Bias compensation in differential coriolis vibratory gyro

Abstract

This work presets one of the ways to compensate for the bias in differential mode of Coriolis vibratory gyro operation. To compensate for the bias it is necessary to know both channels scale factors, SF x and SF y of differential Coriolis vibratory gyro, which, as a rule, are known by the results of calibration procedure and elastic wave angle  relative to one of the two drive axes which can be established in advance. This paper presents the different variants of bias compensation algorithms which can be applied to compensate for initial gyro bias and bias drift in motion. Experimental results on differential Coriolis vibratory gyro key parameters temperature influence are also presented.

External Disturbances Rejection by Differential Single-Mass Vibratory Gyroscope

“…In this case CVG output signals in voltages, zx and zy, in the differential mode of operation, under nulling quadrature signal, can be written as follows [20]…”

“…Comparatively recent investigations [17] [18] [19] [20], resulted in the third, differential, mode of CVG operation which complements first two modes possessing additional capabilities for suppression of external disturbances. The differential mode of operation can also be implemented in well-known tuning fork design of MEMS or non-MEMS CVGs, because they have two anti-phase vibrating resonators and they can reject disturbances, for example shocks [3] [14] by subtracting signals coming from two resonators, or can survive after very high shocks [13].…”