US 12,359,917 B2
Precision gyroscope mode-matching insensitive to rate input
Bernhard E. Boser, Berkeley, CA (US); and Burak Eminoglu, Berkeley, CA (US)
Assigned to THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, Oakland, CA (US)
Filed by THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, Oakland, CA (US)
Filed on Apr. 5, 2023, as Appl. No. 18/130,999.
Application 18/130,999 is a continuation of application No. PCT/US2021/055244, filed on Oct. 15, 2021.
Claims priority of provisional application 63/093,190, filed on Oct. 17, 2020.
Prior Publication US 2023/0304799 A1, Sep. 28, 2023
Int. Cl. G01C 19/5621 (2012.01); G01C 19/5776 (2012.01); G01C 25/00 (2006.01)
CPC G01C 19/5776 (2013.01) [G01C 19/5621 (2013.01); G01C 25/005 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A force-feedback gyroscope apparatus, comprising:
a first resonator as a drive resonator having an x-mode excited at its resonant frequency;
a second resonator as a sense resonator having a y-mode which is driven by receiving a Coriolis force signal from the output of said first resonator;
wherein said second resonator has a feedback signal which combines the y-mode output signal with a calibration signal that is synchronous with the excitation in the x-mode, and modulated at one or more calibration frequencies within the bandwidth of the angular rate input;
wherein the calibration signal, Ycal(t), is the sum of two periodic signals with calibration frequencies ωcal1 and ωcal2 and carriers which are modulated in-phase and quadrature with the x-mode displacement;
wherein said calibration signal Ycal(t) is generated in response to the relation:
Ŷcal1·cos (ωxt+Θerr) sin (ωcal1t)+Ŷcal2·sin (ωxt+Θerr) sin (ωcal2t); and
wherein Ŷcal1 is a first calibration input, ωx is the tone frequency of the x-mode of said first resonator, t is time, ωcal1 is a first calibration tone frequency and ωcal2 is the second calibration tone, and Θerr represents an arbitrary but constant phase shift and accounts for processing delay.