EP 0995080 A1 20000426 - METHOD FOR DETERMINING THE ROTATING POSITION OF A SELF-CONTAINED MOBILE UNIT, AND SELF-CONTAINED MOBILE UNIT
Title (en)
METHOD FOR DETERMINING THE ROTATING POSITION OF A SELF-CONTAINED MOBILE UNIT, AND SELF-CONTAINED MOBILE UNIT
Title (de)
VERFAHREN ZUR FESTLEGUNG DER DREHLAGE EINER AUTONOMEN MOBILEN EINHEIT UND AUTONOME MOBILE EINHEIT
Title (fr)
PROCEDE POUR DETERMINER LA POSITION EN ROTATION D'UNE UNITE MOBILE AUTONOME, ET UNITE MOBILE AUTONOME
Publication
Application
Priority
- DE 9801866 W 19980706
- DE 19730483 A 19970716
Abstract (en)
[origin: DE19730483A1] The invention concerns a method for determining the rotating position of a self-contained mobile unit, such as a small robot, for domestic or industrial use. Said unit comprises a gyroscope and position sensor for determining first and second rotating position variations. Said variations are compared with one another and if the measurement results are reciprocally confirmed, the gyroscope can be calibrated while the unit is moving. In the event that the measurement results are not confirmed, it can be concluded that there is an error in the odometry measurement, and the gyroscope is momentarily used as a more dependable measuring instrument. The invention therefore discloses a novel method for calibrating a gyroscope while the mobile self-contained unit is moving, using odometry data. The drawbacks of gyroscopic or odometry measurements are obviated, the correct data being used in each case using a threshold value for the comparative result.
IPC 1-7
IPC 8 full level
G01C 19/00 (2006.01); G01C 21/00 (2006.01); G01C 21/12 (2006.01); G01C 21/16 (2006.01); G01C 21/20 (2006.01); G01C 21/28 (2006.01); G05D 1/02 (2006.01)
CPC (source: EP US)
G01C 21/188 (2020.08 - EP US); G05D 1/027 (2013.01 - EP); G05D 1/0272 (2013.01 - EP)
Citation (search report)
See references of WO 9904225A1
Designated contracting state (EPC)
DE FR GB
DOCDB simple family (publication)
DE 19730483 A1 19990211; DE 19730483 C2 19990602; EP 0995080 A1 20000426; JP 2001510890 A 20010807; WO 9904225 A1 19990128
DOCDB simple family (application)
DE 19730483 A 19970716; DE 9801866 W 19980706; EP 98942495 A 19980706; JP 2000503392 A 19980706