Can a Perfect Vibratory Gyroscope Provide a Drift-Free Angle Estimation?
Résumé
A perfect vibratory gyroscope, i.e. free of mechanical imperfections, is expected to provide an estimation of the angular motion that it experiences. The classical analysis explains how the actual measurements can be processed to produce such an estimation. We revisit this analysis and confirm that its conclusions are indeed correct, although only over a disappointingly short timescale. We then show that these conclusions can be extended to a much longer timescale by carefully accounting for some previously neglected small terms.
