High performance north-finding systems (NFSs) based on Micro-Electro-Mechanical System (MEMS) gyroscopes are widely concerned over decades. This letter proposes a novel strategy for MEMS gyrocompassing, exploiting the measurements of a honeycomb disk resonator gyroscope (HDRG). Completely different from previous MEMS gyrocompassing approaches for drift reduction of MEMS gyroscopes (e.g., carouseling, maytagging), without any mechanical turning parts, the virtual rotating framework is greatly conducive to the compactness and reliability of NFSs. The experimental results show that the true north can be found with the accuracy of 0.48° for 5 minutes averaging time at 28° latitude, proving the possibility of eliminating the need for physical rotation of MEMS gyroscopes. 

Virtual Rotating MEMS Gyrocompassing With Honeycomb Disk Resonator Gyroscope

Sensitivity is an important performance index of micro-machined gyroscope, and driving amplitude and initial capacitance gap are related to the signal-noise ratio as well as the sensitivity of gyroscope. The traditional butterfly gyroscope in our research group will generate both horizontal and vertical driving amplitude when driven in driving mode. So, the signal-to-noise ratio is subjected to the vertical driving displacement and initial capacitance gap, which, to a great extent, limits its sensitivity. In this paper, a novel high-sensitivity butterfly gyroscope with rectangle vibration beam was proposed, which will generate almost only horizontal displacement due to the structural characteristics when driven by horizontal driving force. Therefore, the proposed structure can not only increase the driving amplitude, but also reduce the initial capacitance gap, so as to enhance the signal-noise ratio as well as sensitivity of the gyroscope. After the structural design and manufacture processing, the performance of the proposed butterfly gyroscope was tested, and the angle random walk is measured to be $1.244\textrm {deg}/\surd \textrm {h}$ , and the bias stability reached 3.58deg/h.

/pdf/a-novel-high-sensitivity-butterfly-gyroscope-driven-by-2bf3cfop77.pdf

A novel high-sensitivity butterfly gyroscope driven by horizontal driving force

North-finders based on gyroscopes are commonly used because of their robustness against local Earth magnetic field distortion and independence of electromagnetic transmission. In this paper, we present an easy to use, compact, transportable, standalone, north-finder based on one MEMS gyroscope. The Maytagging algorithm allows the use of an inexpensive stepper motor. The integrated in-house developed tuning fork MEMS gyroscopes offer low enough noise and drift to determine north heading down to 1 degree of deviation in less than 10 minutes at a latitude of 50.8 degrees without additional signal conversion electronics.

Compact Standalone North-finding Device based on MEMS Gyroscope and Maytagging

Abstract High-performance micro-electro-mechanical system (MEMS) gyrocompasses for north-finding systems have been very popular for decades. In this paper, a MEMS north-finding system (NFS) based on virtual maytagging (VM) is presented for the first time. In stark contrast to previous schemes of MEMS-based NFSs (e.g., carouseling, maytagging) and the abandoning rate table, we developed a honeycomb disk resonator gyroscope (HDRG) and two commercial accelerometers for azimuth detection. Instead of the physical rotation of the integrated turntable in traditional NFSs, the vibratory working modes of the HDRG are rotated periodically with electronic control to reduce the uncertainty in the azimuth. After systematically analyzing the principle of NFSs with VM, we designed tests to verify the practicability at the sensor level. A bias instability of 0.0078°/h can be obtained during one day with VM in an HDRG. We also implemented comparative north-finding experiments to further check our strategy at the system level. The accuracy in the azimuth can reach 0.204° for 5 min at 28.2° latitude with VM and 0.172° with maytagging. The results show that without any mechanical turning parts, VM technology makes it possible to develop high-precision handheld MEMS NFSs. 

Removal of the rate table: MEMS gyrocompass with virtual maytagging

The orientation referencing of an object with respect to the Earth's rotation frame has particular importance in various applications, including but not limited to drilling, autonomous vehicles, surveying, marine and robotics. A diverse range of advanced systems are available for True North determination, including Magnetic Compass, Global Navigation Satellite System (GNSS) and Inertial Sensor (Gyroscope) based systems. In this paper, we reviewed the performance capabilities, limitations and comparative analysis of various north-finding systems. Our review revealed that gyroscope-based systems have superiority due to their operational viability in both indoor and outdoor environments as well as their autonomy from satellite, weather and terrain dependencies. We thoroughly reviewed the Maytagging and the Carouseling methods of gyroscope-based systems and compared their contrasting characteristics. This review highlights research opportunities for performance enhancement using artificial intelligence, robust data purification techniques and active tilt compensation in gyroscope-based north finders. 

True north measurement: A comprehensive review of Carouseling and Maytagging methods of gyrocompassing

This paper reports on the development of a micromechanical vibrating mass tuning fork gyroscope with coupled drive and sense modes. The mechanical structure has been designed to have a first anti-phase drive mode and a second anti-phase sense mode. The frequencies of all other modal modes are higher. The micromechanical structure is fabricated with a cavity SOI technology called BDRIE [1]. The analog ASIC for very low noise readout (< 50 nV/rtHz) is placed on the MEMS and is connected symmetrically with wire bonds. MEMS and ASIC have been co-designed to best fit physically and electrically to each other.

Yet another tuning fork gyroscope

This paper reports on the improved micromechanical structures and improved integrated electronics to create high bandwidth acceleration sensors with a high signal to noise ratio and very low power electronics. This ambitious aim can be achieved by a very close co-design of MEMS and ASIC. Our two axis micromechanical element is optimized with respect to its seismic mass, which is needed to have an ultra-low noise sensor. Therefore, a large height of the micro mechanical structure is preferred. Another aim is a very high capacitive sensitivity while keeping the base capacitance as small as possible to aim for a small power consumption. Hence, a high aspect ratio technology is essential.

Low Power High Bandwidth Acceleration Sensor For Industrial Applications

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Yet another tuning fork gyroscope

Compact Standalone North-finding Device based on MEMS Gyroscope and Maytagging

Low Power High Bandwidth Acceleration Sensor For Industrial Applications