Gyro sensor module and angular velocity detection method
First Claim
1. A gyro sensor module built into a navigation system mounted into a mobile unit, comprising:
- a first gyro sensor detecting and outputting a first angular velocity ω
1 around a first detection axis;
a sign determination circuit for determining a sign of the first angular velocity ω
1;
a second gyro sensor detecting and outputting a second angular velocity ω
2 around a second detection axis intersecting the first detection axis at an acute angle θ
12;
a sensor output correction circuit for correcting outputs of the first and second gyro sensors; and
a computation circuit for computing ω
′
by equations ω
′
=√
(ω
1′
2+SA2) and SA=(ω
2′
−
ω
1′
cos θ
12)/sin θ
12 using a first angular velocity ω
1′ and
a second angular velocity ω
2′
obtained from corrections performed by the sensor output correction circuit, and outputting an angular velocity ω
obtained by multiplying the ω
′
by the sign of the first angular velocity ω
1 obtained by the sign determination circuit, whereinthe sensor output correction circuit includes;
a first offset adjustment circuit for outputting a value ω
1″
obtained by subtracting, from the ω
1, a correction value B1 corresponding to an output value of the first gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping; and
a second offset adjustment circuit for outputting a value ω
2″
obtained by subtracting, from the ω
2, a correction value B2 corresponding to an output value of the second gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping, andthe angular velocity ω
is an angular velocity around an axis located in a plane including the first and second detection axes and in a range between the first and second detection axes.
2 Assignments
0 Petitions
Accused Products
Abstract
A mobile navigation system gyro module comprises: first and second gyro sensors outputting angular velocities ω1, ω2 around first and second axes intersecting at an acute angle θ12; a sign determination circuit determining a sign of ω1; a correction circuit correcting the first and second gyro sensor outputs; and a computation circuit computing ω′=√(ω1′2+SA2) and SA=(ω2′−ω1′ cos θ12)/sin θ12 using angular velocities ω1′, ω2′ from the correction circuit, and outputting angular velocity ω by multiplying ω′ by the sign of ω1, wherein the correction circuit includes: first and second offset adjustment circuits outputting ω1″ and ω2″ by respectively subtracting from ω1 and ω2, corrections B1 and B2 corresponding to the first and second gyro sensor outputs when the mobile unit stops; and the angular velocity ω is around an axis coplanar with and between the first and second axes.
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Citations
6 Claims
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1. A gyro sensor module built into a navigation system mounted into a mobile unit, comprising:
-
a first gyro sensor detecting and outputting a first angular velocity ω
1 around a first detection axis;a sign determination circuit for determining a sign of the first angular velocity ω
1;a second gyro sensor detecting and outputting a second angular velocity ω
2 around a second detection axis intersecting the first detection axis at an acute angle θ
12;a sensor output correction circuit for correcting outputs of the first and second gyro sensors; and a computation circuit for computing ω
′
by equations ω
′
=√
(ω
1′
2+SA2) and SA=(ω
2′
−
ω
1′
cos θ
12)/sin θ
12 using a first angular velocity ω
1′ and
a second angular velocity ω
2′
obtained from corrections performed by the sensor output correction circuit, and outputting an angular velocity ω
obtained by multiplying the ω
′
by the sign of the first angular velocity ω
1 obtained by the sign determination circuit, whereinthe sensor output correction circuit includes; a first offset adjustment circuit for outputting a value ω
1″
obtained by subtracting, from the ω
1, a correction value B1 corresponding to an output value of the first gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping; anda second offset adjustment circuit for outputting a value ω
2″
obtained by subtracting, from the ω
2, a correction value B2 corresponding to an output value of the second gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping, andthe angular velocity ω
is an angular velocity around an axis located in a plane including the first and second detection axes and in a range between the first and second detection axes. - View Dependent Claims (2)
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3. A method for detecting an angular velocity using a gyro sensor module built into a navigation system mounted into a mobile unit, comprising:
-
detecting a first angular velocity ω
1 around a first detection axis;determining a sign of the first angular velocity ω
1;detecting a second angular velocity ω
2 around a second detection axis intersecting the first detection axis at an acute angle θ
12;performing sensor output corrections including a first offset adjustment in which a correction value B1 corresponding to an output value of a first gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping is subtracted from the ω
1 and a second offset adjustment in which a correction value B2 corresponding to an output value of a second gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping is subtracted from the ω
2; andcomputing an angular velocity ω
by computing ω
′
by equations ω
′
=√
(ω
1′
2+SA2) and SA=(ω
2′
−
ω
1′
cos θ
12)/sin θ
12 using a first angular velocity ω
1′ and
a second angular velocity ω
2′
obtained from the sensor output corrections and then by multiplying the ω
′
by the sign of the first angular velocity ω
1 obtained by a sign determination circuit, whereinthe angular velocity ω
is an angular velocity around an axis located in a plane including the first and second detection axes and in a range between the first and second detection axes. - View Dependent Claims (4, 5, 6)
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Specification