scholarly journals Frequency Split Elimination Method for a Solid-State Vibratory Angular Rate Gyro with an Imperfect Axisymmetric-Shell Resonator

Sensors ◽  
2015 ◽  
Vol 15 (2) ◽  
pp. 3204-3223 ◽  
Author(s):  
Zhen Lin ◽  
Mengyin Fu ◽  
Zhihong Deng ◽  
Ning Liu ◽  
Hong Liu
Keyword(s):  
Solid State ◽  
Angular Rate ◽  
Elimination Method ◽  
Axisymmetric Shell ◽  
Rate Gyro ◽  
Frequency Split

scholarly journals System Identification of a MEMS Gyroscope

1999 ◽  
Vol 123 (2) ◽  
pp. 201-210 ◽  
Author(s):  
Robert T. M’Closkey ◽  
Steve Gibson ◽  
Jason Hui
Keyword(s):  
System Identification ◽  
Angular Rate ◽  
Experimental System ◽  
Primary Objective ◽  
Input Output ◽  
Output Data ◽  
Mems Gyroscope ◽  
Principal Axes ◽  
Frequency Split ◽  
Insight Into

This paper reports the experimental system identification of the Jet Propulsion Laboratory MEMS vibratory rate gyroscope. A primary objective is to estimate the orientation of the stiffness matrix principal axes for important sensor dynamic modes with respect to the electrode pick-offs in the sensor. An adaptive lattice filter is initially used to identify a high-order two-input/two-output transfer function describing the input/output dynamics of the sensor. A three-mode model is then developed from the identified input/output model to determine the axes’ orientation. The identified model, which is extracted from only two seconds of input/output data, also yields the frequency split between the sensor’s modes that are exploited in detecting the rotation rate. The principal axes’ orientation and frequency split give direct insight into the source of quadrature measurement error that corrupts detection of the sensor’s angular rate.

scholarly journals Frequency Split Analysis of a Ring Vibratory Gyroscope Based on Harmonic Transformation of Parametric Errors

2020 ◽  
Author(s):  
Xiang Xi ◽  
Yongmeng Zhang ◽  
Jiangkun Sun ◽  
Xuezhong Wu
Keyword(s):  
Ring Resonator ◽  
Angular Rate ◽  
Ring Resonators ◽  
Harmonic Waves ◽  
Navigation Systems ◽  
Fem Modeling ◽  
Roundness Error ◽  
Vibratory Gyroscopes ◽  
Vibratory Gyroscope ◽  
Frequency Split

Abstract Ring vibratory gyroscopes are important angular rate sensors widely used in inertial navigation systems. A highly symmetrical resonator is the core part of the ring vibratory gyroscope. Frequency split is a key parameter which denotes the level of unbalanced mass and stiffness of the resonator. Many research works focus on the precise machining of the resonator for the sake of eliminating frequency split. However, for metallic ring resonators, the decrease of frequency split is not always proportional to the promotion of geometric accuracy. This paper investigates the frequency split of the ring resonator gyroscope caused by parametric errors including geometric and material imperfection via a method of harmonic transformation. The roundness error of the ring resonator is extracted, and then decomposed to a series of orders of harmonic waves. Transformation results show that for the tested resonator, its first 20 orders of harmonic waves contain the main components of the roundness error. Then a precise FEM modeling is built for frequency split analysis. The simulation result shows that the roundness error of the resonator can cause a frequency split of 0.6 Hz, which accounts for 16.2 % of the total frequency split. Based on the metallographic observation and grouping experiment of different metallic resonators, it is deduced that the main frequency split is caused by material heterogeneity. It shows that the material homogenization is as important as precise machining for the resonator of small frequency split. The proposed research provides an instruction to manufacture high quality metallic resonators.

scholarly journals Trimming of Imperfect Cylindrical Fused Silica Resonators by Chemical Etching

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3596 ◽  
Author(s):  
Yunfeng Tao ◽  
Yao Pan ◽  
Shilong Jin ◽  
Yonglei Jia ◽  
Kaiyong Yang ◽  
...  
Keyword(s):  
Experimental Data ◽  
Solid State ◽  
Theoretical Calculation ◽  
Material Properties ◽  
Chemical Etching ◽  
Fused Silica ◽  
Cylindrical Resonator ◽  
Frequency Split ◽  
Frequency Trimming ◽  
Stiffness Distribution

The cylindrical resonator gyroscope (CRG) is a kind of solid-state gyroscope with a wide application market. The cylindrical resonator is the key component of CRG, whose quality factor and symmetry will directly affect the performance of the gyroscope. Due to the material properties and fabrication limitations, the actual resonator always has some defects. Therefore, frequency trimming, i.e., altering the local mass or stiffness distribution by certain methods, is needed to improve the overall symmetry of the resonator. In this paper, we made further derivation based on the chemical trimming theory proposed by Basarab et al. We built up the relation between the frequency split and the balanced mass to determine the mass to be removed. Chemical trimming experiments were conducted on three cylindrical fused silica resonators. The frequency splits of the three resonators were around 0.05 Hz after chemical trimming. The relation between frequency split and balanced mass established from experimental data was consistent with the theoretical calculation. Therefore, frequency split can be reduced to lower than 0.05 Hz under rigorous theoretical calculation and optimized chemical trimming parameters.

Design and Realization of New Vehicle Attitude Measurement System

2013 ◽  
Vol 684 ◽  
pp. 420-423 ◽  
Author(s):  
Shao Bo Fu ◽  
Ling Zhao ◽  
Yan Yu
Keyword(s):  
Measurement System ◽  
Output Signal ◽  
Angular Rate ◽  
Attitude Measurement ◽  
Differential Measurement ◽  
Acceleration Signal ◽  
Gyro Sensor ◽  
Vehicle Operation ◽  
Rate Gyro ◽  
Practical Measurement

This paper mainly studied a new acquisition system of the vehicle operation attitude. To obtain the best estimated value of the attitude angle, this system ran through the acquisition and processing of the output signal from the new MEMS gyro sensor ADIS16355, and integrated the acceleration signal and the angular rate gyro signal by using the differential measurement. Finally verified by the experiment, this is a practical measurement system, which can meet the accuracy requirements of the vehicle driving attitude measurement.

Design and Fabrication of a Novel Biaxial Piezoelectric Micro-Gyroscope

2013 ◽  
Vol 562-565 ◽  
pp. 421-425
Author(s):  
Ran Guan ◽  
Wei Ping Zhang ◽  
Gong Zhang ◽  
Yu Xiang Cheng ◽  
Wen Yuan Chen ◽  
...  
Keyword(s):  
Harmonic Analysis ◽  
Optimization Design ◽  
Low Cost ◽  
Angular Rate ◽  
Optimized Design ◽  
The Novel ◽  
Drive Mode ◽  
Batch Fabrication ◽  
Mems Technology ◽  
Frequency Split

Despite the popularity of piezoelectric vibratory micro-gyroscope in the past decades for their small size, low cost, batch fabrication and energy efficient, most of them can only detect single axis angular rate. In this paper, a novel biaxial piezoelectric micro-gyroscope fabricated with PZT wafer is proposed. To acquire two-axial angular rate sensing, a bouncing mode of the vibrator is utilized as the drive mode and two rocking modes are used as the sense modes. PZT is used as the vibration body instead of transducer, which enhances the drive and sense efficiency of the sensor. In this paper, the structure and working principle of the novel biaxial piezoelectric micro-gyroscope are introduced firstly. In addition, modal analysis has been made to research the voltage distribution of the piezoelectric vibrator and the drive and sense electrodes of the gyroscope are designed. By the optimization design of the proof mass, the frequency split between the drive mode (bouncing mode) and sense modes (rocking modes) is reduced and the sensitivity of the gyroscope is improved. Harmonic analysis has been made to research the Coriolis Effect of the gyroscope. The data get from the harmonic analysis is demodulated by Matlab and the sensitivity is given. The simulation results verify the principle of the novel biaxial piezoelectric micro-gyroscope. With the optimized design, the sensor is fabricated with MEMS technology at last.

Development of an Integrated Low-Cost GPS/Rate Gyro System for Attitude Determination

2004 ◽  
Vol 57 (1) ◽  
pp. 85-101 ◽  
Author(s):  
Chaochao Wang ◽  
Gérard Lachapelle ◽  
M. Elizabeth Cannon
Keyword(s):  
Carrier Phase ◽  
Measurement Errors ◽  
Attitude Determination ◽  
Low Cost ◽  
Angular Rate ◽  
Integrated System ◽  
Cycle Slip ◽  
Gps Receivers ◽  
Phase Measurements ◽  
Rate Gyro

The use of low-cost GPS receivers and antennas for attitude determination can significantly reduce the overall hardware system cost. Compared to the use of high performance GPS receivers, the carrier phase measurements from low-cost equipment are subject to additional carrier phase measurement errors, such as multipath, antenna phase centre variation and noise. These error sources, together with more frequent cycle slip occurrences, severely deteriorate attitude determination availability, reliability and accuracy performance. This paper presents the investigation of a low-cost GPS/gyro integration system for attitude determination. By employing the dead reckoning sensor type, the ambiguity search region can be specifically defined as a small cube to enhance the ambiguity resolution process. A Kalman filter is implemented to fuse the rate gyro data with GPS carrier phase measurements. The quality control system based on innovation sequences is used to identify cycle slip occurrences and incorrect inter-antenna vector solutions. The availability of the integrated system also improves with respect to the GPS standalone system since the attitude parameters can be estimated using the angular rate measurements from rate gyros during GPS outages. The low-cost hardware used to design and test the integrated system consists of CMC Allstar receivers with the OEM AT575-70 antennas and Murata ENV-05D-52 piezoelectric vibrating rate gyroscopes. Tests in the urban area demonstrated that the introduction of rate gyros in a GPS-based attitude determination system not only effectively decreased the noise level in the estimated attitude parameters but coasted the attitude output during GPS outages and also significantly improved the system reliability.

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