Mems Based Digital Gyroscope

Design Phase Project Report
MEMS BASED DIGITAL GYROSCOPE
Submitted in partial fulfillment for the award of the Degree of

Bachelor of Technology in Electronics and Communication Engineering
Submitted by
ASHIK A S
ALFIYA KAMAL
ARCHA M S
MUBEENA M
(Roll No.10415013)
(Roll No.10415063)
(Roll No.10415067)
(Roll No.10415081)
Under the guidance of
Mrs. SABEENA S
Department of Electronics and Communication Engineering

MUSLIM ASSOCIATION COLLEGE OF ENGINEERING
VENJARAMOODU,TRIVANDRUM ,KERALA
OCTOBER-NOVEMBER 2013
Design Phase Project Report
MEMS BASED DIGITAL GYROSCOPE
Submitted in partial fulfillment for the award of the Degree of

Bachelor of Technology in Electronics and Communication Engineering
Submitted by
ASHIK A S
ALFIYA KAMAL
ARCHA M S
MUBEENA M
(Roll No.10415013)
(Roll No.10415063)
(Roll No.10415067)
(Roll No.10415081)
Under the guidance of
Mrs. SABEENA S
Department of Electronics and Communication Engineering

MUSLIM ASSOCIATION COLLEGE OF ENGINEERING
VENJARAMOODU,TRIVANDRUM ,KERALA
OCTOBER-NOVEMBER 2013
CERTIFICATE
This is to certify that the thesis entitled MEMS BASED DIGITAL

GYROSCOPE is a bonafide record of design phase project work done by ASHIK A S
(Roll No.10415013) under our supervision and guidance, in partial fulfillment for the
award of Degree of Bachelor of Technology in Electronics and Communication
Engineering from the University of Kerala for the year 2013.
Mrs. SAJITHA P
(Coordinator)
Asst. Professor
Mrs. SABEENA S
(Guide)
Asst. Professor
Dept. of ECE
Dept. of ECE
Dr. IBRAHIM SADHAR

Head
Dept. of ECE
Place:
Date:
ACKNOWLEDGEMENT
First and foremost, I wish to place on record my ardent and earnest gratitude to
my project guide Mrs. SABEENA, Assistant Professor, Department of Electronics and
communication Engineering. Her tutelage and guidance was the leading factor in
translating my efforts to fruition. Her prudent and perspective vision has shown light on
my trail to triumph.
I am extremely happy to mention a great word of gratitude to Dr. IBRAHIM

SADHAR, Head of the Department of Electronics and communication Engineering for
providing me with all facilities for the completion of this work.
Finally yet importantly, I would like to express my gratitude to my project

coordinator Mrs. SAJITHA P, for her valuable assistance provided during the course of
this work.
I would also extend my gratefulness to all the staff members in the Department. I
also thank all my friends and well-wishers who greatly helped me in my endeavour.
ASHIK A S
ABSTRACT
A gyroscope is a device for measuring or maintaining orientation, based

on the principles of angular momentum. A vibrating structure gyroscope or "Coriolis
Vibratory Gyroscope (CVG)" is a wide group of gyroscope using solid-state resonators of
different shapes that functions much like the halters of an insect. The underlying physical
principle is that a vibrating object tends to continue vibrating in the same plane as its
support rotates.
MEMS based ADXRS450 is an angular rate sensor (gyroscope) intended
for industrial, medical, instrumentation, stabilization, and other high performance
applications. An advanced, differential, quad sensor design rejects the influence of linear
acceleration, enabling the ADXRS450 to operate in exceedingly harsh environments
where shock and vibration are present. The ADXRS450 is capable of sensing angular rate
of up to 300/sec. Angular rate data is presented as a 16-bit word, as part of a 32-bit SPI
message.
In this project ADXRS450 MEMS gyroscope is used to measure the
angular spinning rate of a spinning sounding rocket. This helps in understanding the
stability of the sounding rocket. The circuit uses a PIC microcontroller to control and
guide the operations of the ADXRS450 sensor. MAX232 and RS232 interfaces are used
for communication with Labview software for graphical evaluation.
CONTENTS
Chapter no:
TITLE
Page no:
List of abbreviations
iii
List of figures
iv
List of tables
vi
INTRODUCTION
HISTORY OF GYROSCOPES
TYPES OF GYROSCOPES
3.1
Mechanical Gyroscope
3.2
Piezoelectric Gyroscope
3.3
Optical Gyroscope
3.4
Active Ring Laser Gyroscope
10
3.5
Passive Ring Resonator Gyroscope
10
3.6
Closed-Loop Interferometric Fiber Optic Gyroscope
11
3.7
Dynamically Tuned Gyroscope
11
3.8
London Movement Gyroscope
11
3.9
MEMS Gyroscope
12
MECHANICAL GYROSCOPE
13
4.1
Space Stable Gyroscope
14
4.2
Gyrocompasses
15
THE CORIOLIS FORCE
16
MEMS GYROSCOPE
18
6.1
Challenges in Fabrication
23
6.2
Challenges in Packaging
24
SOUNDING ROCKET
25
PROPOSED APPROACH
29
8.1
Block Diagram of Project
HARDWARE DESCRIPTION
9.1
Sensor ADXRS450
32
34
34
9.1.1
SOIC-V Package details
35
9.1.2
Pin Description
36
9.1.3
LCC-V Package details
37
9.1.4
Pin Description
38
9.1.5
Evaluation Board for ADXRS450
40
9.2
PIC 18F6520
41
9.2.1
Features of PIC 18F6520
41
9.2.2
Pin Out
44
9.3
MAX 232
45
9.4
RS 232
47
9.4.1
DB-9 USB Modules
49
10
SOFTWARE IMPLEMENTATION
50
11
FUTURE WORK
53
12
REFERENCE
54
ii
List of Abbreviations
MEMS
Micro Electro Mechanical Systems
TEDCO
Technology Development Corporation
ICBM
Intel Chip Based MacIntosh
RPM
Revolutions per Minute
QFN
Quad Flat no Lead
NASA
National Aeronautics and Space Administration
ADXRS
Angular Dynamic Rate Sensor
PIC
Programmable Interrupt Controller
RS
Recommended Standard
SPI
Serial Peripheral Interface
MAX
Maxim Company Name
USART
Universal Synchronous and Asynchronous

Receiver and Transmitter
PWM
Pulse Width Modulator
EIA
Electronic Industries Association
DTE
Data Terminal Equipment
DCE
Data Communication Equipment
POS
Point Of Scale
USB
Universal Serial Bus
iii
List of Figures
Figure no:
TITLE
Page no:
2.1
An earlier Gyroscope
2.2
Gyroscope housing of Gravity Probe B
3.1
Mechanical Gyroscope
3.2
Piezoelectric Gyroscope
3.3
Optical Gyroscopes
10
4.1
Two axis mechanical gyroscopes
14
6.1
X-axis gyroscope driven mode
20
6.2
X axis Gyroscope
21
6.3
Z Gyroscope
22
6.4
Vibration Gyroscope
22
6.5
Various design options
23
6.6
MEMS Gyroscope Products
24
7.1
Sounding rockets
26
8.1
Pitch Roll and Yaw Axes
31
8.2
Project Block Diagram
32
9.1
SOIC-V 2 & LCC-V Package
35
9.2
Pin out and Application Diagram
35
9.3
Incorrectly Mounted Gyroscope
37
9.4
Pin out And Application Diagram
37
9.5
Gyroscope structure
39
9.6
ADXRS450 chip structure
39
iv
9.7
Evaluation board
40
9.8
Pin Out of 64 Pin PIC18F6520
44
9.9
MAX232 Chip
45
9.10
TTL converter
46
9.11
MAX232 Die
46
9.12
A DB-25 Connector
48
9.13
DB-9 USB Family
49
10.1
Front Panel of LabVIEW
51
10.2
Block Diagram and Corresponding Front Panel
52
List of Tables
Table no:
TITLE
Page no:
9.1
Pin description of SOIC-V package
36
9.2
Pin description of LCC-V package
38
vi
Design Phase Report 2013
MEMS based Digital Gyroscope
CHAPTER 1
INTRODUCTION
The properties of gyroscopes can be found in heavenly bodies in motion, artillery
projectiles in motion, turbine rotors, different mobile installations on ships, aircraft
propeller rotating, etc. The modern technique of gyroscopes is an essential element of
powerful gyroscopic devices and accessories used for the automatic control of the
movement of aircraft, missiles, ships, torpedoes, etc. They are used in navigation to
stabilize the movement of ships in a seaway, to change their direction or the direction of
angular and translatory velocity projectiles, and for many other special purposes. There
are many devices applied in the military, and their design is based on the principles of
gyroscopes. Technical applications of gyros today are so manifold and diverse that there
is a need to get out of the general theory of gyroscopes and to allocate a separate
discipline called "applied theory of gyroscopes." A gyroscope is a part of many scientific
and transportation-related instruments including compasses, mechanisms that steer
torpedoes toward their targets, equipment that keeps large ships such as aircraft carriers
from rolling on the waves, automatic pilots on airplanes and ships as well as systems that
guide missiles and spacecraft, relative to the Earth (i.e., inertial guidance systems).
The characteristic of the gyroscope to keep the direction was used in many fields
of mechanical engineering, mining, aviation, navigation, military industry and celestial
mechanics. Gyroscopes are very important parts of instruments for aircraft, rockets,
missiles, transport vehicles and many weapons. This gives them a significant role and
needs to be under the strict control of the design and inner functioning because in case of
damage it could lead to catastrophic consequences. A gyroscope (gyro, top) is a
homogeneous, axis-symmetric rotating body that rotates at high angular velocity about its
axis of symmetry. Today, it is one of the most important inertial sensors measuring
angular velocities and small angular disturbances or angular displacement around the
reference axis. Gyroscopes for measuring angular velocity are called rate gyroscopes, and
Dept. of ECE
MACE, Venjaramoodu
when they measure small angular disturbances they are called rate integrating
gyroscopes.
This design phase project report deals with the origin and history of gyroscopes. It
then goes on to various types of gyroscopes presently used. One of the primarily and
widely used gyroscopes are mechanical gyroscopes. This report then discuss upon the
MEMS gyroscope which is finding applications in many sophisticated fields. The
fabrication and packaging challenges of MEMS gyroscopes are also discussed.
This project use MEMS gyroscope in a spinning sounding rocket to measure its
spin rate. The report then explains about sounding rockets and why spinning is essential
for a rocket. It then explains the typical block diagrammatic representation of the
intended project. Finally the description of various components used in the project is
briefly explained.
Dept. of ECE
MACE, Venjaramoodu

CHAPTER 2
HISTORY OF GYROSCOPES
In early times, people discovered the spinning top, a toy with a unique ability to
balance upright while rotating rapidly. Ancient Greek, Chinese and Roman societies built
tops for games and entertainment. The Maori in New Zealand have used humming tops,
with specially-crafted holes, in mourning ceremonies. In 14th century England, some
villages had a large top constructed for a warming-up exercise in cold weather. Tops
were even used in place of dice, like the die in the contemporary fantasy game Dungeons
& Dragons. It was not until the late 18th and early 19th centuries that scientists and
sailors began attempting to use spinning tops as a scientific tool. At that time, sailors
relied on sextants for navigation, measuring the angle between specific stars and the
horizon. This method was limited, however, if choppy seas or fog obscured the true
horizon, or clouds obscured the stars.
Serson, an English scientist, noted in the 1740's that the spinning top had a
tendency to remain level, even when the surface on which it rested was tilting. He
suggested that sailors could use it as an artificial horizon on ships. Unfortunately, when
Serson went to sea to test this idea the ship sank and everyone was lost. A French
scientist in the 19th Century, Fleuriais, created a top that was continuously powered by
air jets blowing into mini-buckets on the rim of the wheel - a process that has been used
for thousands of gyros since.
The first modern gyroscope was designed in 1810 by G.C. Bohnenberger. It was
made with a heavy ball instead of a wheel, but since it had no scientific application, it
faded into history. In the mid-19th century, the spinning top acquired the name,
"gyroscope," though not through its use as a navigation tool. French scientist Leon
Foucault had experimented with a long, heavy pendulum in an attempt to observe the
rotation of the Earth. The pendulum was set swinging back and forth along the northsouth plane, while the Earth turned beneath it.
Dept. of ECE
MACE, Venjaramoodu
Foucault corroborated the observation by using a spinning top in a similar

manner. He placed a wheel, rotating at high-speed, in a supporting ring in such a way that
the axis of the spinning wheel could move independently of the ring. In fact, the
supporting ring moved over the course of a day, as it was connected to the surface of the
rotating Earth. The axis of the wheel remained pointed in its original direction,
confirming that the Earth was rotating in a twenty-four hour period. Foucault named his
spinning wheel a "gyroscope", from the Greek words "gyros" (revolution) and "skopein"
(to see); he had seen the revolution of the Earth with his gyroscope. Fifty years later
(1898) Austrian Ludwig Obry patented a torpedo steering mechanism based on
gyroscopic inertia. It consisted of a little bronze wheel weighing less than 1.5 pounds that
was spun by an air jet.
Fig 2.1 An earlier Gyroscope

In the 1860s, the advent of electric motors made it possible for a gyroscope to
spin indefinitely; this led to the first prototype heading indicators and, quite more
complicated devices, first gyrocompasses. The first functional gyrocompass was patented
in 1904 by German inventor Hermann Anschtz-Kaempfe. The American Elmer Sperry
followed with his own design later that year, and other nations soon realized the military
Dept. of ECE
MACE, Venjaramoodu
importance of the inventionin an age in which naval prowess was the most significant
measure of military powerand created their own gyroscope industries. The Sperry
Gyroscope Company quickly expanded to provide aircraft and naval stabilizers as well,
and other gyroscope developers followed suit.
In 1917, the Chandler Company of Indianapolis, created the "Chandler
gyroscope", a toy gyroscope with a pull string and pedestal. Chandler continued to
produce the toy until the company was purchased by TEDCO inc. in 1982. The chandler
toy is still produced by TEDCO today.
In the first several decades of the 20th century, other inventors attempted
(unsuccessfully) to use gyroscopes as the basis for early black box navigational systems
by creating a stable platform from which accurate acceleration measurements could be
performed (in order to bypass the need for star sightings to calculate position). Similar
principles were later employed in the development of inertial guidance systems for
ballistic missiles.
During World War II, the gyroscope became the prime component for aircraft and
anti-aircraft gun sights. After the war, the race to miniaturize gyroscopes for guided
missiles and weapons navigation systems resulted in the development and manufacturing
of so-called midget gyroscopes that weighed less than 85g and had a diameter of
approximately 2.5 cm. Some of these miniaturize gyroscopes could reach a speed of
24,000 revolutions per minute in less than 10 seconds.
In the early 20th Century, Elmer A. Sperry developed the first automatic pilot for
airplanes using a gyroscope, and installed the first gyrostabilizer to reduce roll on ships.
While gyroscopes were not initially very successful at navigating ocean travel, navigation
is their predominant use today. They can be found in ships, missiles, airplanes, the Space
Shuttle, and satellites.
3-axis MEMS-based gyroscopes are also being used in portable electronic devices
such as Apple's current generation of iPad, iPhone and iPod touch. This adds to the 3axis acceleration sensing ability available on previous generations of devices. Together
these sensors provide 6 component motion sensing; acceleration for X, Y, and Z
Dept. of ECE
MACE, Venjaramoodu
movement, and gyroscopes for measuring the extent and rate of rotation in space (roll,
pitch and yaw).
A gyroscope exhibits a number of behaviors including precession and nutation.
Gyroscopes can be used to construct gyrocompasses, which complement or replace
magnetic compasses (in ships, aircraft and spacecraft, vehicles in general), to assist in
stability (Hubble Space Telescope, bicycles, motorcycles, and ships) or be used as part of
an inertial guidance system. Gyroscopic effects are used in tops, boomerangs, yo-yos, and
Powerballs. Many other rotating devices, such as flywheels, behave in the manner of a
gyroscope, although the gyroscopic effect is not being used.
Gravity Probe B has made one of the most sophisticated and accurate gyroscopes
in the world to measure the shape and motion of local space time. Yet, their gyroscopes
have much in common with the simplest toy tops that children have played with for
centuries. The spinning top retains its balance through a physical phenomenon called
"precession". Without this phenomenon, there would be no toy tops or Gravity Probe B.
Fig 2.2 Gyroscope housing of Gravity Probe B
Dept. of ECE
MACE, Venjaramoodu
A gyroscope is a device for measuring or maintaining orientation, based on the

principles of angular momentum. Mechanically, a gyroscope is a spinning wheel or disc
in which the axle is free to assume any orientation. Although this orientation does not
remain fixed, it changes in response to an external torque much less and in a different
direction than it would without the large angular momentum associated with the disc's
high rate of spin and moment of inertia. The device's orientation remains nearly fixed,
regardless of the mounting platform's motion, because mounting the device in a gimbal
minimizes external torque.
Gyroscopes based on other operating principles also exist, such as the electronic,
microchip-packaged MEMS gyroscope devices found in consumer electronic devices,
solid-state ring lasers, fiber optic gyroscopes, and the extremely sensitive quantum
gyroscope.
Applications of gyroscopes include inertial navigation systems where magnetic
compasses would not work (as in the Hubble telescope) or would not be precise enough
(as in ICBMs), or for the stabilization of flying vehicles like radio-controlled helicopters
or unmanned aerial vehicles. Due to their precision, gyroscopes are also used in gyro
theodolites to maintain direction in tunnel mining.
Dept. of ECE
MACE, Venjaramoodu
CHAPTER 3
TYPES OF GYROSCOPES
3.1 Mechanical Gyroscope

The mechanical gyroscope, a well-known and reliable rotation sensor based on
the inertial properties of a rapidly spinning rotor, has been around since the early 1800s.
The first known gyroscope was built in 1810 by G.C Bohnenberger of Germany. In 1852,
the French physicist Leon Foucault showed that a gyroscope could detect the rotation of
the earth. Within mechanical systems or devices, a conventional gyroscope is a
mechanism comprising a rotor journal led to spin about one axis, the journals of the rotor
being mounted in an inner gimbal or ring; the inner gimbal is journal led for oscillation in
an outer gimbal for a total of two gimbals. The outer gimbal or ring, which is the
gyroscope frame, is mounted so as to pivot about an axis in its own plane determined by
the support. This outer gimbal possesses one degree of rotational freedom and its axis
possesses none. The next inner gimbal is mounted in the gyroscope frame (outer gimbal)
so as to pivot about an axis in its own plane that is always perpendicular to the pivotal
axis of the gyroscope frame (outer gimbal). This inner gimbal has two degrees of
rotational freedom.
Fig 3.1: Mechanical Gyroscope
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MACE, Venjaramoodu
3.2 Piezoelectric Gyroscope

Piezoelectric vibrating gyroscopes use Coriolis forces to measure rate of rotation.
In one typical design three piezoelectric transducers are mounted on the three sides of a
triangular prism. If one of the transducers is excited at the transducer's resonance
frequency (in the Gyrostat it is 8 kHz), the vibrations are picked up by the two other
transducers at equal intensity. When the prism is rotated around its longitudinal axis, the
resulting Coriolis force will cause a slight difference in the intensity of vibration of the
two measuring transducers. The resulting analog voltage difference is an output that
varies linearly with the measured rate of rotation.
Fig 3.2: Piezoelectric Gyroscope
3.3 Optical Gyroscope

Optical rotation sensors have now been under development as replacements for
mechanical gyros for over three decades. With little or no moving parts, such devices are
virtually maintenance free and display no gravitational sensitivities, eliminating the need
for gimbals. Fueled by a large market in the automotive industry, highly linear fiber-optic
versions are now evolving that have wide dynamic range and very low projected costs.
The basic device consists of two laser beams traveling in opposite directions (counter
propagating) around a closed-loop path. The constructive and destructive interference
patterns formed by splitting off and mixing parts of the two beams can be used to
determine the rate and direction of rotation of the device itself.
Dept. of ECE
MACE, Venjaramoodu
Fig 3.3: Optical Gyroscopes
3.4 Active Ring Laser Gyroscope

The active optical resonator configuration, more commonly known as the ring
laser gyro, solves the problem of introducing light into the doughnut by filling the cavity
itself with an active lazing medium, typically helium-neon. There are actually two beams
generated by the laser, which travel around the ring in opposite directions. If the gyro
cavity is caused to physically rotate in the counterclockwise direction, the
counterclockwise propagating beam will be forced to traverse a slightly longer path than
under stationary conditions. Similarly, the clockwise propagating beam will see its
closed-loop path shortened by an identical amount. This phenomenon, known as the
Sagnac effect, in essence changes the length of the resonant cavity.
3.5 Passive Ring Resonator Gyroscope

The passive ring resonator gyro makes use of a laser source external to the ring
cavity, and thus avoids the frequency lock-in problem which arises when the gain
medium is internal to the cavity itself. The passive configuration also eliminates
problems arising from changes in the optical path length within the interferometer due to
variations in the index of refraction of the gain medium. The theoretical quantum noise
limit is determined by photon shot noise and is slightly higher (worse) than the theoretical
limit seen for the active ring-laser gyroscope. The fact that these devices use mirrored
Dept. of ECE
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MACE, Venjaramoodu
resonators patterned after their active ring predecessors means that their packaging is
inherently bulky. However, fiber-optic technology now offers a low volume alternative.
The fiber-optic derivatives also allow longer length multi-turn resonators, for increased
sensitivity in smaller, rugged, and less expensive packages.
3.6 Closed-Loop Interferometric Fiber Optic Gyroscope

This new implementation of a fiber-optic gyro provides feedback to a frequency
or phase shifting element. The use of feedback results in the cancellation of the
rotationally induced Sagnac phase shift. However, closed-loop digital signal processing is
considerably more complex than the analog signal processing employed on open-loop
IFOG configurations. It now seems that the additional complexity is justified by the
improved stability of the gyroscope closed-loop IFOGs are now under development with
drifts in the 0.001 to 0.01/ hour range, and scale-factor stabilities greater than 100 ppm
(parts per million).
3.7 Dynamically Tuned Gyroscope

A dynamically tuned gyroscope (DTG) is a rotor suspended by a universal joint
with flexure pivots. The flexure spring stiffness is independent of spin rate. However, the
dynamic inertia (from the gyroscopic reaction effect) from the gimbal provides negative
spring stiffness proportional to the square of the spin speed. Therefore, at a particular
speed, called the tuning speed, the two moments cancel each other, freeing the rotor from
torque, a necessary condition for an ideal gyroscope.
3.8 London Movement Gyroscope

A London moment gyroscope relies on the quantum-mechanical phenomenon,
whereby a spinning superconductor generates a magnetic field whose axis lines up
exactly with the spin axis of the gyroscopic rotor. A magnetometer determines the
orientation of the generated field, which is interpolated to determine the axis of rotation.
Gyroscopes of this type can be extremely accurate and stable. For example, those used in
the Gravity Probe B experiment measured changes in gyroscope spin axis orientation to
Dept. of ECE
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MACE, Venjaramoodu
better than 0.5milli arc seconds (1.4107 degrees) over a one-year period. This is
equivalent to an angular separation the width of a human hair viewed from 32 kilometers
away.
The GP-B gyroscope consists of a nearly-perfect spherical rotating mass made of
fused quartz, which provides a dielectric support for a thin layer of niobium
superconducting material. To eliminate friction found in conventional bearings, the rotor
assembly is centered by the electric field from six electrodes. After the initial spin-up by
a jet of helium which brings the rotor to 4,000 RPM, the polished gyroscope housing is
evacuated to an ultra-high vacuum to further reduce drag on the rotor. Provided the
suspension electronics remain powered, the extreme rotational symmetry, lack of friction,
and low drag will allow the angular momentum of the rotor to keep it spinning for about
15,000 years.
3.9 MEMS Gyroscope

A MEMS gyroscope takes the idea of the Foucault pendulum and uses a vibrating
element, known as MEMS (Micro Electro-Mechanical System). The MEMS-based gyro
was initially made practical and producible by Systron Donner Inertial (SDI). Today, SDI
is a large manufacturer of MEMS gyroscopes. Inexpensive vibrating structure gyroscopes
manufactured with MEMS technology have become widely available. These are
packaged similarly to other integrated circuits and may provide either analog or digital
outputs. In many cases, a single part includes gyroscopic sensors for multiple axes. Some
parts incorporate multiple gyroscopes and accelerometers or multiple axis gyroscopes and
accelerometers, to achieve output that has six full degrees of freedom. These units are
called inertial measurement units, or IMUs.
Dept. of ECE
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MACE, Venjaramoodu
CHAPTER 4
MECHANICAL GYROSCOPE
A gyroscope is defined as a rigid rotating object, symmetric about one axis.

Generations of children, back at least to Greek antiquity, have found fascination in the
behavior of tops, to give the gyroscope its common name. A number of eminent
physicists have also found the complex behavior of spinning objects a matter of interest
and a fit subject for detailed analysis. More recently, very carefully engineered
gyroscopes were used for navigation because the axis of spin points in a nearly fixed
direction when external torques is small. This makes the gyroscope a good replacement
for a magnetic compass, particularly in regions where magnetic compasses are unreliable.
To start the gyroscope, let us hold the axis fixed and set the rate of spin to the
desired value. The axis then moved at the precession speed and released, the motion will
be a smooth precession. If, instead, the axis is released from rest the tip will trace out
small 'scallop' or looping motions, superimposed on the overall precession. This is called
nutation, and arises from conservation of mechanical energy. The precessional motion
represents additional kinetic energy, relative to the state with the axis fixed. Since is
constant (frictionless bearing), the additional kinetic energy must come from a loss of
gravitational potential. In other words, the center of mass must fall a little bit, tipping the
axis of rotation, in order for the top to precess. If the spin is rapid, the drop is small, and
the precession is affected only slightly. Overall, the tip of the axis bounces up and down a
little, and the precessional speed varies a little. If the spin is not fast enough then the
character of the motion changes drastically, but that is a complicated story.
4.1 Space Stable Gyroscopes

The earths rotational velocity at any given point on the globe can be broken into
two components: one that acts around an imaginary vertical axis normal to the surface,
and another that acts around an imaginary horizontal axis tangent to the surface. These
two components are known as the vertical earth rate and the horizontal earth rate,
Dept. of ECE
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MACE, Venjaramoodu
respectively. At the North Pole, for example, the component acting around the local
vertical axis (vertical earth rate) would be precisely equal to the rotation rate of the earth,
or 15/hr. The horizontal earth rate at the pole would be zero. As the point of interest
moves down a meridian toward the equator, the vertical earth rate at that particular
location decreases proportionally to a value of zero at the equator. Meanwhile, the
horizontal earth rate, (i.e., that component acting around a horizontal axis tangent to the
earths surface) increases from zero at the pole to a maximum value of 15/hour at the
equator. There are two basic classes of rotational sensing gyros:
1) Rate gyros, which provide a voltage or frequency output signal
proportional to the turning rate, and
2) Rate integrating gyros, which indicate the actual turn angle.
A typical gyroscope configuration is shown below. The electrically driven rotor is
suspended in a pair of precision low-friction bearings at either end of the rotor axle. The
rotor bearings are in turn supported by a circular ring, known as the inner gimbal ring;
this inner gimbal ring pivots on a second set of bearings that attach it to the outer gimbal
ring. This pivoting action of the inner gimbal defines the horizontal axis of the gyro,
which is perpendicular to the spin axis of the rotor as shown. The outer gimbal ring is
attached to the instrument frame by a third set of bearings that define the vertical axis of
the gyro.
Fig 4.1 Two axis mechanical gyroscopes
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MACE, Venjaramoodu
The vertical axis is perpendicular to both the horizontal axis and the spin axis.
Notice that if this configuration is oriented such that the spin axis points east-west, the
horizontal axis is aligned with the north-south meridian. Since the gyro is space-stable
(i.e., fixed in the inertial reference frame), the horizontal axis thus reads the horizontal
earth rate component of the planets rotation, while the vertical axis reads the vertical
earth rate component. If the spin axis is rotated 90 degrees to a north-south alignment, the
earths rotation does not affect the gyros horizontal axis, since that axis is now
orthogonal to the horizontal earth rate component.
4.2 Gyrocompasses
The gyrocompass is a special configuration of the rate integrating gyroscope,
employing a gravity reference to implement a north-seeking function that can be used as
a true-north navigation reference. This phenomenon, first demonstrated in the early 1800s
by Leon Foucault, was patented in Germany by Herman Anschutz-Kaempfe in 1903 and
in the U.S. by Elmer Sperry in 1908. The U.S. and German navies had both introduced
gyrocompasses into their fleets by 1911. The north-seeking capability of the gyrocompass
is directly tied to the horizontal earth rate component measured by the horizontal axis. As
mentioned earlier, when the gyro spin axis is oriented in a north-south direction, it is
insensitive to the earth's rotation, and no tilting occurs. From this it follows that if tilting
is observed, the spin axis is no longer aligned with the meridian. The direction and
magnitude of the measured tilt are directly related to the direction and magnitude of the
misalignment between the spin axis and true north.
Numerous mechanical gyroscopes are available on the market. Typically, these
precision machined gyros can cost between $10,000 and $100,000. Lower cost
mechanical gyros are usually of lesser quality in terms of drift rate and accuracy.
Mechanical gyroscopes are rapidly being replaced by modern high-precision and
recently low-cost fiber-optic gyroscopes. MEMS based gyroscopes are also being
widely used due to their small size at the tradeoff in precision.
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CHAPTER 5
THE CORIOLIS FORCE
It is observed that the sun moves across our sky, having risen in the east, bound to
set in the west. As a consequence, the amount of solar radiation received at the surface
varies during the calendar day, reaching a peak around local noon, being entirely absent
at night. The diurnal variation of heating drives local circulations, such as the sea- and
land-breeze. Striking optical phenomena like red suns and green flashes occur when the
sun is low in our sky. These phenomena are very real.
However, if interpreting the suns motion as being due to its rotation about the
Earth, our underlying explanation for these real effects is flat-out wrong. Of course, we
appreciate that we are moving and not the sun. However, rapid as it is we cannot sense
the Earths rotation, and so its just easier to pretend the sun is doing the moving. That is
strictly an apparent, though very convincing motion. Importantly, our misinterpretation
has no bearing on the phenomena described above. They are still real, even if our
explanation for them is merely convenient and self-serving. The same holds true for the
phenomena for which we credit (or blame) the Coriolis force.
These include the facts that the large-scale wind does not blow directly from high
to low pressure; that principal northern hemisphere (NH) surface ocean currents are
clockwise (CW); that winds tend to blow from the west in mid-latitudes, as well as from
the east and the northeast in the polar and tropical latitudes, respectively; and that midlatitude and tropical cyclones (hurricanes) can and do form, but with the latter never
appearing directly on the equator. These are real and very important effects, which we
usually explain through the agency of the Coriolis force. At worst, thats just lazy
thinking, nothing more, similar to our other convenient fiction regarding air temperature
and water vapor holding capacity. At best, it helps us explain what we ourselves observe,
and in the simplest possible terms. The Coriolis force helps us make sense of what we
sense.
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Newtons first law of motion presents a simple yet very powerful constraint on
motions. It states that an object, once put into motion, continues moving in a straight line
and at constant speed unless other forces are acting. By that same token, if we see
something curve, then it follows there must be a force impelling this deviation from
straight-line motion. Note this well: if we see something curve, we have to explain the
curvature. We have to identify a force. Consider a rocket put into motion on the rotating
Earth. We are observers located on that spinning sphere. Once launched, we see the
rocket start curving, and we give the force causing that curvature a name: the Coriolis
force. That Coriolis force is acting to the objects right, following its motion. Thus, if we
launch the rocket northward, it cannot continue traveling due north. Instead, we see it
start curving eastward, the direction to the objects right. The deflection does not stop
there. Once eastbound, the Coriolis force works to bend the object to the south. Once
southbound, Coriolis encourages a westward deflection. Finally, the westbound rocket
starts curving towards the north, the direction we wanted it to travel in the first place. The
object is has begun describing circles, called Coriolis or inertial circles.
However, the rocket didnt actually curve at all. The rocket was launched and
allowed the go on its merry way. No other forces have actually intervened. Thus, the
rocket went straight, as Newtons first law insisted it must. Yet, it is seen to curve. There
is only one solution to this: if the rocket didnt turn, we did.
Although the meteorological science enjoys a relative wealth of colorful figures

and events, from past and present, the educators rarely make use of this historical
dimension, as was recently pointed out in this journal by Knox and Croft (1997). A case
where a historical approach proves to be illuminating is in the teaching of the Coriolis
force, named after French mathematician Gaspard Gustave Coriolis (1792 1843). On a
rotating earth the Coriolis force acts to change the direction of a moving body to the right
in the Northern Hemisphere and to the left in the Southern Hemisphere.
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CHAPTER 6
MEMS GYROSCOPE
Gyroscopes have played an important role in aviation, space exploration and
military applications. Until recently, high cost and large size made their use in
automobiles and other consumer products prohibitive. With the advent of Micro- ElectroMechanical Systems (MEMS), gyroscopes and other inertial measurement devices can
now be produced cheaply and in very small packages in the micro domain. An example
of this are the MEMS accelerometers now used in some automobiles to detect collisions
for air bag deployment. In order to estimate the absolute angle , with a traditional
MEMS rate-gyroscope, one would have to integrate the angular rate signal with respect
to time. The problem with this method is that bias errors in the angular rate signal from
the gyroscope will inevitably cause the integrated angle value to drift over time, since all
gyroscopes have at least a small amount of bias error in their angular rate signal. This
paper develops a sensor design to directly measure absolute angle. The design can also be
combined with traditional angular rate measurement to provide a sensor in an integrated
package that measures both angle and angular rate.
There are a large number of applications where a gyroscope that can measure
angle would be useful. A common application is measurement of the heading or
orientation of a highway vehicle. The measurement of orientation is useful in computercontrolled steering of the vehicle as well as in differential braking systems being
developed by automotive manufacturers for vehicle skid control. An important additional
benefit of the proposed design is that it would also contribute towards improving the
accuracy of the regular rate gyroscopes. The proposed design is novel in that it breaks
new ground by introducing sophisticated control systems into the MEMS domain. It is
the use of advanced control techniques that leads to a new sensor making the
measurement of a new variable possible.
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Gyroscopes are physical sensors that detect and measure the angular motion of an
object relative to an inertial frame of reference. The term "Gyroscope" is attributed to the
mid-19th century French physicist Leon Foucault who named his experimental apparatus
for Earth's rotation observation by joining two Greek roots: gyros - rotation and skopeeinto see. Unlike rotary encoders or other sensors of relative angular motion, the unique
feature of gyroscopes is the ability to measure the absolute motion of an object without
any external infrastructure or reference signals. Gyroscopes allow untethered tracking of
an object's angular motion and orientation and enable standalone Heading Reference
Systems (AHRS).
MEMS vibratory gyroscopes measure rotation rate by vibrating a proof-mass and

sensing the Coriolis force caused by angular velocity. Beyond the goal of making a
vibrating structure that gives rise to a Coriolis force, the true goals of the gyro transducer
are to minimize the error sources that corrupt the Coriolis signal and to simplify the IC
architecture. The former is achieved by a design that minimizes Brownian noise, rejects
external vibrations, survives shock, rejects package stresses, and minimizes cross-axis
sensitivity. The latter is achieved by a design that has high transducer sensitivity, minimal
quadrature, carefully designed resonant modes, and minimal parasitic capacitance.
All InvenSense X- and Y-axis gyroscopes are based on coupled dual-mass (tuning
fork) proof-masses that are driven out-of-plane and generate Coriolis forces in-plane, as
shown in Figure 6.1. The vibration mode consists of a five-mass system. The two proofmasses translate out-of-plane coupled together through lever arms connected to three
separate torsion plates. The torsion plates are mounted on springs that act as pivot points,
which is the key to achieve vertical motion using thick silicon. Aluminum electrodes on
the IC are located under the torsion plates forming parallel-plate electrodes that can exert
torque on the torsion plates for actuation and detect the torsion plate angle for feedback to
resonate and provide amplitude control.
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Figure 6.1: X-axis gyroscope driven mode
The coupled mass system is essential for rejecting external vibrations because the
design is fully balanced and therefore does not move in response to linear acceleration.
However, the first generation gyroscopes, which operated in the 12 kHz to 15 kHz range,
were found to respond to acoustic interference. Later generation gyros were designed to
operate in the 25 kHz to 30 kHz range to avoid interference from sound and other
ambient sources of noise found in consumer applications.
The key to reducing size has been to improve the Coriolis sensing system. In the
first generation sensors, the three torsion plates were connected to a sensing frame. The
sensing frame was suspended such that it could only rotate. The Coriolis forces from the
proof-masses created a torque that rotated the ring in plane. Motion of the ring was
detected by capacitive combs. The full scale angular rate in image stabilization generated
merely ~1 of mechanical deflection of the sensing frame. Sensing the deflection
required lots of capacitive combs and low-noise electronics.
In the next generation gyroscope in-which the two outer torsion plates are
anchored to the substrate, and the center torsion plate is flexibly connected to the sense
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frame. By flexibly connecting the drive system and sense system, two resonant modes are
created, and the drive resonant frequency is in the middle. This introduced several
benefits including lower sensitivity variation as well as 2x higher mechanical sensitivity.
The design improvement resulted in smaller MEMS that met the same performance with
higher resonant frequency to avoid the audio range. In the third and current generation,
the sense frame was further optimized into a four-bar linkage. The Coriolis torque moves
the four-bar linkage which is sensed in-plane using capacitive electrodes, as shown in
Figure 6.2. The four-bar linkage has lower inertia than the corresponding rigid frame
structure of the past. This generation also anchors the structure at two points which
minimizes sensitivity to any stress associated with conventional QFN plastic packages.
Fig 6.2 X axis Gyroscope
Z-axis gyroscope consists of two proof-masses that are resonated in-plane as

shown in Figure 6.3. The proof-masses are flexibly coupled and resonate in a differential
mode. The proof-masses can move in two directions but the actuation structures are
constrained to move only in the drive direction. The Z-axis gyroscope also uses dualmode sensing. The proof-masses are flexibly coupled to the sense frame and the resulting
Coriolis torque moves the sense frame similar to the X and Y gyroscopes. In this manner,
the Z-axis gyroscope is able to leverage the entire sense-system mechanics and
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electronics developed for the X-and-Y sensor. In fact, the first generation Z-gyro simply
replaced the Y-gyro drive masses with proof-masses that are driven in-plane, enabling
rapid development.
Fig 6.3: Z Gyroscope
Vibrating-Wheel Gyroscopes have a wheel that is driven to vibrate about its axis
of symmetry, and rotation about either in-plane axis results in the wheels tilting, a
change that can be detected with capacitive electrodes under the wheel, Figure 3. It is
possible to sense two axes of rotation with a single vibrating wheel. A surface micro
machined polysilicon vibrating wheel gyro, Figure 6.4, has been designed at the U.C.
Berkeley Sensors and Actuators Center that demonstrated this capability.
Fig 6.4 Vibration Gyroscope
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6.1 Challenges in Fabrication
Fig 6.5 various design options
Gyroscopes are much more challenging sensor products than acceleration

or pressure sensors. Gyroscopes are basically two high performing MEMS devices
integrated into one single device that have to work together to produce results. They are a
self-tuned resonator in the drive axis and a micro-g sensor in the sensing axis. The
absolute magnitude of the Coriolis force sensed is orders of magnitude lower than any
high volume production MEMS accelerometer. Capacitive sensors are generally used for
measuring these small changes of capacitance. Gyroscope performance is very sensitive
to all potential manufacturing variations, packaging, linear acceleration, temperature, etc.
To achieve high performance and low cost, lots of care must be taken during the initial
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design. Gyroscope designers must achieve a solution that can be insensitive to most of
these potential variations. Figure 6.5 shows the various possible combinations of
fabricating MEMS gyroscopes.
6.2 Challenges in Packaging

One of the most difficult decisions that can have the biggest effect on the
cost is the choice for the final package. Generally, packaging is one of the highest
components of the final cost for most types of MEMS sensors. In majority of cases,
sensor designers and MEMS experts are not packaging experts. MEMS designers are
primarily focused on the design and development of the sensor element, with the
objective of demonstrating performance on the bench. The task of taking the MEMS
sensor element and package it is the packaging engineers problem. In order to have the
lowest cost MEMS product packaging issues must be addressed up front in the initial
phase of design cycle.
Fig 6.6 MEMS Gyroscope Products
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CHAPTER 7
SOUNDING ROCKETS
A sounding rocket, sometimes called a research rocket, is an instrument-carrying

rocket designed to take measurements and perform scientific experiments during its suborbital flight. The rockets are used to carry instruments from 50 to 1,500 kilometers
above the surface of the Earth, the altitude generally between weather balloons and
satellites (the maximum altitude for balloons is about 40 kilometers and the minimum for
satellites is approximately 120 kilometers). Certain sounding rockets, such as the Black
Brant X and XII, have an apogee between 1,000 and 1,500 kilometers. Sounding rockets
often use military surplus rocket motors. NASA routinely flies the Terrier Mk 70 boosted
Improved Orion lifting 270450 kilograms payloads into the exo-atmospheric region
between 100 and 200 kilometers.
The origin of the term comes from nautical vocabulary to sound, which is to
throw a weighted line from a ship into the water to measure the water's depth. The term
itself has its etymological roots in the Spanish and French word for probe, which is
"sonda" or "sonde", respectively. Sounding in the rocket context is equivalent to taking a
measurement.
A common sounding rocket consists of a solid-fuel rocket motor and a science
payload. The free fall part of the flight is an elliptic trajectory with vertical major axis
allowing the payload to appear to hover near its apogee. The average flight time is less
than 30 minutes, usually between five and 20 minutes. The rocket consumes its fuel on
the first stage of the rising part of the flight, then separates and falls away, leaving the
payload to complete the arc and return to the ground under a parachute.
Sounding rockets are advantageous for some research due to their low cost, short
lead time (sometimes less than six months) and their ability to conduct research in areas
inaccessible to either balloons or satellites. They are also used as test beds for equipment
that will be used in more expensive and risky orbital spaceflight missions. The smaller
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size of a sounding rocket also makes launching from temporary sites possible allowing
for field studies at remote locations, even in the middle of the ocean, if fired from a ship.
During flight, all launch vehicles are imparted with a spinning motion to reduce
potential dispersion of the flight trajectory due to vehicle misalignments. The longitudinal
and lateral loads imparted due to rocket motor thrust, aerodynamics, winds, spin rates and
abrupt changes in spin rate due to de-spin devices are major design considerations.
Unguided sounding rocket launch vehicles fly with a spinning motion to reduce the flight
trajectory dispersion due to misalignments. The effects of spin-induced loads should be
considered when components are mounted off of the spin-axis. Load factors exceeding 30
g's can be experienced by components mounted near the payload external skin for large
diameter designs. Most electronic devices utilize relatively small, lightweight circuit
boards and components. When soldering is properly performed, and a conformal coating
applied, problems caused by mechanical loads are very infrequent.
Fig 7.1: Sounding rockets
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The best way to induce spin is to pre-spin the rocket prior to launch. A spinning
launch platform (some kind of turn table) would be ideal. The second best alternative
would be a helical launch tower. This kind of tower does exist, and is still used by NASA
for launches of the Super Loki Dart rocket. As the rocket rises up through the tower, the
guides induce a spin into the rocket. The faster the rocket leaves the tower, the higher the
rotation rate.
According to Newtons first law of motion, a body in motion will remain in
motion unless acted on by some outside force. This law is also known as the law of
inertia. This case deals with the spinning motion. Once the rocket leaves the helical
tower, the spinning will continue unless some outside force acts on it. But, even a
spinning top will wind down and fall over after some time. So there must be some force
acting on it that causes it to slow down. That force is mainly friction on the point where it
touches a table. In the case of a spinning rocket, the force is aerodynamic drag.
The positive effects of spinning the rocket will probably be sufficient to keep it
going straight during that time period when the rocket is most susceptible to disturbances.
That period is when the rockets speed is the slowest, which is right when it leaves the
launcher. After it has built up enough speed, the fins will do a pretty good job keeping it
going relatively straight even if it does slow down or stop its spinning. For most model
rockets, wed like the rocket to start out spinning as it leaves the launch pad, so that it has
the greatest effect at preventing weather cocking. Weather cocking usually begins when
the rocket is traveling at a slow speed. Once we the rocket gets past that critical point in
the flight, then ideally it would be desirable to de-spin it so as to lower the drag. In
rockets launched off a spin table or out of a helical tower, this will happen by itself. But
for rockets that are being designed for super high altitude flights it may be desirable that
they spin for a good portion of the flight to reduce the chances of weather cocking. In that
case, canted fins or spin tabs would have to be used.
Rotation is also used to point a nozzle of the primary propulsion system into its
intended direction just prior to its start. It can also provide for achieving flight stability,
or for correcting angular oscillations, that would otherwise increase drag or cause
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tumbling of the vehicle. Spinning or rolling a vehicle will improve flight stability, but
will also average out the misalignment in a thrust vector. If the rotation needs to be
performed quickly, then a chemical multi-thruster reaction control system is used. If the
rotational changes can be done over a long period of time, then an electrical propulsion
system with multiple thrusters is often preferred.
Thus spinning is essential for a rocket to maintain its stability. It is also essential
to monitor the spinning of a spinning rocket on flight. With this we can get an idea of the
spin rate of rocket and take necessary steps to maintain the required spin rate. For
monitoring the spin rate, we have to incorporate a gyroscope into the rocket. A gyroscope
is a device for measuring or maintaining orientation, based on the principles of angular
momentum. Mechanically, a gyroscope is a spinning wheel or disc in which the axle is
free to assume any orientation. Although this orientation does not remain fixed, it
changes in response to an external torque much less and in a different direction than it
would without the large angular momentum associated with the disc's high rate of spin
and moment of inertia. The device's orientation remains nearly fixed, regardless of the
mounting platform's motion, because mounting the device in a gimbal minimizes external
torque. Mechanical gyroscopes are highly accurate but their size and weight limits their
application in rockets where size is a major concern. So we go for MEMS gyroscopes
which are very light, less costly and easy to assemble even though it is not highly
accurate.
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CHAPTER 8
PROPOSED APPROACH
This project aims at building a MEMS based gyroscope that could be used in
spinning rockets to monitor the spinning of the rocket in its flight. It is important to
measure the spinning of the rockets as stability of the rocket in flight mainly depends on
spinning. Gyroscopes mainly measure the angular rate of spinning.
This gyroscope can also be used to measure the pitch, roll and yaw of an aircraft
or rocket or satellite in flight. For this let us know about these three parameters in detail.
Flight dynamics is the science of air vehicle orientation and control in three
dimensions. The three critical flight dynamics parameters are the angles of rotation in
three dimensions about the vehicle's center of mass, known as roll, pitch and yaw.
Aircraft engineers develop control systems for a vehicle's orientation (attitude) about its
center of mass. The control systems include actuators, which exert forces in various
directions, and generate rotational forces or moments about the center of gravity of the
aircraft, and thus rotate the aircraft in pitch, roll, or yaw. For example, a pitching moment
is a vertical force applied at a distance forward or aft from the center of gravity of the
aircraft, causing the aircraft to pitch up or down. Roll, pitch and yaw refer, in this
context, to rotations about the respective axes starting from a defined equilibrium state.
The equilibrium roll angle is known as wings level or zero bank angle, equivalent to a
level heeling angle on a ship. Yaw is known as "heading".
A fixed-wing aircraft increases or decreases the lift generated by the wings when
it pitches nose up or down by increasing or decreasing the angle of attack (AOA). The
roll angle is also known as bank angle on a fixed-wing aircraft, which usually "banks" to
change the horizontal direction of flight. An aircraft is usually streamlined from nose to
tail to reduce drag making it typically advantageous to keep the sideslip angle near zero,
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though there are instances when an aircraft may be deliberately "side slipped" for
example a slip in a fixed-wing aircraft.
An aircraft in flight is free to rotate in three dimensions: pitch, nose up or down

about an axis running from wing to wing, yaw, nose left or right about an axis running up
and down; and roll, rotation about an axis running from nose to tail. The axes are
alternatively designated as lateral, vertical, and longitudinal. These axes move with the
vehicle, and rotate relative to the Earth along with the craft. These definitions were
analogously applied to spacecraft when the first manned spacecraft were designed in the
late 1950s. These rotations are produced by torques (or moments) about the principal
axes. On an aircraft, these are produced by means of moving control surfaces, which vary
the distribution of the net aerodynamic force about the vehicle's center of gravity.
Elevators (moving flaps on the horizontal tail) produce pitch, a rudder on the vertical tail
produces yaw, and ailerons (moving flaps on the wings) produce roll. On a spacecraft, the
moments are usually produced by a reaction control system consisting of small rocket
thrusters used to apply asymmetrical thrust on the vehicle.
Yaw axis is a vertical axis through an aircraft, rocket, or similar body, about
which the body yaws; it may be a body, wind, or stability axis also known as yawing
axis. The yaw axis is defined to be perpendicular to the body of the wings with its origin
at the center of gravity and directed towards the bottom of the aircraft. A yaw motion is a
movement of the nose of the aircraft from side to side. The pitch axis is perpendicular to
the yaw axis and is parallel to the body of the wings with its origin at the center of gravity
and directed towards the right wing tip. A pitch motion is an up or down movement of the
nose of the aircraft. The roll axis is perpendicular to the other two axes with its origin at
the center of gravity, and is directed towards the nose of the aircraft. A rolling motion is
an up and down movement of the wing tips of the aircraft. The rudder is the primary
control of yaw.
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The lateral axis (also called transverse axis) passes through the plane from
wingtip to wingtips. Rotation about this axis is called pitch. Pitch changes the vertical
direction the aircraft's nose is pointing. The elevators are the primary control of pitch.
The longitudinal axis passes through the plane from nose to tail. Rotation about
this axis is called bank or roll. Bank changes the orientation of the aircraft's wings with
respect to the downward force of gravity. The pilot changes bank angle by increasing the
lift on one wing and decreasing it on the other. This differential lift causes bank rotation
around the longitudinal axis. The ailerons are the primary control of bank. The rudder
also has a secondary effect on bank.
Fig 8.1 Pitch Roll and Yaw Axes
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8.1 Block Diagram of Project
Fig 8.2 Project Block Diagram
MEMS based gyroscopic sensor ADXRS450 is used here for measuring

the angular spinning rate of a rocket. The ADXRS450 is an angular rate sensor
(gyroscope) intended for industrial, medical, instrumentation, stabilization, and other
high performance applications. An advanced, differential, quad sensor design rejects the
influence of linear acceleration, enabling the ADXRS450 to operate in exceedingly harsh
environments where shock and vibration are present. The ADXRS450 uses an internal,
continuous self-test architecture. The integrity of the electromechanical system is
checked by applying a high frequency electrostatic force to the sense structure to generate
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a rate signal that can be differentiated from the baseband rate data and internally
analyzed. The ADXRS450 is capable of sensing angular rate of up to 300/sec.
This family offers the same advantages of all PIC18 microcontrollers

namely, high computational performance at an economical price with the addition of
high endurance Enhanced Flash program memory. The PIC18FXX20 family also
provides an enhanced range of program memory options and versatile analog features
that make it ideal for complex, high-performance applications. The PIC18FXX20 family
introduces the widest range of on-chip, Enhanced Flash program memory available on
PIC micro microcontrollers up to 128 Kbyte (or 65,536 words), the largest ever offered
by Microchip. For users with more modest code requirements, the family also includes
members with 32 Kbyte or 64 Kbyte.
PIC 18F6520 is used as master here for controlling the operations of the
gyroscope sensor ADXRS450 and to give instructions on what to do. PIC is programmed
for the required operation using C programming language and is burnt into chip after
converting it to PIC assembly language. ADXRS450 sensor act as slave here and acts
upon as instructed by the PIC microcontroller. It is a digital output gyroscope and the
corresponding digital output regarding the spinning rate is stored inside registers
available within the chip. RS232 and MAX232 are used for communicating or
transferring the values from the sensor to outside world. In this project we use Labview
software for graphical evaluation.
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CHAPTER 9
HARDWARE DESCRIPTION
9.1 Sensor ADXRS450
New applications for MEMS (micro electro mechanical systems) motion sensors
are evolving in the industrial automation, medical, and instrumentation markets where
much higher performance is required than is typically found in motion sensors designed
for consumer applications. To address this growing demand for more accuracy, stability,
and high vibration and shock resistance, Analog Devices, Inc. has developed the high
performance, low power ADXRS450 iMEMS gyroscope with digital output specifically
for angular rate (rotational) sensing in harsh environments. Leveraging ADIs previous
three generations of industry leading MEMS gyroscopes, this fourth generation device
features an advanced, differential quad sensor design that enables it to operate accurately
under intense shock and vibration conditions.
The ADXRS450 is an angular rate sensor (gyroscope) intended for industrial,

medical, instrumentation, stabilization, and other high performance applications. An
advanced, differential, quad sensor design rejects the influence of linear acceleration,
enabling the ADXRS450 to operate in exceedingly harsh environments where shock and
vibration are present. The ADXRS450 uses an internal, continuous self-test architecture.
The integrity of the electromechanical system is checked by applying a high frequency
electrostatic force to the sense structure to generate a rate signal that can be differentiated
from the baseband rate data and internally analyzed. The ADXRS450 is capable of
sensing angular rate of up to 300/sec. Angular rate data is presented as a 16-bit word,
as part of a 32-bit SPI message. The ADXRS450 is available in a cavity plastic 16-lead
SOIC (SOIC_CAV) and an SMT-compatible vertical mount package (LCC_V), and is
capable of operating across both a wide voltage range (3.3 V to 5 V) and temperature
range (40C to +105C).
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The ADXRS450 is available in two package options. The SOIC_CAV package

configuration is for applications that require a z-axis (yaw) rate sensing device. The
vertical mount package (LCC_V) option is for applications that require rate sensing in the
axes parallel to the plane of the PCB (pitch and roll).
The LCC_V package has terminals on two faces; however, the terminals on the
back side are for internal evaluation only and should not be used in the end application.
The terminals on the bottom of the package incorporate metallization bumps that ensure a
minimum solder thickness for improved solder joint reliability. These bumps are not
present on the back side terminals and, therefore, poor solder joint reliability can be
encountered if used in the end application.
Fig 9.1 SOIC-V 2 & LCC-V Package
9.1.1 SOIC-V Package details
Fig 9.2 Pin out and Application Diagram
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9.1.2 Pin Description
Pin No.
Mnemonic
Description
DVDD
Digital Regulated Voltage.
RSVD
Reserved. This pin must be connected to

DVSS.
RSVD

DVSS.
CS
Chip Select.
MISO
Master In/Slave Out.
PDD
Supply Voltage.
PSS
Switching Regulator Ground.
VX
High Voltage Switching Node.
CP5
High Voltage Supply.
10
RSVD

DVSS.
11
AVSS
Analog Ground.
12
RSVD

DVSS.
13
DVSS
Digital Signal Ground.
14
AVDD
Analog Regulated Voltage.
15
MOSI
Master Out/Slave In.
16
SCLK
SPI Clock.
Table 9.1 Pin description of SOIC-V package
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Mount the ADXRS450 in a location close to a hard mounting point of the PCB to
the case. Mounting the ADXRS450 at an unsupported PCB location (that is, at the end of
a lever, or in the middle of a trampoline) can result in apparent measurement errors
because the gyroscope is subject to the resonant vibration of the PCB. Locating the
gyroscope near a hard mounting point helps to ensure that any PCB resonances at the
gyroscope are above the frequency at which harmful aliasing with the internal electronics
can occur. To ensure that aliased signals do not couple into the baseband measurement
range, design the module wherein the first system level resonance occurs at a frequency
higher than 800 Hz.
Fig 9.3 Incorrectly Mounted Gyroscope
9.1.3 LCC-V Package details
Fig 9.4 Pin out And Application Diagram
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These application circuits provide a connection reference for the available

package types. Note that DVDD, AVDD, and PDD are individually connected to ground
through 1 F capacitors; do not connect these supplies together. Additionally, an external
diode and inductor must be connected for proper operation of the internal shunt regulator.
These components allow for the internal resonator drive voltage to reach its required
level.
9.1.4 Pin Description
Pin No.
Mnemonic
Description
AVSS
Analog Ground.
AVDD
Analog Regulated Voltage.
MISO
Master In/Slave Out.
DVDD
Digital Regulated Voltage.
SCLK
SPI Clock. 6 CP5 High Voltage Supply.
RSVD
Reserved. This pin must be connected to DVSS.
RSVD
Reserved. This pin must be connected to DVSS.
VX
High Voltage Switching Node.
10
CS
Chip Select.
11
DVSS
Digital Signal Ground.
12
MOSI
Master Out/Slave In.
13
PSS
Switching Regulator Ground.
14
PDD
Supply Voltage.
Table 9.2 Pin description of LCC-V package

The ADXRS450 operates on the principle of a resonator gyro-scope. Each sensing
structure contains a dither frame that is electrostatically driven to resonance. This
produces the necessary velocity element to produce a Coriolis force when experiencing
angular rate. In the SOIC_CAV package, the ADXRS450 is designed to sense a z-axis
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(yaw) angular rate; whereas the vertical mount package (LCC_V) orients the device such
that it can sense pitch or roll angular rate on the same PCB.
When the sensing structure is exposed to angular rate, the resulting Coriolis force
couples into an outer sense frame, which contains movable fingers that are placed
between fixed pickoff fingers. This forms a capacitive pickoff structure that senses
Coriolis motion. The resulting signal is fed to a series of gain and demodulation stages
that produce the electrical rate signal output. The quad sensor design rejects linear and
angular acceleration, including external g-forces and vibration
Fig 9.5 Gyroscope structure
Fig 9.6 ADXRS450 chip structure Structure
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9.1.5 Evaluation Board for ADXRS450

The ADXRS450/ADXRS453 inertial sensor evaluation system is an easy-to-use
evaluation tool targeting bench or desktop characterization of Analog Devices, Inc.,
inertial sensor products. The system consists of the inertial sensor evaluation board
(ISEB), or main board and satellite boards for several Analog Devices inertial sensor
products. The ISEB connects directly to a PC via a USB cable, with the USB connection
providing both power and communications to the board. The ISEB is connected to the
satellite board through a ribbon cable. This cable allows the satellite to be easily
manipulated for testing or separately placed into an environmental chamber for
temperature or humidity testing. Separating the boards mitigates corruption of data due to
the temperature and humidity effects of other components. The different products are
evaluated by means of separate GUIs that are customized for performance and
characterization measurements relevant to the inertial sensor being evaluated.
Fig 9.7 Evaluation board
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9.2 PIC 18F6520

The PIC18FXX20 family offers the same advantages of all PIC18
microcontrollers namely, high computational performance at an economical price
with the addition of high endurance Enhanced Flash program memory. The PIC18FXX20
family also provides an enhanced range of program memory options and versatile analog
features that make it ideal for complex, high-performance applications.
9.2.1 Features of PIC 18F6520

a) Expanded Memory
The PIC18FXX20 family introduces the widest range of on-chip, Enhanced Flash
program memory available on PIC micro microcontrollers up to 128 Kbyte (or 65,536
words), the largest ever offered by Microchip. For users with more modest code
requirements, the family also includes members with 32 Kbyte or 64 Kbyte.
Other memory features are:
Data RAM and Data EEPROM: The PIC18FXX20 family also provides plenty of room
for application data. Depending on the device, either 2048 or 3840 bytes of data RAM are
available. All devices have 1024 bytes of data EEPROM for long-term retention of
nonvolatile data.
Memory Endurance: The Enhanced Flash cells for both program memory and data
EEPROM are rated to last for many thousands of erase/write cycles up to 100,000 for
program memory and 1,000,000 for EEPROM. Data retention without refresh is
conservatively estimated to be greater than 40 years.
b) External Memory Interface

In the event that 128 Kbytes of program memory is inadequate for an application,
the PIC18F8X20 members of the family also implement an External Memory Interface.
This allows the controllers internal program counter to address a memory space of up to
2 Mbytes, permitting a level of data access that few 8-bit devices can claim.
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With the addition of new operating modes, the External Memory Interface offers
many new options, including:
Operating the microcontroller entirely from external memory.

Using combinations of on-chip and external memory, up to the 2-Mbyte limit.
Using external Flash memory for reprogrammable application code, or large data tables.
Using external RAM devices for storing large amounts of variable data.
c) Easy Migration
Regardless of the memory size, all devices share the same rich set of peripherals,
allowing for a smooth migration path as applications grow and evolve. The consistent pin
out scheme used throughout the entire family also aids in migrating to the next larger
device. This is true when moving between the 64-pin members, between the 80-pin
members, or even jumping from 64-pin to 80-pin devices.
d) Special Features
Communications: The PIC18FXX20 family incorporates a range of serial
communications peripherals, including 2 independent USARTs and a Master SSP
module, capable of both SPI and I2C (Master and Slave) modes of operation. For
PIC18F8X20 devices, one of the general purpose I/O ports can be reconfigured as an 8bit Parallel Slave Port for direct processor-to-processor communications.
CCP Modules: All devices in the family incorporate five Capture/Compare/PWM

modules to maximize flexibility in control applications. Up to four different time bases
may be used to perform several different operations at once.
Analog Features: All devices in the family feature 10-bit A/D converters, with up to 16
input channels, as well as the ability to perform conversions during Sleep mode. Also
included are dual analog comparators with programmable input and output configuration,
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a programmable Low-Voltage Detect module and a programmable Brown-out Reset

module.
Self-programmability: These devices can write to their own program memory spaces
under internal software control. By using a boot loader routine located in the protected
Boot Block at the top of program memory, it becomes possible to create an application
that can update itself in the field.
There are 5 PICS in this family. They are differentiated by
Flash program memory (32 Kbytes for PIC18FX520 devices, 64 Kbytes for
PIC18FX620 devices and 128 Kbytes for PIC18FX720 devices).
Data RAM (2048 bytes for PIC18FX520 devices, 3840 bytes for PIC18FX620
and
PIC18FX720 devices).
A/D channels (12 for PIC18F6X20 devices, 16 for PIC18F8X20).
I/O pins (52 on PIC18F6X20 devices, 68 on PIC18F8X20).
External program memory interface (present only on PIC18F8X20 devices).
Analog Features of PIC are:
Up to 16-ch 10-bit Analog-to-Digital Converter (A/D)
Conversion available during SLEEP
Programmable 16-level Low Voltage Detection (LVD) module
Supports interrupt-on-Low Voltage Detection
Programmable Brown-out Reset (BOR)
Dual analog comparators
Programmable input/output configuration
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9.2.2 Pin Out
Fig 9.8 Pin Out of 64 Pin PIC18F6520
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9.3 MAX232
The MAX232 is an IC, first created in 1987 by Maxim Integrated Products, that
converts signals from an RS-232 serial port to signals suitable for use in TTL compatible
digital logic circuits. The MAX232 is a dual driver/receiver and typically converts the
RX, TX, CTS and RTS signals.
The drivers provide RS-232 voltage level outputs (approx. 7.5 V) from a single +
5 V supply via on-chip charge pumps and external capacitors. This makes it useful for
implementing RS-232 in devices that otherwise do not need any voltages outside the 0 V
to + 5 V range, as power supply design does not need to be made more complicated just
for driving the RS-232 in this case.
The receivers reduce RS-232 inputs (which may be as high as 25 V), to standard
5 VTTL levels. These receivers have a typical threshold of 1.3 V, and a typical hysteresis
of 0.5 V. The later MAX232A is backwards compatible with the original MAX232 but
may operate at higher baud rates and can use smaller external capacitors 0.1 F in
place of the 1.0 F capacitors used with the original device. The newer MAX3232 is also
backwards compatible, but operates at a broader voltage range, from 3 to 5.5 V.
Fig 9.9: MAX232 Chip
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It is helpful to understand what occurs to the voltage levels. When a MAX232 IC

receives a TTL level to convert, it changes TTL logic 0 to between +3 and +15 V, and
changes TTL logic 1 to between -3 to -15 V, and vice versa for converting from RS232 to
TTL. This can be confusing when you realize that the RS232 data transmission voltages
at a certain logic state are opposite from the RS232 control line voltages at the same logic
state.
Fig 9.10: TTL converter
Fig 9.11: MAX232 Die
The MAX232 (A) has two receivers (converts from RS-232 to TTL voltage
levels), and two drivers (converts from TTL logic to RS-232 voltage levels). This means
only two of the RS-232 signals can be converted in each direction. Typically, a pair of a
driver/receiver of the MAX232 is used for TX and RX signals, and the second one for
CTS and RTS signals.
There are not enough drivers/receivers in the MAX232 to also connect the DTR,
DSR, and DCD signals. Usually these signals can be omitted when communicating with a
PC's serial interface. If the DTE really requires these signals, either a second MAX232 is
needed, or some other IC from the MAX232 family can be used. Also, it is possible to
directly wire DTR (DB9 pin #4) to DSR (DB9 pin #6) without going through any
circuitry. This gives automatic (brain dead) DSR acknowledgment of an incoming DTR
signal.
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9.4 RS 232
RS-232 was first introduced in 1962 by the Radio Sector of the EIA. The original
DTEs were electromechanical teletypewriters, and the original DCEs were (usually)
modems. When electronic terminals (smart and dumb) began to be used, they were often
designed to be interchangeable with teletypewriters, and so supported RS-232. The C
revision of the standard was issued in 1969 in part to accommodate the electrical
characteristics of these devices.
Since the requirements of devices such as computers, printers, test instruments,
POS terminals and so on were not considered by the standard; designers implementing an
RS-232 compatible interface on their equipment often interpreted the requirements
idiosyncratically. Common problems were non-standard pin assignment of circuits on
connectors, and incorrect or missing control signals. The lack of adherence to the
standards produced a thriving industry of breakout boxes, patch boxes, test equipment,
books, and other aids for the connection of disparate equipment. A common deviation
from the standard was to drive the signals at a reduced voltage. Some manufacturers
therefore built transmitters that supplied +5 V and -5 V and labeled them as "RS-232
compatible".
Later personal computers (and other devices) started to make use of the standard
so that they could connect to existing equipment. For many years, an RS-232-compatible
port was a standard feature for serial communications, such as modem connections, on
many computers. It remained in widespread use into the late 1990s. In personal computer
peripherals, it has largely been supplanted by other interface standards, such as USB. RS232 is still used to connect older designs of peripherals, industrial equipment (such as
PLCs),console ports and special purpose equipment.
The standard has been renamed several times during its history as the sponsoring
organization changed its name, and has been variously known as EIA RS-232, EIA 232,
and most recently as TIA 232. The standard continued to be revised and updated by the
Electronic Industries Alliance and since 1988 by the Telecommunications Industry
Association (TIA). Revision C was issued in a document dated August 1969. Revision D
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was issued in 1986. The current revision is TIA-232-F Interface between Data Terminal
Equipment and Data Circuit-Terminating Equipment Employing Serial Binary Data
Interchange, issued in 1997. Changes since Revision C have been in timing and details
intended to improve harmonization with the CCITT standard V.24, but equipment built to
the current standard will interoperate with older versions.
In telecommunications, RS-232 is the traditional name for a series of standards
for serial binary single-ended data and control signals connecting between DTE (data
terminal equipment) and DCE (data circuit-terminating equipment, originally defined as
data communication equipment. It is commonly used in computer serial ports. The
standard defines the electrical characteristics and timing of signals, the meaning of
signals, and the physical size and pin out of connectors. The current version of the
standard is TIA-232-F Interface between Data Terminal Equipment and Data CircuitTerminating Equipment Employing Serial Binary Data Interchange, issued in 1997.
An RS-232 serial port was once a standard feature of a personal computer, used
for connections to modems, printers, mice, data storage, uninterruptible power supplies,
and other peripheral devices. However, the low transmission speed, large voltage swing,
and large standard connectors motivated development of the Universal Serial Bus, which
has displaced RS-232 from most of its peripheral interface roles. Many modern personal
computers have no RS-232 ports and must use either an external USB-to-RS-232
converter or an internal expansion card with one or more serial ports to connect to RS232 peripherals. RS-232 devices are still found, especially in industrial machines,
networking equipment, and scientific instruments.
Fig 9.12 A DB-25 Connector
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9.4.1 DB-9 USB Modules

The DB9-USB connector modules can be used to upgrade an RS232 port to an
active USB port without the need to redesign the PCB. The DB9-USB family consists of
6 modules. Two of these operate at RS232 voltage levels, while four of them operate at
digital voltage levels (a choice of 5V or 3.3V). Each is available to replace either a male
or a female DB9.
The FTDI DB9-USB-RS232 modules are available in two types DB9-USBRS232-M and DB9-USB-RS232-F.
A DB9-USB-RS232-M can be used to replace a male DB9 connector that is wired

in a PC compatible RS232 manner. This module operates at RS232 signal levels.
A DB9-USB-RS232-F can be used to replace a female DB9 connector that is

wired in a PC compatible RS232 manner. This module operates at RS232 signal
levels.
The purposes of these modules is to provide a simple method of adapting legacy
serial devices with UART interfaces to modern USB ports by replacing the DB9
connector with this miniaturized module which closely resembles a DB9 connector. This
is accomplished by incorporating the industry standard FTDI FT232R USB-Serial Bridge
IC. The RS232 level DB9-USB modules include an RS232 level transceiver.
Fig 9.13 DB-9 USB Family
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CHAPTER 10
SOFTWARE DESCRIPTION
LabVIEW is a graphical programming language that uses icons instead of lines of

text to create applications. In contrast to text-based programming languages, where
instructions determine program execution, LabVIEW uses dataflow programming, where
the flow of data determines execution. In LabVIEW, user interface is built with a set of
tools and objects. The user interface is known as the front panel. Then add code using
graphical representations of functions to control the front panel objects. The block
diagram contains this code. In some ways, the block diagram resembles a flowchart.
LabVIEW programs are called virtual instruments, or VIs, because their
appearance and operation imitate physical instruments, such as oscilloscopes and
multimeters. Every VI uses functions that manipulate input from the user interface or
other sources and display that information or move it to other files or other computers.
A VI contains the following three components:
Front panel Serves as the user interface.

Block diagram contains the graphical source code that defines the
functionality of
the VI.
Icon and connector pane identifies the VI so that you can use the VI in another VI.
A VI within another VI is called a sub VI. A sub VI corresponds to a subroutine in textbased programming languages.
Then build the front panel with controls and indicators, which are the interactive
input and output terminals of the VI, respectively. Controls are knobs, push buttons, dials,
and other input devices. Indicators are graphs, LEDs, and other displays. Controls
simulate instrument input devices and supply data to the block diagram of the VI.
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Indicators simulate instrument output devices and display data the block diagram
acquires or generates.
Fig 10.1 Front Panel of LabVIEW
After building the front panel, add code using graphical representations of
functions to control the front panel objects. The block diagram contains this graphical
source code. Front panel objects appear as terminals on the block diagram.
The terminals represent the data type of the control or indicator. It can configure
front panel controls or indicators to appear as icon or data type terminals on the block
diagram. By default, front panel objects appear as icon terminals.
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Nodes are objects on the block diagram that have inputs and/or outputs and
perform operations when a VI runs. They are analogous to statements, operators,
functions, and subroutines in text-based programming languages.
It can transfer data among block diagram objects through wires. Wires connect
the control and indicator terminals to the Add and Subtract functions. Each wire has a
single data source, but you can wire it to many VIs and functions that read the data.
Wires are different colors, styles, and thicknesses, depending on their data types. A
broken wire appears as a dashed black line with a red X in the middle.
Structures are graphical representations of the loops and case statements of textbased programming languages. Use structures on the block diagram to repeat blocks of
code and to execute code conditionally or in a specific order.
Fig 10.2 Block Diagram and Corresponding Front Panel
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FUTURE WORK
This design phase report deals with the initial study on application of a
MEMS based gyroscope ADXRS450 to measure the spin rate of a spinning rocket. In this
phase we have studied about the history of gyroscopes and its different variants. It is also
studied on how the spinning of a sounding rocket helps in attaining stability during its
flight. Afterwards, we have discussed on how to implement this project for measuring the
spin rate.
In the next phase we are going to design the circuit and analyze it. After
this we will be implementing this project at VSSC, Thumba. We will be doing the
necessary software implementation and code burning for microcontroller along with the
hardware implementation. After successful implementation of the circuit we will examine
it to get an idea of its performance and to ensure its accuracy. We will be utilizing the
help of Labview software for graphically evaluating the result.
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REFERENCES
1. SPRY, S.C., GIRARD, A.R.: Gyroscopic Stabilization of Unstable Vehicles:

configurations, dynamics and control, in Vehicle System Dynamics, 2008,
Vol.46, pp.247-260.
2. JOE SEEGER, MARTIN LIM, and STEVE NASIRI: Development of High
Performance High-Volume Consumer MEMS Gyroscopes.
3. DAMRONGRIT PIYABONGKARN & RAJESH RAJAMANI:The
Development of a MEMS Gyroscope for Absolute Angle Measurement.
4. N. YAZDI, F. AYAZI, AND K. NAJAFI. Aug. 1998. Micromachined Inertial
Sensors, Proc IEEE, Vol. 86, No. 8.
5. JONATHAN BERNSTEIN, CORNING-INTELLISENSE CORP , MEMS
inertial sensing technology.
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Design Phase Project Report

MEMS BASED DIGITAL GYROSCOPE

Submitted in partial fulfillment for the award of the Degree of

Under the guidance of

Department of Electronics and Communication Engineering

Design Phase Project Report

MEMS BASED DIGITAL GYROSCOPE

Submitted in partial fulfillment for the award of the Degree of

Under the guidance of

Department of Electronics and Communication Engineering

This is to certify that the thesis entitled MEMS BASED DIGITAL

Dr. IBRAHIM SADHAR

I am extremely happy to mention a great word of gratitude to Dr. IBRAHIM

Finally yet importantly, I would like to express my gratitude to my project

A gyroscope is a device for measuring or maintaining orientation, based

Active Ring Laser Gyroscope

Passive Ring Resonator Gyroscope

Closed-Loop Interferometric Fiber Optic Gyroscope

Dynamically Tuned Gyroscope

London Movement Gyroscope

Space Stable Gyroscope

THE CORIOLIS FORCE

Block Diagram of Project

SOIC-V Package details

LCC-V Package details

Evaluation Board for ADXRS450

Features of PIC 18F6520

DB-9 USB Modules

Micro Electro Mechanical Systems

Technology Development Corporation

Intel Chip Based MacIntosh

Revolutions per Minute

Quad Flat no Lead

National Aeronautics and Space Administration

Angular Dynamic Rate Sensor

Programmable Interrupt Controller

Serial Peripheral Interface

Maxim Company Name

Universal Synchronous and Asynchronous

Pulse Width Modulator

Electronic Industries Association

Data Terminal Equipment

Data Communication Equipment

Universal Serial Bus

Gyroscope housing of Gravity Probe B

Two axis mechanical gyroscopes

X-axis gyroscope driven mode

Various design options

MEMS Gyroscope Products

Pitch Roll and Yaw Axes

Project Block Diagram

SOIC-V 2 & LCC-V Package

Pin out and Application Diagram

Incorrectly Mounted Gyroscope

Pin out And Application Diagram

ADXRS450 chip structure

Pin Out of 64 Pin PIC18F6520

DB-9 USB Family

Front Panel of LabVIEW

Block Diagram and Corresponding Front Panel

Pin description of SOIC-V package

Pin description of LCC-V package

Design Phase Report 2013

MEMS based Digital Gyroscope