Method for calibrating yaw rate sensors

• US 9,791,275 B2
• Filed: 10/21/2013
• Issued: 10/17/2017
• Est. Priority Date: 10/25/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Franke, Axel, Hattass, Mirko
• Primary Examiner(s): Macchiarolo, Peter
• Assistant Examiner(s): Mercado, Alexander
• Application Number:
  US14/059,217
• Publication Number:
  US 20140116108A1
• Time in Patent Office: 1,457 Days
• Field of Search: 73 137
• CPC Class Codes: G01C 19/5755 the devices having a single sensing mass
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A method for calibrating a selected yaw rate sensor includes: determining a scaling function between a yaw rate sensitivity and a test signal sensitivity of a yaw rate sensor selected for carrying out a test and denoted as first sampling yaw rate sensor is determined in a first method step, the scaling function being determined from a measured first sample yaw rate sensitivity and from a measured first sample test signal sensitivity of the sampling yaw rate sensor; calculating a production yaw rate sensitivity for a yaw rate sensor denoted as production yaw rate sensor from a measured production test signal sensitivity of the production yaw rate sensor and the scaling function; and subsequently calibrating the production yaw rate sensor with the aid of the production yaw rate sensitivity.

Claims

1. A method for calibrating a production yaw rate sensor selected from a plurality of yaw rate sensors, the plurality of yaw rate sensors including a substrate having a main plane of extent, a seismic mass movable in relation to the substrate, a drive device for deflecting the seismic mass in a drive direction, a detection device for detecting a force action of the seismic mass in a detection direction perpendicular to the drive direction, and a test device for deflecting the seismic mass parallel to the detection direction, the method comprising:

measuring a production drive frequency on the drive device of the production yaw rate sensor;

measuring a production detection frequency on the detection device of the production yaw rate sensor;

applying a yaw rate about an axis of rotation to a first sampling yaw rate sensor designated from the plurality of yaw rate sensors for measuring a first sample yaw rate sensitivity, and measuring an output voltage on the detection device of the first sampling yaw rate sensor as a function of the yaw rate;

applying a test signal to the test device of the production yaw rate sensor for measuring a test signal sensitivity of the production yaw rate sensor, and measuring a detection voltage on the detection device of the production yaw rate sensor as a function of the test signal applied to the test device of the production yaw rate sensor, wherein the test signal is applied to the test device of the production yaw rate sensor to generate the force action on the seismic mass in a detection direction;

calculating a production yaw rate sensitivity for the production yaw rate sensor from the measured production test signal sensitivity of the production yaw rate sensor and a scaling function, wherein the scaling function is determined from the measured first sample yaw rate sensitivity and from a measured first sample test signal sensitivity of the first sampling yaw rate sensor; and

calibrating the production yaw rate sensor with the production yaw rate sensitivity;

wherein a quadrature signal is used as the test signal for measuring the production test signal sensitivity, and

wherein the test device generates the force action on the seismic mass modulated in the detection direction using a drive movement of the seismic mass.

2. The method as recited in claim 1, wherein a second sampling yaw rate sensor is designated from the plurality of yaw rate sensors, and wherein:

the scaling function is additionally determined from a measured second sample test signal sensitivity and a measured second sample yaw rate sensitivity of the second sampling yaw rate sensor, the scaling function being additionally determined as a function of at least one of (i) a first and second sample drive frequency and (ii) a first and second sample detection frequency;

the production yaw rate sensitivity is calculated for the production yaw rate sensor from the measured production test signal sensitivity, a value of the scaling function, and at least one of the measured production drive frequency and the measured production detection frequency;

the scaling function is calculated as a function of at least one of the measured production drive frequency and the measured production detection frequency; and

the scaling function is interpreted linearly as a function of at least one of the production drive frequency and the production detection frequency.

3. The method as recited in claim 2, wherein:

for measuring the first and second sample yaw rate sensitivity, the axis of rotation extends perpendicularly to the main plane of extent; and

for measuring an additional first sample yaw rate sensitivity of the first sampling yaw rate sensor, an additional axis of rotation extends parallel to the main plane of extent and perpendicularly to the axis of rotation.

4. The method as recited in claim 2, wherein the production yaw rate sensor has a sensitivity about the axis of rotation and an additional axis of rotation:

an additional scaling function is determined for the first sampling yaw rate sensor between a first sample test signal sensitivity, the first sample yaw rate sensitivity, an additional test signal sensitivity, and an additional yaw rate sensitivity from the measured first sample test signal sensitivity and the measured first sample yaw rate sensitivity and from a measured additional first sample test signal sensitivity and a measured additional first sample yaw rate sensitivity;

an additional production yaw rate sensitivity is calculated for the production yaw rate sensor from the calculated production yaw rate sensitivity, the additional scaling function, the measured production test signal sensitivity and a measured additional production test signal sensitivity; and

the production yaw rate sensor is subsequently calibrated with the additional production yaw rate sensitivity.