APPARATUS AND METHOD FOR CORRECTING ERROR OF GYRO SENSOR IN MOBILE ROBOT
First Claim
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1. An apparatus for correcting an error of a gyro sensor in a mobile robot, the apparatus comprising:
- a control unit stopping or moving the mobile robot; and
a correction unit determining whether the mobile robot is stationary and correcting an error of the gyro sensor using output values obtained from the gyro sensor when the mobile robot is stationary,wherein the correction unit comprises;
a state determination unit determining whether the mobile robot is stationary using a deviation of output values of the gyro sensor; and
a bias calculation unit calculating a bias value using output values of the gyro sensor when it is determined that the mobile robot is stationary.
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Abstract
Provided are a method and apparatus for correcting an error of a gyro sensor, and more particularly, a method and apparatus for correcting an error of a gyro sensor installed in a mobile robot.
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Citations
11 Claims
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1. An apparatus for correcting an error of a gyro sensor in a mobile robot, the apparatus comprising:
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a control unit stopping or moving the mobile robot; and a correction unit determining whether the mobile robot is stationary and correcting an error of the gyro sensor using output values obtained from the gyro sensor when the mobile robot is stationary, wherein the correction unit comprises; a state determination unit determining whether the mobile robot is stationary using a deviation of output values of the gyro sensor; and a bias calculation unit calculating a bias value using output values of the gyro sensor when it is determined that the mobile robot is stationary. - View Dependent Claims (2, 3, 4, 5)
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6. A mobile robot estimating a rotation angle thereof, the mobile robot comprising:
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a state determination unit determining whether the mobile robot is stationary; a bias calculation unit calculating a bias value using output values of a gyro sensor installed in the mobile robot when the state determination unit determines that the mobile robot is stationary; and a rotation angle estimation unit estimating the rotation angle of the mobile robot using the calculated bias value and output values of the gyro sensor when the mobile robot is moving. - View Dependent Claims (7)
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8. A method of correcting an error of a gyro sensor in a mobile robot, the method comprising:
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determining whether the mobile robot is stationary using a deviation of output values of the gyro sensor installed in the mobile robot; calculating a bias value using output values of the gyro sensor when it is determined that the mobile robot is stationary; and calculating an angular velocity of the mobile robot using an output value of the gyro sensor and the calculated bias value when the mobile robot is moving. - View Dependent Claims (9, 10, 11)
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Specification