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EP1639319A1 - Angular rate sensor having a vibration gyroscope - Google Patents

Angular rate sensor having a vibration gyroscope

Info

Publication number
EP1639319A1
EP1639319A1 EP04741748A EP04741748A EP1639319A1 EP 1639319 A1 EP1639319 A1 EP 1639319A1 EP 04741748 A EP04741748 A EP 04741748A EP 04741748 A EP04741748 A EP 04741748A EP 1639319 A1 EP1639319 A1 EP 1639319A1
Authority
EP
European Patent Office
Prior art keywords
rate sensor
data
rotation rate
sensor according
volatile memory
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04741748A
Other languages
German (de)
French (fr)
Inventor
Uwe Betz
Heinz-Werner Morell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive GmbH
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP1639319A1 publication Critical patent/EP1639319A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces

Definitions

  • the invention relates to a rotation rate sensor with a vibration gyro, in which circuits are provided for operating the vibration gyro and for deriving a rotation rate signal, which access changeable data.
  • rotation rate sensors have become known in which a vibration gyro is excited in two axes radially aligned with respect to a main axis, for which purpose a primary and a secondary control loop with corresponding transducers are provided on the vibration gyro.
  • These control loops can contain different analog and digital circuits, the analog circuits and the vibratory gyro having tolerances, so that an adjustment is necessary at least during the manufacture of the rotation rate sensor.
  • the individual circuits then access the stored data during later operation. It may also be necessary to adapt the properties of the yaw rate sensor to the intended use, for example by specifying parameter sets for filters.
  • rotation rate sensor according to the invention in that the data are stored in a writable non-volatile memory and in that means are provided for reading out the data from the non-volatile memory after the rotation rate sensor is switched on.
  • the non-volatile memory is preferably an EEPROM or a flash EEPROM.
  • a further development of the rotation rate sensor according to the invention consists in that the data are divided into groups according to the way they are used and that measures for data backup are taken for each group. For data backup, it is preferably provided that a checksum for the data is formed for each group, stored in the non-volatile memory and used for checking when reading.
  • the further training makes it possible to differentiate the data of the individual groups independently of one another
  • the comparison data can be compared
  • End of the manufacturing process are stored in the non-volatile memory, while parameter sets which relate to the use of the rotation rate sensor, for example in which type of vehicle the rotation rate sensor is to be installed, are later stored by the user.
  • All data which determine the function of the rotation rate sensor in any way can be stored in the non-volatile memory.
  • adjustment data and / or parameter sets for filters and / or value limits are stored for a self-test of the rotation rate sensor.
  • rotation rate sensor Another development of the rotation rate sensor according to the invention consists in that a software emulation program is also stored in the non-volatile memory.
  • Figure 1 is a block diagram of a rotation rate sensor according to the invention.
  • Figure 2 schematically shows the content of the non-volatile memory.
  • the application example according to FIG. 1 represents a rotation rate sensor for a motor vehicle, with a vibration gyro 1, which is part of a sensor module 2.
  • This has a series of circuits for operating the vibratory gyroscope and for evaluating the signals of the vibratory gyroscope, including a microcomputer 3.
  • This is connected via a SPI bus 4 to a further microcomputer 5, which is also called the host below. From this, the rotation rate information reaches a via a CAN bus driver 6
  • CAN bus 7 for forwarding to other systems in the motor vehicle.
  • Data is stored in an EEPROM 8, which is read out when the rotation rate sensor is switched on and is kept available in working memories of the microcomputers 3 and 5 for access during operation.
  • FIG. 2 shows the data stored in the EEPROM 8 in a highly simplified manner.
  • adjustment data C1 to Cn are stored with an associated identifier IC and a checksum ChSC.
  • Pl to Pn stored in EEPROM 8, which also includes an identifier IP and a checksum ChSP.
  • the rotation rate sensor continuously monitors during operation, for example, variables are monitored for exceeding or falling below their value range.
  • the limits of these value ranges can differ from application to application. Therefore, such limits L1 to Ln are also stored in the EEPROM 8 with an associated identifier IL and a checksum ChSL. Finally, a program for software emulation is stored in EEPROM 8.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

The invention relates to an angular rate sensor having a vibration gyroscope, in which circuits are provided for operating the vibration gyroscope and for deriving an angular rate signal. Said circuits access modifiable data, whereby this data is stored in a writable non-volatile memory. Means are provided for reading out the data from the non-volatile memory after the angular rate sensor is switched on.

Description

Beschreibungdescription

Drehratensensor mit einem VibrationskreiselRotation rate sensor with a vibration gyro

Die Erfindung betrifft einen Drehratensensor mit einem Vibrationskreisel, bei welchem zum Betrieb des Vibrationskreisels und zur Ableitung eines Drehratensignals Schaltungen vorgesehen sind, die auf veränderbare Daten zugreifen.The invention relates to a rotation rate sensor with a vibration gyro, in which circuits are provided for operating the vibration gyro and for deriving a rotation rate signal, which access changeable data.

Beispielsweise aus EP 0 461 761 Bl sind Drehratensensoren bekannt geworden, bei welchen ein Vibrationskreisel in zwei gegenüber einer Hauptachse radial ausgerichteten Achsen angeregt wird, wozu ein primärer und ein sekundärer Regelkreis mit entsprechenden Wandlern an dem Vibrationskreisel vorgese- hen sind. Diese Regelkreise können verschiedene Analog- und Digitalschaltungen enthalten, wobei die Analogschaltungen und der Vibrationskreisel Toleranzen aufweisen, so dass ein Abgleich mindestens bei der Herstellung des Drehratensensors erforderlich ist. Die einzelnen Schaltungen greifen dann bei dem späteren Betrieb auf die gespeicherten Daten zurück. Außerdem kann es erforderlich sein, Eigenschaften des Drehratensensors an die jeweils vorgesehene Verwendung anzupassen, beispielsweise durch Vorgabe von Parametersätzen für Filter.For example, from EP 0 461 761 B1, rotation rate sensors have become known in which a vibration gyro is excited in two axes radially aligned with respect to a main axis, for which purpose a primary and a secondary control loop with corresponding transducers are provided on the vibration gyro. These control loops can contain different analog and digital circuits, the analog circuits and the vibratory gyro having tolerances, so that an adjustment is necessary at least during the manufacture of the rotation rate sensor. The individual circuits then access the stored data during later operation. It may also be necessary to adapt the properties of the yaw rate sensor to the intended use, for example by specifying parameter sets for filters.

Eine Speicherung und Verwaltung derartiger Daten ist bei dem erfindungsgemäßen Drehratensensor besonders vorteilhaft dadurch möglich, dass die Daten in einem beschreibbaren nichtflüchtigen Speicher abgelegt sind und dass Mittel zum Auslesen der Daten aus dem nichtflüchtigen Speicher nach dem Ein- schalten des Drehratensensors vorgesehen sind. Vorzugsweise ist der nichtflüchtige Speicher ein EEPROM oder ein Flash- EEPROM. Eine Weiterbildung des erfindungsgemäßen Drehratensensors besteht darin, dass die Daten nach Art ihrer Verwendung in Gruppen eingeteilt sind und dass für jeweils eine Gruppe Maßnahmen zur Datensicherung getroffen sind. Für die Datensiche- rung ist vorzugsweise vorgesehen, dass für jeweils eine Gruppe eine Prüfsumme über die Daten gebildet, im nich fluchtigen Speicher abgelegt und zur Prüfung beim Lesen benutzt wird.Storage and management of such data is particularly advantageously possible with the rotation rate sensor according to the invention in that the data are stored in a writable non-volatile memory and in that means are provided for reading out the data from the non-volatile memory after the rotation rate sensor is switched on. The non-volatile memory is preferably an EEPROM or a flash EEPROM. A further development of the rotation rate sensor according to the invention consists in that the data are divided into groups according to the way they are used and that measures for data backup are taken for each group. For data backup, it is preferably provided that a checksum for the data is formed for each group, stored in the non-volatile memory and used for checking when reading.

Durch die Weiterbildung ist es möglich, die Daten der einzel- nen Gruppen jeweils unabhängig voneinander zu verschiedenenThe further training makes it possible to differentiate the data of the individual groups independently of one another

Zeitpunkten in den nich fluchtigen Speicher zu schreiben bzw. zu ändern. So können beispielsweise die Abgleichdaten gegenWrite or change times in the non-volatile memory. For example, the comparison data can be compared

Ende des Herstellungsprozesses im nichtflüchtigen Speicher abgelegt werden, während Parametersätze, welche die Anwendung des Drehratensensors, beispielsweise in welchen Fahrzeugtyp der Drehratensensor eingebaut werden soll, betreffen, später beim Anwender abgelegt werden.End of the manufacturing process are stored in the non-volatile memory, while parameter sets which relate to the use of the rotation rate sensor, for example in which type of vehicle the rotation rate sensor is to be installed, are later stored by the user.

In dem nichtfluchtigen Speicher können alle Daten abgelegt sein, die in irgendeiner Weise die Funktion des Drehratensensors bestimmen. Insbesondere ist bei dem erfindungsgemäßen Drehratensensor vorgesehen, dass Abgleichdaten und/oder Parametersätze für Filter und/oder Wertegrenzen für einen Selbsttest des Drehratensensors abgelegt sind.All data which determine the function of the rotation rate sensor in any way can be stored in the non-volatile memory. In particular, it is provided in the rotation rate sensor according to the invention that adjustment data and / or parameter sets for filters and / or value limits are stored for a self-test of the rotation rate sensor.

Eine andere Weiterbildung des erfindungsgemäßen Drehratensensors besteht darin, dass im nichtflüchtigen Speicher ferner ein Software-Emulationsprogramm abgelegt ist.Another development of the rotation rate sensor according to the invention consists in that a software emulation program is also stored in the non-volatile memory.

Die Erfindung lässt zahlreiche Ausführungsformen zu. Eine davon ist schematisch in der Zeichnung anhand mehrerer Figuren dargestellt und nachfolgend beschrieben. Es zeigt: Figur 1 ein Blockschaltbild eines erfindungsgemäßen Drehratensensors undThe invention permits numerous embodiments. One of these is shown schematically in the drawing using several figures and described below. It shows: Figure 1 is a block diagram of a rotation rate sensor according to the invention and

Figur 2 schematisch den Inhalt des nichtflüchtigen Spei- chers.Figure 2 schematically shows the content of the non-volatile memory.

Das Anwendungsbeispiel gemäß Figur 1 stellt einen Drehratensensor für ein Kraftfahrzeug dar, mit einem Vibrationskreisel 1, der Teil eines Sensormoduls 2 ist. Dieses weist eine Reihe von Schaltungen zum Betrieb des Vibrationskreisels und zu der Auswertung der Signale des Vibrationskreisels auf, unter anderem auch einen Mikrocomputer 3. Dieser ist über einen SPI- Bus 4 mit einem weiteren Mikrocomputer 5 verbunden, der im Folgenden auch Host genannt wird. Von diesem gelangt die Drehrateninformation über einen CAN-Bustreiber 6 an einenThe application example according to FIG. 1 represents a rotation rate sensor for a motor vehicle, with a vibration gyro 1, which is part of a sensor module 2. This has a series of circuits for operating the vibratory gyroscope and for evaluating the signals of the vibratory gyroscope, including a microcomputer 3. This is connected via a SPI bus 4 to a further microcomputer 5, which is also called the host below. From this, the rotation rate information reaches a via a CAN bus driver 6

CAN-Bus 7 zur Weiterleitung an andere Systeme im Kraftfahrzeug. In einem EEPROM 8 sind Daten abgelegt, die beim Einschalten des Drehratensensors ausgelesen und in Arbeitsspeichern der Mikrocomputer 3 und 5 für Zugriffe während des Be- triebes bereitgehalten werden.CAN bus 7 for forwarding to other systems in the motor vehicle. Data is stored in an EEPROM 8, which is read out when the rotation rate sensor is switched on and is kept available in working memories of the microcomputers 3 and 5 for access during operation.

Da es zum Verständnis der Erfindung nicht erforderlich ist, sind der Vibrationskreisel 1 und das Sensormodul 2 nicht näher erläutert. Wegen der Sicherheitsrelevanz des Drehraten- sensors ist eine Überwachung der ordnungsgemäßen Funktion der Mikrocomputer 3, 5, insbesondere des Programmlaufs, vorgesehen.Since it is not necessary to understand the invention, the vibration gyro 1 and the sensor module 2 are not explained in detail. Because of the safety relevance of the rotation rate sensor, the proper functioning of the microcomputers 3, 5, in particular the program run, is monitored.

Figur 2 zeigt stark vereinfacht die im EEPROM 8 abgelegten Daten. So sind beispielsweise Abgleichdaten Cl bis Cn mit einem zugehörigen Identifizierer IC und einer Prüfsumme ChSC gespeichert. Für die Einstellung von Filtern sind verschiede- ne Parameter Pl bis Pn im EEPROM 8 abgelegt, zu denen ebenfalls ein Identifizierer IP und eine Prüfsumme ChSP gehört.FIG. 2 shows the data stored in the EEPROM 8 in a highly simplified manner. For example, adjustment data C1 to Cn are stored with an associated identifier IC and a checksum ChSC. There are various ne parameters Pl to Pn stored in EEPROM 8, which also includes an identifier IP and a checksum ChSP.

Aus Sicherheitsgründen werden in dem Drehratensensor während des Betriebes laufend Überwachungen vorgenommen, beispielsweise werden Veränderliche auf Über- bzw. Unterschreiten ihres Wertebereichs überwacht. Die Grenzen dieser Wertebereiche können von Anwendung zu Anwendung verschieden sein. Deshalb sind in dem EEPROM 8 ebenfalls solche Grenzen Ll bis Ln abge- legt mit einem zugehörigen Identifizierer IL und einer Prüfsumme ChSL. Schließlich ist im EEPROM 8 noch ein Programm für eine Software-Emulation abgelegt. For safety reasons, the rotation rate sensor continuously monitors during operation, for example, variables are monitored for exceeding or falling below their value range. The limits of these value ranges can differ from application to application. Therefore, such limits L1 to Ln are also stored in the EEPROM 8 with an associated identifier IL and a checksum ChSL. Finally, a program for software emulation is stored in EEPROM 8.

Claims

Patentansprüche claims 1. Drehratensensor mit einem Vibrationskreisel, bei welchem zum Betrieb des Vibrationskreisels und zur Ableitung ei- nes Drehratensignals Schaltungen vorgesehen sind, die auf veränderbare Daten zugreifen, dadu r ch ge kennz e i chnet , dass die Daten in einem beschreibbaren nichtfluchtigen Speicher (8) abgelegt sind und dass Mittel (5) zum Auslesen der Daten aus dem nichtfluchtigen Speicher (8) nach dem Einschalten des Drehratensensors vorgesehen sind.1. Rotation rate sensor with a vibration gyro, in which circuits are provided for operating the vibration gyro and for deriving a rotation rate signal, which access changeable data, so that the data is stored in a writable non-volatile memory (8) and that means (5) for reading out the data from the non-volatile memory (8) are provided after switching on the rotation rate sensor. 2. Drehratensensor nach Anspruch 1, dadur ch gekenn z e i chnet , dass der nichtfluchtige Spei- eher ein EEPROM (8) ist.2. Rotation rate sensor according to claim 1, characterized in that the non-volatile memory is more of an EEPROM (8). 3. Drehratensensor nach Anspruch 2, da dur ch ge kenn z e i chnet , dass das EEPROM (8) ein Flash- EEPROM ist.3. Yaw rate sensor according to claim 2, since it indicates that the EEPROM (8) is a flash EEPROM. 4. Drehratensensor nach einem der vorhergehenden Ansprüche, dadur ch ge kenn z e i chnet , dass die Daten nach Art ihrer Verwendung in Gruppen eingeteilt sind und dass für jeweils eine Gruppe Maßnahmen zur Datensi- cherung getroffen sind.4. Yaw rate sensor according to one of the preceding claims, so that the data are divided into groups according to the way in which they are used and that measures for data backup are taken for each group. 5. Drehratensensor nach Anspruch 4, dadur ch ge kenn z e i chnet , dass für jeweils eine Gruppe eine Prüfsumme über die Daten gebildet, im nichtflüchti- gen Speicher (8) abgelegt und zur Prüfung beim Lesen benutzt wird. 5. rotation rate sensor according to claim 4, so that ge ge zei chnet that for each group a checksum is formed over the data, stored in the non-volatile memory (8) and used for checking when reading. 6. Drehratensensor nach einem der Ansprüche 4 oder 5, d a d u r c h g e k e n n z e i c h n e t , dass eine der Gruppen Abgleichdaten enthält.6. rotation rate sensor according to one of claims 4 or 5, d a d u r c h g e k e n n z e i c h n e t that one of the groups contains adjustment data. 7. Drehratensensor nach einem der Ansprüche 4 bis 6, dadur ch gek enn z ei chnet , dass eine der Gruppen Parametersätze für Filter enthält.7. Yaw rate sensor according to one of claims 4 to 6, so that one of the groups contains parameter sets for filters. 8. Drehratensensor nach einem der Ansprüche 4 bis 7, dadur ch ge kenn z ei chne t , dass eine der Gruppen Wertegrenzen für einen Selbsttest des Drehratensensors enthält.8. Yaw rate sensor according to one of claims 4 to 7, so that one of the groups contains value limits for a self-test of the yaw rate sensor. 9. Drehratensensor nach einem der vorhergehenden Ansprüche, dadur ch ge kenn z ei chnet , dass im nichtflüchtigen Speicher (8) ferner ein Software- Emulationsprogramm abgelegt ist . 9. Yaw rate sensor according to one of the preceding claims, so that ge indicates that a software emulation program is also stored in the non-volatile memory (8).
EP04741748A 2003-06-30 2004-06-08 Angular rate sensor having a vibration gyroscope Withdrawn EP1639319A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10329500 2003-06-30
PCT/EP2004/051054 WO2005001383A1 (en) 2003-06-30 2004-06-08 Angular rate sensor having a vibration gyroscope

Publications (1)

Publication Number Publication Date
EP1639319A1 true EP1639319A1 (en) 2006-03-29

Family

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Application Number Title Priority Date Filing Date
EP04741748A Withdrawn EP1639319A1 (en) 2003-06-30 2004-06-08 Angular rate sensor having a vibration gyroscope

Country Status (5)

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US (1) US7228251B2 (en)
EP (1) EP1639319A1 (en)
JP (1) JP2009513943A (en)
KR (1) KR20060069365A (en)
WO (1) WO2005001383A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1639315B1 (en) * 2003-06-30 2009-11-25 Continental Automotive GmbH Method for monitoring a rotation rate sensor

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69102590T2 (en) * 1990-05-18 1994-10-06 British Aerospace Inertial sensors.
US5313835A (en) * 1991-12-19 1994-05-24 Motorola, Inc. Integrated monolithic gyroscopes/accelerometers with logic circuits
US5826204A (en) * 1993-11-30 1998-10-20 Siemens Aktiengesellschaft Circuit configuration for evaluation of the signals from a yaw rate sensor
DE4340719A1 (en) * 1993-11-30 1995-06-01 Siemens Ag Circuit arrangement for evaluating the signals of a yaw rate sensor
JP3548220B2 (en) * 1994-03-15 2004-07-28 オリンパス株式会社 Vibration detector
US6647301B1 (en) * 1999-04-22 2003-11-11 Dow Global Technologies Inc. Process control system with integrated safety control system
US6497146B1 (en) * 2000-09-15 2002-12-24 Bei Technologies, Inc. Inertial rate sensor and method with built-in testing
FR2856789B1 (en) * 2003-06-27 2005-08-26 Thales Sa GYROMETER WITH VIBRANT MASS

Non-Patent Citations (1)

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Title
See references of WO2005001383A1 *

Also Published As

Publication number Publication date
US7228251B2 (en) 2007-06-05
WO2005001383A1 (en) 2005-01-06
KR20060069365A (en) 2006-06-21
US20060195290A1 (en) 2006-08-31
JP2009513943A (en) 2009-04-02

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