SENSOR CALIBRATION METHOD OF MOVING BODY

• Main Authors: KIDA YUSUKE, TODA TAKAHIRO, NAKAYAMA TAKAHIRO
• Format: Patent
• Language: English; Japanese
• Published: 19.05.2016
• Subjects: CYCLE AXLE SUSPENSIONS; CYCLE FRAMES; CYCLE SIDE-CARS, FORECARS, OR THE LIKE; CYCLE STEERING DEVICES; CYCLES; GYROSCOPIC INSTRUMENTS; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION,OR SHOCK; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES; SURVEYING; TESTING; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a technology which can correct an output value of a gyro sensor without using such a large-scale test device as that for ultra-pivot turning a moving body itself.SOLUTION: An inverted two-wheel vehicle 1 comprises an inverted two-wheel vehicle main body 2, an acceleration sensor 10 and a gyro sensor 11 which are mounted on the same base board 12, and an ECU 4. The ECU 4 calculates an assembling angle error of the acceleration sensor 10 with respect to the inverted two-wheel vehicle main body 2 on the basis of an output value of the acceleration sensor 10 when the inverted two-wheel vehicle 1 is stationed in a state that a reference yaw axis of the inverted two-wheel vehicle 1 is made to coincide with a vertical direction (S140), and corrects an output value of the gyro sensor 11 with the assembling angle error of the acceleration sensor 10 with respect to the inverted two-wheel vehicle main body 2 as an assembling angle error of the gyro sensor 11 with respect to the inverted two-wheel vehicle main body 2 (S150).SELECTED DRAWING: Figure 7 【課題】移動体そのものを超信地旋回させるような大掛かりな試験装置を使わずに、ジャイロセンサの出力値を補正可能な技術を提供する。【解決手段】倒立二輪車１は、倒立二輪車本体２と、同一基板１２上に実装された加速度センサ１０及びジャイロセンサ１１と、ECU４と、を備える。ECU４は、倒立二輪車１の基準ヨー軸を鉛直方向に一致させた状態で倒立二輪車１を静止させたときの加速度センサ１０の出力値に基いて、倒立二輪車本体２に対する加速度センサ１０の組み付け角度誤差を演算し(S140)、倒立二輪車本体２に対する加速度センサ１０の組み付け角度誤差を、倒立二輪車本体２に対するジャイロセンサ１１の組み付け角度誤差として、ジャイロセンサ１１の出力値を補正する(S150)。【選択図】図７