Dynamic gyroscope bias offset compensation

A computer program product (CPP) for improved control of a vehicle based on reliably determining whether the vehicle is in motion the CPP comprising a non-transitory computer-readable medium having computer-readable code embodied thereon, the computer-readable code capable of causing a processor to execute steps of:

• calculating a differential change in angular velocity for a gyroscope axis;
• comparing the differential change to a predetermined differential velocity threshold;
• in response to determining that the differential change is less than the predetermined differential velocity threshold, calculating a total variance of the angular velocity for the gyroscope axis over a time window, wherein the total variance is calculated using a sum of squares of differences between sequential gyroscope readings;
• in response to determining that the total variance is greater than a predetermined standard deviation threshold, determining that the vehicle is in motion;
• setting an in-motion flag based on the determination that the vehicle is in motion;
• controlling a display device to display an indication of the determination that the vehicle is in motion;
• utilizing the determination that the vehicle is in motion in calculating an attitude adjustment;
• determining real-time spatial orientation of the vehicle based on the calculated attitude adjustment;
• controlling the display device to display the real-time spatial orientation of the vehicle controlling the vehicle based at least in part on the real-time spatial orientation.

A computer system comprising:

• a processor;
• a memory operably coupled to the processor and including computer readable instructions that, when executed by the processor, cause the processor to perform operations to improve control of a vehicle based on reliably determine whether the vehicle is in motion, the operations comprising:
• calculating a differential change in angular velocity for a gyroscope axis;
• comparing the differential change to a predetermined differential velocity threshold;
• in response to determining that the differential change is less than the predetermined differential velocity threshold, calculating a total variance of the angular velocity for the gyroscope axis over a time window, wherein the total variance is calculated using a sum of squares of differences between sequential gyroscope readings;
• in response to determining that the total variance is greater than a predetermined standard deviation threshold, determining that the vehicle is in motion;
• setting an in-motion flag based on the determination that the vehicle is in motion;
• controlling a display device to display an indication of the determination that the vehicle is in motion;
• utilizing the determination that the vehicle is in motion in calculating an attitude adjustment;
• determining real-time spatial orientation of the vehicle based on the calculated attitude adjustment;
• controlling the display device to display the real-time spatial orientation of the vehicle;
• and
• controlling the vehicle based at least in part on the real-time spatial orientation.