Angular velocity sensor calibration device and angular velocity sensor calibration method
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- TOYOTA TECH DEV CORP
- Filing Date
- 2023-08-01
- Publication Date
- 2026-07-31
AI Technical Summary
【0016】 本発明に係る角速度センサ校正装置は、校正の対象となる被校正角速度センサを載置する傾斜テーブルの傾斜を変化させる傾斜角発生部と、校正の標準となる角度標準を測定する標準角度センサと、基準時刻に基づいて時刻を測定する時刻測定部とを備え、被校正角速度センサを校正する角速度センサ校正装置であって、校正を行うために傾斜テーブルの傾斜を一定速度で増加させた状態における当該傾斜の測定の開始時と終了時に電圧信号を発生させる同期信号発生部と、測定の開始時の電圧信号を検知した被校正角速度センサまたは標準角度センサのうち、開始時の電圧信号を検知したタイミングが遅い側のセンサが当該電圧信号を検知したときに時刻測定部が示す時刻を測定の開始時刻として取得する開始時刻取得部と、測定の終了時の電圧信号を検知した被校正角速度センサまたは標準角度センサのうち、終了時の電圧信号を検知したタイミングが早い側のセンサが当該電圧信号を検知したときに時刻測定部が示す時刻を測定の終了時刻として取得する終了時刻取得部と、開始時刻取得部が取得した開始時刻と終了時刻取得部が取得した終了時刻との間の期間を時間標準として取得する時間標準取得部と、開始時刻における標準角度センサの指示値と終了時刻における標準角度センサの指示値との差を、角度標準として取得する角度標準算出部と、角度標準算出部が算出した角度標準を、時間標準取得部が取得した時間標準を用いて除算して角速度標準を算出する角速度標準算出部と、開始時刻における被校正角速度センサの指示値と終了時刻における被校正角速度センサの指示値とを、取得する被校正角速度取得部と、角速度標準算出部が算出した角速度標準、被校正角速度取得部が取得した開始時刻及び終了時刻における被校正角速度センサの指示値、及び、時間標準取得部が取得した時間標準に基づいて、被校正角速度センサの角速度標準からのずれ量を算出するずれ量算出部と、を備えることを特徴とするため、被校正角速度センサと標準角度センサとの入力信号を検知する際の遅延時間が異なる場合であっても、校正のための測定を実施する期間の開始と終了とのタイミングを一致させることができる。
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Abstract
Claims
1. An angular velocity sensor calibration apparatus comprising: an inclination angle generating unit that changes the inclination of an inclined table on which the angular velocity sensor to be calibrated is placed; a standard angle sensor that measures an angle standard that serves as the calibration standard; and a time measuring unit that measures the time based on a reference time, wherein the angular velocity sensor to be calibrated is calibrated, A synchronization signal generating unit generates a voltage signal at the start and end of the measurement of the inclination of the tilt table while the inclination of the tilt table is being increased at a constant speed in order to perform the calibration. A start time acquisition unit acquires the time indicated by the time measurement unit when the sensor that detected the voltage signal at the start of the measurement, among the calibration angular velocity sensor or the standard angle sensor, which detected the voltage signal at the start of the measurement, detects the voltage signal at the later timing, as the start time of the measurement. An end time acquisition unit acquires the time indicated by the time measurement unit when the sensor that detected the voltage signal at the end of the measurement, among the calibrated angular velocity sensor or the standard angle sensor, which detected the voltage signal at the end of the measurement earlier, detects the voltage signal, as the end time of the measurement. A time standard acquisition unit acquires the period between the start time acquired by the start time acquisition unit and the end time acquired by the end time acquisition unit as a time standard, An angle standard calculation unit that acquires the difference between the indicated value of the standard angle sensor at the start time and the indicated value of the standard angle sensor at the end time as the angle standard, An angular velocity standard calculation unit calculates an angular velocity standard by dividing the angle standard calculated by the angle standard calculation unit by the time standard acquired by the time standard acquisition unit, A calibration angular velocity acquisition unit acquires the indicated value of the calibration angular velocity sensor at the start time and the indicated value of the calibration angular velocity sensor at the end time. A deviation amount calculation unit calculates the deviation amount of the angular velocity sensor to be calibrated from the angular velocity standard based on the angular velocity standard calculated by the angular velocity standard calculation unit, the indicated values of the angular velocity sensor to be calibrated at the start time and end time acquired by the angular velocity acquisition unit, and the time standard acquired by the time standard acquisition unit. An angular velocity sensor calibration device characterized by comprising the following features.
2. The aforementioned displacement amount calculation unit calculates the displacement amount as follows: The angular velocity sensor calibration device according to claim 1, characterized in that the difference between the average value of the angular velocity sensor to be calibrated at the start time and the angular velocity sensor to be calibrated at the end time and the angular velocity standard is divided by the time standard to obtain the value.
3. The aforementioned displacement amount calculation unit calculates the displacement amount as follows: The angular velocity sensor calibration device according to claim 1, characterized in that the difference between the average value of the angular velocity sensor to be calibrated at the start time and the angular velocity sensor to be calibrated at the end time and the angular velocity standard is divided by the angular velocity standard to obtain the value.
4. The angular velocity sensor calibration device according to claim 1, further comprising an output unit that outputs the angular velocity standard calculated by the angular velocity standard calculation unit.
5. The standard angle sensor is characterized by being a self-calibrating encoder. The angular velocity sensor calibration device according to claim 1.
6. The aforementioned standard angle sensor is The angular velocity sensor calibration device according to claim 1, comprising a scale made of a diffraction grating and a sensor head that irradiates the scale with laser light to read the number of markings on the scale.
7. An angular velocity sensor calibration method for calibrating an angular velocity sensor, comprising: an inclination angle generating unit that changes the inclination of an inclined table on which the angular velocity sensor to be calibrated is placed; a standard angle sensor that measures an angle standard that will serve as the calibration standard; and a time measuring unit that measures the time based on a reference time, wherein the angular velocity sensor to be calibrated is calibrated. A synchronization signal generation step in which a voltage signal is generated at the start and end of the measurement of the inclination of the tilt table while the inclination of the tilt table is increased at a constant speed in order to perform the calibration, A start time acquisition step in which, of the two sensors, the one under calibration angular velocity sensor or the standard angle sensor that detected the voltage signal at the start of the measurement, the one that detected the voltage signal at the start of the measurement later, obtains the time indicated by the time measurement unit when it detects the said voltage signal as the start time of the measurement; The end time acquisition step involves acquiring the time indicated by the time measurement unit when the sensor that detected the voltage signal at the end of the measurement, among the calibration angular velocity sensor or the standard angle sensor, which detected the voltage signal at the end of the measurement earlier, detects the voltage signal, as the end time of the measurement. A time standard acquisition step which acquires the period between the start time acquired in the start time acquisition step and the end time acquired in the end time acquisition step as a time standard, An angle standard calculation step in which the difference between the indicated value of the standard angle sensor at the start time and the indicated value of the standard angle sensor at the end time is obtained as the angle standard, An angular velocity standard calculation step, which calculates an angular velocity standard by dividing the angle standard calculated in the angle standard calculation step by the time standard acquired in the time standard acquisition step, A calibration angular velocity acquisition step in which the indicated value of the calibration angular velocity sensor at the start time and the indicated value of the calibration angular velocity sensor at the end time are obtained, A deviation amount calculation step calculates the deviation amount of the angular velocity sensor to be calibrated from the angular velocity standard based on the angular velocity standard calculated in the angular velocity standard calculation step, the indicated values of the angular velocity sensor to be calibrated at the start time and end time obtained in the angular velocity acquisition step, and the time standard obtained in the time standard acquisition step. A method for calibrating an angular velocity sensor, characterized by performing the following actions.