METHOD OF CALIBRATING BIAS DRIFT WITH TEMPERATURE FOR A VIBRATING STRUCTURE GYROSCOPE

摘要

A method of calibrating bias drift with operating temperature for a gyroscope having a planar, ring shaped vibrating structure (1), primary drive means (7) for driving the structure, and secondary drive means (9) for nulling response mode motion, is described. The detected response mode motion signal is separated into a real component induced by applied rotation and a quadrature component which is an error term. The method includes measuring, over an operating temperature range, primary drive means voltage P which, corresponds to a temperature change in quality factor LQ, vibrating frequency f which corresponds to a temperature change, secondary drive quadrature component values Sq which corresponds to real component temperature bias errors, and secondary drive real component values Sr which corresponds to a bias change, i.e. the zero inertial rate offset, substituting the values obtained in the relationship formula (I) and calculating therefrom a set of bias calibration coefficients a_k