IJAT Vol.12 No.4 pp. 582-589
doi: 10.20965/ijat.2018.p0582


Angle Detection Using a Continuously Rotating Gyro for Large Scale Profile Evaluation – Reversal Measurement for Eliminating Gyro Drift –

Tatsuya Kume*,†, Masanori Satoh**, Tsuyoshi Suwada**, Kazuro Furukawa**, and Eiki Okuyama***

*Mechanical Engineering Centre, High Energy Accelerator Research Organization (KEK)
1-1 Oho, Tsukuba, Ibaraki 305-0801, Japan

Corresponding author

**Accelerator Laboratory, High Energy Accelerator Research Organization (KEK), Tsukuba, Japan

***Faculty of Engineering and Resource, Akita University, Akita, Japan

September 15, 2017
May 18, 2018
Online released:
July 3, 2018
July 5, 2018
profile evaluation, gyro, rate offset, reversal measurement, earth rotating axis

Profile evaluation by detecting tangential angles of the profile is competent for large objects because it inherently requires no reference, which is difficult to define with sufficient accuracy as the object becomes larger. We considered using a gyro for detecting the angles instead of an inclinometer or an autocollimator, which are conventionally used as angle detectors. A gyro can detect angles without angular reference; therefore, profiles can be evaluated without the limitation of a reference. However, angles detected by a gyro generally have considerable fluctuations to ensure accuracy in the μrad range, which is the same level as a highly precise inclinometer. In this work, we adopted a periodic reversal measurement using a rotating mechanism to eliminate fluctuations. Analysis and experimental results show that the angles of the gyro’s rotating axis against the earth’s rotating axis can be derived from the angular signals of two gyros rotating in counter directions, and that this method is effective for reducing the influences of fluctuations.

Cite this article as:
T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Angle Detection Using a Continuously Rotating Gyro for Large Scale Profile Evaluation – Reversal Measurement for Eliminating Gyro Drift –,” Int. J. Automation Technol., Vol.12 No.4, pp. 582-589, 2018.
Data files:
  1. [1] A. E. Ennos and M. S. Virdee, “High Accuracy Profile Measurement of Quasi-conical Mirror Surfaces by laser autocollimation,” Prec. Eng., Vol.4, No.1, pp. 5-8, 1982.
  2. [2] G. Makosch and B. Drollinger, “Surface Profile Measurement with a Scanning Differential AC Interferometer,” Appl. Opt., Vol.23, No.24, pp. 4544-4553, 1984.
  3. [3] J. Yellowhair and J. H. Burge, “Analysis of a Scanning Pentaprism System for Measurements of Large Flat Mirrors,” Appl. Opt., Vol.46, No.35, pp. 8466-8474, 2007.
  4. [4] J. Yellowhair and J. H. Burge, “Measurement of Optical Flatness Using Electronic Levels,” Opt. Engineering, Vol.47, No.2, 023604, pp. 1-9, 2008.
  5. [5] S. G. Alcock, K. J. S. Sawhney, S. Scott, U. Pedersen, R. Walton, F. Siewert, T. Zeschke, F. Senf, T. Noll, and H. Lammert, “The Diamond-NOM: A Non-contact Profiler Capable of Characterizing Optical Figure Error with Sub-nanometre Repeatability,” Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment, Vol.616, pp. 224-228, 2010.
  6. [6] K. Ishikawa, T. Takamura, M. Xiao, S. Takahashi, and K. Takamasu, “Profile Measurement of Aspheric Surfaces Using Scanning Deflectometry and Rotating Autocollimator with Wide Measuring range,” Meas. Sci. Technol., Vol.25, 064008, pp. 1-7, 2014.
  7. [7] T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Large-scale Accelerator Alignment Using an Inclinometer,” Prec. Eng., Vol.37, pp. 825-830, 2013.
  8. [8] T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Straightness evaluation using inclinometers with a pair of offset bars,” Prec. Eng., Vol.39, pp. 173-178, 2015.
  9. [9] T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Elimination of Gyro Drift by Using Reversal Measurement,” Int. J. Automation Technol., Vol.9, No.4, pp. 381-386, 2015.
  10. [10] C. J. Evans, R. J. Hocken, and W. T. Estler, “Self-Calibration: Reversal, Redundancy, Error Separation, and ‘Absolute Testing’,” CIRP Annals – Manufacturing Technology, Vol.45, No.2, pp. 617-634, 1996.
  11. [11] E. S. Geller, “Inertial system platform rotation,” IEEE Trans. on Aerospace and Electronic Systems, Vol.AES-4, No.4, pp. 557-568, 1968.
  12. [12] W. S. Watson, “Improved north seeking gyro,” IEEE PLANS 92 Position Location and Navigation Symp. Record, pp. 121-125, doi:10.1109/PLANS.1992.185829, 1992.
  13. [13] T. Tanaka, Y. Igarashi, M. Nara, and T. Yoshino, “Automatic north sensor using a fiber-optic gyroscope,” Appl. Opt., Vol.33, No.1, pp. 120-123, 1994.
  14. [14] Y. Yang and L.-J. Miao, “Fiber-Optic strapdown inertial system with sensing cluster continuous rotation,” IEEE Trans. on Aerospace and Electronic System, Vol.40, No.4, pp. 1173-1178, 2004.
  15. [15] R. Arnaudov and Y. Angelov, “Earth rotation measurement with micromechanical yaw-rate gyro,” Meas. Sci. Technol., Vol.16, pp. 2300-2306, 2005.
  16. [16] Q. Nie, X. Gao, and Z. Liu, “Research on accuracy improvement of INS with continuous rotation,” Proc. of the 2009 IEEE Int. Conf. on Information and Automation, pp. 870-874.
  17. [17] B. R. Johnson, E. Cabuz, H. B. French, and R. Supino, “Development of a MEMS gyroscope for northfinding applications,” Position Location and Navigation Symp. (PLANS), pp. 168-170, 2010.
  18. [18] L. I. Iozan, M. K. Jaakkola, J. Collin, J. Takara, and C. Rusu, “Using a MEMS gyroscope to measure the Earth’s rotation for gyrocompassing applications,” Meas. Sci. Technol, Vol.23, No.2, 025005, pp. 1-8, 2012.
  19. [19] I. P. Prikhodko, S. A. Zotov, A. A. Trusov, and A. M. Shkel, “What is MEMS gyrocompassing? comarative analysis of maytagging and carouseling,” J. of Microelectromechanical System, Vol.22, No.6, pp. 1257-1266, 2013.
  20. [20] J. Collin, “MEMS IMU carouseling for ground vehicles,” IEEE Trans. on Vehicular Technology, Vol.64, No.6, pp. 2242-2251, 2015.
  21. [21] J. Collin, M. K. Jaakkola, and J. Takala, “Effect of carouseling on angular rate sensor error processes,” IEEE Trans. on Instrumentation and Measurement, Vol.64, No.1, pp. 230-240, 2015.
  22. [22] J. Bojja, J. Collin, M. K. Jaakkola, M. Payne, R. Griffiths, and J. Takala, “Compact north finding system,” IEEE Sensors J., Vol.16, No.8, pp. 2554-2563, 2016.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jun. 03, 2024