| 摘要 |
PURPOSE:To detect the angular velocity at a desired surface of revolution even when a detecting surface of an angular velocity sensor is shifted by providing an acceleration detecting means for detecting an acceleration added to the angular velocity detecting means. CONSTITUTION:An angular velocity detecting means 11 is an angular velocity sensor such as a vibration gyro, an optical fiber gyro or the like, and mounted on a vehicle to detect an angular velocity (yaw rate) in the yaw direction of the vehicle. An acceleration detecting means 12 is, for instance, a semiconductor cantilever-type acceleration sensor or a piezoelectric acceleration sensor fixed at the center of a disc. The acceleration detecting means 12 detects an acceleration in a direction perpendicular to a detecting surface of the detecting means 11. The acceleration detecting means 12 detects the acceleration at least at three different points of the detecting surface. An inclination correcting means 14 corrects an inclination of the angular velocity detecting means 11 according to the change amount of the inclination of the detecting surface calculated by an inclination angle calculating means 13. An output means 15 outputs an angular velocity detected by the angular velocity detecting means 11 whose inclination has been corrected. |
