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The paper considers a method for systematic component correction of two coaxial gyroscope biases in motion under the most general assumptions about their models. This method allows combining heterogeneous MEMS and non-MEMS or optical gyroscopes into a single unit. The algorithm that implements this method requires initial calibration at the stop, for example, based on external information. Further, the algorithm uses the combined processing of data from the redundant sensors to provide more accurate angular rate of the so-called “virtual” gyroscope. The accuracy of the “virtual” gyroscope significantly exceeds the usual average value of these gyroscopes’ data. An application of the correction method to the measurement results of two coaxial metallic resonators' vibratory gyroscopes is given.
Chikovani et al. (Wed,) studied this question.