Gyro sensor module and angular velocity detection method

Abstract

A gyro sensor module built into a navigation system mounted into a mobile unit includes: a first gyro sensor detecting and outputting a first angular velocity ω1 around a first detection axis; a sign determination circuit for determining a sign of the first angular velocity ω1; a second gyro sensor detecting and outputting a second angular velocity ω2 around a second detection axis intersecting the first detection axis at an acute angle θ12; a sensor output correction circuit for correcting outputs of the first and second gyro sensors; and a computation circuit for computing ω′ by equations ω′=√(ω1′2+SA2) and SA=(ω2′−ω1′ cos θ12)/sin θ12 using a first angular velocity ω1′ and a second angular velocity ω2′ obtained by a correction performed by the sensor output correction circuit, and outputting an angular velocity ω obtained by multiplying the ω′ by the sign of the first angular velocity ω′ obtained by the sign determination circuit. The sensor output correction circuit includes: a first offset adjustment circuit for outputting a value ω1″ obtained by subtracting from the ω1 a correction value B1 corresponding to an output value of the first gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping; and a second offset adjustment circuit for outputting a value ω2″ obtained by subtracting from the ω2 a correction value B2 corresponding to an output value of the second gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping. The angular velocity ω is an angular velocity around an axis located in a plane including the first and second detection axes and in a range between the first and second detection axes.

Dependencies are inferred from the claim text.