper stabilization technique is presented. A novel noise cancellation technique is used to get rid of the bias noise. The circuit offers superior performance over state of the art readout circuits in terms of cost, gain, and noise for the given area and power consumption. The full circuit exhibits a gain of 58dB, a power dissipation of 1.3mW and an input referred noise of 12nV/√Hz. This would significantly improve the overall sensitivity of the gyroscope. The full circuit has been fabricated in 0.6um CMOS technology and it occupies an area of 0.4mm × 1mm. © 2010 IEEE.
Zhang Kai; Zhao Lei; Zhao Hongbin
2004-01-01
Traditional PID controllers are no longer suitable for magnetic-bearing-supported high-speed flywheels with significant gyroscopic effects.Because gyroscopic effects greatly influence the stability of the flywheel rotor,especially at high rotational speeds.Velocity cross feedback and displacement cross feedback are used to overcome harmful effects of nutation and precession modes, and stabilize the rotor at high rotational speeds.Theoretical analysis is given to show their effects.A control platform based on RTLinux and a PC is built to control the active magnetic bearing (AMB) system, and relevant results are reported.Using velocity cross feedback and displacement cross feedback in a closed loop control system, the flywheel successfully runs at over 20 000 r/min.
SYSTEM-LEVEL SIMULATION OF VIBRATORY MICROMACHINED GYROSCOPE WITH FENCE STRUCTURE
Che Lufeng; Xiong Bin; Wang Yuelin
2004-01-01
An equivalent circuit model of a novel fence structure vibratory micromachined gyroscope's oscillating properties is modeled by electrical equivalent circuits according to its dynamics equation. Equivalent circuit model of oscillating and differential detection capacitance model are implemented in the circuit simulation tool PSPICE, which is available in oscillating properties analysis such as oscillating's transient response, steady response and frequency response to angular rate to optimize working mode of the gyroscope. The model also enables sensor simulation with the interfacing electronics to analyse the performances of the whole system. Behavioral simulation of the system is performed to prove the function of detection circuits. The simulation results and measurement results show that the design of circuits is feasible.
Xu, Xiaobin; Zhang, Zuchen; Zhang, Zhihao; Jin, Jing; Song, Ningfang
2014-11-01
Air-core photonic bandgap fiber (PBF) is an excellent choice for fiber optic gyroscope owing to its incomparable adaptability of environment. Strong and continuous polarization mode coupling is found in PBFs with an average intensity of ~-30 dB, but the coupling arrives at the limit when the maximum optical path difference between the primary waves and the polarization-mode-coupling-induced secondary waves reaches ~10mm, which is corresponding to the PBF length of ~110 m according to the birefringence in the PBF. Incident light with the low extinction ratio (ER) can suppress the birth of the polarization-mode-coupling-induced secondary waves, but the low-ER light obtained by the conventional Lyot depolarizers does not work here. Consequently, a large nonreciprocity and a bias error of ~13°/h are caused in the air-core photonic bandgap fiber optical gyroscope (PBFOG) with a PBF coil of ~268 m.
Automatic detection of EEG artefacts arising from head movements using EEG and gyroscope signals.
O'Regan, Simon; Faul, Stephen; Marnane, William
2013-07-01
Contamination of EEG signals by artefacts arising from head movements has been a serious obstacle in the deployment of automatic neurological event detection systems in ambulatory EEG. In this paper, we present work on categorizing these head-movement artefacts as one distinct class and on using support vector machines to automatically detect their presence. The use of additional physical signals in detecting head-movement artefacts is also investigated by means of support vector machines classifiers implemented with gyroscope waveforms. Finally, the combination of features extracted from EEG and gyroscope signals is explored in order to design an algorithm which incorporates both physical and physiological signals in accurately detecting artefacts arising from head-movements.
Backward Secondary-Wave Coherence Errors in Photonic Bandgap Fiber Optic Gyroscopes
Xu, Xiaobin; Song, Ningfang; Zhang, Zuchen; Jin, Jing
2016-01-01
Photonic bandgap fiber optic gyroscope (PBFOG) is a novel fiber optic gyroscope (FOG) with excellent environment adaptability performance compared to a conventional FOG. In this work we find and investigate the backward secondary-wave coherence (BSC) error, which is a bias error unique to the PBFOG and caused by the interference between back-reflection-induced and backscatter-induced secondary waves. Our theoretical and experimental results show a maximum BSC error of ~4.7°/h for a 300-m PBF coil with a diameter of 10 cm. The BSC error is an important error source contributing to bias instability in the PBFOG and has to be addressed before practical applications of the PBFOG can be implemented. PMID:27338388
Effect of external and internal magnetic fields on the bias stability in a Zeeman laser gyroscope
Kolbas, Yu Yu; Saveliev, I I; Khokhlov, N I [Open Joint-Stock Company M.F. Stel' makh Polyus Research Institute, Moscow (Russian Federation)
2015-06-30
With the specific features of electronic systems of a Zeeman laser gyroscope taken into account, the basic physical mechanisms of the magnetic field effect on the bias stability and the factors giving rise to the internal magnetic fields are revealed. The hardware-based methods of reducing the effect of external and internal magnetic fields are considered, as well as the algorithmic methods for increasing the stability of the bias magnetic component by taking into account its reproducible temperature and time dependences. Typical experimental temperature and time dependences of the magnetic component of the Zeeman laser gyro bias are presented, and by their example the efficiency of the proposed methods for reducing the effect of magnetic fields is shown. (laser gyroscopes)
ON-LINE SELF-TESTING FOR MICRO-MACHINED GYROSCOPES
GAISSERAlexander; GAOZhong-yu; ZHANGRong; CHENZhi-yong; ZHOUBin
2005-01-01
An on line self-testing for Coriolis vibratory gyroscopes (CVGs) is realized according to a digital readout electronics for capacitive sensors and micro-machined angular rate sensors. By applying some additional signals to the micro machined structure, the actual noise performance (<0.1°/s) is not worsened. The running of the primary and the secondary oscillators of CVGs is verified by self-testing. Compared with other methods, the device needs not to check the functionality. In this new approach the on-line testing is conducted at any time without disturbing the normal operational mode. Based on the approach the performance of the micro machined gyroscope can be improved and a secure availability of the functionality of the micro-machined angular rate sensor is guaranteed. Furthermore, the error signal is generated when the sensor works incorrectly.
Noise Reduction of MEMS Gyroscope Based on Direct Modeling for an Angular Rate Signal
Liang Xue
2015-02-01
Full Text Available In this paper, a novel approach for processing the outputs signal of the microelectromechanical systems (MEMS gyroscopes was presented to reduce the bias drift and noise. The principle for the noise reduction was presented, and an optimal Kalman filter (KF was designed by a steady-state filter gain obtained from the analysis of KF observability. In particular, the true angular rate signal was directly modeled to obtain an optimal estimate and make a self-compensation for the gyroscope without needing other sensor’s information, whether in static or dynamic condition. A linear fit equation that describes the relationship between the KF bandwidth and modeling parameter of true angular rate was derived from the analysis of KF frequency response. The test results indicated that the MEMS gyroscope having an ARW noise of 4.87°/h0.5 and a bias instability of 44.41°/h were reduced to 0.4°/h0.5 and 4.13°/h by the KF under a given bandwidth (10 Hz, respectively. The 1σ estimated error was reduced from 1.9°/s to 0.14°/s and 1.7°/s to 0.5°/s in the constant rate test and swing rate test, respectively. It also showed that the filtered angular rate signal could well reflect the dynamic characteristic of the input rate signal in dynamic conditions. The presented algorithm is proved to be effective at improving the measurement precision of the MEMS gyroscope.
Gyroscope precession along bound equatorial plane orbits around a Kerr black hole
Bini, Donato; Jantzen, Robert T
2016-01-01
The precession of a test gyroscope along stable bound equatorial plane orbits around a Kerr black hole is analyzed and the precession angular velocity of the gyro's parallel transported spin vector and the increment in precession angle after one orbital period is evaluated. The parallel transported Marck frame which enters this discussion is shown to have an elegant geometrical explanation in terms of the electric and magnetic parts of the Killing-Yano 2-form and a Wigner rotation effect.
Gyroscope precession along unbound equatorial plane orbits around a Kerr black hole
Bini, Donato; Jantzen, Robert T
2016-01-01
The precession of a test gyroscope along unbound equatorial plane geodesic orbits around a Kerr black hole is analyzed with respect to a static reference frame whose axes point towards the "fixed stars." The accumulated precession angle after a complete scattering process is evaluated and compared with the corresponding change in the orbital angle. Limiting results for the non-rotating Schwarzschild black hole case are also discussed.
Accurate Magnetometer/Gyroscope Attitudes Using a Filter with Correlated Sensor Noise
Sedlak, J.; Hashmall, J.
1997-01-01
Magnetometers and gyroscopes have been shown to provide very accurate attitudes for a variety of spacecraft. These results have been obtained, however, using a batch-least-squares algorithm and long periods of data. For use in onboard applications, attitudes are best determined using sequential estimators such as the Kalman filter. When a filter is used to determine attitudes using magnetometer and gyroscope data for input, the resulting accuracy is limited by both the sensor accuracies and errors inherent in the Earth magnetic field model. The Kalman filter accounts for the random component by modeling the magnetometer and gyroscope errors as white noise processes. However, even when these tuning parameters are physically realistic, the rate biases (included in the state vector) have been found to show systematic oscillations. These are attributed to the field model errors. If the gyroscope noise is sufficiently small, the tuned filter 'memory' will be long compared to the orbital period. In this case, the variations in the rate bias induced by field model errors are substantially reduced. Mistuning the filter to have a short memory time leads to strongly oscillating rate biases and increased attitude errors. To reduce the effect of the magnetic field model errors, these errors are estimated within the filter and used to correct the reference model. An exponentially-correlated noise model is used to represent the filter estimate of the systematic error. Results from several test cases using in-flight data from the Compton Gamma Ray Observatory are presented. These tests emphasize magnetometer errors, but the method is generally applicable to any sensor subject to a combination of random and systematic noise.
Reproducibility of a 3-dimensional gyroscope in measuring shoulder anteflexion and abduction
Penning Ludo I F
2012-07-01
Full Text Available Abstract Background Few studies have investigated the use of a 3-dimensional gyroscope for measuring the range of motion (ROM in the impaired shoulder. Reproducibility of digital inclinometer and visual estimation is poor. This study aims to investigate the reproducibility of a tri axial gyroscope in measurement of anteflexion, abduction and related rotations in the impaired shoulder. Methods Fifty-eight patients with either subacromial impingement (27 or osteoarthritis of the shoulder (31 participated. Active anteflexion, abduction and related rotations were measured with a tri axial gyroscope according to a test retest protocol. Severity of shoulder impairment and patient perceived pain were assessed by the Disability of Arm Shoulder and Hand score (DASH and the Visual Analogue Scale (VAS. VAS scores were recorded before and after testing. Results In two out of three hospitals patients with osteoarthritis (n = 31 were measured, in the third hospital patients with subacromial impingement (n = 27. There were significant differences among hospitals for the VAS and DASH scores measured before and after testing. The mean differences between the test and retest means for anteflexion were −6 degrees (affected side, 9 (contralateral side and for abduction 15 degrees (affected side and 10 degrees (contralateral side. Bland & Altman plots showed that the confidence intervals for the mean differences fall within −6 up to 15 degrees, individual test - retest differences could exceed these limits. A simulation according to ‘Generalizability Theory’ produces very good coefficients for anteflexion and related rotation as a comprehensive measure of reproducibility. Optimal reproducibility is achieved with 2 repetitions for anteflexion. Conclusions Measurements were influenced by patient perceived pain. Differences in VAS and DASH might be explained by different underlying pathology. These differences in shoulder pathology however did not alter
Gyroscope precession along bound equatorial plane orbits around a Kerr black hole
Bini, Donato; Geralico, Andrea; Jantzen, Robert T.
2016-09-01
The precession of a test gyroscope along stable bound equatorial plane orbits around a Kerr black hole is analyzed, and the precession angular velocity of the gyro's parallel transported spin vector and the increment in the precession angle after one orbital period is evaluated. The parallel transported Marck frame which enters this discussion is shown to have an elegant geometrical explanation in terms of the electric and magnetic parts of the Killing-Yano 2-form and a Wigner rotation effect.
On the possibility of using metamaterials in a ring laser gyroscope
Veselago, V. G.; Dianov, E. M.; Kuryatov, V. N.; Malykin, G. B.; Volpian, O. D.
2016-06-01
An approach is proposed that ensures a theoretically unlimited improvement in the sensitivity of ring laser gyroscopes (RLGs) to rotation. Basic to this approach is the filling of the optical path in an RLG (outside its gain element) with two different optical media: a conventional optical medium with a refractive index n > 1 and a so-called metamaterial with n < 0. We consider effects that limit the real sensitivity of the proposed approach.
Analysis on Node Position of Imperfect Resonators for Cylindrical Shell Gyroscopes
Wang, Zidan; Wu, Yulie; Xi, Xiang; Zhang, Yongmeng; Wu, Xuezhong
2016-01-01
For cylindrical shell gyroscopes, node position of their operating eigenmodes has an important influence on the gyroscopes’ performance. It is considered that the nodes are equally separated from each other by 90° when the resonator vibrates in the standing wave eigenmode. However, we found that, due to manufacturing errors and trimming, the nodes may not be equally distributed. This paper mainly analyzes the influences of unbalanced masses on the cylindrical resonators’ node position, by using FEM simulation and experimental measurement. PMID:27483284
Er-doped fiber ring laser gyroscopes operating in continuous waves
Jingren Qian; Jue Su; Xuxu Wang; Bing Zhu
2007-01-01
A direction related polarizer was inserted into a ring laser cavity to eliminate one of the two eigen-modes as well as spatial hole burning of the gain medium in a bidirectional Er-doped fiber ring laser. Thus, a fiber ring laser gyroscope (FRLG) operating in continuous wave was demonstrated. A beat signal of over 30-dB noise was observed and a good inear relation between the beat frequency shift and cavity rotation rate was obtained.
Eigenvalue analysis of a cantilever beam-rigid-body MEMS gyroscope
Lajimi, Seyed Amir Mousavi; Abdel-Rahman, Eihab
2014-01-01
The eigenvalues of a new microbeam-rigid-body gyroscope are computed and studied to show the variation of frequencies versus the input spin rate. To this end, assuming the harmonic solution of the dynamic equation of motion the characteristic equation is obtained and solved for the natural frequencies of the system in the rotating frame. It is shown that the difference between the natural frequencies (eigenvalues) proportionally grows with the input angular displacement rate.
2012-04-01
TECHNICAL REPORT RDMR-WS-12-02 OPERATION OF SILICON-ON-INSULATOR (SOI) MICRO-ELECTROMECHANICAL SYSTEMS ( MEMS ) GYROSCOPIC SENSOR...DATES COVERED Final 4. TITLE AND SUBTITLE Operation of Silicon-on-Insulator (SOI) Micro-ElectroMechanical Systems ( MEMS ) Gyroscopic Sensor as a...existing Silicon-on-Insulator (SOI) Micro- ElectroMechanical Systems ( MEMS ) gyroscopic sensor previously developed in the early-2000s under MEMS
Gyroscope-reduced inertial navigation system for flight vehicle motion estimation
Wang, Xin; Xiao, Lu
2017-01-01
In this paper, a novel configuration of strategically distributed accelerometer sensors with the aid of one gyro to infer a flight vehicle's angular motion is presented. The MEMS accelerometer and gyro sensors are integrated to form a gyroscope-reduced inertial measurement unit (GR-IMU). The motivation for gyro aided accelerometers array is to have direct measurements of angular rates, which is an improvement to the traditional gyroscope-free inertial system that employs only direct measurements of specific force. Some technical issues regarding error calibration in accelerometers and gyro in GR-IMU are put forward. The GR-IMU based inertial navigation system can be used to find a complete attitude solution for flight vehicle motion estimation. Results of numerical simulation are given to illustrate the effectiveness of the proposed configuration. The gyroscope-reduced inertial navigation system based on distributed accelerometer sensors can be developed into a cost effective solution for a fast reaction, MEMS based motion capture system. Future work will include the aid from external navigation references (e.g. GPS) to improve long time mission performance.
Structural-Acoustic Coupling Effects on the Non-Vacuum Packaging Vibratory Cylinder Gyroscope
Xiang Xi
2013-12-01
Full Text Available The resonant shells of vibratory cylinder gyroscopes are commonly packaged in metallic caps. In order to lower the production cost, a portion of vibratory cylinder gyroscopes do not employ vacuum packaging. However, under non-vacuum packaging conditions there can be internal acoustic noise leading to considerable acoustic pressure which is exerted on the resonant shell. Based on the theory of the structural-acoustic coupling, the dynamical behavior of the resonant shell under acoustic pressure is presented in this paper. A finite element (FE model is introduced to quantitatively analyze the effect of the structural-acoustic coupling. Several main factors, such as sealing cap sizes and degree of vacuum which directly affect the vibration of the resonant shell, are studied. The results indicate that the vibration amplitude and the operating frequency of the resonant shell will be changed when the effect of structural-acoustic coupling is taken into account. In addition, an experiment was set up to study the effect of structural-acoustic coupling on the sensitivity of the gyroscope. A 32.4 mV/°/s increase of the scale factor and a 6.2 Hz variation of the operating frequency were observed when the radial gap size between the resonant shell and the sealing cap was changed from 0.5 mm to 20 mm.
Structural-acoustic coupling effects on the non-vacuum packaging vibratory cylinder gyroscope.
Xi, Xiang; Wu, Xuezhong; Wu, Yulie; Zhang, Yongmeng; Tao, Yi; Zheng, Yu; Xiao, Dingbang
2013-12-13
The resonant shells of vibratory cylinder gyroscopes are commonly packaged in metallic caps. In order to lower the production cost, a portion of vibratory cylinder gyroscopes do not employ vacuum packaging. However, under non-vacuum packaging conditions there can be internal acoustic noise leading to considerable acoustic pressure which is exerted on the resonant shell. Based on the theory of the structural-acoustic coupling, the dynamical behavior of the resonant shell under acoustic pressure is presented in this paper. A finite element (FE) model is introduced to quantitatively analyze the effect of the structural-acoustic coupling. Several main factors, such as sealing cap sizes and degree of vacuum which directly affect the vibration of the resonant shell, are studied. The results indicate that the vibration amplitude and the operating frequency of the resonant shell will be changed when the effect of structural-acoustic coupling is taken into account. In addition, an experiment was set up to study the effect of structural-acoustic coupling on the sensitivity of the gyroscope. A 32.4 mV/°/s increase of the scale factor and a 6.2 Hz variation of the operating frequency were observed when the radial gap size between the resonant shell and the sealing cap was changed from 0.5 mm to 20 mm.
Design and Application of Quadrature Compensation Patterns in Bulk Silicon Micro-Gyroscopes
Yunfang Ni
2014-10-01
Full Text Available This paper focuses on the detailed design issues of a peculiar quadrature reduction method named system stiffness matrix diagonalization, whose key technology is the design and application of quadrature compensation patterns. For bulk silicon micro-gyroscopes, a complete design and application case was presented. The compensation principle was described first. In the mechanical design, four types of basic structure units were presented to obtain the basic compensation function. A novel layout design was proposed to eliminate the additional disturbing static forces and torques. Parameter optimization was carried out to maximize the available compensation capability in a limited layout area. Two types of voltage loading methods were presented. Their influences on the sense mode dynamics were analyzed. The proposed design was applied on a dual-mass silicon micro-gyroscope developed in our laboratory. The theoretical compensation capability of a quadrature equivalent angular rate no more than 412 °/s was designed. In experiments, an actual quadrature equivalent angular rate of 357 °/s was compensated successfully. The actual compensation voltages were a little larger than the theoretical ones. The correctness of the design and the theoretical analyses was verified. They can be commonly used in planar linear vibratory silicon micro-gyroscopes for quadrature compensation purpose.
Analysis of Dynamic Performance of a Kalman Filter for Combining Multiple MEMS Gyroscopes
Liang Xue
2014-11-01
Full Text Available In this paper, the dynamic performance of a Kalman filter (KF was analyzed, which is used to combine multiple measurements of a gyroscopes array to reduce the noise and improve the accuracy of the individual sensors. A principle for accuracy improvement by the KF was briefly presented to obtain an optimal estimate of input rate signal. In particular, the influences of some crucial factors on the KF dynamic performance were analyzed by simulations such as the factors input signal frequency, signal sampling, and KF filtering rate. Finally, a system that was comprised of a six-gyroscope array was designed and implemented to test the dynamic performance. Experimental results indicated that the 1σ error for the combined rate signal was reduced to about 0.2°/s in the constant rate test, which was a reduction by a factor of more than eight compared to the single gyroscope. The 1σ error was also reduced from 1.6°/s to 0.48°/s in the swing test. It showed that the estimated angular rate signal could well reflect the dynamic characteristic of the input signal in dynamic conditions.
Temperature drift modeling of MEMS gyroscope based on genetic-Elman neural network
Chong, Shen; Rui, Song; Jie, Li; Xiaoming, Zhang; Jun, Tang; Yunbo, Shi; Jun, Liu; Huiliang, Cao
2016-05-01
In order to improve the temperature drift modeling precision of a tuning fork micro-electromechanical system (MEMS) gyroscope, a novel multiple inputs/single output model based on genetic algorithm (GA) and Elman neural network (Elman NN) is proposed. First, the temperature experiment of MEMS gyroscope is carried out and the outputs of MEMS gyroscope and temperature sensors are collected; then the temperature drift model based on temperature, temperature variation rate and the coupling term is proposed, and the Elman NN is employed to guarantee the generalization ability of the model; at last the genetic algorithm is used to tune the parameters of Elman NN in order to improve the modeling precision. The Allan analysis results validate that, compared to traditional single input/single output model, the novel multiple inputs/single output model can guarantee high accurate fitting ability because the proposed model can provide more plentiful controllable information. By the way, the generalization ability of the Elman neural network can be improved significantly due to the parameters are optimized by genetic algorithm.
Time- and Computation-Efficient Calibration of MEMS 3D Accelerometers and Gyroscopes
Sara Stančin
2014-08-01
Full Text Available We propose calibration methods for microelectromechanical system (MEMS 3D accelerometers and gyroscopes that are efficient in terms of time and computational complexity. The calibration process for both sensors is simple, does not require additional expensive equipment, and can be performed in the field before or between motion measurements. The methods rely on a small number of defined calibration measurements that are used to obtain the values of 12 calibration parameters. This process enables the static compensation of sensor inaccuracies. The values detected by the 3D sensor are interpreted using a generalized 3D sensor model. The model assumes that the values detected by the sensor are equal to the projections of the measured value on the sensor sensitivity axes. Although this finding is trivial for 3D accelerometers, its validity for 3D gyroscopes is not immediately apparent; thus, this paper elaborates on this latter topic. For an example sensor device, calibration parameters were established using calibration measurements of approximately 1.5 min in duration for the 3D accelerometer and 2.5 min in duration for the 3D gyroscope. Correction of each detected 3D value using the established calibration parameters in further measurements requires only nine addition and nine multiplication operations.
Time- and computation-efficient calibration of MEMS 3D accelerometers and gyroscopes.
Stančin, Sara; Tomažič, Sašo
2014-08-13
We propose calibration methods for microelectromechanical system (MEMS) 3D accelerometers and gyroscopes that are efficient in terms of time and computational complexity. The calibration process for both sensors is simple, does not require additional expensive equipment, and can be performed in the field before or between motion measurements. The methods rely on a small number of defined calibration measurements that are used to obtain the values of 12 calibration parameters. This process enables the static compensation of sensor inaccuracies. The values detected by the 3D sensor are interpreted using a generalized 3D sensor model. The model assumes that the values detected by the sensor are equal to the projections of the measured value on the sensor sensitivity axes. Although this finding is trivial for 3D accelerometers, its validity for 3D gyroscopes is not immediately apparent; thus, this paper elaborates on this latter topic. For an example sensor device, calibration parameters were established using calibration measurements of approximately 1.5 min in duration for the 3D accelerometer and 2.5 min in duration for the 3D gyroscope. Correction of each detected 3D value using the established calibration parameters in further measurements requires only nine addition and nine multiplication operations.
EVALUATION METHOD FOR PARASITIC EFFECTS OF THE ELECTRO-OPTICAL MODULATOR IN A FIBER OPTIC GYROSCOPE
S. A. Volkovskiy
2016-09-01
Full Text Available Subject of Research.The paper proposes an original method for studying the parasitic effects in the electro-optic modulator of the fiber optic gyroscope. Proposed method is based on the usage of a special waveform phase modulation signal. Method. The essence of the proposed method lies in modification of serrodyne modulation signal, thereby providing a periodic displacement of the phase difference signal to the maximum of the interference curve. In this case, the intensity level reflects the influence of parasitic effects with the degree of manifestation being determined by the sequence of voltage control signals applied to the modulator. Enumeration of combinations of control signals and the corresponding intensity levels gives the possibility to observe an empirical dependence of the parasitic effects and use it later for compensation. Main Results. The efficiency of the proposed method is demonstrated by the program model of the fiber optic gyroscope. The results of the method application on a production sample of the device were obtained. Comparison with the results of direct estimate of the parasitic intensity modulation effect testifies to the effectiveness of the proposed method. Practical Relevance. The method can be used as a diagnostic tool to quantify the influence of parasitic effects in the electro-optic modulator of the fiber optic gyroscope as well as for their subsequent compensation.
A Z-axis Quartz Cross-fork Micromachined Gyroscope Based on Shear Stress Detection
Peitao Dong
2010-03-01
Full Text Available Here we propose a novel quartz micromachined gyroscope. The sensor has a simple cross-fork structure in the x-y plane of quartz crystal. Shear stress rather than normal stress is utilized to sense Coriolis’ force generated by the input angular rate signal. Compared to traditional quartz gyroscopes, which have two separate sense electrodes on each sidewall, there is only one electrode on each sidewall of the sense beam. As a result, the fabrication of the electrodes is simplified and the structure can be easily miniaturized. In order to increase sensitivity, a pair of proof masses is attached to the ends of the drive beam, and the sense beam has a tapered design. The structure is etched from a z-cut quartz wafer and the electrodes are realized by direct evaporation using the aperture mask method. The drive mode frequency of the prototype is 13.38 kHz, and the quality factor is approximately 1,000 in air. Therefore, the gyroscope can work properly without a vacuum package. The measurement ability of the shear stress detection design scheme is validated by the Coriolis’ force test. The performance of the sensor is characterized on a precision rate table using a specially designed readout circuit. The experimentally obtained scale factor is 1.45 mV/°/s and the nonlinearity is 3.6% in range of ±200 °/s.
LeMoyne, Robert; Mastroianni, Timothy
2014-01-01
The patellar tendon reflex constitutes a fundamental aspect of the conventional neurological evaluation. Dysfunctional characteristics of the reflex response can augment the diagnostic acuity of a clinician for subsequent referral to more advanced medical resources. The capacity to quantify the reflex response while alleviating the growing strain on specialized medical resources is a topic of interest. The quantification of the tendon reflex response has been successfully demonstrated with considerable accuracy and consistency through using a potential energy impact pendulum attached to a reflex hammer for evoking the tendon reflex with a smartphone, such as an iPhone, application representing a wireless accelerometer platform to quantify reflex response. Another sensor integrated into the smartphone, such as an iPhone, is the gyroscope, which measures rate of angular rotation. A smartphone application enables wireless transmission through Internet connectivity of the gyroscope signal recording of the reflex response as an email attachment. The smartphone wireless gyroscope application demonstrates considerable accuracy and consistency for the quantification of the tendon reflex response.
Lin, Chu-En; Yu, Chih-Jen; Chen, Chii-Chang
2013-04-22
In this article, we propose an optical heterodyne common-path gyroscope which has common-path configuration and full-dynamic range. Different from traditional non-common-path optical heterodyne technique such as Mach-Zehnder or Michelson interferometers, we use a two-frequency laser light source (TFLS) which can generate two orthogonally polarized light with a beat frequency has a common-path configuration. By use of phase measurement, this optical heterodyne gyroscope not only has the capability to overcome the drawback of the traditional interferometric fiber optic gyro: lack for full-dynamic range, but also eliminate the total polarization rotation caused by SMFs. Moreover, we also demonstrate the potential of miniaturizing this gyroscope as a chip device. Theoretically, if we assume that the wavelength of the laser light is 1550nm, the SMFs are 250m in length, and the radius of the fiber ring is 3.5cm, the bias stability is 0.872 deg/hr.
Interferometric length metrology for the dimensional control of ultra-stable Ring Laser Gyroscopes
Belfi, J; Cuccato, D; Di Virgilio, A; Maccioni, E; Ortolan, A; Santagata, R
2014-01-01
We present the experimental test of a method for controlling the absolute length of the diagonals of square ring laser gyroscopes. The purpose is to actively stabilize the ring cavity geometry and to enhance the rotation sensor stability in order to reach the requirements for the detection of the relativistic Lense-Thirring effect with a ground-based array of optical gyroscopes. The test apparatus consists of two optical cavities 1.32 m in length, reproducing the features of the ring cavity diagonal resonators of large frame He-Ne ring laser gyroscopes. The proposed measurement technique is based on the use of a single diode laser, injection locked to a frequency stabilized He-Ne/Iodine frequency standard, and a single electro-optic modulator. The laser is modulated with a combination of three frequencies allowing to lock the two cavities to the same resonance frequency and, at the same time, to determine the cavity Free Spectral Range (FSR). We obtain a stable lock of the two cavities to the same optical fre...
High-Accuracy Ring Laser Gyroscopes: Earth Rotation Rate and Relativistic Effects
Beverini, N.; Di Virgilio, A.; Belfi, J.; Ortolan, A.; Schreiber, K. U.; Gebauer, A.; Klügel, T.
2016-06-01
The Gross Ring G is a square ring laser gyroscope, built as a monolithic Zerodur structure with 4 m length on all sides. It has demonstrated that a large ring laser provides a sensitivity high enough to measure the rotational rate of the Earth with a high precision of ΔΩE GINGER project is intending to take this level of sensitivity further and to improve the accuracy and the long-term stability. A monolithic structure similar to the G ring laser is not available for GINGER. Therefore the preliminary goal is the demonstration of the feasibility of a larger gyroscope structure, where the mechanical stability is obtained through an active control of the geometry. A prototype moderate size gyroscope (GP-2) has been set up in Pisa in order to test this active control of the ring geometry, while a second structure (GINGERino) has been installed inside the Gran Sasso underground laboratory in order to investigate the properties of a deep underground laboratory in view of an installation of a future GINGER apparatus. The preliminary data on these two latter instruments are presented.
TEGUH PERKASA
2017-01-01
Full Text Available ABSTRAKPada penelitian ini, sensor Gyroscope digunakan sebagai alat pengukur sudut lutut. Pengukuran sudut ini dilakukan untuk mendiagnosis penyakit pada pasien yang mengalami gangguan atau cedera lutut dan evaluasi pola jalan manusia. Alat pengukur sudut ini terdiri dari 3 sistem yaitu sistem tungkai bawah, sistem tungkai atas dan sistem komunikasi data. Media komunikasi data yang digunakan adalah radio frekuensi 2,4 GHz untuk mentransfer data sudut lutut antar sistem secara wireless. Sensor Gyroscope ditempelkan pada suatu divais mekanik berbahan acrylic sebagai representasi sistem tungkai kaki bawah dan sistem tungkai kaki atas. Kedua sensor tersebut digunakan untuk mengukur percepatan sudut dari kedua sistem tungkai kaki. Kemudian data tersebut diolah menjadi nilai sudut lutut menggunakan kontroler berbasis Arduino. Pengujian alat ini mencakup pengujian sistem tungkai bawah, sistem tungkai atas dan sistem komunikasi data. Dari hasil pengujian diperoleh nilai error sebesar 3 derajat untuk sistem tungkai bawah dan 2 derajat untuk sistem tungkai atas terhadap hasil pengukuran dengan goniometer yang biasa digunakan untuk mengukur sudut lutut oleh tenaga medis. Sistem komunikasi data wireless juga telah berhasil mengirimkan data sudut secara utuh.Kata Kunci: Arduino, Gyroscope, Radio Frekuensi, Sudut lutut, Wireless.ABSTRACTGyroscope sensor was used to measure a knee angle. The angle measurement is useful to diagnose an early symptom of some patient with disorders or knee injuries as well as to evaluation of gait analysis. The device consist of three system i.e. lower limb system, upper limb system and communication. The radio frequency of 2.4 GHz was used to transfer knee angle data between two systems. Gyroscope sensor were affixed on upper and lower part of the mechanical hinge device that built from acrylic. These device device was representative of the knee joint. Both sensors were used to measure the angular acceleration between the upper
High-performance micromachined vibratory rate- and rate-integrating gyroscopes
Cho, Jae Yoong
The performance of vibratory micromachined gyroscopes has been continuously improving for the past two decades. However, to further improve performance of the MEMS gyroscope in harsh environment, it is necessary for gyros to reduce the sensitivity to environmental parameters, including vibration and temperature change. In addition, conventional rate-mode MEMS gyroscopes have limitation in performance due to tradeoff between resolution, bandwidth, and full-scale range. In this research, we aim to reduce vibration sensitivity by developing gyros that operate in the balanced mode. The balanced mode creates zero net momentum and reduces energy loss through an anchor. The gyro can differentially cancel measurement errors from external vibration along both sensor axes. The vibration sensitivity of the balanced-mode gyroscope including structural imbalance from microfabrication reduces as the absolute difference between in-phase parasitic mode and operating mode frequencies increases. The parasitic sensing mode frequency is designed larger than the operating mode frequency to achieve both improved vibration insensitivity and shock resistivity. A single anchor is used in order to minimize thermoresidual stress change. We developed two gyroscope based on these design principles. The Balanced Oscillating Gyro (BOG) is a quad-mass tuning-fork rate gyroscope. The relationship between gyro design and modal characteristics is studied extensively using finite element method (FEM). The gyro is fabricated using the planar Si-on-glass (SOG) process with a device thickness of 100microm. The BOG is evaluated using the first-generation analog interface circuitry. Under a frequency mismatch of 5Hz between driving and sense modes, the angle random walk (ARW) is measured to be 0.44°/sec/✓Hz. The performance is limited by quadrature error and low-frequency noise in the circuit. The Cylindrical Rate-Integrating Gyroscope (CING) operates in whole-angle mode. The gyro is completely
石英微机械陀螺的研究进展%Reaearch Development of Quartz Micromachined Gyroscopes
关冉; 张卫平; 陈文元; 张弓; 成宇翔
2012-01-01
首先介绍了石英微机械陀螺基于压电效应和科氏加速度的工作原理,回顾了石英微机械陀螺的发展历程,并且介绍了石英微机械陀螺的国内外发展现状.然后,针对石英微机械陀螺不同的结构进行了分类,并且对于不同结构的石英微机械陀螺的具体加工工艺、性能参数、应用领域等进行了综述.最后,对不同结构类型的石英微机械陀螺的尺寸、加工工艺,检测轴向,精度等参数进行了总结和对比,在此基础上分析了石英微机械陀螺的发展趋势,并指出了石英微机械陀螺研究中存在的问题,例如石英加工过程中产生的侧壁晶棱的不平整、石英侧壁电极的制作困难以及石英微机械陀螺多轴化应用的限制等.%Firstly, the working principle of the quartz micromachined gyroscope is introduced, which is based on the piezoelectric effect and the Coriolis acceleration, the development history of the quartz micromachined gyroscope is reviewed, and the development present situation of the quartz micromachined gyroscope is introduced both domestically and abroad. Then, the quartz micromachined gyroscope is classified into several types according to its different structures, and the specific fabrication process, performance parameter and application fields of the quartz micromachined gyroscope for the different structures are reviewed. Finally, the parameters of the quartz micromachined gyroscope for the different kinds of structures are summarized and compared, including the size, fabrication process, detection axis and accuracy, and on that basis, the development trends of the quartz micromachined gyroscope are analyzed, and the problems that limit the development of quartz micromachined gyroscope are pointed out, including the uneven crystal edges of the quartz sidewall caused by the fabrication process, the difficulties of electrode fabrication on the quartz sidewall and the limitation of the multi
Jiang, Chengyu; Xue, Liang; Chang, Honglong; Yuan, Guangmin; Yuan, Weizheng
2012-01-01
This paper presents a signal processing technique to improve angular rate accuracy of the gyroscope by combining the outputs of an array of MEMS gyroscope. A mathematical model for the accuracy improvement was described and a Kalman filter (KF) was designed to obtain optimal rate estimates. Especially, the rate signal was modeled by a first-order Markov process instead of a random walk to improve overall performance. The accuracy of the combined rate signal and affecting factors were analyzed using a steady-state covariance. A system comprising a six-gyroscope array was developed to test the presented KF. Experimental tests proved that the presented model was effective at improving the gyroscope accuracy. The experimental results indicated that six identical gyroscopes with an ARW noise of 6.2 °/√h and a bias drift of 54.14 °/h could be combined into a rate signal with an ARW noise of 1.8 °/√h and a bias drift of 16.3 °/h, while the estimated rate signal by the random walk model has an ARW noise of 2.4 °/√h and a bias drift of 20.6 °/h. It revealed that both models could improve the angular rate accuracy and have a similar performance in static condition. In dynamic condition, the test results showed that the first-order Markov process model could reduce the dynamic errors 20% more than the random walk model.
'It Has to Go Down A Little, In Order to Go Around'- Following Feynman on the Gyroscope
Kostov, Svilen
2010-01-01
In this paper we show that with the help of accessible, teaching quality equipment, some interesting details of the motion of a gyroscope, typically overlooked in introductory courses, can be measured and compared to theory. We begin by deriving a simple relation between the asymptotic dip angle of a gyroscope released from rest and its precession velocity. We then describe an experiment which measures these parameters. The data gives excellent agreement with the model. The idea for this project was suggested by the discussion of gyroscopic motion in The Feynman Lectures on Physics. Feynman's conclusion (stated in colloquial terms and quoted in the title) is confirmed and, in addition, conservation of angular momentum, which underlies this effect, is quantitatively demonstrated.
`It Has to Go Down a Little, in Order to Go Around' -- Revisiting Feynman on the Gyroscope
Kostov, Svilen; Hammer, Daniel
2011-04-01
In this paper we show that with the help of accessible, teaching-quality equipment, some interesting and important details of the motion of a gyroscope, which are typically overlooked in introductory courses, can be measured and compared to theory. We begin by deriving a simple relation between the dip angle of a gyroscope released from rest and its precession velocity. We then describe an experiment that measures these parameters. The data are in excellent agreement with the theoretical prediction. The idea for this project was suggested by the discussion of gyroscopic motion in The Feynman Lectures on Physics. Feynman's (Fig. 1) conclusion (stated in colloquial language and quoted in the title) is confirmed and, in addition, conservation of angular momentum, which underlies this effect, is quantitatively demonstrated.
Ma, Wei; Lin, Yiyu; Liu, Siqi; Zheng, Xudong; Jin, Zhonghe
2017-02-01
This paper reports a novel oscillation control algorithm for MEMS vibratory gyroscopes using a modified electromechanical amplitude modulation (MEAM) technique, which enhances the robustness against the frequency variation of the driving mode, compared to the conventional EAM (CEAM) scheme. In this approach, the carrier voltage exerted on the proof mass is frequency-modulated by the drive resonant frequency. Accordingly, the pick-up signal from the interface circuit involves a constant-frequency component that contains the amplitude and phase information of the vibration displacement. In other words, this informational detection signal is independent of the mechanical resonant frequency, which varies due to different batches, imprecise micro-fabrication and changing environmental temperature. In this paper, the automatic gain control loop together with the phase-locked loop are simultaneously analyzed using the averaging method and Routh-Hurwitz criterion, deriving the stability condition and the parameter optimization rules of the transient response. Then, a simulation model based on the real system is set up to evaluate the control algorithm. Further, the proposed MEAM method is tested using a field-programmable-gate-array based digital platform on a capacitive vibratory gyroscope. By optimizing the control parameters, the transient response of the drive amplitude reveals a settling time of 45.2 ms without overshoot, according well with the theoretical prediction and simulation results. The first measurement results show that the amplitude variance of the drive displacement is 12 ppm in an hour while the phase standard deviation is as low as 0.0004°. The mode-split gyroscope operating under atmospheric pressure demonstrates an outstanding performance. By virtue of the proposed MEAM method, the bias instability and angle random walk are measured to be 0.9° h-1 (improved by 2.4 times compared to the CEAM method) and 0.068° (√h)-1 (improved by 1.4 times
A dynamic system matching technique for improving the accuracy of MEMS gyroscopes
Stubberud, Peter A., E-mail: stubber@ee.unlv.edu [Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, Las Vegas, NV 89154 (United States); Stubberud, Stephen C., E-mail: scstubberud@ieee.org [Oakridge Technology, San Diego, CA 92121 (United States); Stubberud, Allen R., E-mail: stubberud@att.net [Department of Electrical Engineering and Computer Science, University of California, Irvine, Irvine, CA 92697 (United States)
2014-12-10
A classical MEMS gyro transforms angular rates into electrical values through Euler's equations of angular rotation. Production models of a MEMS gyroscope will have manufacturing errors in the coefficients of the differential equations. The output signal of a production gyroscope will be corrupted by noise, with a major component of the noise due to the manufacturing errors. As is the case of the components in an analog electronic circuit, one way of controlling the variability of a subsystem is to impose extremely tight control on the manufacturing process so that the coefficient values are within some specified bounds. This can be expensive and may even be impossible as is the case in certain applications of micro-electromechanical (MEMS) sensors. In a recent paper [2], the authors introduced a method for combining the measurements from several nominally equal MEMS gyroscopes using a technique based on a concept from electronic circuit design called dynamic element matching [1]. Because the method in this paper deals with systems rather than elements, it is called a dynamic system matching technique (DSMT). The DSMT generates a single output by randomly switching the outputs of several, nominally identical, MEMS gyros in and out of the switch output. This has the effect of 'spreading the spectrum' of the noise caused by the coefficient errors generated in the manufacture of the individual gyros. A filter can then be used to eliminate that part of the spread spectrum that is outside the pass band of the gyro. A heuristic analysis in that paper argues that the DSMT can be used to control the effects of the random coefficient variations. In a follow-on paper [4], a simulation of a DSMT indicated that the heuristics were consistent. In this paper, analytic expressions of the DSMT noise are developed which confirm that the earlier conclusions are valid. These expressions include the various DSMT design parameters and, therefore, can be used as design
A dynamic system matching technique for improving the accuracy of MEMS gyroscopes
Stubberud, Peter A.; Stubberud, Stephen C.; Stubberud, Allen R.
2014-12-01
A classical MEMS gyro transforms angular rates into electrical values through Euler's equations of angular rotation. Production models of a MEMS gyroscope will have manufacturing errors in the coefficients of the differential equations. The output signal of a production gyroscope will be corrupted by noise, with a major component of the noise due to the manufacturing errors. As is the case of the components in an analog electronic circuit, one way of controlling the variability of a subsystem is to impose extremely tight control on the manufacturing process so that the coefficient values are within some specified bounds. This can be expensive and may even be impossible as is the case in certain applications of micro-electromechanical (MEMS) sensors. In a recent paper [2], the authors introduced a method for combining the measurements from several nominally equal MEMS gyroscopes using a technique based on a concept from electronic circuit design called dynamic element matching [1]. Because the method in this paper deals with systems rather than elements, it is called a dynamic system matching technique (DSMT). The DSMT generates a single output by randomly switching the outputs of several, nominally identical, MEMS gyros in and out of the switch output. This has the effect of 'spreading the spectrum' of the noise caused by the coefficient errors generated in the manufacture of the individual gyros. A filter can then be used to eliminate that part of the spread spectrum that is outside the pass band of the gyro. A heuristic analysis in that paper argues that the DSMT can be used to control the effects of the random coefficient variations. In a follow-on paper [4], a simulation of a DSMT indicated that the heuristics were consistent. In this paper, analytic expressions of the DSMT noise are developed which confirm that the earlier conclusions are valid. These expressions include the various DSMT design parameters and, therefore, can be used as design tools for DSMT
SCALE FACTOR DETERMINATION METHOD OF ELECTRO-OPTICAL MODULATOR IN FIBER-OPTIC GYROSCOPE
A. S. Aleynik
2016-05-01
Full Text Available Subject of Research. We propose a method for dynamic measurement of half-wave voltage of electro-optic modulator as part of a fiber optic gyroscope. Excluding the impact of the angular acceleration on measurement of the electro-optical coefficient is achieved through the use of homodyne demodulation method that allows a division of the Sagnac phase shift signal and an auxiliary signal for measuring the electro-optical coefficient in the frequency domain. Method. The method essence reduces to decomposition of step of digital serrodyne modulation in two parts with equal duration. The first part is used for quadrature modulation signals. The second part comprises samples of the auxiliary signal used to determine the value of the scale factor of the modulator. Modeling is done in standalone model, and as part of a general model of the gyroscope. The applicability of the proposed method is investigated as well as its qualitative and quantitative characteristics: absolute and relative accuracy of the electro-optic coefficient, the stability of the method to the effects of angular velocities and accelerations, method resistance to noise in actual devices. Main Results. The simulation has showed the ability to measure angular velocity changing under the influence of angular acceleration, acting on the device, and simultaneous measurement of electro-optical coefficient of the phase modulator without interference between these processes. Practical Relevance. Featured in the paper the ability to eliminate the influence of the angular acceleration on the measurement accuracy of the electro-optical coefficient of the phase modulator will allow implementing accurate measurement algorithms for fiber optic gyroscopes resistant to a significant acceleration in real devices.
The Li And Be Dips Revisited: The Role Of Gyroscopic Pumping.
Garaud, Pascale; Bodenheimer, P.
2011-01-01
The existence of a dip in the observed abundances of Li and Be in young stars in the mass range 1.3 to 1.5 solar masses strongly suggests the presence of an additional mixing mechanism to transport these elements from the outer convection zone down to the region where they are destroyed. However, no simple model to date has been able to reproduce simultaneously the respective amplitudes of the Li and the Be dips, as well as their shapes. We study here the effect of an important new mechanism for rotational mixing called "gyroscopic pumping", first noted for its importance in the dynamics of the solar interior, and find that it does indeed provide an elegant answer to this long-standing problem. Gyroscopic pumping is a simple and very generic consequence of angular momentum conservation in differentially rotating convective regions. The perpetual azimuthal force driving the differential rotation also drives a large-scale meridional circulation through angular momentum conservation. We show here how, specifically for the mass range of the Li-dip stars, the flows thus pumped form a slow, large-scale "conveyor belt" between the inner convective core and the outer convection zone. Li- and Be-rich material flowing down from the outer regions is slowly replaced by Li- and Be-poor material flowing up from the inner regions. Meanwhile, turbulent mixing in the thin overshoot layer also replenishes the outer convection zone with Li- and Be-rich material. Overall, the balance between advection by gyroscopic pumping and turbulent mixing by overshooting motions is found to provide a rather good agreement with observations of Li and Be, within a single and very simple framework. This work was funded by an NSF CAREER award of the presenting author.
Leng, Xuefei; Zhang, Jianhui; Jiang, Yan; Wang, Shouyin; Zhao, Chunsheng
2014-07-01
The current research of the valveless piezoelectric pump focuses on increasing the flow rate and pressure differential. Compared with the valve piezoelectric pump, the valveless one has excellent performances in simple structure, low cost, and easy miniaturization. So, their important development trend is the mitigation of their weakness, and the multi-function integration. The flow in a spiral tube element is sensitive to the element attitude caused by the Coriolis force, and that a valveless piezoelectric pump is designed by applying this phenomenon. The pump has gyroscopic effect, and has both the actuator function of fluid transfer and the sensor function, which can obtain the angular velocity when its attitude changes. First, the present paper analyzes the flow characteristics in the tube, obtains the calculation formula for the pump flow, and identifies the relationship between pump attitude and flow, which clarifies the impact of flow and driving voltage, frequency, spiral line type and element attitude, and verifies the gyroscopic effect of the pump. Then, the finite element simulation is used to verify the theory. Finally, a pump is fabricated for experimental testing of the relationship between pump attitude and pressure differential. Experimental results show that when Archimedes spiral θ=4π is selected for the tube design, and the rotation speed of the plate is 70 r/min, the pressure differential is 88.2 Pa, which is 1.5 times that of 0 r/min rotation speed. The spiral-tube-type valveless piezoelectric pump proposed can turn the element attitude into a form of pressure output, which is important for the multi-function integration of the valveless piezoelectric pump and for the development of civil gyroscope in the future.
Minimal-Learning-Parameter Technique Based Adaptive Neural Sliding Mode Control of MEMS Gyroscope
Bin Xu
2017-01-01
Full Text Available This paper investigates an adaptive neural sliding mode controller for MEMS gyroscopes with minimal-learning-parameter technique. Considering the system uncertainty in dynamics, neural network is employed for approximation. Minimal-learning-parameter technique is constructed to decrease the number of update parameters, and in this way the computation burden is greatly reduced. Sliding mode control is designed to cancel the effect of time-varying disturbance. The closed-loop stability analysis is established via Lyapunov approach. Simulation results are presented to demonstrate the effectiveness of the method.
Adaptive Fuzzy Sliding Mode Control of MEMS Gyroscope with Finite Time Convergence
Jianxin Ren
2016-01-01
Full Text Available This paper presents adaptive fuzzy finite time sliding mode control of microelectromechanical system gyroscope with uncertainty and external disturbance. Firstly, fuzzy system is employed to approximate the uncertainty nonlinear dynamics. Secondly, nonlinear sliding mode hypersurface and double exponential reaching law are selected to design the finite time convergent sliding mode controller. Thirdly, based on Lyapunov methods, adaptive laws are presented to adjust the fuzzy weights and the system can be guaranteed to be stable. Finally, the effectiveness of the proposed method is verified with simulation.
Uncertainty of angular displacement measurement with a MEMS gyroscope integrated in a smartphone
de Campos Porath, Maurício; Dolci, Ricardo
2015-10-01
Low-cost inertial sensors have recently gained popularity and are now widely used in electronic devices such as smartphones and tablets. In this paper we present the results of a set of experiments aiming to assess the angular displacement measurement errors of a gyroscope integrated in a smartphone of a recent model. The goal is to verify whether these sensors could substitute dedicated electronic inclinometers for the measurement of angular displacement. We estimated a maximum error of 0.3° (sum of expanded uncertainty and maximum absolute bias) for the roll and pitch axes, for a measurement time without referencing up to 1 h.
Interactive modeling activities in the classroom—rotational motion and smartphone gyroscopes
Pörn, Ray; Braskén, Mats
2016-11-01
The wide-spread availability of smartphones makes them a valuable addition to the measurement equipment in both the physics classroom and the instructional laboratory, encouraging an active interaction between measurements and modeling activities. In this paper we illustrate this interaction by making use of the internal gyroscope of a smartphone to study and measure the rotational dynamics of objects rotating about a fixed axis. The workflow described in this paper has been tested in a classroom setting and found to encourage an exploratory approach to both data collecting and modeling.
DRIFT MOTION OF FREE-ROTOR GYROSCOPE WITH RADIAL MASS-UNBALANCE
刘延柱; 薛纭
2004-01-01
The motion of a rigid body about fixed point with small radial mass-unbalance in homogeneous gravitational field was discussed. The dynamical equations described by state variables of the body were established, and approximate analytical solutions for a spinning body with high speed were obtained by use of the average method. The influence of the radial mass-unbalance of the rotor to the precession character of a free-rotor gyroscope was analyzed. And a physical explanation of the drift phenomenon of the gyro was given. An applicable formula of gyro' s constant drift in analytical form was obtained, which is perfectly coincident with the numerical calculation.
Gasflow style level posture sensor and angular velocity gyroscope assembled inertial sensor
无
2007-01-01
The compensational loop consisting of a gasflow style angular velocity gyroscope and gasflow level posture sensor is proposed to improve the signal of gasflow style tilt. This compensational loop could remove acceleration interfere from the signal of tilt. This assembled gasflow type inertial sensor not only measures static state angular, but also restrains the acceleration which interferes the output signal of level posture sensor in dynamic situations. Therefore, the precision of outputs signal increases greatly. Moreover, the output signal includes the angle velocity signal.
Fiber optic gyroscope based on the registration of the spatial interference pattern
Tuzhanskyi, Stanislav Ye.; Sakhno, Andrii M.; Komada, Paweł; Kashaganova, Gulzhan
2015-12-01
Design of a fiber optic gyroscope FOG using a photosensitive line to scan interferograms is proposed. Shift periods depends mainly on the change of the phase of counter light waves propagating along the closed loop in opposite directions while rotating loop around an axis that is normal to its plane. Phase shift is proportional to the angular velocity Ω and the area of the circuit S which is bypassed by the counter-propagating waves. Proposed FOG design significantly reduces the impact of the following optical noise factors: zero drift, Rayleigh scattering, the Kerr effect, etc.
Low cost, practical, all-digital open-loop fiber-optic gyroscope
Yuanhong Yang(杨远洪); Weixu Zhang(张惟叙); Jing Ma(马静); Xinjun Chen(陈新军)
2003-01-01
A novel all-digital scheme for open-loop fiber-optic gyroscope (FOG), where only two key points of outputwave were digitized directly, has been proposed. A control equation, with which the modulation depthof PZT modulator is stable when setting the modulation depth as 4.35 and a calculation equation, withwhich the Sagnac phase can be worked out, are derived. A modulation depth control and an automaticcorrelation sampling and a gain control technology were induced. A photo-type FOG was made and tested.The good performance was achieved.
Blelloch, P. A.; Mingori, D. L.; Wei, J. D.
1987-01-01
Approximate expressions are developed for internally balanced singular values corresponding to the modes of mechanical systems with gyroscopic forces, light damping, and small circulatory forces. A brief overview is first given of the balanced realization model reduction method, including a discussion of recent work. The models considered are defined, and a perturbation analysis is used to show that the modal representation becomes asymptotically balanced as damping reduces to zero. The approximate balanced singular values are calculated, and a simple example of a flexible, dual-spin spacecraft is given as an illustration of the results.
Bifurcations of Eigenvalues of Gyroscopic Systems with Parameters Near Stability Boundaries
Seyranian, Alexander P.; Kliem, Wolfhard
1999-01-01
. It is shown that the bifurcation (splitting) of double eigenvalues is closely related to the stability, flutter and divergence boundaries in the parameter space. Normal vectors to these boundaries are derived using only information at a boundary point: eigenvalues, eigenvectors and generalized eigenvectors......The paper deals with stability problems of linear gyroscopic systems with finite or infinite degrees of freedom, where the system matrices or operators depend smoothly on several real parameters. Explicit formulae for the behavior of eigenvalues under a change of parameters are obtained...
Jianli Li
2013-01-01
Full Text Available In order to improve the precision of Strapdown Inertial Navigation System (SINS and reduce the complexity of the traditional calibration method, a novel calibration and compensation scheme is proposed. An optimization calibration method with four-direction rotations is designed to calculate all error coefficients of Ring Laser Gyroscope (RLG SINS in a series of constant temperatures. According to the actual working environment, the temperature errors of RLG SINS are compensated by a nonlinear interpolation compensation algorithm. The experimental results show that the inertial navigation errors of the proposed method are reduced.
Multiple-Point Temperature Gradient Algorithm for Ring Laser Gyroscope Bias Compensation.
Li, Geng; Zhang, Pengfei; Wei, Guo; Xie, Yuanping; Yu, Xudong; Long, Xingwu
2015-01-01
To further improve ring laser gyroscope (RLG) bias stability, a multiple-point temperature gradient algorithm is proposed for RLG bias compensation in this paper. Based on the multiple-point temperature measurement system, a complete thermo-image of the RLG block is developed. Combined with the multiple-point temperature gradients between different points of the RLG block, the particle swarm optimization algorithm is used to tune the support vector machine (SVM) parameters, and an optimized design for selecting the thermometer locations is also discussed. The experimental results validate the superiority of the introduced method and enhance the precision and generalizability in the RLG bias compensation model.
Qu, Tianliang; Yang, Kaiyong; Han, Xiang; Wu, Suyong; Huang, Yun; Luo, Hui
2014-01-01
We propose and analyze a superluminal ring laser gyroscope (RLG) using multilayer optical coatings with huge group delay (GD). This GD assisted superluminal RLG can measure the absolute rotation with a giant sensitivity-enhancement factor of ~10(3); while, the broadband FWHM of the enhancement factor can reach 20 MHz. This superluminal RLG is based on a traditional RLG with minimal re-engineering, and beneficial for miniaturization according to theoretical calculation. The idea of using GD coatings as a fast-light medium will shed lights on the design and application of fast-light sensors.
Dual-polarization interferometric fiber-optic gyroscope with an ultra-simple configuration.
Wang, Zinan; Yang, Yi; Lu, Ping; Luo, Rongya; Li, Yulin; Zhao, Dayu; Peng, Chao; Li, Zhengbin
2014-04-15
We demonstrate a novel dual-polarization interferometric fiber-optic gyroscope (IFOG), which needs only one coupler and no polarizer. Polarization nonreciprocity (PN) errors in common IFOGs will increase significantly if the polarizer is absent, or if only one coupler is used. In our setup, however, PN errors are effectively compensated by using two balanced polarizations. The 2 km coil, open-loop configuration obtains a bias instability of 0.02°/h in detecting the Earth's rotation rate. Its performance difference from the conventional two-coupler IFOG is only a stable bias, caused by coupler nonreciprocity.
Ling, Weiwei; Li, Xuyou; Yang, Hanrui; Liu, Pan; Xu, Zhenlong; Wei, Yanhui
2016-07-01
For the first time, we introduce a novel double-cylinder winding method for reducing the Shupe effect in interferometric fiber optic gyroscopes (IFOGs). Simulation by finite element method (FEM) is performed to calculate the dynamic temperature distribution of fiber coils, which can obtained thermal-induced rate errors in IFOGs with cross-wound coil and double cylinder-wound coil respectively. Simulation results reveal that thermal-induced rate errors in IFOGs by both winding methods can be substantially reduced under the same variable temperature conditions, but the latter has a simpler winding technology. This study is promising for reducing the temperature fragility of IFOGs.
Forecasting the direction of incoming radiation based on fusion of gyroscopic and spectroscopic data
Neuer, Marcus J; Jacobs, Elmar
2015-01-01
A method is shown to estimate the position of a radioactive source by fusing the data from a sodium iodide detector and a gyroscope while panning the detector. Based on simple geometry considerations, the search motion of a detector is modelled as angular panning. Correlation of both sensor streams is shown as a predictor for the direction of the incoming radiation. The method also allows for a rough distance classification, where a distant source or a homogenous radiation field can be distinguished from a single source near to the detector.
Lu, Ping; Wang, Zinan; Luo, Rongya; Zhao, Dayu; Peng, Chao; Li, Zhengbin
2015-04-15
Polarization nonreciprocity (PN) is one of the most critical factors that degrades the performance of interferometric fiber-optic gyroscopes (IFOGs), particularly under varying temperature. We present an experimental investigation of PN error suppression in a dual-polarization IFOG. Both experimental results and theoretical analysis indicate that the PN errors of the two orthogonally polarized light waves always have opposite signs that can be effectively compensated despite the temperature variation. As a result, the long-term stability of the IFOG has been significantly improved. This study is promising for reducing the temperature fragility of IFOGs.
LIU Rui-ge; SONG Feng; LIU Rui-ying
2012-01-01
Non-spherical of rotor was described with solution method. Electrostatically suspended gyroscope＇s hollow spherical rotor＇s structure was presented. The simulative analysis of static deformation, dynamic deformation and synthesize deformation of rotor under different working conditions using the finite element software were carried out. Its deformation law and volume were obtained. The structural parameters of the rotor were optimized. The value of pressure required when the rotor was machined was calculated. The analysis has important theoretical reference value to the design for hollow spherical rotor in electrostatically suspended gyroscope.
Patankar, Kunal; Fitz-Coy, Norman; Roithmayr, Carlos
2014-01-01
This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kg mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is...
Bias phase and light power dependence of the random walk coefficient of fiber optic gyroscope
Jian Mi; Chunxi Zhang; Zheng Li; Zhanjun Wu
2006-01-01
@@ Taking account of shot noise, thermal noise, dark current noise, and intensity noise that come from broad band light source, the dependence of the random walk coefficient of fiber optic gyroscope (FOG) on bias phase and light power is studied theoretically and experimentally. It is shown that with different optical and electronic parameters, the optimal bias phase is different and should be adjusted accordingly to improve the FOG precision. By choosing appropriate bias phase, the random walk coefficient of the aim FOG is reduced from 0.0026 to 0.0019 deg./h1/2.
Space radiation effect on fibre optical gyroscope control circuit and compensation algorithm
Zhang Chun-Xi; Tian Hai-Ting; Li Min; Jin Jing; Song Ning-Fang
2008-01-01
The process of a γ-irradiation experiment of fibre optical gyroscope (FOG) control circuit was described,in which it is demonstrated that the FOG control circuit,except for D/A converter,could endure the dose of 10krad with the protection of cabin material.The distortion and drift in D/A converter due to radiation,which affect the performance of FOG seriously,was indicated based on the elemental analysis.Finally,a compensation network based on adaptive neuro-fuzzy inference system is proposed and its function is verified by simulation.
A novel Cs-(129)Xe atomic spin gyroscope with closed-loop Faraday modulation.
Fang, Jiancheng; Wan, Shuangai; Qin, Jie; Zhang, Chen; Quan, Wei; Yuan, Heng; Dong, Haifeng
2013-08-01
We report a novel Cs-(129)Xe atomic spin gyroscope (ASG) with closed-loop Faraday modulation method. This ASG requires approximately 30 min to start-up and 110 °C to operate. A closed-loop Faraday modulation method for measurement of the optical rotation was used in this ASG. This method uses an additional Faraday modulator to suppress the laser intensity fluctuation and Faraday modulator thermal induced fluctuation. We theoretically and experimentally validate this method in the Cs-(129)Xe ASG and achieved a bias stability of approximately 3.25 °∕h.
Ilaria Pasciuto
2015-09-01
Full Text Available In human movement analysis, 3D body segment orientation can be obtained through the numerical integration of gyroscope signals. These signals, however, are affected by errors that, for the case of micro-electro-mechanical systems, are mainly due to: constant bias, scale factor, white noise, and bias instability. The aim of this study is to assess how the orientation estimation accuracy is affected by each of these disturbances, and whether it is influenced by the angular velocity magnitude and 3D distribution across the gyroscope axes. Reference angular velocity signals, either constant or representative of human walking, were corrupted with each of the four noise types within a simulation framework. The magnitude of the angular velocity affected the error in the orientation estimation due to each noise type, except for the white noise. Additionally, the error caused by the constant bias was also influenced by the angular velocity 3D distribution. As the orientation error depends not only on the noise itself but also on the signal it is applied to, different sensor placements could enhance or mitigate the error due to each disturbance, and special attention must be paid in providing and interpreting measures of accuracy for orientation estimation algorithms.
Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors
Chen Fan
2014-08-01
Full Text Available Gyroscopes based on micro-electromechanical system (MEMS technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS and the Global Positioning System (GPS. The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.
HUANG Xiao-gang; CHEN Wen-yuan; LIU Wu; ZHANG Wei-ping; WU Xiao-sheng
2007-01-01
In the novel prototype of micro-gyroscope structure, the new configured capacitance sensing scheme for the micro gyroscope was analyzed and the virtual instrument based detection scheme was implemented. The digital lock-in amplifier was employed in the capacitance detection to restrain the noise interference. The capacitance analysis shows that 1 fF capacitance variation corresponds to 0.1 degree of the turn angle. The differential capacitance bridge and the charge integral amplifier were used as the front signal input interface. In the implementation of digital lock-in amplifier, a new routine which warranted the exactly matching of the reference phase to signal phase was proposed. The result of the experiment shows that digital lock-in amplifier can greatly eliminate the noise in the output signal. The non linearity of the turn angle output is 2.3 % and the minimum resolution of turn angle is 0.04 degrees. The application of the software demodulation in the signal detection of micro-electro-mechanical-system (MEMS) device is a new attempt, and it shows the prospective for a high-performance application.
Observability analysis of a MEMS INS/GPS integration system with gyroscope G-sensitivity errors.
Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Tang, Kanghua; Luo, Bing
2014-08-28
Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.
Impact of assembly on signal detection from thin-wall rotors of micro-gyroscopes
Hai Li
2014-03-01
Full Text Available The assembly of sealed hollow rotors, a key component in achieving liquid-levitated micro-gyroscopes, represents a significant challenge. The rotor is a thin-wall cylinder composed of materials that are only 100-μm thick. Furnace soldering and hand soldering are used to join the work pieces, but produce defects evident from deformations and surface roughness. Modeling and experiments show that the deformation is related to the temperature during assembly and the mode by which heat is applied to the components. Temperature affects the deformation through thermal stress and air pressure on the rotor, but the mode of heating creates a big difference. Surface deformation of the rotor alters the detecting capacitance and introduces uncertainty in detection sensitivity of the gyroscope. Experiments show that at 220°C, furnace soldering of rotors causes a great decrease in detection sensitivity, leading to a relative uncertainty of nearly 40%. In contrast, hand soldering leads to a relative uncertainty of about 5%. Spot heating of the rotor during assembly is much better than total heating as less thermal stress is generated and the air pressure difference is almost eliminated. Lowering the temperature is helpful to as long as the connection is sufficiently strengthened.
Wang, Kai; Fan, Zhenfang; Wang, Dongya; Wang, Yanyan; Pan, Yao; Qu, Tianliang; Xu, Guangming
2016-10-01
The existence of mode deflection angle in the cylindrical resonator gyroscope (CRG) leads to the signal drift on the detecting nodes of the gyro vibration and significantly decreases the performance of the CRG. Measuring the mode deflection angle efficiently is the foundation of tuning for the imperfect cylindrical shell resonator. In this paper, an optical method based on the measuring gyroscopic resonator's vibration amplitude with the laser Doppler vibrometer and an electrical method based on measuring the output voltage of the electrodes on the resonator are both presented to measure the mode deflection angle. Comparative experiments were implemented to verify the methodology and the results show that both of the two methods could recognize the mode deflection angle efficiently. The precision of the optical method relies on the number and position of testing points distributed on the resonator. The electrical method with simple circuit shows high accuracy of measuring in a less time compared to the optical method and its error source arises from the influence of circuit noise as well as the inconsistent distribution of the piezoelectric electrodes.
Radiation-induced effects in polarization-maintaining optical fibers for interferometric gyroscope
Xueqin Wang; Chunxi Zhang; Jing Jin; Ningfang Song
2011-01-01
@@ Radiation-induced attenuation (RIA) in four types of polarization-maintaining optical fibers for interferometric fiberoptic gyroscope (IFOG) at 1310 nm is measured.The measurements are conducted during and after steady-state γ-ray irradiation using a 60Co source in order to observe significantly different RIA behavior and recovery kinetics.Mechanisms involving dopants and manufacturing process are introduced to analyze the RIA discrepancy as well as to guide the choice and hardening of optical fibers during the design of IFOG.Medium-accuracy IFOG using Ge-F-codoped fiber and pure silica core fiber can survive in the space radiation environment.%Radiation-induced attenuation (RIA) in four types of polarization-maintaining optical fibers for interferometric fiberoptic gyroscope (IFOG) at 1310 nm is measured. The measurements are conducted during and after steady-state γ-ray irradiation using a 60Co source in order to observe significantly different RIA behavior and recovery kinetics. Mechanisms involving dopants and manufacturing process are introduced to analyze the RIA discrepancy as well as to guide the choice and hardening of optical fibers during the design of IFOG. Medium-accuracy IFOG using Ge-F-codoped fiber and pure silica core fiber can survive in the space radiation environment.
Buchman, Saps; Everitt, Francis; Parkinson, Brad; Turneaure, John; MacKeiser; Taber, Mike; Bardas, Doron; Lockhart, Jim; Muhlfelder, Barry; Mester, John; Xiao, Yueming; Gutt, Gregory; Gill, Dale; Brumley, Robert; Di Donna, Brian
1996-11-01
The Gravity Probe B relativity mission experiment is designed to measure the frame dragging and geodetic relativistic precessions in a 650 km polar orbit. We describe some of the advanced experimental techniques used to achieve the required gyroscope accuracy of between 0.05 and 0264-9381/13/11A/026/img1. The subjects discussed are: (i) the development of high-precision gyroscopes with drift rates of less than 0264-9381/13/11A/026/img2, (ii) a low-temperature bake-out procedure resulting in a helium pressure of less than 0264-9381/13/11A/026/img3 at 2.5 K, (iii) a read-out system using DC SQUID magnetometers with a noise figure of 0264-9381/13/11A/026/img4 at 5 mHz and (iv) AC and DC magnetic shielding techniques which produce an AC attenuation factor in excess of 0264-9381/13/11A/026/img5 and a residual DC field of less than 0264-9381/13/11A/026/img6.
Use of Earth's magnetic field for mitigating gyroscope errors regardless of magnetic perturbation.
Afzal, Muhammad Haris; Renaudin, Valérie; Lachapelle, Gérard
2011-01-01
Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth's magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth's magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF) based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF) based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment.
Simulation of an Electromechanical Spin Motor System of a Control Moment Gyroscope
Inampudi, Ravi; Gordeuk, John
2016-01-01
A two-phase brushless DC motor (BDCM) with pulse-width modulated (PWM) voltage drive is simulated to control the flywheel speed of a control moment gyroscope (CMG). An overview of a double-gimballed control moment gyroscope (DGCMG) assembly is presented along with the CMG torque effects on the spacecraft. The operating principles of a two-phase brushless DC motor are presented and the system's electro-mechanical equations of motion are developed for the root-mean-square (RMS) currents and wheel speed. It is shown that the system is an extremely "stiff" set of first-order equations for which an implicit Euler integrator is required for a stable solution. An adaptive proportional voltage controller is presented which adjusts the PWM voltages depending on several control modes for speed, current, and torque. The simulation results illustrate the interaction between the electrical system and the load dynamics and how these influence the overall performance of the system. As will be shown, the CMG spin motor model can directly provide electrical power use and thermal power output to spacecraft subsystems for effective (average) calculations of CMG power consumption.
Gait detection in children with and without hemiplegia using single-axis wearable gyroscopes.
Nicole Abaid
Full Text Available In this work, we develop a novel gait phase detection algorithm based on a hidden Markov model, which uses data from foot-mounted single-axis gyroscopes as input. We explore whether the proposed gait detection algorithm can generate equivalent results as a reference signal provided by force sensitive resistors (FSRs for typically developing children (TD and children with hemiplegia (HC. We find that the algorithm faithfully reproduces reference results in terms of high values of sensitivity and specificity with respect to FSR signals. In addition, the algorithm distinguishes between TD and HC and is able to assess the level of gait ability in patients. Finally, we show that the algorithm can be adapted to enable real-time processing with high accuracy. Due to the small, inexpensive nature of gyroscopes utilized in this study and the ease of implementation of the developed algorithm, this work finds application in the on-going development of active orthoses designed for therapy and locomotion in children with gait pathologies.
A 1.82 m^2 ring laser gyroscope for nano-rotational motion sensing
Belfi, Jacopo; Bosi, Filippo; Carelli, Giorgio; Di Virgilio, Angela; Maccioni, Enrico; Ortolan, Antonello; Stefani, Fabio
2011-01-01
We present a fully active-controlled He-Ne ring laser gyroscope, operating in square cavity 1.35 m in side. The apparatus is designed to provide a very low mechanical and thermal drift of the ring cavity geometry and is conceived to be operative in two different orientations of the laser plane, in order to detect rotations around the vertical or the horizontal direction. Since June 2010 the system is active inside the Virgo interferometer central area with the aim of performing high sensitivity measurements of environmental rotational noise. So far, continuous not attempted operation of the gyroscope has been longer than 30 days. The main characteristics of the laser, the active remote-controlled stabilization systems and the data acquisition techniques are presented. An off-line data processing, supported by a simple model of the sensor, is shown to improve the effective long term stability. A rotational sensitivity at the level of ten nanoradiants per squareroot of Hz below 1 Hz, very close to the required ...
Dynamics and bifurcations in a Dn-symmetric Hamiltonian network. Application to coupled gyroscopes
Buono, Pietro-Luciano; Chan, Bernard S.; Palacios, Antonio; In, Visarath
2015-01-01
The advent of novel engineered or smart materials, whose properties can be significantly altered in a controlled fashion by external stimuli, has stimulated the design and fabrication of smaller, faster, and more energy-efficient devices. As the need for even more powerful devices grows, networks have become popular alternatives to advance the fundamental limits of performance of individual units. In many cases, the collective rhythmic behavior of a network can be studied through the classical theory of nonlinear oscillators or through the more recent development of the coupled cell formalism. However, the current theory does not account yet for networks in which cells, or individual units, possess a Hamiltonian structure. One such example is a ring array of vibratory gyroscopes, where certain network topologies favor stable synchronized oscillations. Previous perturbation-based studies have shown that synchronized oscillations may, in principle, increase performance by reducing phase drift. The governing equations for larger array sizes are, however, not amenable to similar analysis. To circumvent this problem, the model equations are now reformulated in a Hamiltonian structure and the corresponding normal forms are derived. Through a normal form analysis, we investigate the effects of various coupling schemes and unravel the nature of the bifurcations that lead a ring of gyroscopes of any size into and out of synchronization. The Hamiltonian approach can, in principle, be readily extended to other symmetry-related systems.
Development history of gyroscope%陀螺发展简史
刘智平; 吴丽丽
2012-01-01
文中基于陀螺这种从原始的玩具逐步发展成为制导武器系统不可缺少的传感器的事实,通过研究陀螺的发展历史,罗列陀螺的种类、原理和特点,简要地概括了各个发展阶段陀螺的主要类型、陀螺的性能指标、生产工艺,最后给出从陀螺的发展历史中所得到的启示。%Based on the truth that gyroscope has evolved from ancient toy to necessary sensor used in the guidance,navigation and control systems of guided weapon systems,in this paper,the development history was investigated and the various types,operation theory and typical features were listed,especially the specifications and manufacturing technologies were briefly reviewed,finally the conclusions and inspiration are given based on the ideas inherited in the gyroscope development.
Angle estimation of simultaneous orthogonal rotations from 3D gyroscope measurements.
Stančin, Sara; Tomažič, Sašo
2011-01-01
A 3D gyroscope provides measurements of angular velocities around its three intrinsic orthogonal axes, enabling angular orientation estimation. Because the measured angular velocities represent simultaneous rotations, it is not appropriate to consider them sequentially. Rotations in general are not commutative, and each possible rotation sequence has a different resulting angular orientation. None of these angular orientations is the correct simultaneous rotation result. However, every angular orientation can be represented by a single rotation. This paper presents an analytic derivation of the axis and angle of the single rotation equivalent to three simultaneous rotations around orthogonal axes when the measured angular velocities or their proportions are approximately constant. Based on the resulting expressions, a vector called the simultaneous orthogonal rotations angle (SORA) is defined, with components equal to the angles of three simultaneous rotations around coordinate system axes. The orientation and magnitude of this vector are equal to the equivalent single rotation axis and angle, respectively. As long as the orientation of the actual rotation axis is constant, given the SORA, the angular orientation of a rigid body can be calculated in a single step, thus making it possible to avoid computing the iterative infinitesimal rotation approximation. The performed test measurements confirm the validity of the SORA concept. SORA is simple and well-suited for use in the real-time calculation of angular orientation based on angular velocity measurements derived using a gyroscope. Moreover, because of its demonstrated simplicity, SORA can also be used in general angular orientation notation.
Angle Estimation of Simultaneous Orthogonal Rotations from 3D Gyroscope Measurements
Sara Stančin
2011-09-01
Full Text Available A 3D gyroscope provides measurements of angular velocities around its three intrinsic orthogonal axes, enabling angular orientation estimation. Because the measured angular velocities represent simultaneous rotations, it is not appropriate to consider them sequentially. Rotations in general are not commutative, and each possible rotation sequence has a different resulting angular orientation. None of these angular orientations is the correct simultaneous rotation result. However, every angular orientation can be represented by a single rotation. This paper presents an analytic derivation of the axis and angle of the single rotation equivalent to three simultaneous rotations around orthogonal axes when the measured angular velocities or their proportions are approximately constant. Based on the resulting expressions, a vector called the simultaneous orthogonal rotations angle (SORA is defined, with components equal to the angles of three simultaneous rotations around coordinate system axes. The orientation and magnitude of this vector are equal to the equivalent single rotation axis and angle, respectively. As long as the orientation of the actual rotation axis is constant, given the SORA, the angular orientation of a rigid body can be calculated in a single step, thus making it possible to avoid computing the iterative infinitesimal rotation approximation. The performed test measurements confirm the validity of the SORA concept. SORA is simple and well-suited for use in the real-time calculation of angular orientation based on angular velocity measurements derived using a gyroscope. Moreover, because of its demonstrated simplicity, SORA can also be used in general angular orientation notation.
Use of Earth’s Magnetic Field for Mitigating Gyroscope Errors Regardless of Magnetic Perturbation
Muhammad Haris Afzal
2011-11-01
Full Text Available Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS. Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR or special constraints like Zero velocity UPdaTes (ZUPT and Zero Angular Rate Updates (ZARU. This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth’s magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS navigation is denied. As the Earth’s magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment.
A Study of the Temperature Characteristics of Vibration Mode Axes for Vibratory Cylinder Gyroscopes
Xuezhong Wu
2011-08-01
Full Text Available The zero bias stability, which is an important performance parameter for vibratory cylinder gyroscopes, is high sensitive to temperature change. It is considered that the varying temperature makes the vibration mode axes unstable, which has significant influence on the zero bias stability. This paper will investigate this problem in detail. First, the relationships between the angular positions of vibration mode axes and the zero bias are analyzed. Secondly, the thermal-modal model of the cylinder resonator with several defects such as mass imbalance, frequency split (FS, and geometry errors are developed by ANSYS. Simulation results show that with the increase of temperature, angular positions of the vibration mode axes obviously change, which leads to a dramatic zero bias drift. Finally, several major influence factors on the angular position stability of vibration mode axes, including frequency split, geometry errors, thermal elastic modulus coefficient (TEMC and thermal expansion coefficient (TEC are analyzed in detail. Simulation results in this paper will be helpful for deep understanding of the drift principle of zero bias induced by temperature for vibratory cylinder gyroscopes and also be helpful for further temperature compensation or control.
Nitzan, Sarah H; Zega, Valentina; Li, Mo; Ahn, Chae H; Corigliano, Alberto; Kenny, Thomas W; Horsley, David A
2015-01-01
Parametric amplification, resulting from intentionally varying a parameter in a resonator at twice its resonant frequency, has been successfully employed to increase the sensitivity of many micro- and nano-scale sensors. Here, we introduce the concept of self-induced parametric amplification, which arises naturally from nonlinear elastic coupling between the degenerate vibration modes in a micromechanical disk-resonator, and is not externally applied. The device functions as a gyroscope wherein angular rotation is detected from Coriolis coupling of elastic vibration energy from a driven vibration mode into a second degenerate sensing mode. While nonlinear elasticity in silicon resonators is extremely weak, in this high quality-factor device, ppm-level nonlinear elastic effects result in an order-of-magnitude increase in the observed sensitivity to Coriolis force relative to linear theory. Perfect degeneracy of the primary and secondary vibration modes is achieved through electrostatic frequency tuning, which also enables the phase and frequency of the parametric coupling to be varied, and we show that the resulting phase and frequency dependence of the amplification follow the theory of parametric resonance. We expect that this phenomenon will be useful for both fundamental studies of dynamic systems with low dissipation and for increasing signal-to-noise ratio in practical applications such as gyroscopes.
Staab, Wieland; Hottowitz, Ralf; Sohns, Christian; Sohns, Jan Martin; Gilbert, Fabian; Menke, Jan; Niklas, Andree; Lotz, Joachim
2014-07-01
[Purpose] A wide variety of accelerometer tools are used to estimate human movement, but there are no adequate data relating to gait symmetry parameters in the context of knee osteoarthritis. This study's purpose was to evaluate a 3D-kinematic system using body-mounted sensors (gyroscopes and accelerometers) on the trunk and limbs. This is the first study to use spectral analysis for data post processing. [Subjects] Twelve patients with unilateral knee osteoarthritis (OA) (10 male) and seven age-matched controls (6 male) were studied. [Methods] Measurements with 3-D accelerometers and gyroscopes were compared to video analysis with marker positions tracked by a six-camera optoelectronic system (VICON 460, Oxford Metrics). Data were recorded using the 3D-kinematic system. [Results] The results of both gait analysis systems were significantly correlated. Five parameters were significantly different between the knee OA and control groups. To overcome time spent in expensive post-processing routines, spectral analysis was performed for fast differentiation between normal gait and pathological gait signals using the 3D-kinematic system. [Conclusions] The 3D-kinematic system is objective, inexpensive, accurate and portable, and allows long-term recordings in clinical, sport as well as ergonomic or functional capacity evaluation (FCE) settings. For fast post-processing, spectral analysis of the recorded data is recommended.
Analysis of dead zone sources in a closed-loop fiber optic gyroscope.
Chong, Kyoung-Ho; Choi, Woo-Seok; Chong, Kil-To
2016-01-01
Analysis of the dead zone is among the intensive studies in a closed-loop fiber optic gyroscope. In a dead zone, a gyroscope cannot detect any rotation and produces a zero bias. In this study, an analysis of dead zone sources is performed in simulation and experiments. In general, the problem is mainly due to electrical cross coupling and phase modulation drift. Electrical cross coupling is caused by interference between modulation voltage and the photodetector. The cross-coupled signal produces spurious gyro bias and leads to a dead zone if it is larger than the input rate. Phase modulation drift as another dead zone source is due to the electrode contamination, the piezoelectric effect of the LiNbO3 substrate, or to organic fouling. This modulation drift lasts for a short or long period of time like a lead-lag filter response and produces gyro bias error, noise spikes, or dead zone. For a more detailed analysis, the cross-coupling effect and modulation phase drift are modeled as a filter and are simulated in both the open-loop and closed-loop modes. The sources of dead zone are more clearly analyzed in the simulation and experimental results.
Online self-compensation for enhanced the scale factor stability of a micromachined gyroscope
Zhou Bin; Zhang Rong; Chen Zhiyong [Department of Precision Instrument, Tsinghua University, Beijing, 100084 (China)], E-mail: zhoubin98@tsinghua.org.cn
2009-09-01
In this paper, an online self-compensation control scheme for micromachined gyroscope has been presented to eliminate the scale factor drift due to temperature influence. Firstly, the error sources of scale factor have been analyzed. According the analysis results, a novel control scheme which contains three loops has been proposed: a phase-locked loop of driving mode is to drive the proof mass oscillation in its' resonant frequency, an AGC loop of driving mode is to keep a constant value of the drive amplitude, an additional scale factor error online detection and cancellation loop is to keep the scale factor stable. A digital hardware prototype has been implemented to perform the precision loop control and self-compensation loop. Scale factor of the gyroscope has been measured in a temperature-controlled turntable. Experiment results show that the scale factor drift is -3.5% to 5.2% over the temperature range of -45 deg. C to +80 deg. C without the self-compensation loop, while the scale factor drift decrease to -0.009% to 0.15% after the self-compensation loop is applied.
Pasciuto, Ilaria; Ligorio, Gabriele; Bergamini, Elena; Vannozzi, Giuseppe; Sabatini, Angelo Maria; Cappozzo, Aurelio
2015-01-01
In human movement analysis, 3D body segment orientation can be obtained through the numerical integration of gyroscope signals. These signals, however, are affected by errors that, for the case of micro-electro-mechanical systems, are mainly due to: constant bias, scale factor, white noise, and bias instability. The aim of this study is to assess how the orientation estimation accuracy is affected by each of these disturbances, and whether it is influenced by the angular velocity magnitude and 3D distribution across the gyroscope axes. Reference angular velocity signals, either constant or representative of human walking, were corrupted with each of the four noise types within a simulation framework. The magnitude of the angular velocity affected the error in the orientation estimation due to each noise type, except for the white noise. Additionally, the error caused by the constant bias was also influenced by the angular velocity 3D distribution. As the orientation error depends not only on the noise itself but also on the signal it is applied to, different sensor placements could enhance or mitigate the error due to each disturbance, and special attention must be paid in providing and interpreting measures of accuracy for orientation estimation algorithms.
NEW CLOSED-LOOP DRIVING CIRCUIT OF SILICON MICROMACHINED VIBRATORY GYROSCOPE
YANGBo; SUYah; ZHOUBai-ling
2005-01-01
A new closed-loop driving scheme for the silicon micromachined vibratory gyroscope (SMVG) is proposed. The push-pull driving is adopted and in-phase AC and reverse-phase DC voltages are applied in the driving electrodes placed in both sides of the active combs, respectively. Driving performance analyses show that the frequency spectrum between driving moments and noise signals is separated. Therefore, the model of the closed-loop control is set up with the phase lock loop (PLL). The requirements for phases and gains of the sinusoidal selfdrive-oscillation are met by PLL, thus the closed-loop circuit reaches the self-drive-oscillation. Phase conditions of the sinusoidal self-drive-oscillation and the characteristic of phase discrimination of the PLL are used to eliminate the coupling between driving and sense signals, and noise signals. Finally, experimental results show that the variations of both the driving frequency and the amplitude are all under 0.02%. The precision and the reliability of the gyroscope are greatly improved.
Error Correction of Measured Unstructured Road Profiles Based on Accelerometer and Gyroscope Data
Jinhua Han
2017-01-01
Full Text Available This paper describes a noncontact acquisition system composed of several time synchronized laser height sensors, accelerometers, gyroscope, and so forth in order to collect the road profiles of vehicle riding on the unstructured roads. A method of correcting road profiles based on the accelerometer and gyroscope data is proposed to eliminate the adverse impacts of vehicle vibration and attitudes change. Because the power spectral density (PSD of gyro attitudes concentrates in the low frequency band, a method called frequency division is presented to divide the road profiles into two parts: high frequency part and low frequency part. The vibration error of road profiles is corrected by displacement data obtained through two times integration of measured acceleration data. After building the mathematical model between gyro attitudes and road profiles, the gyro attitudes signals are separated from low frequency road profile by the method of sliding block overlap based on correlation analysis. The accuracy and limitations of the system have been analyzed, and its validity has been verified by implementing the system on wheeled equipment for road profiles’ measuring of vehicle testing ground. The paper offers an accurate and practical approach to obtaining unstructured road profiles for road simulation test.
Design, Modelling and Fabrication of a 40-330 Hz Dual-Mass MEMS Gyroscope on Thick-SOI Technology
Rajaraman, V.; Sabageh, I.; French, P.; Pansraud, G.; Cretu, E.
2011-01-01
This work reports the design, modelling, fabrication and preliminary functionality testing of a dual-mass MEMS vibratory gyroscope for application in medical instrumentation, among others. The two-framed gyro has drive and sense mode resonance frequencies of 2500Hz and 2830Hz, with its bandwidth tun
ON THE MOVEMENTS OF A STATICALLY BALANCED GYROSCOPE IN A CARDAN JOINT, MOUNTED ON A VIBRATING BASE
A translation of a Soviet technical article entitled ’’On the Movements of a Statically Balanced Gyroscope in a Cardan Joint, Mounted on a Vibrating Base’’ is presented. The article is a mathematical treatment of the subject.
Amel'kin, N. I.
2011-01-01
Equations of motion are obtained for a rigid body bearing N three-degree-of-freedom control momentum gyroscopes in gimbals and the entire set of steady motions in a homogeneous external field is determined. The steady motion dependence on the magnitude of the system angular momentum is studied and a
1983-10-01
permettant de tester des gyroscopes auto correcteurs A centrale lige et . 1° de libert6. Les tests sont limitgs aux modes statistiques et A taux constants...conventionnels utilisEs sont aussi presentfs, de Seme que les considfrations concernant la r6gulation thermique . iii 5 TABLE OF CONTENTS Page Abstract
Trubko, Raisa; Greenberg, James; Germaine, Michael T St; Gregoire, Maxwell D; Holmgren, William F; Hromada, Ivan; Cronin, Alexander D
2015-04-10
Tune-out wavelengths measured with an atom interferometer are sensitive to laboratory rotation rates because of the Sagnac effect, vector polarizability, and dispersion compensation. We observed shifts in measured tune-out wavelengths as large as 213 pm with a potassium atom beam interferometer, and we explore how these shifts can be used for an atom interferometer gyroscope.
Trubko, Raisa; Germaine, Michael T St; Gregoire, Maxwell D; Holmgren, William F; Hromada, Ivan; Cronin, Alexander D
2015-01-01
Tune-out wavelengths measured with an atom interferometer are sensitive to laboratory rotation rates because of the Sagnac effect, vector polarizability, and dispersion compensation. We observed shifts in measured tune-out wavelengths as large as 213 pm with a potassium atom beam interferometer, and we explore how these shifts can be used for an atom interferometer gyroscope.
Lajimi, Seyed Amir Mousavi
2014-01-01
The nonlinear dynamics of a microbeam-rigid body gyroscope are investigated by using a continuation method. To study the nonlinear dynamics of the system, the Lagrangian of the system is discretized and the reduced-order model is obtained. By using the continuation method, the frequency-response curves are computed and the stability of response is determined.
Weizheng Yuan
2012-02-01
Full Text Available This paper presents a signal processing technique to improve angular rate accuracy of the gyroscope by combining the outputs of an array of MEMS gyroscope. A mathematical model for the accuracy improvement was described and a Kalman filter (KF was designed to obtain optimal rate estimates. Especially, the rate signal was modeled by a first-order Markov process instead of a random walk to improve overall performance. The accuracy of the combined rate signal and affecting factors were analyzed using a steady-state covariance. A system comprising a six-gyroscope array was developed to test the presented KF. Experimental tests proved that the presented model was effective at improving the gyroscope accuracy. The experimental results indicated that six identical gyroscopes with an ARW noise of 6.2 °/√h and a bias drift of 54.14 °/h could be combined into a rate signal with an ARW noise of 1.8 °/√h and a bias drift of 16.3 °/h, while the estimated rate signal by the random walk model has an ARW noise of 2.4 °/√h and a bias drift of 20.6 °/h. It revealed that both models could improve the angular rate accuracy and have a similar performance in static condition. In dynamic condition, the test results showed that the first-order Markov process model could reduce the dynamic errors 20% more than the random walk model.
Jiang, Chengyu; Xue, Liang; Chang, Honglong; Yuan, Guangmin; Yuan, Weizheng
2012-01-01
This paper presents a signal processing technique to improve angular rate accuracy of the gyroscope by combining the outputs of an array of MEMS gyroscope. A mathematical model for the accuracy improvement was described and a Kalman filter (KF) was designed to obtain optimal rate estimates. Especially, the rate signal was modeled by a first-order Markov process instead of a random walk to improve overall performance. The accuracy of the combined rate signal and affecting factors were analyzed using a steady-state covariance. A system comprising a six-gyroscope array was developed to test the presented KF. Experimental tests proved that the presented model was effective at improving the gyroscope accuracy. The experimental results indicated that six identical gyroscopes with an ARW noise of 6.2 °/√h and a bias drift of 54.14 °/h could be combined into a rate signal with an ARW noise of 1.8 °/√h and a bias drift of 16.3 °/h, while the estimated rate signal by the random walk model has an ARW noise of 2.4 °/√h and a bias drift of 20.6 °/h. It revealed that both models could improve the angular rate accuracy and have a similar performance in static condition. In dynamic condition, the test results showed that the first-order Markov process model could reduce the dynamic errors 20% more than the random walk model. PMID:22438734
陀螺技术分类与动作结构分析%An analysis on the technology classification and movement structure of gyroscope
宋卫
2014-01-01
结合十多年从事民族传统体育陀螺项目教学、训练及竞赛的实践经验，对民族传统体育陀螺项目的技术进行了分类，就陀螺技术的特点、技术动作结构等进行了分析。%Combine the teaching,training and competition experience of gyroscope in recent ten years,this article classification the technology of gyroscope,and analyzes the technology characteristics,technology movement structure of gyroscope.
Applied Research of Total Station Gyroscope in Mine Survey%陀螺全站仪在井下测量中的应用研究
张高兴; 李忠金
2012-01-01
Total station gyroscope is composed of gyroscope and total station,which is a very accurate measuring instrument and can measure the top azimuth quickly.This paper expounds the orientation survey method of total station gyroscope,analyzes the advantages of gyro station and its application in shaft connection surveying,underground traversing and breakthrough survey.%阐述了陀螺全站仪的定向作业方法,分析了陀螺全站仪的优点及其在矿井联系测量、井下控制测量及贯通测量方面的应用。
Statistical Extremes of Turbulence and a Cascade Generalisation of Euler's Gyroscope Equation
Tchiguirinskaia, Ioulia; Scherzer, Daniel
2016-04-01
Turbulence refers to a rather well defined hydrodynamical phenomenon uncovered by Reynolds. Nowadays, the word turbulence is used to designate the loss of order in many different geophysical fields and the related fundamental extreme variability of environmental data over a wide range of scales. Classical statistical techniques for estimating the extremes, being largely limited to statistical distributions, do not take into account the mechanisms generating such extreme variability. An alternative approaches to nonlinear variability are based on a fundamental property of the non-linear equations: scale invariance, which means that these equations are formally invariant under given scale transforms. Its specific framework is that of multifractals. In this framework extreme variability builds up scale by scale leading to non-classical statistics. Although multifractals are increasingly understood as a basic framework for handling such variability, there is still a gap between their potential and their actual use. In this presentation we discuss how to dealt with highly theoretical problems of mathematical physics together with a wide range of geophysical applications. We use Euler's gyroscope equation as a basic element in constructing a complex deterministic system that preserves not only the scale symmetry of the Navier-Stokes equations, but some more of their symmetries. Euler's equation has been not only the object of many theoretical investigations of the gyroscope device, but also generalised enough to become the basic equation of fluid mechanics. Therefore, there is no surprise that a cascade generalisation of this equation can be used to characterise the intermittency of turbulence, to better understand the links between the multifractal exponents and the structure of a simplified, but not simplistic, version of the Navier-Stokes equations. In a given way, this approach is similar to that of Lorenz, who studied how the flap of a butterfly wing could generate
Compact and robust open-loop fiber-optic gyroscope for applications in harsh environments
Moslehi, Behzad M.; Yahalom, Ram; Faridian, Ferey; Black, Richard J.; Taylor, Edward W.; Ooi, Teng; Corder, Aaron
2010-09-01
Next generation navigation systems demand performance enhancements to support new applications with longer range capabilities, provide robust operation in severe thermal and vibration environments while simultaneously reducing weight, size and power dissipation. Compact, inexpensive, advanced guidance components are essential for such applications. In particular, Inertial Reference Units (IRUs) that can provide high-resolution stabilization and accurate inertial pointing knowledge are needed. For space applications, an added requirement is radiation hardening up to 300 krad over 5 to 15 years. Manufacturing specifications for the radiation-induced losses are not readily available and empirical test data is required for all components in order to optimize the system performance. Interferometric Fiber-Optic Gyroscopes (IFOGs) have proven to be a leading technology for tactical and navigational systems. The sensors have no moving parts. This ensures high reliability and a long life compared to the mechanical gyroscopes and dithered ring laser gyroscopes. However, the available architectures limit the potential size and cost of the IFOG. The work reported here describes an innovative approach for the design, fabrication, and testing of the IFOG and enables the production of a small, robust and low cost gyro with excellent noise and bandwidth characteristics with high radiation tolerance. The development is aimed at achieving a sensor volume architecture, where the light source, electronics and receiver are integrated in an external package, while the sensor head is integrated in a robust and environmentally rigid package. The sensor package design is compatible with the most severe environmental requirements foreseen for the target applications. This paper presents the current state-of-the-art performance of the prototype gyros and the potential for further reduction of size with improved performance. The gyro sample and data rates are extremely high and can be close
Yuan Ren
2014-01-01
Full Text Available For magnetically suspended rigid rotors (MSRs with significant gyroscopic effects, phase lag of the control channel is the main factor influencing the system nutation stability and decoupling performance. At first, this paper proves that the phase lag of the cross channel instead of the decentralized channel is often the main factor influencing the system nutation stability at high speeds. Then a modified cross feedback control strategy based on the phase compensation of cross channel is proposed to improve the stability and decoupling performances. The common issues associated with the traditional control methods have been successfully resolved by this method. Analysis, simulation, and experimental results are presented to demonstrate the feasibility and superiority of the proposed control method.
Adaptive Sliding Mode Control Using Robust Feedback Compensator for MEMS Gyroscope
Juntao Fei
2013-01-01
Full Text Available An adaptive sliding mode control using robust feedback compensator is presented for a MEMS gyroscope in the presence of external disturbances and parameter uncertainties. An adaptive controller with a robust term is used to improve the robustness of the control system and compensate the system nonlinearities. The proposed robust adaptive control can estimate the angular velocity and all the system parameters including damping and stiffness coefficients in the Lyapunov framework. In addition, standard adaptive control scheme without robust algorithm is compared with the proposed robust adaptive scheme in the aspect of numerical simulation and algorithm derivation. Numerical simulations show that the robust adaptive control has better robustness in the presence of external disturbances than the standard adaptive control.
Overview and Improving Fiber Optic Gyroscope Based on MEMS/NEMS Fabrication
Zhang Bo; Kahn, M T E [Electrical Engineering Department, Cape Peninsula University of Technology, BELLVILLE CAMPUS, Cape Town, 7535 (South Africa); Electrical Engineering Department, Cape Peninsula University of Technology, BELLVILLE CAMPUS, Cape Town, 7535 (South Africa)
2006-04-01
The measurement of the rotation of rigid solids is of considerable interest in a number of areas. Rotation detectors are not only used in aircraft, missiles etc. military fields have also been developed for new civil fields such as automobile navigation, antenna stabilization, crane control, unmanned vehicle control, wind and renewable energy platform stabilization. In this paper, the fundamental operations of fiber-optic gyroscopes are reviewed. Performance-limiting phenomena are discussed along with methods to reduce their effect on the rotation-rate signal. Current technology and performance of new demodulate systems are presented applicable to MEMS technology. The FOG with scanning phase-shift demodulates technology based on anti-noise filter circuit improvement of DSP algorithm is proposed in this paper. New methods, which are used to fabricate the nanometer optical fiber, are discussed.
Adaptive Control of MEMS Gyroscope Based on Global Terminal Sliding Mode Controller
Weifeng Yan
2013-01-01
Full Text Available An adaptive global fast terminal sliding mode control (GFTSM is proposed for tracking control of Micro-Electro-Mechanical Systems (MEMS vibratory gyroscopes under unknown model uncertainties and external disturbances. To improve the convergence rate of reaching the sliding surface, a global fast terminal sliding surface is employed which can integrate the advantages of traditional sliding mode control and terminal sliding mode control. It can be guaranteed that sliding surface and equilibrium point can be reached in a shorter finite time from any initial state. In the presence of unknown upper bound of system nonlinearities, an adaptive global fast terminal sliding mode controller is derived to estimate this unknown upper bound. Simulation results demonstrate that the tracking error can be attenuated efficiently and robustness of the control system can be improved with the proposed adaptive global fast terminal sliding mode control.
Robust Adaptive Neural Sliding Mode Approach for Tracking Control of a MEMS Triaxial Gyroscope
Juntao Fei
2012-05-01
Full Text Available In this paper, a neural network adaptive sliding mode control is proposed for an MEMS triaxial gyroscope with unknown system nonlinearities. An input‐output linearization technique is incorporated into the neural adaptive tracking control to cancel the nonlinearities, and the neural network whose parameters are updated from the Lyapunov approach is used to perform the linearization control law. The sliding mode control is utilized to\tcompensate the neural network’s approximation errors. The stability of the closed‐loop system can be guaranteed with the proposed adaptive neural sliding mode control. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive neural sliding mode control scheme.
Effect of residual stress on modal patterns of MEMS vibratory gyroscope
Dutta, Shankar; Panchal, Abha; Kumar, Manoj; Pal, Ramjay; Bhan, R. K.
2016-04-01
Deep boron diffusion often induces residual stress in bulk micromachined MEMS structures, which may affect the MEMS devices operation. In this study, we studied the modal patterns of MEMS vibratory gyroscope under the residual stress (100 - 1000 MPa). Modal patterns and modal frequencies of the gyro are found to be dependent on the residual stress values. Without any residual stress, the modal frequencies drive and sense modeswere found to be 20.06 kHz and 20.36 kHz respectively. In presence of 450 MPa residual stress, the modal frequencies of the drive and sense modes were changed to 42.75 kHz and 43.07 kHz respectively.
Electrostatic stiffness correction for quadrature error in decoupled dual-mass MEMS gyroscope
Li, Hongsheng; Cao, Huiliang; Ni, Yunfang
2014-07-01
This paper proposes an electrostatic stiffness correction method for the quadrature error (QUER) in a decoupled dual-mass gyroscope structure. The QUER is caused by the imperfections during the structure manufacturing process, and the two masses usually have different QUERs. The harm contribution to the Coriolis signal is analyzed and quantified. The generating forms of QUER motion in both masses are analyzed, the correction electrodes' working principle is introduced, and a single mass individual correction method is proposed. The QUER stiffness correction system is designed based on a PI controller, and the experiments are arranged to verify the theoretical analysis. The bias stability decreases from 2.06 to 0.64 deg/h after the QUER correction, and the parameters of scale factor such as nonlinearly, asymmetry, and repeatability, reduce from 143, 557, and 210 ppm to 84, 242, and 175 ppm, respectively.
Adaptive Control of MEMS Gyroscope Based on T-S Fuzzy Model
Yunmei Fang
2015-01-01
Full Text Available A multi-input multioutput (MIMO Takagi-Sugeno (T-S fuzzy model is built on the basis of a nonlinear model of MEMS gyroscope. A reference model is adjusted so that a local linear state feedback controller could be designed for each T-S fuzzy submodel based on a parallel distributed compensation (PDC method. A parameter estimation scheme for updating the parameters of the T-S fuzzy models is designed and analyzed based on the Lyapunov theory. A new adaptive law can be selected to be the former adaptive law plus a nonnegative in variable to guarantee that the derivative of the Lyapunov function is smaller than zero. The controller output is implemented on the nonlinear model and T-S fuzzy model, respectively, for the purpose of comparison. Numerical simulations are investigated to verify the effectiveness of the proposed control scheme and the correctness of the T-S fuzzy model.
Lin, Jian; Liu, Jiaming; Zhang, Hao; Li, Wenxiu; Zhao, Lu; Jin, Junjie; Huang, Anping; Zhang, Xiaofu; Xiao, Zhisong
2016-12-01
Rigorous expressions of resonant frequency shift (RFS) in anomalous dispersion enhanced resonant optical gyroscopes (ADEROGs) are deduced without making approximation, which provides a precise theoretical guidance to achieve ultra-sensitive ADEROGs. A refractive index related modification factor is introduced when considering special theory of relativity (STR). We demonstrate that the RFS will not be ”infinitely large” by using critical anomalous dispersion (CAD) and negative modification does not exist, which make the mechanism of anomalous dispersion enhancement clear and coherent. Although step change of RFS will happen when the anomalous dispersion condition varies, the amplification of RFS is limited by attainable variation of refractive index in practice. Moreover, it is shown that the properties of anomalous dispersion will influence not only the amplification of RFS, but also the detection range of ADEROGs.
Brown, Gerald V.; Kascak, Albert F.; Jansen, Ralph H.; Dever, Timothy P.; Duffy, Kirsten P.
2006-01-01
For magnetic-bearing-supported high-speed rotating machines with significant gyroscopic effects, it is necessary to stabilize forward and backward tilt whirling modes. Instability or low damping of these modes can prevent the attainment of desired shaft speed. We show analytically that both modes can be stabilized by using cross-axis proportional gains and high- and low-pass filters in the magnetic bearing controller. Furthermore, at high shaft speeds, where system phase lags degrade the stability of the forward-whirl mode, a phasor advance of the control signal can partially counteract the phase lag. In some range of high shaft speed, the derivative gain for the tilt modes (essential for stability for slowly rotating shafts) can be removed entirely. We show analytically how the tilt eigenvalues depend on shaft speed and on various controller feedback parameters.
Adaptive Sliding Mode Control of MEMS Gyroscope Based on Neural Network Approximation
Yuzheng Yang
2014-01-01
Full Text Available An adaptive sliding controller using radial basis function (RBF network to approximate the unknown system dynamics microelectromechanical systems (MEMS gyroscope sensor is proposed. Neural controller is proposed to approximate the unknown system model and sliding controller is employed to eliminate the approximation error and attenuate the model uncertainties and external disturbances. Online neural network (NN weight tuning algorithms, including correction terms, are designed based on Lyapunov stability theory, which can guarantee bounded tracking errors as well as bounded NN weights. The tracking error bound can be made arbitrarily small by increasing a certain feedback gain. Numerical simulation for a MEMS angular velocity sensor is investigated to verify the effectiveness of the proposed adaptive neural control scheme and demonstrate the satisfactory tracking performance and robustness.
A D-optimal Multi-position Calibration Method for Dynamically Tuned Gyroscopes
FU Li; ZHU Yongquan; WANG Lingling; WANG Xinling
2011-01-01
This paper presents a novel experimental design to greatly improve the calibration accuracy of the acceleration-insensitive bias and the acceleration-sensitive bias of the dynamically tuned gyroscopes (DTGs). In order to reduce experimental cost, the D-optimal criteria with constraints are constructed. The turntable positions and the number of test points are chosen to build D-optimal experimental designs. The D-optimal experimental designs are tested by multi-position calibration experiment for tactical-grade DTGs. Test results show that, with the same cost, the fit uncertainty is reduced by about 50％ by using the D-optimal 8-position experimental procedure, compared to using a defacto standard experimental procedure in ANSI/IEEE Std 813-1988. Furthermore, the new experimental procedure almost achieves optimal accuracy with only 12-position which is half the cost of the widely adopted 24-position experimental procedure for achieving optimal accuracy.
Measurements of complex coupling coefficients in a ring resonator of a laser gyroscope
Bessonov, A. S.; Makeev, A. P.; Petrukhin, E. A.
2017-07-01
A method is proposed for measuring complex coupling coefficients in a ring optical resonator in the absence of an active gas mixture. A setup is described on which measurements are performed in ring resonators of ring He-Ne lasers with a wavelength of 632.8 nm. A model of backscattering field interference between conservative and dissipative sources is presented. Within the framework of this model, the unusual behaviour of backscattering fields in ring resonators observed in experiments is explained: a significant difference in the moduli of coupling coefficients of counterpropagating waves and variation of the magnitude of the total phase shift in a wide range. It is proposed to use this method as a metrological method when assembling and aligning a ring resonator of a laser gyroscope.
Patankar, Kunal; Fitz-Coy, Norman; Roithmayr, Carlos M.
2014-01-01
This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kilogram mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is more suitable for COTS based moment exchange actuators; a mode that uses the torque amplification of CMGs for rapid retargeting and direct torque capabilities of the flywheel motors for precision pointing. A simulation is provided to demonstrate on-orbit slew and pointing performance.
From gyroscopic to thermal motion: a crossover in the dynamics of molecular superrotors
Milner, A A; Rezaiezadeh, K; Milner, V
2015-01-01
Localized heating of a gas by intense laser pulses leads to interesting acoustic, hydrodynamic and optical effects with numerous applications in science and technology, including controlled wave guiding and remote atmosphere sensing. Rotational excitation of molecules can serve as the energy source for raising the gas temperature. Here, we study the dynamics of energy transfer from the molecular rotation to heat. By optically imaging a cloud of molecular superrotors, created with an optical centrifuge, we experimentally identify two separate and qualitatively different stages of its evolution. The first non-equilibrium "gyroscopic" stage is characterized by the modified optical properties of the centrifuged gas - its refractive index and optical birefringence, owing to the ultrafast directional molecular rotation, which survives tens of collisions. The loss of rotational directionality is found to overlap with the release of rotational energy to heat, which triggers the second stage of thermal expansion. The ...
SiO2 Waveguide Resonator Used in an Integrated Optical Gyroscope
YU Huai-Yong; ZHANG Chun-Xi; FENG Li-Shuang; ZHOU Zhen; HONG Ling-Fei
2009-01-01
An integrated optical waveguide resonator based on a SiO2 waveguide is proposed, fabricated and tested. The method of designing the resonator is also presented. The optimal spirting ratio of the coupler is gained by simulating the relationship between the splitting ratio of the key coupler in the resonator and the resonator's finesse w/th resonance depth. The calculated fundamental detection limit of this integrated optical wavegnide resonator is 1.6°/b. Finally, a micro-optical gyroscope system based on the integrated waveguide resonator is built, and the measured resonator's finesse F is close to 70 under fluctuating temperature. To the best of our knowledge, the present F is the best result to date. For the coupler splitting rate the experimental results have fixed errors with the simulation results caused by fabrication processes which can be easily eliminated, implying that the method of design is effective and applicable.
Wang, Guochen; Wang, Qiuying; Zhao, Bo; Wang, Zhenpeng
2016-02-10
Aiming to improve the bias stability of the fiber optical gyroscope (FOG) in an ambient temperature-change environment, a temperature-compensation method based on the relevance vector machine (RVM) under Bayesian framework is proposed and applied. Compared with other temperature models such as quadratic polynomial regression, neural network, and the support vector machine, the proposed RVM method possesses higher accuracy to explain the temperature dependence of the FOG gyro bias. Experimental results indicate that, with the proposed RVM method, the bias stability of an FOG can be apparently reduced in the whole temperature ranging from -40°C to 60°C. Therefore, the proposed method can effectively improve the adaptability of the FOG in a changing temperature environment.
无
2007-01-01
Gyro's fault diagnosis plays a critical role in inertia navigation systems for higher reliability and precision. A new fault diagnosis strategy based on the statistical parameter analysis (SPA) and support vector machine(SVM) classification model was proposed for dynamically tuned gyroscopes (DTG). The SPA, a kind of time domain analysis approach, was introduced to compute a set of statistical parameters of vibration signal as the state features of DTG, with which the SVM model, a novel learning machine based on statistical learning theory (SLT), was applied and constructed to train and identify the working state of DTG. The experimental results verify that the proposed diagnostic strategy can simply and effectively extract the state features of DTG, and it outperforms the radial-basis function (RBF) neural network based diagnostic method and can more reliably and accurately diagnose the working state of DTG.
Simulation of Malfunctions for the ISS Double-Gimbal Control Moment Gyroscope
Inampudi, Ravi; Gordeuk, John
2016-01-01
This paper presents a simplified approach to simulation of malfunctions of the Control Moment Gyroscope (CMG) on board the International Space Station (ISS). These malfunctions will be used as part of flight training of CMG failure scenarios in the guidance navigation control (GNC) subsystem of the Training Systems for 21st Century (TS21) simulator. The CMG malfunctions are grouped under mechanical, thermal and electrical categories. A malfunction can be as simple as one which only affects the telemetry or a complex one that changes the state and behavior of the CMG model. In both cases, the ISS GNC flight software will read the telemetry and respond accordingly. The user executes these malfunctions by supplying conditional data which modify internal model states and then elicit a response as seen on the user displays. Ground operators and crew on board the ISS use CMG malfunction procedures to better understand and respond to anomalies observed within the CMG subsystem.
Assessment of postural stability in patients with cerebellar disease using gyroscope data.
Kutílek, Patrik; Socha, Vladimír; Čakrt, Ondřej; Svoboda, Zdeněk
2015-07-01
This study examines a relatively new method of studying and quantifying human postural stability in patients with degenerative cerebellar disease. Trunk sway and feet sway were measured during quiet stance. To test the method, ten patients and eleven healthy subjects performed two different stance tasks: standing with eyes open on a firm surface and standing with eyes closed on a foam support surface. Data were recorded using three body-worn gyroscopes (Xsens Technologies B.V.) to measure roll and pitch angular movements of the lower trunk, and left and right foot. The pitch versus roll plots of the trunk and feet were created, and the areas of the convex hull shapes were calculated. It was found that the area of the convex hull of the pitch versus roll plots is suitable for the identification of postural instability disorders caused by degenerative cerebellar disease.
Zhang, Dengwei; Zhao, Yuxiang; Fu, Wenlan; Zhou, Wenqing; Liu, Cheng; Shu, Xiaowu; Che, Shuangliang
2014-03-15
A theory for nonreciprocal phase shift caused by cross coupling generated in a polarization maintaining (PM) fiber optic gyroscope (FOG) under the combined action of magnetic and temperature fields is proposed. The magnetic-thermal coupling in the FOG originates from the interaction of the magnetic field, fiber twist, birefringence caused by thermal stress, and the intrinsic and bending birefringence of the fiber. The cross coupling changes with temperature. When the PM fiber has a diameter of 250 μm, beat length of 3 mm, length of 500 m, twist rate of 1 rad/m, and optical source wavelength of 1310 nm, the maximum degree of magnetic-thermal coupling generated by a 1 mT radial magnetic field within the temperature range of -20°C to 60°C is -5.47%.
XIAO Wen; LIU De-Wen; LIU Yang; YI Xiao-Su; CONG Lin
2008-01-01
@@ In the space environment, the precision of fibre optic gyroscopes (FOGs) degrades because of space radiation.Photonic components of FOGs axe affected by radiation, especially the polaxization-maintaining (PM) fibre coil.In relation to the space radiation environment characteristic, we have carried out a series of radiation experiments on a PM fibre coil with 60Co radiation source at different dose rates. Based on the experimental results, the formula between the PM-fibre loss and radiation dose rata is built, and the relation between the precision of FOG and radiation dose is obtained accordingly. The results strongly show that the precision of our FOG degrades owing to the attenuation of the polarization-maintaining fibre, which provides theoretical foundation for the radiation-resistant design of the FOG.
Behavior of a test gyroscope moving towards a rotating traversable wormhole
Chakraborty, Chandrachur; Pradhan, Parthapratim
2017-03-01
The geodesic structure of the Teo wormhole is briefly discussed and some observables are derived that promise to be of use in detecting a rotating traversable wormhole indirectly, if it does exist. We also deduce the exact Lense-Thirring (LT) precession frequency of a test gyroscope moving toward a rotating traversable Teo wormhole. The precession frequency diverges on the ergoregion, a behavior intimately related to and governed by the geometry of the ergoregion, analogous to the situation in a Kerr spacetime. Interestingly, it turns out that here the LT precession is inversely proportional to the angular momentum (a) of the wormhole along the pole and around it in the strong gravity regime, a behavior contrasting with its direct variation with a in the case of other compact objects. In fact, divergence of LT precession inside the ergoregion can also be avoided if the gyro moves with a non-zero angular velocity in a certain range. As a result, the spin precession frequency of the gyro can be made finite throughout its whole path, even very close to the throat, during its travel to the wormhole. Furthermore, it is evident from our formulation that this spin precession not only arises due to curvature or rotation of the spacetime but also due to the non-zero angular velocity of the spin when it does not move along a geodesic in the strong gravity regime. If in the future, interstellar travel indeed becomes possible through a wormhole or at least in its vicinity, our results would prove useful in determining the behavior of a test gyroscope which is known to serve as a fundamental navigation device.
Changsheng Li; Chunxi Zhang; Ningfang Song; Hongjie Xu
2011-01-01
@@ A novel polarization maintaining fiber (PMP) loop is proposed and used for an interferometric fiber optic gyroscope (FOG). By splicing a conventional PMF loop with two pigtailed polarization beam splitters, polarized light can be guided to propagate along the slow and fast axes of the PMF in sequence to double its effective optical length in the loop. In particular, the resultant optical length in the combined loop is partially self-compensated for some external disturbances, such as transverse strain. Primary experiments on the FOG using the proposed loop demonstrate that the average static bias deviation between -40 and +60 ℃ is less than 0.050 deg./h, and the average bias variation under conventional random vibration test is less than 0.10 deg./h.%A novel polarization maintaining fiber (PMF) loop is proposed and used for an interferometric fiber optic gyroscope (FOG). By splicing a conventional PMF loop with two pigtailed polarization beam splitters,polarized light can be guided to propagate along the slow and fast axes of the PMF in sequence to double its effective optical length in the loop. In particular, the resultant optical length in the combined loop is partially self-compensated for some external disturbances, such as transverse strain. Primary experiments on the FOG using the proposed loop demonstrate that the average static bias deviation between -40 and +60 ℃ is less than 0.050 deg./h, and the average bias variation under conventional random vibration test is less than 0.10 deg./h.
A Novel Temperature Compensation Method for a MEMS Gyroscope Oriented on a Periphery Circuit
Huiliang Cao
2013-09-01
Full Text Available This paper investigates temperature compensation methods used for the scale factor and bias of the MEMS gyroscope within the temperature range from − 40°C to 60°C. The structure and periphery monitor circuit are introduced. Then the determinant elements of the MEMS gyroscope's scale factor are analysed and the results indicate that scale factor is directly proportional to drive amplitude and sense loop gain and is inversely proportional to the frequency gap between two modes. After that, the compensation methods are proposed, the thermal resistor's positive temperature coefficient (tempco is utilized to calibrate the scale factor's tempco through regulating the drive mode amplitude and the sense loop gain, and each method is applied respectively and the results are contrasted. The test results of the two specimens express that the most effective compensation method could decrease the scale factor's tempco from 693ppm/°C (640ppm/°C to 250ppm/°C (257ppm/°C, improving it by 63.9% (59.8%. Finally, a method of declining bias's tempco is investigated and implemented after scale factor compensation. A summator with a thermal resistor is utilized at the output level and decreases the bias's tempco from 103.89°/h/°C (100.78°/h/°C to 9.70°/h/°C (12°/h/°C improving it by 90.7% (88%. Repeat tests are performed based on two specimens to prove the repeatability and reproducibility of the methods.
On overdamping phenomena in gyroscopic systems composed of high-loss and lossless components
Figotin, Alexander; Welters, Aaron
2016-04-01
Using a Lagrangian framework, we study overdamping phenomena in gyroscopic systems composed of two components, one of which is highly lossy and the other is lossless. The losses are accounted by a Rayleigh dissipation function. As we have shown previously, for such a composite system, the modes split into two distinct classes, high-loss and low-loss, according to their dissipative behavior. A principal result of this paper is that for any such system, a rather universal phenomenon of selective overdamping occurs. Namely, first of all, the high-loss modes are all overdamped, i.e., non-oscillatory, as are an equal number of low-loss modes. Second of all, the rest of the low-loss modes remain oscillatory (i.e., the underdamped modes), each with an extremely high quality factor (Q-factor) that actually increases as the loss of the lossy component increases. We prove that selective overdamping is a generic phenomenon in Lagrangian systems with gyroscopic forces and gives an analysis of the overdamping phenomena in such systems. Moreover, using perturbation theory, we derive explicit formulas for upper bound estimates on the amount of loss required in the lossy component of the composite system for the selective overdamping to occur in the generic case and give Q-factor estimates for the underdamped modes. Central to the analysis is the introduction of the notion of a "dual" Lagrangian system and this yields significant improvements on some results on modal dichotomy and overdamping. The effectiveness of the theory developed here is demonstrated by applying it to an electric circuit with a gyrator element and a high-loss resistor.
Chernichenko, V. S.; Bidenko, A. I.; Krobka, N. I.; Tribulev, N. V.; Volyntsev, A. A.
2012-12-01
The first prototypes of superfluid gyroscopes were demonstrated in Saclay in 1996 [1] and in Berkeley in 1997 [2]. These gyroscopes were direct hydrodynamic analogues of electrodynamic rf-SQUIDs, based on superfluid 4He. Analogues of dc-SQUID based on 3He had been worked out in 2001 [3]. The first dc-SQUID on 4He was built in 2005 [4]. Comparing the different technical solutions we are gathering the world experience of superfluid gyro schemes to design own ones.
Synchronous correlation detection technique for fiber optic gyroscope%光纤陀螺同步相关检测技术的设计与实现
陆家兵; 张琛
2013-01-01
光纤陀螺是一种典型的微弱信号检测系统.根据随机过程理论,针对陀螺噪声特点设计了数字闭环光纤陀螺实用的同步相关检测方案,并对陀螺干涉仪输出信号中出现的尖峰脉冲干扰,提出一种基于高速模拟开关的时域滤波方法.测试结果表明,此方法大大降低了陀螺的输出噪声,是将陀螺信号从强噪声中提取出来的有效手段.%Fiber optic gyroscopes are typical weak signal detection systems.In this paper,a synchronous correlation detection applicable for digital close-loop fiber optical gyroscope is designed in terms of gyroscope noise characteristics.A time-domain filtering method based on high speed analog switch is proposed for elimination of spike pulse interference generated by signal output from gyroscope interferometer.It is shown by the test that this method is effective to reduce the gyroscope output noise and extract gyroscope signal from strong noise.
张勇刚; 孙娜; 李宁; 梁宏
2014-01-01
闭环光纤陀螺的动态范围随着精度的提高而下降，为了增大闭环光纤陀螺动态范围，提出了一种基于MEMS陀螺辅助的增大闭环光纤陀螺动态范围的方法，利用MEMS陀螺量程大的特点，将MEMS陀螺与光纤陀螺测得的角速率作差，依据该差值判断光纤陀螺工作的干涉级数，从而对光纤陀螺输出加以修正，使光纤陀螺准确工作在多级干涉条纹。仿真表明，提出的方法能够有效的增大闭环光纤陀螺动态范围，提高闭环光纤陀螺的量程。%The dynamic range of closed-loop fiber optic gyroscope (FOG) decreases with the accuracy improvent of FOG improving. Based on aided MEMS gyroscope, a method of increasing the dynamic range of closed-loop FOG was present in this paper. This method makes full use of the large-scale characteristics of MEMS gyroscope. According to the difference of detected angular velocity between MEMS gyroscope and FOG, the interference of series can be judged, which makes FOG work in multistage interference fringe through correcting the output by judging interference of series. The simulation results show that the proposed method can increase the dynamic range of closed-loop FOG effectively.
D'Alessandro, A.; D'Anna, G.
2014-12-01
The absolute orientation of the horizontal components of ocean bottom or downhole seismic sensors are generally unknown. Almost all the methods proposed to overcome this issue are based on the post-processing of the acquired signals and so the results are strongly dependent on the nature, quantity and quality of the acquired data. We have carried out several test to evaluate the ability of retrieve sensor orientation using integrated low cost MEMS gyroscope. Our tests have shown that the tested MEMS gyroscope (the model 1044_0-3/3/3 Phidget Spatial Precision High Resolution) can be used to measure angular displacement and therefore to retrieve the absolute orientation of the horizontal components of a sensor that has been subjected to rotation in the horizontal plane. A correct processing of the acquired signals permit to retrieve, for rotation at angular rate between 0 and 180° s-1, angular displacement with error less 2°.
Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope.
Fazlyab, Mahyar; Pedram, Maysam Zamani; Salarieh, Hassan; Alasty, Aria
2013-11-01
This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.
Carlos Reyes-Garcia
2013-08-01
Full Text Available This paper presents a project on the development of a cursor control emulating the typical operations of a computer-mouse, using gyroscope and eye-blinking electromyographic signals which are obtained through a commercial 16-electrode wireless headset, recently released by Emotiv. The cursor position is controlled using information from a gyroscope included in the headset. The clicks are generated through the user’s blinking with an adequate detection procedure based on the spectral-like technique called Empirical Mode Decomposition (EMD. EMD is proposed as a simple and quick computational tool, yet effective, aimed to artifact reduction from head movements as well as a method to detect blinking signals for mouse control. Kalman filter is used as state estimator for mouse position control and jitter removal. The detection rate obtained in average was 94.9%. Experimental setup and some obtained results are presented.
Rosas-Cholula, Gerardo; Ramirez-Cortes, Juan Manuel; Alarcon-Aquino, Vicente; Gomez-Gil, Pilar; Rangel-Magdaleno, Jose de Jesus; Reyes-Garcia, Carlos
2013-01-01
This paper presents a project on the development of a cursor control emulating the typical operations of a computer-mouse, using gyroscope and eye-blinking electromyographic signals which are obtained through a commercial 16-electrode wireless headset, recently released by Emotiv. The cursor position is controlled using information from a gyroscope included in the headset. The clicks are generated through the user's blinking with an adequate detection procedure based on the spectral-like technique called Empirical Mode Decomposition (EMD). EMD is proposed as a simple and quick computational tool, yet effective, aimed to artifact reduction from head movements as well as a method to detect blinking signals for mouse control. Kalman filter is used as state estimator for mouse position control and jitter removal. The detection rate obtained in average was 94.9%. Experimental setup and some obtained results are presented. PMID:23948873
Rosas-Cholula, Gerardo; Ramirez-Cortes, Juan Manuel; Alarcon-Aquino, Vicente; Gomez-Gil, Pilar; Rangel-Magdaleno, Jose de Jesus; Reyes-Garcia, Carlos
2013-01-01
This paper presents a project on the development of a cursor control emulating the typical operations of a computer-mouse, using gyroscope and eye-blinking electromyographic signals which are obtained through a commercial 16-electrode wireless headset, recently released by Emotiv. The cursor position is controlled using information from a gyroscope included in the headset. The clicks are generated through the user's blinking with an adequate detection procedure based on the spectral-like technique called Empirical Mode Decomposition (EMD). EMD is proposed as a simple and quick computational tool, yet effective, aimed to artifact reduction from head movements as well as a method to detect blinking signals for mouse control. Kalman filter is used as state estimator for mouse position control and jitter removal. The detection rate obtained in average was 94.9%. Experimental setup and some obtained results are presented.
Lee, Munhwan; Lee, Keekeun
2017-06-01
A new type of surface acoustic wave (SAW) gyroscope was developed on a floating thin piezoelectric membrane to enhance sensitivity and reliability by removing a bulk noise effect and by importing a higher amplitude of SAW. The developed device constitutes a two-port SAW resonator with a metallic dot array between two interdigital transducers (IDTs), and a one-port SAW delay line. The bulk silicon was completely etched away, leaving only a thin piezoelectric membrane with a thickness of one wavelength. A voltage controlled oscillator (VCO) was connected to a SAW resonator to activate the SAW resonator, while the SAW delay line was connected to the oscilloscope to monitor any variations caused by the Coriolis force. When the device was rotated, a secondary wave was generated, changing the amplitude of the SAW delay line. The highest sensitivity was observed in a device with a full acoustic wavelength thickness of the membrane because most of the acoustic field is confined within an acoustic wavelength thickness from the top surface; moreover, the thin-membrane-based gyroscope eliminates the bulk noise effect flowing along the bulk substrate. The obtained sensitivity and linearity of the SAW gyroscope were ˜27.5 µV deg-1 s-1 and ˜4.3%, respectively. Superior directivity was observed. The device surface was vacuum-sealed using poly(dimethylsiloxane) (PDMS) bonding to eliminate environmental interference. A three-axis detectable gyroscope was also implemented by placing three gyrosensors with the same configuration at right angles to each other on a printed circuit board.
Kochmann, D. M.; Drugan, W. J.
2016-06-01
An elastic system containing a negative-stiffness element tuned to produce positive-infinite system stiffness, although statically unstable as is any such elastic system if unconstrained, is proved to be stabilized by rotation-produced gyroscopic forces at sufficiently high rotation rates. This is accomplished in possibly the simplest model of a composite structure (or solid) containing a negative-stiffness component that exhibits all these features, facilitating a conceptually and mathematically transparent, completely closed-form analysis.
Zhang, Hao; Chen, Jiayang; Jin, Junjie; Lin, Jian; Zhao, Long; Bi, Zhuanfang; Huang, Anping; Xiao, Zhisong
2016-01-01
An improving structure for resonance optical gyro inserting a Mach-Zehnder Interferomete (MZI) into coupler region between ring resonator and straight waveguide was proposed. The different reference phase shift parameters in the MZI arms are tunable by thermo-optic effect and can be optimized at every rotation angular rate point without additional phase bias. Four optimum paths are formed to make the gyroscope to work always at the highest sensitivity.
Yanwei Guan
2016-07-01
Full Text Available In this paper, a stiffness match method is proposed to reduce the vibration sensitivity of micromachined tuning fork gyroscopes. Taking advantage of the coordinate transformation method, a theoretical model is established to analyze the anti-phase vibration output caused by the stiffness mismatch due to the fabrication imperfections. The analytical solutions demonstrate that the stiffness mismatch is proportional to the output induced by the external linear vibration from the sense direction in the anti-phase mode frequency. In order to verify the proposed stiffness match method, a tuning fork gyroscope (TFG with the stiffness match electrodes is designed and implemented using the micromachining technology and the experimental study is carried out. The experimental tests illustrate that the vibration output can be reduced by 73.8% through the stiffness match method than the structure without the stiffness match. Therefore, the proposed stiffness match method is experimentally validated to be applicable to vibration sensitivity reduction in the Micro-Electro-Mechanical-Systems (MEMS tuning fork gyroscopes without sacrificing the scale factor.
Guan, Yanwei; Gao, Shiqiao; Liu, Haipeng; Jin, Lei; Zhang, Yaping
2016-07-22
In this paper, a stiffness match method is proposed to reduce the vibration sensitivity of micromachined tuning fork gyroscopes. Taking advantage of the coordinate transformation method, a theoretical model is established to analyze the anti-phase vibration output caused by the stiffness mismatch due to the fabrication imperfections. The analytical solutions demonstrate that the stiffness mismatch is proportional to the output induced by the external linear vibration from the sense direction in the anti-phase mode frequency. In order to verify the proposed stiffness match method, a tuning fork gyroscope (TFG) with the stiffness match electrodes is designed and implemented using the micromachining technology and the experimental study is carried out. The experimental tests illustrate that the vibration output can be reduced by 73.8% through the stiffness match method than the structure without the stiffness match. Therefore, the proposed stiffness match method is experimentally validated to be applicable to vibration sensitivity reduction in the Micro-Electro-Mechanical-Systems (MEMS) tuning fork gyroscopes without sacrificing the scale factor.
Guan, Yanwei; Gao, Shiqiao; Liu, Haipeng; Jin, Lei; Zhang, Yaping
2016-01-01
In this paper, a stiffness match method is proposed to reduce the vibration sensitivity of micromachined tuning fork gyroscopes. Taking advantage of the coordinate transformation method, a theoretical model is established to analyze the anti-phase vibration output caused by the stiffness mismatch due to the fabrication imperfections. The analytical solutions demonstrate that the stiffness mismatch is proportional to the output induced by the external linear vibration from the sense direction in the anti-phase mode frequency. In order to verify the proposed stiffness match method, a tuning fork gyroscope (TFG) with the stiffness match electrodes is designed and implemented using the micromachining technology and the experimental study is carried out. The experimental tests illustrate that the vibration output can be reduced by 73.8% through the stiffness match method than the structure without the stiffness match. Therefore, the proposed stiffness match method is experimentally validated to be applicable to vibration sensitivity reduction in the Micro-Electro-Mechanical-Systems (MEMS) tuning fork gyroscopes without sacrificing the scale factor. PMID:27455272
Maryam Abedi
2015-06-01
Full Text Available In this paper, a gyroscopic mounting method for crystal oscillators to reduce the impact of dynamic loads on their output stability has been proposed. In order to prove the efficiency of this mounting approach, each dynamic load-induced instability has been analyzed in detail. A statistical study has been performed on the elevation angle of the g-sensitivity vector of Stress Compensated-cut (SC-cut crystals. The analysis results show that the proposed gyroscopic mounting method gives good performance for host vehicle attitude changes. A phase noise improvement of 27 dB maximum and 5.7 dB on average can be achieved in the case of steady state loads, while under sinusoidal vibration conditions, the maximum and average phase noise improvement are as high as 24 dB and 7.5 dB respectively. With this gyroscopic mounting method, random vibration-induced phase noise instability is reduced 30 dB maximum and 8.7 dB on average. Good effects are apparent for crystal g-sensitivity vectors with low elevation angle φ and azimuthal angle β. under highly dynamic conditions, indicating the probability that crystal oscillator instability will be significantly reduced by using the proposed mounting approach.
Timothy Dimond
2012-01-01
Full Text Available Most industrial rotors supported in active magnetic bearings (AMBs are operated well below the first bending critical speed. Also, they are usually controlled using proportional, integral and derivative controllers, which are set up as modally uncoupled parallel and tilt rotor axes. Gyroscopic effects create mode splitting and a speed-dependent plant. Two AMBs with four axes of control must simultaneously control and stabilize the rotor/AMB system. Various analyses have been published considering this problem for different rotor/AMB configurations. There has not been a fully dimensionless analysis of these rigid rotor AMB systems. This paper will perform this analysis with a modal PD controller in terms of translation mode and tilt mode dimensionless eigenvalues and eigenvectors. The number of independent system parameters is significantly reduced. Dimensionless PD controller gains, the ratio of rotor polar to transverse moments of inertia and a dimensionless speed ratio are used to evaluate a fully general system stability rigid rotor analysis. An objective of this work is to quantify the effects of gyroscopics on rigid rotor AMB systems. These gyroscopic forces reduce the system stability margin. The paper is also intended to help provide a common framework for communication between rotating machinery designers and controls engineers
Straube, Timothy Milton
Micro Electro Mechanical Systems gyroscopes are an enabling technology for many rate sensing applications that require low cost, mass and volume, including the class of spacecraft known as nano- or pico-satellites. The weakness of these types of gyroscopes to date has been limited performance capabilities, especially over a varying temperature range. This thesis presents a methodology for correcting the gyroscope output signal for variations over temperature based on measurements of specific internal gyro parameters, namely, drive and sense axis resonant frequency, and off-axis electrostatic forcing function. The thesis presents the development of the full analytical equations of motion for a translating type MEMS gyro. The equations are simplified, numerically validated, and decomposed for gyro scale factor and bias expressions. Employing gyroscope parameters obtained from open literature sources as a function of temperature, a reference model of gyro scale factor and bias voltage as a function of temperature is developed. The research also includes the empirical testing of two types of gyro, and ten total individual devices, including eight ADXRS150 automotive grade gyroscopes from Analog Devices. Device outputs at temperatures from -35°C to +75°C and across a range of rotation rate were measured and processed to calculate individual gyro scale factor and bias. Data from all gyros were analyzed using a principal component methodology to extract the dominant structures in the gyro behavior. The final correction model is individualized for each gyro using ambient scale factor and bias data from that gyro. This model is used to compensate the individual raw gyro output taken during testing. Compositing the compensated output from all gyro provides a final rate estimate, which can be compared against the known testing inputs. The results demonstrate considerable improvement over manufacturer-provided scale factor and bias correction values. With the linkage between
Vibration suppression in a flexible gyroscopic system using modal coupling strategies
Siddiqui Sultan A. Q.
1996-01-01
Full Text Available Several recent studies have shown that vibrations in a two-degree-of-freedom system can be suppressed by using modal coupling based control techniques. This involves making the first two natural frequencies commensurable (e.g, in a ratio of 1:1 or 1:2 to establish a state of Internal Resonance (IR. When the system exhibits IR, vibrations in the two directions are strongly coupled resulting in a beat phenomenon. Upon introducing damping in one direction, oscillations in both directions can be quickly suppressed. In this paper we consider vibration suppression of a flexible two-degree-of-freedom gyroscopic system using 1:1 and 1:2 IR. The possibility of using 1:1 and 1:2 IR to enhance the coupling in the system is established analytically using the perturbation method of multiple scales. The results of IR based control strategy are compared with a new method, which is based on tuning the system parameters to make the mode shapes identical. Results indicate that this new technique is more efficient and easy to implement than IR based control strategies. Another advantage of this method is that there is no restriction on the frequencies as in the case of IR. Finally, a control torque is obtained which on application automatically tunes the system parameters to establish modal coupling.
Classifying Step and Spin Turns Using Wireless Gyroscopes and Implications for Fall Risk Assessments
Peter C. Fino
2015-05-01
Full Text Available Recent studies have reported a greater prevalence of spin turns, which are more unstable than step turns, in older adults compared to young adults in laboratory settings. Currently, turning strategies can only be identified through visual observation, either in-person or through video. This paper presents two unique methods and their combination to remotely monitor turning behavior using three uniaxial gyroscopes. Five young adults performed 90° turns at slow, normal, and fast walking speeds around a variety of obstacles while instrumented with three IMUs (attached on the trunk, left and right shank. Raw data from 360 trials were analyzed. Compared to visual classification, the two IMU methods’ sensitivity/specificity to detecting spin turns were 76.1%/76.7% and 76.1%/84.4%, respectively. When the two methods were combined, the IMU had an overall 86.8% sensitivity and 92.2% specificity, with 89.4%/100% sensitivity/specificity at slow speeds. This combined method can be implemented into wireless fall prevention systems and used to identify increased use of spin turns. This method allows for longitudinal monitoring of turning strategies and allows researchers to test for potential associations between the frequency of spin turns and clinically relevant outcomes (e.g., falls in non-laboratory settings.
Li, Tao; Yuan, Gannan; Li, Wang
2016-03-15
The derivation of a conventional error model for the miniature gyroscope-based measurement while drilling (MGWD) system is based on the assumption that the errors of attitude are small enough so that the direction cosine matrix (DCM) can be approximated or simplified by the errors of small-angle attitude. However, the simplification of the DCM would introduce errors to the navigation solutions of the MGWD system if the initial alignment cannot provide precise attitude, especially for the low-cost microelectromechanical system (MEMS) sensors operated in harsh multilateral horizontal downhole drilling environments. This paper proposes a novel nonlinear error model (NNEM) by the introduction of the error of DCM, and the NNEM can reduce the propagated errors under large-angle attitude error conditions. The zero velocity and zero position are the reference points and the innovations in the states estimation of particle filter (PF) and Kalman filter (KF). The experimental results illustrate that the performance of PF is better than KF and the PF with NNEM can effectively restrain the errors of system states, especially for the azimuth, velocity, and height in the quasi-stationary condition.
He Chun-Hua
2016-01-01
Full Text Available This paper has proposed a novel force rebalance control method for a MEMS gyroscope using ascending frequency drive and generalized PI control. Theoretical analyses of ascending frequency drive and force rebalance control methods are illustrated in detail. Experimental results demonstrate that the electrical anti-resonant peaks are located at the frequency responses in the RFD system, which seriously deteriorates the original response characteristics. However, they are eliminated in the AFD system, and the electrical coupling signal is also suppressed. Besides, as for the force rebalance control system, the phase margins approximate to 60deg, gain margins are larger than 13dB, and sensitivity margins are smaller than 3.2dB, which validates the control system is stable and robust. The bandwidth of the force rebalance control system is measured to be about 103.2Hz, which accords with the simulation result. The bias instability and angle random walk are evaluated to be 1.65deg/h and 0.06deg/√h, respectively, which achieves the tactical level.
El-Diasty, M.
2014-11-01
An accurate heading solution is required for many applications and it can be achieved by high grade (high cost) gyroscopes (gyros) which may not be suitable for such applications. Micro-Electro Mechanical Systems-based (MEMS) is an emerging technology, which has the potential of providing heading solution using a low cost MEMS-based gyro. However, MEMS-gyro-based heading solution drifts significantly over time. The heading solution can also be estimated using MEMS-based magnetometer by measuring the horizontal components of the Earth magnetic field. The MEMS-magnetometer-based heading solution does not drift over time, but are contaminated by high level of noise and may be disturbed by the presence of magnetic field sources such as metal objects. This paper proposed an accurate heading estimation procedure based on the integration of MEMS-based gyro and magnetometer measurements that correct gyro and magnetometer measurements where gyro angular rates of changes are estimated using magnetometer measurements and then integrated with the measured gyro angular rates of changes with a robust filter to estimate the heading. The proposed integration solution is implemented using two data sets; one was conducted in static mode without magnetic disturbances and the second was conducted in kinematic mode with magnetic disturbances. The results showed that the proposed integrated heading solution provides accurate, smoothed and undisturbed solution when compared with magnetometerbased and gyro-based heading solutions.
Tao Li
2016-03-01
Full Text Available The derivation of a conventional error model for the miniature gyroscope-based measurement while drilling (MGWD system is based on the assumption that the errors of attitude are small enough so that the direction cosine matrix (DCM can be approximated or simplified by the errors of small-angle attitude. However, the simplification of the DCM would introduce errors to the navigation solutions of the MGWD system if the initial alignment cannot provide precise attitude, especially for the low-cost microelectromechanical system (MEMS sensors operated in harsh multilateral horizontal downhole drilling environments. This paper proposes a novel nonlinear error model (NNEM by the introduction of the error of DCM, and the NNEM can reduce the propagated errors under large-angle attitude error conditions. The zero velocity and zero position are the reference points and the innovations in the states estimation of particle filter (PF and Kalman filter (KF. The experimental results illustrate that the performance of PF is better than KF and the PF with NNEM can effectively restrain the errors of system states, especially for the azimuth, velocity, and height in the quasi-stationary condition.
Controlling the nonlinear intracavity dynamics of large He-Ne laser gyroscopes
Cuccato, Davide; Belfi, Jacopo; Beverini, Nicolò; Ortolan, Antonello; Di Virgilio, Angela
2013-01-01
A model based on Lamb's theory of gas lasers is applied to a He-Ne ring laser gyroscope in order to estimate and remove the laser dynamics contribution from the rotation measurements. The intensities of the counter-propagating laser beams exiting one cavity mirror are continuously observed together with a monitor of the laser population inversion. These observables, once properly calibrated with a dedicated procedure, allow us to estimate cold cavity and active medium parameters driving the main part of the nonlinearities of the system. The parameters identification and noise subtraction procedure has been verified by means of a Monte Carlo study of the system, and experimentally tested on the G-Pisa ring laser oriented with the normal to the ring plane almost parallel to the Earth rotation axis. In this configuration the Earth rotation-rate provides the maximum Sagnac effect while the contribution of the orientation error is reduced at minimum. After the subtraction of laser dynamics by a Kalman filter, the ...
Decentralized adaptive sliding mode control of a space robot actuated by control moment gyroscopes
Jia Yinghong; Xu Shijie
2016-01-01
An adaptive sliding mode control (ASMC) law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom (DOF). A cluster of control moment gyroscopes (CMGs) is mounted on each link and the base to actuate the system. The modified Rodrigues parameters (MRPs) are employed to describe the angular displacements, and the equations of motion are derived using Kane’s equations. The controller for each link or the base is designed sep-arately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a ‘‘lumped” matched uncertainty with unknown upper bound, and a continuous sliding mode control (SMC) law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A gen-eral amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov’s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.
Two Novel Measurements for the Drive-Mode Resonant Frequency of a Micromachined Vibratory Gyroscope
Ancheng Wang
2013-11-01
Full Text Available To investigate the drive-mode resonance frequency of a micromachined vibratory gyroscope (MVG, one needs to measure it accurately and efficiently. The conventional approach to measure the resonant frequency is by performing a sweep frequency test and spectrum analysis. The method is time-consuming and inconvenient because of the requirements of many test points, a lot of data storage and off-line analyses. In this paper, we propose two novel measurement methods, the search method and track method, respectively. The former is based on the magnitude-frequency characteristics of the drive mode, utilizing a one-dimensional search technique. The latter is based on the phase-frequency characteristics, applying a feedback control loop. Their performances in precision, noise resistivity and efficiency are analyzed through detailed simulations. A test system is implemented based on a field programmable gate array (FPGA and experiments are carried out. By comparing with the common approach, feasibility and superiorities of the proposed methods are validated. In particular, significant efficiency improvements are achieved whereby the conventional frequency method consumes nearly 5,000 s to finish a measurement, while only 5 s is needed for the track method and 1 s for the search method.
Dermitzakis, Konstantinos; Arieta, Alejandro Hernandez; Pfeifer, Rolf
2011-01-01
One of the significant challenges in the upper-limb-prosthetics research field is to identify appropriate interfaces that utilize the full potential of current state-of-the-art neuroprostheses. As the new generation of such prostheses paces towards approximating the human physiological performance in terms of movement dexterity and sensory feedback, it is clear that current non-invasive interfaces are still severely limited. Surface electromyography, the interface ubiquitously used in the field, is riddled with several shortcomings. Gesture recognition, an interface pervasively used in wearables and mobile devices, shows a strong potential as a non-invasive upper-limb prosthetic interface. This study aims at showcasing its potential in the field by using gyroscope sensors. To this end, we (1) explore the viability of Dynamic Time Warping as a classification method for upper-limb prosthetics and (2) look for appropriate sensor locations on the body. Results indicate an optimal classification rate of 97.53%, σ = 8.74 using a sensor located proximal to the endpoint performing a gesture.
A low noise interface circuit design of micro-machined gyroscope
Fu, Qiang; Di, Xipeng; Yin, Liang; Liu, Xiaowei
2017-07-01
The analyses of MEMS gyroscope interface circuit on thermal noise, 1/f noise and phase noise are made in this paper. A closed-loop differential driving circuit and a low-noise differential detecting circuit based on the high frequency modulation are designed to limit the noise. The interface chip is implemented in a standard 0.5 μm CMOS process. The test results show that the resolution of sensitive capacity can reach to 6.47 × 10-20 F at the bandwidth of 60 Hz. The measuring range is ± 200°/s and the nonlinearity is 310 ppm. The output noise density is 5.8^\\circ/({{h}}\\cdot \\sqrt{{Hz}}). The angular random walk (allen-variance) is 0.092^\\circ/\\sqrt{{{h}}} and the bias instability is 2.63°/h. Project supported by the National Natural Science Foundation of China (No. 61204121), the National Hi-Tech Research and Development Program of China (No. 2013AA041107), and the Fundamental Research Funds for the Central Universities (No. HIT.NSRIF.2013040).
A novel artificial fish swarm algorithm for recalibration of fiber optic gyroscope error parameters.
Gao, Yanbin; Guan, Lianwu; Wang, Tingjun; Sun, Yunlong
2015-05-05
The artificial fish swarm algorithm (AFSA) is one of the state-of-the-art swarm intelligent techniques, which is widely utilized for optimization purposes. Fiber optic gyroscope (FOG) error parameters such as scale factors, biases and misalignment errors are relatively unstable, especially with the environmental disturbances and the aging of fiber coils. These uncalibrated error parameters are the main reasons that the precision of FOG-based strapdown inertial navigation system (SINS) degraded. This research is mainly on the application of a novel artificial fish swarm algorithm (NAFSA) on FOG error coefficients recalibration/identification. First, the NAFSA avoided the demerits (e.g., lack of using artificial fishes' pervious experiences, lack of existing balance between exploration and exploitation, and high computational cost) of the standard AFSA during the optimization process. To solve these weak points, functional behaviors and the overall procedures of AFSA have been improved with some parameters eliminated and several supplementary parameters added. Second, a hybrid FOG error coefficients recalibration algorithm has been proposed based on NAFSA and Monte Carlo simulation (MCS) approaches. This combination leads to maximum utilization of the involved approaches for FOG error coefficients recalibration. After that, the NAFSA is verified with simulation and experiments and its priorities are compared with that of the conventional calibration method and optimal AFSA. Results demonstrate high efficiency of the NAFSA on FOG error coefficients recalibration.
Boschmann, Alexander; Nofen, Barbara; Platzner, Marco
2013-01-01
Pattern recognition of myoelectric signals in upper-limb prosthesis control has been subject to intense research for several years. However, few systems have yet been successfully clinically implemented. One possible explanation for this discrepancy is that published reports mostly focus on classification accuracy of myoelectric signals recorded under laboratory conditions as the metric for the system's performance. These data are usually acquired only during the static state of the contraction in a fixed seated position. This supports the test subject in performing repeatable contractions throughout the experiment and generally results in an unrealistically high classification accuracy. In clinical testing however, subjects have to perform various activities of daily living, causing the limb to move in different positions. These variations in limb positions can significantly decrease robustness and usability of myoelectric control systems. Recent reports have shown that the so-called limb position effect can be resolved for the static state of the signal by adding accelerometer data to the feature vector. Including data from the transient state of the signals for classifier training generally significantly increases the classification error so it is mostly not considered in published reports. In this paper, we investigate the classification accuracy of transient EMG data, taking into account the limb position effect. We demonstrate that a classifier trained with features from EMG, accelerometer and gyroscope outperforms classifiers using only EMG or EMG and accelerometer data when classifying transient EMG data.
Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes
Jia, Yinghong; Misra, Arun K.
2017-08-01
It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.
Sung, S. H.; Park, J. W.; Nagayama, T.; Jung, H. J.
2014-01-01
This paper presents a multi-scale sensing and diagnosis system combining accelerometers and gyroscopes for bridge health monitoring. Since the damage metric estimated from acceleration measurement is insensitive to damage near the hinged support of a bridge, the damage diagnosis performance is limited near the support region. However, the performance can be improved by using two or more complementary data measured from multi-scale sensing. To more effectively diagnose the integrity of an overall bridge structure, angular velocity is complementary to acceleration, because of its high sensitivity to damage near the hinged support. This study proposes a multi-scale sensing and diagnosis system for bridge health monitoring based on a two-step approach. First, the damage diagnosis based on acceleration measurement is performed on the whole structure by using deflection estimated by modal flexibility. Next, the angular-velocity-based damage diagnosis is additionally carried out to localize missed damage by the acceleration-based approach near the hinged support. For validating the feasibility of the proposed system, a series of numerical and experimental studies on a simply supported beam model was performed. It was found that the multiple damages (one is near the center and another is near the support) can be successfully localized by the proposed multi-scale sensing and diagnosis system, while the damage near the support was missed by a conventional damage metric estimated from acceleration measurements.
The GINGERino ring laser gyroscope, seismological observations at one year from the first light
Simonelli, Andreino; Belfi, Jacopo; Beverini, Nicolò; Di Virgilio, Angela; Carelli, Giorgio; Maccioni, Enrico; De Luca, Gaetano; Saccorotti, Gilberto
2016-04-01
The GINGERino ring laser gyroscope (RLG) is a new large observatory-class RLG located in Gran Sasso underground laboratory (LNGS), one national laboratory of the INFN (Istituto Nazionale di Fisica Nucleare). The GINGERino apparatus funded by INFN in the context of a larger project of fundamental physics is intended as a pathfinder instrument to reach the high sensitivity needed to observe general relativity effects; more details are found at the URL (https://web2.infn.it/GINGER/index.php/it/). The sensitivity reached by our instrument in the first year after the set up permitted us to acquire important seismological data of ground rotations during the transit of seismic waves generated by seisms at different epicentral distances. RLGs are in fact the best sensors for capturing the rotational motions associated with the transit of seismic waves, thanks to the optical measurement principle, these instruments are in fact insensitive to translations. Ground translations are recorded by two seismometers: a Nanometrics Trillium 240 s and Guralp CMG 3T 360 s, the first instrument is part of the national earthquake monitoring program of the Istituto Nazionale di Geofisica e Vulcanologia (INGV) and provides the ground translation data to be compared to the RLG rotational data. We report the waveforms and the seismological analysis of some seismic events recorded during our first year of activity inside the LNGS laboratory.