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Gyroscopes
Kevin Chyn
Scott Perry
Brian Schlenker
http://embeddedsystemnews.com/stmicroelectronics-introduces-a-new-family-
of-single-and-multi-axis-mems-micro-electro-mechanical-systems-
gyroscopes.html
1
Outline
• Introduction to Gyroscopes
– Theory of operation
– Applications
• Implementation
– Algorithms
– Feedback and control
2
What is a Gyroscope?
3
How Gyroscopes Work
•Mechanical Gyroscope
• Spinning mass mounted on gimbals
• Free-output vs. Fixed-output
• Sensors on axis to detect rotation
• Procession
•Electronic Gyroscope
• Coriolis vibratory gyroscope
• Proof mass fed oscillating current to induce
vibrations
• Vibrating mass tends to oscillate in initial plane of
reference
• When rotated, oscillations in orthogonal plane
detected by circuitry
4
Common Uses
Gyrocompass
•Used by ships to find true north
•Seeks minimum potential energy
Stability Assistance
•Hubble Space Telescope
•Bicycles
5
Consumer Electronics
Wii Remote
•Tilt, yaw, pitch
•Rate of angular movement
Smart Phones
•Screen Orientation
•Gaming Input
Laptops
•Free fall detection
6
History of Gyroscopes
• Microelectromechanical systems (MEMS)
– Uses very small vibrating mechanism to detect changes
• London moment
– Spinning superconductor generates a magnetic field
– Extremely accurate tool or modern science
Common Gyroscope Criteria
• Performance
– Measurement range
– Number of sensing axes
– Nonlinearity
– Bandwidth
– Angular Random Walk (ARW)
– Bias
– Bias Drift
– Bias Instability
• Specifications
– Cost
– Working temperature range
– Shock survivability
– Size/Mass
10
Angular Random Walk
11
Examination of Recent Gyros
12
General Algorithms
•Noise reduction via low pass filter
13
Inertial Navigation Systems
14
GPS/INS
GPS INS
15
Feedback Control Systems
17
18
Refrences
• http://physics.kenyon.edu/EarlyApparatus/Mechanics/
Gyroscope/Gyroscope.html
• http://solarsystem.nasa.gov/scitech/display.cfm?ST_I
D=327
• http://orgs.usd.edu/nmm/News/Newsletter/August20
10/ConnResearch.html
• http://www.sensorwiki.org/doku.php/sensors/
gyroscope