Method, device and system for calibrating angular rate measurement sensors

• US 6,834,528 B2
• Filed: 11/12/2002
• Issued: 12/28/2004
• Est. Priority Date: 11/13/2001
• Status: Expired due to Term

• Current Assignee: WSOU Investments, LLC (WSOU Holdings, LLC)
• Original Assignee: Nokia Corporation
• Inventors: Collin, Jussi, Kappi, Jani
• Primary Examiner(s): MOLLER, RICHARD ALAN
• Application Number:
  US10/292,409
• Publication Number:
  US 20030115930A1
• Time in Patent Office: 777 Days
• Field of Search: 73/13.7, 73/17.5, 73/17.7, 73/17.8, 73/17.9
• US Class Current: 73/1.75
• CPC Class Codes: G01C 19/56 Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38

Abstract

The present invention describes a method to calibrate an angular measurement device using acceleration measurement device. The angular rate measurement device includes at least one angular measurement sensor, wherein the acceleration measurement device is able to distinguish the direction and strength of gravity. By performing the calibration method the scale factor(s) of the angular measurement device and the strength and direction of gravity can be obtained and/or corrected. An embodiment according to the method of the present invention describes optional use of a communication network to perform necessary evaluation and calculation steps at a remote device.

Claims

1. A method for calibrating an angular measurement sensor using an acceleration measurement device, comprising the steps of:

determining a level plane using said acceleration measurement device in a first stationary position,

displacing said angular measurement sensor,

determining values measured by said angular measurement sensor during displacing,

again determining said level plane in a second stationary position similar to said first stationary position,

receiving an angle according to said level planes determined by said acceleration measurement device,

receiving an angle according to said values determined by said angular measurement sensor and

comparing said angles,

wherein said acceleration measurement device is attached in a fixed way to the angular measurement sensor and said level plane is adjusted such that it is perpendicular to the direction of the gravity vector.

2. A method according to claim 1, further comprising:

obtaining a new scale factor given by said angles for said angular measurement sensor if the deviation between said angles is beyond a threshold value.

3. A method according to claim 2, further comprising:

re-calibrating said angular measurement sensor using said new scale factor.

4. A method according to claim 1, wherein said angular measurement sensor is an angular rate measurement sensor and wherein said values are speed values.

5. A method according to claim 4, wherein said speed values are rotation speed values.

6. A method according to claim 4, wherein said speed values are angular speed values.

7. A method according to claim 1, wherein said angular measurement sensor is an angular rate integrating measurement sensor and wherein said values are angle values.

8. A method according to claim 1, wherein said displacing is a displacing by a certain angle with respect to an axis.

9. A method according to claim 8, wherein said certain angle is a rotation angle.

10. A method according to claim 9, wherein said angular measurement device is rotated by about 360°

around said axis.

11. A method according to claim 9, wherein said axis around which said acceleration measurement device and said angular measurement sensor are rotated is substantially perpendicular to the direction of the gravity vector.

12. A method according to claim 1, wherein the calibration method is repeated as long as said deviation of said angles is beyond a threshold value.

13. A method according to claim 1, wherein acceleration signals generated by said acceleration measurement device are determined during displacement to obtain maximal and minimal acceleration values of said acceleration sensors used for measuring a local acceleration value of the gravity.

14. A computer program product for carrying out a method for calibrating an angular measurement sensor using an acceleration measurement device, comprising downloadable program code that when downloaded is stored on a computer readable medium, said program code for carrying out the steps of any one of said methods for calibrating when said product is run on a computer or a network device, wherein said method for calibrating comprises the following steps:

determining a level plane given by an acceleration measurement device in a first stationary position,

determining values measured by said angular measurement sensor during displacing,

again determining said level plane in a second stationary position similar to said first stationary position,

receiving an angle according to said level planes determined by said acceleration measurement device,

receiving an angle according to said values determined by said angular measurement sensor and

comparing said angles.

15. A computer program product according to claim 14, further comprising:

obtaining a new scale factor by said angles for said angular measurement sensor if the deviation between said angles is beyond a threshold value.

16. A computer program product according to claim 15, further comprising:

re-calibrating said angular measurement sensor using said new scale factor.

17. A computer program product comprising program code means stored on a computer readable medium for carrying out a method for calibrating an angular measurement sensor using an acceleration measurement device when said program product is run on a computer or network device, wherein said method for calibrating comprises following steps:

determining a level plane given by an acceleration measurement device in a first stationary position,

determining values measured by said angular measurement sensor during displacing,

again determining said level plane in a second stationary position similar to said first stationary position,

receiving an angle according to said level planes determined by said acceleration measurement device,

receiving an angle according to said values determined by said angular measurement sensor and

comparing said angles.

18. A computer program product according to claim 17, further comprising:

obtaining a new scale factor by said angles for said angular measurement sensor if the deviation between said angles is beyond a threshold value.

19. A computer program product according to claim 18, further comprising:

re-calibrating said angular measurement sensor using said new scale factor.

20. A device for calibrating an angular rate measurement sensor, wherein the device comprises:

an acceleration measurement device for calibrating said angular measurement sensor,

a unit for determining a level plane obtained by said acceleration measurement device,

a unit for determining values measured by said angular measurement sensor,

a unit for receiving an angle obtained by level planes,

a unit for receiving an angle according to said values measured by said angular measurement sensor and

a unit for comparing said angles,

wherein said acceleration measurement device comprises acceleration measurement sensors arranged in such a way that the direction of gravity can be distinguished related to the three space directions.

21. A device according to claim 20, wherein the device further comprises a unit for determining a scale factor of said angular measurement sensor.

22. A device according to claim 20, wherein the device further comprises means for re-calibrating said angular measurement using said new scale factor.

23. A device according to claim 20, wherein the device additionally comprises a unit for determining the maximal and/or minimal acceleration value during the displacement procedure to obtain a local value of gravity.

24. A device according to claim 20, the device using a transmission network for data exchange, wherein said device comprises a unit for transmitting and receiving measurement and/or evaluation and/or calculation and/or calibration data via a communication network and wherein a part of the units or all of the units are connected to the calibration device via said unit for transmitting and receiving.

25. A device according to claim 24, wherein said communication network is a wide area communication network.

26. A device according to claim 24, wherein said communication network is a wide area radio communication network.

27. A device according to claim 24, wherein said communication network is a network for mobile communication.

28. A device according to claim 24, wherein said communication network is local area communication network.

29. A device according to claim 24, wherein said communication network is low power radio frequency network.

30. A device according to claim 24, wherein said communication network is local infrared transmission network.

31. A device according to claim 24, wherein said communication network is a wire based communication network.

32. A system for calibrating angular rate measurement sensor, comprising:

an angular measurement sensor and

a device for calibrating an angular measurement sensor, comprising;

an acceleration measurement device for calibrating said angular measurement sensor,

a unit for determining a level plane obtained by said acceleration measurement device,

a unit for receiving an angle obtained by level planes,

a unit for receiving an angle provided by said angular measurement sensor and

a unit for comparing said angles,

wherein said angular measurement sensor is fixed to said device for calibrating angular measurement sensor and wherein said acceleration measurement device comprises acceleration measurement sensors arranged in such a way that the direction of gravity can be distinguished related to the three space directions.

33. A system according to claim 32, wherein the unit for receiving an angle provided by said angular measurement sensor of the device for calibrating further comprises:

a unit for determining values measured by said angular measurement sensor and

a unit for receiving an angle according to said values determined by said angular measurement sensor.

34. A system according to claim 32, wherein the device for calibrating an angular rate measurement sensor further comprises:

a unit for determining a scale factor of said angular measurement sensor.

35. A system according to claim 32, wherein the device for calibrating an angular rate measurement sensor further comprises:

means for re-calibrating said angular measurement using said new scale factor.

36. A system according to claim 32, wherein the device for calibrating an angular measurement sensor additionally comprises a unit for determining the maximal and/or minimal acceleration value during the displacement procedure to obtain a local value of gravity.

37. A system according to claim 32, using a transmission network for data exchange, wherein said device for calibrating an angular measurement sensor comprises a unit for transmitting and receiving measurement and/or evaluation and/or calculation and/or calibration data via a communication network and wherein a part of the units or all units are connected to the device for calibrating angular measurement sensor via said unit for transmitting and receiving.