I. Introduction
Microelectromechanical systems (MEMS) devices are characterized by smaller size, lower mass, lower power requirements, and much lower cost than their macroscale analogues. This has proven to be particularly true for micromachined gyroscopes, where these benefits have led to many new applications such as motion sensing and control of automated machinery [1], automotive rollover detection systems [2], computer input devices [3], and as a backup for GPS failure [4]. Although many of these operating environments are rather benign, several can be sufficiently harsh to yield deleterious effects in gyroscope performance.