Angular Velocity Sensor Calibration Without Rotation Hardware
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Solution Overview
Problem
Existing angular velocity sensors face challenges in correcting errors inherent to the angular velocity sensor without using a configuration for moving the angular velocity sensor at a predetermined angular position, leading to complex and large device configurations.
Innovation Solution
The method involves acquiring multiple types of angular velocity measurements from different attitudes and calculating correction values based on latitude, attitude angles, and actual latitude values to correct errors without requiring a predetermined angular or rotational position, thus simplifying the device configuration and reducing size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a torque motor is provided to rotationally move the angular velocity sensor at a predetermined angular velocity or to a rotational position in order to correct errors inherent to the angular velocity sensor, then the errors can be removed, but the device configuration becomes complex and large
Solution Approach 1:
The patent extracts the error correction function from the mechanical rotation system. Instead of using a torque motor to physically rotate the angular velocity sensor, the invention calculates correction values based on latitude and attitude angle data, separating the correction function from the measurement function and eliminating the need for complex rotational mechanisms.
Solution Approach 2:
The patent replaces the mechanical rotation system (torque motor, rotation block, gimbal) with a computational system. Correction values are calculated using latitude information and attitude angles obtained from acceleration sensors, substituting mechanical movement with mathematical calculations to achieve error correction.
2Measurement precision
If a torque motor is provided to rotationally move the angular velocity sensor at a predetermined angular velocity or to a rotational position in order to correct errors inherent to the angular velocity sensor, then the errors can be removed, but the device size increases
Solution Approach 1:
The patent extracts the correction function from the mechanical system, eliminating the torque motor, rotation block, and gimbal structures. The correction is achieved through computational methods using latitude and attitude angle data, significantly reducing the device volume.
Solution Approach 2:
The patent uses acceleration sensors to obtain attitude angle information, creating a computational model that replicates the function of physical rotation. By copying the necessary measurement data (attitude angles) and processing it mathematically, the invention achieves correction without the physical rotation mechanisms.
3Measurement precision
If a configuration for controlling the rotation angle of the torque motor is provided to correct errors, then the errors can be removed, but the device configuration becomes complex
Solution Approach 1:
The patent extracts the control function from the mechanical system. Instead of controlling torque motor rotation angles, the invention directly calculates correction values using latitude and attitude angle data, eliminating the need for rotation control mechanisms and simplifying the overall system.
Solution Approach 2:
The angular velocity sensor system performs self-correction by using its own measurement data (attitude angles from acceleration sensors) combined with latitude information to calculate correction values. The system corrects its own errors without requiring external control mechanisms or additional actuators.
Data Source
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AI summary
An angular velocity sensor correction method includes acquiring a plurality of types of measurement values of angular velocities about each of three axes from outputs of an angular velocity sensor configured to measure the angular velocities about the three axes while being changed to a plurality of attitudes. Furthermore, the angular velocity sensor correction method includes calculating correction values for correcting the outputs of the angular velocities about the three axes of the angular velocity sensor based on a latitude in each of the plurality of attitudes calculated using the measurement values of the angular velocities acquired in each of the plurality of attitudes and an attitude angle indicating an inclination of the angular velocity sensor in each of the plurality of attitudes, and an actual latitude value indicating an actual latitude.