DE10260862A1 - Correction of angle or distance measurements of a sensor system by derivation of one or more correction constants for angle, amplitude and or phase errors of sinusoidal and cosinusoidal measurement signals - Google Patents
Correction of angle or distance measurements of a sensor system by derivation of one or more correction constants for angle, amplitude and or phase errors of sinusoidal and cosinusoidal measurement signals Download PDFInfo
- Publication number
- DE10260862A1 DE10260862A1 DE2002160862 DE10260862A DE10260862A1 DE 10260862 A1 DE10260862 A1 DE 10260862A1 DE 2002160862 DE2002160862 DE 2002160862 DE 10260862 A DE10260862 A DE 10260862A DE 10260862 A1 DE10260862 A1 DE 10260862A1
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- Prior art keywords
- measurement signals
- angle
- constants
- correction
- amplitude
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2448—Correction of gain, threshold, offset or phase control
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Stand der TechnikState of technology
Die Erfindung betrifft ein Verfahren und eine Schaltungsanordnung zur Korrektur eines winkel- und/oder abstandsmessenden Sensorsystems nach dem Oberbegriff des Hauptanspruchs.The invention relates to a method and a circuit arrangement for correcting an angle and / or distance measuring sensor system according to the preamble of the main claim.
Es sind an sich bereits Sensorsysteme für einen zu messenden Winkel bei einem rotierenden Messobjekt oder einem zu messenden Abstand bei einem sich linear bewegenden Messobjekt bekannt, bei denen die zu gewinnende Information durch ein Paar von sinus- und kosinusförmigen Messsignalen repräsentiert wird. Die Information liegt dabei in der Regel in der Amplitude und/oder in der Phase dieser Messsignale. Hierbei treten in den Messsignalen oft Winkel- oder Phasenfehler auf, die durch Fertigungstoleranzen oder sonstige schaltungstechnischen Besonderheiten in der Sensoranordnung bedingt sind.They are sensor systems in themselves for one angle to be measured with a rotating measuring object or a distance to be measured for a linearly moving measurement object known in which the information to be obtained by a couple of sine and cosine Measurement signals is represented. The information is usually in the amplitude and / or in the phase of these measurement signals. Here occur in the measurement signals often angular or phase errors due to manufacturing tolerances or other circuit-specific features in the sensor arrangement are conditional.
Beispielsweise ist aus der
Vorteile der ErfindungAdvantages of invention
Mit dem eingangs erwähnten gattungsgemäßen Verfahren zur Korrektur eines winkel- und/oder abstandsmessenden Sensorsystems, bei dem sinus- und kosinusförmige Messsignale ausgewertet werden, die durch Abtasten eines bewegten Messobjekts gewonnen worden sind und dabei Winkel- oder Phasenfehler der Messsignale korrigiert werden, wird in vorteilhafter Weise dadurch weitergebildet, dass aus einer Mehrzahl von Messsignalen mindestens eine Konstante zur Abschätzung des Winkel- oder des Phasenfehlers und/oder der Amplitude der Messsignale hergeleitet wird.With the generic method mentioned at the beginning for correcting an angle and / or distance measuring sensor system, with the sine and cosine Measurement signals are evaluated by scanning a moving Measurement object and thereby angle or phase errors the measurement signals are corrected in an advantageous manner further developed that from a plurality of measurement signals at least a constant for estimation the angle or phase error and / or the amplitude of the measurement signals is derived.
Herkömmliche berührungslos winkelmessende Sensoren
sind beispielsweise auf einer sogen. AMR- oder GMR-Basis (AMR =
Anisotrope Magneto Resistance oder GMR = Giant Magneto Resistance
aufgebaut; Abstandsmessende Systeme sind vorzugsweise auf einer
Lidar- oder Radarbasis konstruiert. Bei den AMR- und GMR-Sensoren
wird der Winkel eines Magnetfelds relativ zur Sensoroberfläche gemessen.
Dadurch lassen sich auf einfache Weise berührungslose Winkelsensoren realisieren.
Wenn der Magnetfeldwinkel mit Φ bezeichnet
wird, so erhält
man am Sensorausgang im Idealfall folgende Signale:
beim AMR-Sensor
S1=A*cos (2*Φ) und S2=A*sin
(2*Φ) bzw.
beim
GMR Sensor S1=A*cos (Φ) und S2=A*sin
(Φ), wobei
A die Signalamplitude darstellt.Conventional non-contact angle measuring sensors are for example on a so-called. AMR or GMR basis (AMR = Anisotrope Magneto Resistance or GMR = Giant Magneto Resistance constructed; distance measuring systems are preferably constructed on a lidar or radar basis. With the AMR and GMR sensors the angle of a magnetic field is measured relative to the sensor surface. This makes it easy to implement non-contact angle sensors If the magnetic field angle is denoted by Φ, ideally the following signals are obtained at the sensor output:
for the AMR sensor S 1 = A * cos (2 * Φ) and S 2 = A * sin (2 * Φ) or
for the GMR sensor S 1 = A * cos (Φ) and S 2 = A * sin (Φ), where A represents the signal amplitude.
Bei Radar- oder Lidarsensoren (Laser-Radar) wird dabei ein Signal mit einer Frequenz fo ausgesendet und an einem Ziel im Abstand d reflektiert. Am Empfänger lässt sich dann das um die Zeit dt=2*d/c (c Lichtgeschwindigkeit) verzögerte Sendesignal beobachten. Dies wirkt sich in einer Phasenverschiebung Φ = -2π*fo*2*d/c aus. Wird das Sendesignal mit dem Empfangssignal multipliziert und werden dann hochfrequente Anteile entfernt, so erhält man ein erstes Signal S1 (S1=A*cos(Φ)). Wird das Sendesignal um 90° durch einen Phasenschieber gedreht und wiederum das Empfangssignal damit multipliziert und die hochfrequenten Anteile vom Ergebnis entfernt, so erhält man ein zweites Signal S2 (S2=A*sin(Φ)) analog zu den Signalen beim zuvor beschriebenen GMR-Sensor.With radar or lidar sensors (laser radar), a signal with a frequency f o is emitted and reflected at a target at a distance d. The transmission signal delayed by the time dt = 2 * d / c (c speed of light) can then be observed at the receiver. This results in a phase shift Φ = -2π * f o * 2 * d / c. If the transmit signal is multiplied by the receive signal and then high-frequency components are removed, a first signal S 1 is obtained (S 1 = A * cos (Φ)). If the transmission signal is rotated through 90 ° by a phase shifter and the received signal is multiplied again and the high-frequency components are removed from the result, a second signal S 2 (S 2 = A * sin (Φ)) is obtained analogous to the signals in the previously described GMR sensor.
Hierbei sind jedoch häufig sind die beiden Signale S1 und S2 nicht genau um 90° zueinander phasenverschoben, nämlich S2=A*sin(Φ+δΦ). Der Winkelfehler ist somit δΦ und kann bei den GMR- und AMR-Sensoren durch Fertigungs-Toleranzen verursacht sein. Bei Radar- und Lidarsystemen ist häufig der erwähnte 90°-Phasenschieber toleranzbehaftet. Wird der Phasenfehler nicht korrigiert, so sind Messungen des Winkels bzw. der Entfernung ungenau. Gemäß der Erfindung wird nun in vorteilhafter Weise aus einer Anzahl N von Messsignalen S1,i und S2,i, mit i = 1...N, eines der zuvor erwähnten Messsysteme (z.B. AMR, GMR, Radar, Lidar) der Phasenfehler δΦ und optional die Amplitude A mit den in den Ansprüchen 2 bis 5 einzelnen angegebenen Rechenschritten näherungsweise ermittelt. Ist der Phasenfehler δΦ nunmehr bekannt, so lassen sich seine Auswirkungen auf die Messgröße rechnerisch beseitigen.Here, however, the two signals S 1 and S 2 are often not exactly 90 ° out of phase with one another, namely S 2 = A * sin (Φ + δΦ). The angular error is thus δΦ and can be caused by manufacturing tolerances in the GMR and AMR sensors. In the case of radar and lidar systems, the aforementioned 90 ° phase shifter is often subject to tolerance. If the phase error is not corrected, measurements of the angle or the distance are inaccurate. According to the invention, the phase error is now advantageously converted from a number N of measurement signals S 1, i and S 2, i , with i = 1 ... N, into one of the measurement systems mentioned above (for example AMR, GMR, radar, lidar) δΦ and optionally the amplitude A are approximately determined using the calculation steps specified in claims 2 to 5. If the phase error δΦ is now known, its effects on the measured variable can be eliminated by calculation.
Der Hintergrund des erfindungsgemäßen Verfahrens
ist, dass für
ideale Messsignale S1,i=A*cos(Φi) und S2,i=A*sin(Φi+δΦ), mit den
im Anspruch 2 angegebenen Defi nitionen für die Größen Mi und
Ti, die folgende Beziehung für einen
Fehler e gilt:
Sind die Messwerte S1,i und
S2,i von einem Rauschen und sonstigen Störungen überlagert,
so gilt das rechte Gleichheitszeichen hier nur näherungsweise. Die Konstanten
r und k hängen
folgendermaßen
von A und δΦ ab:
Bildet man dann die Summe E der Fehlerquadrate ei und berechnet das Minimum von E bezüglich der Konstanten r und k, so ergeben sich die in den zuvor erwähnten Patentansprüchen angegebenen Lösungen für die Konstanten r und k.If one then forms the sum E of the error squares e i and calculating the minimum of E with respect to the constants r and k, the solutions for the constants r and k given in the aforementioned patent claims result.
Eine erfindungsgemäße Schaltungsanordnung zur Durchführung eines zuvor beschriebenen Verfahrens weist in vorteilhafter zum Beispiel am Ausgang des Sensorsystems an denen die analogen Messsignale anliegen, jeweils Analog/Digital-Wandler zur Erzeugung digitaler Messsignale auf. Weiterhin ist eine Korrektureinrichtung zur Korrektur der digitalen Messsignale und ein Berechnungsbaustein zur Berechnung der Konstanten r und k aus den Messsignalen vorhanden, wobei die erste Konstante r auf einen Eingang der Korrektureinrichtung zur Berechnung des korrigierten Messsignals geführt ist.A circuit arrangement according to the invention to carry out of a method described above advantageously assigns to Example at the output of the sensor system to which the analog measurement signals are applied each analog / digital converter for generating digital measurement signals on. Furthermore, a correction device for correcting the digital Measurement signals and a calculation block for calculating the constants r and k from the measurement signals are present, the first constant r to an input of the correction device for calculating the corrected measurement signal is.
Weiterhin kann an einem weiteren Ausgang des Berechnungsbausteins die Konstante k zur Berechnung der Amplitude der Messsignale anliegen.Furthermore, another Output of the calculation block, the constant k for the calculation the amplitude of the measurement signals.
Zeichnungdrawing
Ein Ausführungsbeispiel einer Schaltungsanordnung zur Durchführung des erfindungsgemäßen Verfahrens wird anhand der Zeichnung erläutert. Es zeigen:An embodiment of a circuit arrangement to carry out of the method according to the invention is explained using the drawing. Show it:
Beschreibung des Ausführungsbeispielsdescription of the embodiment
In
In
Die Messsignale S1 und
S2 werden nun anhand der in der
Die Konstanten r und k werden gemäß des Ausführungsbeispiels
so ermittelt, dass zunächst
die Quadratsumme Mi der Messsignale
Aus diesen Größen Mi und
Ti werden nun Summenwerte Sm, St, Smt und
Stq sowie eine Determinante D wie folgt ermittelt:
Aus diesen Größen werden dann im Berechnungsbaustein
In der Korrektureinrichtung
Die Amplituden A der Messsignale S1 und S2 können dann noch nach der Beziehung The amplitudes A of the measurement signals S 1 and S 2 can then still according to the relationship
In
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE2002160862 DE10260862A1 (en) | 2002-12-23 | 2002-12-23 | Correction of angle or distance measurements of a sensor system by derivation of one or more correction constants for angle, amplitude and or phase errors of sinusoidal and cosinusoidal measurement signals |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2002160862 DE10260862A1 (en) | 2002-12-23 | 2002-12-23 | Correction of angle or distance measurements of a sensor system by derivation of one or more correction constants for angle, amplitude and or phase errors of sinusoidal and cosinusoidal measurement signals |
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Publication Number | Publication Date |
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DE10260862A1 true DE10260862A1 (en) | 2004-07-15 |
Family
ID=32519360
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DE2002160862 Withdrawn DE10260862A1 (en) | 2002-12-23 | 2002-12-23 | Correction of angle or distance measurements of a sensor system by derivation of one or more correction constants for angle, amplitude and or phase errors of sinusoidal and cosinusoidal measurement signals |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1632753A2 (en) | 2004-09-06 | 2006-03-08 | Lenord, Bauer & Co. GmbH | Method of electronic calibration of mechanical tolerances during manufacturing of position sensors |
DE102005024879A1 (en) * | 2005-05-31 | 2006-12-07 | Infineon Technologies Ag | Residual-error method for determining residual error compensation parameters for a magneto-resistive angle sensor causes the sensor to deliver test/measurement signals |
EP2110643A1 (en) * | 2008-04-15 | 2009-10-21 | Continental Automotive GmbH | System and method for determining an angle offset of a rotation angle sensor and system and method for providing a corrected rotation angle information |
DE102015205772B3 (en) * | 2015-03-31 | 2016-04-21 | Schaeffler Technologies AG & Co. KG | Method for generating a speed signal of an electric motor |
DE102015222202B3 (en) * | 2015-11-11 | 2016-11-24 | Schaeffler Technologies AG & Co. KG | Method for determining a corrected rotational speed signal and electric motor arrangement |
US9846057B2 (en) | 2015-07-14 | 2017-12-19 | TDK—Micronas GmbH | Method and apparatus for computing an angle of rotation |
DE102017202217A1 (en) | 2017-02-13 | 2018-08-16 | Carl Zeiss Industrielle Messtechnik Gmbh | Method and device for correcting an output signal of a measuring device |
DE102017202218A1 (en) | 2017-02-13 | 2018-08-16 | Carl Zeiss Industrielle Messtechnik Gmbh | Method and device for correcting an output signal of a measuring device |
DE102010045556B4 (en) | 2009-09-22 | 2021-08-26 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | System and method for calibrating an absolute position rotary sensor |
FR3126499A1 (en) * | 2021-09-02 | 2023-03-03 | Continental Automotive Gmbh | Method for determining the position of a rotating element of a vehicle from a position sensor |
Citations (2)
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DE4102655A1 (en) * | 1991-01-30 | 1992-08-06 | Vdo Schindling | Operating inductive distance sensor |
DE10034733A1 (en) * | 1999-08-02 | 2001-02-15 | Siemens Ag | Procedure and device for determination of a position signal for a rotating measuring body that generates periodic sinusoidal signals that are sampled by two incremental encoders and has improved signal correction method |
-
2002
- 2002-12-23 DE DE2002160862 patent/DE10260862A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4102655A1 (en) * | 1991-01-30 | 1992-08-06 | Vdo Schindling | Operating inductive distance sensor |
DE10034733A1 (en) * | 1999-08-02 | 2001-02-15 | Siemens Ag | Procedure and device for determination of a position signal for a rotating measuring body that generates periodic sinusoidal signals that are sampled by two incremental encoders and has improved signal correction method |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004043448A1 (en) * | 2004-09-06 | 2006-03-23 | Lenord, Bauer & Co. Gmbh | Method for electronic calibration of mechanical manufacturing tolerances of position sensors |
EP1632753A2 (en) | 2004-09-06 | 2006-03-08 | Lenord, Bauer & Co. GmbH | Method of electronic calibration of mechanical tolerances during manufacturing of position sensors |
DE102005024879B4 (en) | 2005-05-31 | 2018-12-06 | Infineon Technologies Ag | A method for determining residual error compensation parameters for a magnetoresistive angle sensor and method for reducing a residual angle error in a magnetoresistive angle sensor |
DE102005024879A1 (en) * | 2005-05-31 | 2006-12-07 | Infineon Technologies Ag | Residual-error method for determining residual error compensation parameters for a magneto-resistive angle sensor causes the sensor to deliver test/measurement signals |
US7288931B2 (en) | 2005-05-31 | 2007-10-30 | Infineon Technologies Ag | Method for determining residual error compensation parameters for a magnetoresistive angle sensor and method for reducing a residual angle error in a magnetoresistive angle sensor |
EP2110643A1 (en) * | 2008-04-15 | 2009-10-21 | Continental Automotive GmbH | System and method for determining an angle offset of a rotation angle sensor and system and method for providing a corrected rotation angle information |
DE102010045556B4 (en) | 2009-09-22 | 2021-08-26 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | System and method for calibrating an absolute position rotary sensor |
US10352957B2 (en) | 2015-03-31 | 2019-07-16 | Schaeffler Technologies AG & Co. KG | Method for generating a speed signal of an electric motor |
DE102015205772B3 (en) * | 2015-03-31 | 2016-04-21 | Schaeffler Technologies AG & Co. KG | Method for generating a speed signal of an electric motor |
WO2016155713A1 (en) | 2015-03-31 | 2016-10-06 | Schaeffler Technologies AG & Co. KG | Method for producing a speed signal of an electric motor |
US9846057B2 (en) | 2015-07-14 | 2017-12-19 | TDK—Micronas GmbH | Method and apparatus for computing an angle of rotation |
WO2017080547A1 (en) | 2015-11-11 | 2017-05-18 | Schaeffler Technologies AG & Co. KG | Method for determining a corrected rotational speed signal, and electric motor arrangement |
US10209268B2 (en) | 2015-11-11 | 2019-02-19 | Schaeffler Technologies AG & Co. KG | Method for determining a corrected rotational speed signal, and electric motor arrangement |
DE102015222202B3 (en) * | 2015-11-11 | 2016-11-24 | Schaeffler Technologies AG & Co. KG | Method for determining a corrected rotational speed signal and electric motor arrangement |
DE102017202217A1 (en) | 2017-02-13 | 2018-08-16 | Carl Zeiss Industrielle Messtechnik Gmbh | Method and device for correcting an output signal of a measuring device |
DE102017202218A1 (en) | 2017-02-13 | 2018-08-16 | Carl Zeiss Industrielle Messtechnik Gmbh | Method and device for correcting an output signal of a measuring device |
DE102017202217B4 (en) | 2017-02-13 | 2019-07-11 | Carl Zeiss Industrielle Messtechnik Gmbh | Method and device for correcting an output signal of a measuring device |
FR3126499A1 (en) * | 2021-09-02 | 2023-03-03 | Continental Automotive Gmbh | Method for determining the position of a rotating element of a vehicle from a position sensor |
US11879755B2 (en) | 2021-09-02 | 2024-01-23 | Continental Automotive Gmbh | Method for determining the position of a rotary element of a vehicle based on a position sensor |
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