Gyro Sensor Bias Correction for Mobile Robots
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Solution Overview
Problem
Low-priced MEMS-based gyro sensors used in mobile robots suffer from performance issues due to inaccuracies in bias value estimation, leading to errors in attitude estimation, especially when the robot is stationary or moving.
Innovation Solution
An apparatus and method that includes a control unit to determine if the mobile robot is stationary, a state determination unit to assess output deviations from the gyro sensor, and a bias calculation unit to calculate and update the bias value in real time, allowing for accurate correction of gyro sensor errors and estimation of rotational angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If low-priced MEMS-based gyro sensors are used in mobile robots, then cost is reduced, but measurement precision deteriorates due to performance limitations and bias value estimation inaccuracies
Solution Approach 1:
The patent changes the parameter of bias value from a static fixed value to a dynamic variable that is continuously updated based on robot motion states. By detecting whether the robot is stationary or moving and adjusting the bias value accordingly, the system compensates for MEMS sensor inaccuracies without requiring expensive high-precision sensors.
2Productivity
If the robot moves continuously without stopping, then productivity is improved, but gyro sensor error accumulation increases leading to attitude estimation errors
Solution Approach 1:
The patent implements periodic bias value updates by detecting robot motion states. When the robot transitions between stationary and moving states, the bias value is recalibrated. This periodic recalibration during normal operation corrects error accumulation without requiring dedicated calibration time, thus maintaining both productivity and accuracy.
3Measurement precision
If traditional gyro sensors require external stop signals for calibration, then ease of operation is reduced, but measurement precision can be improved during calibration
Solution Approach 1:
The system performs self-calibration by automatically detecting its own motion state through the gyro sensor and acceleration sensor. The robot independently determines when it is stationary or moving and adjusts the bias value without external intervention, eliminating the need for manual stop signals or external calibration commands.
Solution Approach 2:
The patent implements a feedback mechanism where the gyro sensor output and acceleration sensor data are continuously monitored. Based on this feedback, the system automatically adjusts the bias value when stationary conditions are detected, creating a closed-loop calibration system that improves precision without additional operational complexity.
Data Source
AI summary
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.