Signal processing apparatus

A signal processing apparatus comprising:

• a signal input unit configured to receive and digitize two signals having a phase difference;
• a filter unit configured to filter the two digitized signals and output filtered first and second signals;
• a pattern recognition unit configured to convert the filtered first and second signals into coordinates and create a signal trajectory having a predetermined shape;
• a signal processing unit configured to create a converted sensor signal by normalizing the signal trajectory, calculate an error by comparing the converted sensor signal and a reference signal, and detect abnormality of the filtered first and second signals;
• a signal compensation unit configured to compensate the filtered first and second signals based on the error between the converted sensor signal and the reference signal when abnormality is detected;
• and
• a control unit configured to verify whether the filtered first and second signals are normally compensated, by providing the filtered first and second signals, compensated by the signal compensation unit, to the pattern recognition unit and the signal processing unit, the control unit being configured to calculate an angular velocity based on the compensated first and second signals and a verification result.