A Sub-0.2$^{circ}/$ hr Bias Drift Micromechanical Silicon Gyroscope With Automatic CMOS Mode-Matching

This paper describes a system architecture and CMOS implementation that leverages the inherently high mechanical quality factor (Q) of a MEMS gyroscope to improve performance. The proposed time domain scheme utilizes the often-ignored residual quadrature error in a gyroscope to achieve, and maintain, perfect mode-matching (i.e., $sim$0 Hz split between the high-Q drive and sense mode frequencies), as well as electronically control the sensor bandwidth. A CMOS IC and control algorithm have been interfaced with a 60 $mu{hbox {m}}$ thick silicon mode-matched tuning fork gyroscope $({rm M}^{2}mathchar"707B {rm TFG})$ to implement an angular rate sensing microsystem with a bias drift of 0.16$^{circ}/{hbox{hr}}$. The proposed technique allows microsystem reconfigurability—the sensor can be operated in a conventional low-pass mode for larger bandwidth, or in matched mode for low-noise. The maximum achieved sensor Q is 36,000 and the bandwidth of the microsensor can be varied between 1 to 10 Hz by electronic control of the mechanical frequencies. The maximum scale factor of the gyroscope is 88 ${hbox{mV}}/^{circ}/{hbox{s}}$ . The 3$~$ V IC is fabricated in a standard 0.6 $ mu{hbox {m}}$ CMOS process and consumes 6 mW of power with a die area of 2.25 ${hbox {mm}}^{2}$.