Automatic calibration of rate gyroscope sensitivity
AssigneeCloudNav Inc.
InventorErik Anderson
Life of this patent
Estimating the term…
Abstract
Devices, systems and methods for automatic calibration of rate gyroscope sensitivity are described. One exemplary method includes receiving a first plurality of measurements from a gyroscope and a second plurality of measurements from at least another sensor including at least one accelerometer, generating an orientation estimate of the device and a plurality of orientation corrections based on the first and second plurality of measurements, generating an estimate of a sensitivity of the gyroscope based on the orientation estimate, the plurality of orientation corrections and the first plurality of measurements, and calibrating at least the gyroscope based on the estimate of the sensitivity. In an example, the at least another sensor may include an accelerometer and/or a magnetometer.
Claims20
A method for automatic calibration of a gyroscope in a device, comprising:
- determining, based on a first plurality of measurements from a gyroscope and a second plurality of measurements from an accelerometer, an estimate of an orientation of the device and one or more corrections for the orientation;
- determining, based on the estimate of the orientation, the one or more corrections for the orientation, and the first plurality of measurements, an estimate of a sensitivity of the gyroscope;
- and
- calibrating, based on at least the estimate of the sensitivity, the gyroscope,
- wherein the estimate of the sensitivity accounts for a multiplicative error on one or more axes of the gyroscope, and
- wherein the sensitivity corresponds to a ratio of a measured rotation of the gyroscope to a known true rotation of the gyroscope.
A system for automatic calibration of a gyroscope in a device, comprising:
- a processor and a memory including instructions stored thereupon, wherein the instructions upon execution by the processor cause the processor to:
- determine, based on a first plurality of measurements from a gyroscope and a second plurality of measurements from an accelerometer, an estimate of an orientation of the device and one or more corrections for the orientation;
- determine, based on the estimate of the orientation, the one or more corrections for the orientation, and the first plurality of measurements, an estimate of a sensitivity of the gyroscope;
- and
- calibrate, based on at least the estimate of the sensitivity, the gyroscope,
- wherein the estimate of the sensitivity accounts for a multiplicative error on one or more axes of the gyroscope, and
- wherein the sensitivity corresponds to a ratio of a measured rotation of the gyroscope to a known true rotation of the gyroscope.
A non-transitory computer-readable storage medium having instructions stored thereupon for automatic calibration of a gyroscope in a device, comprising:
- instructions for determining, based on a first plurality of measurements from a gyroscope and a second plurality of measurements from an accelerometer, an estimate of an orientation of the device and one or more corrections for the orientation;
- instructions for determining, based on the estimate of the orientation, the one or more corrections for the orientation, and the first plurality of measurements, an estimate of a sensitivity of the gyroscope;
- and
- instructions for calibrating, based on at least the estimate of the sensitivity, the gyroscope,
- wherein the estimate of the sensitivity accounts for a multiplicative error on one or more axes of the gyroscope, and
- wherein the sensitivity corresponds to a ratio of a measured rotation of the gyroscope to a known true rotation of the gyroscope.
Dependencies are inferred from the claim text.