JP2004286529A - Multiaxial gyro sensor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a low-cost multiaxial gyro sensor with high reliability. <P>SOLUTION: The multiaxial gyro sensor comprises the first gyro sensor 1 and the second gyro sensor 2 which are provided to form a predetermined symmetry angle and the direction of the angular velocity detection axis of each sensor is different, and a judging means 101 which judges failures in the first and second gyro sensors by comparing each of vertical and horizontal components of the angular velocities detected by the first and second gyro sensors. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a multi-axis gyro sensor having a gyro sensor for detecting an angular velocity.
[0002]
[Prior art]
As a conventional technique, a technique related to a gyro sensor for detecting an angular velocity is disclosed in Patent Document 1 below.
[0003]
[Patent Document 1]
JP-A-2002-213959 (paragraphs 0017 to 0019)
[0004]
The conventional technique described in Patent Document 1 will be described with reference to FIG. As shown in FIG. 4, by installing the first gyro sensor 1 and the second gyro sensor 2 in the biaxial directions on the gyro sensor mounting surface 3, the angular velocities of other axes can be detected without detecting the road surface inclination angle. Can be detected. Therefore, the first gyro sensor 1 and the second gyro sensor 2 are fixed to the mounting position so that the first angular velocity detection axis and the second angular velocity detection axis are orthogonal to each other.
[0005]
[Problems to be solved by the invention]
However, in the prior art described in Patent Document 1, even though it is possible to obtain angular velocities in two axial directions, it is possible to obtain an output in the direction of the detection axis of angular velocity because the gyro sensor installed on each axis It is not possible to make a failure determination because it is only the case. Therefore, in order to detect a failure of one of the gyro sensors, it is necessary to newly install a means for detecting the failure. As a countermeasure, it is conceivable to additionally install a coaxial gyro sensor, but there is a problem that the cost increases.
[0006]
The present invention has been made in view of the above circumstances, and has as its object to provide a multi-axis gyro sensor capable of performing a failure determination and suppressing an increase in cost.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, a first gyro sensor, a second gyro sensor, and a first gyro sensor are fixed so as to form a predetermined symmetrical angle and have different angular velocity detection axis directions. And a judging means for judging a failure of the second gyro sensor. That is, according to the present invention, the first gyro sensor and the second gyro sensor, which form a predetermined symmetrical angle and are fixed so that the detection axis directions of the angular velocities are different, the first gyro sensor and the second gyro sensor. A multi-axis gyro sensor comprising: an angular velocity detected by each of the second gyro sensor and a vertical gyro sensor; and determination means for determining a failure of the first gyro sensor and the second gyro sensor. Is done.
[0008]
Further, in the comparison of the vertical component and the horizontal component, if the determination means constituting the multi-axis gyro sensor according to the present invention is such that at least one of the vertical components and the horizontal components is not equal, the first It is a preferable aspect of the present invention to determine the failure of the gyro sensor and the second gyro sensor.
[0009]
Further, it is a preferable aspect of the present invention to further include a notifying unit for notifying that a failure has occurred when the determination unit constituting the multi-axis gyro sensor according to the above invention determines that a failure has occurred.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS. First, a block configuration of a multi-axis gyro sensor according to an embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, the multi-axis gyro sensor 100 includes a first gyro sensor 1, a second gyro sensor 2, a judging unit 101, and a notifying unit 102. Here, the positional relationship between the first gyro sensor 1 and the second gyro sensor 2 will be described with reference to FIG. As shown in FIG. 2, the first gyro sensor 1 and the second gyro sensor 2 are fixed to the gyro sensor mounting surface 3 at an inclination angle θ with respect to the gyro sensor mounting surface 3. By fixing in this way, the output values Ω1 and Ω2 of both gyro sensors can be decomposed into vertical components Ω1 sin θ and Ω2 sin θ and horizontal components Ω1 cos θ and Ω2 cos θ with respect to the gyro sensor mounting surface 3, respectively. The value of each of the decomposed components is used for detecting a failure of the gyro sensor in the operation of FIG. 3 described later.
[0011]
The determination means 101 in FIG. 1 compares the angular velocities obtained from the first gyro sensor 1 and the second gyro sensor 2 shown in FIG. 2 for each of the vertical component and the horizontal component, and detects the failure of the gyro sensor. The determining means 101 corresponds to, for example, a CPU. The notifying unit 102 compares one component with another and determines that one of the gyro sensors is faulty when the comparing unit 101 determines that either of the formulas (1) and (2) described below is not satisfied. For example, a failure signal is issued to notify the user of the fact. Specific examples of the failure signal include a display on a display (not shown) and an alarm sound.
[0012]
Next, an operation of detecting a failure of the gyro sensor according to the embodiment of the present invention will be described with reference to the flowchart of FIG. The determination means 101 determines whether the detected vertical component of the angular velocity of the first gyro sensor 1 and the detected vertical component of the angular velocity of the second gyro sensor 2 satisfy the following equation (1) (S301). . That is, it is determined whether or not the vertical components Ω1sinθ and Ω2sinθ are equal. Here, “equal” means not only the same size as each other but also that the vertical components are equal even when the value of one vertical component is within a predetermined error range with respect to the other vertical component. The same applies to determination of a horizontal component described later. If it is determined that Expression (1) is not satisfied, the determining means 101 determines that one of the gyro sensors has failed, and notifies the user (S303). On the other hand, when it is determined that the expression (1) is satisfied, the determination unit 101 determines that the horizontal component of the angular velocity of the first gyro sensor 1 and the horizontal component of the angular velocity of the second gyro sensor 2 satisfy the following expression (2). It is determined whether or not the condition is satisfied (S302). When it is determined that the expression (2) is not satisfied, the determination unit 101 determines that one of the gyro sensors has failed, and notifies the user (S303). On the other hand, when it is determined that Expression (2) is satisfied, the determination unit 101 determines that both gyro sensors are operating normally, and ends the failure detection of the gyro sensors.
[0013]
(Equation 1)
Ω1sinθ = Ω2sinθ (1)
[0014]
(Equation 2)
Ω1cosθ = Ω2cosθ (2)
[0015]
Further, by mounting the multi-axis gyro sensor 100 of the present invention on a vehicle navigation device (not shown), it is possible to properly obtain the traveling direction of the vehicle based on the angular velocity detection, and to detect the failure of the gyro sensor. You can also.
[0016]
According to the multi-axis gyro sensor of the present invention described above, the first and second gyro sensors are fixed to form a predetermined symmetrical angle and have different angular velocity detection axis directions, and the first gyro sensor And comparing the angular velocity detected by the second gyro sensor with the angular velocity detected by the second gyro sensor for each of the vertical component and the horizontal component, and determining a failure of the first gyro sensor and the second gyro sensor. The determination can be performed, and the increase in cost can be suppressed.
[Brief description of the drawings]
FIG. 1 is a block diagram of a multi-axis gyro sensor according to an embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a positional relationship between first and second gyro sensors according to the embodiment of the present invention.
FIG. 3 is a flowchart for explaining an operation of detecting a failure of the gyro sensor according to the embodiment of the present invention.
FIG. 4 is an explanatory diagram illustrating the positional relationship between first and second gyro sensors in a conventional multi-axis gyro sensor.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 1st gyro sensor 2 2nd gyro sensor 3 Gyro sensor mounting surface 100 Multi-axis gyro sensor 101 Judgment means 102 Notification means

Claims (3)

A first gyro sensor and a second gyro sensor fixed to form a predetermined symmetric angle and to have different angular velocity detection axis directions;
Judgment means for comparing angular velocities detected by the first gyro sensor and the second gyro sensor for each of a vertical component and a horizontal component to judge a failure of the first gyro sensor and the second gyro sensor. And
Multi-axis gyro sensor. In the comparison for each of the vertical component and the horizontal component, the determination unit determines that the first gyro sensor and the second gyro sensor have failed if at least one of the vertical components and the horizontal components is not equal. The multi-axis gyro sensor according to claim 1, wherein the determination is performed. 3. The multi-axis gyro sensor according to claim 1, further comprising: a notifying unit that notifies a failure when the determination unit determines that a failure has occurred. 4.

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