Sensor calibration method based on vehicle

• Main Authors: MIN, JEONG DONG, SEO, MYUNG HWAN
• Format: Patent
• Language: English; Korean
• Published: 10.01.2019
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVEREDIN A SINGLE OTHER SUBCLASS; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TARIFF METERING APPARATUS; TESTING

The present invention relates to a vehicle speed-based gyro sensor calibration method in which a GNSS-based dead reckoning navigation system has a rotating radius varied depending on a vehicle speed in a rotating section when a scale factor of a gyro sensor is calibrated by an extended Kalman filter by using GNSS information received in the rotating section. Accordingly, weights are extracted in consideration of the vehicle speed so as to prevent accumulation of scale factor correction errors, and the gyro sensor can be accurately calibrated in real-time when applied to the extended Kalman filter. 본 발명은 차량 속도 기반 자이로 센서 캘리브레이션 방법에 관한 것으로서, GNSS 기반 추측항법 시스템은 회전구간에서 수신된 GNSS 정보를 이용하여 확장 칼만 필터로 자이로 센서의 스케일 펙터를 캘리브레이션을 하는 경우 회전구간에서 차속에 따라 회전반경이 달라지게 되어, 그로 인해 스케일 펙터 보정 오차가 누적되는 것을 방지하기 위하여 차속을 고려하여 가중치를 추출하고, 확장 칼만 필터에 적용함으로써 실시간으로 정확하게 자이로 센서를 보정할 수 있는 차량 속도 기반 자이로 센서 캘리브레이션 방법에 관한 것이다.