(SOI) MEMS gyroscope, including zero rate output (ZRO), scale factor (SF), and resonance
frequencies. On-chip environmental sensors comprising released SOI-silicon resistors in a
bridge measure the temperature and stress separately. Experimental results from a four-
point bending test-bed lead to a system model to compensate the gyroscope ZRO using the
environmental sensor outputs. The ZRO shift varied linearly with stress, with a measured …