Angle White Noise in Vibratory Rate Gyroscopes

This paper presents an in-depth analysis of the origin of angle white noise (AWN) in closed-loop vibratory rotation-rate gyroscopes, and explains the challenges of using the standard Allan deviation (ADEV) method to report AWN results. The modified Allan deviation (MDEV) is then proposed as an alternative for the characterization of devices where AWN is a major noise contributor. Validation of the presented work is performed using measured data from a high-performance BulkAcoustic Wave (BAW) gyroscope, demonstrating how the AWN coefficient can be extracted from the asymptotic response in both ADEV and MDEV plots.