Method and apparatus for accurate acquisition of inertial sensor data

• US 10,054,444 B2
• Filed: 05/29/2009
• Issued: 08/21/2018
• Est. Priority Date: 05/29/2009
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Czompo, Joseph, Bicakci, Ara
• Primary Examiner(s): Rivera Vargas, Manuel A
• Application Number:
  US12/475,262
• Publication Number:
  US 20100305899A1
• Time in Patent Office: 3,371 Days
• Field of Search: 702152
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

The subject matter disclosed herein relates to a system and method for receiving a plurality of signals generated by a plurality of sensors adapted to detect physical movement of a mobile device with respect to a plurality of coordinate axes. A time at which at least one of the received signals is digitized is delayed to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.

Claims

1. A method, comprising:

receiving a plurality of signals generated by a plurality of sensors configured to detect physical movement of a mobile device with respect to a plurality of coordinate axes; and

delaying a time at which at least one of the received plurality of signals is digitized to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time, wherein the delaying is utilized to facilitate the synchronization.

2. The method of claim 1, further comprising determining at least one of a position, an orientation, or a velocity of the mobile device based on the digitized versions of the received plurality of signals.

3. The method of claim 2, further comprising modifying the determining at least one of a position, an orientation, or a velocity of the mobile device based, at least in part, on a measured temperature.

4. The method of claim 1, further comprising digitizing the received plurality of signals.

5. The method of claim 1, wherein the common point in time corresponds to a detection of the physical movement of the mobile device.

6. The method of claim 1, wherein the plurality of coordinate axes comprises three coordinate axes.

7. The method of claim 1, wherein the received plurality of signals correspond to at least one of linear acceleration along at least one of the plurality of coordinate axes, or rotational rate along at least one of the plurality of coordinate axes.

8. The method of claim 1, further comprising delaying a time at which at least one of the received plurality of signals is digitized based on predefined processing delays associated with one or more of the plurality of sensors.

9. The method of claim 1, further comprising acquiring one or more signals representative of a measured temperature.

10. The method of claim 1, wherein the received plurality of signals comprises analog signals.

11. The method of claim 1, further comprising storing the digitized versions of the received plurality of signals in a memory buffer.

12. The method of claim 1, wherein the mobile device comprises a handheld device.

13. The method of claim 1, wherein the delaying comprises preventing the at least one of the received plurality of signals from being digitized until a second one of the received plurality of signals is digitized.

14. The method of claim 1, wherein the delaying comprises delaying a time at which the at least one of the received plurality of signals is sampled.

15. A system, comprising:

a plurality of sensors configured to detect physical movement of a mobile device with respect to a plurality of coordinate axes and to generate a plurality of signals corresponding to the physical movement; and

one or more delay elements configured to delay a time at which at least one of the plurality of signals is digitized to provide an output of digitized versions of the plurality of signals synchronized with respect to a common point in time, wherein the delaying is utilized to facilitate the synchronization.

16. The system of claim 15, further comprising a digitizer configured to digitize the plurality of signals.

17. The system of claim 16, wherein the digitizer is configured to implement the one or more delay elements based on predefined processing delays associated with one or more of the plurality of sensors.

18. The system of claim 15, further comprising a special purpose apparatus configured to determine at least one of a position, an orientation, or a velocity of the mobile device based on the digitized versions of the plurality of signals.

19. The system of claim 18, further comprising a special purpose apparatus configured to modify the determination of the at least one of a position, an orientation, or a velocity of the mobile device based, at least in part, on a measured temperature.

20. The system of claim 15, wherein the common point in time corresponds to a detection of the physical movement of the mobile device.

21. The system of claim 15, wherein the plurality of coordinate axes comprises three coordinate axes.

22. The system of claim 15, wherein the plurality of signals correspond to at least one of linear acceleration along at least one of the plurality of coordinate axes, or rotational rate along at least one of the plurality of coordinate axes.

23. The system of claim 15, further comprising a temperature sensor configured to detect a temperature.

24. The system of claim 15, wherein the plurality of signals comprises analog signals.

25. The system of claim 15, further comprising a memory buffer configured to store the digitized versions of the plurality of signals.

26. An apparatus, comprising:

means for receiving a plurality of signals generated by a plurality of sensors configured to detect physical movement of a mobile device with respect to a plurality of coordinate axes; and

means for delaying a time at which at least one of the received plurality of signals is digitized to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time, wherein the delaying is utilized to facilitate the synchronization.

27. The apparatus of claim 26, further comprising means for digitizing the plurality of signals.

28. The apparatus of claim 27, wherein the means for delaying is configured to implement the delaying based on predefined processing delays associated with one or more of the plurality of sensors.

29. The apparatus of claim 26, further comprising means for determining at least one of a position, an orientation, or a velocity of the mobile device based on the digitized versions of the received plurality of signals.

30. The apparatus of claim 29, wherein the means for determining the at least one of a position, an orientation, and a velocity of the mobile device is configured to modify the determining the at least one of a position, an orientation, or a velocity of the mobile device based, at least in part, on a measured temperature.

31. The apparatus of claim 26, wherein the common point in time corresponds to a detection of the physical movement of the mobile device.

32. The apparatus of claim 26, wherein the plurality of coordinate axes comprises three coordinate axes.

33. The apparatus of claim 26, wherein the received plurality of signals correspond to at least one of linear acceleration along at least one of the plurality of coordinate axes, or rotational rate along at least one of the plurality of coordinate axes.

34. The apparatus of claim 26, further comprising means for acquiring one or more signals representative of a detected temperature.

35. The apparatus of claim 26, wherein the received plurality of signals comprises analog signals.

36. The apparatus of claim 26, further comprising means for storing the digitized versions of the received plurality of signals in a memory buffer.

38. The article of claim 34, wherein the machine-readable instructions, when executed by the special purpose apparatus, are further configured to direct the special purpose apparatus to determine at least one of a position, an orientation, or a speed of the mobile device based on the digitized versions of the received plurality of signals.

39. The article of claim 38, wherein the machine-readable instructions, when executed by the special purpose apparatus, are further configured to direct the special purpose apparatus to modify the determination of the at least one of a position, an orientation, or a speed of the mobile device based, at least in part, on a measured temperature.

37. An article comprising:

a storage medium comprising machine-readable instructions stored thereon which, when executed by a special purpose apparatus, are configured to direct the special purpose apparatus to;

receive a plurality of signals generated by a plurality of sensors configured to detect physical movement of a mobile device with respect to a plurality of coordinate axes; and

delay a time at which at least one of the received plurality of signals is digitized to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time, wherein the delaying is utilized to facilitate the synchronization.

40. The article of claim 37, wherein the machine-readable instructions, when executed by the special purpose apparatus, are further configured to direct the special purpose apparatus to digitize the received plurality of signals.

41. The article of claim 37, wherein the machine-readable instructions, when executed by the special purpose apparatus, are further configured to direct the special purpose apparatus to delay the time at which at least one of the received plurality of signals is digitized based on predefined processing delays associated with one or more of the plurality of sensors.

42. The article of claim 37, wherein the machine-readable instructions, when executed by the special purpose apparatus, are further configured to direct the special purpose apparatus to acquire one or more signals representative of a detected temperature.

43. A method, comprising:

receiving a plurality of signals generated by a plurality of sensors adapted to detect physical movement of a mobile device with respect to a plurality of coordinate axes; and

providing an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time by delaying a time at which at least one of the received plurality of signals is digitized.