Self-calibration of scale factor for dual resonator class II coriolis vibratory gyros
AssigneeNorthrop Grumman Guidance and Electronics Company, Inc.
InventorRobert E. Stewart
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Abstract
The method and apparatus in one embodiment may have: operating one of two resonators of a class II coriolis vibratory gyro in a closed loop mode and another of the two resonators in an open loop whole angle mode; sensing an angular rate by each of the two resonators; calibrating the scale factor of the closed loop resonator to yield the same integrated whole angle as measured by the open loop resonator; reversing operation of the two resonators such that the one of two resonators is operated in an open loop mode and the another of the two resonators in a closed loop whole angle mode; and alternately proceeding between open and closed loop operation of the two resonators, thereby self-calibrating scale factors respectively of the two resonators.
Claims13
A method, comprising:
- operating one of two resonators of a class II Coriolis vibratory gyro in a closed loop mode and another of the two resonators in an open loop whole angle mode;
- sensing an angular rate by each of the two resonators;
- calibrating the scale factor of the closed loop resonator to yield the same integrated whole angle as measured by the open loop resonator;
- reversing operation of the two resonators such that the one of two resonators is operated in an open loop mode and the another of the two resonators in a closed loop whole angle mode;
- and
- alternately proceeding between open and closed loop operation of the two resonators, thereby self-calibrating scale factors respectively of the two resonators.
A method, comprising the steps of:
- operating a first resonator gyroscope in a closed loop mode during a first lime period;
- operating a second resonator gyroscope in an open loop whole angle mode during the first time period, wherein the first and second resonator gyroscopes are configured to experience a same angular rate;
- obtaining a first angular rate measurement from the first resonator gyroscope during the first time period;
- obtaining a second angular rate measurement from the second resonator gyroscope during the first time period;
- and
- calibrating a scale factor of the first resonator gyroscope to yield a same integrated whole angle from the second resonator gyroscope based on the first and second angular rate measurements during the first lime period.
Dependencies are inferred from the claim text.