Recent Researches in Communications and IT

Current technologies and trends in the

development of gyros used in navigation
applications – a review
I. R. Edu, R. Obreja, and T. L. Grigorie

Nowadays MEMS are attracting a great interest because of

Abstract—This paper is a study of the present sensors accuracy, their vast potential in industrial, military and medical
of the current state of miniaturization and of the current technology applications. As a result, great efforts are made for the design
options available for inertial sensors and integrated Inertial and fabrication of MEMS. MEMS refers to devices that have
Navigation Systems (INS). This paper will attempt to explore the
characteristic length between 1 µm and 1 mm, that combine
technologies with the best potential for the future. There are also
described the accuracy improvements that are planned as result of the electrical and mechanical components, and that are fabricated
arrival of gyrometric device advances. The paper includes some using integrated- circuit batch-processing technologies [3].
examples of interference effects, and presents the technologies Amazing evolution of physics and manufacturing
expected to improve navigation systems robustness. technologies to improve the optical an electronic fields have
made possible the development of opto-electronic rotation and
Keywords—inertial navigation, gyros, technology, applications.
translation sensors in parallel with the mechanical sensors. The
results are still spectacular [4]-[9]. This is reflected in the
I. INTRODUCTION
evolution of strap-down inertial navigation systems [10].

I NERTIAL navigation systems have evolved from the first

electromechanical inertial sensors, which guided the first V2
rockets to the self-contained devices in today's design, made
Development of components and the emergence of advanced
manufacturing technologies have brought opto-electronic
sensors over the mechanics in terms of performance and
with MEMS technology (micro-electro-mechanical sensors), reduced their size, from a few millimeters, by a number of
NEMS (nano-electro-mechanical sensors), MOEMS (micro- orders of magnitude.
opto-electro-mechanical sensors) or NOEMS (nano-opto- Using optics significantly improved the sensor life, scale
electro-mechanical sensors), sensors which are equipping the factor performance, helped to improve significantly the
majority of modern vehicles. dynamics and working bands, reduce startup time to the order
The beginnings of micro engineering were in the 15th of ms and disturbances due to electromagnetic interference.
century when the watchmakers made the first pocket watches, Miniaturization was achieved by using "integrated optics",
micro machined devices according to their macroscopic thus called by analogy with the integrated circuit technology
counterparts [1]. Around 1960, both Seiko and a consortium of used. It deals with the processing of light waves through the
Switzerland’s top firms competed to develop the first quartz modulators, amplifiers and switches, devices designed on the
watch and the result was a real success. In 1969, Seiko same substrate. In recent years, attention has focused on
presented the Astron quartz watch, the world’s first quartz producing sensors in "solid state" design, containing on the
watch. Then in 1970, Hamilton introduced the Pulsar – the same chip both the optical and electronic components. Also,
world’s first electronic digital watch [2]. The first watches the MEMS, NEMS, MOEMS and NOEMS technology has
realized with quartz were the first real MEM devices. soared ([4]-[6], [10]-[27], [28]), which even led to the
achievement of major parts of inertial navigation systems on
the same chip (e.g. accelerometers that detect acceleration in
Manuscript received Mai 14, 2011. This work was supported by
CNCSIS-UEFISCSU, project PN II-RU, No. 1/28.07.2010, “High-precision three axes simultaneously).
strap-down inertial navigators, based on the connection and adaptive The development of these technologies has made progresses
integration of the nano and micro inertial sensors in low cost networks, with a in many other domains, such as mechanical engineering,
high degree of redundance”, code TE_102/2010.
I. R. Edu is with the University of Craiova, Faculty of Electrical
electronics, electro-optics, and nuclear physics. At the
Engineering, Avionics Division, 107 Decebal Blvd., Craiova, Dolj, Romania moment, rotation and translation sensors were achieved based
(edu_ioana_raluca@yahoo.com). on the piezoelectric effect, the effect piezo-resistive, the
R. Obreja is with the University of Craiova, Faculty of Electrical
Sagnac effect, with electron tunneling, capacitive sensors,
Engineering, Avionics Division, 107 Decebal Blvd., Craiova, Dolj, Romania
(radu@sistemeuroteh.ro). magnetic sensors, sensors with Bragg network, electrostatic
T. L. Grigorie is with the University of Craiova, Faculty of Electrical and magnetic suspended mass sensors, magnetic resonance and
Engineering, Avionics Division, 107 Decebal Blvd., Craiova, Dolj, Romania electromagnetic sensors, vibration, acoustic, surface wave,
(phone: +40251436447; fax: +40251436447; e-mail: lgrigore@elth.ucv.ro).

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 Recent Researches in Communications and IT

fiber optics, laser, radioactive isotope sensors, polarized [28].Anyway, IFOGs continue to advance in force on the
sensors and so on. market, and have reached practicability in lower performance
The main errors in inertial navigation systems are the areas, especially in tactical and commercial applications.
incorrect start of the navigation system, the imperfections of The traditional FOGs have fiber optical coils about two
the gravity model used in applications, and the imperfections inches in diameter and are used in tactical grade applications,
of gyros sensors and accelerometers [10]. The result is so with a relatively low level of performance required.
detrimental to the useful signal obtained at the sensor outputs, With help received from the researchers in the field of
signal that is then supplied to the navigator. For the gyros, interferometry, FOG interferometers came to compete with
whose major errors are in measuring angular rates, the largest RLG technology in high precision applications, precise aiming
errors are caused usually by a bias instability (measured in of telescopes, imaging systems, and antennas, or for strategic-
deg/hr for gyro bias drift, and scale-factor stability (which is grade navigation of submarines at a reasonable manufacturing
usually measured in parts per million (ppm) of the sensed costs with the parameters: bias stability less than 0.0003°/ h,
inertial quantity). The navigator will become more expensive ARW (angular random walk) of less than 0.00008°/h1/2 and
the smaller the inertial sensors are and the better the scale factor error less than 0.5 ppm [37], [38].
instruments quality, and the greater the precision of the Research in the field of fiber optic gyros, similarly to those
navigation solution. [10]. of RLG, aimed at decreasing the size and manufacturing costs
In recent years, in the inertial detection, three major at an approximately constant level of performance, if not
technologies led to significant advances in military and better. Development of miniaturized FOGs was based on the
commercial applications. These are the Ring Laser Gyro (since technology achievements brought by the telecommunications
~1975), Fiber Optic Gyros (since ~1985), and MEMS (since industry [28].
~1995). An important innovation was the discovery of photonic
crystal fibers (PCF Fibers crystal photon) that have been a
II. OPTICAL GYROS very important step towards the next generation of IFOG
The Ring Laser Gyros (RLG) have entered the market only instruments, the PC-IFOG.
in 1980’s even if in 1963 was first demonstrated in a square The introduction of PCFs in IFOG applications brings
configuration. Mechanical gyroscopes dominated the market significant advantages to this field, such as the significant
and the RLG were required in military applications, because reduction of bend losses and fiber size compared to the
these are ideal systems for high dynamics strap-down inertial conventional optical fiber, minimizing the fiber optic coil
navigation, used in extreme environments. The RLG has diameter, the possibility of incorporating a dispersion
excellent scale-factor stability and linearity, negligible compensation in the existing PCF, with the effect of reducing
sensitivity to acceleration, digital output, fast turn-on, excellent the spectral distortion, guiding light through this type of fiber
stability and repeatability across the range, and no moving allows the use of a mid-infrared optical wavelength [40].
parts. Present day RLG’s (Ring Laser Gyros) is considered a A next step in FOG miniaturization is the development of a
matured technology and its development efforts are to reduce monolithic optical chip, containing both the light source and
costs more than to increase its performance. [4] - [6], [14], detector and the modulation. At this point, there are
[18], [28]-[34]. technological problems related to dispersion limitation.
Fiber optic gyros (FOG) are also a mature technology and The passing of optical rotational devices in the MEMS
were originally designed as a low-cost alternative to the RLG. domain was realized through the Integrated Optics Gyro, also
Surprisingly, today they complete RLG’s both in terms of called optical gyro on a chip. IOG is nothing else than a gyro -
manufacturing costs, as well as that of performance, gaining an optical waveguide gyro, based on the Sagnac effect,
prominence in a series of military and commercial applications obtained by combining MEMS technology with the
[36]-[39]. The studies provide that the developments in solid- possibilities offered by the integrated optics.
state optics and fiber technology could lead to 0.001-deg/h Fig. 1 shows all the on-chip components of an IOG and a
performance in miniature design. close-up of an optical waveguide. As we can see, two beams of
In 1976, IFOG feasibility was demonstrated when an light travel in opposite directions around a waveguide ring
interference pattern (Sagnac effect) was discerned from light resonator [40]. To access the class of precision of the inertial
traveling CW and CCW around an optical fiber, at the navigators (0.01 degree/ h and 0.01 grad/ h ½ ARW), IOG
University of Utah [3]. The advantages IFOG has over the devices must be placed in a waveguide with losses below
RLG are that the light source does not require high voltage; the 0.001dB/cm. A research direction imposed by the IOG
broadband light source prevents backscatter so there is no performance improvement is in finding technological solutions
lock-in at low input rates; it has the potential for lower cost to slow the propagation of light through the wave-guide, to
and lighter weight [6]. obtain ultra-sensitive optical gyros, studies for this purpose
IFOG (interferometric fiber optic gyro) has not yet replaced being carried out [44], [45].
RLG in production due, in particular, to the existence of a In the 1980s, the Hemispherical Resonant Gyro was
large part of the infrastructure created specifically for RLG's developed, a vibratory high performance gyro; the inertial

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sensing element is a fused-silica hemispherical shell coated of the sensor entails decreased sensitivity, increased noise and
with a thin film of metal. HRG advantages are related to the decreased ability to control the sensing elements. In addition,
fact that it is very light, compact, operates in vacuum and has the change in Young’s Modulus of silicon is ~ 100 ppm/°C,
no moving parts. Its life cycle is limited only by the electronic which leads to concerns regarding the thermal sensitivity.
components, which are redundant [6].

Fig. 2 Gyros technologies evolution

Fig. 1 Integrated Optical Gyro (IOG)
From the point of view of materials used, in addition to
III. MEMS ROTATION SENSORS silicon-based materials and electro-plated metals, there have
As the size of a system changes, its physical parameters also been discussed for use in MEMS technologies a number of
change, often in a dramatic way [Madou, 1997] [1]. Scaling other materials, which may have unique properties that enable
provides a good guide to how things behave and offers insight particular applications: silicon carbide is a hard, high-melting
into small systems, but scaling is just that - a good guide. It point material, which can withstand harsh environments;
usually does not provide exact solutions. These first devices silicon–germanium and diamond are materials that can be
with significant size reduction but with performance deposited at low temperatures, which enable increased MEMS
degradation have been used and have launched by storm new process flexibility. SU-8 is an epoxy photo resin that can be
military applications, such as guided munitions (e.g., JDAM) used to produce high aspect ratio channels and molds [3].
and UAVs, tactical applications that require a lower level of Even the obvious interest of large companies for advanced
performance for inertial navigators (1 deg/h, 1 mg - tactical miniaturized gyros is increasing, and the MEMS inertial
applications precision class) [4]-[6], [18], [28]-[29]. sensors development is a world-wide effort, the performances
Miniaturized inertial sensors (MEMS and NEMS) have proved of MEMS IMUs continues to be limited by the gyro
to be very favorable for the development of new applications, performance, which is now approximately 1degree/h- instead
applications that have gained immediate place on the market, the targeted one 0.1 deg/h bias stability. The performances of
with advantages like small size, extreme ruggedness, low cost accelerometers have reached tens of micro-g or better. It is a
and weight. Also, MEMS technology led in time to a fierce trend to use vibration-based MEMS, thus replacing traditional
fight to find a place in the precision class of tactical gyros with Coriolis force [48].
applications (1 deg/h, 1 mg), performance reached in recent
years [4]-[6], [28]-[29], [31]-[34]. IV. COLD ATOM SENSORS
Currently researches led to achieving these performances Besides the above mentioned technologies, another
thus the current tactical grade MEMS gyros, accelerometers technology, very promising in terms of inertial detection,
and miniature inertial/GPS systems have approximately 1deg/h based on atomic interferometry (cold atom inertial sensors) is
(gyro) and 1 mg (accelerometers) bias stabilities. developing very fast [5], [10], [29].
In [3] the authors said that it is envisioned that MEMS Atomic interferometry was born recently, towards the end of
technology will serve as both an ‘‘enhancing’’ and an the 1980s, and it was considered from the beginning a
‘‘enabling’’ technology for many future science and promising technology. Atomic interferometry is a sensor-based
exploration missions. When it began, the use of silicon as base inertial sensing that uses the atom interferometry, using cold
material in the manufacture of components, it gave a radical atoms (sometimes known as cold atom sensors). This means
approach and it overcame many of the issues considered that this technology is based upon the manipulation of cold
previously at the conventional mechanical sensors. This is atoms, atoms that are a millionth of a degree above absolute
summarized in Fig. 2. zero, created and then trapped using laser technology [3].
Gyros evolution in Fig. 2 indicates how the physical The first achievements in this domain were the invention of
principles and number of parts of the micro mechanical laser cooling and trapping of atomic matter (Nobel Prize 1997)
devices transformed over time. However, the reduction in size and the generation of quantum-degenerate gases like Bose-
of the sensing elements creates new challenges to improve Einstein-Condensation (BEC) (Nobel Prize 2001). With the
their performance, considering that generally reducing the size researches in optical precision spectroscopy (see also Nobel

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Prize 2005) today is possible to have precise control on the Today we can trap and manipulate, as we need, a very large
internal and external of freedom of atomic matter. Those huge quantity of identical atoms.
progresses led to application of ultra cold matter in fields such There are two perspectives in trapping neutral atoms: the
as precision measurements, matter wave interferometry and interaction of an optical field with the atomic induced electric
applications in quantum information processing [49]. dipole moment or the interaction of a magnetic field with the
The atom interferometers are very similar in their basic atomic magnetic dipole moment. The most analyzed method of
principle with the optical interferometers. The difference is optical trapping is the optical lattice [54]. Optical lattices can
that the optical wave is replaced with the matter-wave be loaded with many atoms coming from a laser-cooled
represented by the atoms. ensemble or from a BEC [55].
Today, the laser interferometers prove to be the most
B. Superconducting Atom-Chips
precise measurement instruments for a variety of applied
sciences and engineering. Among them, there are micro- Superconductor technology resulted from the merger with
positioning and distance measurements or the measurement of atom optical systems. This will allow a new generation of
inertial forces such as accelerations or rotations. Laser essential experiments and new applications, possibly resulting
gyroscopes make use of the well-developed technologies of in the pairing of quantum solid-state devices with neutral
lasers and precision optical elements. However, in comparison atoms. These can be used for quantum state transfer between
to optical interferometers, atom interferometers have the solid-state and atomic systems or quantum information
potential to achieve sensitivities several orders of magnitude processing. The so-called 'atom chips', which are micro-
higher for some applications [50]. They may also enable structured surface trapping and manipulation devices, have
interferometry measurements not possible with optical proven their great capability and flexibility in the field of ultra-
interferometry. An impressive list of high-precision atom cold atom experiments over the previous period. These
interferometry measurements of fundamental constants, atomic elements allow the generation of steep trapping potentials
properties, inertial forces, and rotations has been performed using current carrying wires or permanent magnetic structures,
[49].Also in this domain, atom interferometry, Martin L. Perl as well as micro-optical devices. Additionally, the
(from Kavli Institute for Particle Astrophysics and Cosmology, manipulation of neutral atoms with micro-structured elements
SLAC Linear Accelerator Laboratory Stanford University) is promising for the goal of achieving systems suitable for the
together with some collaborators constructed an atom quantum information processing.
interferometer experiment. The purpose is to investigate the Researchers form Nanyang Technological University (NTU)
nature of dark energy and to search for unknown contents of laboratories, has begun a unique project investigating the
the vacuum using atom interferometry (a.k.a. “Dark Contents controlled interaction of superconducting quantum states with
of the Vacuum”). In this method, there are used two atom atomic quantum matter trapped on a superconducting atom
interferometers in order to eliminate the effect of earth’s chip. This chip uses a high temperature superconductor for
gravity and of various noise sources. The device is now under trapping and manipulating of the atomic states, which allows
construction. [53] for a simplified experimental setup with standard laser-cooling
New results in this direction could give new impetus to both and trapping techniques.
theories of modern physics and a new perspective of how we By using a high temperature superconductor, a completely
can see the Universe and its evolution. [48] new field has been opened, and the possibility to analyze each
The current state-of-art of atom interferometry: the atom physical system, solid state and atomic matter will be
interferometers obtained and proof-of-concept. Although gyros remarkable possibilities that will bring important contributions
and accelerometers are yet too voluminous, the miniaturization to the quantum computation [49].
seems feasible in the near future and is developing [31]-[34], C. Guided and free-space matter-wave interferometer
[41]. Today, using laser light interferometers, the most precise
Scientists from the international quantum physics measurements are achieved in a variety of applied sciences and
community are investigating novel ideas in the fields of engineering. Examples are micro-positioning and distance
coupled quantum systems including atomic matter, quantum measurements, or the measurement of inertial forces such as
information processing and precision measurements. rotations or accelerations. Laser gyroscopes make use of the
Research refers are related with: quantum registers for neutral well-established technologies of lasers and precision optical
atoms, interaction of superconducting microstructures with elements.
atomic quantum states, guided and free-space matter-wave Current applications focus on the achieving of guided
interferometry, and not only [44], [31]. interferometers, but in the future one important direction will
A. Quantum registers for neutral atoms be to realize improvements in currently used free-space atom
Quantum bits (also known as qubits) are trapped ultra-cold interferometers.
neutral atoms, utilized in quantum information processing. At this time, NTU research efforts are directed to obtain a
They are based on the simple quantum-level structure of atoms guided matter-wave interferometer that makes use of specially-
in conditions of good insulation related to the environment. designed superconducting elements on a chip [49].

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V. TRENDS IN GYRO TECHNOLOGIES APPLICATIONS

Fig. 3 illustrates schematically the current trends on short-
term regarding the gyro technology [10], [28]-[29], while Fig.
4 ([10], [28]-[29]) is an overview of the use of gyro
technologies on long term in new applications. Note that the
integrated optical and MEMS technologies (IO) will dominate
the entire spectrum of mid and low performance applications.
Systems that use RLGs and mechanical gyros will be replaced
by systems based on MEMS and IFOG technology. However,
RLGs have an extremely high scale factor stability compared
to IFOGs. Anyway, the replacement of MEMS technology is
conditioned by improving performance, increasing safety and
decreasing the price.
Fig. 5 Gyro technology at maturity
According to [4], the technology distribution in the gyros
field on future applications regarding the accuracy classes can
be organized as in Fig. 6.

Fig. 3 The use of gyro-sensors technology - a general overview of

technologies used in present and in the near future.

Fig. 6 Future applications of gyro sensors technology

One can notice that NEMS technologies in still on the
accuracy level of commercial application. However, cold atom
sensors are being developed as a very high performance, long-
term competitor. Other possible miniaturization levels and
technologies are being considered - NEMS (Nano-Electro-
Fig. 4 The use of sensor technologies - a general overview of Mechanical Systems), or Optical NEMS, or even biological
technologies used in the gyros field on long term NEMS [28], [31].
The use of integrated optics technology offers new insights
into the development of micro-mechanical gyros made in the VI. CONCLUSIONS
"solid-state” concept, with an optical reading device. As we have seen throughout this review, the field of MEMS
At this time the manufacturing technology of very small and sensors is a rapidly evolving area of research and development
precise optical gyro is being perfected, but in the tele- with several micro-machined devices being successfully
communications industry there are already essential advances commercialized at this time. The motive to miniaturize sensors
in the field of integrated optics. IFOG is estimated to become primarily arises from the requirement that the best sensors
the dominant technology in the gyro field for strategic need to be designed to exchange minimal amount of energy
applications. with the measurement object, since this ensures minimal
In the high-performance applications field there is placed, as perturbation in measurements.
mentioned before, the technology based on atomic The use of MEMS micro-systems for space mission
interferometry (cold atom inertial sensors) [6], [10], [51]-[52]. applications has the potential to change completely the design
In present one can observe that the current applications are and development of future spacecraft guidance, navigation,
still dominated by electromechanical sensors, not only because and control systems. Their low cost, mass, power, and size,
of the high cost-performance ratio, but also because no other and mass production capability make MEMS guidance,
alternative technology had succeeded to surpass them, other navigation, and control sensors ideal for science and
than quartz resonators, with the latter being used in exploration missions that place a premium on increased
commercial and lower-grade tactical applications [10], [29]. performance and functionality in smaller and less expensive
Fig. 5 reflects the gyro technology at maturity. modular building block elements.

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Significant technological changes will blossom in the next [26] Systems Planning and Analysis, Inc. webpage: http://www.spa.com
[27] Systron Donner webpage: http://www.systron.com
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