Self-calibration of scale factor for dual resonator class II Coriolis vibratory gyros
AssigneeNorthrop Grumman Guidance and Electronics Company, Inc.
InventorRobert E. Stewart
Life of this patent
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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.
Claims10
An apparatus, comprising:
- a first resonator receiving on an input thereof an angular rate, said first resonator operating in a closed loop mode during a first time interval and in an open loop whole angle mode during a second time interval;
- a second resonator receiving on an input thereof the angular rate, said second resonator operating in an open loop whole angle mode during a first time interval and in a closed loop mode during a second time interval;
- and
- scale factor calibration unit operatively coupled to the first and second resonators;
- wherein by alternately proceeding between open and closed loop operation, each of the first and second resonators scale factor may be self-calibrated.
An apparatus, comprising:
- a first resonator receiving on an input thereof an angular rate, said first resonator operating in a closed loop mode during a first time interval and in an open loop whole angle mode during a second time interval;
- a second resonator receiving on an input thereof the angular rate, said second resonator operating in an open loop whole angle mode during a first time interval and in a closed loop mode during a second time interval;
- scale factor calibration unit operatively coupled to the first and second resonators;
- and
- a bias self-calibration unit operatively coupled to the first and second resonators and having an input for receiving a signal indicative of motion of an inertial system;
- wherein by alternately proceeding between open and closed loop operation, each of the first and second resonators scale factor may be self-calibrated, and wherein scale factor self-calibration is combined with bias self-calibration for a mode of operation.
Dependencies are inferred from the claim text.