Yaw Angular Velocity Sensor Bias Estimation via GNSS Azimuth
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Solution Overview
Problem
Existing methods for estimating the bias of yaw angular velocity sensors in vehicles are prone to significant deviations due to errors in GNSS azimuth measurements, which can lead to inaccurate bias correction.
Innovation Solution
A sensor bias estimation device and method that integrate yaw angular velocity data from a yaw angular velocity sensor with GNSS azimuth data, incorporating multiple determination units to ensure the accuracy of the estimated bias value by checking against prescribed conditions, including the accuracy of the GNSS azimuth, the difference with stationary state bias, and the range of the estimated bias value, to decide on a reliable bias value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the bias of the gyro sensor is estimated based on the GNSS azimuth at a certain moment, then the bias estimation can be obtained quickly, but the estimated bias can significantly deviate from the true value due to measurement noise and accuracy errors in GNSS signal
Solution Approach 1:
The system performs preliminary actions by continuously monitoring GNSS azimuth accuracy indicators before finalizing the bias estimation. It prepares multiple candidate bias values and evaluates them against predetermined accuracy thresholds, ensuring that only bias estimates meeting the required precision standards are selected, thus preventing significant deviations from the true value while maintaining efficient estimation.
2Measurement precision
If multiple determination conditions are added to ensure bias estimation accuracy, then the deviation from true value is suppressed, but the device complexity increases
Solution Approach 1:
The system segments the bias estimation process into distinct functional modules: a bias estimation unit that calculates candidate bias values, a first determination unit that checks GNSS azimuth accuracy, a second determination unit that verifies bias value ranges, and a bias decision unit that selects the final bias. This segmentation allows each module to perform a specific function with simple logic, reducing overall system complexity while maintaining high estimation accuracy through multiple determination conditions.
Data Source
AI summary
A sensor bias estimation device for estimating a bias of a yaw angular velocity sensor of a vehicle, includes: a bias estimation unit that acquires a yaw angular velocity integrated value by integrating a yaw angular velocity acquired from a yaw angular velocity sensor, acquires a GNSS azimuth from a GNSS unit which calculates, as the GNSS azimuth, an azimuth of the vehicle based on a GNSS signal, and acquires an estimated bias value based on an azimuth difference which is a difference between the yaw angular velocity integrated value and the GNSS azimuth; a first determination unit that determines whether a first condition that an accuracy of the GNSS azimuth acquired from the GNSS unit is within a prescribed range is met; and a bias decision unit that decides the estimated bias value as the bias of the yaw angular velocity sensor when the first condition is met.