Disk resonator gyroscope with whole-angle mode operation

We present a demonstration of a whole-angle mode operation of a 0.6 mm single-crystal silicon disk resonator gyroscope (DRG). This device has a Q factor of ~80,000 and a resonant frequency of ~250 kHz and is fabricated in the epi-seal process. Discrete-time control algorithms for rate-integrating gyro operation were implemented based on Lynch's algorithm. Despite the fact that this DRG is over 5 orders of magnitude smaller than the 58 mm HRG, the device's error sources are shown to be accurately modeled by the basic error models developed by Lynch.