Patent ID: 7912664

Claim:
A gyroscope system comprising: a plurality of gyroscopes, each adapted to sense rate about a respective sense axis, each of said sensed rates exhibiting bias error and scale factor error; a scale factor error estimator coupled to at least one of said gyroscopes to produce an estimate of scale factor error of such coupled ones of said gyroscopes; a mode reversal unit coupled to such coupled ones of said gyroscopes to produce an estimate of bias error of such coupled ones of said gyroscopes; and a compensator responsive to sensed rates of such coupled ones of said gyroscopes, said bias error estimate, and said scale factor error estimate to produce rate outputs for such coupled ones of said gyroscopes; said rate outputs exhibiting reduced bias error and reduced scale factor error as compared to bias error and scale factor error of corresponding rates sensed by such coupled ones of said gyroscopes wherein said coupled ones of said gyroscopes has a resonator exhibiting a pattern of standing waves having an orientation, wherein an expected position of the pattern and a measured position of the pattern is used to determine a scale factor error of the gyroscope.