Machine learning zero-rate level calibration

A method, comprising:

• receiving gyroscope signals from a gyroscope;
• receiving temperature signals from a temperature sensor;
• associating the temperature signals with the gyroscope signals;
• determining whether the gyroscope is stationary based on the gyroscope signals;
• generating a stationary gyroscope signal in response to determining that the gyroscope is stationary;
• and
• iteratively estimating, by zero-rate level estimation circuitry, one or more zero-rate level compensation parameters based on the stationary gyroscope signal and a temperature signal associated with the stationary gyroscope signal.

A device, comprising:

• a microprocessor;
• and
• a zero-rate level compensation system coupled to the microprocessor, the zero-rate level compensation system including:
• stationary detection circuitry which, in use:
• receives gyroscope signals output by a gyroscope,
• determines whether the gyroscope is stationary based on the gyroscope signals, and
• generates a stationary gyroscope signal based on a determination that the gyroscope is stationary;
• a temperature sensor which, in use, senses temperature and outputs temperature signals;
• and
• zero-rate level estimation circuitry which, in use, receives the stationary gyroscope signal and a temperature signal associated with the stationary gyroscope signal, and iteratively estimates one or more zero-rate level compensation parameters based on the stationary gyroscope signal and the temperature signal.

A device, comprising:

• one or more computer-readable memories;
• and
• zero-rate level compensation circuitry coupled to the one or more computer-readable memories, wherein the zero-rate level compensation circuitry, in operation:
• receives gyroscope signals from a gyroscope;
• receives temperature signals from a temperature sensor;
• associates the temperature signals with the gyroscope signals;
• determines whether the gyroscope is stationary based on the gyroscope signals;
• generates a stationary gyroscope signal in response to determining that the gyroscope is stationary;
• and
• iteratively estimates one or more zero-rate level compensation parameters based on the stationary gyroscope signal and a temperature signal associated with the stationary gyroscope signal.