Gyroscope Bias Compensation via Map Matching
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Solution Overview
Problem
Gyroscopes in vehicle positioning systems experience bias drift over time, leading to inaccurate location measurement and increased risk of lane departure errors, especially in autonomous driving and highway navigation where precise lane recognition is challenging.
Innovation Solution
An apparatus and method that compensate for gyroscopic sensing values by using map matching between detailed maps and vehicle surroundings to calculate and correct gyro bias and scale factor, improving localization performance through a combination of map matching and dead reckoning navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If gyroscope sensor is used for dead reckoning navigation to determine vehicle position, then localization function is provided, but measurement precision deteriorates due to bias drift accumulating over time
Solution Approach 1:
The patent implements feedback by continuously comparing the gyroscope-based dead reckoning position with GPS position and using this difference to correct the gyroscope bias. The position deviation from GPS serves as feedback to adjust the gyroscope sensing values, thereby reducing accumulated bias drift and improving localization accuracy over time.
Solution Approach 2:
The patent introduces GPS as an intermediary reference system to correct the gyroscope sensor. GPS provides accurate position information that acts as a mediator to calibrate and correct the drifting gyroscope measurements, enabling the system to maintain high precision without relying solely on the gyroscope.
2Measurement precision
If map matching is performed continuously to correct gyro bias, then localization accuracy is improved, but device complexity increases due to additional processing requirements
Solution Approach 1:
The patent applies partial action by performing map matching only under specific conditions rather than continuously. The system determines whether to execute map matching based on vehicle state (e.g., when the vehicle is stopped or moving slowly), thereby reducing processing complexity while maintaining accuracy where most needed.
Solution Approach 2:
The patent implements dynamics by making the map matching process adaptive to vehicle motion state. The system dynamically adjusts whether to perform map matching based on real-time detection of vehicle stopping or movement, optimizing the balance between accuracy improvement and processing complexity reduction.
Data Source
AI summary
An apparatus of compensating for a sensing value of a gyroscope sensor, a system having the same, and a method thereof are provided. The apparatus includes a gyro bias compensator that eliminates a gyro bias from the gyro sensing value, which is received from a gyroscope sensor, through map matching between a detailed map and vehicle surrounding data which is acquired, and a gyro scale factor compensator that calculates a gyro scale factor by calculating a heading angle variation of a road, on which a vehicle is traveling, by using the detailed map when the vehicle is turning, and compensates for the gyro sensing value by using the calculated gyro scale factor.