Article Dans Une Revue IEEE Sensors Journal Année : 2016

Countering the Effects of Nonlinearity in Rate-Integrating Gyroscopes

Résumé

This paper addresses the impact of cubic nonlinearity on the operation of a rate-integrating gyroscope (RIG). It is demonstrated that below the bifurcation threshold, cubic nonlinearity results in angle-dependent frequency split between the two resonant modes of the gyroscope, which impacts angle-dependent bias, quadrature error, and controller efficacy in addition to distorting the scale factor due to off-resonant excitation. These errors are experimentally demonstrated using a high-Q disk resonator gyroscope, which are shown to be in close agreement with theory. A method of compensating for angle-dependent frequency error is proposed and experimentally validated. It is demonstrated that mode mismatch can be experimentally reduced to the level of thermal noise, effectively cancelling the effects of nonlinearity and eliminating the distortion of readout angle.

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Dates et versions

hal-05040682 , version 1 (19-04-2025)

Identifiants

Citer

Sarah Nitzan, Parsa Taheri-Tehrani, Martial Defoort, Soner Sonmezoglu, David Horsley. Countering the Effects of Nonlinearity in Rate-Integrating Gyroscopes. IEEE Sensors Journal, 2016, 16 (10), pp.3556-3563. ⟨10.1109/JSEN.2016.2533480⟩. ⟨hal-05040682⟩
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