JP2008151681A - Gyro sensor module and angular velocity detection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gyro sensor module and an angular velocity detection method capable of improving detection accuracy, regardless of a change of a mounting angle of a detection shaft. <P>SOLUTION: The first angular velocity ω1 and the second angular velocity ω2 can be converted into the first angular velocity ω1" and the second angular velocity ω2" by subtracting a correction value B1 of the first gyro sensor 10 and a correction value B2 of the second gyro sensor 20 at the time when a vehicle is stopped, by the first and second offset adjusting circuits 36, 37 included in a sensor output correction circuit 32. Consequently, the first angular velocity ω1" and the second angular velocity ω2" which are more accurate when the vehicle is moving can be acquired. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a gyro sensor module and an angular velocity detection method for detecting an angular velocity for knowing an azimuth angle.

A gyro sensor is used in a navigation device attached to a vehicle or the like. The angular velocity at the time of turning of the vehicle detected by the gyro sensor is used to know the azimuth angle of the vehicle. Here, in order to detect the angular velocity with high accuracy, it is necessary to match the angular velocity detection axis of the gyro sensor with the detected axis. The axis to be detected for knowing the azimuth angle is an axis perpendicular to the horizontal surface. When the axis to be detected is coincident with the detection axis of the gyro sensor, the detection accuracy is improved.
Gyro sensor mounting angle that detects the vehicle inclination angle and mechanically adjusts the mounting angle of the gyro sensor with respect to the vehicle so that the mounting surface of the gyro sensor becomes a horizontal surface, so that the detection axis and the detected axis coincide. An adjustment device is known (see Patent Document 1).
Further, the inclination angle of the road surface and the attachment is obtained by an average sum of squares of the output of the first gyro sensor and the output of the second gyro sensor having a detection axis orthogonal to the detection axis of the first gyro sensor. There is also known a navigation system for obtaining an angular velocity about a vertical axis. Furthermore, a navigation system is known in which a correction coefficient is calculated based on an error output from a control circuit and a vehicle speed signal, and an angular velocity about an axis in the vertical direction is corrected (see Patent Document 2).
A multi-axis gyro sensor that makes a failure determination based on outputs of a first gyro sensor and a second gyro sensor is known (see Patent Document 3).

JP 2001-153658 A (pages 3 to 5, FIGS. 1 and 2) JP 2002-213959 A (page 8, paragraph number [0067] and paragraph number [0068]) JP-A-2004-286529 (abstract)

In order to mechanically adjust the mounting angle of the gyro sensor, an accompanying adjustment part is required, and in order to change the mounting angle greatly, a space for that is also required. Therefore, there is a restriction on the movable range of the mounting angle of the detection shaft. Further, in the case where the angle of the detection axis changes abruptly, such as when going up and down, mechanical adjustment takes time until the detection axis and the detected axis coincide. Therefore, it is difficult to improve detection accuracy. Therefore, as in Patent Document 2, the road surface and the sum of the squares of the output of the first gyro sensor and the output of the second gyro sensor having a detection axis orthogonal to the detection axis of the first gyro sensor An invention has been made in which the angular velocity around the vertical axis is obtained without obtaining the mounting inclination angle, and the accuracy is improved by using a so-called correction coefficient. However, the present inventor has found that a detection error is caused due to the fact that the offset processing of each of the first gyro sensor and the second gyro sensor is not performed.
An object of the present invention is to provide a gyro sensor module and an angular velocity detection method with improved detection accuracy regardless of a change in the detection shaft mounting angle.

  A gyro sensor module of the present invention is a gyro sensor module incorporated in a navigation system attached to a moving body, and detects and outputs a first angular velocity ω1 around a first detection axis, and the first gyro sensor module. A sign determination circuit for determining a sign of one angular velocity ω1, a second gyro sensor for detecting and outputting a second angular velocity ω2 around a second detection axis orthogonal to the first detection axis, and the first and second A sensor output correction circuit for correcting the output of the gyro sensor, and a mean square sum of the first angular velocity ω1 ′ and the second angular velocity ω2 ′ corrected by the sensor output correction circuit, and is obtained by the sign determination circuit. An arithmetic circuit that multiplies the mean square sum by the sign of the first angular velocity ω1 and outputs the angular velocity ω, and the sensor output correction circuit includes the gyro sensor module. A first offset that outputs a value ω1 ″ obtained by subtracting a correction value B1 corresponding to the output value of the first gyro sensor from the first angular velocity ω1 when the moving body in which a module is installed is stopped. A value ω2 ″ obtained by subtracting from the second angular velocity ω2 a correction value B2 corresponding to the output value of the second gyrosensor when the moving circuit in which the adjustment circuit and the gyrosensor module are installed is stopped. The angular velocity ω is in a plane formed by the first detection axis and the second detection axis, and from −90 degrees to +90 degrees from the first detection axis. The angular velocity around an axis in the range of

According to the present invention, the first angular velocity ω1 and the second angular velocity ω2 are obtained by the first and second offset adjustment circuits included in the sensor output correction circuit so that the first gyro sensor when the moving body is stopped. By subtracting the correction value B1 and the correction value B2 of the second gyro sensor, they are converted into the first angular velocity ω1 ″ and the second angular velocity ω2 ″. Therefore, the more accurate first angular velocity ω1 ″ and second angular velocity ω2 ″ when the moving body moves can be obtained.
In addition, the arithmetic circuit detects the sum of squares of the first angular velocity ω1 ′ and the second angular velocity ω2 ′ corrected by the sensor output correction circuit based on the converted first angular velocity ω1 ″ and second angular velocity ω2 ″. An angular velocity ω on the axis is calculated. Therefore, regardless of the position of the detected axis in the plane including the first detection axis and the second detection axis, the detection of the angular velocity ω in the detected axis is based on the first angular velocity ω1 and the second angular velocity ω2. Thus, a gyro sensor module can be obtained that can be accurately performed regardless of a change in the mounting angle of the detection shaft.
Note that the term “the first detection axis and the second detection axis are orthogonal to each other” includes not only exactly the orthogonality but also a range of deviation caused in the manufacturing process. For example, if the angle between the first detection axis and the second detection axis is between 85 ° and 95 °, it is included in the orthogonal direction.

In the present invention, the gyro sensor module outputs an error Δθ between the traveling azimuth obtained by integrating the angular velocity ω output from the arithmetic circuit and the traveling azimuth determined by the calculation of the navigation system. Vehicle position measurement circuit, an adjustment coefficient calculation circuit that calculates and outputs sensitivity adjustment signals A1 and A2 from the error Δθ, the angular velocity ω output from the calculation circuit, and the vehicle speed pulse output from the moving body The sensor output correction circuit outputs a value ω1 ′ obtained by multiplying the ω1 ″ of the first offset adjustment circuit by the sensitivity adjustment signal A1, and the second sensitivity adjustment circuit. It is preferable to include a second sensitivity adjustment circuit that outputs a value ω2 ′ obtained by multiplying the output ω2 ″ of the offset adjustment circuit by the sensitivity adjustment signal A2.
In the present invention, the sensitivity adjustment signals A1 and A2 are calculated from the errors Δθ and ω between the traveling direction obtained by integrating ω and the traveling direction determined by the calculation of the navigation system, and the vehicle speed pulse. The sensitivity adjustment signals A1 and A2 are multiplied by ω1 ″ and ω2 ″, respectively, to perform sensitivity adjustment, and ω1 ′ and ω2 ′ are output from the sensor output correction circuit. Therefore, a gyro sensor module capable of detecting the angular velocity ω with higher accuracy is obtained.

  The angular velocity detection method of the present invention is an angular velocity detection method using a gyro sensor module attached to a moving body and incorporated in a navigation system, and detects a first angular velocity ω1 around a first detection axis, and the first angular velocity is detected. The sign of ω1 is determined, the second angular velocity ω2 around the second detection axis orthogonal to the first detection axis is detected, and the moving body in which the gyro sensor module is installed is stopped when the moving body is stopped. A first offset adjustment for subtracting a correction value B1 corresponding to the output value of the first gyro sensor from the first angular velocity ω1, and the second when the moving body in which the gyro sensor module is installed is stopped. A sensor output correction including a second offset adjustment for subtracting a correction value B2 corresponding to the output value of the gyro sensor from the second angular velocity ω2, and A mean square sum of the first angular velocity ω1 ′ and the second angular velocity ω2 ′ corrected by the output correction is calculated, and the first detection axis is within the plane formed by the first detection axis and the second detection axis. The angular velocity ω around the axis in the range of −90 degrees to +90 degrees is calculated.

In the present invention, the first angular velocity ω1 and the second angular velocity ω2 are offset adjusted by subtracting the correction value B1 of the first gyro sensor and the correction value B2 of the second gyro sensor when the moving body is stopped. To do. Therefore, the more accurate first angular velocity ω1 ′ and second angular velocity ω2 ′ at the time of movement of the moving body can be obtained.
Further, the angular velocity ω at the detected axis is calculated by the mean square sum of the corrected first angular velocity ω1 ′ and second angular velocity ω2 ′. Therefore, regardless of the position of the detected axis in the plane including the first detection axis and the second detection axis, the detection of the angular velocity ω on the detected axis is performed using the first angular velocity ω1 detected by the first detection axis. And the second angular velocity ω <b> 2 detected by the second detection shaft can be accurately performed regardless of the change in the mounting angle of the detection shaft.

In the present invention, an error Δθ between the traveling direction obtained by integrating the angular velocity ω and the traveling direction of the moving body determined by the calculation of the navigation system is calculated, and the sensitivity is calculated from the error Δθ and the angular velocity ω. A first sensitivity adjustment that calculates adjustment signals A1 and A2 and calculates a value ω1 ′ obtained by multiplying the value ω1 ″ after the first offset adjustment by the sensitivity adjustment signal A1 in the sensor output correction; It is preferable to have a second sensitivity adjustment for calculating a value ω2 ′ obtained by multiplying the value ω2 ″ after the second offset adjustment by the sensitivity adjustment signal A2.
In the present invention, in addition to the offset adjustment, sensitivity adjustment signals A1 and A2 calculated from errors Δθ and ω between the traveling direction obtained by integrating ω and the traveling direction determined by the calculation of the navigation system, and the vehicle speed pulse. Are respectively multiplied by ω1 ″ and ω2 ″ to adjust the sensitivity. Therefore, the angular velocity ω can be detected with higher accuracy.

In the present invention, the sensor output correction is preferably performed by a sensor output correction circuit.
In the present invention, since the sensor output correction is performed by the sensor output correction circuit, the sensor output correction circuit can be incorporated in the gyro sensor module.

In the present invention, it is preferable that one or a plurality of processes of the sensor output correction, the calculation of the angular velocity ω, the calculation of the error Δθ, or the calculation of the sensitivity adjustment signals A1 and A2 is performed by software processing.
In the present invention, since one or a plurality of software processes are performed among the sensor output correction, the calculation of the angular velocity ω, the calculation of the error Δθ, or the calculation of the sensitivity adjustment signals A1 and A2, the gyro sensor module is incorporated. The processing can be performed by a CPU (Central Processing Unit) of the navigation system. Therefore, the gyro sensor module becomes small.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a schematic diagram illustrating a state in which a navigation system 101 in which a gyro sensor module 100 according to this embodiment is incorporated is attached to a vehicle 102 that is a moving body.
In FIG. 1, a navigation system 101 is attached in front of a vehicle 102. Here, the left side of the page is the traveling direction of the vehicle 102. The navigation system 101 is attached with an angle θ between the bottom surface 103 and the ground horizontal plane 70. The gyro sensor module 100 is incorporated in the bottom surface 103 of the navigation system 101.

FIG. 2 is a schematic perspective view showing the gyro sensor module 100 in the present embodiment.
In FIG. 2, the gyro sensor module 100 includes a first gyro sensor 10, a second gyro sensor 20, a circuit 30, a bowl-shaped package 40, and a lid 50.
The first gyro sensor 10, the second gyro sensor 20, and the circuit 30 are disposed on a rectangular bottom surface 41 of the package 40.

The first gyro sensor 10 is a tuning fork type gyro sensor. The first gyro sensor 10 is arranged such that the first detection axis 11 is parallel to the short side of the rectangular bottom surface 41.
The second gyro sensor 20 is a WT gyro sensor in which two T-type vibrators are combined. The second gyro sensor 20 is disposed such that the second detection shaft 21 is orthogonal to the bottom surface 41.
Therefore, the first detection axis 11 and the second detection axis 21 are orthogonal to each other (in the drawing, the direction of the second detection axis 21 on the extension line of the first detection axis 11 is indicated by a dotted line).
If the first detection axis 11 and the second detection axis 21 are orthogonal to each other, the positional relationship between the first gyro sensor 10 and the second gyro sensor 20 arranged on the bottom surface 41 is any arrangement. May be.

FIG. 3 is a diagram showing a positional relationship between the first detection axis 11, the second detection axis 21, the detected axis 60, and the ground level surface 70. As shown in FIG. In the figure, the horizontal surface 70 is orthogonal to the paper surface.
In FIG. 3, the detected axis 60 having the angular velocity ω is oriented in a direction perpendicular to the ground horizontal plane 70. The navigation system 101 in which the gyro sensor module 100 shown in FIG. 1 is incorporated is used for a vehicle or the like so that the plane including the first detection axis 11 and the second detection axis 21 is substantially perpendicular to the ground horizontal plane 70. It is attached.

In order to accurately detect the azimuth, the navigation system 101 prevents the detected axis 60 from deviating from the plane including the first detection axis 11 and the second detection axis 21 even when the mounting angle of the navigation system 101 is changed. Is used by attaching to the vehicle.
Specifically, in the case of a vehicle, the angle θ formed by the mounting angle of the navigation system 101 and the ground horizontal plane 70 is such that the plane including the first detection axis 11 and the second detection axis 21 is parallel to the traveling direction of the vehicle or the like. The navigation system 101 is attached so that In FIG. 3, the left-right direction with respect to the paper surface is the traveling direction of the vehicle or the like.
When the angular velocity ω is generated, the first detection shaft 11 detects the first angular velocity ω1 at the first detection shaft 11 and the second detection shaft 21 at the second detection shaft 21 so that the first detection shaft 11 is decomposed in a vector manner. The second angular velocity ω2 is detected.

FIG. 4 is a signal processing block diagram of the circuit 30.
In FIG. 4, the circuit 30 includes a sensor output correction circuit 32, an arithmetic circuit 33, a sign determination circuit 34, and a control circuit 35.

The first gyro sensor 10 detects the first angular velocity ω1, and the second gyro sensor 20 detects the second angular velocity ω2. The signal is sent to the sensor output correction circuit 32.
The sensor output correction circuit 32 includes a first offset adjustment circuit 36, a second offset adjustment circuit 37, a first sensitivity adjustment circuit 38, and a second sensitivity adjustment circuit 39.
The first offset adjustment circuit 36 obtains and outputs a value ω1 ″ obtained by subtracting the correction value B1 of the first gyro sensor 10 when the vehicle 102 is stopped from the detected first angular velocity ω1.
The second offset adjustment circuit 37 obtains and outputs a value ω2 ″ obtained by subtracting the correction value B2 of the second gyro sensor 20 when the vehicle 102 is stopped from the detected second angular velocity ω2.

The first sensitivity adjustment circuit 38 obtains and outputs a value ω1 ′ obtained by multiplying ω1 ″ by the sensitivity adjustment signal A1. The second sensitivity adjustment circuit 39 obtains a value ω2 ′ obtained by multiplying ω2 ″ by the sensitivity adjustment signal A2. Output asking.
The correction value B1, the correction value B2, the sensitivity adjustment signal A1, and the sensitivity adjustment signal A2 are output from the control circuit 35.
The signals ω1 ′ and ω2 ′ are sent to the arithmetic circuit 33. The signal ω1 ′ is also sent to the sign determination circuit 34.

The arithmetic circuit 33 includes a square sum averaging circuit 331 and a multiplication circuit 332. The square sum average circuit 331 calculates √ (ω1 ′ ² + ω2 ′ ² ), which is the mean sum of squares of ω1 ′ and ω2 ′, and outputs it as | ω |. On the other hand, the sign determination circuit 34 obtains a sign (ω1 ′) value from the signal ω1 ′, and determines the sign. The sign determination circuit 34 outputs cω if sign (ω1 ′) is positive, indicating that the input angular velocity ω is clockwise rotation in the direction of the arrow in FIG. The sign determination circuit 34 outputs ccω if sign (ω1 ′) is negative, indicating that the input angular velocity ω is counterclockwise rotation in the direction of the arrow in FIG.
In the arithmetic circuit 33, the multiplication circuit 332 multiplies the output of the sign determination circuit 34 by | ω | and outputs a signal of the value of the angular velocity ω taking into account positive and negative.

The control circuit 35 includes a vehicle position measurement circuit 351 and an adjustment coefficient calculation circuit 352.
The vehicle position measurement circuit 351 outputs an error Δθ between the traveling direction obtained by integrating ω and the traveling direction θ of the vehicle 102 determined by the calculation of the navigation system 101. Next, the adjustment coefficient calculation circuit 352 calculates sensitivity adjustment signals A1 and A2 from the error Δθ, the angular velocity ω output from the calculation circuit 33, and the vehicle speed pulse output from the vehicle 102, and the first sensitivity adjustment circuit. 38 and the second sensitivity adjustment circuit 39. The sensitivity adjustment signals A1 and A2 may always be A1 = A2. Moreover, it is computable based on the following formula.
A1 = A2 = 1 + Δθ / θ = 1 + (θω−θ) / θ
Here, θω is a value obtained by integrating ω output from the multiplication circuit 332 while the traveling direction of the vehicle 102 is displaced from 0 to θ, and is based on the following equation.
θω = ∫ωdt

Further, the adjustment coefficient calculation circuit 352 sets the correction value B1 of the first gyro sensor 10 when the vehicle 102 is stopped to the first offset adjustment circuit 36, and sets the correction value B2 of the second gyro sensor 20 to the second value. Output to the offset adjustment circuit 37.
The control circuit 35 determines whether the vehicle 102 is stopped based on the vehicle speed pulse. In addition, for example, the offset adjustment can be performed by using the activation of the navigation system 101 as a trigger or by using the ignition key as a trigger when the accessory key is switched from the off state to the accessory on or ignition on.

Note that the first and second sensitivity adjustment circuits 38 and 39 only need to be subsequent to the first and second offset adjustment circuits 36 and 37, respectively. It may be in the latter part.
Further, a change in the adjustment amount due to a temperature change may be stored, and the adjustment may be automatically performed by a temperature sensor.
Furthermore, an error from the map due to the inclination of the vehicle 102 in the pitch direction may be detected by a gravity direction sensor or an acceleration sensor, and sensitivity adjustment may be performed.

Hereinafter, effects of the present embodiment will be described.
(1) The first angular velocity ω1 and the second angular velocity ω2 are changed from the first angular velocity ω1 and the second angular velocity ω2 by the first offset adjusting circuit 36 and the second offset adjusting circuit 37 included in the sensor output correction circuit 32, respectively. The first angular velocity ω1 ″ and the second angular velocity ω2 ″ can be converted by subtracting the correction value B1 of the first gyro sensor 10 and the correction value B2 of the second gyro sensor 20 when the vehicle 102 is stopped. Therefore, the more accurate first angular velocity ω1 ″ and second angular velocity ω2 ″ when the vehicle 102 moves can be obtained.

  (2) The mean square sum of the first angular velocity ω1 ′ and the second angular velocity ω2 ′ corrected by the sensor output correction circuit 32 based on the converted first angular velocity ω1 ″ and second angular velocity ω2 ″ by the arithmetic circuit 33 Thus, the angular velocity ω at the detected shaft 60 can be calculated. Therefore, regardless of the position of the detected shaft 60 in the plane including the first detection axis 11 and the second detection axis 21, the angular velocity ω on the detected shaft 60 is detected by the first angular velocity ω1 and the second angular velocity. By combining based on ω2, it is possible to obtain the gyro sensor module 100 and the angular velocity detection method that can be performed accurately regardless of a change in the mounting angle of the detection shaft.

  (3) The sensitivity adjustment signals A1 and A2 can be calculated from errors Δθ and ω between the traveling direction obtained by integrating ω and the traveling direction determined by the calculation of the navigation system 101, and the vehicle speed pulse. The sensitivity adjustment signals A1 and A2 are multiplied by ω1 ″ and ω2 ″ to perform sensitivity adjustment, and the sensor output correction circuit 32 can output ω1 ′ and ω2 ′. Therefore, the gyro sensor module 100 and the angular velocity detection method that can detect the angular velocity ω with higher accuracy can be obtained.

  (4) Since the 1st gyro sensor 10 should just be provided with the 1st detection axis 11, and the 2nd gyro sensor 20 should be provided with the 2nd detection axis 21, compared with the case where one gyro sensor is provided with two detection axes. Thus, the structure of the gyro sensor can be simplified.

  (5) Since the arithmetic circuit 33 outputs the angular velocity ω, the circuit 30 can be incorporated in the gyro sensor module 100.

(Second Embodiment)
FIG. 5 is a schematic perspective view showing the gyro sensor module 200 in the present embodiment.
The gyro sensor module 200 includes a first gyro sensor 12, a second gyro sensor 22, a circuit 31, and a substrate 80 having a rectangular installation surface 81.

The first gyro sensor 12 is a tuning fork type gyro sensor mounted on a package having a rectangular mounting surface 13. The first detection axis 11 is parallel to the long side of the mounting surface 13. The first gyro sensor 12 is arranged such that the first detection axis 11 is parallel to the short side of the rectangular installation surface 81.
The second gyro sensor 22 is a WT type gyro sensor mounted on a package having a rectangular mounting surface 23. The second detection axis 21 is orthogonal to the mounting surface 23. The second gyro sensor 22 is arranged such that the long side of the mounting surface 23 and the long side of the installation surface 81 are parallel to each other.
Therefore, the first detection axis 11 and the second detection axis 21 are orthogonal to each other (in the drawing, the direction of the second detection axis 21 on the extension line of the first detection axis 11 is indicated by a dotted line).
If the first detection axis 11 and the second detection axis 21 are orthogonal, what is the positional relationship between the first gyro sensor 12 and the second gyro sensor 22 disposed on the bottom surface 81? May be. The circuit 30 can be the same circuit as that of the first embodiment.

The present embodiment has the following effects in addition to the effects of the first embodiment.
(6) The gyro sensor module 200 can be simply configured by combining the first and second gyro sensors 12 and 22 and the circuit 30 that are already mounted.

(Third embodiment)
FIG. 6 is a schematic perspective view showing the gyro sensor module 300 in the present embodiment.
In FIG. 6, the gyro sensor module 300 includes a first gyro sensor 10, a second gyro sensor 14, a circuit 30, a bowl-shaped package 40, and a lid 50.
The first gyro sensor 10, the second gyro sensor 14, and the circuit 30 are disposed on the rectangular bottom surface 41 of the package 40.

The first gyro sensor 10 is a tuning fork type gyro sensor. The first gyro sensor 10 is arranged such that the first detection axis 11 is parallel to the short side of the rectangular bottom surface 41.
The second gyro sensor 14 is a tuning fork type gyro sensor. The second gyro sensor 14 is arranged such that the second detection shaft 15 is parallel to the long side of the rectangular bottom surface 41.
Therefore, the first detection axis 11 and the second detection axis 15 are orthogonal to each other (in the figure, the extension line of the first detection axis 11 and the extension line of the second detection axis 15 are indicated by dotted lines).

The gyro sensor module 300 is attached so that the plane including the first detection shaft 11 and the second detection shaft 15 is orthogonal to the ground horizontal plane 70 as shown in FIG. Specifically, when attaching to the vehicle so that the bottom surface 41 and the ground level surface 70 are orthogonal to each other, the bottom surface is used in parallel with the traveling direction of the vehicle, as in the first embodiment.
This embodiment can obtain the same effects as those of the first embodiment.

(Fourth embodiment)
FIG. 7 is a schematic perspective view showing the gyro sensor module 400 in the present embodiment.
The gyro sensor module 400 includes a first gyro sensor 16, a second gyro sensor 17, a circuit 30, and a substrate 80 having a rectangular installation surface 81.

The first gyro sensor 16 and the second gyro sensor 17 are tuning fork type gyro sensors mounted on a package having a rectangular mounting surface 19.
The first detection shaft 11 of the first gyro sensor 16 and the second detection shaft 18 of the second gyro sensor 17 are packaged in parallel to the long side of the mounting surface 19.
The first gyro sensor 16 is arranged so that the long side of the mounting surface 19 and the short side of the installation surface 81 are parallel to each other.
The second gyro sensor 17 is arranged so that the long side of the mounting surface 19 and the long side of the installation surface 81 are parallel to each other.
Therefore, the first detection axis 11 and the second detection axis 18 are orthogonal to each other (in the figure, the extension line of the first detection axis 11 and the extension line of the second detection axis 18 are indicated by dotted lines).
The circuit 30 can be the same circuit as in the first embodiment.
In the present embodiment, the same effect as in the second embodiment can be obtained.

(Fifth embodiment)
FIG. 8 is a block diagram of signal processing using software processing.
In the present embodiment, the angular velocity is calculated using the gyro sensor modules 100, 200, 300, and 400 that do not include the circuit 30 in each of the above-described embodiments.
The analog signals of the first angular velocity ω1 and the second angular velocity ω2 detected by the first gyro sensor 10, 12, 16 and the second gyro sensor 20, 14, 17, 22 are obtained by an ADC (Analog Digital Converter). Converted to a digital signal. The ADC may be provided in the gyro sensor modules 100, 200, 300, 400, or an apparatus including the gyro sensor modules 100, 200, 300, 400 separately from the gyro sensor modules 100, 200, 300, 400, for example, navigation The system 101 may be provided.
By software processing by the CPU using the converted digital signal, it is possible to detect the angular velocity ω by performing sensor output correction, square sum average calculation, multiplication, sign determination, adjustment coefficient calculation, and vehicle position measurement.
The software processing may be performed by one or more of sensor output correction, square sum average calculation, multiplication, sign determination, adjustment coefficient calculation, and vehicle position determination. At this time, the ADC is provided before the processing for performing the software processing.

Hereinafter, effects of the present embodiment will be described.
(7) Since one or a plurality of software processes are performed among the sensor output correction, the calculation of the angular velocity ω, the calculation of the error Δθ, or the calculation of the sensitivity adjustment signals A1 and A2, the gyro sensor modules 100, 200, Processing in a CPU (Central Processing Unit) of the navigation system 101 in which 300 and 400 are incorporated becomes possible. Therefore, the gyro sensor module 100, 200, 300, 400 can be reduced in size.

The gyro sensor module and the angular velocity detection method of the present invention can also be used for a motorcycle as a vehicle. Below, the case where it uses for a two-wheeled vehicle is demonstrated based on FIG.
For use in a motorcycle, the gyro sensor module 100 is attached so that the plane including the first detection shaft 11 and the second detection shaft 21 is orthogonal to the traveling direction of the motorcycle.

  In addition, in a navigation device that can be removed from the vehicle and carried, the attachment angle changes every time it is attached to the vehicle again, so that the gyro sensor module and the angular velocity detection method of the present invention can be used effectively. In addition, there is a navigation device in which the mounting angle of the gyro sensor module changes in accordance with the vertical adjustment of the display screen. In such a navigation device, the angle of the display screen is adjusted as desired by the driver by installing the plane formed by the two axes of the gyro sensor module of the present invention so as to be parallel to the traveling direction. Even an accurate angular velocity can be obtained.

It should be noted that the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.
For example, one gyro sensor may include a first detection axis and a second detection axis, and the first angular velocity and the second angular velocity may be detected by one gyro sensor.

The schematic diagram which shows the state which attached the navigation system incorporating the gyro sensor module in 1st Embodiment of this invention to the vehicle which is a moving body. The schematic perspective view which shows a gyro sensor module. The figure which shows the positional relationship of a 1st detection axis, a 2nd detection axis, a to-be-detected axis | shaft, and a ground level surface. The signal processing block diagram of a circuit. The schematic perspective view which shows the gyro sensor module in 2nd Embodiment of this invention. The schematic perspective view which shows the gyro sensor module in 3rd Embodiment of this invention. The schematic perspective view which shows the gyro sensor module in 4th Embodiment of this invention. The signal processing block diagram using the software processing in 5th Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10, 12, 16 ... 1st gyro sensor, 14, 17, 20, 22, ... 2nd gyro sensor, 11 ... 1st detection axis | shaft, 15, 18, 21 ... 2nd detection axis | shaft, 30, 31 ... circuit 32 ... sensor output correction circuit, 33 ... arithmetic circuit, 36 ... first offset adjustment circuit, 37 ... second offset adjustment circuit, 38 ... first sensitivity adjustment circuit, 39 ... second sensitivity adjustment circuit, 100 , 200, 300, 400 ... gyro sensor module, 101 ... navigation system, 102 ... vehicle as a moving body, 351 ... vehicle position measuring circuit, 352 ... adjustment coefficient calculation circuit.

Claims (6)

A gyro sensor module incorporated in a navigation system attached to a moving body,
A first gyro sensor that detects and outputs a first angular velocity ω1 around the first detection axis;
A sign determination circuit for determining a sign of the first angular velocity ω1,
A second gyro sensor that detects and outputs a second angular velocity ω2 around a second detection axis orthogonal to the first detection axis;
A sensor output correction circuit for correcting the outputs of the first and second gyro sensors;
The mean square sum of the first angular velocity ω1 ′ and the second angular velocity ω2 ′ corrected by the sensor output correction circuit is calculated, and the sign of the first angular velocity ω1 obtained by the sign determination circuit is calculated as the mean square mean. And an arithmetic circuit that outputs an angular velocity ω,
The sensor output correction circuit subtracts a correction value B1 corresponding to the output value of the first gyro sensor when the moving body in which the gyro sensor module is installed is stopped from the first angular velocity ω1. A first offset adjustment circuit that outputs a value ω1 ″;
A value ω2 ″ obtained by subtracting the correction value B2 corresponding to the output value of the second gyro sensor when the moving body in which the gyro sensor module is installed is stopped from the second angular velocity ω2 is output. 2 offset adjustment circuits,
The angular velocity ω is an angular velocity around an axis in a range of −90 degrees to +90 degrees from the first detection axis in a plane formed by the first detection axis and the second detection axis. Gyro sensor module. The gyro sensor module according to claim 1,
The gyro sensor module is
A vehicle position measuring circuit that outputs an error Δθ between the traveling direction obtained by integrating the angular velocity ω output from the arithmetic circuit and the traveling direction of the moving body determined by the calculation of the navigation system;
An adjustment coefficient calculation circuit that calculates and outputs sensitivity adjustment signals A1 and A2 from the error Δθ, the angular velocity ω output from the calculation circuit, and the vehicle speed pulse output from the moving body;
The sensor output correction circuit outputs a value ω1 ′ obtained by multiplying the sensitivity adjustment signal A1 by the ω1 ″ of the first offset adjustment circuit;
And a second sensitivity adjustment circuit that outputs a value ω2 ′ obtained by multiplying the output ω2 ″ of the second offset adjustment circuit by the sensitivity adjustment signal A2. An angular velocity detection method using a gyro sensor module attached to a moving body and incorporated in a navigation system,
A first angular velocity ω1 around the first detection axis is detected;
Determining the sign of the first angular velocity ω1,
Detecting a second angular velocity ω2 around a second detection axis perpendicular to the first detection axis;
A first offset adjustment for subtracting a correction value B1 corresponding to an output value of the first gyro sensor when the moving body in which the gyro sensor module is installed is stopped from the first angular velocity ω1;
And a second offset adjustment for subtracting a correction value B2 corresponding to the output value of the second gyro sensor when the moving body in which the gyro sensor module is installed is stopped from the second angular velocity ω2. Perform sensor output correction,
A mean square sum of the first angular velocity ω1 ′ and the second angular velocity ω2 ′ corrected by the sensor output correction is calculated, and the first detection axis and the second detection axis are within the plane, and the first An angular velocity detection method characterized by calculating an angular velocity ω around an axis in a range of −90 degrees to +90 degrees from a detection axis. The angular velocity detection method according to claim 3,
Calculating an error Δθ between the traveling direction obtained by integrating the angular velocity ω and the traveling direction of the moving body determined by the calculation of the navigation system;
Sensitivity adjustment signals A1, A2 are calculated from the error Δθ and the angular velocity ω,
A first sensitivity adjustment for calculating a value ω1 ′ obtained by multiplying the sensitivity adjustment signal A1 by the value ω1 ″ after the first offset adjustment in the sensor output correction;
An angular velocity detection method comprising: a second sensitivity adjustment for calculating a value ω2 ′ obtained by multiplying the value ω2 ″ after the second offset adjustment by the sensitivity adjustment signal A2. The angular velocity detection method according to claim 3 and claim 4,
The sensor output correction is performed by a sensor output correction circuit. The angular velocity detection method according to claim 3 and claim 4,
An angular velocity detection method, wherein one or a plurality of processes are performed by software processing among the sensor output correction, the calculation of the angular velocity ω, the calculation of the error Δθ, or the calculation of the sensitivity adjustment signals A1 and A2. .

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