Method and apparatus for calibrating gyro-sensor

Abstract

A method and apparatus for calibrating a gyro-sensor, by which a gyro-sensor can be calibrated using data which is obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor. The method includes measuring an angular velocity of a moving body and an average output value of the gyro-sensor when the moving body, equipped with the gyro-sensor, rotates, obtaining data about a characteristic equation of the gyro sensor using the measured angular velocity and the average output value and storing the data, and calibrating the gyro-sensor using the stored data about the characteristic equation.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application is based on and claims priority from Korean Patent Application Nos. 10-2005-0087746 and 10-2006-0075221, respectively filed on Sep. 21, 2005 and Aug. 9, 2006, respectively, the disclosures of which are hereby incorporated herein by reference.BACKGROUND OF THE INVENTION[0002]1. Field of the Invention[0003]The present invention relates to a method and apparatus for calibrating a gyro-sensor, and more particularly, to a method and apparatus for calibrating a gyro-sensor by which a gyro-sensor can be calibrated using data which is obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor.[0004]2. Description of Related Art[0005]A gyro-sensor is one example of an inertial sensor. An inertial sensor senses the motion of a handheld terminal and may be configured with an accelerometer and a gyroscope. An accelerometer is a sensor that measures an acceleration of a moving obje...

AI Technical Summary

Benefits of technology

The present invention provides a method and apparatus for calibrating a gyro-sensor using data obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor. This allows for accurate location estimation of a mobile robot even when the temperature changes. The method includes measuring the angular velocity and the average output value of the gyro-sensor when the moving body rotates, obtaining data about the characteristic equation of the gyro sensor using the measured angular velocity and the average output value, and calibrating the gyro-sensor using the stored data about the characteristic equation. The apparatus includes a measurement module, an operation module, a storage module, and a calibration module. The invention enhances the efficiency of location estimation of a mobile robot and ensures accuracy in location estimation even at different temperatures.

Problems solved by technology

While ensuring excellent performance, high-priced gyro-sensors tend to be expensive and, as such, are not cost-effective when applied to mobile robots requiring cost competitiveness, e.g., robot vacuum cleaners.

However, calibrating each of a considerable number of gyro-sensors may involve an increase in the manufacturing cost, which is not cost-effective.

In addition, since the gyro-sensors and circuits characteristics may vary due to environmental factors changing with time, the accuracy of the gyro-sensors is likely to degrade after an extended use of period, which is generally called aging.

However, an offset of the gyro-sensor can be compensated for only in a stop mode and a characteristic curve based on a gyro characteristic equation cannot be calibrated.

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