Patent ID: 6757631
Filing Date: 2004-06-29
Classification: G01C

Abstract:
A method of detecting an angular velocity comprising processes of:setting a bias voltage, as a standard voltage, which is an output voltage outputted from an angular velocity sensor in response to an angular velocity when a predetermined condition is satisfied as well as updating the standard voltage every time the predetermined condition is satisfied; calculating the angular velocity on the basis of the output voltage with using the set or updated standard voltage as a standard; storing time data, which indicate a time of setting or updating the standard voltage, in correspondence with standard voltage data, which indicate a value of the set or updated standard voltage; estimating a value of the bias voltage of the angular velocity sensor at each time between times of setting or updating the standard voltage, as a function of time, on the basis of a plurality of the stored standard voltage data and a plurality of the stored time data; and correcting the angular velocity calculated by said calculating process on the basis of a difference between a value of the standard voltage used in said calculating process and the estimated value of the bias voltage.