Apparatus and method for correcting error of gyro sensor in mobile robot
First Claim
Patent Images
1. An apparatus for calibrating a gyro sensor output, the apparatus comprising:
- a state determination unit configured to select from successive gyro sensor outputs a set of sensor outputs whose deviation is equal to or less than a predetermined threshold;
a bias estimation unit configured to estimate a bias value using the selected set of sensor outputs; and
a gyro sensor output calibration unit configured to calibrate a new gyro sensor output using the estimated bias value.
1 Assignment
0 Petitions
Accused Products
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.
-
Citations
8 Claims
-
1. An apparatus for calibrating a gyro sensor output, the apparatus comprising:
-
a state determination unit configured to select from successive gyro sensor outputs a set of sensor outputs whose deviation is equal to or less than a predetermined threshold; a bias estimation unit configured to estimate a bias value using the selected set of sensor outputs; and a gyro sensor output calibration unit configured to calibrate a new gyro sensor output using the estimated bias value. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. An apparatus for calibrating a gyro sensor output, the apparatus comprising:
-
a state determination unit configured to receive successive gyro sensor outputs and search the received successive gyro sensor outputs for a particular set of sensor outputs whose deviation is equal to or less than a predetermined threshold; a bias estimation unit configured to estimate a bias value using the particular set of sensor outputs upon finding the particular set of sensor outputs; and a gyro sensor output calibration unit configured to calibrate a new gyro sensor output using the estimated bias value.
-
-
8. An apparatus for calibrating a gyro sensor output, the apparatus comprising:
-
a state determination unit configured to receive successive gyro sensor outputs, search the received successive gyro sensor outputs for a particular set of sensor outputs whose deviation is equal to or less than a predetermined threshold, and provide a stationary state indication signal upon finding the particular set of sensor outputs; a bias estimation unit configured to estimate a bias value using the particular set of sensor outputs in response to the stationary state indication signal; and a gyro sensor output calibration unit configured to calibrate a new gyro sensor output using the estimated bias value.
-
Specification