Apparatus and method for self-calibration of coriolis vibratory gyroscope

A method, comprising the steps of:

• signaling, during a first time period, a first radial electrode group to induce a drive oscillation in a planar resonator;
• signaling, during the first time period, a third radial electrode group to sense the drive oscillation;
• signaling, during the first time period, a second radial electrode group to sense a Coriolis force induced oscillation;
• signaling, during the first time period, a fourth radial electrode group to null the Coriolis force induced oscillation;
• signaling, during a second time period after the first time period, the second radial electrode group to induce the drive oscillation in the planar resonator;
• signaling, during the second time period, the fourth radial electrode group to sense the drive oscillation;
• signaling, during the second time period, the first radial electrode group to sense the Coriolis force induced oscillation;
• and
• signaling, during the second time period, the third radial electrode group to null the Coriolis force induced oscillation;
• wherein the first, second, third, and fourth radial electrode groups are arranged along first, second, third, and fourth axes at approximately 0, 45, 90, and 135 degrees, respectively, around the planar resonator.

A method, comprising the steps of:

• signaling a plurality of electrodes of a gyroscope during a first time period to:
• induce and sense drive oscillations along a first set of orthogonal axes of a planar resonator of the gyroscope, and to
• sense and null a Coriolis force induced oscillation along a second set of orthogonal axes of the planar resonator,
• wherein the first set of orthogonal axes are offset 45 degrees from the second set of orthogonal axes;
• signaling the plurality of electrodes of the gyroscope during a second time period to:
• induce and sense drive oscillations along the second set of orthogonal axes, and to sense and null the Coriolis force induced oscillation along the second set of orthogonal axes.