Automatic Rate and Rate-Integrating Mode-Switchable Axisymmetric Gyroscope.This paper describes a novel rate and rate-integrating mode-switchable axisymmetric gyroscope. 
Automatic Rate and Rate-Integrating Mode-Switchable Axisymmetric Gyroscope
A precession angle tracking algorithm is developed to enable the gyro to switch automatically between rate and rate-integrating modes at preset rate points through a digital control system within the gyro. 
digital control system