ANGULAR VELOCITY DETECTING DEVICE, ANGULAR VELOCITY DETECTING METHOD, MOVEMENT STATE DETECTING DEVICE AND NAVIGATION DEVICE
First Claim
1. An angular velocity detecting device mounted to a movable body and for detecting angular velocities of the movable body, comprising:
- a gyro sensor for measuring angular velocities in three axes perpendicular to each other in a sensor coordinate system;
a misalignment angle estimating unit for estimating, based on the angular velocities in the sensor coordinate system, angular differences between the three axes of the gyro sensor perpendicular to each other and three axes of the movable body perpendicular to each other; and
a coordinates converting unit for converting the angular velocities in the sensor coordinate system into angular velocities in a movable body coordinate system based on the angular differences.
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Abstract
An angular velocity detecting device which can estimate and detect correct mounting angles of a gyro sensor is achieved using outputs from the gyro sensor. The gyro sensor measures angular velocities in a sensor coordinate system and outputs them to an angular velocity calculating unit. A bias component removing unit of the angular velocity calculating unit carries out time average processing of the sensor coordinate system angular velocities, divides the sensor coordinate system angular velocities by time average values, and outputs them to a misalignment angle estimating unit. The misalignment angle estimating unit calculates, during a period in which a movable body is turning, a roll direction misalignment angle αφ using an angular velocity ωyse in a pitch angle θ direction and an angular velocity ωzse in a heading ψ direction in the sensor coordinate system. The misalignment angle estimating unit calculates a pitch direction misalignment angle Δθ using an angular velocity ωxse in a roll angle φ direction and an angular velocity ωzse in the heading ψ direction.
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Citations
14 Claims
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1. An angular velocity detecting device mounted to a movable body and for detecting angular velocities of the movable body, comprising:
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a gyro sensor for measuring angular velocities in three axes perpendicular to each other in a sensor coordinate system; a misalignment angle estimating unit for estimating, based on the angular velocities in the sensor coordinate system, angular differences between the three axes of the gyro sensor perpendicular to each other and three axes of the movable body perpendicular to each other; and a coordinates converting unit for converting the angular velocities in the sensor coordinate system into angular velocities in a movable body coordinate system based on the angular differences. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An angular velocity detecting method for detecting angular velocities of a movable body, comprising the steps of:
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measuring angular velocities in three axes perpendicular to each other; estimating, based on the angular velocities on the three axes perpendicular to each other, angular differences between the three axes of a gyro sensor perpendicular to each other and three axes of the movable body perpendicular to each other, converting the angular velocities in a sensor coordinate system into angular velocities in a movable body coordinate system based on the angular differences. - View Dependent Claims (10, 11, 12, 13, 14)
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Specification