Apparatus for Detecting Angular Velocity and Acceleration

An apparatus for detecting angular velocity and acceleration, comprising

• a vibrator unit which vibrates in first and second directions perpendicular to each other, wherein
• a displacement amount of the vibrator unit is detected as the angular velocity when the vibrator unit is displaced in the second direction due to a generation of an angular velocity while the vibrator unit is vibrated in the first direction, and displacement amounts of vibrator units in first and the second directions are detected as accelerations,
• the apparatus further comprises:
• a unit for converting the detected angular velocity and the detected acceleration to digital signals:
• and
• a unit for executing the self-diagnoses of the apparatus for detecting angular velocity and acceleration through digital signal processing.

An apparatus for detecting angular velocity and acceleration, comprising

• a vibrator unit which vibrates in first and second directions perpendicular to each other, wherein
• a displacement amount of the vibrator unit is detected as the angular velocity when the vibrator unit is displaced in the second direction due to a generation of an angular velocity while the vibrator unit is vibrated in the first direction, and displacement amounts of vibrator units in first and the second directions are detected as accelerations, and
• the apparatus further comprises a multiple ROM configuration;
• and a self-diagnoses function, the self-diagnoses function including the diagnoses of a drive function of an angular velocity sensor, a detecting function of the angular velocity sensor, a detecting function of the acceleration sensor, an arithmetic function of a micro processor or a digital signal processor, a data saving function of a ROM and a data read/write functions of a RAM.

An apparatus for detecting angular velocity and acceleration, comprising:

• an angular velocity sensor unit which has a vibrator capable of displacing in first and second directions perpendicular to each other, and detects the angular velocity by vibrating the vibrator in the first direction;
• an acceleration sensor unit which detects displacements in the first and second directions as accelerations;
• ROMs having a multiple configuration and storing coefficients therein;
• a RAM for temporarily storing data;
• and
• a micro processor or a digital signal processor which uses the coefficients read out of the ROMs to store data in the RAM, and corrects the vibration of the vibrator, signals from the angular velocity sensor unit and the acceleration sensor unit,
• wherein the apparatus further comprises a diagnosing unit for diagnosing a drive function of the angular velocity sensor unit, a detecting function of the angular velocity sensor unit, a detecting function of the acceleration sensor unit, an arithmetic function of the micro processor or the digital signal processor, and a data read/write function of a RAM.