Gyroscopes

 Non-sensitive to magnetic disturbances

 => can be used also in environment where the magnetic field
is not available
 Mechanical gyroscopes
 based on conservation of momentum

 Measure the changes in linear- or angular momentum

 Optical gyroscopes
 no moving parts 

 Service free

 gravitation doesn’t affect

 no need for gimbal mounting

Jussi Suomela
 Gyroscopes
 There are two basic classes of rotation sensing gyros:
 Rate gyros

 the output is relative to the angular speed

 Rate integrating gyros

 Indicate the actual turn angle or heading

 The angle is relative => must be initiallly referenced

to a known orientation

Jussi Suomela
 Gyro performance
 Classification according to bias drift
 Rate grade 10 – 10000 deg/h
 Tactical grade 0,1 – 10 deg/h
 Navigation grade <0,01 deg/h
 Mechanical, optical (fog, laser ring),
MEMS (tuning fork, vibrating ring)
 Dynamic area: few Hz – 500Hz

Jussi Suomela
 Mechanical Gyroscopes
 Based on conservation of momentum
 Continuous angular movement
 Mm. flywheel gyroscope

 Oscillatory angular momentum

 Employ a torsionally suspended mass oscillating back and
forth at its natural frequency
 Continuous linear momentum
 Steady stream of fluid, plasma or electrons, which tend to
maintain its established velocity
 Oscillatory linear momentum
 a set of discret masses moving back and forth along a straight-
line path ( tai  ) (tuning-fork rate gyro)
In robotics most relevant are optical and MEMS

Jussi Suomela
 Mechanical Flywheel Gyroscope
 A rapidly spinning wheel The rate of precession  is
or sphere with big inertia proportional to the torque T
causes a gyroscopic applied to the rotating mass:
presession, when turned
T = Iwhere
 Rotor is rotated with
electrical motor T = applied input torque
 Rotor on supported by I = rotational inertia of rotor
low-friction bearings and = rotor spin rate
mounted in a gimbal
= rate of precession
 Both axis of the gimbal are
perpendicular to the
rotating axis

Jussi Suomela
 Gyrocompass
 special configuration of the rate integrating flywheel
gyroscope
 If spinning axis is along the meridian (noth-south) no tilting
(precession) occurs => if tilting occurs the axis is no more
along the meridian
 By adding a weight as gravity reference a two axis
gyroscope will become a north-seeking instrument
 The function is dependent upon four principles:
 Gyroscopic inertia

 Gyroscopic presession

 Earth’s rotation

 Earth’s gravitational pull

 Not suitable for robots (size, weight, price, initialization

time, shock and vibration sensitivitoes, power consumption
etc.)
Jussi Suomela
 Tuning-fork Gyro
 Mechanical tuning-fork gyro is one of the most popular
and low-cost gyroscopes in land-based mobile applications
 Simple

 Reliable

 The tines of a tuning-fork are oscillating towards and away

from one another (magnetic coils, piezoelectric oscillator)
 Any rotation of the gyro assembly about the vertical axis
caused induced Coriolis forces acting on the tines (in
horizontal plane) => this torsional vibration is proportional
to the rate of turn
 Possible vibrational elements: strings, triangular and
rectangular bars, cylinders and hemispheres

Jussi Suomela
 Systron Donner GyroChip
 Tuning-fork and support  Pick-up tines react to the
structure chemically etched vibrating torsional torque
from a single wafer of
 The vibration signal of pick-
Piezoelectric quartz
up tines is demodulated into
 upper (drive) tines are actively
a DC signal, which is
driven by an oscillator towards
and away from one another  proportional to the rotation
each tine will experience a rate
Coriolis force when fork is
rotated
 Coriolis forces cause a vibrating
torsional torque

Jussi Suomela
 Murata Gyrostar
 One axix piezoelectric rate gyro
 Ceramic elements symmetrically on a triangular metal bar
 bar is made to vibrate in the X-direction at its natural
frequency
 the rotation around Z-axis introduces a Coriolis force that
causes a vibration in Y-direction at the same frequency
 Rotation rate is proportional to the amplitude of the induced
vibration in Y-direction

Jussi Suomela
 Murata Gyrostar
 Triangular bar is made
to vibrate with piezo-
electric elements on
right and left
 the third element is a
feedback for the  Rotation rate is the difference
oscillator circuit between the drive elements
 For robotics
 the same drive
 power consuption, size,
elements measure the
induced Coriolis-force price => one of the most
used components
– drift (temperature,magnetic)
Jussi Suomela
 Optical Gyroscopes
 Most promising sensors in the mobile robotics in near future
 two laser beams are rotating opposite directions in a closed
loop
 when the beams are combined the rotation rate and direction
can be calculated from the interference fringes
 Five basic principles:
 Active optical resonator

 Passive optical resonator

 Open loop fibre optic interferometer (anal.)

 Closed loop fibre optic interferometer (digit.)

 Fibre optic resonator

Jussi Suomela
 Active Ring-laser Gyro
 Active optical resonator
 Resonator is a laser itself
(active)
 If gyro is rotated counter-
clock wise direction, the
counter-clock wise beam is
travelling slightly longer than
the opposite beam
 The change in the path length
is proportional to the rotation
rate
 In very small rotation rates
there is a dead-band because
of frequency lock-in
Jussi Suomela
 HONEYWELL MAPS
 Modular Azimuth Positioning System (MAPS)
 Complete stand-alone navigation system
 Three sub units:
 Dynamic Reference Unit (DRU)
• Inertial Sensor Assembly (ISA)
• Inertial processor
• Navigation processor
 Control and Display Unit (CDU)
 Vehicle motion sensor (VMS)

Jussi Suomela
 HONEYWELL MAPS
 VMS is optical incremental
encoder, which is connected
to vehicle’s odemeter cable
 Inertial Sensor Assembly
has three laser-ring
gyroscopes and three
acceleration sensors
 Inertial sensor pairs (gyro +  The initialization of heading
acceleration senasor) are is made by measuring the
located perpendicular to components of earth’s
each other rotation from stationary
vehicle

Jussi Suomela
 Kearfott Gyro
 New design of three axis
active optical resonator in
order to reduce size
 Six mirrors in the center of
cubic faces
 Three mutually orthogonal
laser-ring gyros which are
using the same mirrors
 Gyros are functionally
independent
 The whole structure inside a  No cross-talk between the
monolithic class ceramic axis was noticed in the tests
block

Jussi Suomela
 Passive Ring Resonators
 Laser source is outside of
the ring cavity 
 no frequency-lock
problem
 The passive structures also
eliminates the problems
arising from changes in the
gain of refraction of the
medium
 Changes in the gain change
the length of the optical
path
Jussi Suomela
 Open - Loop Interferometric Fiber -
Optic Gyro
 Polarization maintaining single-mode fiber is employed to
ensure the two counter-propagating beams in the loop
follow identical paths in the absence of rotation
 When gyro is rotated the rate of rotation is proportional
tohe phase shift between the beams (Sagnac phase shift)

Jussi Suomela
 Open - Loop Interferometric Fiber -
Optic Gyro
 low-price – very long single mode fiber
 not sensitive to shocks and – the dynamic area is small
vibrations comparing to ring-laser
 not sensitive to gravity nor gyros
accelerations – drift caused by the analog
 short initialization time components
 good sensitivity  Suitable for low-cost
 the geometry of the fiber applications where best
coil is not critical performance is not required
 Heading of (robots, cars)
 no need to control the
length of the optical path  Tilt and roll sensing

Jussi Suomela
 Hitachi Fiber - Optic Gyro
 Hitachi Cable Ltd. is manufacturing one-axis open loop fiber optic
gyroscopes
 Hitachi gyros are used in mobile robotics and automotive applications
 Demonstrated Gyro Hitachi FOG-X
 Drift ~ 5 deg/hour

Jussi Suomela
 Closed - Loop Interferometric Fiber -
Optic Gyro
 For more sophisticated applications like aircraft navigation
 Digital signal processing is more complicated than analog,
which is used in open – loop systems
 Benefit comparing to open – loop systems:
Not sensitive to light source intensity variations
Not sensitive to gains of single components=>very small
drift ~ 0,001 – 0,01deg/h
Linearity and stability depend only from the phase
transducer

Jussi Suomela
 Resonant Fiber - Optic Gyros
 Developed from Passive
Ring Resonators
 A passive Resonant cavity
is formed from multiturn
closed loop of optical fiber
 Frequency modulated light
is injected from input
coupler
 reliable
– highly coherent laser
source
 Long life
 Short initialization time
– extremely low-loss
fiber components
 Light
 small amount of fiber
Jussi Suomela
 Acceleration Sensors
 Moving mass
 capacitive, inductive, resistive
 Integrated Circuit
 Gravity is the problem
 Can be used for gravity sensing as a static
position sensor.

Jussi Suomela
 ADXL-acceleration sensors
 built on a single
monolithic IC
 two capacitor plates
series connected form
a capacitive divider
with the moving center
plate which is
connected to the
moving mass

Jussi Suomela
 ADXL-acceleration sensors
 sensor plates are driven
differentially (180 phase
shift) by a 1MHz square
wave
 when sensor is in rest the
centerplate output is zero
 when accelerated the
centerplate moves and
creates a mismatch
between the two
capacitances
 output amplitude varies as
function of the
acceleration
Jussi Suomela