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1. (WO2017095819) SYSTEMS AND METHODS FOR DETERMINING INERTIAL PARAMETERS USING INTEGRATION OF PULSE STREAMS
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Listing of Claims

What is claimed is:

1. An inertial sensor for determining an inertial parameter, the inertial sensor comprising: a window circuit configured for:

receiving an input pulse stream based on the inertial parameter, and selecting a portion of the input pulse stream;

an exclusive-or circuit configured for combining, using an exclusive-or operation, the selected portion with a reference pulse stream to produce a combined pulse stream;

a counter circuit configured for incrementing a count based on the combined pulse stream;

a scaling circuit configured for scaling the incremented count to produce an output signal corresponding to the inertial parameter.

2. The inertial sensor of claim 1, further comprising:

a resonator configured for producing the input pulse stream.

3. The inertial sensor of claim 1, wherein the window circuit is configured to receive the input pulse stream from a second inertial sensor on a different substrate.

4. The inertial sensor of claim 2, further comprising:

a drive sense capacitor configured for producing a drive sense capacitance proportional to a position of an oscillating mass of the resonator.

5. The inertial sensor of claim 4, further comprising:

a drive adjustment loop configured for adjusting a drive voltage based on the drive sense capacitance.

6. The inertial sensor of claim 4 or 5, wherein:

the window circuit is configured for selecting an initial time of the selected portion based on a change in the drive sense capacitance.

7. The inertial sensor of claim 6, wherein:

the selected portion excludes a pulse edge corresponding to a reversal of direction of the oscillating mass.

8. The inertial sensor of any of claims 4 to 7, further comprising:

an adjustment counter circuit configured for counting pulses of the selected portion to produce an amplitude adjustment signal;

a clock adjustment circuit configured for:

adjusting, based on the drive sense capacitance, a period of a clock signal, and adjusting, based on the amplitude adjustment signal, the period of the clock signal to produce an adjusted clock signal.

9. The inertial sensor of claim 8, further comprising:

a memory configured for storing a stored pulse stream; and

a pulse generator circuit configured for adjusting the stored pulse stream based on the adjusted clock signal to produce the reference pulse stream.

10. The inertial sensor of any preceding claim, further comprising:

a summing circuit configured for subtracting the reference pulse stream from the selected portion to produce a polarized pulse stream; and

a sign detection circuit configured for producing a polarity signal based on the polarized pulse stream;

wherein the scaling comprises multiplying by the polarity signal.

11. The inertial sensor of claim 2, wherein the resonator further comprises:

an oscillating mass;

a capacitor configured for producing a capacitance and an extremum in the capacitance when the oscillating mass is in an aligned position;

an analog front end circuit configured for producing the input pulse stream based on the capacitance.

12. The inertial sensor of claim 11, wherein the input pulse stream is a digital signal.

13. The inertial sensor of any preceding claim, wherein the inertial parameter is an acceleration of the inertial sensor.

14. The inertial sensor of any of claims 1 to 12, wherein:

the inertial sensor is a gyroscope; and

the inertial parameter is a velocity of a vibrating mass of the gyroscope.

15. A method for determining an inertial parameter of an inertial sensor, the method comprising:

receiving, by a window circuit of the inertial sensor, an input pulse stream based on the inertial parameter;

selecting, with the window circuit, a portion of the input pulse stream;

using an exclusive-or circuit of the inertial sensor for combining, using an exclusive-or operation, the selected portion with a reference pulse stream to produce a combined pulse stream;

incrementing, with a counter circuit of the inertial sensor, a count based on the combined pulse stream;

scaling, with a scaling circuit of the inertial sensor, the incremented count to produce an output signal corresponding to the inertial parameter.

16. The method of claim 15, further comprising producing, with a resonator of the inertial sensor, the input pulse stream.

17. The method of claim 15, wherein the input pulse stream is received from a second inertial sensor on a different substrate.

18. The method of claim 16, further comprising:

producing, with a drive sense capacitor of the inertial sensor, a drive sense capacitance proportional to a position of an oscillating mass of the resonator.

19. The method of claim 18, further comprising:

adjusting, with a drive adjustment loop of the inertial sensor, a drive voltage based on the drive sense capacitance.

20. The method of claim 18 or 19, further comprising:

selecting, with the window circuit of the inertial sensor, an initial time of the selected portion based on a change in the drive sense capacitance.

21. The method of claim 20, wherein:

the selected portion excludes a pulse edge corresponding to a reversal of direction of the oscillating mass.

22. The method of any of claims 18 to 21, further comprising:

counting, with an adjustment counter circuit of the inertial sensor, pulses of the selected portion to produce an amplitude adjustment signal;

using a clock adjustment circuit of the inertial sensor for:

adjusting, based on the drive sense capacitance, a period of a clock signal, and adjusting, based on the amplitude adjustment signal, the period of the clock signal to produce an adjusted clock signal.

23. The method of claim 22, further comprising:

storing, with a memory of the inertial sensor, a stored pulse stream; and

adjusting, with a pulse generator circuit of the inertial sensor, the stored pulse stream based on the adjusted clock signal to produce the reference pulse stream.

24. The method of any of claims 15 to 23, further comprising:

subtracting, with a summing circuit of the inertial sensor, the reference pulse stream from the selected portion to produce a polarized pulse stream; and

producing, with a sign detection circuit of the inertial sensor, a polarity signal based on the polarized pulse stream;

wherein the scaling comprises multiplying by the polarity signal.

25. The method of claim 15, further comprising:

producing, with a capacitor of the inertial sensor, a capacitance and an extremum in the capacitance when an oscillating mass of the inertial sensor is in an aligned position; producing, with an analog front end circuit of the inertial sensor, the input pulse stream based on the capacitance.

26. The method of claim 25, wherein the input pulse stream is a digital signal.

27. The method of any of claims 15 to 26, wherein the inertial parameter is an acceleration.

28. The method of any of claims 15 to 26, wherein the inertial parameter is a velocity of a vibrating mass of a gyroscope.