Method and system for estimating an angular rate sensor bias
OwnerJing Liuinventor
Life of this patent
Estimating the term…
Abstract
A gyroscope calibration system and method for estimating an angular rate sensor bias of a gyroscope sensor. The system includes: a filter unit which filters received gyroscope raw data to ascertain an estimated angular rate signal; a motion detection unit designed to calculate a moving average of a time derivative of the angular rate signal obtained from the filter unit and to identify a type of motion on the basis of the calculated moving average; an assignment unit designed to provide calibration parameters depending on the type of motion identified by the motion detection unit; and a calibration unit designed to estimate the angular rate sensor bias of the gyroscope sensor based on the calibration parameters assigned by the assignment unit to the calibration unit.
Claims9
A method for estimating an angular rate sensor bias of a gyroscope sensor, the method comprising the following steps:
- receiving gyroscope raw data from the gyroscope sensor;
- filtering the received gyroscope raw data through a filter to ascertain an estimated angular rate signal;
- calculating a moving average of a time derivative of the estimated angular rate signal and identifying a type of motion of an object using a motion detection unit based on the calculated moving average;
- assigning calibration parameters to a calibration unit depending on the identified type of motion;
- and
- estimating the angular rate sensor bias of the gyroscope sensor using the calibration unit based on the assigned calibration parameters.
A gyroscope calibration system for estimating an angular rate sensor bias of a gyroscope sensor, the gyroscope calibration system comprising:
- a filter unit configured to filter received gyroscope raw data to ascertain an estimated angular rate signal;
- a motion detection unit configured to calculate a moving average of a time derivative of the estimated angular rate signal obtained from the filter unit and to identify a type of motion based on the calculated moving average;
- an assignment unit configured to provide calibration parameters depending on the type of motion identified by the motion detection unit;
- and
- a calibration unit configured to estimate the angular rate sensor bias of the gyroscope sensor based on the calibration parameters assigned by the assignment unit.
A portable device, comprising:
- at least one gyroscope sensor, wherein gyroscope raw data from the at least one gyroscope sensor are calibrated using a method for estimating an angular rate sensor bias of at least one gyroscope sensor, the method including:
- receiving the gyroscope raw data from the at least one gyroscope sensor,
- filtering the received gyroscope raw data through a filter to ascertain an estimated angular rate signal,
- calculating a moving average of a time derivative of the estimated angular rate signal and identifying a type of motion of an object using a motion detection unit based on the calculated moving average,
- assigning calibration parameters to a calibration unit depending on the identified type of motion, and
- estimating the angular rate sensor bias of the at least one gyroscope sensor using the calibration unit based on the assigned calibration parameters.
A vehicle, comprising:
- at least one gyroscope sensor, wherein gyroscope raw data from the at least one gyroscope sensor being calibrated or dynamically recalibrated using a method for estimating an angular rate sensor bias of the at least one gyroscope sensor, the method including:
- receiving the gyroscope raw data from the at least one gyroscope sensor,
- filtering the received gyroscope raw data through a filter to ascertain an estimated angular rate signal,
- calculating a moving average of a time derivative of the estimated angular rate signal and identifying a type of motion of an object using a motion detection unit based on the calculated moving average,
- assigning calibration parameters to a calibration unit depending on the identified type of motion, and
- estimating the angular rate sensor bias of the at least one gyroscope sensor using the calibration unit based on the assigned calibration parameters.
Dependencies are inferred from the claim text.