Gyro-Sensor Calibration Using Angular Velocity Data
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Solution Overview
Problem
Low-cost gyro-sensors used in mobile robots face accuracy degradation due to varying environmental conditions and require real-time calibration to maintain performance, especially in temperature changes, which is not effectively addressed by existing methods.
Innovation Solution
A method and apparatus for calibrating gyro-sensors by measuring angular velocity and output values, obtaining and storing characteristic equations, and using these data to calibrate the sensors, allowing for real-time adaptation to temperature changes and improved location estimation in mobile robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If low-cost gyro-sensors are used in mobile robots, then manufacturing cost is reduced, but accuracy degrades due to environmental factors and aging
Solution Approach 1:
The patent performs calibration of the gyro-sensor before it is deployed in the mobile robot. By measuring angular velocity and gyro output values during a controlled rotation process and storing the characteristic equation data, the system prepares calibration information in advance that can be applied during actual operation to compensate for accuracy degradation.
Solution Approach 2:
The patent implements real-time calibration by continuously monitoring the relationship between angular velocity and gyro output values. The system uses feedback from measured data to adjust and update the characteristic equation, allowing the gyro-sensor to compensate for drift and aging effects dynamically during operation.
2Measurement precision
If gyro-sensors are calibrated at manufacturing time, then initial accuracy is ensured, but accuracy degrades over time due to aging and environmental changes
Solution Approach 1:
The patent enables continuous calibration throughout the sensor's operational life rather than a one-time calibration at manufacturing. The system continuously collects data on angular velocity and gyro output values, updates the characteristic equation, and maintains calibration accuracy over extended periods despite aging and environmental variations.
Solution Approach 2:
The patent performs calibration measurements and stores characteristic equation data before the sensor is put into service. This preliminary calibration action establishes an initial reference state that can be maintained and updated throughout the sensor's operational lifespan.
3Measurement precision
If real-time calibration is performed using conventional methods, then offset error is compensated, but characteristic curve cannot be calibrated
Solution Approach 1:
The patent implements a comprehensive feedback mechanism that monitors both offset errors and characteristic curve variations. By continuously measuring angular velocity and comparing it with gyro output values across different operating conditions, the system updates both the offset compensation parameters and the characteristic equation coefficients simultaneously.
Solution Approach 2:
The patent changes the calibration approach by measuring the gyro-sensor's response across a range of angular velocities rather than just at zero offset. This allows the system to capture and calibrate the characteristic curve (relationship between output and angular velocity) in addition to compensating for offset errors, by storing multiple data points that define the curve's parameters.
4Adaptability or versatility
If calibration data is collected at multiple temperatures, then temperature variation accuracy is improved, but calibration complexity increases
Solution Approach 1:
The patent performs calibration measurements at multiple temperature conditions before the sensor is deployed. By pre-collecting data across a range of temperatures and storing the corresponding characteristic equation parameters, the system prepares temperature-adapted calibration information in advance that can be selected or interpolated during actual operation.
Solution Approach 2:
The patent creates multiple copies of calibration data corresponding to different temperature conditions. Each temperature condition produces a separate characteristic equation that can be stored and selected based on the current operating temperature, allowing the system to adapt to temperature variations without requiring complex real-time calculations.
Data Source
AI summary
A method and apparatus for calibrating a gyro-sensor, by which a gyro-sensor can be calibrated using data which is obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor. The method includes measuring an angular velocity of a moving body and an average output value of the gyro-sensor when the moving body, equipped with the gyro-sensor, rotates, obtaining data about a characteristic equation of the gyro sensor using the measured angular velocity and the average output value and storing the data, and calibrating the gyro-sensor using the stored data about the characteristic equation.