WO1996012163A1 - Vorrichtung und verfahren zur gleichzeitigen messung einer drehrate und einer transversalen beschleunigung - Google Patents
Vorrichtung und verfahren zur gleichzeitigen messung einer drehrate und einer transversalen beschleunigung Download PDFInfo
- Publication number
- WO1996012163A1 WO1996012163A1 PCT/DE1995/001270 DE9501270W WO9612163A1 WO 1996012163 A1 WO1996012163 A1 WO 1996012163A1 DE 9501270 W DE9501270 W DE 9501270W WO 9612163 A1 WO9612163 A1 WO 9612163A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- acceleration
- rotation
- axis
- rate
- transverse
- Prior art date
Links
Classifications
-
- 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
-
- 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
- G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/14—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes
Definitions
- a quartz tuning fork rotation rate sensor which can be used to measure both rotation rate and acceleration, was developed by Systron Donner as a so-called university sensor.
- one of the prongs of the tuning fork is designed as an acceleration sensor by suitable shaping, and additional electrodes are required on the tuning fork, the space requirement of which has a disadvantageous effect.
- the acceleration sensors are expediently mounted on one side of the tuning fork so that their sensitive axes are aligned parallel to one another and in the same orientation perpendicular to this surface of the tuning fork.
- one of the two identical acceleration sensors is mounted on one side and the second of the two acceleration sensors on the opposite side, the sensitive axis of which is oriented opposite to that of the first acceleration sensor.
- the signs of the measurement signals output by the second acceleration sensor are reversed.
- a measurement signal a- j is measured by the first acceleration sensor and a measurement signal a2 by the second acceleration sensor, wherein
- k ⁇ and k 2 are known calibration factors of the two acceleration sensors and v- j and the speeds of the vibration of the respective sections on which the acceleration sensors are mounted.
- the two unknowns W and a tr to be determined can be determined from these two equations (1) and (2).
- the yaw rate is now obtained from this by summing the measurement signals a-i and a2
- either the rotation rate component or the transverse acceleration component is made possible by simple summation or difference formation of the two measurement signals of the acceleration sensors.
- the measuring sensitivity is doubled both for the yaw rate and for the transverse acceleration.
- FIG. 2 shows a block diagram of a circuit for evaluating the quantities measured in FIG. 1.
- a device for simultaneously measuring yaw rate W and transverse acceleration a tr which is designed as a steel tuning fork, in which a first Si acceleration sensor 1 on its first prong 3 and a second one on its second prong 4 Si acceleration sensor 2 is mounted.
- this tuning fork is converted into a resonance oscillation of frequency w with constant speed amplitude excited while rotating at the rotation rate W to be determined.
- v denotes the speed vector of a vibrating tine and W the rotation rate vector
- the Coriolis acceleration a c 2v x W occurs on the tine. This Coriolis acceleration occurring on the tines 3 and 4 extends perpendicular to the plane spanned by the speed vector v and the rotation rate vector W.
- the two prongs 3, 4 When the tuning fork resonates with its fundamental frequency or an upper frequency, the two prongs 3, 4 always oscillate in opposite directions to one another, ie in opposite phases.
- the sensitive axes Z- j , Z2 of which are perpendicular to their planar extent measured values a- j and a-
- this component a tr can also be detected by the two Si acceleration sensors 1, 2.
- the two Si acceleration sensors 1, 2 thus each measure a signal a1 or a2 composed of Coriolis acceleration and transverse acceleration, whereby
- the yaw rate W is now obtained from this by forming the difference between the two signals a 1 and a 2 . and you get
- the rotation rate W and the transverse acceleration a tr can be determined in a simple manner.
- the use of zeier acceleration sensors doubles the measurement sensitivity both for the rotation rate W. and for the transverse acceleration a tr .
- the measurement signals a- j of the acceleration sensor 1 and a2 of the acceleration sensor 2, which are composed of the rotation rate component and the transverse acceleration component, are either subtracted from one another or added to one another.
- the difference signal that occurs is fed to a lock-in amplifier 5 for further processing, while the sum signal is fed to a low-pass filter 6.
- the low-pass filter 6 is necessary in order to eliminate a noise component in the transverse acceleration signal a tr .
- This interference component is a periodic signal, the frequency of which is equal to the tuning fork resonance frequency w used in the measurement, and it results from the cross sensitivity of the acceleration sensors 1 and 2 used.
- the transver ⁇ sale acceleration signal a tr is also a periodic signal with rotational frequency W, since when measuring the transverse acceleration a tr only the projection of the acceleration vector on the sensitive axes Z- j , 2 are effective at any moment.
- the tuning fork frequency w is much greater than the rotation rate W to be determined, so that only the high-frequency interference signal is blocked by a suitable low-pass filter 6, while the periodic signal relevant to the measurement of the transverse acceleration a tr is passed at the rotation frequency W. becomes.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8512830A JPH10507520A (ja) | 1994-10-12 | 1995-09-15 | 回転速度と横方向加速度を同時に測定する装置および方法 |
KR1019970702349A KR970706481A (ko) | 1994-10-12 | 1995-09-15 | 회전속도와 횡방향 가속도를 동시에 측정하는 장치 및 방법(Device and method for simultaneously measuring a rotating speed and a transversal acceleration) |
EP95930398A EP0786073A1 (de) | 1994-10-12 | 1995-09-15 | Vorrichtung und verfahren zur gleichzeitigen messung einer drehrate und einer transversalen beschleunigung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4436396A DE4436396A1 (de) | 1994-10-12 | 1994-10-12 | Vorrichtung und Verfahren zur gleichzeitigen Messung einer Drehrate und einer transversalen Beschleunigung |
DEP4436396.6 | 1994-10-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996012163A1 true WO1996012163A1 (de) | 1996-04-25 |
Family
ID=6530543
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1995/001270 WO1996012163A1 (de) | 1994-10-12 | 1995-09-15 | Vorrichtung und verfahren zur gleichzeitigen messung einer drehrate und einer transversalen beschleunigung |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0786073A1 (de) |
JP (1) | JPH10507520A (de) |
KR (1) | KR970706481A (de) |
DE (1) | DE4436396A1 (de) |
WO (1) | WO1996012163A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19726006A1 (de) * | 1997-06-19 | 1998-09-10 | Bosch Gmbh Robert | Drehratensensor und Verfahren zur Auswertung eines Drehratensensors |
JP3498209B2 (ja) * | 1999-10-25 | 2004-02-16 | 株式会社村田製作所 | 外力検知センサ装置 |
DE10034462A1 (de) * | 2000-07-15 | 2002-01-31 | Bosch Gmbh Robert | Vorrichtung zur standortabhängigen Darstellung von Informationen in einem spurgeführten Fahrzeug |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1987002466A1 (en) * | 1985-10-21 | 1987-04-23 | Sundstrand Data Control, Inc. | Automatic continuous nulling of angular rate sensor |
US4958519A (en) * | 1982-01-25 | 1990-09-25 | The Board Of Regents Of The University Of Nebraska | Velocimeter |
-
1994
- 1994-10-12 DE DE4436396A patent/DE4436396A1/de not_active Withdrawn
-
1995
- 1995-09-15 JP JP8512830A patent/JPH10507520A/ja active Pending
- 1995-09-15 WO PCT/DE1995/001270 patent/WO1996012163A1/de not_active Application Discontinuation
- 1995-09-15 KR KR1019970702349A patent/KR970706481A/ko not_active Application Discontinuation
- 1995-09-15 EP EP95930398A patent/EP0786073A1/de not_active Ceased
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4958519A (en) * | 1982-01-25 | 1990-09-25 | The Board Of Regents Of The University Of Nebraska | Velocimeter |
WO1987002466A1 (en) * | 1985-10-21 | 1987-04-23 | Sundstrand Data Control, Inc. | Automatic continuous nulling of angular rate sensor |
Also Published As
Publication number | Publication date |
---|---|
DE4436396A1 (de) | 1996-04-18 |
EP0786073A1 (de) | 1997-07-30 |
KR970706481A (ko) | 1997-11-03 |
JPH10507520A (ja) | 1998-07-21 |
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