State Estimator for Rejecting Noise and Tracking and Updating Bias in Inertial Sensors and Associated Methods
First Claim
Patent Images
1. A method for tracking and updating bias in a sensor during an extended period of periodic motion, comprising:
- determining a maximum bias drift and a noise band for a sensor;
determining a prior bias value of the sensor;
measuring a current bias value of the sensor;
calculating a bias difference between the prior bias value and the current bias value; and
updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift.
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Abstract
A method and system for tracking and updating bias in an inertial sensor by determining a maximum bias drift and a noise band for a sensor, determining a prior bias value of the sensor, and measuring a current bias value of the sensor. The method and system can further include calculating a bias difference between the prior bias value and the current bias value, and updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift.
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Citations
20 Claims
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1. A method for tracking and updating bias in a sensor during an extended period of periodic motion, comprising:
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determining a maximum bias drift and a noise band for a sensor; determining a prior bias value of the sensor; measuring a current bias value of the sensor; calculating a bias difference between the prior bias value and the current bias value; and updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for tracking and updating bias of a sensor during an extended period of periodic motion, comprising:
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determining a maximum bias drift and a noise band for a sensor; retrieving a prior bias value from a memory location functionally associated to the sensor; obtaining a current bias value from the sensor; calculating a bias difference between the prior bias value and the current bias value with an electronic processor functionally coupled to the memory location; updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift; and storing the updated prior bias value in the memory location. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification