A device for the generation of an output signal value making use of sensor signal values of at least three redundant sensors comprises a computing device that is configured to calculate absolute magnitudes of the differences between all possible pairs of the sensor signal values, and to determine the output signal value taking the calculated absolute magnitudes into consideration.

A device for the generation of an output signal value making use of sensor signal values of at least three redundant sensors comprises a computing device that is configured to calculate absolute magnitudes of the differences between all possible pairs of the sensor signal values, and to determine the output signal value taking the calculated absolute magnitudes into consideration.

A management server 103 holds a parameter of a sensor device 101 and change management information related to a change in the parameter, and transmits the changed parameter and the change management information to the sensor device. The sensor device 101 holds the parameter and the change management information transmitted from the management server, and transmits the change management information to the management server together with measurement data. The management server collates the received change management information and preliminarily-held change management information to determine the change in the parameter on the basis of a result of the collation.

A management server 103 holds a parameter of a sensor device 101 and change management information related to a change in the parameter, and transmits the changed parameter and the change management information to the sensor device. The sensor device 101 holds the parameter and the change management information transmitted from the management server, and transmits the change management information to the management server together with measurement data. The management server collates the received change management information and preliminarily-held change management information to determine the change in the parameter on the basis of a result of the collation.

A inertial measurement device includes: a first inertial measurement unit to an n-th inertial measurement unit; a relay circuit configured to receive first detection data to n-th detection data from the first inertial measurement unit to the n-th inertial measurement unit and output the first detection data to the n-th detection data as output data in a time-division manner; and a processing device configured to receive the output data from the relay circuit and perform synthesis processing on the first detection data to the n-th detection data.

A inertial measurement device includes: a first inertial measurement unit to an n-th inertial measurement unit; a relay circuit configured to receive first detection data to n-th detection data from the first inertial measurement unit to the n-th inertial measurement unit and output the first detection data to the n-th detection data as output data in a time-division manner; and a processing device configured to receive the output data from the relay circuit and perform synthesis processing on the first detection data to the n-th detection data.

A device for the generation of an output signal value making use of sensor signal values of at least three redundant sensors comprises a computing device that is configured to calculate absolute magnitudes of the differences between all possible pairs of the sensor signal values, and to determine the output signal value taking the calculated absolute magnitudes into consideration.

A device for the generation of an output signal value making use of sensor signal values of at least three redundant sensors comprises a computing device that is configured to calculate absolute magnitudes of the differences between all possible pairs of the sensor signal values, and to determine the output signal value taking the calculated absolute magnitudes into consideration.

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.

A method of dynamic, real-time generation of a blended output from a plurality of sensors is provided. The method includes, at a frame rate, periodically storing samples from the plurality of sensors; band pass filtering the stored samples separately for each of the plurality of sensors over a time scale characteristic of a type of error for the plurality of sensors; storing the filtered samples; at an accumulation rate, iteratively updating a covariance matrix based on a selected number of filtered samples, removing data from the covariance matrix for any of the plurality of sensors that have failed; and calculating, based on the covariance matrix, changes to real-time coefficients to be applied to the outputs of each sensor of the plurality of sensors; and at the frame rate, applying the changes to the real-time coefficients; and calculating the blended output for the plurality of sensors based on the real-time coefficients.