WO2007129494A1 - 角速度センサインタフェース回路および角速度検出装置 - Google Patents
角速度センサインタフェース回路および角速度検出装置 Download PDFInfo
- Publication number
- WO2007129494A1 WO2007129494A1 PCT/JP2007/052959 JP2007052959W WO2007129494A1 WO 2007129494 A1 WO2007129494 A1 WO 2007129494A1 JP 2007052959 W JP2007052959 W JP 2007052959W WO 2007129494 A1 WO2007129494 A1 WO 2007129494A1
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- WIPO (PCT)
- Prior art keywords
- angular velocity
- circuit
- sensor interface
- velocity sensor
- signal
- Prior art date
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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
-
- 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 interface circuit and an angular velocity detection device for an angular velocity sensor used for camera shake correction, for example.
- angular velocity sensors that detect camera shake are used for camera shake correction.
- An angular velocity sensor used for such camera shake correction or the like drives the piezoelectric vibrator and the piezoelectric vibrator, and detects an electromotive voltage generated by the vibration of the piezoelectric vibrator caused by Coriolis to detect the angular velocity.
- a voltage signal corresponding to the output is output.
- This amplifier circuit is a DC amplifier circuit, and a DC offset inevitably occurs due to variations in circuit constants.
- a circuit is configured to amplify the output signal of the angular velocity sensor through a high-pass filter by cutting the DC component and the low-frequency component.
- the angular velocity sensor 11 inputs a power supply voltage VCC and outputs an angular velocity detection signal Vo corresponding to the angular velocity.
- the capacitor C1 and the resistor R1 constitute a high-pass filter 12, and the resistors R2 and R3 and the operational amplifier OP constitute a DC amplification circuit.
- the high-pass filter 12 and the DC amplifier circuit constitute an angular velocity sensor interface circuit.
- a switch SW that short-circuits both ends of the resistor R1 is provided in the high-pass filter 12. When the angular velocity sensor 11 and the angular velocity sensor interface circuit are activated, the switch SW is turned on to short-circuit both ends of the resistor R1. This minimizes the charging time constant of the capacitor C1 in the high-pass filter 12, charges the capacitor C1 to a steady voltage at high speed, and makes it possible to immediately use the output signal of the angular velocity sensor interface circuit. .
- Patent Document 1 Japanese Patent Application Laid-Open No. 5-207356
- the capacitance of the capacitor C1 in the high-pass filter 12 shown in FIG. 1 is as large as several tens of ⁇ F, for example. Even if the resistor R1 is short-circuited by the switch SW as shown in FIG. For example, even if this angular velocity detection device is provided for camera shake correction, it will be necessary to use the camera shake correction function at the same time as the camera is turned on. I could't do it.
- FIG. 2 is a waveform diagram of each part of the angular velocity sensor interface circuit shown in FIG.
- the output voltage VaO of the operational amplifier OP is the initial power supply voltage VCC.
- Va 0 decreases and eventually converges to the reference voltage Vref.
- an object of the present invention is to reduce the above-mentioned problem by significantly reducing the rise time (the time until the voltage corresponding to the angular velocity is correctly output after the power is turned on). It is an object to provide a degree sensor interface circuit and an angular velocity detection device.
- the present invention is configured as follows.
- An angular velocity sensor interface circuit includes a piezoelectric vibrator (1), a drive that drives the piezoelectric vibrator, and a vibration caused by the vibration of the piezoelectric vibrator, as shown in FIGS.
- An angular velocity detection signal (Vo) that is a voltage signal corresponding to the applied angular velocity to the angular velocity signal processing circuit (101), and amplifies the angular velocity detection signal.
- Detection signal amplification circuit (30),
- the angular velocity detection signal amplification circuit amplifies the angular velocity detection signal amplification circuit so that the output voltage becomes the reference voltage (Vref) that is output when the applied angular velocity is zero.
- the reference voltage is applied to the angular velocity signal processing circuit (101) during the offset adjustment period, and the output signal of the angular velocity detection signal amplification circuit (30) is output to the angular velocity signal processing circuit (101) after the offset adjustment period has elapsed. And an input switch circuit (SW1) for feeding to the circuit.
- the input unit of the angular velocity signal processing circuit (101) is connected in series to the output of the angular velocity detection signal amplifier circuit (30).
- a high pass filter (22) including a connected capacitor (C21) and a resistor (R25) connected to a shunt is provided between the capacitor and the reference voltage line.
- a discharge switch circuit (S W2) is provided in which both ends of the capacitor (C21) are short-circuited during the offset adjustment period and both ends of the capacitor are opened after the offset adjustment period has elapsed.
- the angular velocity signal processing circuit includes an amplification circuit (32) that amplifies the output voltage of the angular velocity detection signal amplification circuit (30) and a signal in an unnecessary frequency band. And a filter (33) for attenuating the component, and outputting a voltage signal corresponding to the magnitude of the angular velocity, comprising two angular velocity signal processing circuits,
- An angular velocity detection device includes the angular velocity sensor interface circuit according to any one of [1] to [3] and the angular velocity sensor.
- the angular velocity detection device of the present invention has a relationship in which the angular velocity sensor interface circuit according to the above [4] and the rotational axes of the angular velocity are orthogonal to each other, and the respective angular velocity detection signals are obtained. And two angular velocity sensors applied to the two angular velocity signal processing circuits.
- the voltage output from the angular velocity sensor (21) is the reference voltage (Vref ),
- the offset is adjusted.
- the reference voltage is applied to the angular velocity signal processing circuit (101) by the input switch circuit (SW1) during the offset adjustment period, and the output of the angular velocity sensor (21) passes through the amplifier circuit 30 after the offset adjustment period has elapsed. It is given to the angular velocity signal processing circuit (101).
- the offset adjustment circuit (31) is not related to the charge / discharge time constant, for example, because it only adjusts the offset by setting the reference voltage of the DC amplification circuit that amplifies the output signal of the angular velocity sensor (21) to a predetermined value. . For this reason, the rise time can be significantly reduced by reducing the rise time by reducing the charge time constant of the capacitor of the conventional no-pass filter.
- a high pass including a capacitor (C21) connected in series at the input portion of the angular velocity signal processing circuit (101) that processes the angular velocity detection signal that is an output signal of the angular velocity sensor (21).
- a filter (22) is provided, and both ends of the capacitor are short-circuited during the offset adjustment period due to the action of the discharge switch circuit, and both ends of the capacitor are opened after the offset adjustment period has elapsed.
- the angular velocity signal processing circuit (101) can perform signal processing such as amplification on the signal that has passed through the high-pass filter.
- two angular velocity signal processing circuits that output voltage signals corresponding to the magnitude of the applied angular velocity are provided, and the output voltage signals of the two angular velocity signal processing circuits are By providing an AD converter that performs AD conversion by dividing, two angular velocity sensors can be used without increasing the circuit scale.
- FIG. 1 is a diagram showing a configuration example of an angular velocity sensor interface circuit shown in Patent Document 1.
- FIG. 2 is a diagram showing waveforms at various parts during startup of the angular velocity sensor interface circuit.
- FIG. 3 is a block diagram showing a configuration of an angular velocity sensor interface circuit and an angular velocity detection device according to the first embodiment.
- FIG. 4 is a block diagram showing a configuration of an angular velocity sensor.
- FIG. 5 is a timing chart showing a state when the angular velocity sensor interface circuit shown in FIG. 3 is started.
- FIG. 6 is a block diagram showing a configuration of an angular velocity sensor interface circuit and an angular velocity detection device according to a second embodiment.
- FIG. 7 is a timing chart showing a state at the start of the angular velocity sensor interface circuit.
- FIG. 8 is a voltage waveform diagram of an output signal VaO of the angular velocity detection device shown in FIG. 6 and a voltage waveform diagram of an output signal of a comparative angular velocity detection device.
- FIG. 9 is a block diagram showing a configuration of an angular velocity sensor interface circuit and an angular velocity detection device according to a third embodiment.
- FIG. 10 is a block diagram showing a configuration of an angular velocity sensor interface circuit and an angular velocity detection device according to a fourth embodiment.
- FIG. 3 is a diagram showing a configuration of the angular velocity sensor interface circuit and the angular velocity detection device according to the first embodiment.
- the angular velocity detection device 200 includes an angular velocity sensor 21, an angular velocity sensor interface circuit 100, and an angular velocity signal processing circuit 101.
- the angular velocity sensor 21 includes a piezoelectric vibrator, and a circuit that drives the piezoelectric vibrator and detects an electromotive voltage generated by the vibration of the piezoelectric vibrator, according to the applied angular speed.
- the angular velocity detection signal Vo which is a voltage signal, is output. Also outputs the reference voltage Vref.
- the angular velocity sensor interface circuit 100 is an angular velocity output from the angular velocity sensor 21.
- the detection signal Vo is DC-amplified and its output offset is adjusted, and an angular velocity detection signal amplification circuit 30 and an offset adjustment circuit 31 are provided.
- the angular velocity signal processing circuit 101 includes an amplifier circuit that amplifies the angular velocity detection signal output from the angular velocity sensor interface circuit 100.
- FIG. 4 is a block diagram showing a configuration of angular velocity sensor 21 shown in FIG.
- the vibrator 1 is provided with a left electrode 1L, a right electrode 1R, and a common electrode 1C, and a voltage + V is applied to the left electrode 1L and the right electrode 1R through a resistor.
- Left electrode 1L and right electrode 1R forces L and R signals, each containing Coriolis, are extracted and applied to adder 2 and differential amplifier 3.
- Adder circuit 2 adds the L and R signals and outputs an L + R signal. In this way, by adding the L signal and the R signal in the adder circuit 2, Coriolis is canceled and a stable feedback signal is obtained.
- phase shift circuit 5 adjusts the phase of the output of the adder circuit 2 and adjusts so that the phase difference between the output of the adder circuit 2 and the drive voltage applied to the common electrode 1C oscillates stably at a desired frequency.
- These oscillator adder circuit 2, amplitude control circuit 4, and phase shift circuit 5 constitute an oscillation circuit.
- the adder circuit 2, the amplitude control circuit 4, and the phase shift circuit 5 constitute a drive circuit that drives the vibrator 1.
- the output signal of the adder circuit 2 is given to, for example, a synchronization signal generation circuit 6 that also constitutes a comparator force, and a rectangular wave-like synchronization signal is given to the synchronization detection circuit 7.
- the synchronous detection circuit 7 detects the signal output from the differential amplifier circuit 3 in synchronization with the synchronous signal output from the synchronous signal generation circuit 6.
- the output voltage of the synchronous detection circuit 7 is a DC voltage that is substantially proportional to the angular velocity applied to the piezoelectric vibrator 1.
- the DC amplification circuit 8 amplifies this and outputs it as an angular velocity detection signal Vo.
- the reference voltage generation circuit 9 outputs the reference voltage Vref to the inside and outside of the angular velocity sensor 21.
- the control circuit 24 When the angular velocity detection device 200 is turned on, the control circuit 24 is reset and starts operating. Start. First, the control circuit 24 keeps the counter 25 in the reset state for 100 ms immediately after startup. It waits for the output voltage of the angular velocity sensor 21 to stabilize during this 100 ms. Thereafter, the control circuit 24 supplies the clock signal from the clock signal generation circuit 23 to the counter 25. As a result, the counter 25 counts the clock signal from the initial value 0. The DA converter 26 supplies a voltage signal corresponding to the value of the counter 25 to the non-inverting input terminal (+) of the operational amplifier OP1. As counter 25 counts up, the input voltage at the non-inverting input terminal of operational amplifier OP1 rises.
- the comparator CP1 compares the output voltage of the operational amplifier OP1 with the reference voltage Vref, and sets a control signal (flag) to be supplied to the control circuit 24 when the output voltage of the operational amplifier OP1 reaches the reference voltage ( No, i level). (In Fig. 3, the downward triangle represents the reference voltage Vref line.) As a result, the control circuit 24 stops the clock signal applied to the counter 25. In this state, the output voltage of operational amplifier OP1 is equal to the reference voltage Vref. Also, the offset adjustment period ends when the flag is set.
- the input switch circuit SW1 selects the reference voltage Vref side. Therefore, the reference voltage Vref is input to the angular velocity signal processing circuit 101.
- the angular velocity detector When the angular velocity detector is activated, generally a large angular velocity is not acting, so a plausible signal can be output even during the offset adjustment period. Therefore, even immediately after starting the angular velocity detection device, the external host device can use the output signal of the angular velocity detection device without malfunctioning.
- the input switch circuit SW1 is switched to select the ADJOUT side that is the output of the operational amplifier OP1. Therefore, after the offset adjustment period has elapsed, the angular velocity detection signal Vo output from the angular velocity sensor 21 is amplified to a predetermined gain by the angular velocity detection signal amplification circuit 30, and is amplified by the operational amplifier OP2 of the angular velocity signal processing circuit 101. Furthermore, a predetermined gain (for example, 100 ⁇ 200 times) amplified.
- FIG. 5 is a timing chart showing the state of each part of FIG. 3 after the power is turned on.
- the control circuit 24 keeps the counter 25 in the reset state for 100 ms immediately after the power is turned on, and waits for the output voltage of the angular velocity sensor 21 to stabilize during this 100 ms.
- a clock signal is supplied to the counter 25.
- the flag is set by the above-described operation until the maximum of 5.6 ms elapses, and the offset adjustment is completed. This 5.6 ms is determined by the maximum count of counter 25 (the maximum input value of DA converter 26) and the frequency of the clock signal.
- FIG. 6 is a diagram showing a configuration of an angular velocity sensor interface circuit and an angular velocity detection device according to the second embodiment.
- a capacitor C21 connected in series to the output of the angular velocity detection signal amplifier circuit 30 is connected to the input portion of the angular velocity signal processing circuit 101, and the capacitor C21 A no-pass filter 22 comprising a resistor R25 connected to a shunt is provided between the reference voltage line and the reference voltage line.
- a discharge switch circuit SW2 is provided at both ends of the capacitor C21.
- the structure and operation of the other parts are the same as those shown in Fig. 3.
- the discharge switch circuit SW2 is turned on during the offset adjustment period.
- the input switch circuit SW1 is selected on the reference voltage Vref side during the offset adjustment period. Therefore, the voltage across the capacitor C21 and the charge bias between the voltages across the capacitor C21 are eliminated during the offset adjustment period.
- FIG. 7 is a timing chart showing the state of each part of FIG. 6 after the power is turned on.
- the control circuit 24 keeps the counter 25 in the reset state for 100 ms immediately after the power is turned on, and waits for the output voltage of the angular velocity sensor 21 to stabilize during this 100 ms.
- Discharge switch circuit SW2 is 125ms after power-on (from reset release of counter 25) Until 25 ms elapses), the discharge switch circuit SW2 is on and the input switch circuit SW1 selects the reference voltage Vref side. This eliminates the voltage across capacitor C21 and the charge bias between the voltages across it.
- FIG. 8 is a voltage waveform diagram of the output signal VaO of the angular velocity detection device 200 shown in FIG. 6 and a voltage waveform diagram of the output signal of the comparative angular velocity detection device.
- (A) to (C) are waveforms when the output signal VaO of the angular velocity detection device 200 shown in FIG. 6 is started.
- one scale on the horizontal axis is 1 second.
- Voff is the offset voltage of the angular velocity sensor 21 and the operational amplifier OP1, and is the difference voltage between the voltage of the angular velocity detection signal Vo and the reference voltage Vref.
- (A) (D) (G) has an offset voltage of -204 mV
- (B) (E) (H) has an offset voltage of 27 mV
- (C) (F) (I) has an offset voltage. This is an example when using an angular velocity sensor of 195 mV.
- FIG. 8 (A), (B), and (C) are waveforms at the time of start-up when the input switch circuit SW1 and the discharge switch circuit SW2 are provided as shown in FIG. (D)
- E) shows the conventional angular velocity sensor interface circuit shown in Fig. 1 with the high-pass filter switch equipped with a high-speed charging switch SW, and when the switch SW is turned on. This is the waveform.
- G) (H) (I) is a conventional angular velocity sensor interface that does not have the above-mentioned fast charge switch. It is a waveform at the time of starting in a face circuit.
- the discharge switch circuit SW2 is not provided in the high-pass filter 22.
- the input switch circuit SW1 selects the Vref side during the offset adjustment period.
- the circuit SW1 side becomes the reference voltage Vref.
- the capacitor C21 is connected to the operational amplifier OP2, the reference voltage Vref is applied via the resistor R25. Therefore, immediately after the power is turned on, the capacitor C21 is charged! If there is no charge / discharge current does not flow to the capacitor C21. Therefore, normally, the charge / discharge of the capacitor C21 does not occur during the offset adjustment period, and the rise time does not increase.
- FIG. 10 is a block diagram showing a configuration of an angular velocity sensor interface circuit and an angular velocity detection device according to the fourth embodiment.
- the configurations of the angular velocity sensor 21, the angular velocity detection signal amplifier circuit 30, the offset adjustment circuit 31, the input switch circuit SW1, and the high-pass filter 22 are the same as those shown in FIG.
- the amplifier circuit 32 amplifies the output signal of the high-pass filter 22, and the low-pass filter 33 removes unnecessary signal components of a predetermined frequency or higher.
- two systems are provided for each part described above. The first system is marked with A at the end of the code, and the second system is marked with B.
- the AD converter 34 selects the output signals of the low-pass filters 33A and 33B in a time-division manner and converts them into digital data.
- the microcomputer 40 switches the input to the AD converter 34 and reads the AD converted value to perform, for example, camera shake correction processing.
- the angular velocity sensor 21A is arranged in the camera so as to be sensitive to the angular velocity in the winging direction, that is, the angular velocity having the vertical line as the rotation axis.
- the angular velocity sensor 21 B is arranged in the camera so as to respond to the angular velocity in the pitching direction, that is, the angular velocity with the left and right horizontal axes as the rotation axis. In this way, two angular velocity sensors can be used without increasing the circuit scale.
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Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2007540851A JP4784607B2 (ja) | 2006-04-26 | 2007-02-19 | 角速度センサインタフェース回路および角速度検出装置 |
KR1020087026140A KR101169123B1 (ko) | 2006-04-26 | 2007-02-19 | 각속도 센서 인터페이스 회로 및 각속도 검출장치 |
US12/256,572 US8127607B2 (en) | 2006-04-26 | 2008-10-23 | Angular velocity sensor interface circuit and angular velocity detection apparatus |
Applications Claiming Priority (2)
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JP2006122282 | 2006-04-26 | ||
JP2006-122282 | 2006-04-26 |
Related Child Applications (1)
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US12/256,572 Continuation US8127607B2 (en) | 2006-04-26 | 2008-10-23 | Angular velocity sensor interface circuit and angular velocity detection apparatus |
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WO2007129494A1 true WO2007129494A1 (ja) | 2007-11-15 |
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PCT/JP2007/052959 WO2007129494A1 (ja) | 2006-04-26 | 2007-02-19 | 角速度センサインタフェース回路および角速度検出装置 |
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US (1) | US8127607B2 (ja) |
JP (1) | JP4784607B2 (ja) |
KR (1) | KR101169123B1 (ja) |
TW (1) | TWI347122B (ja) |
WO (1) | WO2007129494A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009122739A1 (ja) * | 2008-04-04 | 2009-10-08 | パナソニック株式会社 | センサ装置 |
US7730782B2 (en) | 2008-04-04 | 2010-06-08 | Panasonic Corporation | Sensor device |
US8322214B2 (en) | 2008-04-04 | 2012-12-04 | Panasonic Corporation | Sensor device |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5458462B2 (ja) * | 2005-10-11 | 2014-04-02 | パナソニック株式会社 | 振動型慣性力検知センサ |
JP2009296305A (ja) * | 2008-06-05 | 2009-12-17 | Sony Corp | 操作装置、映像再生装置、操作情報出力方法 |
KR101218991B1 (ko) * | 2010-08-06 | 2013-01-07 | 삼성전기주식회사 | 자이로 센서 구동 장치 |
JP2014149218A (ja) * | 2013-02-01 | 2014-08-21 | Hitachi Automotive Systems Ltd | 慣性力検出装置 |
US9835454B2 (en) * | 2015-02-09 | 2017-12-05 | Invensense, Inc. | High-Q MEMS gyroscope |
JP2017156313A (ja) * | 2016-03-04 | 2017-09-07 | セイコーエプソン株式会社 | 角速度検出回路、角速度検出装置、電子機器及び移動体 |
JP2017156312A (ja) * | 2016-03-04 | 2017-09-07 | セイコーエプソン株式会社 | 角速度検出回路、角速度検出装置、電子機器及び移動体 |
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JPH0594709U (ja) * | 1992-06-01 | 1993-12-24 | 古野電気株式会社 | 物標監視システム |
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JP2005214948A (ja) * | 2004-02-02 | 2005-08-11 | Tokimec Inc | 静電浮上型ジャイロ装置 |
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JPH0628186A (ja) * | 1992-07-09 | 1994-02-04 | Kawasaki Steel Corp | 複数処理演算器の並列処理方法及び並列処理装置 |
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- 2007-02-19 KR KR1020087026140A patent/KR101169123B1/ko not_active IP Right Cessation
- 2007-02-19 JP JP2007540851A patent/JP4784607B2/ja not_active Expired - Fee Related
- 2007-02-19 WO PCT/JP2007/052959 patent/WO2007129494A1/ja active Application Filing
- 2007-03-02 TW TW096107161A patent/TWI347122B/zh not_active IP Right Cessation
-
2008
- 2008-10-23 US US12/256,572 patent/US8127607B2/en not_active Expired - Fee Related
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JPH0594709U (ja) * | 1992-06-01 | 1993-12-24 | 古野電気株式会社 | 物標監視システム |
JPH09297028A (ja) * | 1996-04-30 | 1997-11-18 | Nikon Corp | ジャイロセンサの出力処理回路及びこれを用いたスティルカメラ |
JP2004347505A (ja) * | 2003-05-23 | 2004-12-09 | Minolta Co Ltd | 振れ検出装置及び振れ検出方法 |
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WO2009122739A1 (ja) * | 2008-04-04 | 2009-10-08 | パナソニック株式会社 | センサ装置 |
US7730782B2 (en) | 2008-04-04 | 2010-06-08 | Panasonic Corporation | Sensor device |
US7775109B2 (en) | 2008-04-04 | 2010-08-17 | Panasonic Corporation | Sensor device |
US8322214B2 (en) | 2008-04-04 | 2012-12-04 | Panasonic Corporation | Sensor device |
Also Published As
Publication number | Publication date |
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KR101169123B1 (ko) | 2012-09-13 |
JPWO2007129494A1 (ja) | 2009-09-17 |
TW200742422A (en) | 2007-11-01 |
KR20080106981A (ko) | 2008-12-09 |
US8127607B2 (en) | 2012-03-06 |
TWI347122B (en) | 2011-08-11 |
JP4784607B2 (ja) | 2011-10-05 |
US20090031807A1 (en) | 2009-02-05 |
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