| 摘要 |
PROBLEM TO BE SOLVED: To provide an angular velocity measurement instrument capable of calibrating a gyro sensor by adjusting a necessary calibration parameter without using a dedicated device.SOLUTION: An angular velocity measurement instrument includes: a parameter setting means which sets a calibration parameter of a gyro sensor to sets of values within a predetermined range; a direction estimation means which computes a direction at each time point for each of the sets of set value on the basis of a corrected angular velocity computed by using the calibration parameter having each of the sets of set value, and determine a direction change trajectory being a time-history of the direction; a trajectory evaluation means which determines corner positions on the determined direction change trajectory for each of the sets of set value and compares each trajectory part formed between two adjacent corner positions on the direction change trajectory with a reference trajectory part as a reference to compute an error of the direction change trajectory; and a calibration determination means which determines a set of values making the computed error as minimum or extremely small, as the calibration result of the calibration parameter. |
