Patent ID: 7814793

Claim:
A gyro sensor module built into a navigation system mounted into a mobile unit, comprising: a first gyro sensor detecting and outputting a first angular velocity ω 1 around a first detection axis; a sign determination circuit for determining a sign of the first angular velocity ω 1 ; a second gyro sensor detecting and outputting a second angular velocity ω 2 around a second detection axis intersecting the first detection axis at an acute angle θ 12 ; a sensor output correction circuit for correcting outputs of the first and second gyro sensors; and a computation circuit for computing ω′ by equations ω′=√(ω 1 ′ 2 +SA 2 ) and SA=(ω 2 ′−ω 1 ′ cos θ 12 )/sin θ 12 using a first angular velocity ω 1 ′ and a second angular velocity ω 2 ′ obtained from corrections performed by the sensor output correction circuit, and outputting an angular velocity ω obtained by multiplying the ω′ by the sign of the first angular velocity ω 1 obtained by the sign determination circuit, wherein the sensor output correction circuit includes: a first offset adjustment circuit for outputting a value ω 1 ″ obtained by subtracting, from the ω 1 , a correction value B 1 corresponding to an output value of the first gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping; and a second offset adjustment circuit for outputting a value ω 2 ″ obtained by subtracting, from the ω 2 , a correction value B 2 corresponding to an output value of the second gyro sensor at a time when the mobile unit in which the gyro sensor module is disposed is stopping, and the angular velocity ω is an angular velocity around an axis located in a plane including the first and second detection axes and in a range between the first and second detection axes.