Gyro Sensor Calibration via Orientation-Based Angular Velocity Estimation
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Solution Overview
Problem
Existing gyro sensor calibration methods, such as zero velocity update and dynamic bias calibration, can be inconvenient and require additional sensors, especially in applications like mixed reality where continuous orientation detection is necessary, leading to accuracy issues due to bias drift in angular velocity measurements.
Innovation Solution
An angular velocity detection device that includes a gyro sensor, an acquisition unit for orientation information in a three-dimensional space, a calculation unit to estimate angular velocity, and a correction unit to dynamically correct the gyro sensor output using the estimated angular velocity, allowing for zero-point calibration without the need for a stationary state or additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If zero velocity update is performed for gyro sensor calibration, then bias error can be corrected, but the system requires stationary state which impairs convenience in dynamic applications
Solution Approach 1:
The patent transforms the static calibration approach into a dynamic one by calculating expected angular velocity from orientation changes over time. This allows calibration to be performed during movement rather than requiring stationary state, resolving the contradiction between measurement precision and ease of operation.
Solution Approach 2:
The patent introduces an intermediary calculation method that uses orientation information from imaging apparatus to derive expected angular velocity. This intermediary approach bridges the gap between direct sensor measurement and reference standard, enabling calibration without stationary requirement.
2Measurement precision
If dynamic bias calibration is performed using additional motion sensors, then calibration accuracy can be improved, but device complexity increases due to additional sensors
Solution Approach 1:
The patent makes the imaging apparatus serve multiple functions: it is used both for capturing visual information and for calculating orientation-based expected angular velocity for gyro calibration. This eliminates the need for separate motion sensors while maintaining calibration accuracy.
Solution Approach 2:
The system uses its own imaging apparatus to generate calibration reference data, making the system self-sufficient. The imaging apparatus provides both the primary function of visual capture and the secondary function of generating angular velocity reference for calibration, eliminating dependency on additional sensors.
3Device complexity
If gyro sensor output is used directly without calibration, then system simplicity is maintained, but bias drift occurs in integrated orientation estimation
Solution Approach 1:
The patent implements a feedback mechanism where the calculated expected angular velocity from orientation changes is continuously compared with the actual gyro sensor output. The difference (bias) is used to correct the gyro output, creating a closed-loop system that maintains orientation estimation accuracy without adding significant complexity.
Data Source
AI summary
An angular velocity detection device includes an angular velocity sensor configured to detect angular velocity, an acquisition unit configured to acquire orientation information in a three-dimensional space on a moving object including the angular velocity sensor, a calculation unit configured to calculate estimated angular velocity based on the acquired orientation information, and a correction unit configured to correct an output of the angular velocity sensor based on the angular velocity detected by the angular velocity sensor and the estimated angular velocity calculated by the calculation unit.