Rates and temperature optimized measurement planning for triaxial gyroscopes calibration

• Published in: Sensors and actuators. A. Physical. Vol. 389; p. 116387
• Main Authors: Meirovich, Eden, Choukroun, Daniel
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.08.2025
• Subjects: Observability Gramian; Optimized thermal calibration; Triaxial gyroscopes; Optimized thermal calibration; Observability Gramian; Triaxial gyroscopes
• ISSN: 0924-4247
• DOI: 10.1016/j.sna.2025.116387

This work is concerned with the optimization of triaxial gyroscopes’ thermal calibration. Previous works mostly focused on advanced modeling and estimation techniques while assuming standard time profiles of the angular rates and temperature measurements, typically steps or piecewise-linear, that span the whole operational range. As a result, calibration tests are long and costly processes and not as efficient as they could be. In this work, we introduce a systematic approach to conducting a calibration experiment more efficiently. The calibration experiment is designed to maximize its accuracy by choosing the best combination of temperature and angular rate measurement planning. This is achieved by maximizing the determinant of the observability Gramian associated with the gyro error model, subject to constraints due to the turntable and thermal chamber operational limits. The outcome is an optimized measurement planning that provides the best accuracy for a given calibration time. Numerical and experimental results on a Coriolis vibratory gyro show that the optimized approach outperforms a standard temperature ramp profile, by up to one order of magnitude in the angular rate prediction error. [Display omitted] •A methodology to enhance the accuracy of triaxial gyroscopes’ thermal calibration.•An observability-optimal planning of temperature and angular rates measurements.•A constrained maximization subject to turntable and thermal chamber limitations.•Experimental calibrated residuals are smaller and less sensitive to temperature.