Method of and apparatus for detecting angular velocity, method of and apparatus for detecting angle, navigation system, program storage device, and computer data signal embodied in carrier wave
First Claim
1. A method of detecting an angular velocity comprising processes of:
- setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angular velocity on the basis of the output voltage with using the set or updated standard voltage as a standard;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angular velocity calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage.
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Abstract
A method of detecting an angle is provided with processes of: setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor (12) under a predetermined condition; and calculating the angle on the basis of a difference between the output voltage and the set or updated standard voltage. It is further provided with processes of storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data; estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage; and correcting the calculated angle on the basis of a difference between a value of the standard voltage used in the calculation process and the estimated value of the bias voltage.
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Citations
19 Claims
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1. A method of detecting an angular velocity comprising processes of:
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setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angular velocity on the basis of the output voltage with using the set or updated standard voltage as a standard;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angular velocity calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage. - View Dependent Claims (2, 3)
wherein said setting process sets or updates the standard voltage depending on a judgment result in said judging process. -
3. A method according to claim 1, wherein said estimating process uses an n function (n is a natural number), which approximates a change of the bias voltage value with respect to time, as the function.
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4. A method of detecting an angle comprising processes of:
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setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor mounted on a movable thing in response to an angular velocity when a predetermined condition is satisfied, as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angle of the movable thing on the basis of a difference between the output voltage and the set or updated standard voltage;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angle calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage. - View Dependent Claims (5, 6, 7)
wherein said setting process sets or updates the standard voltage depending on a judgment result in said judging process. -
6. A method according to claim 4, wherein said estimating process uses an n function (n is a natural number), which approximates a change of the bias voltage value with respect to time, as the function.
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7. A method according to claim 4, wherein
said calculating process converts a value, which is obtained by integrating on a time axis a difference between the output voltage and the set or updated standard voltage, to a turning angle of the movable thing, and said correcting process corrects the angle by correcting the turning angle in response to a value, which is obtained by integrating on a time axis a difference between the value of the standard voltage used in said calculating process and the estimated value of the bias voltage.
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8. An apparatus for detecting an angular velocity comprising:
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a setting device for setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
a calculating device for calculating the angular velocity on the basis of the output voltage with using the set or updated standard voltage as a standard;
a storing device for storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
an estimating device for estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
a correcting device for correcting the angular velocity calculated by said calculating device on the basis of a difference between a value of the standard voltage used in said calculating device and the estimated value of the bias voltage. - View Dependent Claims (9, 10)
wherein said setting device sets or updates the standard voltage depending on a judgment result in said judging device. -
10. An apparatus according to claim 8, wherein said estimating device uses an n function (n is a natural number), which approximates a change of the bias voltage value with respect to time, as the function.
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11. An apparatus for detecting an angle comprising:
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a setting device for setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor mounted on a movable thing in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
a calculating device for calculating the angle of the movable thing on the basis of a difference between the output voltage and the set or updated standard voltage;
a storing device for storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
an estimating device for estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
a correcting device for correcting the angle calculated by said calculating device on the basis of a difference between a value of the standard voltage used in said calculating device and the estimated value of the bias voltage. - View Dependent Claims (12, 13, 14)
wherein said setting device sets or updates the standard voltage depending on a judgment result in said judging device. -
13. An apparatus according to claim 11, wherein said estimating device uses an n function (n is a natural number), which approximates a change of the bias voltage value with respect to time, as the function.
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14. An apparatus according to claim 11, wherein
said calculating device converts a value, which is obtained by integrating on a time axis a difference between the output voltage and the set or updated standard voltage to a turning angle of the movable thing, and said correcting device corrects the angle by correcting the turning angle in response to a value, which is obtained by integrating on a time axis a difference between the value of the standard voltage used in said calculating device and the estimated value of the bias voltage.
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15. A navigation system comprising
(i) an apparatus for detecting an angle comprising: -
a setting device for setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor mounted on a movable thing in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
a calculating device for calculating the angle of the movable thing on the basis of a difference between the output voltage and the set or updated standard voltage;
a storing device for storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
an estimating device for estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
a correcting device for correcting the angle calculated by said calculating device on the basis of a difference between a value of the standard voltage used in said calculating device and the estimated value of the bias voltage, (ii) the angular velocity sensor, and (iii) a displaying device for displaying the corrected angle in a predetermined format.
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16. A program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform method processes of detecting an angle of a movable thing,
said method processes comprising: -
setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor mounted on a movable thing in response to an angular velocity when a predetermined condition is satisfied, as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angle of the movable thing on the basis of a difference between the output voltage and the set or updated standard voltage;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angle calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage.
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17. A program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform method processes of detecting an angular velocity of a movable thing,
said method processes comprising: -
setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angular velocity on the basis of the output voltage with using the set or updated standard voltage as a standard;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angular velocity calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage.
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18. A computer data signal embodied in a carrier wave and representing a series of instructions which cause a computer to perform method processes of detecting an angle of a movable thing,
said method processes comprising: -
setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor mounted on a movable thing in response to an angular velocity when a predetermined condition is satisfied, as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angle of the movable thing on the basis of a difference between the output voltage and the set or updated standard voltage;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angle calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage.
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19. A computer data signal embodied in a carrier wave and representing a series of instructions which cause a computer to perform method processes of detecting an angular velocity of a movable thing,
said method processes comprising: -
setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied;
calculating the angular velocity on the basis of the output voltage with using the set or updated standard voltage as a standard;
storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage;
estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and
correcting the angular velocity calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage.
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Specification