# US 9,038,462 B2 · Inertial sensor control module and method for controlling inertial sensor control module > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,038,462 B2 - Document ID: US9038462B2 - Status: Granted - Kind: B2 - Application number: 13/484,207 - Filed: 2012-05-30 - Published: 2013-09-26 - Granted: 2015-05-26 - Earliest claimed: 2012-03-26 - Assignees: Samsung Electro-Mechanics Co., Ltd. - Applicants: Kyung Rin Kim; Byoung Won Hwang; Chang Hyun Kim - Inventors: Kyung Rin Kim; Byoung Won Hwang; Chang Hyun Kim - Web page: https://patentgrep.com/patent/US9038462B2 ## CPC - G01C 19/5776: Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719 - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract Disclosed herein is an inertial sensor control module. The inertial sensor control module according to a preferred embodiment of the present invention includes: an inertial sensor including a driving mass, a driving unit driving the driving mass of the inertial sensor according to a control signal to the inertial sensor, a control unit connected to the driving unit and generating the control signal to transfer the generated control signal to the driving unit, and a sensing unit connected between the inertial sensor and the control unit and detecting information about whether the driving mass of the inertial sensor is in a stabilized state or information about an inertial force of the inertial sensor to transfer the detected information to the outside or the control unit. ## Claims ### Claim 1 An inertial sensor control module, comprising: at least one inertial sensor including a driving mass; a driving unit driving the driving mass of the inertial sensor according to a control signal to the inertial sensor; a control unit connected to the driving unit and generating a control signal to transfer the generated control signal to the driving unit; and a sensing unit connected between the inertial sensor and the control unit and detecting information about whether the driving mass of the inertial sensor is in a stabilized state to transfer the detected information to the control unit, wherein the sensing unit detects an amplitude peak value of the driving mass and delivers the detected amplitude peak value to the control unit, and wherein the control unit compares a difference value Δt between a target value T and the amplitude peak value P with a threshold value; when the difference value Δt between the target value T and the amplitude peak value P has a larger value than the threshold value, the control unit operates an AGC, calculates a gain, produces a control signal reflecting the calculated gain and applies it to the inertial sensor through the driving unit; and when the driving mass is in a stabilized state, operates the AGC again, calculates a new gain and applies the new calculated gain to the inertial sensor through the driving unit. ### Claim 2 (depends on 1) The inertial sensor control module as set forth in claim 1, wherein the inertial sensor includes an acceleration sensor detecting accelerations in three axis directions or an angular velocity sensor detecting angular velocities in three axis directions. ### Claim 3 (depends on 1) The inertial sensor control module as set forth in claim 1, wherein the control unit includes an automatic gain control (AGC) and the control signal includes a signal for applying a gain for converting a resonance peak value of the driving mass into a set target value to the driving mass by using the AGC. ### Claim 4 (depends on 1) The inertial sensor control module as set forth in claim 1, wherein the sensing unit receives a sensing request signal of the control unit, and detects amplitude peak values of the driving mass to transfer the detected amplitude peak values to the control unit. ### Claim 5 (depends on 1) The inertial sensor control module as set forth in claim 1, wherein the control unit repeatedly detects an amplitude peak value of the driving mass driving in the inertial sensor through the sensing unit when a difference value Δt between a target value T and the amplitude peak value P has a smaller value than or equal to a threshold value. ### Claim 6 (depends on 1) The inertial sensor control modules as set forth in claim 1, wherein the control unit calculates a gain corresponding to the difference value Δt by operating an AGC and applies a gain corresponding to the difference value Δt to the driving mass of the inertial sensor through the driving unit. ### Claim 7 (depends on 1) The inertial sensor control modules as set forth in claim 1, wherein the control unit operates an ACG, calculates a whole gain corresponding to the difference value Δt, the number of steps which will apply a gain according to the difference value Δt and each gain which is applied per the steps, and the each gain per the steps to the driving mass of the inertial sensor through the driving unit. ### Claim 8 (depends on 1) The inertial sensor control modules as set forth in claim 1, wherein the control unit detects variations Δan of amplitude peak values of the driving mass after a gain is applied and determines whether the driving mass is stabilized by comparing a sum of the detected variations Δan with a threshold value TH. ### Claim 9 (depends on 1) The inertial sensor control modules as set forth in claim 1, wherein the control unit detects variations Δan of amplitude peak values of the driving mass after a gain is applied and determines whether a vibration section of the driving mass is stabilized by detecting at least one vibration section which the detected variations Δan is value of 0. ### Claim 10 (depends on 1) The inertial sensor control modules as set forth in claim 1, wherein the control unit sequentially detects variations Δan of amplitude peak values of the driving mass after a gain is applied and determines whether a vibration section of the driving mass is stabilized by detecting the vibration section which the detected variations Δan is sequentially value of 0. ### Claim 11 A method for controlling an inertial sensor control module, comprising: detecting, by a control unit, an amplitude peak value P of a driving mass driven in an inertial sensor using a sensing unit; comparing, by the control unit, a difference value Δt between a target value T and the amplitude peak value P with a threshold value to determine whether the difference value Δt has a larger value than the threshold value; performing and processing, by the control unit, an AGC operation for applying a gain to the driving mass of the inertial sensor as the difference value Δt has a larger value than the threshold value; determining whether the driving mass is stabilized; and when the driving mass is in a stabilized state, performing and processing, by the control unit, an AGC operation for applying a new gain to the driving mass of the inertial sensor. ### Claim 12 (depends on 11) The method as set forth in claim 11, after the determining whether the driving mass is in the stabilized state, further includes: when the driving mass is in an unstabilized state, stopping and waiting, by the control unit, the AGC operation for applying a new gain to the driving mass of the inertial sensor. ### Claim 13 (depends on 11) The method as set forth in claim 11, wherein the performing and processing of the AGC operation further includes: calculating, by the control unit, a gain corresponding to the difference value Δt; and applying the gain corresponding to the difference value Δt to the driving mass of the inertial sensor through a driving unit. ### Claim 14 (depends on 11) The method as set forth in claim 11, wherein the performing and processing of the AGC operation further includes: calculating, by the control unit, the overall gain corresponding to the difference value Δt, and the number of steps applying the gain according to the difference value Δt, and each gain applied for each step; and applying each gain for each step to the driving mass of the inertial sensor through the driving unit. ### Claim 15 (depends on 11) The method as set forth in claim 11, wherein the determining whether the driving mass is stabilized includes: detecting variations Δan of amplitude peak values of the driving mass after the gain is applied; and comparing a sum of the detected variations Δan with a threshold value TH to determine whether the sum of the detected variations Δan is smaller than the threshold value TH. ### Claim 16 (depends on 11) The method as set forth in claim 11, wherein the determining whether the driving mass is stabilized includes: detecting variations Δan of amplitude peak values of the driving mass after the gain is applied; and determining a corresponding oscillation period as the stabilized state by detecting at least one oscillation period in which the detected variations Δan has a value of 0. ### Claim 17 (depends on 15) The method as set forth in claim 15, wherein the threshold value TH is set according to a mass, a size, and a material of the driving mass.