Читать книгу Whole-Angle MEMS Gyroscopes - Doruk Senkal, Andrei M. Shkel - Страница 18

Gyroscopes are susceptible to a variety of error sources caused by a combination of inherent physical processes as well as external disturbances induced by the environment.

Error sources in a single axis rate gyroscope can be generalized according to the following formula:

(1.1)

where is the measured gyroscope output, is scale factor error, is bias error, and is noise. Without loss of generality, for a whole‐angle gyroscope the error sources can be written as:

(1.2)

Figure 1.2 Micro‐rate integrating gyroscope (MRIG) architectures.

where is the measured gyroscope output, corresponding to total angular read‐out, including the actual angle of rotation, errors in scale factor, bias, and noise.