Patent Description:
The present disclosure relates to quadrature trimming electrode configurations for yaw gyroscopes.

Yaw gyroscopes detect angular acceleration about a yaw axis. Some yaw gyroscopes include a proof mass that is driven in-plane along one direction and which moves in-plane along an orthogonal direction in response to rotation about the yaw axis. <CIT> discloses a method of correcting quadrature error in a dynamically decoupled micro-gyro having a drive mass that is vibrated relative to a drive axis (Y, Z) and a sense mass that responds to the drive mass in the presence of an angular rate and associated Coriolis force by vibrating relative to a sense axis (X, Y). The method includes the steps of providing a first static force element for applying a first steady-state force to a first region of the drive mass; providing a second static force element for applying a second steady-state force to a second region of the drive mass, and applying a corrective steady-state force to the drive mass with the first and second static force elements, the corrective steady-state force making the drive axis (Y, Z) of the drive mass orthogonal to the sense axis (X, Y) of the sense mass. In the rotational embodiment, the static force elements are located at +Y and -Y directions.

Microelectromechanical systems (MEMS) yaw gyroscopes having out-of-plane quadrature trim electrodes are described. The gyroscope includes a proof mass configured to be driven in-plane. The proof mass includes a plurality of openings. The out-of-plane quadrature trim electrodes are positioned to laterally overlap edges of the openings in a projection plane. The out-of-plane quadrature trim electrodes trim in-plane motion of the proof mass in one or two directions.

The solution is provided by the features of independent claim <NUM>. Variations are as described by the dependent claims.

Various aspects and embodiments of the application will be described with reference to the following figures. Items appearing in multiple figures are indicated by the same reference number in all the figures in which they appear.

Aspects of the present technology include quadrature trim electrode configurations for microelectromechanical systems (MEMS) yaw gyroscopes, in which the quadrature trim electrodes are positioned out-of-plane from the gyroscope proof mass. The proof mass may be a planar proof mass configured to be driven in-plane. A controller may be configured to apply an alternating current (AC) voltage to at least one drive electrode to drive the proof mass in-plane. The proof mass may include openings. Quadrature trim electrodes may be positioned out-of-plane from the proof mass in a way in which a projection of the quadrature trim electrodes into the plane of the proof mass overlaps with edges of the openings in the proof mass. A direct current (DC) voltage may be applied to the quadrature trim electrodes, creating a force that acts on the edges of the proof mass at the proof mass openings. The controller may be further configured to apply the DC voltage to the out-of-plane quadrature trim electrodes. The force may trim the proof mass in one or two in-plane directions. For example, both x-direction and y-direction quadrature trimming may be achieved.

The proof mass may be configured to be driven in-plane for determining a yaw rate, an angular velocity about the vertical axis (e.g., parallel to the z-axis). Detecting angular motion about the vertical axis involves driving the proof mass in-plane along a first axis (referred to herein as the drive mode) and detecting in-plane motion along a second axis (referred to herein as the sense mode). Driving the proof mass in-plane may induce motion in the yaw gyroscope, causing the proof mass to vibrate in a periodic fashion. When the proof mass of the yaw gyroscope oscillates and the yaw gyroscope is subjected to angular motion, a Coriolis effect, and hence a Coriolis force, arises that can be sensed. In some embodiments, the proof mass may be driven to oscillate in the x-axis direction and the proof mass may undergo angular motion about the vertical axis, generating a Coriolis force directed in the y-direction. In these embodiments, the Coriolis force may be sensed by sensing in-plane motion of the proof mass in the y-direction.

Trimming may be used in yaw gyroscopes to compensate for undesired effects arising due to quadrature motion. Imperfections caused during fabrication (e.g., slanted sidewalls) can contribute to quadrature motion of the proof mass. Quadrature motion arises when a proof mass, despite being driven to oscillate in-plane solely along one direction (e.g., the x-direction), undergoes undesired motion in another direction as well (e.g., the y-direction), leading to crosstalk. The quadrature motion can be erroneously interpreted by an electronic circuit coupled to the yaw gyroscope as an angular velocity. Recognizing the desire to eliminate and compensate for crosstalk arising due to fabrication-caused imperfections, Applicant has developed yaw gyroscopes that limit or eliminate entirely quadrature motion. The MEMS yaw gyroscopes according to aspects of the present application utilize quadrature trim electrodes. Quadrature trim electrodes may be arranged to produce an electrostatic force that biases the position of a proof mass in a direction and by an amount that compensates the gyroscope for quadrature motion.

Certain gyroscopes rely on in-plane quadrature trim electrodes (quadrature trim electrodes positioned in the same plane in which the proof mass lies) that are aligned in one axis relative to one another. Such a configuration can result in small gaps between the in-plane quadrature trim electrodes and the proof mass, therefore limiting proof mass motion in-plane. Limiting the proof mass motion limits the sensitivity of the gyroscope to angular motion. Bigger gaps to allow for higher proof mass amplitude motion can be used, but bigger gaps can result in quickly decreasing quadrature trim strength, making the gyroscope more susceptible to crosstalk.

In contrast, aspects of the present technology provide symmetric electrode pattern configurations for quadrature trimming, in which the force on the proof mass depends on a vertical gap (e.g., a gap with respect to the z-axis) between the substrate and the moving proof mass, thus not interfering with the direction and large amplitude of proof mass motion. In-plane force for biasing the position of the proof mass to counteract quadrature motion can be produced by operating out-of-plane trim electrodes (quadrature trim electrodes positioned in a plane different from the plane in which the proof mass lies) in conjunction with openings formed in the proof mass. A projection of the quadrature trim electrodes into the plane of the proof mass overlaps with edges of the openings in the proof mass. Thus, application of a DC voltage to the quadrature trim electrodes results in a force that acts on the edges of the proof mass at the proof mass openings, thereby biasing the position of the proof mass.

In some embodiments, the trim electrodes are closely spaced relative to each other to avoid charging of exposed dielectric between them. The electrodes may form a periodic pattern with a repeated elementary square cell that consists of four squares. Two diagonal squares of this elementary pattern cell may have the same control voltage and two other diagonal squares may have the opposite sign voltage. The proof mass may be separated from the quadrature trim electrodes by a stable small vertical gap. Holes may be provided in the proof mass nominally aligned with the center of elementary electrode cell. As the proof mass moves under resonant excitation, the holes in the proof mass change position relative to a static electrode pattern on a substrate. The change in area overlap between the four electrodes of the elementary cell and the proof mass hole creates cross axis force, orthogonal to the direction of proof mass motion.

Accordingly, aspects of the present technology provide out-of-plane quadrature trim electrodes for trimming in-plane motion of a MEMS yaw gyroscope. The out-of-plane quadrature trim electrodes are separated vertically from the proof mass of the gyroscope, which is configured to be driven in-plane. The vertical spacing between the vertical quadrature trim electrodes and the proof mass may remain substantially constant during in-plane motion of the proof mass. In response to experiencing rotation about the vertical axis, the proof mass moves in an in-plane direction, which is detected by sense electrodes positioned in the same plane as the proof mass.

The aspects and embodiments described above, as well as additional aspects and embodiments, are described further below. These aspects and/or embodiments may be used individually, all together, or in any combination of two or more, as the application is not limited in this respect.

<FIG> illustrates a cross-sectional view of a MEMS yaw gyroscope <NUM> with out-of-plane quadrature trim electrodes <NUM>, according to a non-limiting embodiment. The MEMS yaw gyroscope <NUM> includes a planar proof mass <NUM>, a substrate <NUM>, and quadrature trim electrodes <NUM>.

The planar proof mass <NUM> is suspended above the substrate <NUM>. For example, the planar proof mass <NUM> may be coupled to the substrate <NUM> by tethers, an anchor, or a combination of supporting structures. The planar proof mass <NUM> is suspended such that it can move in-plane in two dimensions (e.g., the x-direction and y-direction), and optionally it can move out-of-plane (in the z-direction in the figure) in response to roll or pitch rotation of the gyroscope. Drive electrodes <NUM> may be provided in-plane with the proof mass <NUM> to drive the proof mass (e.g., via application of a suitable alternating current (AC) drive signal). In the cross-sectional view of <FIG>, two drive electrodes <NUM> are visible. However, more may be provided, and in a non-limiting embodiment, four drive electrodes may be provided in-plane with proof mass <NUM> with one on each side of proof mass <NUM>. Drive electrodes <NUM> may be offset from proof mass <NUM> by the distance labeled "a" in <FIG>. In some embodiments, the distance labeled "a" between the proof mass <NUM> and the drive electrodes <NUM> does not limit the range of motion of the proof mass too significantly. The drive electrodes <NUM> may have, among other shapes, a rectangular shape. The proof mass <NUM> is shown in rectangular form, but may have any suitable size and shape, and may be formed of any suitable material(s).

The proof mass <NUM> includes an opening <NUM>. In some embodiments, the proof mass includes multiple openings, such as an array of openings. However, a single opening <NUM> is shown in <FIG> for simplicity of illustration. The opening <NUM> may be square or rectangular (when viewed in the z-direction), although alternative shapes may be used in alternative embodiments. The opening <NUM> may be sized to provide sufficient surface area of the inner edges of the opening <NUM> to experience a trimming force from the out-of-plane quadrature trim electrodes <NUM>.

As shown in <FIG>, the MEMS yaw gyroscope <NUM> includes a plurality of quadrature trim electrodes <NUM> disposed on the substrate <NUM>. The quadrature trim electrodes <NUM> are therefore separated from the proof mass <NUM> in the z-direction, and are referred to as out-of-plane quadrature trim electrodes because they lie outside the plane of the proof mass <NUM>. The quadrature trim electrodes <NUM> may be separated from the proof mass <NUM> by the distance labeled "s" in <FIG>. In the cross-sectional view of <FIG>, two quadrature trim electrodes <NUM> are visible. However, more may be provided, as will be described with respect to subsequent figures.

Notably, in-plane movement of the planar proof mass <NUM>, as occurs when the proof mass <NUM> is driven, may not alter the vertical distance between the proof mass <NUM> and the quadrature trim electrodes <NUM>. Such a configuration simplifies control of the quadrature trim electrodes <NUM> during operation of the MEMS yaw gyroscope <NUM>. By not changing the spacing between the proof mass <NUM> and the quadrature trim electrodes <NUM>, the force exerted on the proof mass <NUM> by the quadrature trim electrodes <NUM> may be better controlled than if the quadrature trim electrodes <NUM> were positioned in a manner in which there was a variable gap between them and the proof mass <NUM> (as is the case for in-plane quadrature trim electrodes).

<FIG> illustrates the substrate <NUM> and the proof mass <NUM> of <FIG> in a top-down, side-by-side view. It should be appreciated that the two are side-by-side for convenience of illustration, and that in practice the proof mass <NUM> is over the substrate <NUM>, as can be seen in <FIG>. As seen in <FIG>, which is a top-down view of the structure of <FIG>, the proof mass <NUM> and out-of-plane quadrature trim electrodes <NUM> are positioned so that the out-of-plane quadrature trim electrodes <NUM> laterally overlap (with respect to the xy-plane) the opening <NUM> in the proof mass <NUM>. In some embodiments, a projection of the out-of-plane quadrature trim electrodes <NUM> into the plane of the proof mass overlaps the edges of the opening <NUM>. The quadrature trim electrodes <NUM> and the opening <NUM> of the proof mass <NUM> can be sized so that there is overlap even when the proof mass <NUM> moves to its maximum in-plane extent during operation. <FIG>, described further below, illustrates this feature as well.

The configuration of <FIG> allows for in-plane quadrature trimming of the proof mass <NUM> using out-of-plane quadrature trim electrodes <NUM>. Applying a DC voltage to the quadrature trim electrodes <NUM> will generate an electric field having an in-plane component that acts on edges <NUM> (which are shown in <FIG> as the inner edges of the opening <NUM> of the proof mass <NUM>). As shown in <FIG>, each edge <NUM> of the opening <NUM> meets another edge <NUM> at a vertex <NUM>. The in-plane component of the electric field results in a force being applied at the edges <NUM> of the opening <NUM>. The force can be directed in the x-direction and/or the y-direction and may be an in-plane force.

Referring to <FIG>, the quadrature trim electrodes <NUM> and the opening <NUM> of the proof mass <NUM> can be sized so that there is overlap even when the proof mass <NUM> moves to its maximum in-plane extent during operation. The dashed box <NUM> represents the positioning of the proof mass opening <NUM> at equilibrium (e.g., at rest). The distance labeled "L1" indicates a dimension of the quadrature trim electrodes <NUM> and the distance labeled "L2" indicates a dimension of the proof mass <NUM> in the same direction, the x-direction. As shown in <FIG>, the quadrature trim electrodes are each separated by a spacing labeled "b. " As shown, the opening <NUM> may displace in the x and y-directions by an amount "x" and "y" respectively. When displaced, the opening <NUM> still overlies the quadrature trim electrodes <NUM>, such that each vertex <NUM> continues to overlap a respective quadrature trim electrode <NUM>.

<FIG> also illustrates that the quadrature trim electrodes <NUM> can be provided in pairs, as illustrated by the different shading. The pairs relate to the application of a voltage differential. For example, electrodes positioned diagonally relative to each other may be electrically tied together. The pairs may be positioned perpendicularly relative to each other. Providing both pairs of electrodes positioned as shown allows for trimming in both the x and y-directions. Providing a single pair would allow for trimming in a single direction, either the x-direction or the y-direction. The electrodes are laterally positioned along two dimensions to provide for quadrature trim in two in-plane dimensions.

<FIG> illustrates examples of dimensions for the structure of <FIG>. The illustrated dimensions are non-limiting examples, as other dimensions may be used. That said, as illustrated, the opening <NUM> may be significantly larger than the in-plane spacing between the quadrature trim electrodes (e.g., spacing labeled "b" in <FIG>). The opening <NUM> may be a comparable size to each individual quadrature trim electrode <NUM> in some embodiments. As shown in <FIG>, the distance labeled "L1" in <FIG> may be approximately <NUM> and is larger than the spacing labeled "b" which may be <NUM>. The distance labeled "L1" may be a value between <NUM> and <NUM>, between <NUM> and <NUM>, or any value within those ranges. Similarly, the distance labeled "L2" may be a value between <NUM> and <NUM>, between <NUM> and <NUM>, or any value within those ranges. The spacing labeled "b" between adjacent electrodes may be between <NUM> to <NUM>, <NUM> to <NUM>, or any value within those ranges. As shown in <FIG>, proof mass <NUM> may have etch holes <NUM>, formed for fabrication purposes. Each etch hole <NUM> may have a dimension of approximately <NUM> in one direction, a dimension between <NUM> to <NUM>, or a value within that range. While <FIG> shows a single proof mass <NUM> with an opening <NUM>, in a non-limiting embodiment, proof mass <NUM> may comprise interconnected masses configured to define an opening.

Thus, according to an aspect of the present technology, a MEMS gyroscope may include a substrate (e.g., substrate <NUM>) and a planar proof mass (e.g., proof mass <NUM>) suspended above the substrate. In some embodiments, being "above" entails being in a position offset with respect to a vertical axis, and can also include a situation in which the device is rotated relative to the y-axis (e.g., is flipped over). The proof mass may have an enclosed opening (e.g., opening <NUM>). For example, the opening may be surrounded by material of the proof mass. The MEMS gyroscope may include out-of-plane quadrature trim electrodes (e.g., quadrature trim electrodes <NUM>) on the substrate. Quadrature trim electrodes <NUM> are separated from proof mass <NUM> in a direction perpendicular to the top surface of the proof mass. The quadrature trim electrodes may be laterally positioned to overlap interior edges (e.g., edges <NUM>) of the proof mass at the opening. For example, each vertex of the opening may overlap with a respective electrode. To overlap may entail a portion of each being covered by the other in a dimension.

It should be appreciated that not all embodiments are limited to one proof mass, since gyroscopes of the type described herein may include any other suitable number of proof masses. In one example, a gyroscope may have four proof masses positioned in four respective quadrants. With four proof masses, the gyroscope may operate in an anti-phase manner in both drive and sense modes in which one proof mass moves in the negative x-direction and an adjacent proof mass moves in the positive x-direction (e.g., as shown in <FIG>). Having four proof masses may improve accuracy due to the ability to sense angular motion differentially.

<FIG> illustrates an array of out-of-plane quadrature trim electrodes <NUM>. In some embodiments, tens or hundreds of quadrature trim electrodes <NUM> are provided. Two pads, pad <NUM> and pad <NUM>, are provided to afford electrical access to the quadrature trim electrodes <NUM>. That is, the array of quadrature electrodes <NUM> may include a first subset electrically connected to a first pad, and a second subset electrically connected to a second pad. <FIG> further illustrates this feature. The first and second groups may have multiple pairs of electrodes. The first group and the second group may be configured to receive two different voltages. Multiple electrode sets, such as the array of out-of-plane quadrature trim electrodes <NUM> shown in <FIG>, can be used to improve the lateral force without increasing the applied voltage. Applicant has appreciated that the largest voltage that can be applied to the trim electrodes is dictated by the nature of the application-specific integrated circuit (ASIC) driving the electrodes. For example, certain ASICs do not permit generation of voltage in excess of <NUM> V (or between <NUM> to <NUM> V). To provide sufficient force to compensate a gyroscope for quadrature motion despite the limited voltage that can drive the trim electrodes, an array of out-of-plane quadrature trim electrodes <NUM> may be used in conjunction with multiple openings in the proof mass. Each set of four electrodes may exert a force on the edges of a corresponding opening. As a result, the overall force applied to the proof mass is the combination of the forces applied to the individual openings. Unfortunately, providing multiple openings presents a drawback: because the amount of material carved out from the proof mass is increased, sensitivity to angular motion may be reduced.

As shown in <FIG>, the array of quadrature trim electrodes <NUM> can be divided into two groups that are electrically separate. In this non-limiting example, the two groups are arranged in a checkerboard pattern. The first group are electrically connected to each other, and the second group are electrically connected to each other. The array may be divided into four quadrants. As shown in <FIG>, each quadrant corresponds to an out-of-plane proof mass 102A, 102B, 102C, and 102D (e.g., proof mass <NUM> in <FIG>) covering respective quadrature trim electrodes <NUM>. The outline of each proof mass (positioned in a plane above electrodes <NUM>) is illustrated with dashed lines. Arrows <NUM> show which direction proof mass 102A, 102B, 102C, and 102D are driven in-plane. In this case, the masses are driven along the x-axis in an anti-phase manner.

<FIG> illustrates an example configuration of a single quadrant of a proof mass <NUM> overlying a partial array of quadrature trim electrodes <NUM>. In this example, there are sixteen square openings <NUM> in the proof mass <NUM>, and thirty-two pairs of quadrature trim electrodes <NUM> underlying the openings <NUM>. Stated another way, <FIG> illustrates an <NUM> × <NUM> array of out-of-plane quadrature trim electrodes <NUM> for a single proof mass <NUM> of a quadrature mass gyroscope. Each set of four electrodes of the array may be laterally positioned to overlap edges of a corresponding opening, similar to the arrangement described in connection with <FIG>. <FIG> illustrates that one dimension for the proof mass <NUM> is approximately <NUM>, in accordance with one example.

<FIG> expands on <FIG> by showing four masses 102A, 102B, 102C, and 102D of a quadrature mass gyroscope. That is, <FIG> illustrates four instances of the structure of <FIG>. As shown in <FIG>, an X-Y axis is shown as an indicator of direction and in particular, an indicator of which direction is for sensing in-plane motion and which direction is for driving in-plane motion of proof mass 102A, 102B, 102C, and 102D, according to a non-limiting embodiment. Arrows <NUM>, representing the drive mode, are shown as pointing in a direction along the x-axis in <FIG>.

It should be noted that gyroscopes of the types described herein may be shaped to support mode switching, whereby the direction of the drive mode and the direction of the sense mode are swapped. Allowing a gyroscope to perform mode switching may be useful in some applications. In some embodiments, mode switching may be enabled by the symmetric nature of the gyroscope in the plane of the proof masses.

<FIG> shows the gyroscope of <FIG> upon undergoing mode switching. As shown in <FIG>, the X-Y axis indicates the x-direction is for sensing motion and the y-direction is for driving motion of proof mass 102A, 102B, 102C, and 102D. In this case, arrows <NUM>, representing the drive mode, are shown as pointing in a direction along the y-axis. In some embodiments, the out-of-plane quadrature trim electrodes limit quadrature motion when the system is in a first mode, driving the proof mass along the x-axis as shown in <FIG>, or in a second mode, driving the proof mass along the y-axis as shown in <FIG>. Mode switching can occur without affecting the gyroscope's ability to achieve trimming in part because the quadrature trim electrodes are arranged symmetrically.

<FIG> illustrates the manner of operation of the out-of-plane quadrature trim electrodes, in accordance with some embodiments. As shown in <FIG>, quadrature trim electrodes <NUM> may overlap with an opening <NUM> of a proof mass and may be separated by a gap (not visible in <FIG>). Box <NUM> represents the position of the opening when no voltage is applied to the electrodes.

The potential on the proof mass is at HV. The potentials on the out-of-plane quadrature trim electrodes <NUM> may be set to the same magnitude Vq but on the diagonals, with different signs. The initial overlap between the out-of-plane quadrature trim electrodes <NUM> and the opening <NUM> is represented by segments L0 and w0. Opening <NUM> moves by distances x and y from the initial position in response to trimming.

The capacitance arising between the out-of-plane quadrature trim electrodes <NUM> and the proof mass can be estimated. Here, ε<NUM> represents the permittivity of free space or the dielectric constant. L0 and w0 represent the dimensions of the overlap between the opening of the proof mass and the electrode initially. The term gap represents the gap between the electrodes and the proof mass out of plane. The capacitance estimates, c<NUM>, c<NUM>, c<NUM>, and c<NUM> between the proof mass and the top left electrode, the top right electrode, the bottom right electrode, and the bottom left electrode, respectively, can be expressed as follows: <MAT> <MAT> <MAT> <MAT>.

In embodiments in which the proof mass is driven along the y-axis, trimming may involve setting the electrical forces in the x-direction to be substantially equal to zero. With potential crosstalk, conditions to obtain zero force may need to be determined, such as by determining how much force to apply to the proof mass. Here, the electrical force in the x-direction is represented by Fx. The potential on the proof mass is at HV, and the potentials on the electrodes are Vq (positive or negative, as shown in <FIG>). The values to achieve a condition in which the electrical force in the x-direction is zero can be calculated with the following expressions: <MAT> <MAT> <MAT>.

Similarly, in embodiments in which the proof mass is driven along the x-axis, trimming may involve setting the electrical forces in the y-direction to be substantially equal to zero. Here, the electrical force in the y-direction is represented by Fy. When calculating Fy, the inner function of each derivative is the same as when calculating Fx, which allows for switching modes of driving and sensing. The values to achieve a condition in which the electrical force in the y-direction is zero can be calculated with the following expressions: <MAT> <MAT> <MAT>.

According to an aspect of the present technology, a symmetric electrode pattern for trimming of quadrature is provided, that complements a variety of yaw axis Coriolis symmetrical gyroscope designs, including whole angle and mode switching. The symmetric electrode pattern preserves axial symmetry of yaw gyroscope and swapping of the axis of motion, without limiting proof mass displacement amplitude.

Yaw gyroscopes of the types described herein may be deployed in various settings to detect angular rates. One such setting is in automobiles such as self-driving cars, or in vehicles such as boats or aircrafts. Additional settings are industrial applications or in the defense industry. MEMS yaw gyroscopes may be used in any application in which angular rates are detected and reduced crosstalk is desired.

The aspects of the technology described above may provide various benefits. Some non-limiting examples of benefits are now described. It should be appreciated that not all embodiments provide all benefits, and that benefits other than those listed may be realized in at least some embodiments.

Aspects of the present technology provide quadrature trimming of a MEMS yaw gyroscope without limiting in-plane motion of the gyroscope's proof mass to accommodate the quadrature trim electrodes. Thus, the extent of the proof mass motion may be larger than if the quadrature trim electrodes were in-plane with the proof mass, while still providing effective quadrature trimming. Moreover, placement of the quadrature trim electrodes out-of-plane from the proof mass provides a constant (or substantially constant) gap distance between the proof mass and the quadrature trim electrodes even while driving the proof mass. Thus, the operation of the quadrature trim electrodes is not negatively impacted by changing gap distances as would occur if the quadrature trim electrodes were in-plane with the gyroscope proof mass. Use of out-of-plane quadrature trim electrodes for in-plane trimming also permits the use of simple shapes for the opening(s) in the proof mass. For example, the opening(s) may be a square, which facilitates simple microfabrication as compared to more complicated opening shapes that may be used with in-plane quadrature trim electrodes.

Alternatives to those features illustrated and explicitly listed herein are possible. For example, alternative shapes for the quadrature trim electrodes may be used. Polygons, hexagons, equilateral triangles, or other shapes that can be tessellated may be used as the quadrature trim electrode shape.

Claim 1:
A microelectromechanical systems, MEMS, gyroscope (<NUM>), comprising:
a substrate (<NUM>);
a proof mass (<NUM>) suspended above the substrate and comprising an array of enclosed openings (<NUM>); and
an array of out-of-plane quadrature trim electrodes (<NUM>) on the substrate, separated from the proof mass in a direction normal to the proof mass, and laterally positioned to overlap interior edges of the proof mass at the array of openings, wherein the array of out-of-plane quadrature trim electrodes comprises pairs of out-of-plane quadrature trim electrodes, whereby each opening of the array of enclosed openings has a pair of underlying out-of-plane quadrature trim electrodes.