Roll Angle Estimation with Sensor Offset Compensation
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Solution Overview
Problem
Conventional roll angle estimation devices for vehicles lack accuracy, leading to potential misalignment of headlights and decreased safety due to inadequate compensation for sensor offset errors.
Innovation Solution
A roll angle estimation device that utilizes first and second angular velocity detectors, first, second, and third acceleration detectors, and a velocity detector, along with arithmetic circuitry that estimates roll and pitch angles, angular velocities, and offset errors using detection values and previous estimation data, employing a Kalman filter and saturation limiting circuit to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional estimation devices use basic sensor data without offset error compensation, then the device complexity is low, but the measurement precision of roll angle estimation deteriorates
Solution Approach 1:
The system estimates sensor offset errors using detected values and previous estimation results, then feeds back these estimated offset errors to correct current measurements. This feedback mechanism continuously improves roll angle estimation accuracy by compensating for sensor drift and biases without requiring additional hardware.
Solution Approach 2:
The system performs preliminary estimation of offset errors using detection data and previous results before final roll angle calculation. By pre-compensating for sensor offsets in the estimation process, the system achieves higher measurement precision without adding complex correction hardware.
2Measurement precision
If the system estimates offset errors using only current detection values, then the calculation speed is high, but the measurement precision deteriorates due to lack of historical data utilization
Solution Approach 1:
The system continuously estimates offset errors by combining current detection values with previous estimation results. This continuous utilization of historical data maintains steady improvement in measurement precision without causing significant delays, as the estimation process flows continuously rather than requiring periodic recalibration.
Solution Approach 2:
The system performs preliminary estimation of offset errors using both current and historical data before final roll angle calculation. By pre-compensating for sensor offsets using accumulated historical information, the system achieves higher measurement precision while maintaining efficient calculation throughput.
3Measurement precision
If conventional devices do not estimate pitch angle and pitch angular velocity, then the device complexity is low, but the measurement precision of roll angle estimation deteriorates
Solution Approach 1:
The estimation system simultaneously calculates multiple parameters including roll angle, pitch angle, pitch angular velocity, and offset errors using a unified estimation framework. This multi-functional approach improves roll angle precision by accounting for coupled motions while maintaining a single integrated system rather than separate dedicated sensors for each parameter.
Data Source
AI summary
Arithmetic circuitry of a roll angle estimation device estimates a roll angle, a pitch angle a pitch angular velocity of the moving body and at least one offset error of angular velocity detectors and acceleration detectors. In a current estimation operation, the arithmetic circuitry estimates the roll angle, the pitch angle, and the pitch angular velocity and the at least one offset error, based on detection values of the angular velocity detectors, detection values of the acceleration detectors, a detection value by the velocity detector, estimated values of the roll angle, pitch angle, and pitch angular velocity from a previous estimation operation, and an estimated value of the at least offset error from the previous estimation operation.