mHRG: Miniature CVG with beyond navigation grade performance and real time self-calibration

This paper reports two new milestones in the development of miniaturized Coriolis Vibratory Gyroscopes (CVG) with beyond navigation grade performance. Firstly, a small size and low parts count milli-Hemispherical Resonator Gyroscope (mHRG) based on a drastically simplified production unit is demonstrated with measured 0.00025 deg/rt-hr ARW and 0.005 deg/hr bias. Secondly, real time self-calibration is validated using a dual mHRG system achieving strategic grade stability of 0.001 deg/hr over days of time and over temperature. We believe results of this work provide a valuable state of the art reference to both the inertial and MEMS communities pursuing next generation CVG architectures, designs, and self-calibration.