Determination of zero-angular-velocity output level for angular velocity sensor
First Claim
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1. A method of determining when a vehicle is stationary, the vehicle having a sensor, the method comprising:
- acquiring a plurality of samples of an output of the sensor;
computing an amount of noise in the output of the sensor as a measure of the amount of deviation of the output from a nominal value of the output, based on the plurality of samples; and
determining when the vehicle is stationary based on the amount of noise.
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Abstract
A technique for determining a gyro zero voltage is provided. A gyroscope ("gyro") is installed in an automobile as a component of an on-board navigation system. The gyro outputs a voltage representing an angular velocity of the vehicle. The gyro output voltage representing zero angular velocity ("gyro zero voltage") is determined by first determining when the vehicle is stationary based upon the amount of noise in the output voltage of the gyro. When the vehicle is determined to be stationary, the gyro zero voltage is measured.
69 Citations
26 Claims
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1. A method of determining when a vehicle is stationary, the vehicle having a sensor, the method comprising:
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acquiring a plurality of samples of an output of the sensor; computing an amount of noise in the output of the sensor as a measure of the amount of deviation of the output from a nominal value of the output, based on the plurality of samples; and determining when the vehicle is stationary based on the amount of noise. - View Dependent Claims (2, 3, 4, 5)
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6. A method of calibrating an angular velocity sensor in a vehicle, the method comprising:
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acquiring a plurality of samples of an output of the sensor; computing an amount of noise in the output of the sensor as a measure of the amount of deviation of the output from a nominal value of the output, based on the plurality of samples; determining when the vehicle is stationary based on the amount of noise; and determining an output level of the angular velocity sensor to be a reference output level of the angular velocity sensor when the vehicle is determined to be stationary. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A method of determining a reference output level of a gyroscope in a vehicle, the reference output level corresponding to zero angular velocity of the vehicle, the method comprising:
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acquiring a plurality of samples of an output of the gyroscope; computing the average of the samples; computing the amount of noise in the output of the gyroscope as the largest difference between the samples and the average; determining when the vehicle is stationary based on the amount of noise; and measuring the reference output level when the vehicle is determined to be stationary. - View Dependent Claims (13)
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14. An apparatus for determining when a vehicle is stationary, the vehicle having a sensor, the apparatus comprising:
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means for acquiring a plurality of samples of an output of the sensor; means for computing an amount of noise in the output of the sensor as a measure of the amount of deviation of the output from a nominal value of the output, based on the plurality of samples; and means for determining when the vehicle is stationary based on the amount of noise. - View Dependent Claims (15, 16, 17, 18)
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19. An apparatus for calibrating an angular velocity sensor in a vehicle, the apparatus comprising:
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means for acquiring a plurality of samples of an output of the sensor; means for computing an amount of noise in the output of the sensor as a measure of the amount of deviation of the output from a nominal value of the output, based on the plurality of samples; means for determining when the vehicle is stationary based on the amount of noise; and means for determining an output level of the angular velocity sensor to be a reference output level of the angular velocity sensor when the vehicle is determined to be stationary. - View Dependent Claims (20, 21, 22, 23, 24)
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25. An apparatus for determining a reference output level of a gyroscope in a vehicle, the reference output level corresponding to zero angular velocity of the vehicle, the apparatus comprising:
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means for acquiring a plurality of samples of an output of the gyroscope; means for computing the average of the samples; means for computing the amount of noise in the output of the gyroscope as the largest difference between the samples and the average; means for determining when the vehicle is stationary based on the amount of noise; and means for measuring the reference output level when the vehicle is determined to be stationary. - View Dependent Claims (26)
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Specification