US 12,228,403 B2
Method for measuring a rotational angular velocity and/or an angular position
José Louis Beitia, Lyons (FR); and Fabricio Saggin, Villeurbanne (FR)
Assigned to JXSENS, Ecully (FR)
Filed by JXSENS, Ecully (FR)
Filed on Sep. 22, 2023, as Appl. No. 18/371,576.
Claims priority of application No. 2209684 (FR), filed on Sep. 23, 2022.
Prior Publication US 2024/0102803 A1, Mar. 28, 2024
Int. Cl. G01C 19/06 (2006.01); G01P 3/46 (2006.01)
CPC G01C 19/065 (2013.01) [G01P 3/46 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for measuring an angular velocity of a rotation and/or an angular position, about a sensitive axis of an axisymmetric vibratory gyroscope sensor (1), comprising the implementation, by means (11) for processing data from the axisymmetric vibratory gyroscope sensor (1), of steps of:
(a) receiving, from an electromechanical coupling instrument (31) of a resonator (3) of the axisymmetric vibratory gyroscope sensor (1), a first detection signal regarding a vibration of said resonator (3) according to a primary resonance mode, and a second detection signal regarding a vibration of said resonator (3) according to a secondary resonance mode; each of the first and the second detection signal comprising an in-phase component and a phase-quadrature component; said resonator (3) being vibrated via said electromechanical coupling instrument (31) according to a first signal for exciting the primary resonance mode and a second signal for exciting the secondary resonance mode;
(b) implementing at least four control loops, including:
a first loop for controlling the vibration amplitude of the resonator (3) about the primary resonance mode axis, using a first regulator (R1);
a second phase-locked loop generating in-phase and phase-quadrature reference harmonic signals of the primary mode and/or secondary mode, for separating said in-phase and phase-quadrature components of the detection signals, using a second regulator (R2);
a third loop for compensating for the Coriolis forces which are due to said rotation of the resonator (3) and which excite a resonance mode perpendicular to the vibration, using a third regulator (R3);
a fourth loop for controlling the quadrature of said resonance mode perpendicular to the resonator vibration, using a fourth regulator (R4);
(c) estimating said angular velocity and/or said angular position, as a function of the regulator outputs;
characterized in that the vibration is constrained by the first and second excitation signals to have an azimuthal angle θ in the orthogonal modal base of the primary and secondary modes, the first regulator (R1) is configured to minimize the difference between the in-phase component of the first detection signal and the product of a first coefficient C1 that is a function of the azimuthal angle θ and a setpoint vibration amplitude of the resonator (3), and the third regulator (R3) is configured to minimize the difference between the in-phase component of the second detection signal and the product of a second coefficient C2 that is function of the azimuthal angle θ and said setpoint vibration amplitude of the resonator (3), the first loop being also a Coriolis force compensation loop and the third loop being also a loop for controlling the vibration amplitude of the resonator (3) about the secondary resonance mode axis.