METHOD OF ESTIMATING MOUNTING ANGLE ERROR OF GYROSCOPES BY USING A TURNING DEVICE, AND CORRESPONDING TURNING DEVICE

摘要

Bias values of pitch axis and roll axis angular velocity sensors in a stationary state where a reference yaw axis of a two-wheeled inverted pendulum vehicle body is stationary in parallel with a vertical direction are acquired. Bias values of the pitch axis and roll axis angular velocity sensors in a turning state where a two-wheeled inverted pendulum vehicle is turned at a predetermined turning angular velocity in a state where the reference yaw axis of the two-wheeled inverted pendulum vehicle body remains parallel to the vertical direction are acquired. Mounting angle errors of the pitch axis and roll axis angular velocity sensors with respect to the two-wheeled inverted pendulum vehicle body are estimated on the basis of the bias values of the sensors in the stationary state, the bias values of the sensors in the turning state and the predetermined turning angular velocity.

主权项

1. A method of estimating, in an inverted pendulum mobile unit that includes an inverted pendulum mobile unit body, a pitch axis angular velocity sensor and a roll axis angular velocity sensor, a mounting angle error of the pitch axis angular velocity sensor and a mounting angle error of the roll axis angular velocity sensor with respect to an inverted pendulum mobile unit body, comprising:
acquiring a bias value of the pitch axis angular velocity sensor and a bias value of the roll axis angular velocity sensor in a stationary state where a reference yaw axis of the inverted pendulum mobile unit body is stationary in a vertical direction by acquiring an output from the pitch axis angular velocity sensor and an output from the roll axis angular velocity sensor in the stationary state; acquiring a bias value of the pitch axis angular velocity sensor and a bias value of the roll axis angular velocity sensor in a turning state where the inverted pendulum mobile unit is turned at a predetermined turning angular velocity in a state where the reference yaw axis of the inverted pendulum mobile unit body remains parallel to the vertical direction by acquiring an output from the pitch axis angular velocity sensor and an output from the roll axis angular velocity sensor in the turning state; and estimating the mounting angle error of the pitch axis angular velocity sensor and the mounting angle error of the roll axis angular velocity sensor with respect to the inverted pendulum mobile unit body on the basis of the bias values of the sensors in the stationary state, the bias values of the sensors in the turning state and the predetermined turning angular velocity.