Efficient design of micromechanical gyroscopes

We consider a general approach to the analysis of the dynamics and errors of different types of micromechanical vibratory gyroscopes, as well as calculation of their performances for application in the design of such gyroscopes. Specifically, we investigate and analyse the dynamics and errors of single-mass gyroscopes, for both translational and rotational movement of the sensitive element. Based on the generalized motion equations, we derive and analyse analytical dependences for basic errors, such as scale factor nonlinearity, bias from misalignment between elastic and measurement axes, and bias from vibrations and dynamic error caused by harmonic angular rate. As a result of dynamics and errors analysis, formulae for the calculation of the main performances are derived, as well as optimal sensitive element design methodologies.