Gyro Offset Calculation Using Multi-Period Moving Average
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for determining the rotation state using gyro sensor data are prone to errors when the device is in a moving state, leading to incorrect offset calculations due to vibrations, which can erroneously determine a rotation state as a nonrotation state.
Innovation Solution
An offset calculation device that determines the rotation state based on moving average values from multiple time periods, allowing for accurate offset value calculation even in moving states by distinguishing between rotation and nonrotation states through a combination of first and second rotation determination processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the rotation state is determined using a threshold value for angular velocity over a short period of time, then the response speed is improved, but the measurement precision deteriorates due to vibrations in moving state causing erroneous determination of nonrotation state
Solution Approach 1:
The patent divides the rotation determination into multiple stages: first determining whether the device is in a moving state using acceleration sensor data, and only then determining rotation state using gyro sensor data when not moving. This segmentation allows rapid response when stationary while avoiding false positives during movement, resolving the contradiction between speed and precision.
Solution Approach 2:
The patent performs preliminary detection of the moving state using the acceleration sensor before performing the rotation state determination with the gyro sensor. This preliminary action filters out periods when the device is moving, ensuring that rotation detection only occurs when the device is stationary, thereby maintaining high precision without sacrificing response speed.
2Measurement precision
If the offset value is calculated based on sensor data during nonrotation state, then the offset correction accuracy is improved, but the reliability deteriorates when vibrations cause erroneous determination of nonrotation state in moving condition
Solution Approach 1:
The patent segments the offset calculation process by first determining whether the device is in a moving state using acceleration data, and only calculating offset when the device is determined to be stationary. This ensures that offset calculations are performed only under reliable conditions, maintaining both accuracy and reliability.
Solution Approach 2:
The patent introduces the acceleration sensor data as an intermediary condition that must be satisfied before using gyro sensor data for offset calculation. This intermediary check ensures that the device is not moving during offset calculation, preventing vibrations from corrupting the offset value and thereby maintaining reliability.
3Adaptability or versatility
If the device operates in a moving state such as walking or driving, then the adaptability is improved, but the measurement precision deteriorates due to vibrations causing off-centered vibration and erroneous rotation state determination
Solution Approach 1:
The patent segments the operational modes into moving state and stationary state, using different determination methods for each. During moving state, the system recognizes this condition and avoids making rotation determinations, while during stationary state, it performs accurate rotation detection. This segmentation maintains adaptability across different usage scenarios while preserving measurement precision when conditions are appropriate.
Data Source
AI summary
An offset calculation device includes a determination unit configured to determine a rotation state of an object having an angular velocity sensed by a gyro sensor based on a moving average value of sensed angular velocity during a plurality of time periods differing from each other, the moving average value being calculated from chronological data of numerical values corresponding to the sensor data output from the gyro sensor. The offset calculation device further includes a calculation unit configured to calculate an offset value of the sensor data based on the sensor data corresponding to a time period in which the target object was deemed to be in a non-rotation state by the determination unit.