Modeling ZRO Temperature Drifts in Gyroscopes with and without Automatic Quadrature Compensation

The work proposes a zero-rate-output (ZRO) drift model for mode-split MEMS gyroscopes under temperature changes. The theoretical model is based on the quadrature component, demodulation phase and sensitivity fluctuations in temperature. The mathematical approach is experimentally verified both in presence and absence of automatic quadrature compensation (AQC). The results highlight consistent differences in the ZRO drift mechanisms for the two operating architectures. The difference is confirmed by experimental measurements. The model quantitatively predicts the gyroscope output drift within 30% of error.