The present invention relates to a technology related to angle control and automatic parking, and more particularly to an angle control method and apparatus for improving angle control quality so as to make the movement of a steering handle smooth, and an automatic parking system using the same.

Angle control method and apparatus, and automatic parking system using the same

FIELD: physics, measurement technology.SUBSTANCE: invention relates to gryscope instrument-making and is meant for determining scaling factors of a laser gyroscope when performing calibration (certification) of strap down inertial navigation systems. The method of determining scaling factors of a laser gyroscope comprises mounting a laser gyroscope on the face plate of a rotary table, further successively turning the face plate in opposite directions by a fixed angle α, wherein at the output of the laser gyroscope for its sensitivity axis, the number of information symbols and their sign are recorded, wherein the turns of the face plate by an angle αare performed successively relative to three orthogonal axes of rotation OX, OY, OZ, with each sensitivity axis of the laser gyroscope making a complete turn by an angle α, then determining the scaling factor Kof the corresponding sensitivity axis of the laser gyroscope from the relationship:where i=1, 2, … is the number of the sensitivity axis of the laser gyroscope;is the half-difference between the number of information pulses, detected for the i-th sensitivity axis of the laser gyroscope during successive turns of the face plate in opposite directions by an angle αrelative to the axis of rotation OX;is the half-difference between the number of information pulses detected for the i-th sensitivity axis of the laser gyroscope during successive turns of the face plate in opposite directions by an angle αrelative to the axis of rotation OY;is the half-difference between the number of information pulses detected for the i-th sensitivity axis of the laser gyroscope during successive turns of the face plate in opposite directions by an angle αrelative to the axis of rotation OZ.EFFECT: invention increases the accuracy of determining scaling factors of a laser gyroscope and broadens functional capabilities.2 dwg

Method of determining scaling factors of laser gyroscope

The invention relates to the process and device for adjusting a rotary encoder, i.e. the absolute magnetic rotary encoder with Hall effect sensors which, when positioned in the form of a circle, detect the magnetic field of a diametrically polarised permanent magnet. The rotary encoder adjustment process features the following: the actuator magnet turns once or several times over the sensor circuit, whereby the time-dependant rotation angle is recorded/stored; time-dependant presupposed values of the rotation angle are calculated; these are then subtracted from the measured actual rotation angle values; by analysing the obtained difference, the electric parameter values for the sensor circuit are determined in such a manner as to make the newly measured difference based on new electric parameter values smaller than before the change; the electric parameter values for the sensor circuit are written into the sensor circuit.

Process and device for adjusting rotary encoder

One embodiment of the invention includes an inertial system. The system includes at least one inertial sensor configured to measure an inertial parameter associated with each of at least one axis. The system also includes a calibration system configured to sequentially measure an inertial calibration parameter at each of a plurality input axes. The system further includes an inertial processor configured to calculate motion of the inertial system based on the inertial parameter associated with each of the respective at least one axis and the sequential measurements of the inertial calibration parameter at each of the plurality of input axes.

Continuous calibration of an inertial system

The invention relates to an angle measuring system (100) and to a method for determining an angular error between a rotational angle value ascertained by means of an angle measuring system (100) and a reference value. The rotational angle value is ascertained from a rotational angle signal of a rotational angle sensor (110) in an analysis unit (120) of the angle measuring system (100), which has the rotational angle sensor (110) and the analysis unit (120). The reference value is ascertained from a reference angle signal in the analysis unit (120) of the angle measuring system (100), and the angular error between the rotational angle value and the reference value is determined in the analysis unit (120) of the angle measuring system (100).

Method for determining an angular error between a rotational angle value ascertained by means of an angle measuring system and a reference value

A method for calibrating a rotational angle sensor having a rotor ( 12 ) coupled to a rotating shaft ( 10 ) in a manner which is faithful to the rotational angle, a stator ( 16 ), and a scanning means ( 14 ) arranged on the stator ( 16 ). The scanning means ( 14 ) scans a material measure of the rotor ( 12 ) and generates measured angle values associated with the rotational angle position of the rotor ( 12 ). A laser gyroscope ( 18 ) measures the angular velocity of the shaft ( 10 ). The signals from the laser gyroscope ( 18 ) which are dependent on the angular velocity of the shaft ( 10 ) are integrated over time with respect to the rotational angle. The measured angle values from the scanning means ( 14 ) are compared with reference angle values, and correction variables are formed from the differences. During measurement of the rotational angle, the measured angle values are corrected using the correction variable.

Method for calibrating a rotational angle sensor

The invention describes a method for calibrating a rotational angle sensor having a rotor (12) which is coupled to a rotating shaft (10) in a manner which is faithful to the rotational angle, a stator (16), and a scanning means (14) which is arranged on the stator (16). The scanning means (14) scans a material measure of the rotor (12) and generates measured angle values associated with the rotational angle position of the rotor (12). A laser gyroscope (18) measures the angular velocity of the shaft (10). The signals from the laser gyroscope (18) which are dependent on the angular velocity of the shaft (10) are integrated over time with respect to the rotational angle, as a result of which each rotational angle position is associated with, as reference angle values, the signals from the laser gyroscope (18) which have been integrated as far as this rotational angle position. The measured angle values from the scanning means (14) are compared with these reference angle values, correction variables associated with the respective measured angle values being formed from the differences. The measured angle values and their respective associated correction variables are stored in the form of a correction table in a non-volatile memory. During measurement of the rotational angle, the measured angle values are corrected using the correction variable which is associated with the respective measured angle value and is stored in the correction table.

Method for calibrating a rotational angle sensor by means of a laser gyroscope

PROBLEM TO BE SOLVED: To provide a calibration method of a rotation angle sensor having a high accuracy level and remarkably reduced complexity. SOLUTION: A scanning means 14 scans a material measure of a rotor 12 and generates measured angle values associated with the rotation angle position of the rotor 12. A laser gyroscope 18 measures the angular velocity of a shaft 10. The signals from the laser gyroscope 18 which are dependent on the angular velocity of the shaft 10 are integrated over time with respect to the rotation angle to acquire reference angle values. The measured angle values from the scanning means 14 are compared with the reference angle values, to form correction variables associated with the respective measured angle values from the differences. The measured angle values and their respective associated correction variables are stored in the form of a correction table in a non-volatile memory. During measurement of the rotation angle, the measured angle values are corrected using the correction variable which is associated with the respective measured angle value and stored in the correction table. COPYRIGHT: (C)2011,JPO&INPIT

Yishay Netzer

Papers

Method for calibrating a rotational angle sensor

Method for calibrating a rotational angle sensor by means of a laser gyroscope

Calibration method of rotation angle sensor