Impact of gyroscope operation above the critical bifurcation threshold on scale factor and bias instability

This paper investigates the impact of operating a vibratory rate gyro (VRG) at large oscillation amplitude where the VRG´s driven axis behaves like a nonlinear oscillator, described by the Duffing equation. Although open-loop resonators operating above a critical amplitude exhibit catastrophic jump instabilities, we demonstrate that through closed-loop operation, the drive axis can be stably operated at an amplitude above this threshold without impacting drive-axis stability or bias instability, resulting in decreased Angle Random Walk (ARW).