Microelectromechanical systems (MEMS) gyroscope sense frequency tracking
Microelectromechanical systems (MEMS) gyroscopes and related sense frequency tracking techniques are described. Various embodiments facilitate sense frequency tracking and offset and/or sensitivity change compensation. Exemplary embodiments can comprise receiving a sense signal at an output of a MEMS gyroscope and determining a sense resonant frequency of the sense signal. In addition, exemplary methods can comprise generating an input sine wave with a frequency of the sense resonant frequency of the sense signal injecting the input sine wave into the MEMS gyroscope, to facilitate sense frequency tracking.
1. A method, comprising:
receiving a sense signal at an output of a microelectromechanical systems (MEMS) gyroscope at a sense-to-sense feedback loop comprising the MEMS gyroscope sense signal path, wherein the output of the MEMS gyroscope is based at least in part on a displacement vector associated with the MEMS gyroscope;
determining a sense resonant frequency of the sense signal, comprising determining the sense resonant frequency using a frequency to digital converter that comprises using a digital phase locked loop comprising a phase detector, a digital loop filter, and a numerically controlled oscillator (NCO) configured to estimate the sense resonant frequency of the sense signal;
generating an input sine wave with a frequency of the sense resonant frequency of the sense signal; and
injecting the input sine wave into the MEMS gyroscope via the sense-to-sense feedback loop, comprising injecting the input sine wave into the MEMS gyroscope via the sense-to-sense feedback loop, wherein the sense-to-sense feedback loop initiates at the output of the MEMS gyroscope characterized by the displacement vector associated with the MEMS gyroscope and terminates at a digital to analog converter (DAC) that facilitates the injecting the input sine wave at an input of the MEMS gyroscope sense signal path.
2. The method of claim 1 , wherein the generating the input sine wave comprises modulating an output signal of the NCO with a function of a drive frequency associated with the MEMS gyroscope.
3. The method of claim 1 , further comprising:
detecting an output amplitude of the sense signal at a sense peak; and
regulating an input amplitude of the input sine wave injected into the MEMS gyroscope based at least in part on the output amplitude of the sense signal at the sense peak.
4. The method of claim 3 , wherein the regulating the input amplitude of the input sine wave injected into the MEMS gyroscope comprises controlling gain of the input sine wave injected into the MEMS gyroscope via an automatic gain control loop.
5. The method of claim 1 , further comprising:
determining that the sense resonant frequency is invalid via a vibration detection circuit.
6. The method of claim 5 , wherein the determining that the sense resonant frequency is invalid via the vibration detection circuit comprises determining with the vibration detection circuit that the output amplitude of the sense signal at the sense peak falls outside of a predetermined amplitude range for normal MEMS gyroscope operation.
7. An apparatus, comprising:
a microelectromechanical systems (MEMS) gyroscope having an electrode that can inject a force signal into the MEMS gyroscope via a sense-to-sense feedback loop comprising a gyroscope sense path configured to allow the detection of a sense signal at a sense peak;
a frequency to digital converter configured to determine, at an output of the MEMS gyroscope, a sense resonant frequency of the sense signal at the sense-to-sense feedback loop comprising the gyroscope sense path at the sense peak, wherein the output of the MEMS gyroscope is based at least in part on a displacement vector associated with the MEMS gyroscope;
a numerically controlled oscillator (NCO) of the frequency to digital converter configured to generate an output sine wave with a frequency of the sense resonant frequency of the sense signal; and
a digital to analog converter (DAC) configured to inject the output sine wave into the MEMS gyroscope at the electrode, wherein the sense-to-sense feedback loop comprising the gyroscope sense path initiates at the output of the MEMS gyroscope characterized by the displacement vector associated with the MEMS gyroscope and terminates at the DAC configured to inject the output sine wave at an input of the sense path.
8. The apparatus of claim 7 , wherein the frequency to digital converter comprises a phase detector, a digital loop filter, and the NCO, which is further configured to estimate the sense resonant frequency of the sense signal.
9. The apparatus of claim 8 , wherein an output of the NCO is modulated with a function of a drive frequency associated with the MEMS gyroscope to generate the output sine wave.
10. The apparatus of claim 9 , further comprising:
a vibration detection component configured to determine that the sense resonant frequency is invalid due to a determination of a detected vibration.
11. The apparatus of claim 10 , wherein the determination of a detected vibration comprises a determination that the input amplitude of the sense signal at the sense peak falls outside of a predetermined amplitude range for normal MEMS gyroscope operation.
12. The apparatus of claim 7 , further comprising:
an amplitude regulation component configured to detect an input amplitude of the sense signal at the sense peak and configured to regulate an output amplitude of the output sine wave injected into the MEMS gyroscope based at least in part on the input amplitude of the sense signal at the sense peak.
13. The apparatus of claim 12 , wherein the amplitude regulation component comprises an automatic gain control loop configured to control gain of the output sine wave injected into the MEMS gyroscope.