CN101968360A - Circuit system for bell-shaped vibrator angular rate gyro - Google Patents
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Abstract
本发明公开了一种钟形振子式角速率陀螺的电路系统，包括振型稳定单元、驱动控制单元、差分电容检测器和信息检测单元。陀螺在起振电路的驱动下，开始振动，经过振型稳定单元、驱动控制单元使钟形振子振型稳定。差分电容检测器对钟形振子式角速率陀螺振子的检测电极和反馈电极进行充放电，将检测到的差分电容信号转化成相应的误差电压信号输出到高精度放大器，经过解调后，由处理器解算出输入角速率。本发明的电路系统结构简单、性能优良、精度高，特别是引入了振型稳定单元，在提高陀螺仪输出信号的灵敏度的同时，有效地抑制陀螺器件本身的不足。
The invention discloses a circuit system of a bell-shaped vibrator type angular rate gyroscope, which comprises a mode shape stabilization unit, a drive control unit, a differential capacitance detector and an information detection unit. Driven by the oscillating circuit, the gyro starts to vibrate, and the vibration shape of the bell-shaped vibrator is stabilized through the vibration stabilization unit and the drive control unit. The differential capacitance detector charges and discharges the detection electrode and the feedback electrode of the bell-shaped oscillator type angular rate gyro oscillator, and converts the detected differential capacitance signal into a corresponding error voltage signal and outputs it to a high-precision amplifier. After demodulation, it is processed The converter solves to calculate the input angular rate. The circuit system of the invention has the advantages of simple structure, excellent performance and high precision. In particular, the vibration-shape stabilizing unit is introduced to effectively suppress the deficiency of the gyroscope itself while improving the sensitivity of the output signal of the gyroscope.
Description
Technical Field
The invention relates to a circuit system of an angular rate gyroscope, in particular to a circuit system of a bell-shaped oscillator angular rate gyroscope.
Background
The gyroscope is used as an inertial device for sensing angular motion of a carrier and is a core component of an inertial navigation, guidance and control system, wherein the vibrating gyroscope represents an important inertial technology and has all inertial qualities. The vibration gyro based on the coriolis force principle is more and more important in the technical field of inertia, and has been widely regarded as a new generation of inertia instrument by people. Various vibratory gyros are in succession under the impetus of scientific and technical development and market demand.
The application numbers are: 201010215745.1, title of the invention: the patent application for a bell-shaped oscillator type angular rate gyro provides a bell-shaped oscillator type angular rate gyro which is a vibrating gyro based on the principle of the coriolis force, and sensitive components of the bell-shaped oscillator type angular rate gyro are made of fused silica. At present, a circuit system based on the bell-shaped vibrator angular rate gyro adopts a circuit system based on a hemispherical resonant gyro, and the circuit system has the defects of complex structure, low measurement precision, unsuitability for large-scale production, high price and the like. The invention provides a circuit system based on the bell-shaped vibrator angular rate gyroscope.
Disclosure of Invention
The invention aims to overcome the defects of complex structure, low measurement precision, unsuitability for large-scale production, high price and the like of a circuit system of a bell-shaped vibrator angular rate gyro, and provides a simple and easy circuit system of the bell-shaped vibrator angular rate gyro.
In order to solve the technical problems, the invention adopts the technical scheme that:
a circuit system of a bell-shaped vibrator type angular rate gyro comprises a mode stabilization unit, a drive control unit, an electrode drive unit, a differential capacitance detector and an information detection unit; the drive control unit is connected with the electrode drive unit; the electrode driving unit directly drives two driving electrodes of the bell-shaped vibrator; the vibration mode stabilizing unit analyzes the vibration mode condition of the bell-shaped vibrator according to the two amplitude detection electrodes on the bell-shaped vibrator, and feeds the condition back to the driving control unit, so that the vibration mode of the bell-shaped vibrator is stabilized; the differential capacitance detector is connected with two tangential displacement detection electrodes and two amplitude stabilization electrodes of the bell-shaped vibrator, and meanwhile, the output of the differential capacitance detector is connected with the information detection unit; and the information detection unit is responsible for processing displacement change signals of the relevant bell-shaped vibrators and outputting the finally calculated angular rate.
Compared with the prior art, the invention has the beneficial effects that:
1) the circuit system of the bell-shaped vibrator angular rate gyro provided by the invention uses the design idea of the circuit system of the hemispherical resonant gyro for reference, simplifies the structure of the circuit, and the designed circuit system of the bell-shaped vibrator angular rate gyro has excellent performance and high precision and can inhibit the defects of a gyro sensitive element.
2) In a circuit system of the bell-shaped vibrator type angular rate gyroscope, a driving circuit continuously supplements energy to a vibrator to enable the bell-shaped vibrator to perform stable simple harmonic vibration; when the vibration amplitude of the vibrator is increased, the sensitivity of the gyroscope is also increased, and meanwhile, the stability of the scale factor output by the gyroscope also requires that the driving amplitude of the vibrator is kept stable, so that a vibration mode stabilizing unit circuit is introduced.
3) The vibration mode stabilizing unit circuit can track the change of the driving mode resonant frequency of the bell-shaped vibrator angular rate gyro in real time and adjust the frequency of driving voltage in time, so that the sensitivity of output signals of the bell-shaped vibrator angular rate gyro is improved.
4) The tangential displacement of the mass point of the vibrator is read by adopting a high-precision detection capacitance differential mode, and a detection signal is sent to a signal processing circuit to be solved and calculate the input angular rate.
5) A high-speed DSP processor is adopted as a main processor of the circuit, so that the requirement on output speed can be met while the calculation precision is ensured.
Drawings
FIG. 1 is a block diagram of a bell-shaped vibrator angular rate gyro circuitry of the present invention;
FIG. 2 is an electrode distribution diagram of a bell-shaped vibrator angular rate gyro of the present invention;
FIG. 3 is a block diagram of a bell-shaped oscillator type angular rate gyro circuitry of the present invention;
FIG. 4 is a bell-shaped oscillator amplitude control schematic of the present invention;
FIG. 5 is a signal flow diagram of a bell-shaped vibrator angular rate gyro of the present invention;
FIG. 6 is a flow chart of an amplitude control unit according to the present invention;
FIG. 7 is a schematic diagram of the configuration of the mode shape adjusting electrode according to the present invention.
Detailed Description
A circuit system of a bell-shaped vibrator angular rate gyro adopts a mode of electrostatic excitation and capacitance detection in the working process. The excitation and detection electrode pairs are both formed by electrodes attached to the bell-shaped vibrator and base electrodes, and the electrode materials are gold electrodes with insulating substrates. The circuit system comprises a vibration mode stabilizing unit, a driving control unit, an electrode driving unit, a differential capacitance detector and an information detection unit, as shown in fig. 1. The gyro vibrator starts to vibrate under the action of the driving control unit, and the vibration mode of the bell-shaped vibrator is stabilized through the vibration mode stabilizing unit. The differential capacitance detector charges and discharges electrodes of the bell-shaped vibrator type angular rate gyro vibrator, converts detected differential capacitance signals into corresponding error voltage signals and outputs the error voltage signals to the information detection unit, and the angular rate is calculated.
In the circuit system of the bell-shaped vibrator angular rate gyro, a drive control unit is connected with an electrode drive unit; the electrode driving unit directly drives two driving electrodes of the bell-shaped vibrator; the vibration mode stabilizing unit analyzes the vibration mode condition of the bell-shaped vibrator according to the two amplitude detection electrodes on the bell-shaped vibrator, and feeds the condition back to the driving control unit, so that the vibration mode of the bell-shaped vibrator is stabilized; the differential capacitance detector is connected with two tangential displacement detection electrodes and two amplitude stabilization electrodes of the bell-shaped vibrator, and meanwhile, the output of the differential capacitance detector is connected with the information detection unit; and the information detection unit is responsible for processing displacement change signals of the relevant bell-shaped vibrators and outputting the finally calculated angular rate.
The driving control unit is used for keeping the bell-shaped vibrator to work in a stable four-antinode vibration state, and the bell-shaped vibrator type angular rate gyroscope adopts a dual-driving dual-feedback driving control unit. As shown in FIG. 4, P is detected based on the principle of electrostatic force of capacitance3、P7The vibration amplitude Z of the position is fed back to the drive control unit at P1、P5Electrostatic force is applied to the position to complete the bell-shaped oscillator amplitude control.
The magnitude of the sense direction displacement y (t) will be proportional to the angular rate omega, while the drive direction displacement x (t) remains constant in magnitude and frequency. However, there is coupling between the driving vibration and the detecting vibration, which inevitably causes the driving displacement x (t) to change with the angular rate Ω, thereby affecting the measurement linearity and accuracy of the gyroscope, so the present invention adds the mode stabilization unit.
The vibration mode stabilizing unit is realized by adopting a digital control method, the structure of the amplitude is modeled, and the signal flow diagram of the bell-shaped vibrator type angular rate gyroscope is shown in figure 5.
From fig. 5, the driving displacement x and the driving force F can be derivedxThe transfer function between is:
in the formula, cxIs the capacitance value of the x-axis electrode, cyIs the capacitance value of the y-axis electrode, kxIs the proportionality coefficient of x-axis, kyIs the proportionality coefficient of the y-axis, mxMass of the x-axis electrode, myIs the mass of the y-axis electrode. Transfer function Hd(s) is a time-varying function related to the angular rate Ω, which will cause nonlinearity of gyro measurement, so a control element is added to ensure the stability of the driving amplitude, and a flow chart of the vibration mode control element is shown in fig. 6. Wherein K is the control rate, E0Is the desired drive amplitude. The amplitude stability degree of the bell-shaped vibrator provided by the invention is expected to reach 10-6。
Of bell-shaped oscillator type angular rate gyroThe information detection unit adopts a 4-electrode differential displacement detection mode at the vibration mode node position, and the detection object is the displacement of the edge of the bell-shaped vibrator under the action of the Cogowski force, which is different from the detection mode of a hemispherical vibration gyro and the like in the detection mode of the circuit system of the bell-shaped vibrator angular rate gyro provided by the invention. This detection reduces the complexity of the bell-shaped oscillator angular rate gyro. Through preliminary measurement and calculation, the displacement amplitude y of the bell-shaped vibrator is approximately equal to 0.5 mu m under the action of the Goldfish force, and the minimum displacement y is detected by a single capacitorjLess than or equal to 0.02 mu m, and the measurement precision of the displacement y can be improved by adopting a multi-electrode differential measurement method.
When displacement is detected at the node position of four-antinode vibration of the bell-shaped vibrator, the zero stability of the node is very important, and the zero stability is directly related to the precision of angular rate measurement, so that a method for solving zero drift of the node is very important to find. And zero position stabilization of the vibration mode node is realized by researching the vibration mode stabilization unit. The position of the electrodes of the mode stabilization unit will be configured and a reference relationship between the voltage on the electrodes and the voltage of the driving electrodes will be given below.
The bell-shaped vibrator has exciting force F at two points of ring A and ring BA(t) and FB(t) as shown in FIG. 7. Wherein, the O point is the origin, the A point is a zero-degree line, and the B point is a position angle thetaBThe angle of the C point is thetaC. Suppose FA(t) and FBThe frequency of (t) is the same and equal to the resonance frequency ω corresponding to the mode with the circumferential wave number of the housing being 2.
At point a:
the impulse force function for the a point excitation can be expressed as:
FA(t)＝F0(t)δ(θ) (3)
wherein F0(t) is the initial excitation force amplitude, and Fourier expansion is performed on equation (3):
the driving force is under closed-loop control, only the mode shape with the ring wave number of 2 appears, and then the oscillator mode shape is expressed as:
in the pulsed force expression:
when only F is applied to the vibratorAIn (t), the oscillator mode can be expressed as:
at point B:
when F is presentB(t) when applied to point B of the housing alone, the housing mode shape can be expressed as:
wherein B is a driving force FB(t) amplitude.
When the A point and the B point act simultaneously:
when F is presentA(t) and FB(t) when two points A, B are simultaneously applied to the casing, the casing mode is expressed as:
due to F in the driving processA(t) and FB(t) acting simultaneously, i.e. tA＝tB＝t0And then:
the above equation can be written as:
wherein,
in the design of the electrode of the vibration mode stabilization unit of the invention, theta is takenB45 °, equations (12), (13) can be further simplified:
as F for two points A, BA(t) and FBWhen the amplitude of (t) is changed, the ring vibration mode of the shell can be moved. By continuously changing the ratio A, B, the circular vibration mode of the shell can be precessed, and the vibration mode can be kept static relative to the shell by using the principle. When the rotation angle of the shell is omega, the precession angle K & omega generated by the mode shape is opposite to the rotation direction of the shell, K is a precession factor, and the mode shape is expressed as:
when theta iscWhen K Ω, the mode shape can be stabilized. And the ratio of the forces at the two points A, B can be obtained according to the formula (15), so as to determine the voltage value to be applied to the mode stabilization unit electrode.
According to the working principle, the invention provides a related circuit system implementation method. Firstly, the electrodes of the bell-shaped vibrator type angular rate gyroscope are distributed, as shown in fig. 2, in order to make the bell-shaped vibrator 2-1 vibrate effectively and detect the deformation of the vibrator conveniently, an 8-electrode mounting mode is adopted, and the bell-shaped vibrator type angular rate gyroscope comprises a first driving electrode 2-5 and a second driving electrode 2-9; a first amplitude detection electrode 2-3 and a second amplitude detection electrode 2-7 which are responsible for detecting whether the amplitude and the frequency are stable; the device comprises a first tangential displacement detection electrode 2-2, a second tangential displacement detection electrode 2-6, a first vibration mode stabilizing electrode 2-4 and a second vibration mode stabilizing electrode 2-8 which are used for detecting deformation signals.
The circuit system of the bell-shaped vibrator angular rate gyroscope of the invention also adopts an 8-electrode mounting mode, but the action of 8 electrodes is changed, and the first driving electrode 2-5 and the second driving electrode 2-9 are used as driving electrodes; the first amplitude detection electrode 2-3 and the second amplitude detection electrode 2-7 are used for vibration mode detection; the first tangential displacement detection electrode 2-2, the second tangential displacement detection electrode 2-6, the first vibration mode stabilizing electrode 2-4 and the second vibration mode stabilizing electrode 2-8 are used for displacement detection.
FIG. 3 is a circuit diagram of the present invention, which includes a signal extraction portion 3-2, a first signal input terminal 3-1 of a detection electrode of a bell-shaped oscillator type angular rate gyro, a second signal input terminal 3-11 of the detection electrode, a third signal input terminal 3-29 of the detection electrode, and a fourth signal input terminal 3-15 of the detection electrode, the device comprises a feedback extraction part 3-25 for detecting whether the vibration mode is stable, a feedback electrode signal input end 3-16 for detecting the amplitude and frequency of the bell-shaped vibrator, a feedback electrode signal input end two 3-23, an information detection unit 3-9, a vibration mode stabilizing unit 3-27, an electrode driving unit 3-28, a user data output bus 3-10, a driving electrode signal output end one 3-22 and a driving electrode signal output end two 3-30.
In the circuit system, the differential capacitance detector I3-3 and the differential capacitance detector II 3-12 in the signal extraction part 3-2 adopt AD8222 as a main detection chip and are matched with a related peripheral circuit; the chips adopted by the high-precision amplifiers 3-4 and two 3-13 in the information detection units 3-9, the high-precision amplifiers three 3-17 and four 3-24 in the feedback extraction parts 3-25 for detecting whether the vibration modes are stable are OPA 2365; the chips adopted by the first sampling hold circuit 3-5, the second sampling hold circuit 3-32, the third sampling hold circuit 3-18 and the fourth sampling hold circuit 3-26 in the feedback extraction part 3-25 for detecting whether the vibration mode is stable in the information detection unit 3-9 are AD 781; the dividers I3-6 and II 3-14 in the information detection unit 3-9 adopt CD 4046; an 18-bit dual-channel AD converter 3-7 in the information detection unit 3-9 is formed by connecting two AD7982 in parallel; ADS1209 is adopted for 16-bit double-channel AD converters 3-19 in the vibration mode stabilizing units 3-27; the main control CPU3-8 in the information detection unit 3-9 uses a high-speed DSP chip TMS320C 6727; the mode shape stabilization unit controller 3-20 in the mode shape stabilization unit 3-27 uses LM3S 1635; the electrode drivers one 3-21 and two 3-31 in the electrode driving units 3-28 employ DACs 8831-EP.
When the gyroscope starts to work, the CPU gives an initial amplitude value to the vibration mode stabilization unit controller 3-20, the controller transmits two paths of signals to the electrode driver I3-21 and the electrode driver II 3-31, the electrode driver I3-21 and the electrode driver II 3-31 respectively transmit signal waveforms to the driving electrode signal output end I3-22 and the driving electrode signal output end II 3-30, the driving electrode signal output end I3-22 transmits signals to the first driving electrode 2-5, and the driving electrode signal output end II 3-30 transmits signals to the second driving electrode 2-9 for starting vibration of the bell-shaped vibrator 2-1. When the vibrator vibrates, the feedback electrode is output in a variable manner, input signals I3-16 of the feedback electrode and input signals II 3-23 of the feedback electrode pass through a high-precision amplifier III 3-17 and a high-precision amplifier IV 3-24 respectively and then are sent into a sample holder III 3-18 and a sample holder IV 3-26 respectively, signals output from the sample holder III and the sample holder IV are input into a double-channel 16-bit AD converter 3-19 of a vibration mode stabilizing unit 3-27, vibration information of the vibrator is sent into a vibration mode stabilizing control unit controller 3-20, the vibration mode stabilizing unit controller 3-20 can automatically adjust the vibration mode, the vibration mode is stabilized, and the vibration mode information is sent to a CPU 3-8.
In a feedback extraction part 3-25 for detecting whether the mode is stable, an input signal I3-16 of a feedback electrode is connected with a first amplitude detection electrode 2-3, and an input signal II 3-23 of the feedback electrode is connected with a second amplitude detection electrode 2-7. The master control CPU3-8 transmits the initial amplitude value and information required by amplitude control to the vibration mode stabilization unit controller 3-20, and transmits two driving signals to the electrode driver I3-21 and the electrode driver II 3-31, the electrode driver I3-21 drives the first driving electrode 2-5 through the driving electrode output end I3-22, and the electrode driver II 3-31 drives the second driving electrode 2-9 through the driving electrode output end II 3-30. After the bell-shaped vibrator 2-1 starts to vibrate, the first amplitude detection electrode 2-3 is connected with a first feedback electrode input signal 3-16, the second amplitude detection electrode and the detection electrode 2-3 are connected with a second feedback electrode input signal 3-23, analog quantities generated by displacement changes in the vibration axis direction of the bell-shaped vibrator 2-1 are respectively transmitted to an operational amplifier three 3-17 and an operational amplifier four 3-24, the signals are respectively transmitted to a 16-bit AD converter 3-19 through an operational amplifier three 3-17 and an operational amplifier four 3-24 and then through a sampling retainer three 3-18 and a sampling retainer four 3-26, the displacement change analog quantities are converted into two digital signals under the control of a vibration type stabilization unit controller 3-20 and are transmitted to a vibration type stabilization unit controller 3-20, the mode shape stabilizing unit controller 3-20 controls the mode shape to keep stable.
A first detection electrode signal input end 3-1 is connected with a first tangential displacement detection electrode 2-2, a second detection electrode signal input end 3-11 is connected with a second tangential displacement detection electrode 2-6, signals of the two detection electrodes are collected, and the variation of the node position of the bell-shaped vibrator is calculated through a first differential capacitance detector 3-3; in a similar way, the signal input ends three 3-29 of the detection electrodes are connected with the first vibration mode stabilizing electrodes 2-4, the signal input ends four 3-15 of the detection electrodes are connected with the second vibration mode stabilizing electrodes 2-8, signals of the two electrodes are collected and pass through the differential capacitance detectors two 3-12, and the variation of the node positions of the other two bell-shaped vibrators is calculated. The position variation calculated by the signal extraction part 3-2 is the difference signal of the first tangential displacement detection electrode 2-2 and the second tangential displacement detection electrode 2-6 and the difference signal of the first mode stabilization electrode 2-4 and the second mode stabilization electrode 2-8, and the two groups of difference signals pass through the high-precision amplifier I3-4 and the high-precision amplifier II 3-13 respectively to amplify the difference signals so as to ensure that the precision in signal processing is in a desired range. The signals amplified by the operational amplifier I3-4 are transmitted to the sample holder I3-5, and the signals coming out of the sample holder I3-5 need to pass through a divider I3-6 to obtain node position change analog quantity of the bell-shaped vibrator in the axial direction; similarly, signals amplified by the second operational amplifier 3-13 are transmitted to the second sample holder 3-32, and the signals coming out of the second sample holder 3-32 pass through the second divider 3-14 to obtain node position change analog quantity of the bell-shaped vibrator in the axial direction. The node position change analog quantities in the two axial directions are sent to a two-channel 18-bit AD converter 3-7, the two analog quantities are converted into digital quantities under the control of a CPU3-8, and the two sets of digital quantities are processed by the CPU3-8 to obtain the angular rate. In addition, the CPU3-8 adjusts the scaling factors of the first 3-4 and second 3-13 high precision amplifiers according to the operating conditions so that the measured angular rate does not drift too much.
When angular velocity is input, a signal output by the detection electrode is connected with a first detection electrode signal input end 3-1 and a second detection electrode signal input end 3-11 and transmitted to a first differential capacitance detector 3-3, and then the deformation information of the oscillator output by the first divider 3-6 is transmitted to a two-channel 18-bit AD converter 3-7 through a first high-precision amplifier 3-4, a first sampling holder 3-5 and a first divider 3-6. Similarly, the signal output by the detection electrode is connected with a signal input end three 3-29 of the detection electrode and a signal input end four 3-15 of the detection electrode, transmitted to a differential capacitance detector two 3-12, then transmitted to a high-precision amplifier two 3-13, a sampling holder two 3-32 and a divider two 3-14, deformation information of the vibrator output by the divider two 3-14 is transmitted to a dual-channel 18-bit AD converter 3-7, the converter 3-7 transmits the information to a CPU3-8 for resolving the current angular rate, and finally the angular rate value and the relevant information of the gyroscope are output to a user through a digital interface 3-10.
The circuit system provided by the invention can simplify the gyroscope structure and also provides convenience for batch production.
Claims (4)
1. A circuit system for a bell-shaped vibrator angular rate gyro, comprising: the circuit system comprises a vibration mode stabilizing unit, a driving control unit, an electrode driving unit, a differential capacitance detector and an information detection unit; the drive control unit is connected with the electrode drive unit; the electrode driving unit directly drives two driving electrodes of the bell-shaped vibrator; the vibration mode stabilizing unit analyzes the vibration mode condition of the bell-shaped vibrator according to the two amplitude detection electrodes on the bell-shaped vibrator, and feeds the condition back to the driving control unit, so that the vibration mode of the bell-shaped vibrator is stabilized; the differential capacitance detector is connected with two tangential displacement detection electrodes and two amplitude stabilization electrodes of the bell-shaped vibrator, and meanwhile, the output of the differential capacitance detector is connected with the information detection unit; and the information detection unit is responsible for processing displacement change signals of the relevant bell-shaped vibrators and outputting the finally calculated angular rate.
2. The circuitry for a bell-shaped vibrator angular rate gyro according to claim 1, wherein: the drive control unit adopts a dual-drive dual-feedback mode.
3. The circuitry for a bell-shaped vibrator angular rate gyro according to claim 1, wherein: the vibration mode stabilizing unit comprises a 16-bit dual-channel AD converter (3-19) and a vibration mode stabilizing unit controller (3-20); under the control of the vibration mode stabilization unit controller (3-20), the 16-bit AD converter (3-19) converts the two paths of displacement change analog quantities into two paths of digital signals and transmits the two paths of digital signals to the vibration mode stabilization unit controller (3-20).
4. Circuitry for a bell-shaped vibrator angular rate gyro according to claim 1 or 2, characterized in that: the information detection unit comprises a first high-precision amplifier (3-4), a second high-precision amplifier (3-13), a first sample-hold circuit (3-5), a second sample-hold circuit (3-32), a first divider (3-6), a second divider (3-14), an 18-bit dual-channel AD converter (3-7) and a main control CPU (3-8); the signals amplified by the operational amplifier I (3-4) are transmitted to the sample holder I (3-5), and the signals coming out of the sample holder I (3-5) are subjected to divider I (3-6) to obtain node position change analog quantity of the bell-shaped vibrator in the axial direction; signals amplified by the second operational amplifier (3-13) are transmitted to the second sampling holder (3-32), node position change analog quantities of the bell-shaped vibrators in the axial direction are obtained from the signals from the second sampling holder (3-32) through the second divider (3-14), the two node position change analog quantities in the axial direction are sent to the two-channel 18-bit AD converters (3-7), the two analog quantities are converted into digital quantities under the control of the CPU (3-8), and the two sets of digital quantities are processed by the CPU (3-8) to obtain angular rates.
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