Patent ID: 8381589

Claim:
A single-axis-control-input gyroscope system having imperfection compensation comprising: a gyroscope including a mechanical structure, a dynamic behavior of the mechanical structure being described with a plurality of system parameters and a plurality of dynamic equations; wherein the gyroscope receives a single-axis control signal and outputs a plurality of gyroscopic system dynamics, and wherein the single-axis control signal includes at least two frequency signals; a state observer coupled to the gyroscope, including a single-axis-control-input gyroscope model which receives the single-axis control signal and generates a plurality of model system dynamics; wherein the state observer performs a difference operation on the plurality of gyroscopic system dynamics and the plurality of model system dynamics and then works out a plurality of compensation values and feeds back the plurality of compensation values to the single-axis-control-input gyroscope model to estimate the plurality of system parameters.