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We present a long-term bias drift compensation algorithm for high quality factor (Q-factor) MEMS rate gyroscopes using real-time temperature self-sensing. This approach takes advantage of linear temperature dependence of the drive-mode resonant frequency for self-compensation of temperature-induced output drifts. The approach was validated using a vacuum packaged silicon Quadruple Mass Gyroscope (QMG), with signal-to-noise ratio (SNR) enhanced by isotopic Q-factors of 1.2 million. Owing to the high Q-factors, measured frequency resolution of 0.01 ppm provided a temperature self-sensing precision of 0.0004°C, on par with the state-of-the-art MEMS resonant thermometers. The real-time self-compensation yielded a total bias error of 2°/h and a scale-factor error of 700 ppm over temperature range of 25-55°C. The presented approach enabled repeatable long-term rate measurements required for MEMS gyrocompassing applications with a milliradian azimuth precision. © 2012 Elsevier B.V. All rights reserved.

North-finding based on micromachined gyroscopes is an attractive possibility. This paper analyzes north-finding methods and demonstrates a measured 4 mrad standard deviation azimuth uncertainty using an in-house developed vibratory silicon MEMS quadruple mass gyroscope (QMG). We instrumented a vacuum packaged QMG with isotropic Q-factor of 1.2 million and Allan deviation bias instability of 0.2 °/hr for azimuth detection by measuring the earth's rotation. Continuous rotation (carouseling) produced azimuth datapoints with uncertainty diminishing as the square root of the number of turns. Integration of 100 datapoints with normally distributed errors reduced uncertainty to 4 mrad, beyond the noise of current QMG instrumentation. We also implemented self-calibration methods, including in-situ temperature sensing and discrete ±180° turning (maytagging or two-point gyrocompassing) as potential alternatives to carouseling. While both mechanizations produced similar azimuth uncertainty, we conclude that carouseling is more advantageous as it is robust to bias, scale-factor, and temperature drifts, although it requires a rotary platform providing continuous rotation. Maytagging, on the other hand, can be implemented using a simple turn table, but requires calibration due to temperature-induced drifts. [2012-0378]. © 2013 IEEE.

The paper presents a two-step technique for real-time track detection in single-track railway sidings using low-cost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive low-pass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speed-dependent cut-off frequency to maximize the signal-to-noise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for real-time operation. The detector has been tested with both simulated data and real data acquired in railway campaigns., Peer Reviewed, Postprint (published version)

This paper presents a two stage algorithm for real-time estimation of instanta- neous tremor parameters from gyroscope recordings. Gyroscopes possess the advantage of providing directly joint rotational speed, overcoming the limitations of traditional tremor recording based on accelerometers. The proposed algorithm first extracts tremor patterns from raw angular data, and afterwards estimates its instantaneous amplitude and frequency. Real-time separation of voluntary and tremorous motion relies on their different frequency contents, whereas tremor modelling is based on an adaptive LMS algorithm and a Kalman filter. Tremor parameters will be employed to drive a neuroprosthesis for tremor suppression based on biomechanical loading.

In this thesis , a simulation model of a MEMS gyroscope is presented. The model enables mode matching and analysis of the dynamic behavior of a gyroscope. Furthermore, the model allows the optimization the design parameters of the gyroscope. The simulated gyroscope operates at a frequency of 52MHz with amplitudes of 10nm and quality factor of 50,000. Finally, the drive mode measurements are presented at different bias voltages., Microelectronics & Computer Engineering, Electrical Engineering, Mathematics and Computer Science

Tato bakalářská práce se zabývá popisem a laboratorním měřením dynamiky kyvadla. Také se zabývá metodou měření pomocí akcelerometrů a gyroskopů MEMS v integrovaném provedení kapacitního snímače a stručně popisuje princip jejich činnosti a využití v praxi. Měření s provádí na modelu mostového jeřábu s potlačením některých stupňů volnosti., This bachelor's thesis deals with the description and laboratory measurements of the pendulum dynamics. It also deals with the method of measurement using accelerometers and gyroscopes MEMS integrated in capacitive sensor and briefly describes the principle of their operation and use in practice. Measurements performed on a model of bridge crane with suppression of some degrees of freedom.

Táto bakalárska práca sa zaoberá návrhom výkonovej a riadiacej elektroniky pre nestabilného robota so sférickou základňou, následným návrhom senzoriky a výberom vhodného algoritmu na určovanie uhlu natočenia voči vektoru gravitačného zrýchlenia. Výber algoritmu je uskutočnený po popísaní jednotlivých porúch ovplyvňujúcich meranie a na základe štatistických kvantifikátorov spočítaných pre jednotlivé algoritmy., This bachelor thesis describes design of power and control electronics for unstable robot with spherical base, design of sensors and choice of correct algorithm for estimating tilt angle referenced to earth’s gravity vector. The algorithm was chosen after considering various errors affecting the measurement and calculating statistical quantifiers.

Táto bakalárska práca sa zaoberá návrhom výkonovej a riadiacej elektroniky pre nestabilného robota so sférickou základňou, následným návrhom senzoriky a výberom vhodného algoritmu na určovanie uhlu natočenia voči vektoru gravitačného zrýchlenia. Výber algoritmu je uskutočnený po popísaní jednotlivých porúch ovplyvňujúcich meranie a na základe štatistických kvantifikátorov spočítaných pre jednotlivé algoritmy., This bachelor thesis describes design of power and control electronics for unstable robot with spherical base, design of sensors and choice of correct algorithm for estimating tilt angle referenced to earth’s gravity vector. The algorithm was chosen after considering various errors affecting the measurement and calculating statistical quantifiers.

Táto bakalárska práca sa zaoberá návrhom výkonovej a riadiacej elektroniky pre nestabilného robota so sférickou základňou, následným návrhom senzoriky a výberom vhodného algoritmu na určovanie uhlu natočenia voči vektoru gravitačného zrýchlenia. Výber algoritmu je uskutočnený po popísaní jednotlivých porúch ovplyvňujúcich meranie a na základe štatistických kvantifikátorov spočítaných pre jednotlivé algoritmy., This bachelor thesis describes design of power and control electronics for unstable robot with spherical base, design of sensors and choice of correct algorithm for estimating tilt angle referenced to earth’s gravity vector. The algorithm was chosen after considering various errors affecting the measurement and calculating statistical quantifiers.

Tato bakalářská práce se zabývá popisem a laboratorním měřením dynamiky kyvadla. Také se zabývá metodou měření pomocí akcelerometrů a gyroskopů MEMS v integrovaném provedení kapacitního snímače a stručně popisuje princip jejich činnosti a využití v praxi. Měření s provádí na modelu mostového jeřábu s potlačením některých stupňů volnosti., This bachelor's thesis deals with the description and laboratory measurements of the pendulum dynamics. It also deals with the method of measurement using accelerometers and gyroscopes MEMS integrated in capacitive sensor and briefly describes the principle of their operation and use in practice. Measurements performed on a model of bridge crane with suppression of some degrees of freedom.

Tato bakalářská práce se zabývá popisem a laboratorním měřením dynamiky kyvadla. Také se zabývá metodou měření pomocí akcelerometrů a gyroskopů MEMS v integrovaném provedení kapacitního snímače a stručně popisuje princip jejich činnosti a využití v praxi. Měření s provádí na modelu mostového jeřábu s potlačením některých stupňů volnosti., This bachelor's thesis deals with the description and laboratory measurements of the pendulum dynamics. It also deals with the method of measurement using accelerometers and gyroscopes MEMS integrated in capacitive sensor and briefly describes the principle of their operation and use in practice. Measurements performed on a model of bridge crane with suppression of some degrees of freedom.

Táto bakalárska práca sa zaoberá návrhom výkonovej a riadiacej elektroniky pre nestabilného robota so sférickou základňou, následným návrhom senzoriky a výberom vhodného algoritmu na určovanie uhlu natočenia voči vektoru gravitačného zrýchlenia. Výber algoritmu je uskutočnený po popísaní jednotlivých porúch ovplyvňujúcich meranie a na základe štatistických kvantifikátorov spočítaných pre jednotlivé algoritmy., This bachelor thesis describes design of power and control electronics for unstable robot with spherical base, design of sensors and choice of correct algorithm for estimating tilt angle referenced to earth’s gravity vector. The algorithm was chosen after considering various errors affecting the measurement and calculating statistical quantifiers.

Táto bakalárska práca sa zaoberá návrhom výkonovej a riadiacej elektroniky pre nestabilného robota so sférickou základňou, následným návrhom senzoriky a výberom vhodného algoritmu na určovanie uhlu natočenia voči vektoru gravitačného zrýchlenia. Výber algoritmu je uskutočnený po popísaní jednotlivých porúch ovplyvňujúcich meranie a na základe štatistických kvantifikátorov spočítaných pre jednotlivé algoritmy., This bachelor thesis describes design of power and control electronics for unstable robot with spherical base, design of sensors and choice of correct algorithm for estimating tilt angle referenced to earth’s gravity vector. The algorithm was chosen after considering various errors affecting the measurement and calculating statistical quantifiers.

Tato bakalářská práce se zabývá popisem a laboratorním měřením dynamiky kyvadla. Také se zabývá metodou měření pomocí akcelerometrů a gyroskopů MEMS v integrovaném provedení kapacitního snímače a stručně popisuje princip jejich činnosti a využití v praxi. Měření s provádí na modelu mostového jeřábu s potlačením některých stupňů volnosti., This bachelor's thesis deals with the description and laboratory measurements of the pendulum dynamics. It also deals with the method of measurement using accelerometers and gyroscopes MEMS integrated in capacitive sensor and briefly describes the principle of their operation and use in practice. Measurements performed on a model of bridge crane with suppression of some degrees of freedom.

Táto bakalárska práca sa zaoberá návrhom výkonovej a riadiacej elektroniky pre nestabilného robota so sférickou základňou, následným návrhom senzoriky a výberom vhodného algoritmu na určovanie uhlu natočenia voči vektoru gravitačného zrýchlenia. Výber algoritmu je uskutočnený po popísaní jednotlivých porúch ovplyvňujúcich meranie a na základe štatistických kvantifikátorov spočítaných pre jednotlivé algoritmy., This bachelor thesis describes design of power and control electronics for unstable robot with spherical base, design of sensors and choice of correct algorithm for estimating tilt angle referenced to earth’s gravity vector. The algorithm was chosen after considering various errors affecting the measurement and calculating statistical quantifiers.

Tato bakalářská práce se zabývá popisem a laboratorním měřením dynamiky kyvadla. Také se zabývá metodou měření pomocí akcelerometrů a gyroskopů MEMS v integrovaném provedení kapacitního snímače a stručně popisuje princip jejich činnosti a využití v praxi. Měření s provádí na modelu mostového jeřábu s potlačením některých stupňů volnosti., This bachelor's thesis deals with the description and laboratory measurements of the pendulum dynamics. It also deals with the method of measurement using accelerometers and gyroscopes MEMS integrated in capacitive sensor and briefly describes the principle of their operation and use in practice. Measurements performed on a model of bridge crane with suppression of some degrees of freedom.