| 摘要 |
PROBLEM TO BE SOLVED: To provide an angular velocity detector and an angular velocity detection method for dynamically calibrating the zero point of a gyro sensor. SOLUTION: The angular velocity detector provided in a mobile unit includes: the gyro sensor 102; a mobile unit motion measurement sensor 106 including a sensor other than the gyro sensor; and a correction means 110 for obtaining the maximum likelihood estimation value of the zero point with a formula where the auto-correlation of the zero point of the gyro sensor 102 is expressed by a primary model as a state equation and with the difference between angular velocity obtained from the output of the gyro sensor 102 and that obtained from the output of the mobile unit motion measurement sensor 106 as an amount of observation, and for outputting the output of the gyro sensor 102 after zero point calibration according to the estimation value as an angular velocity detection value. COPYRIGHT: (C)2010,JPO&INPIT
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