| 主权项 |
1. A method for compensating measurements of a gyroscope, the method comprising:
operating the gyroscope at a plurality of drive angles to generate measurements of a force rebalance signal, wherein the measurements include a bias; using a computer system to perform the steps of:
identifying a set of equations for the bias of the gyroscope using a model for motion of the gyroscope in which the set of equations includes a set of parameters for the bias of the gyroscope;estimating, a set of values for the set of parameters using the measurements, the set of equations, and an iterative algorithm; andselecting a drive angle in the plurality of drive angles that reduces an in-quadrature bias of the gyroscope to substantially zero using the set of equations; operating the gyroscope at the selected drive angle; forming, using the computer system, an estimated bias using the set of equations and the measurements for the selected drive angle; and subtracting, using the computer system, the estimated bias from the measurements to substantially compensate for the bias of the gyroscope. |
