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High-Bandwidth Coriolis Vibration Gyroscope (CVG) with In-Situ Bias Self-Calibration

Active Publication Date: 2021-06-01
THE BOEING CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In particular, these calibration techniques may not take into account the effects of temperature in the environment in which the gyroscope is being operated and / or inconsistencies that may develop over time from the time the gyroscope is manufactured
Further, some currently available systems for compensating for such deviations may not reduce the deviation of these vibration measurements to within selected tolerances

Method used

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  • High-Bandwidth Coriolis Vibration Gyroscope (CVG) with In-Situ Bias Self-Calibration
  • High-Bandwidth Coriolis Vibration Gyroscope (CVG) with In-Situ Bias Self-Calibration
  • High-Bandwidth Coriolis Vibration Gyroscope (CVG) with In-Situ Bias Self-Calibration

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Embodiment Construction

[0033] Reference will now be made in detail to the exemplary embodiments of the present teachings which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0034] One of the key tasks to improve the performance of CVGs is mechanical and electronic fine-tuning of CVG structures. Material inhomogeneities, mass property imbalances, structural shape errors, and actuation / sensing device placement errors can all contribute to stiffness asymmetry and major axis misalignment. Material damping and residual air caused by damping asymmetry can contribute to CVG damping asymmetry and major axis misalignment. Thermal conditions and hysteresis can produce those inaccurate time-varying errors and making factory calibration merely satisfactory is difficult. In this patent, we will exploit some inherent properties of CVG's mode switching to achieve self-calibration. In particul...

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Abstract

The present application discloses a method for determining a bias-compensated inertial rotational velocity of a Coriolis vibratory gyroscope, or CVG. The method comprises: determining the initial mode in which the CVG is operating; obtaining an average uncompensated inertial rotational velocity measurement from a previous mode switch cycle; obtaining an average uncompensated offset measurement from a previous mode switch cycle; determining a given a first transition between the axis' AGC mode and the FTR mode; calculating a first bias estimate for the CVG based on the determined first transition and average uncompensated deviation measurements from previous mode transition cycles; and based on the calculated first bias A first offset compensated inertial rotation speed of the CVG is calculated by the processor and averaged uncompensated inertial rotation speed measurements from previous mode switch cycles.

Description

technical field [0001] The present disclosure relates generally to Coriolis vibratory gyroscopes, and in particular to methods and apparatus for electronically compensating for deviations of Coriolis vibratory gyroscopes. Background technique [0002] Gyroscopes are used to measure and / or maintain orientation. As used herein, a "gyroscope" is a sensor configured to detect and measure angular motion of an object relative to an inertial frame of reference. Further, as used herein, an "inertial reference frame" may be a non-accelerated coordinate system or set of axes. In other words, an inertial frame of reference is a frame of reference within which Newton's first law of motion is true. Newton's first law of motion states that the velocity of an object remains constant unless an external force acts on the object. [0003] A Coriolis vibrating gyroscope ("CVG") is configured to be driven to vibrate along a first axis. When a Coriolis vibrating gyroscope rotates about a fix...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C19/5649G01C25/00
CPCG01C19/5649G01C25/005G01C19/5776G01C19/5705G01C19/5726G01C19/5719
Inventor J·Y·刘
Owner THE BOEING CO