Abstract: A MEMS (Microelectromechanical System) INU (Inertial Navigation Unit) chip comprises a compact autonomous device undergoing motion tracks and analyzes its definite movement relative to local Earth coordinates with optimal accuracy and repeatability of lmm over distances of greater than two meters. The MEMS INU includes an Inertial Motion Tracking Device (IMTD) comprises a gyroscope, accelerometer, magnetometer, and digital processor programmed with a general purpose Inertial Measurement Engine (IME), an application specific Motion Analysis and Adaptation (MAA) program and a low power radio. The IMTD tracks its motion with optimum accuracy using compact practical sensors that may have noise and drift by periodically and autonomously checking its velocity changes at an optimum interval, computing a linear acceleration therefrom and determining a no-motion or motion condition relative to a threshold and correcting its velocity, position and acceleration errors when there is no motion.

Abstract: A compact Inertial Wave Angle Gyroscope (IWAG) is operated using a phase lock loop to track resonator phase and a baseband regulator to null quadrature. The resonator velocity or its components computed from precession angle are first determined at baseband and then applied to gain matrices in order to generate the feedback control forces for self-precession, cancellation of damping and compensation of anisodamping. The inertial rotation input is determined from the measured total precession angle by removing the computed or calibrated self-precession angle. The resonator energy can be regulated to a fixed magnitude and the baseband feedback force for self-precession at a fixed rate determined from components computed from precession angle such that the total force is in phase with baseband velocity but has fixed magnitude. The IWAG inertial rotation input can be determined from the measured total precession rate by removing the computed self-precession rate.

Abstract: A compact Inertial Wave Angle Gyroscope (IWAG) is disclosed without zero rate drift due to residual asymmetry comprises antisymmetric velocity feedback of sufficient magnitude to produce a continual self-precession of its vibration pattern to overcome any rate threshold and average the effects of its residual asymmetry on zero rate drift to zero over each revolution of the precession pattern in the case. The inertial rotation input is determined from the measured total precession rate by removing the computed self-precession rate.

Abstract: A compact autonomous device undergoing motion tracks and analyzes its definite movement relative to local Earth coordinates with optimal accuracy and repeatability of 1 mm over distances of greater than two meters. The Inertial Motion Tracking Device (IMTD) comprises a gyroscope, accelerometer, magnetometer, and digital processor programmed with a general purpose Inertial Measurement Engine (IME), an application specific Motion Analysis and Adaptation (MAA) program and a low power radio. The IMTD tracks its motion with optimum accuracy using compact practical sensors that may have noise and drift by periodically and autonomously checking its velocity changes at an optimum interval, computing a linear acceleration therefrom and determining a no-motion or motion condition relative to a threshold and correcting its velocity, position and acceleration errors when there is no motion.