SYSTEMS AND METHODS FOR GYROSCOPE CALIBRATION
First Claim
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1. A method that compensates gyroscopes, the method comprising:
- rotating a sensor platform with three gyroscopes, three accelerometers and three magnetometers thereon;
determining an observed rotation vector Og based upon the rotation sensed by at least one of the three gyroscopes;
determining a calculated rotation Om vector based upon the rotation sensed by the three accelerometers and the three magnetometers; and
determining a compensation gain and a compensation bias for the at least one gyroscope based upon the determined observed rotation vector and the determined calculated rotation vector.
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Abstract
Systems and methods may be used to determine gain compensation and/or bias compensation for gyroscopes in the field where access to specialized calibration tools is limited.
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Citations
19 Claims
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1. A method that compensates gyroscopes, the method comprising:
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rotating a sensor platform with three gyroscopes, three accelerometers and three magnetometers thereon; determining an observed rotation vector Og based upon the rotation sensed by at least one of the three gyroscopes; determining a calculated rotation Om vector based upon the rotation sensed by the three accelerometers and the three magnetometers; and determining a compensation gain and a compensation bias for the at least one gyroscope based upon the determined observed rotation vector and the determined calculated rotation vector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A gyroscope calibration system, comprising:
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three gyroscopes mounted on a sensor platform and configured to sense a rotation of the sensor platform; three accelerometers and three magnetometers mounted on the sensor platform and configured to sense the rotation of the sensor platform; and a processor system operable to receive information corresponding to the sensed rotation from the three gyroscopes and the at least one of the three accelerometers and the three magnetometers, and configured to; determine a measured rotation vector based upon the rotation sensed by the gyroscopes; determine an observed rotation vector based upon the rotation sensed by the at least one the three accelerometers and the three magnetometers; and determine at least one of a compensation gain and a compensation bias for the at least one gyroscope based upon the determined observed rotation vector and the determined measured rotation vector. - View Dependent Claims (13, 14, 15)
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16. A system that compensates gyroscopes mounted on a sensor platform, comprising:
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means for sensing a rotation of the sensor platform; and means for determining a measured rotation vector based upon the rotation of the sensor platform sensed by three gyroscopes, determining an observed rotation vector based upon the rotation sensed by the means for sensing, and determining at least one of a compensation gain and a compensation bias for the gyroscopes based upon the determined observed rotation vector and the determined measured rotation vector. - View Dependent Claims (17, 18, 19)
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Specification