Pitch Angular Velocity Correction for Slope Interference
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Solution Overview
Problem
Conventional methods for correcting offset in pitch rate gyros, such as those described in Japanese Patent Application Laid-open No. 2011-191243 A, face challenges in accuracy when a vehicle travels on a slope due to superimposed vertical movement components, affecting the precision of pitch rate gyro offset correction.
Innovation Solution
A pitch angular velocity correction value calculation device and method that includes a pitch angle calculation unit, a correction value calculation unit, and a tilt angle calculation unit, which modify the correction value based on detected pitch angles, tilt angles, and past calculations to accurately correct pitch angular velocity, thereby improving offset correction accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional offset correction method using pitch rate gyro data during zero yaw rate period is applied, then offset correction can be performed, but measurement precision deteriorates when vehicle travels on slope due to superimposed vertical movement components
Solution Approach 1:
The invention introduces an inclination detection unit as an intermediary device that measures the inclination angle between the vehicle body and horizontal plane. This intermediary measurement allows the system to identify and exclude periods when the vehicle is on a slope, preventing contaminated pitch rate data from being used in offset correction calculations. The inclination angle serves as a mediator variable that bridges the gap between raw sensor data and accurate offset correction.
Solution Approach 2:
The invention implements a feedback mechanism where the inclination detection unit continuously monitors vehicle inclination and provides real-time information to the offset correction determination unit. This feedback loop enables the system to dynamically adjust which pitch rate data is used for correction based on current inclination conditions, ensuring that only valid data from level ground periods is incorporated into the offset correction process.
2Measurement precision
If pitch angle is calculated using pitch angular velocity and correction value, then attitude angle can be determined, but accuracy deteriorates when correction value is inaccurate due to slope interference
Solution Approach 1:
The invention performs preliminary filtering of pitch rate data by using the inclination detection unit to identify valid measurement periods before the offset correction calculation is performed. By pre-screening the data to exclude periods when the vehicle is on a slope, the system ensures that only high-quality data from level ground conditions is used in the correction algorithm, thereby maintaining high accuracy in both the correction value and subsequent pitch angle calculations.
Data Source
AI summary
A pitch angular velocity correction value calculation device includes a pitch angle calculation unit and a correction value calculation unit. The pitch angle calculation unit calculates a pitch angle among attitude angles of a vehicle on the basis of a pitch angular velocity that is an angular velocity of the vehicle detected by a triaxial gyro sensor, and a correction value of the pitch angular velocity.