Systems and methods for in-motion gyroscope calibration

• US 10,451,438 B2
• Filed: 02/05/2016
• Issued: 10/22/2019
• Est. Priority Date: 02/05/2015
• Status: Active Grant

• Current Assignee: AlpineReplay, Inc.
• Original Assignee: AlpineReplay, Inc.
• Inventors: Roberts-Thomson, Claire Louise, Lokshin, Anatole M., Kuzkin, Vitaly A.
• Primary Examiner(s): Tran, Dzung
• Application Number:
  US15/017,375
• Publication Number:
  US 20160231138A1
• Time in Patent Office: 1,355 Days
• Field of Search: 702 94
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

Systems and methods to calibrate a gyroscope based on a motion of a predetermined characteristic. Data representing gyro sensor signals during a period of time is stored. A portion of the time period is identified, during which portion the gyroscope is subjected to a motion of the predetermined characteristic. Using the stored data the gyro signals are integrated with respect to time to calculate orientation of the gyroscope as a function of time. Deviation of a characteristic of the orientation of the gyroscope as the function of time during the portion of time period for the motion of the predetermined characteristic is determined to identify a component of bias in the gyro signals. The bias component is removed from the data to re-calculate the gyroscope orientation, and possible to further calculate the deviation in the re-calculated orientation and to identify a further bias component in the gyro signals.

Claims

1. A system, comprising:

a device comprising a gyroscope, the gyroscope configured to be subjected to motion of the device;

a plurality of gyro sensors of the gyroscope, configured to measure the orientation of the gyroscope and generate corresponding signals to calibrate the gyroscope while it is in motion;

at least one microprocessor; and

memory coupled to the microprocessor and storing instructions that, when executed by the processor, cause the microprocessor to;

store data representing the signals generated by the plurality of gyro sensors of the gyroscope during a period of time;

identify a portion of the period of time, during which portion the gyroscope is subjected to the motion of the device;

integrate, using the data, the signals with respect to time over the period of time to calculate orientation of the gyroscope as a function of time during the portion of the period of time;

determine a deviation of a characteristic of the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the device, wherein the deviation is determined via;

performing a linear fit of the orientation of the gyroscope as the function of time during the portion of the period of time; and

determining a slope of the linear fit, wherein the deviation is based on the slope;

identify, from the deviation, a component of bias in the signals generated by the plurality of gyro sensors;

remove the component of bias from the data; and

after removing the component of bias from the data, integrate, using the data having the component of bias being removed, the signals with respect to time over the period of time to recalculate the orientation of the gyroscope as a second function of time during the portion of the period of time.

2. The system of claim 1, wherein the instructions are further configured to instruct the microprocessor to:

determine a second deviation of the characteristic of the orientation of the gyroscope as the second function of time during the portion of the period of time for the motion of the device comprising the gyroscope;

identify, from the second deviation, a second component of bias in the signals generated by the plurality of gyro sensors; and

remove the second component of bias from the data.

3. The system of claim 2, wherein the instructions are further configured to instruct the microprocessor to:

repeatedly identify a new component of bias from a deviation of the characteristic of the orientation of the gyroscope using calibrated data for the signals and remove the new component of the bias from the calibrated data to update the calibrated data, until the new component is below a threshold.

4. The system of claim 1, wherein the orientation of the gyroscope is expressed in a form of roll, pitch, and yaw;

and wherein each of roll, pitch and yaw of the orientation of the gyroscope is linear fitted with respect to time.

5. The system of claim 4, wherein the instructions are further configured to instruct the microprocessor to:

determining an initial orientation of the gyroscope for the period of time based on a known orientation.

6. The system of claim 5, wherein yaw of the orientation of the gyroscope is substituted by a measurement of magnetic declination.

7. The system of claim 5, wherein the initial orientation is determined at a time instant when the gyroscope is in motion relative to earth.

8. A method to calibrate a gyroscope, the method comprising:

subjecting the gyroscope to motion of a device comprising the gyroscope;

measuring, by a plurality of gyro sensors of the gyroscope, orientation of the gyroscope during the motion of the device;

generating, by the plurality of gyro sensors, signals corresponding to the measured orientation of the gyroscope during a period of time to calibrate the gyroscope while it is in motion;

storing, in a computing device, data representing the generated signals generated by the plurality of gyro sensors of the gyroscope during the period of time;

identifying a portion of the period of time, during which portion the gyroscope is subjected to the motion of the device comprising the gyroscope;

integrating, by the computing device using the data, the signals with respect to time over the period of time to calculate orientation of the gyroscope as a function of time during the portion of the period of time;

determining, by the computing device, a deviation of a characteristic of the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the device comprising the gyroscope, wherein the deviation is determined via;

performing a linear fit of the orientation of the gyroscope as the function of time during the portion of the period of time; and

determining a slope of the linear fit, wherein the deviation is based on the slope;

identifying, by the computing device from the deviation, a component of bias in the signals generated by the plurality of gyro sensors;

removing, by the computing device, the component of bias from the data; and

after removing the component of bias from the data, integrating, by the computing device using the data having the component of bias being removed, the signals with respect to time over the period of time to recalculate the orientation of the gyroscope as a second function of time during the portion of the period of time.

9. The method of claim 8, further comprising, after removing the component of bias from the data:

determining, by the computing device, a second deviation of the characteristic of the orientation of the gyroscope as the second function of time during the portion of the period of time for the motion of the device comprising the gyroscope;

identifying, by the computing device from the second deviation, a second component of bias in the signals generated by the plurality of gyro sensors; and

removing, by the computing device, the second component of bias from the data.

10. The method of claim 8, further comprising:

expressing the orientation of the gyroscope in a form of roll, pitch, and yaw;

wherein each of roll, pitch and yaw of the orientation of the gyroscope is linear fitted with respect to time.

11. The method of claim 10, further comprising:

determining an initial orientation of the gyroscope for the period of time while the gyroscope is in motion, based on a known orientation.

12. The method of claim 10, wherein yaw of the orientation of the gyroscope is substituted by a measurement of magnetic declination.

13. A non-transitory computer storage medium storing instructions configured to instruct a computing device to perform a method, the method comprising:

subjecting a gyroscope to motion of a device comprising the gyroscope;

measuring, by a plurality of gyro sensors of the gyroscope, orientation of the gyroscope during the motion of the device;

generating, by the plurality of gyro sensors, signals corresponding to the measured orientation of the gyroscope during a period of time to calibrate the gyroscope while it is in motion;

storing, in the computing device, data representing the generated signals generated by the plurality of gyro sensors of the gyroscope during the period of time;

identifying a portion of the period of time, during which portion the gyroscope is subjected to the motion of the device comprising the gyroscope;

integrating, by the computing device using the data, the signals with respect to time over the period of time to calculate orientation of the gyroscope as a function of time during the portion of the period of time;

determining, by the computing device, a deviation of a characteristic of the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the device comprising the gyroscope, wherein the deviation is determined via;

performing a linear fit of the orientation of the gyroscope as the function of time during the portion of the period of time; and

determining a slope of the linear fit, wherein the deviation is based on the slope;

identifying, by the computing device from the deviation, a component of bias in the signals generated by the plurality of gyro sensors;

removing, by the computing device, the component of bias from the data; and

after removing the component of bias from the data, integrating, using the data having the component of bias being removed, the signals with respect to time over the period of time to recalculate the orientation of the gyroscope as a second function of time during the portion of the period of time.

14. The non-transitory computer storage medium of claim 13, wherein the method further comprises:

after removing the component of bias from the data,

determining a second deviation of the characteristic of the orientation of the gyroscope as the second function of time during the portion of the period of time for the motion of the device comprising the gyroscope;

identifying, from the second deviation, a second component of bias in the signals generated by the plurality of gyro sensors; and

removing the second component of bias from the data.

15. The non-transitory computer storage medium of claim 14, wherein the method further comprises:

repeatedly identifying a new component of bias from a deviation of the characteristic of the orientation of the gyroscope using calibrated data for the signals and removing the new component of the bias from the calibrated data to update the calibrated data, until the new component is negligible.