HIGH BANDWIDTH CORIOLIS VIBRATORY GYROSCOPE (CVG) WITH IN-SITU BIAS SELF CALIBRATION

摘要

Provided herein is a method for determining a bias-compensated inertial rotation rate of a Coriolis vibratory gyroscope ("CVG"). The method comprises determining an initial mode that the CVG is operating; obtaining average uncompensated inertial rotation rate measurements from a previous mode transition period; obtaining average uncompensated bias measurements from the previous mode transition period; determining a first transition between a AGC mode and a FTR mode of a given axis; calculating a first estimate of bias of the CVG based on the first transition that was determined and the average uncompensated bias measurements from the previous mode transition period; and calculating, by a processor, a first bias-compensated inertial rotation rate of the CVG based on the first bias that was calculated and the average uncompensated inertial rotation rate measurements from a previous mode transition period.