JP2016031283A - Angular velocity sensor device and method for correcting angular velocity sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an angular velocity sensor device and an angular velocity sensor correction method capable of accurately compensating an offset when using an angular velocity sensor. SOLUTION: An angular velocity sensor 10 that is provided in a moving body and detects an angular velocity when the moving body changes its direction in the horizontal direction, and an acceleration that is attached to the angular velocity sensor 10 and detects an inclination angle based on the direction of gravity. The sensor 20, the drive unit 30 that rotates both the angular velocity sensor 10 and the acceleration sensor 20 in the gravity direction or the opposite direction by a predetermined angle from the horizontal direction, and the angular velocity sensor 10 and the acceleration sensor 20 are rotated by a predetermined angle. Sometimes, the angular velocity detected by the angular velocity sensor 10 is integrated to calculate the first inclination angle, and the second inclination angle detected by the acceleration sensor 20 when rotated by a predetermined angle, the first inclination angle, And a processing unit 40 that compensates for an angle when the moving body changes its direction in the horizontal direction. [Selection] Figure 1

Description

  The present invention relates to an angular velocity sensor device and an angular velocity sensor correction method used for an antenna device or the like.

  The angular velocity sensor is called a gyro sensor or a vibration gyro, and is used in various fields such as attitude control of a satellite communication antenna of an antenna device and vehicle position detection. For example, in the case of an antenna device mounted on a ship, an angular velocity sensor is used for tracking a satellite together with an inclinometer. That is, the antenna orientation is determined based on satellite position information and ship position information obtained from GPS (Global Positioning System) (see, for example, Patent Documents 1 and 2). At this time, the antenna device fixes the elevation angle of the antenna and rotates the antenna 360 degrees in the azimuth direction to search for a satellite.

  However, marine ships may shake due to the effects of waves. Also, since the ship is navigating, the tip changes. For this reason, when the antenna is fixed at an elevation angle or when the antenna is rotated in the azimuth direction, it is necessary to compensate for the shaking of the ship.

  Ship shake includes pitch, roll, yaw, and turn. The pitch roll is the vertical and horizontal swing of the ship, and the yaw turn is the horizontal swing that changes the tip of the ship. For the roll pitch, an inclinometer that detects the inclination of the ship based on the direction of gravity and an angular velocity sensor that detects the inclination of the ship by inertia are used. For the yaw turn, an angular velocity sensor that detects the inclination of the ship by inertia is used. Here, the gravity direction is a direction in which an object is pulled by gravity.

JP 2004-53384 A JP 11-326510 A

  By the way, the above-described method for compensating for the shaking of the ship has the following problems. Since an inclinometer and an angular velocity sensor are used for pitch and roll during the shaking of a ship, the offset of the angular velocity sensor can be corrected by the inclinometer, and a highly accurate compensation can be performed. On the other hand, since the yaw turn is a horizontal swing, only the angular velocity sensor is used for the yaw turn. Since the offset of the angular velocity sensor cannot be corrected, accurate compensation cannot be performed. This problem is unique to the angular velocity sensor, and similarly occurs when the angular velocity sensor is used for vehicle position detection or the like.

  An object of the present invention is to provide an angular velocity sensor device and an angular velocity sensor correction method capable of solving the above-described problems and accurately compensating for an offset when using an angular velocity sensor.

  In order to solve the above-mentioned problems, the invention of claim 1 is provided in a moving body, the first sensor for detecting an angular velocity when the moving body changes its direction in the horizontal direction, and the first sensor. And a second sensor for detecting an inclination angle based on the direction of gravity, and rotating both the first sensor and the second sensor in the direction of gravity or in the opposite direction by a predetermined angle from the horizontal direction. When the driving means, the first sensor, and the second sensor rotate by a predetermined angle, the angular velocity detected by the first sensor is integrated to calculate the first tilt angle, The angle when the moving body changes its direction in the horizontal direction based on the difference between the second tilt angle detected by the second sensor when rotated by a predetermined angle and the first tilt angle. An angular velocity characterized by comprising a processing unit for compensating A sensor device.

  According to the first aspect of the present invention, the first sensor is provided on the moving body, and further the second sensor is provided alongside the first sensor. The first sensor detects an angular velocity when the moving body changes its direction in the horizontal direction, and the second sensor detects an inclination angle based on the direction of gravity. The driving means rotates both the first sensor and the second sensor in the gravitational direction or in the opposite direction by a predetermined angle from the horizontal direction. Then, when the first sensor and the second sensor are rotated by a predetermined angle, the processing unit calculates the first tilt angle by integrating the angular velocities detected by the first sensor, and only the predetermined angle. Based on the difference between the second tilt angle detected by the second sensor when rotated and the first tilt angle, the angle when the moving body changes its direction in the horizontal direction is compensated.

  According to a second aspect of the present invention, in the angular velocity sensor device according to the first aspect, the processing unit is configured to offset the first sensor based on a difference between the first tilt angle and the second tilt angle. When the first sensor detects the horizontal angular velocity of the moving body, the offset is removed from the detected angular velocity, and the angle when the moving body changes its direction in the horizontal direction is calculated. It is characterized by calculating.

  According to a third aspect of the present invention, in the angular velocity sensor device according to the first aspect, the processing unit sets a difference between the first tilt angle and the second tilt angle as an error of the first sensor, When the first sensor detects the angular velocity in the horizontal direction of the moving body, the angle calculated from the detected angular velocity is compensated by the error, and the moving body changes its direction in the horizontal direction. It is characterized by an angle.

  According to a fourth aspect of the present invention, in the angular velocity sensor device according to any one of the first to third aspects, the driving unit rotates the substrate by a predetermined angle.

  According to a fifth aspect of the present invention, the first sensor provided in the moving body detects an angular velocity when the moving body changes its direction in the horizontal direction, and the second sensor is provided alongside the first sensor. Detects the tilt angle with respect to the direction of gravity, and rotates both the first sensor and the second sensor by a driving means in the direction of gravity or the opposite direction by a predetermined angle from the horizontal direction, When the first sensor and the second sensor are rotated by a predetermined angle, the angular velocity detected by the first sensor is integrated by a processing unit to calculate a first inclination angle, and the first sensor is rotated by the predetermined angle. When the moving body changes its direction in the horizontal direction based on the difference between the second tilt angle detected by the second sensor and the first tilt angle, the processing unit Compensation by angular velocity sensor It is.

  According to the first and fifth aspects of the present invention, the moving body is oriented in the horizontal direction using the difference between the tilt angle calculated from the angular velocity of the first sensor and the tilt angle detected by the second sensor. Since the angle at the time of change is compensated, an error generated in the first sensor can be compensated.

  According to the second aspect of the present invention, since the offset of the first sensor is calculated using the second sensor, an accurate offset generated in the first sensor can be obtained. As a result, according to the present invention, it is possible to cancel the offset from the detection signal of the first sensor, and to accurately obtain the angles generated by the direction change of the moving body.

  According to the third aspect of the invention, since the error of the first sensor is calculated using the second sensor, the error generated in the first sensor can be accurately obtained. As a result, according to the present invention, the error can be canceled from the detection signal of the first sensor, and the angle change caused by the change of direction of the moving body can be obtained with high accuracy.

  According to the invention of claim 4, by rotating the substrate, the first sensor and the second sensor can be rotated by a predetermined angle with a simple configuration.

It is a block diagram which shows the angular velocity sensor apparatus by Embodiment 1 of this invention. It is a figure which shows the mode of incorporation of an angular velocity sensor etc., Fig.2 (a) is a front view, FIG.2 (b) is a left view. FIG. 3A is a front view, FIG. 3B is a left side view, and FIG. 3C is a left side view when the angular velocity sensor is omitted. It is a flowchart which shows an example of an offset calculation process. It is a flowchart which shows an example of an error calculation process.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
The angular velocity sensor device according to this embodiment is provided in an antenna device for satellite communication mounted on a ship (moving body), and is used to compensate a yaw turn that is a shake of the ship. An example of this angular velocity sensor device is shown in FIG. The angular velocity sensor device of FIG. 1 includes an angular velocity sensor 10, an acceleration sensor 20, a drive unit 30, and a processing unit 40. The angular velocity sensor 10, the acceleration sensor 20, and the processing unit 40 are attached to the substrate 50 as shown in FIG.

  The substrate 50 is a rectangular plate-like body. As shown in FIGS. 2A and 2B, the angular velocity sensor 10 is attached to the surface of the substrate 50, and the acceleration sensor 20 is provided along with the angular velocity sensor 10. Further, a processing unit 40 is attached to the surface of the substrate 50. 2B is a side view as seen from the direction of arrow a in FIG. 2A, that is, a left side view. A drive unit 30 is attached to one end of the substrate 50.

  The drive unit 30 includes a motor 31 and a shaft 32. The shaft 32 has a rod shape attached to one end of the substrate 50. In this embodiment, the shaft 32 is disposed so as to be perpendicular to the traveling direction 101 of the ship. The motor 31 rotates the shaft 32 under the control of the processing unit 40. That is, as indicated by an arrow 102 in FIG. 2B, the motor 31 rotates the substrate 50 from the horizontal direction to the vertical direction by 90 degrees according to the control signal from the processing unit 40 and raises the substrate 50. Conversely, the substrate 50 is returned from the vertical direction to the horizontal direction by a control signal from the processing unit 40. Usually, the surface of the substrate 50 is horizontal.

  In this embodiment, the motor 31 and the shaft 32 are used as the drive unit 30, but the present invention is not limited to this configuration. For example, there are various types of the drive unit 30 such as those using electromagnetic force and those using a spring.

  The angular velocity sensor 10 detects an angular velocity generated when the ship changes its direction. Therefore, for example, as shown in FIGS. 3A and 3B, the angular velocity sensor 10 is generated around the Z axis among the X axis, the Y axis, and the Z axis with respect to the traveling direction 101 of the ship. Detect angular velocity. In this embodiment, the traveling direction 101 of the ship is the Y axis of the angular velocity sensor 10. And there is an X axis at right angles to the traveling direction of the ship. When the angular velocity sensor 10 detects the angular velocity, the angular velocity sensor 10 outputs a detection signal representing the angular velocity to the processing unit 40. For such an angular velocity sensor 10, it is sufficient that there are at least two measurement axes. Further, two angular velocity sensors having a single measurement axis may be used in combination.

  The detection signal from the angular velocity sensor 10 includes an offset, and this offset value is usually large. That is, when exploring the satellite, the angular velocity sensor 10 built in the antenna device is used, but the offset of the angular velocity sensor 10 for detecting the angle in the azimuth direction is large, and the antenna of the antenna device is accurately oriented in the satellite direction. Can't turn to In this embodiment, this large value offset is corrected.

  Examples of the angular velocity sensor 10 include a gyro sensor and a Coriolis force sensor.

  Since the acceleration sensor 20 is attached to the substrate 50, the acceleration sensor 20 is interlocked with the angular velocity sensor 10 and detects the inclination with respect to the horizontal direction. That is, when the substrate 50 is rotated 90 degrees with respect to the horizontal direction and tilted by the drive unit 30, the acceleration sensor 20 detects the tilt angle of the substrate 50 with respect to the direction of gravity. Then, the acceleration sensor 20 outputs a detection signal representing the detected tilt angle to the processing unit 40.

  For example, as shown in FIGS. 3A and 3C, since the Z axis of the acceleration sensor 20 faces the direction of gravity, the acceleration sensor 20 detects 1G (G: gravitational acceleration) in the Z axis direction, and the substrate When 50 rotates 90 degrees, the acceleration sensor 20 detects 0 G in the Z-axis direction. Further, for example, since the Y axis of the acceleration sensor 20 faces the horizontal direction, the acceleration sensor 20 detects 0 G in the Y axis direction, and when the substrate 50 rotates 90 degrees, the acceleration sensor 20 detects 1 G in the Y axis direction. To do. That is, the acceleration sensor 20 generates a detection signal corresponding to the inclination of the substrate 50. In this embodiment, the acceleration sensor 20 outputs the acceleration change detected in the Y-axis direction to the processing unit 40 as a detection signal.

  Such an acceleration sensor 20 may have at least one measurement axis. Some angular velocity sensors 10 have an acceleration sensor built-in in advance. Thus, instead of the acceleration sensor 20 on the substrate 50, an acceleration sensor built in the angular velocity sensor 10 can be used.

  The processing unit 40 includes a processing circuit 41 (FIG. 1) that performs various processes, and a storage circuit 42 (FIG. 1) that stores data. Then, the processing unit 40 performs processing for calculating the offset of the angular velocity sensor 10 based on the detection signal from the angular velocity sensor 10 and the detection signal from the acceleration sensor 20. Hereinafter, the processing performed by the processing circuit 41 of the processing unit 40 will be described together with the operation of the angular velocity sensor device according to this embodiment, that is, the angular velocity sensor correction method.

  The processing circuit 41 performs an offset calculation process when the angular velocity sensor device is in an initial state due to power-on or the like. An example of the offset calculation process is shown in FIG. When starting the offset calculation process, the processing circuit 41 sends a control signal to the drive unit 30 (step S1). As a result, the motor 31 of the drive unit 30 rotates the shaft 32 to rotate the substrate 50 whose surface is directed in the horizontal direction by 90 degrees, and directs the surface of the substrate 50 in the vertical direction. That is, the drive unit 30 raises the substrate 50. As a result, the angular velocity sensor 10 and the acceleration sensor 20 also rotate 90 degrees together with the substrate 50.

  After step S1, the processing circuit 41 starts measuring time (step S2). Thereafter, the processing circuit 41 receives the detection signal from the angular velocity sensor 10 (step S3), and stores the angular velocity represented by the detection signal in the storage circuit 42 (step S4). After step S4, it is determined whether the time measured in step S2 has passed a predetermined time (step S5). The predetermined time is a time for the substrate 50 to finish the 90-degree rotation by the drive unit 30.

  If the predetermined time has not elapsed in step S5, the processing circuit 41 returns the processing to step S3. Thereby, the processing circuit 41 receives the next detection signal from the angular velocity sensor 10 in step S3, and stores the angular velocity in step S4. Thus, if the predetermined time has not elapsed, the processing circuit 41 repeats Steps S3 and S4, and sequentially stores the angular velocities in the storage circuit 42.

  When determining that the predetermined time has elapsed in step S5, the processing circuit 41 integrates the angular velocities stored in the storage circuit 42 and calculates the tilt angle (step S6). At this time, the substrate 50 is rotated 90 degrees by the drive unit 30, that is, the substrate 50 is in a standing state, and the processing circuit 41 receives a detection signal from the acceleration sensor 20 (step S7). When step S7 ends, the processing circuit 41 calculates the difference between the tilt angle calculated in step S6 and the tilt angle represented by the detection signal received in step S7 (step S8).

  Thereafter, the processing circuit 41 calculates an offset of the angular velocity sensor 10 based on the difference calculated in step S8 and all the angular velocities stored in the storage circuit 42 (step S9), and the calculated offset is stored in the storage circuit. (Step S10). The difference between the two tilt angles calculated in step S8 reflects the offset included in each detection signal received from the angular velocity sensor 10. As a result, in step S9, the offset included in each detection signal can be calculated based on the difference calculated in step S8 and the total number of stored angular velocities.

  When step S10 ends, the processing circuit 41 sends a control signal to the drive unit 30 (step S11). As a result, the motor 31 of the drive unit 30 rotates the shaft 32 to rotate the substrate 50 whose surface is in the vertical direction by 90 degrees, so that the surface of the substrate 50 is in the horizontal direction. As a result, the angular velocity sensor 10 of the substrate 50 is in a state where it can measure the yaw turn which is the shaking of the ship. When step S11 ends, the processing circuit 41 ends the offset calculation process.

  When the offset calculation process is completed, when the processing circuit 41 receives the detection signal from the angular velocity sensor 10, the processing circuit 41 corrects the detection signal with the offset stored in the storage circuit 42. That is, the processing circuit 41 cancels the offset from the detection signal. Then, the processing circuit 41 calculates the angle at which the tip of the ship changes due to the yaw and turn of the ship based on each detection signal, and outputs the calculation result to the next stage device (not shown).

  As described above, according to this embodiment, since the offset of the angular velocity sensor 10 is calculated using the acceleration sensor 20 linked to the angular velocity sensor 10, the offset generated in the angular velocity sensor 10 can be accurately calculated. it can. And an offset can be canceled from the detection signal of the angular velocity sensor 10, and exact angular velocity can be obtained, respectively.

  As a result, the processing circuit 41 can accurately compensate for the yaw turn, which is the horizontal shaking of the ship, using the angular velocity sensor 10. That is, when the antenna of the antenna device is rotated in the azimuth direction, it is possible to accurately compensate for the shaking of the ship. Moreover, the satellite search range and time can be shortened by canceling the offset of the angular velocity sensor 10.

(Embodiment 2)
In the first embodiment, the processing circuit 41 calculates the offset included in the angular velocity sensor 10 based on the difference between the inclination angle calculated from the detection signal of the angular velocity sensor 10 and the inclination angle represented by the detection signal of the acceleration sensor 20. . In this embodiment, the processing circuit 41 calculates a difference between the tilt angle calculated from the detection signal of the angular velocity sensor 10 and the tilt angle represented by the detection signal of the acceleration sensor 20 as an error. That means

Error = integral value of angular velocity−gravity acceleration. Such an error calculation process is shown in FIG. Since steps S31 to S38 of this error calculation process are the same as steps S1 to S8 of FIG. 4 described above, their description is omitted.

  After calculating the difference between the two tilt angles in step S38, the processing circuit 41 stores the calculated difference in the storage circuit 42 as an error (step S39). When step S39 ends, the processing circuit 41 sends a control signal to the drive unit 30 (step S40). As a result, the motor 31 of the drive unit 30 rotates the shaft 32 to make the surface of the substrate 50 horizontal. When step S40 ends, the processing circuit 41 ends the error calculation process.

  Thereafter, the processing circuit 41 calculates an integral value of the angular velocity from the angular velocity sensor 10 to obtain an angle representing a yaw turn that is a horizontal shake of the ship. Thereafter, the processing circuit 41 subtracts the error stored in the storage circuit 42 from the angle representing the yaw turn. As a result, it is possible to obtain an accurate angle representing the yaw turn of the ship.

  The present invention is not limited to an antenna device, and can be used for various devices using an angular velocity sensor, such as a car navigation system, a machine tool, and a robot arm mounted on a vehicle.

10 Angular velocity sensor (first sensor)
20 Acceleration sensor (second sensor)
30 Drive unit (drive means)
31 Motor 32 Shaft 40 Processing Unit 41 Processing Circuit 42 Memory Circuit 50 Substrate

Claims (5)

A first sensor that is provided on a moving body and detects an angular velocity when the moving body changes its direction in the horizontal direction;
A second sensor that is attached to the first sensor and detects an inclination angle based on the direction of gravity;
Driving means for rotating both the first sensor and the second sensor in a gravitational direction or the opposite direction by a predetermined angle from a horizontal direction;
When the first sensor and the second sensor are rotated by a predetermined angle, the angular velocity detected by the first sensor is integrated to calculate a first tilt angle, and the first sensor and the second sensor are rotated by the predetermined angle. A processing unit that compensates for an angle when the moving body changes its direction in the horizontal direction based on a difference between the second tilt angle detected by the second sensor and the first tilt angle. When,
An angular velocity sensor device comprising: The processing unit calculates an offset of the first sensor based on a difference between the first tilt angle and the second tilt angle, and the first sensor uses the horizontal angular velocity of the moving body. When the is detected, the offset is removed from the detected angular velocity to calculate the angle when the moving body changes its direction in the horizontal direction,
The angular velocity sensor device according to claim 1. The processing unit sets the difference between the first tilt angle and the second tilt angle as an error of the first sensor, and the first sensor detects the horizontal angular velocity of the moving body. In addition, the angle calculated from the detected angular velocity is compensated by the error, and the compensated angle is set to an angle at which the moving body changes its direction in the horizontal direction.
The angular velocity sensor device according to claim 1. A substrate on which the first sensor and the second sensor are provided;
The driving means rotates the substrate by a predetermined angle;
The angular velocity sensor device according to any one of claims 1 to 3, wherein A first sensor provided on the moving body detects an angular velocity when the moving body changes direction in a horizontal direction;
A second sensor provided alongside the first sensor detects an inclination angle based on the direction of gravity;
Both the first sensor and the second sensor are rotated by a driving means by a predetermined angle from the horizontal direction in the gravity direction or in the opposite direction,
When the first sensor and the second sensor are rotated by a predetermined angle, the angular velocity detected by the first sensor is integrated by the processing unit to calculate the first tilt angle,
When the moving body changes its direction in the horizontal direction based on the difference between the second tilt angle detected by the second sensor when the second sensor is rotated by the predetermined angle and the first tilt angle. The angle is compensated by the processing unit;
An angular velocity sensor correction method characterized by the above.

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