Improved static error model of micromechanical gyroscope and calibration

It is one of main errors of gyroscope that the measure error of the angular velocity induced by static interference moment. In order to improve the anti-jamming ability and precision of gyroscope, in according to the static interference moment, the static errors are analyzed with analytics based on operating principle and structure of silicon micromechanical gyroscope droved by outer frame. The static error mathematical model of gyroscope is constructed combining experimentation and physical causes. The effect of each error is discussed. It is presented that the error item which relates with square of linear acceleration can't be calibrated by static multi-pose method. The improved static error mathematical model of MEMS gyroscope is presented. The experimental results show that the error average value and mean-square deviation of gyroscope compensated were improved 120.75 and 2.63 times respectively. The improved static error model provides theoretic basis for the accurate compensation of the gyroscope in the practical application and is applicable to other MEMS gyroscopes.