High-Inter-Axial-Orthogonality Triaxial Gyroscope with Building-Block Sensors and Compensation Algorithm

We propose a triaxial gyroscope consisting of four building-block sensors and an algorithm for compensating for their mounting errors. The building-block sensors, which are orthogonally positioned and face each other, are composed of a non-rectangular metal block with an inclined face on which a Z-axis gyroscope is mounted. A prototype is fabricated to verify the working principle. The test results show that the inter-axial error reaches approximately 0.4° as the mounting error increases. The compensation algorithm reduces the inter-axial error to less than 0.2°. It is demonstrated that the proposed gyroscope incorporating this algorithm has high inter-axial orthogonality, making it suitable for autonomous driving applications.