Patent Publication Number: US-11385255-B2

Title: Inertial sensor, electronic device, and vehicle

Description:
The present application is a continuation of U.S. application Ser. No. 16/743,591, filed Jan. 15, 2020, which is based on, and claims priority from, JP Application No. 2019-006416, filed Jan. 17, 2019, the disclosures of which are hereby incorporated by reference herein in their entirety. 
    
    
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to an inertial sensor, an electronic device, and a vehicle. 
     2. Related Art 
     In JP-A-2017-211386, a control circuit for a gyroscope in which two mass elements are driven to be linearly vibrated is described. The control circuit includes a sensor that measures detected vibration of the gyroscope, an A/D converter that amplifies a signal output from the sensor, a demodulator that demodulates the signal amplified by the A/D converter at a drive vibration frequency (OD, a quadrature compensation control unit that sends the signal demodulated by the demodulator to a compensation electrode and performs quadrature compensation of the gyroscope. 
     However, in the control circuit described in JP-A-2017-211386, since the signal sent to the compensation electrode maximizes a power supply voltage of the control circuit, sufficient orthogonal compensation cannot be performed depending on a vibration state of the two mass elements, that is, magnitude of the quadrature. That is, if the quadrature is small, the quadrature can be sufficiently reduced even with a signal that maximizes the power supply voltage, but, if the quadrature is large, the quadrature cannot be sufficiently reduced depending on the signal that maximizes the power supply voltage. 
     SUMMARY 
     An inertial sensor according to an aspect of the present disclosure includes a substrate and a structure disposed on the substrate, in which the structure includes a detection movable body which overlaps the substrate in a direction along a Z-axis and includes a movable detection electrode, a detection spring that supports the detection movable body, a drive portion that drives the detection movable body in a direction along an X-axis with respect to the substrate, a fixed detection electrode fixed to the substrate and facing the movable detection electrode, a first compensation electrode for applying an electrostatic attraction force having a first direction component different from the direction along the X-axis to the detection movable body, and a second compensation electrode for applying an electrostatic attraction force having a second direction component opposite to the first direction component to the detection movable body, and one of the first compensation electrode and the second compensation electrode includes an adjustment portion that adjusts magnitude of the electrostatic attraction force, in which the X-axis, a Y-axis, and the Z-axis are three axes orthogonal to each other. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a plan view illustrating an inertial sensor according to a first embodiment. 
         FIG. 2  is a cross-sectional view taken along line II-II in  FIG. 1 . 
         FIG. 3  is a plan view illustrating a sensor element included in the inertial sensor of  FIG. 1 . 
         FIG. 4  is a diagram illustrating a drive voltage to be applied to the inertial sensor of  FIG. 1 . 
         FIG. 5  is a conceptual diagram illustrating a mechanism for suppressing quadrature. 
         FIG. 6  is a plan view illustrating one movable body. 
         FIG. 7  is a plan view illustrating the other movable body. 
         FIG. 8  is a circuit diagram illustrating a control circuit. 
         FIG. 9  is a perspective view illustrating an adjustment portion. 
         FIG. 10  is a cross-sectional view taken along line X-X in  FIG. 9 . 
         FIG. 11  is a perspective view illustrating an adjustment portion. 
         FIG. 12  is a cross-sectional view taken along line XII-XII in  FIG. 11 . 
         FIG. 13  is a cross-sectional view illustrating a modification example of the adjustment portion. 
         FIG. 14  is a cross-sectional view illustrating another modification example of the adjustment portion. 
         FIG. 15  is a cross-sectional view illustrating another modification of the adjustment portion. 
         FIG. 16  is a cross-sectional view illustrating another modification of the adjustment portion. 
         FIG. 17  is a plan view illustrating a smartphone according to a second embodiment. 
         FIG. 18  is an exploded perspective view illustrating an inertia measurement device according to a third embodiment. 
         FIG. 19  is a perspective view of a substrate included in the inertia measurement device illustrated in  FIG. 18 . 
         FIG. 20  is a block diagram illustrating the entire system of a vehicle positioning device according to a fourth embodiment. 
         FIG. 21  is a diagram illustrating an action of the vehicle positioning device illustrated in  FIG. 20 . 
         FIG. 22  is a perspective view illustrating a vehicle according to a fifth embodiment. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, an inertial sensor, an electronic device, and a vehicle according to the present disclosure will be described in detail based on embodiments illustrated in the accompanying drawings. 
     First Embodiment 
       FIG. 1  is a plan view illustrating an inertial sensor according to a first embodiment.  FIG. 2  is a cross-sectional view taken along line II-II in  FIG. 1 .  FIG. 3  is a plan view illustrating a sensor element included in the inertial sensor of  FIG. 1 .  FIG. 4  is a diagram illustrating a drive voltage to be applied to the inertial sensor of  FIG. 1 .  FIG. 5  is a conceptual diagram illustrating a mechanism for suppressing quadrature.  FIG. 6  is a plan view illustrating one movable body.  FIG. 7  is a plan view illustrating the other movable body.  FIG. 8  is a circuit diagram illustrating a control circuit.  FIG. 9  is a perspective view illustrating an adjustment portion.  FIG. 10  is a cross-sectional view taken along line X-X in  FIG. 9 .  FIG. 11  is a perspective view illustrating an adjustment portion.  FIG. 12  is a cross-sectional view taken along line XII-XII in  FIG. 11 .  FIGS. 13 to 16  are cross-sectional views illustrating modification examples of the adjustment portion. 
     In each drawing, the X-axis, Y-axis, and Z-axis are illustrated as three axes orthogonal to each other. A direction along the X-axis, that is, a direction parallel to the X-axis is referred to as an “X-axis direction”, a direction along the Y-axis is referred as a “Y-axis direction”, and a direction along the Z-axis is referred as a “Z-axis direction”. A tip end side of the arrow of each axis is also referred to as a “plus side”, and the opposite side is also referred to a “minus side”. In addition, the plus side in the Z-axis direction is also referred to as “upper”, and the minus side in the Z-axis direction is also referred to as “lower”. In the specification of the present application, the term “orthogonal to” includes not only a case where constituent elements intersect at  90  but also a case where the constituent elements intersect at an angle slightly inclined from 90°, for example, within a range of 90°±5°. 
     The inertial sensor  1  illustrated in  FIG. 1  is an angular velocity sensor capable of measuring the angular velocity ωz around the Z-axis. The inertial sensor  1  includes a substrate  2 , a lid  3 , and a sensor element  4 . 
     The substrate  2  includes a concave portion  21  which is open to the upper surface. The concave portion  21  functions as a relief portion for preventing contact between the sensor element  4  and the substrate  2 . The substrate  2  includes a plurality of mounts  221 ,  222 ,  223 ,  224 , and  225  protruding from the bottom surface of the concave portion  21 . The sensor element  4  is bonded to the upper surfaces of the mounts  221  to  225 . Furthermore, the substrate  2  includes a groove which is open to the upper surface thereof, and wirings  73 ,  74 ,  75 ,  76 ,  77 , and  78  are disposed thereon. One end portions of the wirings  73  to  78  are exposed to the outside of the lid  3 , respectively, and function as electrode pads P that makes electrical connection with an external apparatus. The electrode pad P is disposed on the short side of the substrate  2 . With this configuration, the electrode pad P can be disposed in the substrate  2  without waste and the die size can be reduced, and thus miniaturization of the inertial sensor  1  can be achieved. 
     As such a substrate  2 , for example, a glass substrate made of a glass material containing alkali metal ions such as sodium ions, specifically, borosilicate glass such as Tempax glass (registered trademark) and Pyrex glass (registered trademark) can be used. However, a constituent material of the substrate  2  is not particularly limited, and a silicon substrate, a ceramic substrate, and the like may be used. 
     As illustrated in  FIG. 2 , the lid  3  has a concave portion  31  which opens to the lower surface. The lid  3  is bonded to the upper surface of the substrate  2  so as to accommodate the sensor element  4  in the concave portion  31 . An accommodation space S in which the sensor element  4  is accommodated is formed by the lid  3  and the substrate  2 . The accommodation space S may be in a reduced pressure state, particularly in a vacuum state. As a result, the viscous resistance decreases, and the sensor element  4  can efficiently vibrate. 
     The lid  3  is provided with a through-hole  32  that communicates the inside and outside of the accommodation space S and the through-hole  32  is sealed with a sealing material  33 . In other words, the accommodation space S is blocked from the atmosphere outside the inertial sensor  1  by the through-hole  32  and a bonding material  39 . In this case, a part or whole of the through-hole  32  is filled with the sealing material  33 . 
     As such a lid  3 , for example, a silicon substrate can be used. However, the lid  3  is not particularly limited, and for example, a glass substrate or a ceramic substrate may be used as the lid  3 . A bonding method between the substrate  2  and the lid  3  is not particularly limited, and may be appropriately selected depending on the materials of the substrate  2  and the lid  3 . However, in the first embodiment, the substrate  2  and the lid  3  are bonded through a glass frit material which is low melting point glass as the bonding material  39 . 
     The sensor element  4  is disposed in the accommodation space S and is bonded to the upper surfaces of the mounts  221  to  225 . The sensor element  4  can be formed by patterning a conductive silicon substrate  400  doped with, for example, impurities such as phosphorus (P), boron (B), arsenic (As) or the like by the Bosch process which is a deep groove etching technique. However, the method of forming the sensor element  4  is not limited to the Bosch process. The silicon substrate  400  has substantially the same thickness t throughout the entire area except for an adjustment portion  5  described later. 
     Hereinafter, a configuration of the sensor element  4  will be described with reference to  FIG. 3 . In the following description, a straight line intersecting with the center O of the sensor element  4  and extending in the Y-axis direction is also referred to as an “imaginary straight line αy” and a straight line intersecting with the center O of the sensor element  4  and extending in the X-axis direction is also referred to as an “imaginary straight line αx”, in plan view in the Z-axis direction. 
     As illustrated in  FIG. 3 , the sensor element  4  has two structures  4 A and  4 B disposed in the X-axis direction and positioned on both sides of the imaginary straight line αy across the imaginary straight line αy. The structures  4 A and  4 B have a line-symmetric shape with respect to the imaginary straight line αy. In the following, it is meant that a constituent element whose reference numeral ends with “A” is included in a structure  4 A and whose reference numeral ends with “B” is included in the structure  4 B. 
     Such a sensor element  4  includes two drive portions  41 A and  41 B disposed on both sides of the imaginary straight line αy. The drive portion  41 A includes a comb teeth-shaped movable drive electrode  411 A and a fixed drive electrode  412 A which is engaged with the movable drive electrode  411 A. In other words, the movable drive electrode  411 A and the fixed drive electrode  412 A constitute a pair of comb-teeth electrodes facing each other. Similarly, the drive portion  41 B includes a comb teeth-shaped movable drive electrode  411 B and a comb teeth-shaped fixed drive electrode  412 B which is engaged with the movable drive electrode  411 B. In other words, the movable drive electrode  411 B and the fixed drive electrode  412 B constitute a pair of comb-teeth electrodes facing each other. The fixed drive electrodes  412 A and  412 B are bonded to the upper surface of the mount  221 , respectively. The movable drive electrodes  411 A and  411 B are electrically connected to the wiring  73 , and the fixed drive electrodes  412 A and  412 B are electrically connected to the wiring  74 . 
     The sensor element  4  includes four fixed portions  42 A disposed around the drive portion  41 A and four fixed portions  42 B disposed around the drive portion  41 B. Each of the fixed portions  42 A and  42 B is bonded to the upper surface of the mount  222 . 
     The sensor element  4  includes four drive springs  431 A that couples the fixed portions  42 A and the movable drive electrode  411 A and four drive springs  431 B that couples the fixed portions  42 B and the movable drive electrode  411 B. Each drive spring  431 A is elastically deformed in the X-axis direction to allow displacement of the movable drive electrode  411 A in the X-axis direction and each drive spring  431 B is elastically deformed in the X-axis direction to allow displacement of the movable drive electrode  411 B in the X-axis direction. 
     The sensor element  4  includes a detection portion  44 A disposed between the imaginary straight line αy and the drive portion  41 A, and a detection portion  44 B disposed between the imaginary straight line αy and the drive portion  41 B. 
     The detection portion  44 A includes a detection movable body  440 A including a base  441 A and comb-teeth shaped movable detection electrodes  442 A positioned on both sides of the base  441 A in the Y-axis direction, comb-teeth shaped fixed detection electrodes  443 A engaged with the movable detection electrodes  442 A on the plus side in the Y-axis direction, and comb-teeth shaped fixed detection electrodes  444 A engaged with the movable detection electrodes  442 A on the minus side in the Y-axis direction. Each of pairs of fixed detection electrodes  443 A and  444 A is disposed so as to sandwich each movable detection electrode  442 A from both sides in the X-axis direction. 
     Similarly, the detection portion  44 B includes a detection movable body  440 B including a base  441 B and comb-teeth shaped movable detection electrodes  442 B positioned on both sides of the base in the Y-axis direction, comb-teeth shaped fixed detection electrodes  443 B engaged with the movable detection electrodes  442 B on the positive side in the Y-axis direction, and comb-teeth shaped fixed detection electrodes  444 B engaged with the movable detection electrodes  442 B on the negative side in the Y-axis direction. Each of pairs of fixed detection electrodes  443 B and  444 B is disposed so as to sandwich each movable detection electrode  442 B from both sides in the X-axis direction. 
     The fixed detection electrodes  443 A,  444 A,  443 B, and  444 B are bonded to the upper surface of the mount  223 , respectively. The detection movable bodies  440 A and  440 B are electrically connected to the wiring  73 , the fixed detection electrodes  443 A and  444 B are electrically connected to the wiring  75 , and the fixed detection electrodes  444 A and  443 B are electrically connected to the wiring  76 . The wirings  75  and  76  are connected to a charge amplifier through electrode pads P, respectively. When the inertial sensor  1  is driven, a capacitance Ca is formed between the movable detection electrode  442 A and the fixed detection electrode  443 A and between the movable detection electrode  442 B and the fixed detection electrode  444 B, and a capacitance Cb is formed between the movable detection electrode  442 A and the fixed detection electrode  444 A and between the movable detection electrode  442 B and the fixed detection electrode  444 B. 
     The sensor element  4  includes two fixed portions  451  and  452  that are positioned between the detection portions  44 A and  44 B and disposed along the imaginary straight line αy. The fixed portions  451  and  452  are respectively bonded to the upper surface of the mount  224  and fixed to the substrate  2 . The fixed portions  451  and  452  are disposed side by side in the Y-axis direction and disposed with a space therebetween. In the first embodiment, the movable drive electrodes  411 A and  411 B and the movable detection electrodes  442 A and  442 B are electrically connected to the wiring  73  through the fixed portions  451  and  452 . 
     The sensor element  4  includes four detection springs  432 A that couple the detection movable body  440 A and the fixed portions  42 A,  451 , and  452 , and four detection springs  432 B that couple the detection movable body  440 B and the fixed portions  42 B,  451 , and  452 . Each detection spring  432 A is elastically deformed in the X-axis direction to allow displacement of the detection movable body  440 A in the X-axis direction and elastically deformed in the Y-axis direction to allow displacement of the detection movable body  440 A in the Y-axis direction. Similarly, each detection spring  432 B is elastically deformed in the X-axis direction to allow displacement of the detection movable body  440 B in the X-axis direction and elastically deformed in the Y-axis direction to allow displacement of the detection movable body  440 B in the Y-axis direction. 
     The sensor element  4  includes a coupling beam  47 A positioned between the movable drive electrode  411 A and the movable detection body  440 A and connecting the movable drive electrode  411 A and the detection movable body  440 A and a coupling beam  47 B positioned between the movable drive electrode  411 B and the detection movable body  440 B and connecting the movable drive electrode  411 B and the detection movable body  440 B. In the following description, an aggregate of the movable drive electrode  411 A, the movable detection body  440 A, and the coupling beam  47 A is also referred to as a “movable body  40 A”, and an aggregate of the movable drive electrode  411 B, the movable detection body  440 B, and the coupling beam  47 B is also referred to as a “movable body  40 B”. 
     The sensor element  4  includes a frame  46  that is positioned between the detection movable bodies  440 A and  440 B at the center thereof. The frame  46  has an “H” shape and includes a concave defective portion  461  positioned on the plus side in the Y-axis direction and a concave defective portion  462  positioned on the minus side in the Y-axis direction. A fixed portion  451  is disposed inside and outside of the defective portion  461  and a fixed portion  452  is disposed inside and outside the defective portion  462 . 
     The sensor element  4  includes a frame spring  434  positioned between the fixed portion  451  and the frame  46  and connecting the fixed portion  451  and the frame  46  and a frame spring  435  positioned between the fixed portion  452  and the frame  46  and connecting the fixed portion  452  and the frame  46 . Each of the frame springs  434  and  435  extends in the Y-axis direction and can be elastically deformed in the X-axis direction. 
     The sensor element  4  includes a connection spring  433 A positioned between the frame  46  and the detection movable body  440 A and connecting the frame  46  and the detection movable body  440 A and a connection spring  433 B positioned between the frame  46  and the detection movable body  440 B and connecting the frame  46  and the detection movable body  440 B. The connection spring  433 A supports the detection movable body  440 A together with the detection spring  432 A, and the connection spring  433 B supports the detection movable body  440 B together with the detection spring  432 B. 
     In the sensor element  4  having such a configuration, for example, when a DC voltage V 1  illustrated in  FIG. 4  is applied to the movable bodies  40 A and  40 B through the wiring  73  and an AC voltage V 2  illustrated in  FIG. 4  is applied to the fixed drive electrodes  412 A and  412 B through the wiring  74 , due to electrostatic attraction force acting between the movable bodies  40 A and  40 B, the movable bodies  40 A and  40 B vibrate in opposite phases in such a way that the movable bodies  40 A and  40 B repeat approaching and separating from each other in the X-axis direction as indicated by an arrow D in  FIG. 3 . This is because the electrostatic attraction force that causes the movable body to alternately approach and separate is generated in a form proportional to a product of the DC voltage and the AC voltage. Thus, when the movable bodies  40 A and  40 B vibrate in opposite phases, these vibrations are canceled and the inertial sensor  1  with less vibration leakage is obtained. Hereinafter, this vibration mode is also referred to as “drive vibration mode”. 
     When an angular velocity ωz around the Z-axis is applied to the sensor element  4  in a state where the movable body  40 A and the movable body  40 B are driven in the drive vibration mode, the movable bodies  40 A and  40 B vibrate in opposite phases in the Y-axis direction, as indicated by an arrow E in  FIG. 3 , due to the Coriolis force, and the capacitances Ca and Cb change according to this vibration. Accordingly, the angular velocity ωz received by the sensor element  4  can be obtained based on the changes in the capacitances Ca and Cb. Hereinafter, this vibration mode is also referred to as “detection vibration mode”. 
     The voltages V 1  and V 2  are not particularly limited as long as the drive vibration mode can be excited. In the inertial sensor  1  of the first embodiment, although an electrostatic drive method is used in which the drive vibration mode is excited by electrostatic attraction force, a method of exciting the drive vibration mode is not particularly limited, and for example, a piezoelectric drive method, an electromagnetic drive method using a Lorentz force of a magnetic field, or the like can also be applied. 
     Here, ideally, in the drive vibration mode described above, the movable bodies  40 A and  40 B vibrate in the X-axis direction, respectively. In other words, in the drive vibration mode, the movable bodies may not vibrate in directions other than the X-axis direction, particularly in the Y-axis direction. However, for example, a shape shift occurs due to etching accuracy of the silicon substrate  400 , and the shape shift may cause the movable bodies  40 A and  40 B to vibrate in an oblique direction including the Y-axis direction component, as indicated by an arrow Q in  FIG. 3 . As such, when the movable bodies  40 A and  40 B obliquely vibrate, the capacitances Ca and Cb change even though the angular velocity ωz is not applied. For that reason, noise consisting of quadrature signals is generated due to this, and detection accuracy of the angular velocity ωz is deteriorated. In the following, vibrations other than the X-axis direction of the movable bodies  40 A and  40 B in the drive vibration mode, particularly vibrations in the Y-axis direction are also referred to as the quadrature. 
     As illustrated in the conceptual diagram of  FIG. 5 , in the inertial sensor  1 , the quadrature is canceled by applying a force Fc that balances a force Fq causing the quadrature to the movable bodies  40 A and  40 B. In order to generate such a force Fc, the inertial sensor  1  includes first compensation electrodes  48 A and  48 B and second compensation electrodes  49 A and  49 B. 
     As illustrated in  FIG. 3 , the first and second compensation electrodes  48 A and  49 A are positioned between the detection movable body  440 A and the drive portion  41 A. For that reason, the space between the detection movable body  440 A and the drive portion  41 A can be effectively used, and miniaturization of the sensor element  4  can be achieved. As illustrated in  FIG. 6 , the first compensation electrode  48 A is positioned on the plus side in the Y-axis direction with respect to the coupling beam  47 A, and the second compensation electrode  49 A is positioned on the minus side in the Y-axis direction with respect to the coupling beam  47 A. These first and second compensation electrodes  48 A and  49 A are line symmetric with respect to the imaginary straight line αx. 
     The first compensation electrode  48 A includes a comb-teeth shaped movable compensation electrode  482 A having a plurality of movable electrode fingers  481 A and a comb-teeth shaped fixed compensation electrode  484 A including a plurality of fixed electrode fingers  483 A and disposed to be engaged with the movable compensation electrode  482 A. The movable compensation electrode  482 A is provided so as to extend from the base  441 A, and the fixed compensation electrode  484 A is bonded to the upper surface of the mount  225 . The movable electrode finger  481 A and the fixed electrode finger  483 A extend along oblique directions inclined with respect to the X-axis and the Y-axis, respectively. 
     The movable compensation electrode  482 A is electrically connected to the wiring  73  and the fixed compensation electrode  484 A is electrically connected to the wiring  77 . When a compensation voltage V 3  is applied to the fixed compensation electrode  484 A through the wiring  77 , electrostatic attraction force is generated between the movable compensation electrode  482 A and the fixed compensation electrode  484 A and electrostatic attraction force E 1  acts on the detection movable body  440 A. In the electrostatic attraction force E 1 , a component Ely toward the plus side in the Y-axis direction is included. 
     Similarly, the second compensation electrode  49 A includes a comb-teeth shaped movable compensation electrode  492 A having a plurality of movable electrode fingers  491 A and a comb-teeth shaped fixed compensation electrode  494 A including a plurality of fixed electrode fingers  493 A and disposed to be engaged with the movable compensation electrode  492 A. The movable compensation electrode  492 A is provided so as to extend from the base  441 A, and the fixed compensation electrode  494 A is bonded to the upper surface of the mount  225 . The movable electrode finger  491 A and the fixed electrode finger  493 A extend along oblique directions inclined with respect to the X-axis and the Y-axis, respectively. 
     The movable compensation electrode  492 A is electrically connected to the wiring  73  and the fixed compensation electrode  494 A is electrically connected to the wiring  78 . When a compensation voltage V 4  is applied to the fixed compensation electrode  494 A through the wiring  78 , electrostatic attraction force is generated between the movable compensation electrode  492 A and the fixed compensation electrode  494 A and electrostatic attraction force E 2  acts on the detection movable body  440 A. In the electrostatic attraction force E 2 , a component E 2   y  toward the minus side in the Y-axis direction opposite to the electrostatic attraction force E 1  is included. 
     As illustrated in  FIG. 3 , the first and second compensation electrodes  48 B and  49 B are positioned between the detection movable body  440 B and the drive portion  41 B. For that reason, the space between the detection movable body  440 B and the drive portion  41 B can be effectively used, and miniaturization of the sensor element  4  can be achieved. As illustrated in  FIG. 7 , the first compensation electrode  48 B is positioned on the plus side in the Y-axis direction with respect to the coupling beam  47 B, and the second compensation electrode  49 B is positioned on the minus side in the Y-axis direction with respect to the coupling beam  47 B. These first and second compensation electrodes  48 B and  49 B are line symmetric with respect to the imaginary straight line αx. The first and second compensation electrodes  48 B and  49 B are line symmetric with the first and second compensation electrodes  48 A and  49 A with respect to the imaginary straight line αy. 
     The first compensation electrode  48 B includes a comb-teeth shaped movable compensation electrode  482 B including a plurality of movable electrode fingers  481 B and a comb-teeth shaped fixed compensation electrode  484 B including a plurality of fixed electrode fingers  483 B and disposed to be engaged with the movable compensation electrode  482 B. The movable compensation electrode  482 B is provided on the base  441 B, and the fixed compensation electrode  484 B is bonded to the upper surface of the mount  225 . The movable electrode finger  481 B and the fixed electrode finger  483 B extend along oblique directions inclined with respect to the X-axis and the Y-axis, respectively. 
     The movable compensation electrode  482 B is electrically connected to the wiring  73  and the fixed compensation electrode  484 B is electrically connected to the wiring  78  together with the fixed compensation electrode  494 A described above. When a compensation voltage V 4  is applied to the fixed compensation electrode  484 B through the wiring  78 , an electrostatic attraction force is generated between the movable compensation electrode  482 B and the fixed compensation electrode  484 B and an electrostatic attraction force E 3  acts on the detection movable body  440 B. In the electrostatic attraction force E 3 , a component E 3   y  toward the plus side in the Y-axis direction is included. 
     The second compensation electrode  49 B includes a comb-teeth shaped movable compensation electrode  492 B including a plurality of movable electrode fingers  491 B and a comb-teeth shaped fixed compensation electrode  494 B including a plurality of fixed electrode fingers  493 B and disposed to be engaged with the movable compensation electrode  492 B. The movable compensation electrode  492 B is provided on the base  441 B, and the fixed compensation electrode  494 B is bonded to the upper surface of the mount  225 . The movable electrode fingers  491 B and the fixed electrode fingers  493 B extend along oblique directions inclined with respect to the X-axis and the Y-axis, respectively. 
     The movable compensation electrode  492 B is electrically connected to the wiring  73  and the fixed compensation electrode  494 B is electrically connected to the wiring  77  together with the fixed compensation electrode  484 A described above. When the compensation voltage V 3  is applied to the fixed compensation electrode  494 B through the wiring  77 , an electrostatic attraction force is generated between the movable compensation electrode  492 B and the fixed compensation electrode  494 B and electrostatic attraction force E 4  acts on the detection movable body  440 B. In the electrostatic attraction force E 4 , a component E 4   y  toward the minus side in the Y-axis direction is included. 
     According to such first and second compensation electrodes  48 A,  48 B,  49 A, and  49 B, by controlling magnitudes of the compensation voltages V 3  and V 4  and adjusting magnitudes of the electrostatic attraction forces E 1  to E 4 , the force Fc that balances the force Fq causing quadrature can be applied to the movable bodies  40 A and  40 B. For example, as illustrated in  FIG. 3 , when the movable bodies  40 A and  40 B vibrate in the direction indicated by an arrow Q in the drive vibration mode, the compensation voltage V 3  (electrostatic attraction forces E 1  and E 4 ) may be made larger than the compensation voltage V 4  (electrostatic attraction forces E 2  and E 3 ) so that the force Fc is balanced with the force Fq. 
     The control circuit of the inertial sensor  1  is not particularly limited, but for example, a control circuit  9  illustrated in  FIG. 8  can be used. In the control circuit  9 , feedback control (closed loop control) is performed to feed back a detection signal VO and control the magnitudes of the compensation voltages V 3  and V 4  so that the quadrature signal becomes zero. By using such a control circuit  9 , the quadrature can be more reliably and easily suppressed. 
     Here, in the control circuit  9 , a voltage that can be applied to the compensation voltages V 3  and V 4  is an AC voltage that maximizes the power supply voltage of the control circuit  9 . For that reason, when large quadrature is generated, the quadrature may not be completely canceled only by controlling the compensation voltages V 3  and V 4 . For example, the compensation voltages V 3  and V 4  larger than the power supply voltage can also be used by incorporating a boosting circuit in the control circuit  9  and boosting the power supply voltage (for example, 40 V to 50 V), but in this case, when the electrode is short-circuited due to impact, contamination by foreign substance, or the like, an excessive current flows into the sensor element  4 , which may cause malfunction or damage of the sensor element  4 . Therefore, the inertial sensor  1  is provided with an adjustment portion  5  that can increase the force Fc without using excessive compensation voltages V 3  and V 4 . The compensation voltages V 3  and V 4  are not particularly limited, but, for example, the maximum value thereof can be about 12 V to 18 V. 
     Hereinafter, as illustrated in  FIG. 3 , the case where the quadrature indicated by the arrow Q is generated in the drive vibration mode and reduced to the quadrature indicated by an arrow Qe by controlling the compensation voltages V 3  and V 4  will be described as a representative. 
     In this case, the adjustment portion  5  is formed on the second compensation electrode  49 A and the first compensation electrode  48 B. In the second compensation electrode  49 A, the electrostatic attraction force E 2  is reduced by forming the adjustment portion  5 , and similarly, in the first compensation electrode  48 B, the electrostatic attraction force E 3  is reduced by forming the adjustment portion  5 . For that reason, if the compensation voltages V 3  and V 4  are the same, a difference ΔE between the electrostatic attraction forces E 1  and E 4  and the electrostatic attraction forces E 2  and E 3  is greater in a configuration in which the adjustment portion  5  is formed than in a configuration in which the adjustment portion  5  is not formed, and the force Fc can be correspondingly increased. For that reason, even a large quadrature that cannot be canceled by the existing technique as indicated by the arrow Q can be canceled more reliably. 
     Next, a specific configuration of the adjustment portion  5  will be described. In  FIG. 9 , the second compensation electrode  49 A in which the adjustment portion  5  is formed and the first compensation electrode  48 A in which the adjustment portion  5  is not formed are illustrated. In a state before the adjustment portion  5  is formed, the first and second compensation electrodes  48 A and  49 A are line symmetric with respect to the imaginary straight line αx. 
     In the adjustment portion  5 , the electrode fingers  491 A and  493 A are subjected to laser processing. In the configuration illustrated in the drawing, the upper ends of the electrode fingers  491 A and  493 A are shaved and rounded by laser processing to form a concave notch. By setting the wavelength of the laser beam to about 350 to 1100 nm, the upper ends of the electrode fingers  491 A and  493 A made of silicon material can be removed and surfaces of the upper ends can be processed into a round shape. For that reason, as illustrated in  FIG. 10 , a thickness t 1  of the electrode fingers  491 A and  493 A is thinner than a thickness t 2  (=t) of the electrode fingers  481 A and  483 A. Accordingly, a facing area between adjacent electrode fingers  491 A and  493 A is smaller than a facing area between adjacent electrode fingers  481 A and  483 A, and the electrostatic attraction force E 2  is correspondingly smaller than the electrostatic attraction force E 1 . Since the upper ends of the electrode fingers  491 A and  493 A are shaved and rounded, an average separation distance D 1  between the adjacent electrode fingers  491 A and  493 A is larger than an average separation distance D 2  between the adjacent electrode fingers  481 A and  483 A, and the electrostatic attraction force E 2  is correspondingly smaller than the electrostatic attraction force E 1 . 
     In  FIG. 11 , the first compensation electrode  48 B in which the adjustment portion  5  is formed and the second compensation electrode  49 B in which the adjustment portion  5  is not formed are illustrated. In a state before the adjustment portion  5  is formed, the first and second compensation electrodes  48 B and  49 B are line symmetric with respect to the imaginary straight line αx. 
     In the adjustment portion  5 , the electrode fingers  481 B and  483 B are subjected to laser processing in the same manner as the electrode fingers  491 A and  493 A described above. For that reason, as illustrated in  FIG. 12 , the thickness t 1  of the electrode fingers  481 B and  483 B is thinner than the thickness t 2  (=t) of the electrode fingers  491 B and  493 B. Accordingly, a facing area between adjacent electrode fingers  481 B and  483 B is smaller than a facing area between adjacent electrode fingers  491 B and  493 B, and the electrostatic attraction force E 3  is correspondingly smaller than the electrostatic attraction force E 4 . Furthermore, since the upper ends of the electrode fingers  481 B and  483 B are shaved and rounded, an average separation distance D 3  between the adjacent electrode fingers  481 B and  483 B is larger than an average separation distance D 4  between the adjacent electrode fingers  491 B and  493 B, and the electrostatic attraction force E 3  is correspondingly smaller than the electrostatic attraction force E 4 . 
     In this way, by forming the adjustment portion  5  on the second compensation electrode  49 A and the first compensation electrode  48 B and making the electrostatic attraction forces E 2  and E 3  smaller than the electrostatic attraction forces E 1  and E 4  of the first compensation electrodes  48 A and second compensation electrodes  49 B where the adjustment portion  5  is not formed, the difference ΔE increases compared with the case where the adjustment portion  5  is not formed, and as a result, the maximum value of the force Fc that can be applied to the movable bodies  40 A and  40 B increases. For that reason, according to the inertial sensor  1 , even a relatively large quadrature that cannot be canceled without the adjustment portion  5  can be effectively canceled. 
     In particular, in the first embodiment, as described above, the adjustment portion  5  is formed on the second compensation electrode  49 A and the first compensation electrode  48 B that are disposed symmetrically with respect to the center O. For that reason, the quadrature can be suppressed in both the movable bodies  40 A and  40 B, and the quadrature can be suppressed more effectively and in a well-balanced manner. 
     The configuration of the adjustment portion  5  is not particularly limited. For example, in the first embodiment, the adjustment portion  5  is formed in a part of the electrode fingers  491 A and  493 A in the length direction, but is not limited thereto, and the adjustment portion  5  may be formed in the whole area in the length direction. As illustrated in  FIG. 13 , a configuration in which the thickness t 1  of the electrode fingers  491 A and  493 A is thinner than the thickness t 2  of the electrode fingers  481 A and  483 A, and the average separation distance D 1  between the electrode fingers  491 A and  493 A is equal to the average separation distance D 2  between the electrode fingers  481 A and  483 A may be adopted. For example, as illustrated in  FIG. 14 , a configuration in which the thickness t 1  of the electrode fingers  491 A and  493 A is equal to the thickness t 2  of the electrode fingers  481 A and  483 A and the average separation distance D 1  between the electrode fingers  491 A and  493 A is larger than the average separation distance D 2  between the electrode fingers  481 A and  483 A may also be adopted. In this case, the width of the electrode fingers  491 A and  493 A may be reduced by laser processing. The adjustment portion  5  may be formed only on the movable electrode finger  491 A as illustrated in  FIG. 15 , or may be formed only on the fixed electrode finger  493 A as illustrated in  FIG. 16 . The same applies to the first compensation electrode  48 B. 
     In the first embodiment, the adjustment portion  5  is formed by laser processing, but, the method of forming the adjustment portion  5  is not limited to laser processing. For example, the adjustment portion  5  may be formed by focused ion beam processing, may be formed by etching, or may be formed by half-cutting with a dicing saw or the like. 
     The inertial sensor  1  has been described as above. As described above, when assuming that the three axes orthogonal to each other are the X-axis, the Y-axis, and the Z-axis, the inertial sensor  1  includes the substrate  2  and the structure  4 A disposed on the substrate  2 . The structure  4 A includes the detection movable body  440 A which overlaps the substrate  2  in a direction along the Z-axis and includes the movable detection electrode  442 A, the detection spring  432 A that supports the detection movable body  440 A, the drive portion  41 A that drives the detection movable body  440 A in the direction along the X-axis with respect to the substrate  2 , the fixed detection electrodes  443 A and  444 A fixed to the substrate  2  and facing the movable detection electrode  442 A, the first compensation electrode  48 A for applying the electrostatic attraction force E 1  which has the component Ely on the plus side in the Y-axis direction which is a first direction component different from the direction along the X-axis to the detection movable body  440 A, and the second compensation electrode  49 A for applying the electrostatic attraction force E 2  which has the component E 2   y  on the minus side in the Y-axis direction which is a second direction component opposite to the first direction component to the detection movable body  440 A. One of the first compensation electrode  48 A and the second compensation electrode  49 A, that is, the second compensation electrode  49 A in the first embodiment includes the adjustment portion  5  that adjusts the magnitude of the electrostatic attraction force E 2 . As such, by forming the adjustment portion  5  on one of the first and second compensation electrodes  48 A and  49 A, the difference ΔE becomes larger than when the adjustment portion  5  is not formed as described above, and as a result, the maximum value of the force Fc that can be applied to the detection movable body  440 A is increased. For that reason, according to the inertial sensor  1 , even relatively large quadrature that cannot be canceled without the adjustment portion  5  can be effectively canceled. Thus, the inertial sensor  1  can reduce a decrease in inertia detection characteristics due to the quadrature. 
     As described above, the fixed detection electrodes  443 A and  444 A are disposed to face the movable detection electrode  442 A in the direction along the Y-axis. The first direction component is a component toward the plus side in the direction along the Y-axis, and the second direction component is a component toward the minus side in the direction along the Y-axis. With this configuration, the angular velocity (Oz around the Z-axis can be accurately detected. 
     As described above, each of the first compensation electrode  48 A and the second compensation electrode  49 A includes the comb-teeth shaped movable compensation electrodes  482 A and  492 A that are provided on the detection movable body  440 A and include a plurality of movable electrode fingers  481 A and  491 A, and the comb-teeth shaped fixed compensation electrodes  484 A and  494 A that are fixed to the substrate  2  and include a plurality of fixed electrode fingers  483 A and  493 A disposed to be engaged with the movable compensation electrodes  482 A and  492 A. With this, a configuration of the first compensation electrode  48 A and the second compensation electrode  49 A is simplified. 
     As described above, in the first compensation electrode  48 A and the second compensation electrode  49 A, the average separation distance D 1  between the movable electrode finger  491 A and the fixed electrode finger  493 A (in the first embodiment, the second compensation electrode  49 A) that include the adjustment portion  5  is greater than the average separation distance D 2  between the movable electrode finger  481 A and the fixed electrode finger  483 A (in the first embodiment, the first compensation electrode  48 A) that do not include the adjustment portion  5 . With this, it is possible to increase the difference ΔE with a simple configuration, as compared with the case where the adjustment portion  5  is not formed. 
     As described above, in the first compensation electrode  48 A and the second compensation electrode  49 A, the facing area between the movable electrode finger  491 A and the fixed electrode finger  493 A (in the first embodiment, the second compensation electrode  49 A) that include the adjustment portion  5  is smaller than the facing area between the movable electrode finger  481 A and the fixed electrode finger  483 A (in the first embodiment, the first compensation electrode  48 A) that do not include the adjustment portion  5 . With this, it is possible to increase the difference ΔE with a simple configuration, as compared with the case where the adjustment portion  5  is not formed. 
     As described above, each of the first compensation electrode  48 A and the second compensation electrode  49 A is disposed between the detection movable body  440 A and the drive portion  41 A. With this configuration, the space between the detection movable body  440 A and the drive portion  41 A can be effectively used, and miniaturization of the inertial sensor  1  can be achieved. 
     As described above, the first compensation electrode  48 A and the second compensation electrode  49 A are disposed to be line symmetric with respect to the X-axis, more specifically with respect to the imaginary straight line αx. With this configuration, before the adjustment portion  5  is formed, the electrostatic attraction forces E 1  and E 2  are balanced, and thus adjustment of the force Fc can be easily performed by forming the adjustment portion  5  therefrom. 
     As described above, the inertial sensor  1  includes two structures  4 A and  4 B disposed side by side in the direction along the X-axis. The detection movable body  440 A included in one structure  4 A and the detection movable body  440 B included in the other structure  4 B vibrate in opposite phases in the direction along the X-axis. With this configuration, vibration of the detection movable bodies  440 A and  440 B is canceled, and the inertial sensor  1  with less vibration leakage is obtained. 
     As described above, two structures  4 A and  4 B are disposed to be line symmetric with respect to the Y-axis, more specifically, with respect to the imaginary straight line αy. The first compensation electrode  48 B included in one structure  4 B and the second compensation electrode  49 A included in the other structure  4 A have the adjustment portion  5 . With this configuration, the quadrature can be suppressed in both of the detection movable bodies  440 A and  440 B, and the quadrature can be suppressed more effectively and in a well-balanced manner. 
     Second Embodiment 
       FIG. 17  is a plan view illustrating a smartphone according to a second embodiment. 
     In the smartphone  1200  illustrated in  FIG. 17 , the inertial sensor  1  and a control circuit  1210  that performs control based on detection signals output from the inertial sensor  1  are incorporated. Detection data measured by the inertial sensor  1  is transmitted to the control circuit  1210 , and the control circuit  1210  can recognize the attitude and behavior of the smartphone  1200  from the received detection data, change a display image displayed on a display unit  1208 , generate an alarm sound or sound effect, or drive the vibration motor to vibrate the main body. 
     The smartphone  1200  as such an electronic device includes the inertial sensor  1 . For that reason, the effect of the inertial sensor  1  described above can be obtained, and high reliability can be exhibited. 
     The electronic device incorporating the inertial sensor  1  is not particularly limited, and includes, for example, a personal computer, a digital still camera, a tablet terminal, a timepiece, a smartwatch, an ink jet printer, a laptop personal computer, a TV, a wearable terminals such as HMD (head mounted display), a video camera, a video tape recorder, a car navigation device, a pager, an electronic datebook, an electronic dictionary, a calculator, an electronic game machines, a word processor, a work station, a videophone, a security TV monitor, an electronic binoculars, a POS terminal, medical equipment, a fish finder, various measuring instruments, mobile terminal base station equipment, various instruments of vehicles, aircraft, and ships, a flight simulator, a network server, and the like, in addition to the smartphone  1200 . 
     Third Embodiment 
       FIG. 18  is an exploded perspective view illustrating an inertia measurement device according to a sixth embodiment.  FIG. 19  is a perspective view of a substrate included in the inertia measurement device illustrated in  FIG. 18 . 
     An inertia measurement device  2000  (IMU: Inertial measurement Unit) illustrated in  FIG. 18  is an inertia measurement device that detects the attitude and behavior of a mounted device such as an automobile or a robot. The inertia measurement device  2000  functions as a six-axis motion sensor including three-axis acceleration sensors and three-axis angular velocity sensors. 
     The inertia measurement device  2000  is a rectangular parallelepiped having a substantially square planar shape. Screw holes  2110  as fixed portions are formed in the vicinity of two vertices positioned in the diagonal direction of the square. Through two screws in the two screw holes  2110 , the inertia measurement device  2000  can be fixed to the mounted surface of the mounted object such as an automobile. The size of the inertia measurement device  2000  can be reduced such that the device can be mounted on a smartphone or a digital camera, for example, by selection of parts or design change. 
     The inertia measurement device  2000  has a configuration in which an outer case  2100 , a bonding member  2200 , and a sensor module  2300  are included and the sensor module  2300  is inserted in the outer case  2100  with the bonding member  2200  interposed therebetween. Similarly to the overall shape of the inertia measurement device  2000  described above, the outer shape of the outer case  2100  is a rectangular parallelepiped having a substantially square planar shape, and screw holes  2110  are formed in the vicinity of two vertices positioned in the diagonal direction of the square. In addition, the outer case  2100  has a box shape and the sensor module  2300  is accommodated therein. 
     Further, the sensor module  2300  includes an inner case  2310  and a substrate  2320 . The inner case  2310  is a member for supporting the substrate  2320 , and has a shape that fits inside the outer case  2100 . A concave portion  2311  for reducing the possibility of contact with the substrate  2320  and an opening  2312  for exposing a connector  2330  described later are formed in the inner case  2310 . Such an inner case  2310  is bonded to the outer case  2100  through the bonding member  2200 . The substrate  2320  is bonded to the lower surface of the inner case  2310  through an adhesive. 
     As illustrated in  FIG. 19 , a connector  2330 , an angular velocity sensor  2340   z  for measuring the angular velocity around the Z-axis, an acceleration sensor  2350  for measuring acceleration in each axis direction of the X-axis, the Y-axis, and the Z-axis and the like are mounted on the upper surface of the substrate  2320 . An angular velocity sensor  2340   x  for measuring the angular velocity around the X-axis and an angular velocity sensor  2340   y  for measuring the angular velocity around the Y-axis are mounted on the side surface of the substrate  2320 . As these sensors, the inertial sensor of the present disclosure can be used. 
     A control IC  2360  is mounted on the lower surface of the substrate  2320 . The control IC  2360  is a micro controller unit (MCU) and controls each unit of the inertia measurement device  2000 . In the storing unit, programs defining the order and contents for measuring the acceleration and angular velocity, programs for digitizing detected data and incorporating the detected data into packet data, accompanying data, and the like are stored. In addition, a plurality of electronic components are mounted on the substrate  2320 . 
     Fourth Embodiment 
       FIG. 20  is a block diagram illustrating the entire system of a vehicle positioning device according to a fourth embodiment.  FIG. 21  is a diagram illustrating the operation of the vehicle positioning device illustrated in  FIG. 20 . 
     A vehicle positioning device  3000  illustrated in  FIG. 20  is a device which is used by being mounted on a vehicle and performs positioning of the vehicle. The vehicle is not particularly limited, and may be any of a bicycle, an automobile, a motorcycle, a train, an airplane, a ship, and the like, but in the fourth embodiment, description will be made on a four-wheeled automobile as the vehicle. 
     The vehicle positioning device  3000  includes an inertia measurement device  3100  (IMU), a computation processing unit  3200 , a GPS reception unit  3300 , a receiving antenna  3400 , a position information acquisition unit  3500 , a position synthesis unit  3600 , a processing unit  3700 , a communication unit  3800 , and a display  3900 . As the inertia measurement device  3100 , for example, the inertia measurement device  2000  described above can be used. 
     The inertia measurement device  3100  includes a tri-axis acceleration sensor  3110  and a tri-axis angular velocity sensor  3120 . The computation processing unit  3200  receives acceleration data from the acceleration sensor  3110  and angular velocity data from the angular velocity sensor  3120 , performs inertial navigation computation processing on these data, and outputs inertial navigation positioning data including acceleration and attitude of the vehicle. 
     The GPS reception unit  3300  receives a signal from the GPS satellite through the receiving antenna  3400 . Further, the position information acquisition unit  3500  outputs GPS positioning data representing the position (latitude, longitude, altitude), speed, direction of the vehicle positioning device  3000  based on the signal received by the GPS reception unit  3300 . The GPS positioning data also includes status data indicating a reception state, a reception time, and the like. 
     Based on inertial navigation positioning data output from the computation processing unit  3200  and the GPS positioning data output from the position information acquisition unit  3500 , the position synthesis unit  3600  calculates the position of the vehicle, more specifically, the position on the ground where the vehicle is traveling. For example, even if the position of the vehicle included in the GPS positioning data is the same, as illustrated in  FIG. 21 , if the attitude of the vehicle is different due to the influence of inclination θ of the ground or the like, the vehicle is traveling at different positions on the ground. For that reason, it is impossible to calculate an accurate position of the vehicle with only GPS positioning data. Therefore, the position synthesis unit  3600  calculates the position on the ground where the vehicle is traveling, using inertial navigation positioning data. 
     The position data output from the position synthesis unit  3600  is subjected to predetermined processing by the processing unit  3700  and displayed on the display  3900  as a positioning result. Further, the position data may be transmitted to the external apparatus by the communication unit  3800 . 
     Fifth Embodiment 
       FIG. 22  is a perspective view illustrating a vehicle according to a fifth embodiment of the present disclosure. 
     An automobile  1500  as the vehicle illustrated in  FIG. 22  is an automobile includes at least one system  1510  of an engine system, a brake system, and a keyless entry system. The inertial sensor  1  is incorporated in the automobile  1500 , and the attitude of the vehicle body can be measured by the inertial sensor  1 . The detection signal of the inertial sensor  1  is supplied to the control device  1502 , and the control device  1502  can control the system  1510  based on the signal. As such, the automobile  1500  as the vehicle includes the inertial sensor  1 . For that reason, the effect of the inertial sensor  1  described above can be obtained and high reliability can be exhibited. 
     In addition, the inertial sensor  1  can also be widely applied to a car navigation system, a car air conditioner, an anti-lock braking system (ABS), an air bag, a tire pressure monitoring system (TPMS), an engine controller, and an electronic control unit (ECU) such as a battery monitor of a hybrid car or an electric automobile. Also, the vehicle is not limited to the automobile  1500 , but can also be applied to an airplane, a rocket, a satellite, a ship, an automated guided vehicle (AGV), a biped walking robot, an unmanned airplane such as a drone, and the like. 
     Although the inertial sensor of the present disclosure, the electronic device, and the vehicle of the present disclosure have been described based on the embodiments, the present disclosure is not limited thereto. The configuration of each unit can be replaced with any configuration having the same function. In addition, any other constituent elements may be added to the present disclosure. Further, the embodiments described above may be appropriately combined. 
     In the embodiments described above, the configuration in which the inertial sensor  1  measures the angular velocity (Oz around the Z-axis has been described, but is not limited thereto, and, for example, a configuration in which the angular velocity around the Y-axis is detected may be adopted. In this case, the vibration in the Z-axis direction of the movable bodies  40 A and  40 B in the drive vibration mode becomes the quadrature and adversely affects the detection characteristics, and thus the first and second compensation electrodes  48 A,  49 A,  48 B, and  49 B may be disposed so that the quadrature in the Z-axis direction can be suppressed. 
     In the embodiments described above, the sensor element  4  includes two movable bodies  40 A and  40 B, but is not limited to thereto, and for example, one of the movable bodies  40 A and  40 B may be omitted. In the embodiments described above, the configuration for measuring the angular velocity as the inertial sensor has been described, but is not limited thereto, and for example, a configuration for measuring acceleration may be adopted.