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US 2019/0293451 A1Published application
Methods and apparatus for determining the zero rate output of a sensor using a learning algorithm
AssigneeIDHL Holdings, Inc.
InventorsBryan A. Cook, Yun Li
Life of this patent
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Abstract
Methods, apparatus, and systems for calibrating the Zero Rate Offset (ZRO) of a gyroscope are disclosed.
Claims25
A method of compensating for zero rate offset (ZRO) of a gyroscope as a function of temperature, the method comprising:
- iteratively receiving a measurement generated by the gyroscope and a temperature of the gyroscope;
- iteratively receiving a measurement generated by at least one other motion sensor;
- determining, based on the measurements generated by the gyroscope and the measurements generated by the at least one other sensor, when the gyroscope is stationary;
- determining, based on the received temperature, when the gyroscope is at a particular temperature;
- during periods that the gyroscope is determined to be stationary and at a particular temperature, accumulating a mean and a variance of the mean of the gyroscope measurements to generate a sample data set;
- generating a weighted Recursive Least Squares (RLS) fit of ZRO as a function of temperature based on the mean and variance of the mean of the gyroscope measurements at a plurality of temperatures;
- computing a ZRO estimate using the weighted RLS fit and a current temperature of the gyroscope;
- and
- when the gyroscope is in motion, adjusting the measurement generated by the gyroscope as a function of the ZRO estimate.
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An apparatus for compensating for zero rate offset (ZRO) of a gyroscope as a function of temperature, the apparatus comprising:
- a gyroscope;
- at least one other sensor;
- and
- a processor configured to:
- iteratively receive a measurement generated by the gyroscope and a temperature of the gyroscope;
- iteratively receive a measurement generated by at least one other motion sensor;
- determine, based on the measurements generated by the gyroscope and the measurements generated by the at least one other sensor, when the gyroscope is stationary;
- determine, based on the received temperature, when the gyroscope is at a particular temperature;
- during periods that the gyroscope is determined to be stationary and at a particular temperature, accumulate a mean and a variance of the mean of the gyroscope measurements to generate a sample data set;
- generate a weighted Recursive Least Squares (RLS) fit of ZRO as a function of temperature based on the mean and variance of the mean of the gyroscope measurements at a plurality of temperatures;
- and
- compute a ZRO estimate using the weighted RLS fit and a current temperature of the gyroscope;
- and
- when the gyroscope is in motion, adjusting the measurement generated by the gyroscope as a function of the ZRO estimate.
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Dependencies are inferred from the claim text.