MICROELECTROMECHANICAL GYROSCOPE WITH IMPROVED VIBRATION REJECTION

Abstract

A microelectromechanical gyroscope includes a die of semiconductor material forming a substrate and a detection structure suspended over the substrate. The detection structure has a main extension in a horizontal plane, is symmetrical with respect to a central axis of symmetry, and is provided, for each gyroscope detection axis, with: a first pair of detection masses arranged on a first side of the central axis of symmetry; and a second pair of detection masses arranged on a second side of the central axis of symmetry, opposite to the first side in the horizontal plane. The detection masses of each pair are capacitively coupled to respective stator electrodes according to a differential detection scheme. The stator electrodes are arranged symmetrically with respect to one another on opposite sides of the central axis of symmetry.

Description

PRIORITY CLAIM

This application claims the priority benefit of Italian Application for Patent No. 102023000011235, filed on Jun. 1, 2023, the contents of which is hereby incorporated by reference in its entirety to the maximum extent allowable by law.

TECHNICAL FIELD

Embodiments herein relate to a microelectromechanical gyroscope having improved vibration rejection. In particular, reference is made to a gyroscope of a triaxial type, i.e., capable of detecting angular velocities along three orthogonal axes (typically denoted as the roll, pitch and yaw axes).

BACKGROUND

As is known, current micromachining techniques allow to obtain microelectromechanical systems (MEMS) starting from layers of semiconductor material, which have been deposited (for example, a layer of polycrystalline silicon) or grown (for example, an epitaxial layer) on sacrificial layers, which are removed via chemical etching. Inertial sensors, accelerometers, and gyroscopes obtained with this technology are witnessing a growing success, for example in the automotive field, in inertial navigation, or in the field of portable devices for consumer electronics.

In particular, microelectromechanical gyroscopes are known which are made with MEMS semiconductor technology (in what follows referred to simply as MEMS gyroscopes). Such MEMS gyroscopes operate on the basis of the theorem of relative accelerations, exploiting Coriolis acceleration. When a rotation at a certain angular velocity (the value of which is to be detected) is applied to a mobile mass that is driven with a linear velocity, the same mobile mass is subjected an apparent force, referred to as Coriolis force, which causes a displacement thereof in a direction perpendicular to the direction of the linear driving velocity and further perpendicular to the axis about which the rotation occurs. The mobile mass is supported via elastic elements that enable both the driving displacement and a detection displacement of the mass in the direction of the apparent force. According to Hooke's law, the displacement is proportional to the apparent force so that, from the detection displacement of the mobile mass, it is possible to detect the Coriolis force and the value of the angular velocity of the rotation that has generated it.

The detection displacement of the mobile mass may, for example, be detected in a capacitive way by determining, in a resonance condition, the variations of capacitance caused by the movement of mobile detection electrodes, which are fixed with respect to the mobile mass (or constituted by parts of the same mobile mass) and are coupled (for example, in a so-called parallel-plate configuration, or else in a combfingered configuration) to fixed detection electrodes.

There is a need in the art to provide a MEMS gyroscope, in particular, of a triaxial type, having a reduced occupation of area and reduced power consumption levels and also enabling improved rejection of vibrations, which represent a disturbance with respect to detection of the angular velocities. Applications that have recently witnessed development and diffusion, for example in the field of virtual reality (VR) or augmented reality (AR), require in fact more demanding specifications as regards elimination of vibrations and at the same time maintenance of overall dimensions and performance comparable to those of known sensors so as to maintain full compatibility with current consumer products.

However, angular-velocity sensors commonly used, in particular, in the so-called consumer-electronics market, do not have performance characteristics specifically aimed at rejection of vibrations (in particular vibrations of an angular, nonlinear, nature, as will be discussed hereinafter).

In this regard, FIG. 1 shows schematically (in cross-sectional view) the architecture of a detection structure of a gyroscope of a known type, with reference by way of example to detection of an angular velocity along just one detection axis, for example a roll axis, corresponding to a first axis (in the example, y axis) of a horizontal plane xy of main extension of the same detection structure.

The detection structure, designated as a whole by 1, is symmetrical with respect to a central axis of symmetry S and comprises a pair of detection masses, formed by a first detection mass and a second detection mass, denoted, respectively, by M1, M2, arranged on opposite sides with respect to the aforesaid central axis of symmetry S, suspended elastically over a substrate 2.

On the same substrate 2, a first and a second fixed or stator electrode S1, S2 are arranged in positions facing and underlying (along a vertical axis z, orthogonal to the aforesaid horizontal plane) the aforesaid first and second detection masses M1, M2; these first and second fixed electrodes S1, S2 are fixed with respect to the substrate 2 and are capacitively coupled to the detection masses M1, M2, in a differential configuration (the stator electrodes S1, S2 thus being also arranged symmetrically with respect to the central axis of symmetry S and constituting a positive electrode ‘+’ and a negative electrode ‘−’, respectively, for the differential detection scheme).

The detection masses M1, M2 are driven in opposite directions (in phase opposition) with a driving movement “Drive” along a second axis (axis x) of the horizontal plane xy, orthogonal to the aforesaid first axis, with a linear oscillation movement (which thus causes them to approach to, or alternatively moving away from, the aforesaid central axis of symmetry S).

In the presence of an angular velocity, designated by Q, acting about the aforesaid axis of symmetry, a Coriolis force is generated on the detection masses M1, M2, which causes their displacement in opposite directions along the vertical axis z (as indicated by the arrows “Co”) and consequently, for example, the approach to, and respectively moving away from, the respective stator electrode S1, S2. A differential capacitive variation is thus generated, which may provide (after appropriate processing by an electronic circuit, for example of Application-Specific Integrated Circuit (ASIC) type associated to the detection structure 1) an indication of the value of the aforesaid angular velocity Q.

The above detection architecture enables rejection of linear accelerations of disturbance (for example, due to impact or vibrations) that act on the detection structure 1 along the aforesaid vertical axis z (as indicated by the arrow V_L in the aforesaid FIG. 1). Such linear vibrations in fact lead to a concordant movement of the detection masses M1, M2 and consequently capacitive variations that are cancelled out by the differential detection.

Instead, it is evident that angular accelerations of disturbance (for example, once again due to vibrations or impact), denoted by V_A, producing an effect of rotation about the aforesaid central axis of symmetry S and thus a movement, in phase opposition, of the detection masses M1, M2 along the vertical axis z (like the movement induced by the aforesaid Coriolis force), will not be rejected in the detection structure 1.

The above angular vibrations may therefore affect detection of the angular velocity of interest, in particular, in the case where the frequency of said vibrations is close to the driving frequency of the gyroscope or to the natural frequency of spurious modes of the corresponding detection structure.

In order to solve the above problem, it has, for example, been proposed to adopt a reduced value of the gyroscope quality factor Q in order to limit detection and amplification of the spurious external vibrations. Alternatively, it has been proposed to shift all the (operating and spurious) modes of the gyroscope beyond a given frequency band where vibrations may occur during operation of the same gyroscope.

Both solutions, however, have drawbacks.

In particular, the value of the Q factor is important for determining the performance of the gyroscope and it is not possible to reduce it without adversely affecting such performance (for example, as regards a driving capacity).

Furthermore, the use of higher operating frequencies entails a greater stiffness of the elements of the detection structure, with consequent reduction of the sensitivity and increase in the driving voltages required to keep the masses in oscillation. Furthermore, a redesign of the electronic circuit associated with the detection structure may be required on account of the change of the system clock (connected to the operating frequency of the gyroscope).

There is therefore a need to provide a new architecture for a detection structure of a MEMS gyroscope that will have improved rejection of disturbance, in particular, linked to angular vibrations, without being affected by the above discussed drawbacks.

SUMMARY

In an embodiment, a microelectromechanical gyroscope is provided in a die of semiconductor material and comprises a substrate and a detection structure suspended over said substrate. The detection structure has a main extension in a horizontal plane, is symmetrical with respect to a central axis of symmetry and comprises, for each detection axis of said microelectromechanical gyroscope: a first pair of detection masses arranged on a first side of the central axis of symmetry; and a second pair of detection masses arranged on a second side of the central axis of symmetry, opposite to the aforesaid first side in the horizontal plane. The detection masses of each pair are capacitively coupled to respective stator electrodes according to a differential detection scheme, where the stator electrodes are arranged symmetrically with respect to one another on opposite sides of the central axis of symmetry.

The detection masses are configured so that an angular velocity about the respective detection axis causes a detectable variation of a detection capacitance resulting from the capacitive coupling with said stator electrodes so as to determine a variation of an output signal associated with said differential detection scheme. For example, the detection masses of each pair are configured to perform movements in phase opposition as a result of a Coriolis force associated with an angular velocity about the respective detection axis.

The detection masses are also configured so that linear vibrations or angular vibrations acting about said central axis of symmetry do not cause substantially any variation of said detection capacitance. For example, the detection masses of each pair are configured to perform in-phase movements as a result of linear vibrations or angular vibrations acting about said central axis of symmetry.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present invention, a preferred embodiment thereof is now described, purely by way of non-limiting example and with reference to the attached drawings, wherein:

FIG. 1 is a schematic cross-sectional illustration of a portion of a detection structure of a known type of a MEMS gyroscope, with reference to a detection axis;

FIG. 2 is a schematic cross-sectional illustration of a portion of a detection structure of a MEMS gyroscope, with reference to a detection axis, according to an aspect of the present solution;

FIG. 3 is a detailed top plan view of a detection structure of a triaxial MEMS gyroscope, according to a first embodiment;

FIG. 4 is a schematic top plan view of the detection structure of FIG. 3, with reference to a driving movement;

FIG. 5A is a schematic top plan view of the detection structure of FIG. 3, with reference to a roll-detection movement;

FIG. 5B is a schematic cross-sectional illustration of a portion of the detection structure of FIG. 5A, with reference to the capacity, in roll-detection mode, of rejection of linear or angular vibrations;

FIG. 6A is a schematic top plan view of the detection structure of FIG. 3, with reference to a pitch-detection movement;

FIG. 6B is a schematic cross-sectional illustration of a portion of the detection structure of FIG. 6A, with reference to the capacity, in pitch-detection mode, of rejection of linear or angular vibrations;

FIG. 7A is a schematic top plan view of the detection structure of FIG. 3, with reference to a yaw-detection movement;

FIG. 7B is a schematic top plan view of a portion of the detection structure of FIG. 7A, with reference to the capacity, in yaw-detection mode, of rejection of linear or angular vibrations;

FIG. 8 is a schematic top plan view of the detection structure of a triaxial MEMS gyroscope, according to a second embodiment;

FIG. 9 is a schematic top plan view of the detection structure of FIG. 8, with reference to a driving movement;

FIG. 10 is a schematic top plan view of the detection structure of FIG. 8, with reference to a roll-detection movement;

FIG. 11 is a schematic top plan view of the detection structure of FIG. 8, with reference to a pitch-detection movement;

FIG. 12A is a schematic top plan view of the detection structure of FIG. 8, with reference to a yaw-detection movement; and

FIG. 12B is a schematic top plan view of a portion of the detection structure of FIG. 12A, with reference to the capacity, in yaw-detection mode, of rejection of linear or angular vibrations.

DETAILED DESCRIPTION OF THE DRAWINGS

As illustrated schematically in FIG. 2 (with reference by way of example to a possible detection axis), according to an aspect of the present solution the architecture of the detection structure of the MEMS gyroscope comprises, for each detection axis, two pairs of detection masses, with an arrangement symmetrical with respect to a central axis of symmetry S, about which an angular oscillation of disturbance may occur.

The detection structure, designated by 10, thus comprises in this case: a first pair of detection masses, denoted by M1, M2, arranged on a first side of the central axis of symmetry S; and a second pair of detection masses, denoted by M1′, M2′, arranged on a second side of the central axis of symmetry S, opposite to the aforesaid first side (in the horizontal plane xy).

The detection masses of each pair M1, M2, M1′, M2′ are capacitively coupled to a respective stator electrode S1, S2, S1′, S2′ according to a differential detection scheme (designed to generate, after an appropriate processing of the resulting capacitive variation, an electrical output signal S_out), the stator electrodes being thus arranged with central symmetry, arranged in pairs symmetrically on opposite sides of the central axis of symmetry S and constituting a positive electrode ‘+’ (the stator electrodes S1, S1′ being arranged, in the example, in a position further away from the central axis of symmetry S, electrically connected together) and, respectively, a negative electrode ‘−’ (the stator electrodes S2, S2′ being arranged, in the example, in a position closer to the central axis of symmetry S, electrically connected together), so as to implement the differential detection scheme.

Basically, the stator electrodes defining the aforesaid positive electrode and the stator electrodes defining the aforesaid negative electrode are arranged in pairs in a symmetrical way.

This configuration of the detection masses enables rejection, thanks to the differential detection scheme, not only of linear accelerations of disturbance (indicated once again by the arrow V_L in the aforesaid FIG. 2), but also of angular accelerations of disturbance (denoted by V_A) acting about the central axis of symmetry S, which in fact produce concordant movements of the detection masses of each pair on each side of the central axis of symmetry S (contrary to the movement in phase opposition due to the Coriolis force), thus generating a zero resulting effect as regards the output signal S_out.

As indicated in the same FIG. 2, the detection masses of each pair are suitably driven in phase opposition by the Drive movement, so as to generate forces and respective movements by the Coriolis effect, opposite to one another, on each side of the central axis of symmetry S.

The detection masses M1, M1′, arranged in positions further away from the central axis of symmetry S, have, at the instant represented, a detection movement (once again indicated by the arrow Co) in a first direction along the vertical axis z (in the example, a movement of approach to the respective stator electrodes S1, S1′), whereas the detection masses M2, M2′ arranged, in the example, in a position closer to the central axis of symmetry S have a detection movement in a second direction along the vertical axis z, opposite to the first direction (in the example, moving away from the respective stator electrodes S2, S2′).

Consequently, the arrangement of the detection masses and of the respective stator electrodes and the differential configuration of the capacitive coupling with the same stator electrodes advantageously enables generation of an output signal S_out, that is indicative of the angular velocity of interest about a respective detection axis and is insensitive to linear or angular vibrational disturbance.

With reference first to FIG. 3, a first embodiment of the detection structure, once again designated by 10, of a MEMS gyroscope of a triaxial type 100 is now described in more details, where the architecture described previously is adopted for each of the detection axes, namely, the axes of roll, pitch, and yaw, so as to obtain the desired improved rejection of the (linear and/or angular) vibrational disturbance.

The detection structure 10 is provided in a die 101 of semiconductor material, for example silicon, comprising a substrate 11, is suspended above the substrate 11, and has a complete symmetry with respect to a first central axis, which coincides with a first horizontal axis x of a horizontal plane xy of main extension of the detection structure 10. In particular, the first horizontal axis x coincides with a pitch detection axis of the detection structure 10, about which a pitch angular velocity Ω_p may be detected.

The detection structure 10 is further completely symmetrical with respect to a second horizontal axis y, which forms, with the first horizontal axis x, the aforesaid horizontal plane xy and coincides with a roll-detection axis of the detection structure 10, about which a roll angular velocity Ω_r may be detected.

The detection structure 10 has an extension (thickness) smaller than the aforesaid main extension along a vertical axis z, orthogonal to the aforesaid horizontal plane xy and coinciding with a yaw-detection axis, about which a yaw angular velocity Ω_y may be detected.

The detection structure 10 comprises a first pair of roll-detection masses R1, R2 and a second pair of roll-detection masses R1′, R2′, arranged symmetrically and on opposite sides with respect to the first horizontal axis x and suspended above the substrate 11, at a certain separation distance along the vertical axis z.

In this embodiment, the roll-detection masses R1, R2, R1′, R2′ of each pair are fixedly coupled together to form a single body (so as to jointly define a first roll detection mass R1, R2, formed by the first pair of roll-detection masses, and a second roll detection mass R1′, R2′, formed by the second pair of roll detection masses, these first and second roll detection masses being arranged on opposite sides of the first horizontal axis x). The above-defined single body has a substantially rectangular extension along the second horizontal axis y and centrally define a window 13, arranged within which is a respective roll anchorage 14, fixedly connected to the substrate 11 (this roll anchorage 14 having, for example, a substantially column-like conformation that extends as far as the substrate 11, being coupled integrally to the same substrate 11).

Elastic anchorage elements 15, of a torsional type, connect the roll-detection masses R1, R2, R1′, R2′ of each pair to the respective anchorage 14 within the window 13. In particular, these elastic anchorage elements 15 have a longitudinal extension along the first horizontal axis x and are arranged on opposite sides of the roll anchorage 14 with respect to the second horizontal axis y.

The pairs of roll-detection masses R1, R2, R1′, R2′ are elastically coupled together by an elastic coupling element 15′, arranged in a position corresponding to the first horizontal axis x and having a stiffness such as to allow motion of the two masses both along the first horizontal axis x and along the vertical axis z and, at the same time, such as to keep them constrained to one another.

Respective roll stator electrodes S_R1, S_R2, S_R1′, S_R2′ (illustrated schematically) are arranged underneath the roll-detection masses R1, R2, R1′, R2′ of each pair, capacitively coupled to the respective roll-detection masses R1, R2, R1′, R2′ and positioned on the substrate 11 (so as to provide a differential detection scheme, as discussed previously with reference to FIG. 2).

The detection structure 10 further comprises a first pair and a second pair of driving masses D1, D2 and D1′, D2′, which are arranged alongside and on the outside of the roll-detection masses R1, R2, R1′, R2′ of the first pair and the second pair, respectively, on opposite sides with respect to the first horizontal axis x, and are also suspended above the substrate 11 at a certain separation distance along the vertical axis z.

The above driving masses D1, D2, D1′, D2′ have, for example, a substantially rectangular-frame conformation along the second horizontal axis y, internally defining windows 16 for mobile driving electrodes 17, which are fixed with respect to the frames and are combfingered with corresponding fixed driving electrodes (not illustrated, for reasons of clarity of representation), which are also arranged within the same windows 16.

In a way not illustrated in detail, in the frames of the driving masses D1, D2, D1′, D2′ electrodes for detecting the driving movement may further be provided, being designed to provide a feedback indication of the driving movement.

Each driving mass D1, D2 of the first pair is coupled to a respective driving mass D2′, D1′ of the second pair (arranged symmetrically with respect to the first horizontal axis x) through a respective elastic coupling element 18, of a folded type, having an extension along the second horizontal axis y.

The driving masses D1, D2, D1′, D2′ are coupled to respective driving anchorages 19, which are fixed with respect to the substrate 11 and are arranged on opposite sides with respect to the respective elastic coupling element 18, i.e., at a distance from the first horizontal axis x, through a respective elastic anchorage element 20, which is also of a folded type.

Each of the driving masses D1, D2, D1′, D2′ is further coupled centrally to a respective one of the roll-detection masses R1, R2, R1′, R2′ through a respective elastic driving element 21, of a torsional type, having a linear extension directed longitudinally along the first horizontal axis x.

The detection structure 10 moreover comprises a first pair and a second pair of pitch-detection masses P1, P2 and P1′, P2′, which are arranged alongside and on the outside of the driving masses D1, D2, D1′, D2′ of the first pair and, respectively, of the second pair, on opposite sides with respect to the first horizontal axis x, and are also suspended above the substrate 11 at a certain separation distance along the vertical axis z.

The above pitch-detection masses P1, P2, P1′, P2′ are, for example, substantially L-shaped, with the long side extending along the second horizontal axis y and the short side extending along the first horizontal axis x.

Arranged underneath the pitch-detection masses P1, P2, P1′, P2′ of each pair, as discussed for the roll-detection masses, are respective pitch stator electrodes S_P1, S_P2, S_P1′, S_P2′ (illustrated schematically), capacitively coupled to the respective pitch-detection masses P1, P2, P1′, P2′ and positioned on the substrate 11 (so as to provide a differential detection scheme, as discussed previously with reference to FIG. 2).

Each pitch-detection mass P1, P2, P1′, P2′ is coupled to a respective driving mass D1, D2, D1′, D2′ through respective driving elastic-coupling elements 22, which have an extension along the second horizontal axis y, folded end portions, and a central portion with linear extension. In detail, in the embodiment illustrated in the aforesaid FIG. 3, each pitch-detection mass P1, P2, P1′, P2′ is coupled to a respective driving mass D1, D2, D1′, D2′ by means of two respective driving elastic-coupling elements 22, connected to a respective end portion of the long side of the same pitch-detection mass P1, P2, P1′, P2′.

Furthermore, the pitch-detection masses P1, P2, P1′, P2′ are coupled together two by two by respective elastic-coupling structures 25, which extend centrally, crossing the first horizontal axis x or the second horizontal axis y, between respective end portions of long sides, or short sides, of the pitch-detection masses P1, P2, P1′, P2′. Basically, as on the other hand is evident from an examination of the aforesaid FIG. 3, the pitch-detection masses P1, P2, P1′, P2′ and the aforesaid elastic-coupling structures 25 define, as a whole, a rectangular frame, enclosed inside which are the driving masses D1, D2, D1′, D2′ and the roll-detection masses R1, R2, R1′, R2′.

In detail, each elastic-coupling structure 25 defines an elastic lever element 26, of a central-fulcrum type, hinged to the substrate 11 through a central anchorage 27 and coupled at its ends to the respective pitch-detection masses P1, P2, P1′, P2′ by means of respective folded elastic elements 28.

The detection structure 10 further comprises, in this embodiment, a first pair and a second pair of yaw-detection masses Y1,Y2, Y1′,Y2′, which are arranged externally to the pitch-detection masses P1, P2, P1′, P2′ of the first pair and, respectively, the second pair, on opposite sides with respect to the first horizontal axis x, and are suspended over the substrate 11 at a certain separation distance along the vertical axis z.

Each yaw-detection mass Y1,Y2, Y1′,Y2′ is elastically coupled to a respective pitch-detection mass P1, P2, P1′, P2′ by a respective yaw elastic-coupling element 29, with an extension along the first horizontal axis x (in a position arranged between the same pitch-detection and yaw-detection masses), having folded end portions and a central portion with linear extension.

The aforesaid yaw-detection masses Y1,Y2, Y1′,Y2′ have a substantially rectangular-frame conformation along the first horizontal axis x, internally defining windows 31 for mobile yaw-detection electrodes 32, which are fixed with respect to the frames and alternate with corresponding fixed detection electrodes or yaw stator electrodes S_Y1, S_Y2, S_Y1′, S_Y2′ (not illustrated herein, for reasons of clarity of representation), which are also arranged within the windows 31.

The same yaw-detection masses Y1,Y2, Y1′,Y2′ are further elastically coupled to a yaw anchorage 35, which is arranged centrally to the corresponding frame. Furthermore, the yaw-detection masses Y1,Y2, Y1′,Y2′ of each pair are elastically coupled together by an elastic coupling element 36, with linear extension along the first horizontal axis x and arranged between the corresponding frames.

It is thus emphasized that, in the solution described, for each detection axis a first set of the aforesaid stator electrodes (S1, S1′) are electrically connected together to form a positive detection electrode for the differential detection scheme, and a second set of the aforesaid stator electrodes (S2, S2′) are electrically connected together to form a negative detection electrode for the same differential detection scheme, the electrodes of the first set being arranged with respect to the electrodes of the second set with central symmetry (in the case of the pitch- and roll-detection axes) or axial symmetry (in the case of the yaw-detection axis, the axis of symmetry coinciding with the aforesaid second horizontal axis y).

Operation of the detection structure 10 is now described, for detection of the aforesaid roll, pitch, and yaw angular velocities Ω_R, Ω_P, Ω_Y.

As illustrated schematically in FIG. 4, the driving movement envisages that the driving masses D1, D2, D1′, D2′ are driven (by appropriate biasing of the mobile driving electrodes 17 and of the corresponding fixed driving electrodes) so as to carry out a movement of translation (in phase opposition for each pair) along the second horizontal axis y. Furthermore, movement of the driving masses D1, D2′ and D2, D1′, mutually symmetrical with respect to the first horizontal axis x, is also in phase opposition.

As indicated by the arrows in the above FIG. 4, the aforesaid movement of the driving masses D1, D2, D1′, D2′ causes, as a result of the elastic couplings, a rotation in phase opposition of the roll-detection masses R1, R2, R1′, R2′ of the two pairs (the masses of each pair moving fixedly with respect to one another) in the horizontal plane xy, about an axis parallel to the vertical axis z and passing through the center of the respective roll anchorage 14.

Furthermore, the pitch masses P1, P2, P1′, P2′ are driven (or dragged) by the driving masses D1, D2, D1′, D2′ into a corresponding movement of translation in phase opposition along the second horizontal axis y. This movement in turn entails rotation in the horizontal plane xy about the respective central anchorage 27 of the elastic lever elements 26 of the elastic-coupling structures 25 that couple together the pitch-detection masses P1 and P2, P1′ and P2′ of a same pair (the remaining elastic-coupling structures 25 remain stationary). The yaw-detection masses Y1, Y2, Y1′, Y2′ are further fixedly coupled to the respective pitch-detection masses P1, P2, P1′, P2′ during the corresponding driving movement.

The aforesaid driving movements thus take place entirely in the horizontal plane xy and do not involve further elements of the detection structure 10.

As illustrated schematically in FIG. 5A (which regards a given operating instant), in the presence of a roll angular velocity Ω_R about the second horizontal axis y, the motion of the detection structure 10 envisages a rotation in phase opposition of the set of roll-detection masses R1, R2, R1′, R2′ of each pair about the axis of rotation defined by the respective elastic anchorage elements 15 and by the respective elastic driving elements 21, which are parallel to the first horizontal axis x.

Basically, as is on the other hand represented schematically in FIG. 5A, the roll-detection masses of each pair R1, R2, R1′, R2′ carry out, as a result of the resulting Coriolis force, a movement, along the vertical axis z, moving away from or approaching the respective roll stator electrodes S_R1, S_R2, S_R1′, S_R2′ (here not illustrated), causing, as a whole, a capacitive variation that may be detected by the differential detection scheme.

FIG. 5B (which regards the given operating instant) shows schematically, in addition to the aforementioned driving and roll-detection movements (as a result of the Coriolis forces Co), the effect both of a linear acceleration of disturbance V_L (along the vertical axis z) and of an angular acceleration V_A of disturbance (which acts about the first horizontal axis x and thus causes a movement of rotation of the set of the roll-detection masses R1, R2, R1′, R2′ about the first horizontal axis x).

It is evident how the linear acceleration causes an in-phase movement of all the roll-detection masses R1, R2, R1′, R2′, which is thus rejected by the differential detection scheme. Likewise, the angular acceleration V_A of disturbance causes an in-phase movement of the roll-detection masses R1 and R2, R1′ and R2′ of each pair (for example, at the operating instant represented, both of the roll-detection masses R1, R2 of the first pair move away from and the roll-detection masses R1′, R2′ of the second pair move towards the substrate 11 and to the corresponding roll stator electrodes).

It is consequently evident that, also in this case, the differential detection scheme enables elimination of the effects due to the angular acceleration of disturbance, which thus do not affect the output signal S_out, unlike the roll angular velocity Ω_R that is to be detected.

As illustrated schematically in FIG. 6A (which regards a given operating instant), in the presence of a pitch angular velocity Ω_P about the first horizontal axis x, the motion of the detection structure 10 envisages a displacement in phase opposition of the pitch-detection masses P1, P2, P1′, P2′ of each pair along the vertical axis z (and furthermore the movement in phase opposition, along the same vertical axis z, of the pitch-detection masses P1, P2′, P2, P1′ that are mutually symmetrical with respect to the first horizontal axis x).

This movement of the pitch-detection masses P1, P2, P1′, P2′ is allowed by rotation of the elastic lever elements 26 of all the elastic-coupling structures 25 about the central anchorage 27, out of the horizontal plane xy along the vertical axis z (as illustrated schematically in the aforesaid FIG. 6A).

Basically, the pitch-detection masses P1, P2, P1′, P2′ carry out, as a result of the Coriolis force, a movement, along the vertical axis z, moving away from/approaching to the respective pitch stator electrodes S_P1, S_P2, S_P1′, S_P2′, causing, as a whole, a capacitive variation that may be detected by the aforementioned differential detection scheme.

As illustrated schematically in FIG. 6B (which regards the given operating instant), also in this detection mode, a linear acceleration V_L causes an in-phase movement of all the pitch-detection masses P1, P2, P1′, P2′, which is rejected by the differential detection scheme. Likewise, an angular acceleration V_A of disturbance, acting about the first horizontal axis x, causes an in-phase movement of the pitch-detection masses P1 and P2, P1′ and P2′ of each pair (for example, both pitch-detection masses P1, P2 of the first pair move away from and the pitch-detection masses P1′, P2′ of the second pair approach the substrate 11).

It is thus evident that also in this case, the differential detection scheme enables elimination of the effects linked both to the linear vibrations and to the angular vibrations of disturbance.

As illustrated schematically in FIG. 7A, in the presence of a yaw angular velocity Qv about the vertical axis z, the motion of detection of the detection structure 10 envisages a displacement in phase opposition of the pitch-detection masses P1, P2, P1′, P2′ of each pair along the first horizontal axis x and, consequently (as a result of the elastic coupling) the movement in phase opposition of rotation of the yaw-detection masses Y1,Y2, Y1′,Y2′ of each pair in the horizontal plane xy, about the respective yaw anchorage 35. In particular, the yaw-detection masses Y1,Y2, Y1′,Y2′ are drawn (or dragged) along by the pitch masses P1, P2, P1′, P2′ by the corresponding yaw elastic-coupling elements 29 that move along the first horizontal axis x.

The movement described further entails rotation in the horizontal plane xy about the respective central anchorage 27 of the elastic lever elements 26 of the elastic-coupling structures 25 that couple together the pitch-detection masses P1, P2′, P2, P1′ that are mutually symmetrical with respect to the first horizontal axis x.

A movement of the yaw mobile electrodes 32 (not illustrated herein) thus occurs along the second horizontal axis y, with respect to the alternating yaw stator electrodes, and a consequent capacitive variation that may be detected by the differential scheme.

As highlighted in FIG. 7B, also in this detection mode, a linear acceleration V_L causes an in-phase movement of all the yaw-detection masses Y1,Y2, Y1′,Y2′, which substantially do not produce capacitive variations between the yaw-detection electrodes. Furthermore, an angular acceleration V_A of disturbance (acting in this case about the vertical axis z at the center of the detection structure 10, in the horizontal plane xy) causes an in-phase movement of the yaw-detection masses Y1 and Y2, Y1′ and Y2′ of each pair and thus corresponding movements of recession or approach, between the mobile and fixed yaw-detection electrodes S_Y1 and S_Y2, S_Y1′ and S_Y2′ that alternate with one another (here illustrated schematically and with different designation for the positive electrodes ‘+’ and negative electrode ‘−’ for the differential detection scheme).

It is thus evident that also in this case, the differential detection scheme enables elimination of the effects linked both to the linear accelerations of disturbance and to the angular vibrations of disturbance.

With reference to FIG. 8, a second embodiment of the detection structure, designated here by 10′, is now described.

As illustrated schematically in the above FIG. 8, the substantial difference as compared to the first embodiment consists in the absence of the distinct yaw-detection masses. In this embodiment, in fact, the pitch-detection masses P1, P2, P1′, P2′ define internally also the yaw-detection masses and contain within them frames 31′ that internally define the windows 31 for the mobile yaw-detection electrodes 32, which alternate with the corresponding fixed yaw-detection electrodes (not illustrated) and are designed for detecting the yaw angular velocity Ωy about the vertical axis z.

In this embodiment, the driving masses D1, D2, D1′, D2′ are arranged, in the horizontal plane xy, externally with respect to the aforesaid pitch-detection masses P1, P2, P1′, P2′, which are thus arranged between a respective driving mass D1, D2, D1′, D2′ and a respective roll-detection mass R1, R2, R1′, R2′.

Each pitch-detection mass P1, P2, P1′, P2′ is also in this case coupled to a respective driving mass D1, D2, D1′, D2′ by respective driving elastic-coupling elements 22, which have an extension along the second horizontal axis y.

The driving masses D1 and D2, D1′ and D2′ of each pair are in this case elastically coupled together by a respective elastic-coupling structure, designated by 37, which defines an elastic central-fulcrum lever element, hinged to the substrate 11 by a central anchorage 38.

In this second embodiment, the roll-detection masses R1 and R2, R1′ and R2′ of each pair (fixed with respect to one another, as in the first embodiment) are surrounded in the horizontal plane xy by a respective rigid ring structure 40; an elastic central element 42, of a torsional type and with a rectangular-frame conformation, arranged in a position corresponding to the first horizontal axis x, elastically couples the ring structures 40 associated to the two pairs of roll-detection masses R1, R2, R1′, R2′.

The pitch-detection masses P1 and P2, P1′ and P2′ of each pair are in this case coupled together by the aforesaid ring structure 40; in particular, the pitch-detection masses P1 and P2, P1′ and P2′ of each pair are coupled to a respective ring structure 40 through respective elastic elements 41, of the folded type, at a central portion of the same ring structure 40 (aligned to the elastic anchorage elements 15 along the first horizontal axis x).

Furthermore, the pitch-detection masses P1, P2′, P2, P1′ that are mutually symmetrical with respect to the first horizontal axis x are once again coupled by the central-fulcrum elastic-coupling structures 25, which are hinged to the substrate 11 by the respective central anchorage 27.

As illustrated schematically in FIG. 9, the driving movement of the detection structure 10′ is substantially equivalent to what has been described with reference to the first embodiment.

The driving masses D1, D2, D1′, D2′ are in fact driven (by appropriate biasing of the mobile driving electrodes and of the alternating fixed driving electrodes, not illustrated) so as to carry out a movement of translation in phase opposition along the second horizontal axis y, which carries, in a similar movement of translation, the pitch-detection masses P1, P2, P1′, P2′ and further entails rotation in the horizontal plane xy, about the respective central anchorage 38, of the elastic lever elements of the elastic-coupling structures 37 that couple together the driving masses D1, D2, D1′, D2′ of each pair.

Furthermore, the movement of the driving masses D1, D2′ and D2, D1′ (that are mutually symmetrical with respect to the first horizontal axis x) causes, as a result of the elastic couplings, a rotation in phase opposition of the roll-detection masses R1, R2, R1′, R2′ of the two pairs in the horizontal plane xy, about an axis parallel to the vertical axis z and passing through the center of the respective roll anchorage 14.

Once again in a way similar to what has been described for the first embodiment, and as illustrated schematically in FIG. 10, in the presence of a roll angular velocity Ω_R about the second horizontal axis y, motion of the detection structure 10′ envisages a rotation in phase opposition of the roll-detection masses R1, R2, R1′, R2′ about the axis of rotation defined by the respective elastic elements and parallel to the first horizontal axis x.

As illustrated in FIG. 11, in the presence of a pitch angular velocity Ω_P about the first horizontal axis x, motion of the detection structure 10′ also envisages in this embodiment a displacement in phase opposition of the pitch-detection masses P1, P2, P1′, P2′ of each pair along the vertical axis z (and further the movement in-phase opposition of the pitch-detection masses P1, P2′, P2, P1′ that are mutually symmetrical with respect to the first horizontal axis x).

As described for the first embodiment, this movement of the pitch-detection masses P1, P2, P1′, P2′ is enabled by rotation of the respective elastic lever elements of the elastic-coupling structures 25 that couple the pitch-detection masses P1, P2′, P2, P1′ that are mutually symmetrical with respect to the first horizontal axis x, a movement that occurs about the corresponding central anchorage 27, out of the horizontal plane xy (along the vertical axis z). In this second embodiment, coupling between the pitch-detection masses P1, P2′, P2, P1′ is further provided by the corresponding ring structures 40, which rotate about the second horizontal axis y, out of the horizontal plane xy.

As illustrated in FIG. 12A, in the presence of a yaw angular velocity Ω_Y about the vertical axis z, motion of the detection structure 10′ envisages a displacement of translation in phase opposition of the pitch-detection masses P1, P2, P1′, P2′ of each pair, along the first horizontal axis x and, consequently, a corresponding movement along the first horizontal axis x of the mobile and fixed yaw-detection electrodes within the frames 31, which are fixed with respect to the pitch-detection masses P1, P2, P1′, P2′, causing a variation of the capacitive coupling that may be detected by the differential detection scheme.

In a way that will be clear from what has been described, considerations altogether similar to those mentioned for the first embodiment also apply to this second embodiment as regards rejection of the linear and angular accelerations of disturbance (such considerations will thus not in general be repeated).

With reference to FIG. 12B, merely for completeness the schematic representation is provided for the aforesaid movement of yaw of the detection structure 10′ in so far as it differs in part from the one described for the first embodiment.

In this detection mode, a linear acceleration V_L causes an in-phase movement of all the pitch-detection masses P1, P2, P1′, P2′ along the first horizontal axis x and a consequent concordant movement of the mobile yaw-detection electrodes, thus entailing a capacitive variation with respect to the fixed yaw-detection electrodes S_Y1 and S_Y2, S_Y1′ and S_Y2′, which is rejected by the differential detection scheme (the electrodes are once again illustrated schematically and with different designation for the positive electrodes ‘+’ and negative electrode ‘−’ for the differential detection scheme).

Likewise, an angular acceleration of disturbance (acting in this case about the center of the detection structure 10′ and about the vertical axis z, in the horizontal plane xy) causes an in-phase movement of the pitch-detection masses P1, P2, P1′, P2′ of each pair (the movements of the pairs being in mutually opposite directions) and, thus, corresponding opposite movements of recession or approach between the mobile and fixed yaw-detection electrodes, which alternate with one another.

It is thus evident that, also in this case, the differential detection scheme enables elimination of the effects linked both to the linear accelerations and to the angular accelerations of disturbance.

The advantages of the solution proposed emerge clearly from the foregoing description.

In any case, it is emphasized that the solution described allows to obtain an improved vibration rejection (in particular, of angular vibrations, in addition to linear vibrations), without entailing any substantial increase in the area occupied by the detection structure and without entailing any increase of electrical consumption as compared to known solutions.

In addition, it is emphasized that the second embodiment described has the advantage of having a simpler architecture (without the presence of the four additional yaw-detection masses), with the disadvantage, however, of a possible presence of spurious modes as regards the movement of yaw.

Finally, it is clear that modifications and variations may be made to what has been described and illustrated herein, without thereby departing from the scope of the present invention, as defined in the annexed claims.

In particular, it is emphasized that the position of the various detection masses in the detection structure and the configuration of the associated elastic couplings and anchorages may differ from what has been illustrated in detail herein for the first and second embodiments.

For instance, the roll-detection masses R1, R2, R1′, R2′ of each pair might not be fixedly coupled together, but be distinct and coupled together in a suitable manner.

Further, it is pointed out that the solution described could advantageously be applied also for detection structures of biaxial or also uniaxial gyroscopes, maintaining the advantageous characteristics of improved insensitivity to vibrational disturbance of a linear or angular nature.

Claims

1. A triaxial microelectromechanical gyroscope, comprising: a die of semiconductor material comprising a substrate;a detection structure suspended over said substrate;wherein said detection structure has a main extension in a horizontal plane, and is symmetrical with respect to a first horizontal axis and a second horizontal axis, wherein the first and second horizontal axes define said horizontal plane;wherein said detection structure comprises: a first roll detection mass and a second roll detection mass, arranged symmetrically and on opposite sides with respect to the first horizontal axis;a first pair of driving masses and a second pair of driving masses, wherein the first pair of driving masses are arranged laterally and externally to the first roll detection mass and the second pair of driving masses are arranged laterally and externally to the second roll detection mass, in the horizontal plane, symmetrically with respect to said second horizontal axis;a first pair of pitch detection masses and a second pair of pitch detection masses, wherein first pair of pitch detection masses are arranged laterally and externally to the first roll detection mass and the second pair of pitch detection masses are arranged laterally and externally to the second roll detection mass, in the horizontal plane, symmetrically with respect to said second horizontal axis;wherein each pitch detection mass is coupled to a respective driving mass by respective driving elastic-coupling elements;a first pair of yaw detection elements and a second pair of yaw detection elements, coupled to the first pair of pitch detection masses and second pair of pitch detection masses, respectively;wherein said driving masses are configured to be driven to execute a translation movement, in opposite directions for each pair of driving masses, along the second horizontal axis, the movement of the driving masses symmetrical with each other with respect to the first horizontal axis being also in opposite directions;wherein movement of the driving masses is designed to cause an opposite-phase rotation of the first and second roll detection masses in the horizontal plane and moreover a corresponding translation movement in opposite directions along the second horizontal axis of said pitch detection masses, drawn by said driving masses; andwherein, in said driving movement, said yaw detection elements are rigidly coupled with the respective pitch detection masses.

2. The gyroscope according to claim 1, wherein respective roll stator electrodes are arranged underneath the first and second roll-detection masses, capacitively coupled to the respective roll-detection masses and positioned on the substrate so as to provide a differential detection scheme; wherein respective pitch stator electrodes are arranged underneath the pitch detection masses of each pair, capacitively coupled to the respective pitch detection masses and positioned on the substrate so as to provide a respective differential detection scheme; and wherein said yaw detection elements have a substantially frame conformation internally defining windows for mobile yaw detection electrodes which are alternate and capacitively coupled with corresponding fixed yaw detection electrodes so as to provide a respective differential detection scheme; wherein in said differential detection scheme an angular velocity about a respective detection axis causes a detectable variation of a detection capacitance resulting from the capacitive coupling, so as to determine a variation of an output signal associated with said differential detection scheme, and so that linear vibrations or angular vibrations do not substantially cause variation of said detection capacitance.

3. The gyroscope according to claim 2, wherein in the presence of said linear vibrations or angular vibrations the first and second roll detection masses are configured to perform in-phase rotation movements in the horizontal plane; and moreover said pitch detection masses are configured to perform corresponding in-phase movements along the second horizontal axis.

4. The gyroscope according to claim 1, wherein each of said first and second roll-detection masses centrally defines a window, arranged within which is a respective roll anchorage fixedly connected to the substrate, elastic anchorage elements of a torsional type connecting each of said first and second roll-detection masses to the respective anchorage; wherein, in the presence of a roll angular velocity about the second horizontal axis, movement of the detection structure is configured to implement an opposite-phase rotation of the first and second roll detection masses about the rotation axis defined by the respective elastic anchorage elements outside of the horizontal plane.

5. The gyroscope according to claim 1, wherein each pitch detection mass of the first pair is coupled to a respective pitch detection mass of the second pair, arranged symmetrically with respect to the first horizontal axis, through a respective elastic coupling structure (25), which extends centrally, crossing the first horizontal axis (x); each elastic coupling structure defining an elastic lever element of a central-fulcrum type hinged to the substrate through a central anchorage.

6. The gyroscope according to claim 5, wherein, in the presence of a pitch angular velocity about the first horizontal axis, movement of the detection structure is configured to implement an opposite-phase displacement along a vertical axis, orthogonal to said horizontal plane, of the pitch detection masses of each pair, and moreover implement an opposite-phase displacement along the vertical axis of each pitch detection mass of the first pair and the respective pitch detection mass of the second pair due to the rotation of the elastic lever element of the elastic coupling structures about the central anchorage outside of the horizontal plane.

7. The gyroscope according to claim 1, wherein said pitch detection masses are arranged externally to said roll detection masses in the horizontal plane and are coupled together by respective elastic coupling structures, which extend centrally, crossing the first horizontal axis or the second horizontal axis, as a whole defining in the horizontal plane a rectangular frame inside which the driving masses and the roll-detection masses are enclosed; each elastic-coupling structure defining an elastic lever element of a central-fulcrum type hinged to the substrate through a central anchorage.

8. The gyroscope according to claim 7, wherein each driving mass of the first pair is coupled to a respective driving mass of the second pair, arranged symmetrically with respect to the first horizontal axis, by a respective elastic coupling element which extends along the second horizontal axis; and wherein each of the driving masses of the first and second pair, respectively, is coupled centrally to the first and second roll-detection mass, respectively, by a respective elastic driving element.

9. The gyroscope according to claim 8, wherein said detection structure further comprises a first pair and a second pair of yaw-detection masses arranged externally to the first paid and second pair of pitch-detection masses, respectively, in the horizontal plane; wherein each yaw-detection mass is elastically coupled to a respective pitch-detection mass by a respective yaw elastic-coupling element; wherein said yaw-detection masses have a substantially frame-like conformation, internally defining windows for mobile yaw-detection electrodes, alternating with corresponding fixed yaw-detection electrodes.

10. The gyroscope according to claim 9, wherein the first and second roll detection masses are elastically coupled together by an elastic coupling element arranged at the first horizontal axis.

11. The gyroscope according to claim 1, wherein said driving masses are arranged in the horizontal plane externally to said pitch-detection masses; and wherein the driving masses of each pair are elastically coupled by a respective elastic-coupling structure, which defines an elastic lever element with central fulcrum hinged to the substrate by a central anchorage.

12. The gyroscope according to claim 11, wherein said pitch-detection masses contain within them frames internally defining windows for mobile yaw-detection electrodes which are fixed with respect to the frames and alternate with corresponding fixed yaw detection electrodes, designed to detect a yaw angular velocity about a vertical axis, orthogonal to said horizontal plane.

13. The gyroscope according to claim 12, wherein each of the first and second roll-detection masses is surrounded in the horizontal plane by a respective ring structure which further couples together the pitch-detection masses of the first and second pair, respectively; and an elastic central element of a torsional type and with a rectangular-frame conformation is arranged at the first horizontal axis and is configured to elastically couple the elastic ring structures associated with the first and second roll-detection masses.

14. The gyroscope according to claim 13, wherein the pitch-detection masses of the first and second pairs are coupled to the respective ring structure by respective elastic elements at a central portion of the respective ring structure; the pitch-detection masses of the first and second pairs thus being interposed between respective drive masses of the first and second pairs and the first, respectively second, roll detection masses.

15. The gyroscope according to claim 1, wherein said first horizontal axis coincides with an axis of pitch detection of the detection structure about which a pitch angular velocity is to be detected; said second horizontal axis coincides with a roll-detection axis of the detection structure about which a roll angular velocity is to be detected; and a vertical axis orthogonal to said horizontal plane coincides with a yaw-detection axis, about which a yaw angular velocity is to be detected.

16. A microelectromechanical gyroscope, comprising: a die of semiconductor material comprising a substrate; anda detection structure suspended over said substrate;wherein said detection structure has a main extension in a horizontal plane, is symmetrical with respect to a central axis of symmetry and comprises, for each detection axis of said microelectromechanical gyroscope: a first pair of detection masses arranged on a first side of the central axis of symmetry; anda second pair of detection masses arranged in the horizontal plane on a second side of the central axis of symmetry opposite to the aforesaid first side;wherein the detection masses of each first and second pair of detection masses are capacitively coupled to respective stator electrodes according to a differential detection scheme; andwherein the stator electrodes are arranged symmetrically with respect to one another on opposite sides of the central axis of symmetry.

17. The gyroscope according to claim 16, wherein said detection masses are configured so that an angular velocity about the respective detection axis causes a detectable variation of a detection capacitance resulting from the capacitive coupling with said stator electrodes so as to determine a variation of an output signal associated with said differential detection scheme, and so that linear vibrations or angular vibrations acting about said central axis of symmetry do not substantially cause any variation of said detection capacitance.

18. The gyroscope according to claim 17, wherein the detection masses of each pair of detection masses are configured to perform: movements in phase opposition as a result of a Coriolis force associated with an angular velocity about the respective detection axis; and in-phase movements as a result of linear vibrations or angular vibrations acting about said central axis of symmetry.

19. The gyroscope according to claim 16, wherein a first set of said stator electrodes are electrically connected together to form a positive detection electrode for said differential detection scheme, and a second set of said stator electrodes are electrically connected together to form a negative detection electrode for said differential detection scheme; wherein stator electrodes of said first set are arranged with central or axial symmetry with respect to stator electrodes of said second set.

20. The gyroscope according to claim 16, wherein said detection structure further comprises a first pair of driving masses and a second pair of driving masses, arranged alongside and externally to the first and second pair of detection masses, respectively, on opposite sides with respect to the central axis of symmetry; wherein each driving mass of the first pair of driving masses is coupled to a respective driving mass of the second pair of driving masses, arranged symmetrically with respect to the central axis of symmetry by a respective elastic coupling element of a folded type which extends along an axis perpendicular to the central axis of symmetry; and wherein each of the driving masses is coupled centrally to a respective one of the detection masses by a respective elastic driving element.

21. The gyroscope according to claim 16, wherein said central axis of symmetry is a first horizontal axis that coincides with a pitch-detection axis of the detection structure about which a pitch angular velocity is detected; said detection structure being further symmetrical with respect to a second horizontal axis which forms, with the first horizontal axis, said horizontal plane and coincides with a roll-detection axis of the detection structure about which a roll angular velocity is detected; said detection structure further having an extension smaller than said main extension along a vertical axis, orthogonal to said horizontal plane and coinciding with a yaw-detection axis about which a yaw angular velocity is detected.

22. The gyroscope according to claim 21, wherein the first and second pair of detection masses comprise a first pair of roll-detection masses and a second pair of roll-detection masses arranged symmetrically and on opposite sides with respect to said first horizontal axis; wherein, arranged underneath the roll-detection masses of the first and second pair of roll-detection masses, respective roll stator electrodes are capacitively coupled to the respective roll-detection masses and positioned on the substrate to provide said differential detection scheme; and wherein said roll-detection masses of each first and second pair of roll-detection masses are fixedly coupled together to form a single body and centrally define a window arranged within which is a respective roll anchorage fixedly connected to the substrate and wherein elastic anchorage elements of a torsional type connect the roll-detection masses of each first and second pair of roll-detection masses to the respective anchorage.

23. The gyroscope according to claim 22, further comprising a first pair of driving masses and a second pair of driving masses arranged alongside and externally to the roll-detection masses of the first and second pair or roll-detection masses, respectively, on opposite sides with respect to the first horizontal axis; wherein each driving mass of the first pair of driving masses is coupled to a respective driving mass of the second pair of driving masses arranged symmetrically with respect to the first horizontal axis x by a respective elastic coupling element of a folded type which extends along the second horizontal axis; and wherein each of the driving masses is coupled centrally to a respective one of the roll-detection masses by a respective elastic driving element.

24. The gyroscope according to claim 23, further comprising a first pair of pitch-detection masses and a second pair of pitch-detection masses arranged alongside and externally to the roll-detection masses of the first and second pair of roll-detection masses, respectively, on opposite sides with respect to the first horizontal axis; wherein respective pitch stator electrodes are arranged underneath the pitch-detection masses of each first and second pair of pitch-detection masses and capacitively coupled to the respective pitch-detection masses and positioned on the substrate so as to provide a respective differential detection scheme; wherein each pitch-detection mass is coupled to a respective driving mass by respective elastic-coupling driving elements.

25. The gyroscope according to claim 24, wherein said driving masses are configured to be driven to carry out a movement of translation, in phase opposition for each pair, along the second horizontal axis, the movement of the driving masses, mutually symmetrical with respect to the first horizontal axis, being in phase opposition; wherein said movement of the driving masses is designed to cause a rotation in phase opposition of the roll-detection masses of the first and second pair of roll-detection masses in the horizontal plane about an axis parallel to the vertical axis and passing through a center of the respective roll anchorage; and wherein a corresponding movement of translation in phase opposition along the second horizontal axis of said pitch-detection masses is carried along by said driving masses.

26. The gyroscope according to claim 24, wherein said pitch-detection masses are arranged externally to said driving masses in said horizontal plane and are coupled together by respective elastic-coupling structures which extend centrally, crossing the first horizontal axis or the second horizontal axis, as a whole defining in the horizontal plane a rectangular frame inside which the driving masses and the roll-detection masses are enclosed; each elastic-coupling structure defining an elastic lever element of a central-fulcrum type hinged to the substrate through a central anchorage.

27. The gyroscope according to claim 26, further comprising a first pair of yaw-detection masses and a second pair of yaw-detection masses arranged externally to the pitch-detection masses of the first and second pair of pitch-detection masses, respectively, on opposite sides with respect to the first horizontal axis; wherein each yaw-detection mass is elastically coupled to a respective pitch-detection mass by a respective yaw elastic-coupling element; wherein, in said driving movement, said yaw-detection masses are fixedly coupled to the respective pitch-detection masses.

28. The gyroscope according to claim 27, wherein said yaw-detection masses have a substantially frame-like configuration, internally defining windows for mobile yaw-detection electrodes, alternating with corresponding fixed yaw-detection electrodes.

29. The gyroscope according to claim 26, wherein said pitch-detection masses contain within them frames that internally define windows for mobile yaw-detection electrodes which are fixed with respect to said frames and alternate with corresponding fixed yaw-detection electrodes designed for detection of the yaw angular velocity about the vertical axis.

30. The gyroscope according to claim 29, wherein said driving masses are arranged in the horizontal plane externally to said pitch-detection masses; and wherein the driving masses of each first and second pair of driving masses are elastically coupled by a respective elastic-coupling structure, which defines an elastic lever element with central fulcrum, hinged to the substrate by a central anchorage.

31. The gyroscope according to claim 30, wherein the roll-detection masses of each first and second pair of roll-detection masses are surrounded in the horizontal plane by a respective ring structure which further couples together the pitch-detection masses of each first and second pair of pitch-detection masses; and wherein an elastic central element of a torsional type and with a rectangular-frame configuration is arranged at the first horizontal axis and is configured to elastically couple the elastic ring structures associated with the first and second pair of roll-detection masses.