Fabrication defects and perturbations affect the behavior of a vibratory MEMS gyroscope sensor, which makes it difficult to measure the rotation angular rate. This paper presents a novel adaptive approach that can identify, in an online fashion, angular rate and other system parameters. The proposed approach develops an online identifier scheme, by rewriting the dynamic model of MEMS gyroscope ...

The current paper describes the design and fabrication of a micromachined electrostatically suspended gyroscope. Electrostatic levitation is employed to suspend the rotor, eliminating the mechanical bearing and thus friction effects between the rotor and the substrate, hence improving long-term stability. The rate of rotation can be measured by detecting the torque-induced displacement of the s...

This paper studies behavior of non-ideal vibratory micromachined gyroscopes. The use of methods of motion decomposition [1] is the essence of the proposed analytical approach. The method is based on partitioning the equations of motion on fractions which are changing in di erent time scales. The approach allows rapid simulation of the long-term response of the gyroscope in presence of imperfect...

This paper presents a vertical (Z-axis) CMOS-MEMS gyroscope with a measured noise floor of 0.03°/sec/ and 1% linearity in the range of -360° /sec to 360°/sec. The gyroscope is fully compatible with conventional CMOS processes, which enable the integration of most of the conditioning circuits. It is fabricated in a three-metal-layer 0.5μm CMOS process followed by a two-step dry etch release. An ...

This paper presents an approach to activity/posture recognition using wearable sensors. The sensors consist of 3-axis accelerometer, 3D gyroscope and 3D magnetometer (3D compass). Several approaches of activity and posture recognition are analyzed, varying the number, type of the sensors and using different body placements. The effect of these different scenarios on the accuracy is investigated...

A radiation resistant optical fiber used in a broadband source is presented. Both ASE source and Fiber Optical Gyroscope (FOG) commonly used in space missions, suffer from failures and degradation after long term exposure to radiative environment. The aim of this article is to present the results of our investigation on fiber and ASE source architecture in order to design a Radiation Resistant ...

The gyroscope free strap-down INS is composed only of accelerometers. Any gyroscope free INS navigation error is deeply affected by the accuracy of the sensor bias, scale factor, orientation and location error. However these parameters can be found by calibration. There is an important research issue about a multi-position calibration method in this paper. It provides a novel method to find the...

In this work, the mechanical design and the experimental validation of a microelectromechanical frequency-modulated (FM) pitch gyroscope are presented. The proposed device is fabricated through the ThELMA © surface micromachining process of STMicroelectronics and it represents, to the authors’ knowledge, the first small-footprint (690 μm × 946 μm) prototype of FM gyroscope able to measure an in...

We describe two possible structures for a localization system which should exploit ultrasonic sensor measures as well as inertial and odometric data to maintain a correct estimate of the location of a mobile robot. The objective is to reduce the position and orientation error in the presence of slippage, and, at the same time, to identify the bias of the gyroscope. The two algorithms have the c...

Many applications, both cooperative and hostile, require the ability to identify humans. This paper proposes a method that exploits the biometric property of human gait to identify people. A single sensor composed of an accelerometer and gyroscope is used to record gait characteristics. Using a Direct Form II Transpose, gait cycles are extracted and compressed to their characteristic features. ...