The theory, design and experimental results of a wideband 140 GHz, 1 kW pulsed gyro-traveling wave amplifier are presented. The gyro-TWA operates in the HE(0,6) mode of a novel cylindrical confocal waveguide using a gyrating electron beam. The electromagnetic theory, interaction theory, design processes and experimental procedures have been described in detail. The experiment has produced over ...

An actual account of the angle random walk (ARW) coefficients of gyros in the constant rate biased rate ring laser gyro (RLG) inertial navigation system (INS) is very important in practical engineering applications. However, no reported experimental work has dealt with the issue of characterizing the ARW of the constant rate biased RLG in the INS. To avoid the need for high cost precise calibra...

The paper pertains to the reduction of measurement errors in gyroscopes used for tracking the position of walking persons. Some of these tracking systems commonly use inertial or other means to measure distance traveled, and one or more gyros to measure changes in heading. MEMS-type gyros or IMUs are best suited for this task because of their small size and low weight. However, these gyros have...

This paper reports on the design and implementation of an in-plane solid-mass single-crystal silicon tuning fork gyro that has potential to achieve inertial-grade performance. A novel design is devised to achieve high Q in the drive and sense resonant modes (Qdrive=84,000 and Qsense=64,000) with effective decoupling. The gyroscope was fabricated on 40μm SOI using a two-mask process. The drive a...

This paper presents the overall mathematical model and results from pseudo linear recursive estimators of attitude and rate for a spinning spacecraft. The measurements considered are vector measurements obtained by sun-sensors, fixed head star trackers, horizon sensors, and three axis magnetometers. Two filters are proposed for estimating the attitude as well as the angular rate vector. One fil...

This paper presents the analysis, design, and performance evaluation of a novel filter for partial attitude and rate gyro bias estimation. In addition to a single body-fixed vector observation of a constant reference vector in inertial coordinates, biased angular velocity measurements are available for filtering purposes, which occurs directly in the space of the vector observations. Appropriat...

This paper pertains to the reduction of the effects of measurement errors in rate gyros used for tracking, recording, or monitoring the position of persons walking indoors. In such applications, bias drift and other gyro errors can degrade accuracy within minutes. To overcome this problem we developed the Heuristic Drift Elimination (HDE) method, that effectively corrects bias drift and other s...

This paper introduces a new approach for precision indoor tracking of tele-operated robots, called “Heuristics-Enhanced Dead-reckoning” (HEDR). HEDR does not rely on GPS, or external references; it uses odometry and a low-cost MEMSbased gyro. Our method corrects heading errors incurred by the high drift rate of the gyro by exploiting the structured nature of most indoor environments, but withou...

A novel design of force to rebalance control for a hemispherical resonator gyro (HRG) based on FPGA is demonstrated in this paper. The proposed design takes advantage of the automatic gain control loop and phase lock loop configuration in the drive mode while making full use of the quadrature control loop and rebalance control loop in controlling the oscillating dynamics in the sense mode. Firs...