Real-Time Dynamic Tracking of Bias
First Claim
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1. A device comprising:
- at least one sensor for sensing rotation of said device about a first axis and generating at least one first output associated therewith and for sensing rotation of said device about a second axis and generating at least one second output associated therewith;
an accelerometer for sensing an acceleration of said device and outputting at least one third output associated therewith;
a temperature sensor for sensing a temperature of said device and outputting at least one temperature output associated therewith; and
a processing unit for determining a bias estimate associated with said at least one sensor using;
(a) a first bias estimate technique for generating first bias estimate data based upon determining whether said device is stationary using said at least one first, second and third outputs;
(b) a second bias estimate technique for generating second bias estimate data based upon detection of a pitch of said device using said at least one first, second and third outputs;
(c) a third bias estimate technique for generating third bias estimate data based upon slew-rate filtering using said at least one first and second outputs; and
(d) a fourth bias estimate technique for generating fourth bias estimate data based upon said temperature output and said at least one first and second outputs.
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Abstract
A bias value associated with a sensor, e.g., a time-varying, non-zero value which is output from a sensor when it is motionless, is estimated using at least two, different bias estimating techniques. A resultant combined or selected bias estimate may then be used to compensate the biased output of the sensor in, e.g., a 3D pointing device.
101 Citations
21 Claims
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1. A device comprising:
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at least one sensor for sensing rotation of said device about a first axis and generating at least one first output associated therewith and for sensing rotation of said device about a second axis and generating at least one second output associated therewith; an accelerometer for sensing an acceleration of said device and outputting at least one third output associated therewith; a temperature sensor for sensing a temperature of said device and outputting at least one temperature output associated therewith; and a processing unit for determining a bias estimate associated with said at least one sensor using; (a) a first bias estimate technique for generating first bias estimate data based upon determining whether said device is stationary using said at least one first, second and third outputs; (b) a second bias estimate technique for generating second bias estimate data based upon detection of a pitch of said device using said at least one first, second and third outputs; (c) a third bias estimate technique for generating third bias estimate data based upon slew-rate filtering using said at least one first and second outputs; and (d) a fourth bias estimate technique for generating fourth bias estimate data based upon said temperature output and said at least one first and second outputs. - View Dependent Claims (2, 3)
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4. A method for estimating bias associated with a sensor comprising:
estimating said bias associated with said sensor using at least a first bias estimating technique to generate a first bias estimate and a second bias estimating technique to generate a second bias estimate. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21-65. -65. (canceled)
Specification