Offline Calibration for MEMS Gyroscope G-sensitivity Error Coefficients Based on the Newton Iteration and Least Square Methods

Xing, Li; Xiong, Zhi; Liu, Jianye; Luo, Wei; Yue, Ya-zhou

doi:10.1017/s0373463317000625

Cited by 9 publications

(8 citation statements)

References 15 publications

(16 reference statements)

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“…From Equation (15), the phase relationship between the two channels of the sense mode depends on the drive phase delay ϕ x . When the drive force frequency w d is accurately locked to the drive resonant frequency w x , the drive phase delay ϕ x is −90 • , and the two channels are independent.…”

Section: Impact and Theoretical Analysis Of Circuit Phase Delaymentioning

confidence: 99%

A Real-Time Circuit Phase Delay Correction System for MEMS Vibratory Gyroscopes

Wei

Guo

et al. 2021

Micromachines

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With the development of the designing and manufacturing level for micro-electromechanical system (MEMS) gyroscopes, the control circuit system has become a key point to determine their internal performance. Nevertheless, the phase delay of electronic components may result in some serious hazards. This study described a real-time circuit phase delay correction system for MEMS vibratory gyroscopes. A detailed theoretical analysis was provided to clarify the influence of circuit phase delay on the in-phase and quadrature (IQ) coupling characteristics and the zero-rate output (ZRO) utilizing a force-to-rebalance (FTR) closed-loop detection and quadrature correction system. By deducing the relationship between the amplitude-frequency, the phase-frequency of the MEMS gyroscope, and the phase relationship of the whole control loop, a real-time correction system was proposed to automatically adjust the phase reference value of the phase-locked loop (PLL) and thus compensate for the real-time circuit phase delay. The experimental results showed that the correction system can accurately measure and compensate the circuit phase delay in real time. Furthermore, the unwanted IQ coupling can be eliminated and the ZRO was decreased by 755% to 0.095°/s. This correction system realized a small angle random walk of 0.978°/√h and a low bias instability of 9.458°/h together with a scale factor nonlinearity of 255 ppm at room temperature. The thermal drift of the ZRO was reduced to 0.0034°/s/°C at a temperature range from −20 to 70 °C.

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Section: Impact and Theoretical Analysis Of Circuit Phase Delaymentioning

confidence: 99%

A Real-Time Circuit Phase Delay Correction System for MEMS Vibratory Gyroscopes

Wei

Guo

et al. 2021

Micromachines

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“…The existence of quadrature errors seriously affects the performances of gyroscopes, especially the dynamic range, bias stability and temperature sensitivity [14,15]. To eliminate the unwanted quadrature error signals, quadrature cancellation technique is widely used in the closed-loop control electronics to improve bias instability (BI), angle random walk (ARW), the linearity of the scale factor and the dynamic range of the interface circuit [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

A Real-Time Circuit Phase Delay Correction System for MEMS Vibratory Gyroscopes

Xu¹,

Wei²,

Guo³

et al. 2021

Preprint

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With the development of designing and manufacturing level for micro-electromechanical system (MEMS) gyroscopes, the control circuit system becomes a key point to determine their internal performances. Nevertheless, phase delay of electron components may result in some serious hazards. This paper describes a real-time circuit phase delay correction system for MEMS vibratory gyroscopes. A detailed theoretical analysis is provided to clarify the influences of circuit phase delay on the in-phase and quadrature (IQ) coupling characteristics and zero rate output (ZRO) utilizing force-to-rebalance (FTR) closed-loop detection and quadrature correction system. By deducing the relationship between amplitude-frequency, phase-frequency of MEMS gyroscope and the phase relationship of the whole control loop, a real-time correction system is proposed to automatically adjust the phase reference value of phase-locked loop (PLL) and thus compensate for the real-time circuit phase delay. The experimental results show that the correction system can accurately measure and compensate the circuit phase delay in real time. Furthermore, the unwanted IQ coupling can be eliminated and the ZRO is decreased by 755% to 0.095°/s. This correction system realizes a small angle random walk of 0.978°/√h, and a low bias instability of 9.458°/h together with a scale factor nonlinearity of 255 ppm at room temperature. Besides, the thermal drift of ZRO is reduced to 0.0034°/s/°C at a temperature range from -20°C to 70°C.

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“…However, for pedestrian navigation based on SINS, the points used for mounting sensors on the human body (such as the foot or waist) have local motion, and this motion is not enough to express the motion state of the whole body. The above phenomenon will introduce SINS cone error and MEMS gyroscope G-sensitivity error: The cone error is due to the non-commutability of the rigid body rotation [8,9,10], which is amplified by the rate of angular velocity caused by the “non-rigid” and local motion characteristics of the pedestrian; The G-sensitivity error is an intrinsic property of micromechanical devices [11,12], which is amplified by the high motion acceleration caused by the local motion characteristics of pedestrians; a detailed analysis of the above two kinds of errors is provided in Appendix A.1 and Appendix A.2 respectively. Meanwhile, due to the significant error of the MEMS sensors in pedestrian navigation, SINS position errors will quickly accumulate over time.…”

Section: Introductionmentioning

confidence: 99%

“…( a ) The G-sensitivity error corresponding to each sampling point from four different carriers for plane, car, foot and waist; ( b ) Partial enlarged detail for ( a ).Aiming at the G-sensitivity error of gyroscope, Fan [11] constructed the coefficients of G-sensitivity as a time-domain random walk model and estimated it with Kalman filter. Based on gyro output models and least-squares fitting methods, Xing [12] proposed a method for calibrating the coefficients of G-sensitivity. Most existing calibration methods for G-sensitivity error are based on the gravity environment, but the specific gravity caused by pedestrian movement far exceeds the specific gravity provided by the gravity environment.…”

Section: Appendix A1 Cone Error Introduce By Pedestrian Movementmentioning

confidence: 99%

A Novel Step Length Estimator Based on Foot-Mounted MEMS Sensors

Zhu

Wang

2018

Sensors

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Pedestrian Dead Reckoning (PDR)-based pedestrian navigation technology is an important part of indoor and outdoor seamless positioning services. To improve the performance of PDR, we have conducted research on a step length estimator. Firstly, based on the basic theory of inertial navigation, we analyze in detail the errors in traditional Strapdown Inertial Navigation Systems (SINSs) caused by the unique motion state of pedestrians. Then, according to the fact that the inertial data from the foot can directly reflect the gait characteristics, we conduct a step length estimator that does not rely on SINS. The experimental results show that accuracy of the proposed method is between 0.6% and 1.4% with a standard deviation of 0.25%.

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Offline Calibration for MEMS Gyroscope G-sensitivity Error Coefficients Based on the Newton Iteration and Least Square Methods

Cited by 9 publications

References 15 publications

A Real-Time Circuit Phase Delay Correction System for MEMS Vibratory Gyroscopes

A Real-Time Circuit Phase Delay Correction System for MEMS Vibratory Gyroscopes

A Real-Time Circuit Phase Delay Correction System for MEMS Vibratory Gyroscopes

A Novel Step Length Estimator Based on Foot-Mounted MEMS Sensors

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