WO2021193603A1 - 方位角姿勢角計測装置 - Google Patents
方位角姿勢角計測装置 Download PDFInfo
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- WO2021193603A1 WO2021193603A1 PCT/JP2021/011917 JP2021011917W WO2021193603A1 WO 2021193603 A1 WO2021193603 A1 WO 2021193603A1 JP 2021011917 W JP2021011917 W JP 2021011917W WO 2021193603 A1 WO2021193603 A1 WO 2021193603A1
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- angular velocity
- control circuit
- side control
- velocity sensor
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- 238000005259 measurement Methods 0.000 title claims abstract 4
- 230000006870 function Effects 0.000 claims abstract description 216
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- 230000003321 amplification Effects 0.000 claims description 29
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 8
- 230000001965 increasing effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5677—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially two-dimensional vibrators, e.g. ring-shaped vibrators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
- G01C19/5726—Signal processing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
- G01C19/5733—Structural details or topology
- G01C19/5755—Structural details or topology the devices having a single sensing mass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Definitions
- the present invention relates to an azimuth / attitude angle measuring device, and more particularly to an azimuth / attitude angle measuring device provided with an angular velocity sensor.
- an electronic device equipped with an angular velocity sensor is known.
- Such electronic devices are disclosed in, for example, Japanese Patent Application Laid-Open No. 2009-115559.
- Japanese Patent Application Laid-Open No. 2009-115559 discloses an electronic device including an angular velocity sensor and a substrate on which the angular velocity sensor is mounted.
- This angular velocity sensor includes a ring-shaped element portion and a plurality of electrodes arranged in a circumferential shape on the radial outer side of the ring-shaped element portion.
- the plurality of electrodes include a primary electrode and a secondary electrode.
- An AC power supply that generates primary vibration is connected to the ring-shaped element portion by applying an AC voltage to one of the primary electrode and the secondary electrode to one of the primary electrode and the secondary electrode. Has been done.
- a detecting means for detecting the magnitude of the electric signal generated in the other of the primary electrode and the secondary electrode is connected to the other of the primary electrode and the secondary electrode.
- the angular velocity is calculated based on the change in the magnitude of the electric signal detected by the detecting means.
- This angular velocity sensor is configured to cancel the bias component of the angular velocity sensor by differentiating the outputs of the angular velocity sensor before and after switching.
- the bias component is an error from the zero point output from the angular velocity sensor even when the angular velocity is not applied, and is caused by the asymmetry of the gyro element included in the vibration type angular velocity sensor.
- the angular velocity sensor described in Japanese Patent Application Laid-Open No. 2009-115559 is configured to detect the angular velocity by exchanging the functions of the primary side and the secondary side.
- an angular velocity sensor whose functions of the primary side and the secondary side can be exchanged is used, such as the angular velocity sensor described in Japanese Patent Application Laid-Open No. 2009-115559, the angular velocity and the moving state in a stationary state are used. It is desired to accurately detect both the angular velocities in.
- the present invention has been made to solve the above problems, and one object of the present invention is to use an angular velocity sensor in which the functions of the primary side control circuit and the secondary side control circuit can be exchanged. In this case as well, it is an object of the present invention to provide an azimuth / attitude angle measuring device capable of accurately detecting both the angular velocity in a stationary state and the angular velocity in a moving state.
- the azimuth angle attitude angle measuring device includes a first angular velocity sensor and a control unit, and the first angular velocity sensor includes a vibrator and closed control. Detects the primary side control circuit that has a loop and the output of the closed control loop induces the primary vibration in the vibrator, and the secondary vibration generated in the vibrator due to the angular velocity applied to the vibrator.
- the primary side control circuit and the secondary side control circuit include a secondary side control circuit having a closed control loop, and the primary side control circuit and the secondary side control circuit have a function as a primary side control circuit and a function as a secondary side control circuit.
- the control unit is configured to be interchangeable, and the control unit exchanges the functions of the primary side control circuit and the secondary side control circuit to detect the angular velocity in the first state, and the primary side control circuit and the secondary side control circuit. It is configured to control switching the state of the first angular velocity sensor to either the second state of detecting the angular velocity without exchanging the functions of and.
- the control unit is in the first state of detecting the angular velocity by exchanging the functions of the primary side control circuit and the secondary side control circuit. And, without exchanging the functions of the primary side control circuit and the secondary side control circuit, it is configured to control to switch the state of the first angular velocity sensor to either the second state of detecting the angular velocity.
- the control unit can switch the state of the first angular velocity sensor to the first state.
- the functions of the primary side control circuit and the secondary side control circuit can be exchanged to detect the angular velocity in the stationary state, so that the bias component of the first angular velocity sensor can be canceled.
- Angular velocity can be detected.
- the state of the first angular velocity sensor can be switched to the second state by the control unit.
- the angular velocity in the motion state can be detected without exchanging the functions of the primary side control circuit and the secondary side control circuit. Therefore, for example, the primary side control circuit and the secondary side can be detected.
- the first angle speed sensor further includes a plurality of switch elements, and in the first state, the control unit is primary due to the switching operation of the plurality of switch elements.
- the functions of the side control circuit and the secondary side control circuit are exchanged, and in the second state, the functions of the primary side control circuit and the secondary side control circuit are not exchanged by not performing the switching operation of a plurality of switch elements. It is configured to provide control. With this configuration, the state of the first angular velocity sensor can be switched between the first state and the second state by simply controlling the switching operation of the plurality of switch elements, so that the state of the first angular velocity sensor can be changed. It can be easily controlled by the control unit.
- the control unit is configured to control switching at least one of the detection range and the frequency band of the first angular velocity sensor between the stationary state and the moving state.
- the required detection range and frequency band are different between the case of detecting the angular velocity in the stationary state and the case of detecting the angular velocity in the moving state.
- a small detection range and a small frequency band are required in order to reduce noise.
- a large detection range and a large frequency band are required.
- the angular velocity in the stationary state is detected in at least one of the detection range and the frequency band. Since it is possible to switch between a state and a state suitable for detecting the angular velocity in the moving state, both the angular velocity in the stationary state and the angular velocity in the moving state can be detected more accurately.
- the secondary side control circuit comprises a closed control loop, a drive circuit including a first amplifier circuit, and a second amplifier circuit that amplifies the output from the closed control loop.
- the control unit switches the detection range and frequency band of the first angular velocity sensor by switching the amplification factor of the first amplifier circuit of the first amplifier circuit and the second amplifier circuit between the stationary state and the moving state. It is configured to provide control.
- the S / N ratio of the output of the first angular velocity sensor is basically determined based on the signal and noise generated in the closed control loop and the input noise generated in the second amplifier circuit.
- the detection range and frequency band of the first angular velocity sensor are switched by switching the amplification factor of the second amplifier circuit, the signal and noise generated in the closed control loop and the input noise generated in the second amplifier circuit Since the ratio does not change, the S / N ratio of the output of the first angular velocity sensor does not change.
- the second amplifier circuit Unlike the case of switching the amplification factor of, the signal and noise generated in the closed control loop can be changed. Therefore, when the signal and noise generated in the closed control loop are increased, the input noise generated in the second amplifier circuit is increased. It can be relatively small with respect to the signal and noise generated in the closed control loop. As a result, the detection range and frequency band of the first angular velocity sensor can be switched while improving the S / N ratio of the output of the first angular velocity sensor.
- the control unit controls to switch the offset value for correcting the fluctuation of the sensor output due to the temperature change between the first state and the second state.
- the appropriate offset value differs between the case where the functions of the primary side control circuit and the secondary side control circuit are exchanged and the case where the functions of the primary side control circuit and the secondary side control circuit are not exchanged. Therefore, as described above, if the offset value for correcting the fluctuation of the sensor output due to the temperature change is switched between the first state and the second state, the offset value for correcting the fluctuation of the sensor output due to the temperature change is set to the primary side.
- a second angular velocity sensor including an oscillator, a primary side control circuit, and a secondary side control circuit is further provided, and the control unit is a second.
- the angular velocity is detected without exchanging the functions of the primary side control circuit and the secondary side control circuit of the first angular velocity sensor in a predetermined period, and the primary side control circuit and the secondary side control of the second angular velocity sensor are performed.
- a second angular velocity sensor including an oscillator, a primary side control circuit, and a secondary side control circuit is further provided, and the control unit is a first.
- the functions of the primary side control circuit and the secondary side control circuit of the first angular velocity sensor are exchanged for a predetermined period to detect the angular velocity, and the primary side control circuit and the secondary side control circuit of the second angular velocity sensor are detected.
- Control to detect the angular velocity without exchanging the functions of and, and to acquire the bias component of the second angular velocity sensor based on the detection result of the angular velocity by the first angular velocity sensor and the detection result of the angular velocity by the second angular velocity sensor. It is configured to do. With this configuration, the functions of the primary side control circuit and the secondary side control circuit are not exchanged, so that the effect of canceling the bias component due to the exchange of functions cannot be obtained, even in the second angular velocity sensor. The sensor can be used to acquire and cancel the bias component. As a result, the angular velocity in the moving state can be detected more accurately.
- a third angular velocity sensor including an oscillator, a primary side control circuit, and a secondary side control circuit, a first angular velocity sensor, and a third angular velocity are used.
- a power supply unit that supplies power to the sensor is further provided, and the control unit detects the angular velocity by one of the first angular velocity sensor and the third angular velocity sensor in both the first state and the second state.
- the other of the first angular velocity sensor and the third angular velocity sensor is configured so that the functions of the primary side control circuit and the secondary side control circuit are not exchanged.
- the current consumption of the angular velocity sensor fluctuates greatly from the steady state, so that the output of the angular velocity sensor connected to the common power supply unit is output. May be affected. Therefore, as described above, when the angular velocity is detected by one of the first angular velocity sensor and the third angular velocity sensor, the primary side control circuit is detected by the other of the first angular velocity sensor and the third angular velocity sensor. If the functions of the primary side control circuit and the secondary side control circuit are not exchanged, the angular velocity sensor connected to the common power supply unit due to the exchange of functions of the primary side control circuit and the secondary side control circuit. It is possible to prevent the output from being affected.
- the azimuth / attitude angle measuring device is preferably configured to function as a gyro compass in the first state and as an inertial navigation system in the second state.
- the azimuth angle attitude measuring device of the present invention can be easily functioned as a gyro compass and an inertial navigation device. Therefore, the azimuth angle attitude measuring device can be used for both the gyro compass and the inertial navigation device. It can be easily used for the above purposes.
- the azimuth angle attitude angle measuring device includes a first angular velocity sensor and a control unit, and the first angular velocity sensor has a vibrator and a closed control loop for closed control.
- a secondary control circuit having a primary control circuit in which the output of the loop induces a primary vibration in the vibrator and a closed control loop for detecting the secondary vibration generated in the vibrator due to the angular velocity applied to the vibrator.
- the first angular velocity sensor including the side control circuit, is configured so that the function of inducing the primary vibration and the function of detecting the secondary vibration can be exchanged, and the control unit induces the primary vibration.
- the first state of detecting the angular velocity by exchanging the function and the function of detecting the secondary vibration and the second state of detecting the angular velocity without exchanging the function of inducing the primary vibration and the function of detecting the secondary vibration.
- One of the above is configured to control the state of the first angular velocity sensor.
- the azimuth angle / attitude angle measuring device exchanges the function of inducing the primary vibration and the function of detecting the secondary vibration with the first state of detecting the angular velocity and 1 It is configured to control switching the state of the first angular velocity sensor to either the second state of detecting the angular velocity without switching the function of inducing the secondary vibration and the function of detecting the secondary vibration.
- the control unit can switch the state of the first angular velocity sensor to the first state.
- the function of inducing the primary vibration and the function of detecting the secondary vibration can be exchanged to detect the angular velocity in the stationary state, so that the bias component of the first angular velocity sensor is cancelled.
- the angular velocity can be detected.
- the state of the first angular velocity sensor can be switched to the second state by the control unit.
- the angular velocity in the moving state can be detected without switching the function of inducing the primary vibration and the function of detecting the secondary vibration.
- the function of inducing the primary vibration It is possible to prevent the inconvenience of not being able to detect the angular velocity at the timing of switching the function of detecting the secondary vibration. As a result, it is possible to prevent the detection of the angular velocity from becoming intermittent. Therefore, even when using the first angular velocity sensor in which the function of inducing the primary vibration and the function of detecting the secondary vibration can be exchanged, the motion is performed. The angular velocity in the state can be detected accurately (continuously). As a result, even when the first angular velocity sensor, which can switch the function of inducing the primary vibration and the function of detecting the secondary vibration, is used, both the angular velocity in the stationary state and the angular velocity in the moving state are accurately detected. It is possible to provide an azimuth / attitude angle measuring device capable of performing the above.
- the first angular velocity sensor further includes a plurality of switch elements, and in the first state, the control unit is primary due to the switching operation of the plurality of switch elements.
- the function of inducing primary vibration and the function of detecting secondary vibration by not switching multiple switch elements are provided. It is configured to perform control that does not replace. With this configuration, the state of the first angular velocity sensor can be switched between the first state and the second state by simply controlling the switching operation of the plurality of switch elements, so that the state of the first angular velocity sensor can be changed. It can be easily controlled by the control unit.
- the control unit is configured to control switching at least one of the detection range and the frequency band of the first angular velocity sensor between the stationary state and the moving state.
- the required detection range and frequency band are different between the case of detecting the angular velocity in the stationary state and the case of detecting the angular velocity in the moving state.
- a small detection range and a small frequency band are required in order to reduce noise.
- a large detection range and a large frequency band are required.
- the angular velocity in the stationary state is detected in at least one of the detection range and the frequency band. Since it is possible to switch between a state and a state suitable for detecting the angular velocity in the moving state, both the angular velocity in the stationary state and the angular velocity in the moving state can be detected more accurately.
- the secondary side control circuit comprises a closed control loop, a drive circuit including a first amplifier circuit, and a second amplifier circuit that amplifies the output from the closed control loop.
- the control unit switches the detection range and frequency band of the first angular velocity sensor by switching the amplification factor of the first amplifier circuit of the first amplifier circuit and the second amplifier circuit between the stationary state and the moving state. It is configured to provide control.
- the S / N ratio of the output of the first angular velocity sensor is basically determined based on the signal and noise generated in the closed control loop and the input noise generated in the second amplifier circuit.
- the detection range and frequency band of the first angular velocity sensor are switched by switching the amplification factor of the second amplifier circuit, the signal and noise generated in the closed control loop and the input noise generated in the second amplifier circuit Since the ratio does not change, the S / N ratio of the output of the first angular velocity sensor does not change.
- the second amplifier circuit Unlike the case of switching the amplification factor of, the signal and noise generated in the closed control loop can be changed. Therefore, when the signal and noise generated in the closed control loop are increased, the input noise generated in the second amplifier circuit is increased. It can be relatively small with respect to the signal and noise generated in the closed control loop. As a result, the detection range and frequency band of the first angular velocity sensor can be switched while improving the S / N ratio of the output of the first angular velocity sensor.
- the control unit controls to switch the offset value for correcting the fluctuation of the sensor output due to the temperature change between the first state and the second state. It is configured.
- an appropriate offset value is obtained when the function of inducing the primary vibration and the function of detecting the secondary vibration are exchanged, and when the function of inducing the primary vibration and the function of detecting the secondary vibration are not exchanged. different. Therefore, as described above, if the offset value for correcting the fluctuation of the sensor output due to the temperature change is switched between the first state and the second state, the offset value for correcting the fluctuation of the sensor output due to the temperature change is set to the primary side.
- a second angular velocity sensor including an oscillator, a primary side control circuit, and a secondary side control circuit is further provided, and the control unit is a second.
- the function for detecting the next vibration is exchanged to detect the angular velocity, and the bias component of the first angular velocity sensor is acquired based on the detection result of the angular velocity by the first angular velocity sensor and the detection result of the angular velocity by the second angular velocity sensor.
- a second angular velocity sensor including an oscillator, a primary side control circuit, and a secondary side control circuit is further provided, and the control unit is a first.
- the function of inducing the primary vibration of the first angular velocity sensor and the function of detecting the secondary vibration are exchanged in a predetermined period to detect the angular velocity, and the function of inducing the primary vibration of the second angular velocity sensor and the secondary.
- the angular velocity is detected without exchanging the vibration detection function, and the bias component of the second angular velocity sensor is acquired based on the angular velocity detection result by the first angular velocity sensor and the angular velocity detection result by the second angular velocity sensor. It is configured to provide control. With this configuration, the function of inducing the primary vibration and the function of detecting the secondary vibration are not interchanged, so that the first angular velocity sensor cannot obtain the effect of canceling the bias component by exchanging the functions.
- the angular velocity sensor can be used to acquire and cancel the bias component. As a result, the angular velocity in the moving state can be detected more accurately.
- a third angular velocity sensor including a vibrator, a primary side control circuit, and a secondary side control circuit, a first angular velocity sensor, and a third angular velocity are used. It further includes a power supply unit that supplies power to the sensor, and the control unit determines the angular velocity for calculation by one of the first angular velocity sensor and the third angular velocity sensor in both the first state and the second state.
- the other of the first angular velocity sensor and the third angular velocity sensor is configured so that the function of inducing the primary vibration and the function of detecting the secondary vibration are not exchanged.
- the function of inducing the primary vibration and the function of detecting the secondary vibration are exchanged, the current consumption of the angular velocity sensor fluctuates greatly from the steady state, so that the output of the angular velocity sensor connected to the common power supply unit is output. May be affected. Therefore, as described above, when the angular velocity is detected by one of the first angular velocity sensor and the third angular velocity sensor, the other of the first angular velocity sensor and the third angular velocity sensor induces the primary vibration. If the function to detect the secondary vibration and the function to detect the secondary vibration are not exchanged, the angular velocity connected to the common power supply unit due to the exchange of the function to induce the primary vibration and the function to detect the secondary vibration. It is possible to prevent the output of the sensor from being affected.
- the azimuth / attitude angle measuring device is preferably configured to function as a gyro compass in the first state and as an inertial navigation system in the second state.
- the azimuth angle attitude measuring device of the present invention can be easily functioned as a gyro compass and an inertial navigation device. Therefore, the azimuth angle attitude measuring device can be used for both the gyro compass and the inertial navigation device. It can be easily used for the above purposes.
- both the angular velocity in the stationary state and the angular velocity in the moving state are both. Can be detected accurately.
- FIG. (A) is a diagram (2) showing the relationship between the temperature after correction of the sensor output by the offset value and the bias component.
- FIG. (B) is a diagram (3) showing the relationship between the temperature after correction of the sensor output by the offset value and the bias component. It is a figure (3) which shows the relationship between the temperature after correction of a sensor output by an offset value, and a bias component.
- the configuration of the azimuth angle attitude angle measuring device 100 according to one embodiment will be described with reference to FIGS. 1 to 12.
- the azimuth angle attitude measuring device 100 is configured to detect the azimuth angle and the attitude angle. Specifically, the azimuth / attitude angle measuring device 100 detects angular velocities around the X-axis, Y-axis, and Z-axis that are orthogonal to each other, and based on the detected angular velocities, the three-dimensional azimuth and attitude angles. Is configured to detect.
- the azimuth angle attitude angle measuring device 100 includes a control unit 101, a power supply unit 102, an angular velocity sensor 103a, an angular velocity sensor 103b, an angular velocity sensor 104a, an angular velocity sensor 104b, and an angular velocity sensor 105a. , And an angular velocity sensor 105b.
- the angular velocity sensors 103a and 103b, the angular velocity sensors 104a and 104b, and the angular velocity sensors 105a and 105b are configured to detect angular velocities around axes that intersect each other.
- the angular velocity sensors 103a and 103b are configured to detect the angular velocity around the axis parallel to or coaxial with each other. Further, the angular velocity sensors 104a and 104b are configured to detect angular velocities around axes parallel to or coaxial with each other. Further, the angular velocity sensors 105a and 105b are configured to detect the angular velocity around the axis parallel to or coaxial with each other.
- the angular velocity sensors 103a and 103b are configured to detect the angular velocity around the X-axis. Further, the angular velocity sensors 104a and 104b are configured to detect the angular velocity around the Y-axis. Further, the angular velocity sensors 105a and 105b are configured to detect the angular velocity around the Z axis. The angular velocity sensors 103a and 103b are arranged adjacent to each other. Further, the angular velocity sensors 104a and 104b are arranged adjacent to each other. Further, the angular velocity sensors 105a and 105b are arranged adjacent to each other.
- the angular velocity sensor 103a is an example of the "first angular velocity sensor” in the claims. Further, the angular velocity sensor 103b is an example of the “second angular velocity sensor” in the claims. Further, the angular velocity sensor 104a is an example of the “third angular velocity sensor” in the claims. Further, the angular velocity sensor 105a is an example of the "third angular velocity sensor” in the claims.
- the control unit 101 is configured to control each unit of the azimuth / posture angle measuring device 100.
- the control unit 101 includes a CPU (CENTRAL PROCESSING UNIT) and a memory.
- the power supply unit 102 is configured to supply electric power to each unit of the azimuth angle attitude measuring device 100. Specifically, the power supply unit 102 is configured to supply electric power to the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b. Further, the power supply unit 102 is configured to supply AC power to the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b. The power supply unit 102 is configured to be supplied with electric power from an external power source or a battery provided in the azimuth / attitude angle measuring device 100. For example, the power supply unit 102 is a power conversion circuit that converts the supplied power. The power supply unit 102 includes a switching element, a capacitor, a diode, and the like.
- each of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b has an oscillator 11 and a closed control loop, and the output of the closed control loop is primary to the oscillator 11.
- a primary side control circuit 12 that induces vibration, a secondary side control circuit 13 that has a closed control loop that detects secondary vibration generated in the vibrator 11 due to the angular velocity applied to the vibrator 11. Includes.
- the vibrator 11 includes a ring-shaped vibrator.
- the primary side control circuit 12 of the angular velocity sensor 103a (103b, 104a, 104b, 105a and 105b) includes an amplifier circuit 21, a synchronous detection circuit 22, a loop filter 23, and a modulation circuit 24.
- the drive circuit 25, the PLL (Phase Locked Loop) circuit (phase-locked loop) 26, and the reference signal generation circuit 27 are included.
- the oscillator 11, the amplifier circuit 21, the synchronous detection circuit 22, the loop filter 23, the modulation circuit 24, and the drive circuit 25 are connected in this order to form a closed control loop.
- the loop filter 23 includes, for example, an integral filter.
- FIG. 3 shows the configuration of the angular velocity sensor 103a, the angular velocity sensors 103b, 104a, 104b, 105a and 105b also have the same configuration.
- the secondary control circuit 13 of the angular velocity sensors 103a includes an amplifier circuit 31, a synchronous detection circuit 32, an adder circuit 33, a loop filter 34, a modulation circuit 35, and an amplifier.
- the drive circuit 36 including the circuit 36a and the amplifier circuit 37 are included.
- the oscillator 11, the amplifier circuit 31, the synchronous detection circuit 32, the adder circuit 33, the loop filter 34, the modulation circuit 35, and the drive circuit 36 are connected in this order to form a closed control loop.
- the adder circuit 33 is composed of a general addition / subtraction circuit using an operational amplifier.
- the loop filter 34 includes, for example, an integral filter.
- the output of the loop filter 34 is input to the amplifier circuit 37.
- the amplifier circuit 37 amplifies the output from the closed control loop (loop filter 34).
- the signal output from the amplifier circuit 37 is output as the sensor output of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b).
- the amplifier circuit 36a amplifies the output from the modulation circuit 35.
- the amplifier circuit 36a is an example of the "first amplifier circuit” in the claims.
- the amplifier circuit 37 is an example of the "second amplifier circuit” in the claims.
- the primary side control circuit 12 and the secondary side control circuit 13 are configured so that the function as the primary side control circuit 12 and the function as the secondary side control circuit 13 can be interchanged.
- the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) include a plurality of switch elements 41 to 44.
- a switch element 41 is provided on the input side of the signal to the vibrator 11, and a switch element 42 is provided on the output side of the signal to the vibrator 11 (output side of the amplifier circuit 21).
- a switch element 43 is provided on the input side of the signal to the vibrator 11, and a switch element 44 is provided on the output side of the signal to the vibrator 11 (output side of the amplifier circuit 31).
- the switch element 41, the switch element 42, the switch element 43, and the switch element 44 can be switched between a state of being connected to the primary side control circuit 12 and a state of being connected to the secondary side control circuit 13, respectively. It is configured.
- FIG. 3 shows a state in which the switch element 41 and the switch element 42 are connected to the primary side control circuit 12, and a state in which the switch element 43 and the switch element 44 are connected to the secondary side control circuit 13. Shown.
- the switch element 41 and the switch element 42 are switched so as to be connected to the secondary side control circuit 13, and the switch element 43 and the switch element 44 are switched so as to be connected to the primary side control circuit 12.
- the function as the primary side control circuit 12 and the function as the secondary side control circuit 13 are exchanged. That is, the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) are configured so that the function of inducing the primary vibration and the function of detecting the secondary vibration can be interchanged.
- the plurality of switch elements 41 to 44 are configured to be controlled by the control unit 101.
- the control unit 101 is configured to cancel the bias component by differentiating the sensor output before and after the replacement of the function as the primary side control circuit 12 and the function as the secondary side control circuit 13.
- control unit 101 replaces the functions of the primary side control circuit 12 and the secondary side control circuit 13 with the first state of detecting the angular velocity, and the primary side control circuit 12 and the secondary side control circuit 13. It is configured to control switching the state of the angular velocity sensors 103a (104a and 105a) to any of the second states for detecting the angular velocity without exchanging the functions of. Specifically, the control unit 101 switches the functions of the primary side control circuit 12 and the secondary side control circuit 13 by switching the plurality of switch elements 41 to 44, and in the second state, the plurality of switch elements By not performing the switching operation of 41 to 44, the control is configured so that the functions of the primary side control circuit 12 and the secondary side control circuit 13 are not exchanged.
- the azimuth / attitude angle measuring device 100 is configured to function as a gyro compass in the first state in the stationary state and as an inertial navigation system in the second state in the moving state (moving state). There is.
- the azimuth / attitude angle measuring device 100 detects the rotation angular velocity of the earth and detects the north-south direction.
- the azimuth angle attitude angle measuring device 100 detects its own angular velocity due to movement (movement) and detects its own position (direction).
- the angular velocity sensors 103a When the angular velocity sensors 103a (104a and 105a) are in either the first state or the second state, the angular velocity sensors 103b (104b and 105b) are the primary side control circuit 12 and the secondary side control circuit. It is configured to detect the angular velocity by exchanging the function with 13.
- the control unit 101 determines the detection range and frequency band of the angular velocity sensors 103a (104a and 105a) in the stationary state and the moving state (in the present embodiment, the first state and the second state). It is configured to control switching. Specifically, the control unit 101 switches the amplification factor of the amplifier circuit 36a of the amplifier circuit 36a and the amplifier circuit 37 between the stationary state and the moving state (first state and second state), thereby causing the angular velocity. It is configured to control switching between the detection range and the frequency band of the sensors 103a (104a and 105a).
- the detection range means a range of angular velocities that can be detected without saturation.
- the frequency band means an input frequency having a detectable angular velocity.
- the control unit 101 switches the amplification factor of the amplifier circuit 36a to the first amplification factor to set the detection range and frequency band of the angular velocity sensors 103a (104a and 105a) to the first. It is configured to control switching to the detection range and the first frequency band. Further, in the moving state (second state), the control unit 101 switches the amplification factor of the amplifier circuit 36a to the second amplification factor larger than the first amplification factor, so that the detection range of the angular velocity sensors 103a (104a and 105a) is increased. And the frequency band is configured to be controlled to switch to a second detection range larger than the first detection range and a second frequency band larger than the first frequency band, respectively.
- control unit 101 controls to reduce the detection range and frequency band by reducing the amplification factor of the amplifier circuit 36a and to increase the detection range and frequency band by increasing the amplification factor of the amplifier circuit 36a. Is configured to do. Although detailed description will be omitted, the angular velocity sensors 103b (104b and 105b) are also configured to switch the detection range and frequency band in the same manner as the angular velocity sensors 103a (104a and 105a).
- the S / N ratio of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) when switching the detection range and frequency band using the amplifier circuit 36a.
- the change in the ratio and the change in the S / N ratio of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) when the detection range and the frequency band are switched by using the amplifier circuit 37 will be described.
- the S / N ratio of the output of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) is basically the signal and noise generated in the closed control loop and the input noise generated in the amplifier circuit 37. It is decided based on.
- the detection range and frequency band of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) are switched by switching the amplification factor of the amplifier circuit 37, in a closed control loop. Since the ratio of the generated signal and noise to the input noise generated in the amplifier circuit 37 does not change, the S / N ratio of the output of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) does not change. For example, consider a case where the value of the signal generated in the closed control loop is 5, the value of the noise generated in the closed control loop is 1, and the value of the input noise generated in the amplifier circuit 37 is 1.
- the S / N ratio of the output of the angular velocity sensors 103a does not change.
- the amplifier circuit 37 Since the signal and noise generated in the closed control loop can be changed without changing the input noise generated in, the S / N ratio of the output of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) is improved. can do. For example, consider a case where the value of the signal generated in the closed control loop is 5, the value of the noise generated in the closed control loop is 1, and the value of the input noise generated in the amplifier circuit 37 is 1.
- the value of the input noise generated in the amplifier circuit 37 remains 1, while the value of the signal generated in the closed control loop becomes 50, which is closed.
- the output of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) is compared with the case where the signal containing noise is amplified by the amplifier circuit 37. S / N ratio can be improved.
- the noise value also changes as the frequency band changes, but in the example of FIGS. 4A and 4B, the frequency band is for ease of understanding.
- the change in noise due to the change in is not considered.
- control unit 101 is configured to control switching the offset value for correcting the fluctuation of the sensor output due to the temperature change between the first state and the second state.
- the output from the primary side control circuit 12 (output from the loop filter 23) is input to the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b).
- Addition / subtraction amount adjusting circuits 14a and 14b are provided.
- the addition / subtraction amount adjusting circuits 14a and 14b adjust the magnitude of the output of the loop filter 23 of the primary side control circuit 12 depending on the temperature, and adjust the adjusted output (first offset value) to the secondary side control circuit 13.
- the addition amount of the first offset value is adjusted by dividing the voltage using a potentiometer (volume resistor) or the like.
- the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) are provided with an addition / subtraction amount adjusting circuit 15a to which a constant signal S1 independent of temperature is input.
- the addition / subtraction amount adjusting circuit 15a is configured to adjust the magnitude of the constant signal S1 and input the adjusted constant signal S1 (second offset value) to the addition circuit 33 of the secondary side control circuit 13. ing.
- the addition amount of a constant signal S1 is adjusted by dividing the voltage using a potentiometer (volume resistor) or the like.
- the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) are provided with an addition / subtraction amount adjusting circuit 15b to which a constant signal S2 independent of temperature is input.
- the addition / subtraction amount adjusting circuit 15b is configured to adjust the magnitude of the constant signal S2 and input the adjusted constant signal S2 (second offset value) to the addition circuit 33 of the secondary side control circuit 13. ing.
- the addition amount of the constant signal S2 is adjusted by dividing the voltage using a potentiometer (volume resistor) or the like.
- the output error of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) to be corrected will be described.
- the output error of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) includes the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105a) generated by the error signal generated from the circuit block constituting the secondary control circuit 13.
- the component (error component) of the error signal generated from the circuit block constituting the secondary side control circuit 13 is a constant value having no temperature dependence.
- V In_Const_Corr (second offset value) based on a constant temperature-independent signal is added to the input (path 2) of the loop filter 34 of the secondary side control circuit 13.
- the sensor output V Out_Const_Corr is expressed by the equation (2).
- the output VAGC of the loop filter 23 of the primary side control circuit 12 depending on the temperature is represented by the equation (3).
- the output VAGC of the loop filter 23 is the output of the loop filter 23 in consideration of the closed control loop, and has a value depending on the temperature.
- the correction according to the present embodiment in addition to the V In_Const_Corr (second offset value) based on a constant signal that is independent of the temperature as described above, a value obtained by multiplying the ratio in the output V AGC (first offset value) Second, it is added to the input (path 2) of the loop filter 34 of the secondary side control circuit 13.
- the sensor output V Out_AGC_Corr when the first offset value is added is expressed by the equation (4).
- the sensor output V Out_AGC_Corr depends on the temperature as shown in the equation (4). a value inversely proportional to the square of the gain G R (T) to be.
- the sensor output becomes a value obtained by adding an error represented by the equation (1) to the original sensor output, while in the present embodiment, the first offset value.
- the sensor output becomes a value obtained by adding a constant value C to the original sensor output.
- C in equation (1) is a constant value that does not depend on temperature, so there is no problem in correction.
- the coefficients A, B and C in the equation (1) are calculated by measuring (actually measuring) the sensor output before correction (before compensation) at each temperature and by polynomial approximation of the measured data by the least squares method. Will be done.
- the coefficients A, B and C are calculated for each angular velocity sensor 103a (103b, 104a, 104b, 105a and 105b) (for each product).
- equation (1) is the first term of the A / G R 2 a (T) (term which is inversely proportional to the square of the gain depends on the temperature G R (T)) to zero, depending on the temperature with adjusting the addition amount of the first offset value based on the output of the primary side control circuit 12 which is a second term of the equation (1)
- B / G R ( T) the gain G R (T which depends on the temperature
- the sensor output is corrected by adjusting the addition amount of the second offset value based on a constant signal independent of temperature so that the term) inversely proportional to) is set to 0.
- the sensor output becomes substantially constant (solid line in FIG. 6) regardless of the temperature.
- the accuracy of correction can be improved.
- the closed control of the secondary side control circuit 13 is performed.
- the vibrator 11 The first offset value based on the output of the primary side control circuit 12 (the output of the loop filter 23) is inversely proportional to the temperature change of the gain of the second side control circuit 13 and the temperature change of the gain of the vibrator 11 from the secondary side control circuit 13.
- the second offset value based on a constant temperature-independent signal is added, and the addition amount of the first offset value and the addition amount of the second offset value are added / subtracted amounts, respectively.
- the sensor output (output from the secondary side control circuit 13) is corrected by adjusting the adjustment circuit 14b and the addition / subtraction amount adjustment circuit 15a.
- the error of the sensor output generated in the closed control loop of the secondary side control circuit 13 due to the error signal generated from the circuit block constituting the secondary side control circuit 13 and the error of the sensor output generated in the closed control loop of the secondary side control circuit 13 and the primary side control circuit 12 to the secondary side control circuit 13 By determining and adding the first offset value and the second offset value so as to reduce the sensor output error that occurs in the closed control loop of the secondary side control circuit 13 due to crosstalk (signal crosstalk) to. , The sensor output is corrected.
- the offset value after replacement (first offset value and second offset value) and the offset value before replacement are symmetrical values with respect to a predetermined reference value.
- the absolute value of the difference between the offset value added to the closed control loop before the replacement and the predetermined reference value, and the difference between the offset value added to the closed control loop after the replacement and the predetermined reference value Is configured to be approximately equal to the absolute value of.
- the temporary offset value before the replacement is a
- the temporary offset value after the replacement is ⁇ a
- the center of the sensor output before the replacement and the sensor output after the replacement is b
- the offset value before the replacement is a + b
- the offset value after the replacement is ⁇ a + b.
- the tentative offset value a means a tentative first offset value a1 described later and a tentative second offset value a2 described later.
- the temporary offset value b means a temporary first offset value b1 described later and a temporary second offset value b2 described later.
- an inverting circuit 51 and a switch element 52 are provided on the output side of the addition / subtraction amount adjusting circuit 14a.
- the switch element 52 is configured to be able to switch between a state of being connected to the addition / subtraction amount adjusting circuit 14a and a state of being connected to the inverting circuit 51.
- the addition circuit 33 has an output (a1) from the addition / subtraction amount adjustment circuit 14a and an output (b1) from the addition / subtraction amount adjustment circuit 14b. Is entered. That is, a1 + b1 is added to the secondary side control circuit 13 as the first offset value.
- the output ( ⁇ a1) from the inverting circuit 51 and the output (b1) from the addition / subtraction amount adjusting circuit 14b are input to the adder circuit 33.
- ⁇ a1 + b1 is added to the secondary side control circuit 13 as the first offset value. The method of obtaining a1 and b1 will be described later.
- an inverting circuit 45 and a switch element 46 are provided on the output side of the addition / subtraction amount adjusting circuit 15b.
- the switch element 46 is configured to be able to switch between a state of being connected to the addition / subtraction amount adjusting circuit 15b and a state of being connected to the inverting circuit 45.
- the addition circuit 33 has an output (a2) from the addition / subtraction amount adjustment circuit 15b and an output (b2) from the addition / subtraction amount adjustment circuit 15a. Is entered. That is, a2 + b2 is added to the secondary side control circuit 13 as the second offset value.
- the output ( ⁇ a2) from the inverting circuit 45 and the output (b2) from the addition / subtraction amount adjusting circuit 15a are input to the adder circuit 33.
- NS That is, ⁇ a2 + b2 is added to the secondary side control circuit 13 as the second offset value. The method of obtaining a2 and b2 will be described later.
- the bias component (vertical axis) of the angular velocity detected by the angular velocity sensor changes with respect to the change in temperature (horizontal axis). Further, the change in the bias component before the replacement of the function as the primary side control circuit 12 and the function as the secondary side control circuit 13 (P in FIG. 7) and the change in the bias component after the replacement (S in FIG. 7). ) Is different. Then, as shown in FIG. 8, before the replacement, the sensor is added by adding the first offset value and the second offset value so as to cancel the first term and the second term of the above equation (1). The temperature change of the output (P in FIG. 8) becomes small.
- the temperature change of the sensor output (FIG. 8) is performed by adding the first offset value and the second offset value so as to cancel the first and second terms of the above equation (1).
- S becomes smaller. Since P and S in FIG. 8 are not symmetrical with respect to the line segment along the horizontal axis (the alternate long and short dash line in FIG. 8), the temperature fluctuation component of the difference between P and S in FIG. 8 becomes zero. Must not be. In this way, when the first offset value and the second offset value are individually determined so as to cancel the first term and the second term of the above equation (1) before and after the replacement, P in FIG. The temperature fluctuation component of the difference from S does not become zero.
- the tentative first before and after the replacement is such that the temperature fluctuation component of the difference becomes the smallest before and after the replacement, and the polarity of the offset value is inverted before and after the replacement.
- the 1 offset value a1 and the temporary second offset value a2 are determined. If the provisional first offset value a1 and the provisional second offset value a2 are used before the replacement, the first and second terms of the above equation (1) are not canceled, so that the bias is in the state before the replacement.
- the components have a gradient with respect to temperature.
- the provisional first offset value -a1 and the provisional second offset value -a2 are used after the replacement, the first and second terms of the above equation (1) are not canceled, so that the state after the replacement
- the bias component has a gradient with respect to temperature.
- the change in the bias component before the replacement of the function as the primary side control circuit 12 and the function as the secondary side control circuit 13 (P in FIG. 7) and the change after the replacement are performed.
- Temporary first offset value so as to cancel the first and second terms of the above equation (1) with respect to the median value (M in FIG. 7) with the change in the bias component (S in FIG. 7).
- the b1 and the temporary second offset value b2 are determined.
- the first offset value before replacement is a1 + b1
- the second offset value is a2 + b2
- the first offset value after replacement is -a1 + b1
- the second offset value is -a2 + b2.
- the first offset value becomes symmetric with respect to the provisional first offset value b1 with respect to the median
- the second offset value becomes symmetrical with respect to the provisional second offset value b2 with respect to the median.
- both the change in the bias component before the replacement (P in FIG. 10) and the change in the bias component after the replacement (S in FIG. 10) have a small temperature gradient.
- the closed control loop of the secondary side control circuit 13 is used.
- the vibrator 11 A sensor that is inversely proportional to the temperature change of the gain of the transducer 11 from the secondary side control circuit 13 and the first offset value based on the output of the primary side control circuit 12 (the output of the loop filter 23) that is inversely proportional to the temperature change of the gain.
- the second offset value based on a constant temperature-independent signal is added, and the addition amount of the first offset value and the addition amount of the second offset value are adjusted by the addition / subtraction amount, respectively.
- the sensor output (output from the secondary side control circuit 13) is corrected by adjusting the circuits 14a and 14b and the addition / subtraction amount adjusting circuits 15a and 15b.
- the error of the sensor output generated in the closed control loop of the secondary side control circuit 13 due to the error signal generated from the circuit block constituting the secondary side control circuit 13 and the error of the sensor output generated in the closed control loop of the secondary side control circuit 13 and the primary side control circuit 12 to the secondary side control circuit 13 By determining and adding the first offset value and the second offset value so as to reduce the sensor output error that occurs in the closed control loop of the secondary side control circuit 13 due to crosstalk (signal crosstalk) to. , The sensor output is corrected.
- the control unit 101 does not replace the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensors 103a (104a and 105a) in a predetermined period. While detecting the angular velocity, the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensors 103b (104b and 105b) are exchanged to detect the angular velocity, and the angular velocity is detected by the angular velocity sensors 103a (104a and 105a). Based on the detection result and the detection result of the angular velocity by the angular velocity sensors 103b (104b and 105b), the control for acquiring the bias component of the angular velocity sensors 103a (104a and 105a) is performed.
- the control unit 101 uses the angular velocity sensors 103b (104b and 105b) to detect the angular velocity based on the secondary vibration of the vibrator 11 by the secondary side control circuit 13 in a predetermined period, and the primary side.
- the functions of the control circuit 12 and the secondary side control circuit 13 are exchanged, and the primary side control circuit 12 is configured to perform a process of detecting an angular velocity based on the secondary vibration of the vibrator 11 and performing control.
- the oscillator 11 is subjected to the secondary control circuit 13 of the angular velocity sensors 103b (104b and 105b) during a predetermined period from time t1 to time t2 and from time t4 to time t5.
- a process of detecting the angular velocity based on the secondary vibration and a process of detecting the angular velocity based on the secondary vibration of the vibrator 11 by the primary side control circuit 12 of the angular velocity sensors 103b (104b and 105b) are performed.
- control unit 101 is configured to control the angular velocity sensor 103a (104a and 105a) in the second state to perform a process of detecting the angular velocity in a predetermined period.
- the secondary control circuit 13 of the angular velocity sensors 103a (104a and 105a) in the second state during a predetermined period from time t1 to time t2 and from time t4 to time t5.
- a process of detecting the angular velocity based on the secondary vibration of the vibrator 11 is performed.
- control unit 101 has a second detection detected by the angular velocity sensors 103b (104b and 105b) in the predetermined period from the value of the first detection result detected by the angular velocity sensors 103a (104a and 105a) in the second state in the predetermined period. By subtracting the resulting value, the bias component (B1 (t)) of the angular velocity sensors 103a (104a and 105a) in the second state is calculated.
- the predetermined period includes a first period (a period from time t1 to time t2) in which the secondary side control circuit 13 detects the angular velocity based on the secondary vibration of the vibrator 11, and the primary side control circuit 12
- the first period and the second period are the same length of time. As shown in FIG. 11, each of the first period and the second period has a length of time T.
- the first detection result is an integral value of the angular velocities detected by the angular velocities sensors 103a (104a and 105a) in the second state in a predetermined period.
- the second detection result is an integral value of the angular velocity detected by the angular velocity sensors 103b (104b and 105b) in a predetermined period.
- the predetermined period is a period in which the bias component of the angular velocity sensors 103b (104b and 105b) is substantially constant.
- the predetermined period has a length of about several seconds to several tens of seconds.
- the predetermined period is a period in which the influence of the temperature change can be ignored and it can be assumed that the bias components of the angular velocity sensors 103b (104b and 105b) do not change substantially.
- the integral value I1 of the first detection result in the predetermined period (the first period from time t1 to time t2 and the second period from time t4 to time t5) shown in FIG. 11B is given by the equation (5). It is expressed as.
- the angular velocity ⁇ 1 (t) detected by the secondary control circuit 13 of the angular velocity sensors 103a (104a and 105a) in the second state is the angular velocity (true angular velocity) generated by the motion (movement) shown in FIG. 11 (A).
- the bias B1 (t) of ⁇ 0 (t) and the angular velocity sensors 103a (104a and 105a) in the second state it is expressed as in the equation (6).
- the integrated value I2 of the second detection result in the predetermined period (the first period from time t1 to time t2 and the second period from time t4 to time t5) shown in FIG. 11C is expressed by the formula (C). It is expressed as 8).
- the integrated value is subtracted in consideration of the fact that ⁇ 2 (t) is inverted with respect to the bias component.
- the angular velocity ⁇ 2 (t) detected by the secondary side control circuit 13 of the angular velocity sensors 103b (104b and 105b) and the angular velocity ⁇ 2 (t) detected by the primary side control circuit 12 are the motions (movements) shown in FIG. 11 (A).
- ⁇ 0 (t) and the bias B2 (t) of the angular velocity sensors 103b (104b and 105b) are expressed as equations (9) and (10), respectively.
- equation (10) of the second period from the time t4 to the time t5 ⁇ 0 (t) is inverted with respect to the bias component, so that a minus is applied.
- the bias B1 (t) of the angular velocity sensors 103a (104a and 105a) in the second state and the angular velocity sensor Since the amount of change over time is negligible (because it is constant) with the bias B2 (t) of 103b (104b and 105b), it can be assumed that equations (13) and (14) hold.
- B1 is the bias value of the angular velocity sensors 103a (104a and 105a) in the second state in the first period and the second period
- B2 is the angular velocity sensor 103b (104b and 105b) in the first period and the second period. The bias value of.
- the bias value B1 of the angular velocity sensors 103a (104a and 105a) in the second state is calculated by dividing (I1-I2) by 2T.
- the calculated bias value B1 is used for angular velocity detection by the angular velocity sensors 103a (104a and 105a) in the second state. For example, it is used as an observation update of the Kalman filter.
- the angular velocity sensors 103b (104b and 105b) are controlled to switch the function as the primary side control circuit 12 and the function as the secondary side control circuit 13, and the angular velocity is measured to calculate the bias value B1. It suffices that the relationship between the equation (13) and the equation (14) is established during the period. Therefore, for example, even if the time interval (t6-t5) up to the time t6, which is the start point of the next processing, is large and B1 changes, it can be similarly corrected by the processing from the next time t6. However, it is always preferable to make the time interval (t6-t5) sufficiently small in order to reduce the change in B1.
- the control unit 101 detects the angular velocity by any one of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b in both the first state and the second state.
- the other angular velocity sensors of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b are configured so that the functions of the primary side control circuit 12 and the secondary side control circuit 13 are not exchanged. ing.
- control unit 101 before and after switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 in any one of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b.
- the primary side control circuit 12 and the secondary side control circuit 13 It is configured so that it does not control to replace the functions of.
- the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) always detect the angular velocity and output a signal based on the detected angular velocity when the power is supplied from the power supply unit 102 to drive the sensor 103a (103b, 104a, 104b, 105a and 105b).
- the control unit 101 is configured to calculate the angular velocity, the attitude angle, and the azimuth angle based on the signals output from the angular velocity sensors 103a (103b, 104a, 104b, 105a, and 105b).
- control unit 101 calculates the bias component of the angular velocity sensor 103a (103b, 104a, 104b, 105a and 105b) based on the signal output from the angular velocity sensor 103a (103b, 104a, 104b, 105a and 105b). It is configured to perform operations.
- the control unit 101 receives another angular velocity sensor 103a ( The angular velocities detected in 103b, 104a, 104b, 105a and 105b) are not used in the calculation.
- control unit 101 detects the angular velocity detection result in which the secondary vibration of the vibrator 11 is detected by the secondary control circuit 13 of the angular velocity sensor 103a (103b, 104a, 104b, 105a and 105b) and the angular velocity sensor 103a (103b). , 104a, 104b, 105a and 105b), the functions of the primary side control circuit 12 and the secondary side control circuit 13 are exchanged, and the angular velocity detection in which the secondary vibration of the vibrator 11 is detected by the primary side control circuit 12 Based on the result, the calculation is configured to cancel the bias component of the angular velocity detected by the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b).
- control unit 101 detects (acquires) the angular velocity at which the secondary vibration of the vibrator 11 is detected by the secondary control circuit 13 of the angular velocity sensor 103a during the period from time t11 to time t12 in FIG. 12 (A). .. Further, the control unit 101 detects (acquires) the angular velocity at which the secondary vibration of the vibrator 11 is detected by the primary side control circuit 12 of the angular velocity sensor 103a during the period from the time t14 to the time t15 in FIG. 12 (A). ..
- control unit 101 calculates the bias component of the angular velocity sensor 103a based on the angular velocity acquired in the period from time t11 to time t12 and the angular velocity acquired in the period from time t14 to time t15.
- control unit 101 calculates the angular velocity at which the secondary vibration of the vibrator 11 is detected by the secondary control circuit 13 of the angular velocity sensor 104a during the period from time t21 to time t22 in FIG. 12 (B). To get to. Further, the control unit 101 acquires the angular velocity at which the secondary vibration of the vibrator 11 is detected by the primary side control circuit 12 of the angular velocity sensor 104a during the period from time t24 to time t25 in FIG. 12 (B) for calculation. do.
- control unit 101 calculates (calculates) the bias component of the angular velocity sensor 104a based on the angular velocity acquired in the period from time t21 to time t22 and the angular velocity acquired in the period from time t24 to time t25.
- control unit 101 calculates the angular velocity at which the secondary vibration of the vibrator 11 is detected by the secondary control circuit 13 of the angular velocity sensor 105a during the period from time t31 to time t32 in FIG. 12C. To get to. Further, the control unit 101 acquires the angular velocity at which the secondary vibration of the vibrator 11 is detected by the primary side control circuit 12 of the angular velocity sensor 105a during the period from the time t34 to the time t35 in FIG. 12C for calculation. do.
- control unit 101 calculates (calculates) the bias component of the angular velocity sensor 105a based on the angular velocity acquired in the period from time t31 to time t32 and the angular velocity acquired in the period from time t34 to time t35.
- the control unit 101 calculates (calculates) the bias component of the angular velocity sensor 105a based on the angular velocity acquired in the period from time t31 to time t32 and the angular velocity acquired in the period from time t34 to time t35.
- control unit 101 receives the angular velocity sensor 103a (for a predetermined period before and after switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 103a (103b, 104a, 104b, 105a and 105b). It is configured to interrupt the detection of the angular velocity to cancel the angular velocity bias component of 103b, 104a, 104b, 105a and 105b). For example, in a predetermined period (period from time t12 to time t14) before and after the timing (time t13) in which the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 103a of FIG. 12A are exchanged.
- the control unit 101 interrupts the detection (acquisition for calculation) of the angular velocity for canceling the bias component of the angular velocity of the angular velocity sensors 103b, 104a, 104b, 105a and 105b. Further, for example, a predetermined period (a period from time t22 to time t24) before and after the timing (time t23) for switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 104a in FIG. 12B. ), The control unit 101 interrupts the detection (acquisition for calculation) of the angular velocity for canceling the bias component of the angular velocity of the angular velocity sensors 103a, 103b, 104b, 105a and 105b.
- a predetermined period (a period from time t32 to time t34) before and after the timing (time t33) for switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 105a of FIG. 12 (C).
- the control unit 101 interrupts the detection (acquisition for calculation) of the angular velocity for canceling the bias component of the angular velocity of the angular velocity sensors 103a, 103b, 104a, 104b and 105b.
- control unit 101 takes a predetermined period before and after switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 in any one of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b.
- the other angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b are configured to perform control for switching the functions of the primary side control circuit 12 and the secondary side control circuit 13.
- the control unit 101 has a predetermined period (time t12 to time) before and after the timing (time t13) for switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 103a of FIG. 12 (A).
- the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensors 103b, 104a, 104b, 105a and 105b are exchanged.
- the control unit 101 has a predetermined period (time t22) before and after the timing (time t23) of switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 104a of FIG. 12 (B).
- time t24 the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensors 103a, 103b, 104b, 105a and 105b are exchanged.
- control unit 101 has a predetermined period (time t32) before and after the timing (time t33) of switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 105a of FIG. 12C.
- time t32 a predetermined period before and after the timing (time t33) of switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 105a of FIG. 12C.
- time t34 the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensors 103a, 103b, 104a, 104b and 105b are exchanged.
- the control unit 101 is configured so that the timing of switching the functions of the primary side control circuit 12 and the secondary side control circuit 13 in the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b is substantially the same. ing. That is, the control unit 101 sets the time t13 in FIG. 12 (A), the time t23 in FIG. 12 (B), and the time t33 in FIG. 12 (C) at the same timing, and the angular velocity sensors 103a, 103b, 104a, 104b. , 105a and 105b, the functions of the primary side control circuit 12 and the secondary side control circuit 13 are exchanged.
- the control unit 101 has a first state in which the functions of the primary side control circuit 12 and the secondary side control circuit 13 are exchanged to detect the angular velocity, and the primary side control circuit 12 It is configured to control switching the state of the angular velocity sensors 103a (104a and 105a) to either the second state of detecting the angular velocity without exchanging the functions of the secondary side control circuit 13 and the secondary side control circuit 13.
- the control unit 101 can switch the state of the angular velocity sensors 103a (104a and 105a) to the first state.
- the functions of the primary side control circuit 12 and the secondary side control circuit 13 can be exchanged to detect the angular velocity in the stationary state, so that the angular velocity sensors 103a (104a and 105a) can be detected.
- the angular velocity can be detected while canceling the bias component.
- the control unit 101 can switch the state of the angular velocity sensors 103a (104a and 105a) to the second state.
- the angular velocity in the motion state can be detected without exchanging the functions of the primary side control circuit 12 and the secondary side control circuit 13, so that the primary side control circuits 12 and 2 It is possible to prevent the inconvenience of not being able to detect the angular velocity at the timing of switching the function with the next control circuit 13. As a result, it is possible to prevent the detection of the angular velocity from becoming intermittent. Therefore, the angular velocity sensors 103a (104a and 105a) whose functions of the primary side control circuit 12 and the secondary side control circuit 13 can be exchanged are used. Even in this case, the angular velocity in the moving state can be detected accurately (continuously).
- the angular velocity sensors 103a are configured to include a plurality of switch elements 41 to 44.
- the control unit 101 switches the functions of the primary side control circuit 12 and the secondary side control circuit 13 by the switching operation of the plurality of switch elements 41 to 44, and in the second state, the control unit 101 has a plurality of functions.
- the control is configured so that the functions of the primary side control circuit 12 and the secondary side control circuit 13 are not exchanged.
- the states of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) can be switched between the first state and the second state by simply controlling the switching operation of the plurality of switch elements 41 to 44. Therefore, the state of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) can be easily controlled by the control unit 101.
- the control unit 101 controls to switch the detection range and frequency band of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) between the stationary state and the moving state. It is configured as follows.
- the required detection range and frequency band are different between the case of detecting the angular velocity in the stationary state and the case of detecting the angular velocity in the moving state. Specifically, when detecting the angular velocity in a stationary state, a small detection range and a small frequency band are required in order to reduce noise. Further, when detecting the angular velocity in a moving state, a large detection range and a large frequency band are required because the detected angular velocity is large and the change is fast.
- the detection range and frequency band of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) are switched between the stationary state and the moving state, the detection range and frequency band can be changed in the stationary state. Since it is possible to switch between the state of detecting the angular velocity and the state of detecting the angular velocity in the moving state, it is possible to more accurately detect both the angular velocity in the stationary state and the angular velocity in the moving state. ..
- the secondary side control circuit 13 constitutes a closed control loop, and the drive circuit 36 including the amplifier circuit 36a and the amplification that amplifies the output from the closed control loop. It is configured to have a circuit 37. Further, the control unit 101 switches the amplification factor of the amplifier circuit 36a of the amplifier circuit 36a and the amplifier circuit 37 between the stationary state and the moving state, so that the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) are switched. ) Is configured to be controlled to switch the detection range and frequency band.
- the S / N ratio of the output of the angular velocity sensors 103a is basically the signal and noise generated in the closed control loop and the input noise generated in the amplifier circuit 37. It is decided based on. In this case, when the detection range and frequency band of the angular velocity sensors 103a (104a and 105a) are switched by switching the gain of the amplifier circuit 37, the signal and noise generated in the closed control loop and the input noise generated in the amplifier circuit 37 Since the ratio of is not changed, the S / N ratio of the output of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) does not change.
- the detection range and frequency band of the angular velocity sensors 103a (103b, 104a, 104b, 105a and 105b) can be set.
- the signal and noise generated in the closed control loop can be changed, unlike the case of switching the amplification factor of the amplifier circuit 37. Therefore, when the signal and noise generated in the closed control loop are increased, the amplifier circuit 37 The resulting input noise can be made relatively small relative to the signal and noise generated in the closed control loop.
- the control unit 101 is configured to control switching the offset value for correcting the fluctuation of the sensor output due to the temperature change between the first state and the second state.
- the case where the functions of the primary side control circuit 12 and the secondary side control circuit 13 are exchanged and the case where the functions of the primary side control circuit 12 and the secondary side control circuit 13 are not exchanged are as described above.
- Appropriate offset value is different. Therefore, as described above, if the offset value for correcting the fluctuation of the sensor output due to the temperature change is switched between the first state and the second state, the offset value for correcting the fluctuation of the sensor output due to the temperature change is set to the primary side.
- the control unit 101 functions as the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensors 103a (104a and 105a) in a predetermined period.
- the angular velocity is detected without exchanging, and the functions of the primary side control circuit 12 and the secondary side control circuit 13 of the angular velocity sensor 103b (104b and 105b) are exchanged to detect the angular velocity, and the angular velocity sensor 103a (104a and 105a) is detected.
- the control to acquire the bias component of the angular velocity sensor 103a (104a and 105a) is performed.
- the angular velocity sensor 103b (104b and 105b) can be used to acquire and cancel the bias component. As a result, the angular velocity in the moving state can be detected more accurately.
- the control unit 101 determines the angular velocity by any one of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b in both the first state and the second state.
- the functions of the primary side control circuit 12 and the secondary side control circuit 13 are not exchanged by the other angular velocity sensors of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b. It is configured as follows.
- the functions of the primary side control circuit 12 and the secondary side control circuit 13 are exchanged, the current consumption in the angular velocity sensor fluctuates greatly from the steady state, so that the angular velocity sensor connected to the common power supply unit 102 Output may be affected. Therefore, as described above, when the angular velocity is detected by any of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b, among the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b. If the functions of the primary side control circuit 12 and the secondary side control circuit 13 are not exchanged by another angular velocity sensor, the functions of the primary side control circuit 12 and the secondary side control circuit 13 can be changed. It is possible to prevent the outputs of the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b connected to the common power supply unit 102 from being affected by the replacement.
- the azimuth / attitude angle measuring device 100 functions as a gyro compass in the first state in the stationary state and as an inertial navigation system in the second state in the moving state. It is configured as follows. As a result, the azimuth / attitude angle measuring device 100 of the present embodiment can be easily functioned as the gyrocompass and the inertial navigation system. It can be easily used for various purposes.
- the vibrator 11 is configured to include the ring-shaped vibrator 11.
- the vibration mode by the primary side control circuit 12 and the vibration mode by the secondary side control circuit 13 are similar. Therefore, by providing the ring-shaped vibrators in the angular velocity sensors 103a, 103b, 104a, 104b, 105a and 105b of the azimuth angle attitude measuring device 100, it is not necessary to consider the influence of the difference in vibration mode.
- the vibrator may have a symmetrical shape, and a disc type, a cup type (wine glass type), an octagonal type, or the like may be used.
- a closed control loop is configured by an oscillator, an amplifier circuit, a synchronous detection circuit, a loop filter, a modulation circuit and a drive circuit
- the control loop may be configured by a configuration other than the configuration including an amplifier circuit, a synchronous detection circuit, a loop filter, a modulation circuit, and a drive circuit.
- an integral filter is used as the loop filter
- a loop filter other than the integral filter may be used.
- both the detection range and the frequency band of the angular velocity sensor are switched between the first state and the second state
- the control unit is used.
- Only one of the detection range and the frequency band of the first angular velocity sensor may be switched between the first state and the second state.
- the amplifier circuit of the drive circuit of the amplifier circuit of the drive circuit (first amplifier circuit) and the amplifier circuit that amplifies the output from the closed control loop (second amplifier circuit) is amplified.
- An example has been shown in which the detection range and frequency band of the angular velocity sensor (first angular velocity sensor) can be switched by switching the rate.
- the control unit uses the first amplifier circuit and the second amplifier circuit. By switching the amplification factor of the second amplifier circuit, the detection range and frequency band of the first angular speed sensor may be switched.
- the offset value for correcting the fluctuation of the sensor output due to the temperature change is switched between the first state and the second state, but in the present invention, the first state and the second state are shown.
- the offset value for correcting the fluctuation of the sensor output due to the temperature change does not necessarily have to be switched.
- the offset value in the second state of the above embodiment may be used as the offset value in the first state.
- it is preferable that the offset value for correcting the fluctuation of the sensor output due to the temperature change can be switched.
- the first offset value before replacement is a1 + b1 and the second offset value is a2 + b2, the first offset value after replacement is -a1 + b1 and the second offset value is -a2 + b2.
- the present invention is not limited to this.
- the first offset value before replacement is a1, the second offset value is a2, and the first offset value after replacement is -a1 in which the polarity of the first offset value a1 before replacement is inverted.
- the second offset value after the replacement may be set to -a2 in which the polarity of the second offset value a2 before the replacement is reversed.
- the function as the primary side control circuit 12 and the function as the secondary side control circuit 13 are exchanged, although some residue of the temperature fluctuation component of the bias remains, it is inversely proportional to the square of the gain of the vibrator 1. Since the first offset value for performing the correction and the second offset value for performing the correction inversely proportional to the first power of the gain of the vibrator 1 are symmetrical with respect to zero (predetermined reference value), they are replaced. It is possible to prevent the control symmetry of the vibration type angular velocity sensor from being broken in the front-rear direction.
- the first offset value before replacement is a1 + b1 and the second offset value is a2 + b2, the first offset value after replacement is -a1 + b1 and the second offset value is -a2 + b2.
- the median is determined to cancel the first term of equation (1) above (ie, the first offset value is fixed at b1), the second offset value before replacement is a2 + b2, and the replacement.
- the latter second offset value may be configured to be ⁇ a2 + b2. That is, only the second offset value may be a value symmetrical with respect to a predetermined reference value before and after the replacement.
- the temporary first offset value a1 and the temporary second offset value a2 before and after the replacement are determined so that the residue of the bias component is minimized before and after the replacement.
- the present invention is not limited to this.
- the first offset value and the second offset value before and after the replacement may be determined so that the residue of the bias component becomes a value near the smallest value.
- the addition / subtraction amount adjusting circuits 4a and 4b and the addition / subtraction amount adjusting circuits 5a and 5b are provided in order to output the offset value a + b and the offset value ⁇ a + b.
- the present invention is not limited to this. In the present invention, it is sufficient that a circuit for outputting a signal corresponding to the offset value a + b and the offset value ⁇ a + b is provided.
- a plurality of angular velocity sensors for detecting angular velocities around the three axes of the X-axis, the Y-axis, and the Z-axis that are orthogonal to each other has been shown, but the present invention is limited to this. No. In the present invention, a plurality of angular velocity sensors for detecting angular velocities around two axes in different directions may be provided, and further, a plurality of angular velocity sensors for detecting angular velocities around three or more axes in different directions may be provided. It may be provided. Further, the axes of the angular velocities detected by the plurality of angular velocity sensors may be in different directions that are not orthogonal to each other.
- an example of a configuration in which two angular velocity sensors for detecting angular velocities around parallel axes are provided but the present invention is not limited to this.
- three or more angular velocity sensors for detecting angular velocities around parallel axes may be provided, a plurality of angular velocity sensors are provided for some of the axial velocities, and one angular velocity sensor is provided for other axial velocities. You may.
- the control unit detects the angular velocity in the second state without exchanging the functions of the primary side control circuit and the secondary side control circuit of the first angular velocity sensor in a predetermined period, and also detects the angular velocity in the second state.
- the functions of the primary side control circuit and the secondary side control circuit of the angular velocity sensor are exchanged to detect the angular velocity, and based on the detection result of the angular velocity by the first angular velocity sensor and the detection result of the angular velocity by the second angular velocity sensor.
- the control unit detects the angular velocity by exchanging the functions of the primary side control circuit and the secondary side control circuit of the first angular velocity sensor in a predetermined period, and also detects the angular velocity, and 1 of the second angular velocity sensor.
- the angular velocity is detected without exchanging the functions of the secondary control circuit and the secondary control circuit, and the second is based on the angular velocity detection result by the first angular velocity sensor and the angular velocity detection result by the second angular velocity sensor. It may be configured to control the acquisition of the bias component of the angular velocity sensor.
- the functions of the primary side control circuit and the secondary side control circuit are not exchanged, so that the effect of canceling the bias component due to the exchange of functions cannot be obtained, even in the second angular velocity sensor.
- the sensor can be used to acquire and cancel the bias component.
- the angular velocity in the moving state can be detected more accurately.
- the second angular velocity sensor does not have to have a function of exchanging the functions of the primary side control circuit and the secondary side control circuit.
- Oscillator Primary side control circuit 13 Secondary side control circuit 36 Drive circuit 36a Amplifier circuit (first amplifier circuit) 37 Amplifier circuit (second amplifier circuit) 41-44 Switch element 100 Azimuth angle Attitude angle measuring device 101 Control unit 102 Power supply unit 103a Angular velocity sensor (1st angular velocity sensor) 103b Angular velocity sensor (second angular velocity sensor) 104a Angular velocity sensor (3rd angular velocity sensor) 105a Angular velocity sensor (3rd angular velocity sensor)
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Abstract
Description
ここで、本実施形態では、制御部101は、静止状態と運動状態(本実施形態では、第1状態と第2状態)とにおいて、角速度センサ103a(104aおよび105a)の検出範囲および周波数帯域を切り替える制御を行うように構成されている。具体的には、制御部101は、静止状態と運動状態(第1状態と第2状態)とにおいて、増幅回路36aと増幅回路37とのうちの増幅回路36aの増幅率を切り替えることにより、角速度センサ103a(104aおよび105a)の検出範囲および周波数帯域を切り替える制御を行うように構成されている。なお、検出範囲とは、飽和せずに検出可能な角速度の範囲を意味している。また、周波数帯域とは、検出可能な角速度の入力周波数を意味している。
ここで、本実施形態では、制御部101は、第1状態と第2状態とにおいて、温度変化によるセンサ出力の変動を補正するオフセット値を切り替える制御を行うように構成されている。
ここで、1次側制御回路12としての機能と、2次側制御回路13としての機能とを入れ替えない場合(すなわち、第2状態の場合)の補正について説明する。
次に、1次側制御回路12としての機能と、2次側制御回路13としての機能とを入れ替える場合(すなわち、第1状態の場合)の補正について説明する。
ここで、本実施形態では、制御部101は、第2状態において、所定期間において角速度センサ103a(104aおよび105a)の1次側制御回路12と2次側制御回路13との機能を入れ替えずに角速度を検出するとともに、角速度センサ103b(104bおよび105b)の1次側制御回路12と2次側制御回路13との機能を入れ替えて角速度を検出し、角速度センサ103a(104aおよび105a)による角速度の検出結果と、角速度センサ103b(104bおよび105b)による角速度の検出結果と、に基づいて、角速度センサ103a(104aおよび105a)のバイアス成分を取得する制御を行うように構成されている。
ここで、本実施形態では、制御部101は、第1状態と第2状態との両方において、角速度センサ103a、103b、104a、104b、105aおよび105bのうちのいずれかにより角速度を検出している場合に、角速度センサ103a、103b、104a、104b、105aおよび105bのうちの他の角速度センサにより、1次側制御回路12と2次側制御回路13との機能の入れ替えを行わないように構成されている。
本実施形態では、以下のような効果を得ることができる。
なお、今回開示された実施形態は、すべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は、上記した実施形態の説明ではなく請求の範囲によって示され、さらに請求の範囲と均等の意味および範囲内でのすべての変更(変形例)が含まれる。
12 1次側制御回路
13 2次側制御回路
36 駆動回路
36a 増幅回路(第1増幅回路)
37 増幅回路(第2増幅回路)
41~44 スイッチ素子
100 方位角姿勢角計測装置
101 制御部
102 電源部
103a 角速度センサ(第1角速度センサ)
103b 角速度センサ(第2角速度センサ)
104a 角速度センサ(第3角速度センサ)
105a 角速度センサ(第3角速度センサ)
Claims (18)
- 第1角速度センサと、
制御部と、を備え、
前記第1角速度センサは、
振動子と、
閉じた制御ループを有し、前記閉じた制御ループの出力が前記振動子に1次振動を誘起させる1次側制御回路と、
前記振動子に印加される角速度に起因して前記振動子に発生する2次振動を検出する閉じた制御ループを有する2次側制御回路と、を含み、
前記1次側制御回路と前記2次側制御回路とは、前記1次側制御回路としての機能と、前記2次側制御回路としての機能とを入れ替え可能に構成されており、
前記制御部は、前記1次側制御回路と前記2次側制御回路との機能を入れ替えて、角速度を検出する第1状態と、前記1次側制御回路と前記2次側制御回路との機能を入れ替えずに、角速度を検出する第2状態とのいずれかに、前記第1角速度センサの状態を切り替える制御を行うように構成されている、方位角姿勢角計測装置。 - 前記第1角速度センサは、複数のスイッチ素子をさらに含み、
前記制御部は、前記第1状態では、前記複数のスイッチ素子の切替動作により前記1次側制御回路と前記2次側制御回路との機能を入れ替えるとともに、前記第2状態では、前記複数のスイッチ素子の切替動作を行わないことにより前記1次側制御回路と前記2次側制御回路との機能を入れ替えない制御を行うように構成されている、請求項1に記載の方位角姿勢角計測装置。 - 前記制御部は、静止状態と運動状態とにおいて、前記第1角速度センサの検出範囲および周波数帯域の少なくとも一方を切り替える制御を行うように構成されている、請求項1に記載の方位角姿勢角計測装置。
- 前記2次側制御回路は、前記閉じた制御ループを構成するとともに、第1増幅回路を含む駆動回路と、前記閉じた制御ループからの出力を増幅する第2増幅回路とを有し、
前記制御部は、静止状態と運動状態とにおいて、前記第1増幅回路と前記第2増幅回路とのうちの前記第1増幅回路の増幅率を切り替えることにより、前記第1角速度センサの検出範囲および周波数帯域を切り替える制御を行うように構成されている、請求項3に記載の方位角姿勢角計測装置。 - 前記制御部は、前記第1状態と前記第2状態とにおいて、温度変化によるセンサ出力の変動を補正するオフセット値を切り替える制御を行うように構成されている、請求項1に記載の方位角姿勢角計測装置。
- 前記振動子と、前記1次側制御回路と、前記2次側制御回路とを含む第2角速度センサをさらに備え、
前記制御部は、前記第2状態において、所定期間において前記第1角速度センサの前記1次側制御回路と前記2次側制御回路との機能を入れ替えずに角速度を検出するとともに、前記第2角速度センサの前記1次側制御回路と前記2次側制御回路との機能を入れ替えて角速度を検出し、前記第1角速度センサによる角速度の検出結果と、前記第2角速度センサによる角速度の検出結果と、に基づいて、前記第1角速度センサのバイアス成分を取得する制御を行うように構成されている、請求項1に記載の方位角姿勢角計測装置。 - 前記振動子と、前記1次側制御回路と、前記2次側制御回路とを含む第2角速度センサをさらに備え、
前記制御部は、前記第1状態において、所定期間において前記第1角速度センサの前記1次側制御回路と前記2次側制御回路との機能を入れ替えて角速度を検出するとともに、前記第2角速度センサの前記1次側制御回路と前記2次側制御回路との機能を入れ替えずに角速度を検出し、前記第1角速度センサによる角速度の検出結果と、前記第2角速度センサによる角速度の検出結果と、に基づいて、前記第2角速度センサのバイアス成分を取得する制御を行うように構成されている、請求項1に記載の方位角姿勢角計測装置。 - 前記振動子と、前記1次側制御回路と、前記2次側制御回路とを含む第3角速度センサと、
前記第1角速度センサおよび前記第3角速度センサに電力を供給する電源部と、をさらに備え、
前記制御部は、前記第1状態と前記第2状態との両方において、前記第1角速度センサおよび前記第3角速度センサのうちの一方により演算のための角速度を検出している場合に、前記第1角速度センサおよび前記第3角速度センサのうちの他方により、前記1次側制御回路と前記2次側制御回路との機能の入れ替えを行わないように構成されている、請求項1に記載の方位角姿勢角計測装置。 - 前記第1状態では、ジャイロコンパスとして機能するとともに、前記第2状態では、慣性航法装置として機能するように構成されている、請求項1に記載の方位角姿勢角計測装置。
- 第1角速度センサと、
制御部と、を備え、
前記第1角速度センサは、
振動子と、
閉じた制御ループを有し、前記閉じた制御ループの出力が前記振動子に1次振動を誘起させる1次側制御回路と、
前記振動子に印加される角速度に起因して前記振動子に発生する2次振動を検出する閉じた制御ループを有する2次側制御回路と、を含み、
前記第1角速度センサは、前記1次振動を誘起する機能と、前記2次振動を検出する機能とを入れ替え可能に構成されており、
前記制御部は、前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えて、角速度を検出する第1状態と、前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えずに、角速度を検出する第2状態とのいずれかに、前記第1角速度センサの状態を切り替える制御を行うように構成されている、方位角姿勢角計測装置。 - 前記第1角速度センサは、複数のスイッチ素子をさらに含み、
前記制御部は、前記第1状態では、前記複数のスイッチ素子の切替動作により前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えるとともに、前記第2状態では、前記複数のスイッチ素子の切替動作を行わないことにより前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えない制御を行うように構成されている、請求項10に記載の方位角姿勢角計測装置。 - 前記制御部は、静止状態と運動状態とにおいて、前記第1角速度センサの検出範囲および周波数帯域の少なくとも一方を切り替える制御を行うように構成されている、請求項10に記載の方位角姿勢角計測装置。
- 前記2次側制御回路は、前記閉じた制御ループを構成するとともに、第1増幅回路を含む駆動回路と、前記閉じた制御ループからの出力を増幅する第2増幅回路とを有し、
前記制御部は、静止状態と運動状態とにおいて、前記第1増幅回路と前記第2増幅回路とのうちの前記第1増幅回路の増幅率を切り替えることにより、前記第1角速度センサの検出範囲および周波数帯域を切り替える制御を行うように構成されている、請求項12に記載の方位角姿勢角計測装置。 - 前記制御部は、前記第1状態と前記第2状態とにおいて、温度変化によるセンサ出力の変動を補正するオフセット値を切り替える制御を行うように構成されている、請求項10に記載の方位角姿勢角計測装置。
- 前記振動子と、前記1次側制御回路と、前記2次側制御回路とを含む第2角速度センサをさらに備え、
前記制御部は、前記第2状態において、所定期間において前記第1角速度センサの前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えずに角速度を検出するとともに、前記第2角速度センサの前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えて角速度を検出し、前記第1角速度センサによる角速度の検出結果と、前記第2角速度センサによる角速度の検出結果と、に基づいて、前記第1角速度センサのバイアス成分を取得する制御を行うように構成されている、請求項10に記載の方位角姿勢角計測装置。 - 前記振動子と、前記1次側制御回路と、前記2次側制御回路とを含む第2角速度センサをさらに備え、
前記制御部は、前記第1状態において、所定期間において前記第1角速度センサの前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えて角速度を検出するとともに、前記第2角速度センサの前記1次振動を誘起する機能と前記2次振動を検出する機能を入れ替えずに角速度を検出し、前記第1角速度センサによる角速度の検出結果と、前記第2角速度センサによる角速度の検出結果と、に基づいて、前記第2角速度センサのバイアス成分を取得する制御を行うように構成されている、請求項10に記載の方位角姿勢角計測装置。 - 前記振動子と、前記1次側制御回路と、前記2次側制御回路とを含む第3角速度センサと、
前記第1角速度センサおよび前記第3角速度センサに電力を供給する電源部と、をさらに備え、
前記制御部は、前記第1状態と前記第2状態との両方において、前記第1角速度センサおよび前記第3角速度センサのうちの一方により演算のための角速度を検出している場合に、前記第1角速度センサおよび前記第3角速度センサのうちの他方により、前記1次振動を誘起する機能と前記2次振動を検出する機能の入れ替えを行わないように構成されている、請求項10に記載の方位角姿勢角計測装置。 - 前記第1状態では、ジャイロコンパスとして機能するとともに、前記第2状態では、慣性航法装置として機能するように構成されている、請求項10に記載の方位角姿勢角計測装置。
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JP2009115559A (ja) | 2007-11-05 | 2009-05-28 | Sumitomo Precision Prod Co Ltd | 角速度センサ及び角速度センサを備えた電子機器 |
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CN108253952A (zh) * | 2017-12-01 | 2018-07-06 | 北京时代民芯科技有限公司 | 一种零偏自校准mems陀螺仪及其零偏自校准方法 |
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WO2015129464A1 (ja) * | 2014-02-26 | 2015-09-03 | 住友精密工業株式会社 | 振動型角速度センサ |
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