JP4331211B2 - 振動構造ジャイロスコープにおけるバイアス誤差を低減する方法 - Google Patents
振動構造ジャイロスコープにおけるバイアス誤差を低減する方法 Download PDFInfo
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- JP4331211B2 JP4331211B2 JP2006551935A JP2006551935A JP4331211B2 JP 4331211 B2 JP4331211 B2 JP 4331211B2 JP 2006551935 A JP2006551935 A JP 2006551935A JP 2006551935 A JP2006551935 A JP 2006551935A JP 4331211 B2 JP4331211 B2 JP 4331211B2
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012937 correction Methods 0.000 claims abstract description 25
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5677—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially two-dimensional vibrators, e.g. ring-shaped vibrators
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- Physics & Mathematics (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Measuring Fluid Pressure (AREA)
Description
Claims (9)
- 振動構造体と、前記振動構造体をキャリアモード共振の状態にする1次駆動手段と、キャリアモード運動を検知する1次ピックオフ手段と、印加される回転速度に応じて前記振動構造体の応答モード振動を検知する2次ピックオフ手段と、前記応答モード運動を制御する力を印加する2次駆動手段と、前記1次ピックオフ手段において運動の固定振幅を維持し、かつ共振極大において前記駆動周波数を維持する閉ループ1次制御ループと、前記2次ピックオフ手段においてゼロを維持する2次制御ループと、
を有する、振動構造ジャイロスコープにおけるバイアス誤差を低減する方法であって、
この方法においては、SFQUADをSFIN−PHASEで除算した比を、前記2次制御ループから測定して、下記の関係式にもとづいて、Sin(φSD+φPPO)の直接測定値を得て、
全***相誤差φEを、下記の関係式
- シリコン振動構造体を有するジャイロスコープにおいて用いられる、請求項1に記載の方法。
- ほぼ平面の、実質的にリング状の振動構造体を有するジャイロスコープにおいて用いられる、請求項2に記載の方法。
- 可変コンデンサを備えるアナログの1次及び2次制御ループを有するジャイロスコープにおいて使用される場合、前記2次駆動手段に関連する前記2次制御ループにおける前記可変コンデンサの値、及び/又は前記1次ピックオフ手段に関連する前記1次制御ループにおける前記可変コンデンサの値を変更することによって、前記位相補正を適用し、φSD及び/又はφPPOを調整して、φEの値を最小にする、請求項1から3のいずれか1項に記載の方法。
- デジタルの1次及び2次制御ループを有するジャイロスコープにおいて使用される場合、φEに等しい前記位相補正を、前記2次制御ループを介して前記2次駆動手段に適用し、これにより、前記振動構造制御システムにおける前記位相誤差の前記総合効果と大きさが等しく向きが反対の量により、同相及び直交駆動チャネルを交差結合するようにする、請求項1から3のいずれか1項に記載の方法。
- デジタルの1次及び2次制御ループを有するジャイロスコープにおいて使用される場合、φEに等しい前記位相補正を、前記1次制御ループによって前記1次ピックオフ手段に適用し、これにより、前記振動構造制御システムにおける前記位相誤差の前記総合効果と大きさが等しく向きが反対の量により、同相及び直交駆動チャネルを交差結合するようにする、請求項1から3のいずれか1項に記載の方法。
- 前記ジャイロスコープの動作温度にもとづいてφCORRを調整し、φEを最小値に維持する、請求項6に記載の方法。
- 振動構造体と、前記振動構造体をキャリアモード共振の状態にする1次駆動手段と、キャリアモード運動を検知する1次ピックオフ手段と、印加される回転速度に応じて前記振動構造体の応答モード振動を検知する2次ピックオフ手段と、前記応答モード運動を制御する力を印加する2次駆動手段と、前記1次ピックオフ手段において運動の固定振幅を維持し、かつ共振極大において前記駆動周波数を維持する閉ループ1次制御ループと、前記2次ピックオフ手段においてゼロを維持する2次制御ループと、
を有する、振動構造ジャイロスコープであって、
SFQUADをSFIN−PHASEで除算した比を、前記2次制御ループから測定して、下記の関係式にもとづいて、Sin(φSD+φPPO)の直接測定値を得て、
全***相誤差φEを、下記の関係式
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0402408A GB0402408D0 (en) | 2004-02-04 | 2004-02-04 | Method for reducing bias error in a vibrating structure gyroscope |
EP04250595 | 2004-02-04 | ||
PCT/GB2005/050010 WO2005075939A1 (en) | 2004-02-04 | 2005-02-01 | Method for reducing bias error in a vibrating structure gyroscope |
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JP2007520716A JP2007520716A (ja) | 2007-07-26 |
JP4331211B2 true JP4331211B2 (ja) | 2009-09-16 |
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JP2006551935A Active JP4331211B2 (ja) | 2004-02-04 | 2005-02-01 | 振動構造ジャイロスコープにおけるバイアス誤差を低減する方法 |
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US (1) | US7240533B2 (ja) |
EP (1) | EP1711778B1 (ja) |
JP (1) | JP4331211B2 (ja) |
KR (1) | KR101131098B1 (ja) |
AT (1) | ATE452326T1 (ja) |
DE (1) | DE602005018322D1 (ja) |
WO (1) | WO2005075939A1 (ja) |
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- 2005-02-01 DE DE602005018322T patent/DE602005018322D1/de active Active
- 2005-02-01 WO PCT/GB2005/050010 patent/WO2005075939A1/en not_active Application Discontinuation
- 2005-02-01 EP EP05702155A patent/EP1711778B1/en active Active
- 2005-02-01 JP JP2006551935A patent/JP4331211B2/ja active Active
- 2005-02-01 US US10/527,454 patent/US7240533B2/en active Active
- 2005-02-01 AT AT05702155T patent/ATE452326T1/de not_active IP Right Cessation
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Publication number | Publication date |
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JP2007520716A (ja) | 2007-07-26 |
DE602005018322D1 (de) | 2010-01-28 |
WO2005075939A1 (en) | 2005-08-18 |
US20060260382A1 (en) | 2006-11-23 |
US7240533B2 (en) | 2007-07-10 |
EP1711778B1 (en) | 2009-12-16 |
EP1711778A1 (en) | 2006-10-18 |
KR101131098B1 (ko) | 2012-04-02 |
KR20060132686A (ko) | 2006-12-21 |
ATE452326T1 (de) | 2010-01-15 |
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