Method for calibrating gyro sensor on basis of vehicle speed
AssigneeHyundai Autoever Corp.
InventorsMyung Hwan Seo, Jeong Dong Min
Life of this patent
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Abstract
The present disclosure relates to a gyro sensor calibration method based on vehicle velocity, which can extract a weighting factor in consideration of vehicle velocity, apply the extracted weighting factor to an extended Kalman filter, and accurately calibrate a gyro sensor in real time, in order to prevent accumulation of scale factor calibration errors, which may occurs as a turning radius is changed depending on vehicle velocity in a turning section, when a GNSS-based dead reckoning (DR) system calibrates a scale factor of the gyro sensor through the extended Kalman filter using GNSS information received in the turning section.
Claims18
A gyro sensor calibration method based on vehicle velocity, the method comprising:
- an initial calibration step in which control logic of a dead reckoning (DR) system performs initial calibration;
- a weighting factor extraction step in which the control logic extracts a weighting factor based on a relationship between turning velocity of a vehicle and scale factors, wherein the scale factors are stored in a database;
- a scale factor update step in which the control logic updates a gyro sensor scale factor of a gyro sensor among the scale factors, using the weighting factor, when the turning velocity of the vehicle is equal to or more than a first threshold value;
- and
- a gyro sensor calibration step in which the control logic calibrates the gyro sensor using the updated gyro sensor scale factor of the gyro sensor,
- wherein when the turning velocity of the vehicle is less than the first threshold value, the control logic calibrates the gyro sensor using a previously stored gyro sensor scale factor.
A dead reckoning (DR) system comprising:
- a gyro sensor;
- and
- control logic configured to calibrate the gyro sensor based on velocity of a vehicle,
- wherein the control logic performs initial calibration, extracts a weighting factor based on a relationship between turning velocity of the vehicle and scale factors, the scale factors being stored in a database, updates a gyro sensor scale factor of the gyro sensor, among the scale factors, using the weighting factor when the turning velocity of the vehicle is equal to or more than a first threshold value, and calibrates the gyro sensor using the updated gyro sensor scale factor of the gyro sensor,
- wherein when the turning velocity of the vehicle is less than the first threshold value, the control logic calibrates the gyro sensor using a previously stored gyro sensor scale factor.
Dependencies are inferred from the claim text.