{
  "$type": "site.standard.document",
  "description": "A sensor bias estimation device for estimating a bias of a yaw angular velocity sensor of a vehicle, includes: a bias estimation unit that acquires a yaw angular velocity integrated value by integrating a yaw angular velocity acquired from a yaw angular velocity sensor, acquires a GNSS azimuth from…",
  "path": "/patents/1319622",
  "publishedAt": "2022-06-09T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/165",
    "HONDA MOTOR CO., LTD."
  ],
  "textContent": "A sensor bias estimation device for estimating a bias of a yaw angular velocity sensor of a vehicle, includes: a bias estimation unit that acquires a yaw angular velocity integrated value by integrating a yaw angular velocity acquired from a yaw angular velocity sensor, acquires a GNSS azimuth from a GNSS unit which calculates, as the GNSS azimuth, an azimuth of the vehicle based on a GNSS signal, and acquires an estimated bias value based on an azimuth difference which is a difference between the yaw angular velocity integrated value and the GNSS azimuth; a first determination unit that determines whether a first condition that an accuracy of the GNSS azimuth acquired from the GNSS unit is within a prescribed range is met; and a bias decision unit that decides the estimated bias value as the bias of the yaw angular velocity sensor when the first condition is met.",
  "title": "SENSOR BIAS ESTIMATION DEVICE AND BIAS ESTIMATION METHOD"
}