Inertialwave

The Boeing Company

University of California

Bliley Technologies, Inc.

Epack, Inc.

Anthony Challoner

Yong Liu

Jay Mitchell

Sangwoo Lee

Jeremy Daniel Popp

Byron Campbell Challoner

David Horsley

Howard H Ge

Parsa Taheri-Tehrani

Motion and/or orientation sensing systems can utilize gyroscopes, accelerometers, magnetometers, and other sensors for measuring motion or orientation of connected objects. Temperature changes affect the precision of the data output by the motion/orientation sensing device. A system is provided for controllably heating a device within a package to a desired temperature that varies based on the ambient temperature. The operating temperature of the device can then be known and controlled. The ambient temperature can be known through an ambient temperature sensor, for example. Given this information, a controller compensates the data output by the device to further improve the accuracy in the measurements. Like the amount of heating provided to the package, the amount of compensation is also based on the ambient temperature and/or the device temperature.

System with oven control and compensation for detecting motion and/or orientation

A MEMS (Microelectromechanical System) INU (Inertial Navigation Unit) chip comprises a compact autonomous device undergoing motion tracks and analyzes its definite movement relative to local Earth coordinates with optimal accuracy and repeatability of lmm over distances of greater than two meters. The MEMS INU includes an Inertial Motion Tracking Device (IMTD) comprises a gyroscope, accelerometer, magnetometer, and digital processor programmed with a general purpose Inertial Measurement Engine (IME), an application specific Motion Analysis and Adaptation (MAA) program and a low power radio. The IMTD tracks its motion with optimum accuracy using compact practical sensors that may have noise and drift by periodically and autonomously checking its velocity changes at an optimum interval, computing a linear acceleration therefrom and determining a no-motion or motion condition relative to a threshold and correcting its velocity, position and acceleration errors when there is no motion.

MEMS inertial navigation unit chip

A compact Inertial Wave Angle Gyroscope (IWAG) is operated using a phase lock loop to track resonator phase and a baseband regulator to null quadrature. The resonator velocity or its components computed from precession angle are first determined at baseband and then applied to gain matrices in order to generate the feedback control forces for self-precession, cancellation of damping and compensation of anisodamping. The inertial rotation input is determined from the measured total precession angle by removing the computed or calibrated self-precession angle. The resonator energy can be regulated to a fixed magnitude and the baseband feedback force for self-precession at a fixed rate determined from components computed from precession angle such that the total force is in phase with baseband velocity but has fixed magnitude. The IWAG inertial rotation input can be determined from the measured total precession rate by removing the computed self-precession rate.

Baseband control electronics for inertial wave angle gyroscope

A compact Inertial Wave Angle Gyroscope (IWAG) is disclosed without zero rate drift due to residual asymmetry comprises antisymmetric velocity feedback of sufficient magnitude to produce a continual self-precession of its vibration pattern to overcome any rate threshold and average the effects of its residual asymmetry on zero rate drift to zero over each revolution of the precession pattern in the case. The inertial rotation input is determined from the measured total precession rate by removing the computed self-precession rate. A compact, low power, IWAG electronics design suitable for an ASIC collocated with the MEMS resonator comprises analog electronic feedback for self-precession, amplitude and quadrature control and asymmetry correction and analog inertial rate output that is digitally-assisted by intermediate frequency processing for control offset correction, residual asymmetry parameter identification for analog feedback gain correction and electrostatic tuning bias correction and compensated digital inertial rate output.

Inertial wave angle gyroscope

A compact autonomous device undergoing motion tracks and analyzes its definite movement relative to local Earth coordinates with optimal accuracy and repeatability of 1 mm over distances of greater than two meters. The Inertial Motion Tracking Device (IMTD) comprises a gyroscope, accelerometer, magnetometer, and digital processor programmed with a general purpose Inertial Measurement Engine (IME), an application specific Motion Analysis and Adaptation (MAA) program and a low power radio. The IMTD tracks its motion with optimum accuracy using compact practical sensors that may have noise and drift by periodically and autonomously checking its velocity changes at an optimum interval, computing a linear acceleration therefrom and determining a no-motion or motion condition relative to a threshold and correcting its velocity, position and acceleration errors when there is no motion.

Inertial motion tracking device

A gyroscope system may include a disc resonator gyroscope including a plurality of electrodes embedded in the disc resonator gyroscope. The electrodes may be configured for at least applying a drive voltage and a tuning voltage to the disc resonator gyroscope and for sensing operating parameters of the disc resonator gyroscope. The gyroscope system may also include a quadrature stabilization circuit configured to measure a quadrature error and generate a quadrature regulating voltage based on the quadrature error. The tuning voltage may be adjusted by the quadrature regulating voltage to cancel an effect of voltage flicker before being applied to a tuning electrode of the disc resonator gyroscope.

Gyro quadrature stabalization with demodulation phase error nulling

A method for compensating for bias of a gyroscope. In one embodiment, bias measurements for a plurality of drive angles are generated using the gyroscope. A set of equations for the bias of the gyroscope is identified using a model for motion of the gyroscope. The set of equations includes a set of parameters for the bias of the gyroscope. A set of values for the set of parameters is identified using the bias measurements and the set of equations.

Electronic bias compensation for a gyroscope

A method for simultaneously identifying an inertial rate of a gyroscope and a bias for a gyroscope. A set of equations for an output of the gyroscope is identified using a model for motion of the gyroscope. The set of equations includes a set of parameters for the bias of the gyroscope. The inertial rate of the gyroscope and a set of values for the set of parameters for the bias of the gyroscope are identified using the set of equations and measurements generated by the gyroscope for a plurality of drive angles.

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Manhattan Beach, CA, United States of America

Anthony Challoner