Patent ID: 7284408

Claim:
A sensor system comprising: a vibration-type angular-speed sensor unit including: a pair of vibrators vibrating in a reference direction determined in advance at phases opposite to each other, wherein the pair of vibrators output opposite-phase waveform components to vibrate in an angular-speed detection direction at phases opposite to each other and same-phase waveform components to vibrate in the angular-speed detection direction at a same phase, wherein the angular-speed detection direction is perpendicular to the reference direction; and a detection waveform generation unit for detecting a detection-object vibration component resulting from application of an angular speed to the vibrator as a component in the angular-speed detection direction and for generating an angular-speed detection waveform based on the detection-object vibration component; an acceleration sensor unit for outputting a first-type acceleration signal, wherein the first acceleration sensor unit is provided separately from the vibration-type angular-speed sensor unit; a second-type acceleration-signal generation unit for extracting an acceleration signal component from the same-phase waveform components generated by the vibration-type angular-speed sensor unit and outputting the extracted acceleration signal component as a second-type acceleration signal; and an abnormality detection unit for detecting an abnormality of at least the vibration-type angular-speed sensor unit or the acceleration sensor unit based on the second-type acceleration signal and the first-type acceleration signal.