SYSTEMS AND METHODS FOR IN-MOTION GYROSCOPE CALIBRATION
First Claim
1. A system, comprising:
- 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 signals generated by a 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 a motion of a predetermined characteristic;
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 the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the predetermined characteristic;
identify, from the deviation, a component of bias in the signals generated by the plurality of gyro sensors; and
remove the component of bias from the data.
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Accused Products
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 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.
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Citations
20 Claims
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1. A system, comprising:
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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 signals generated by a 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 a motion of a predetermined characteristic; 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 the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the predetermined characteristic; identify, from the deviation, a component of bias in the signals generated by the plurality of gyro sensors; and remove the component of bias from the data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 20)
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10. A method to calibrate a gyroscope, the method comprising:
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storing, in a computing device, data representing signals generated by a plurality of gyro sensors of the gyroscope during a period of time; identifying a portion of the period of time, during which portion the gyroscope is subjected to a motion of a predetermined characteristic; 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 the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the predetermined characteristic; identifying, by the computing device from the deviation, a component of bias in the signals generated by the plurality of gyro sensors; and removing, by the computing device, the component of bias from the data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory computer storage medium storing instructions configured to instruct a computing device to perform a method, the method comprising:
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storing, in the computing device, data representing signals generated by a plurality of gyro sensors of the gyroscope during a period of time; identifying a portion of the period of time, during which portion the gyroscope is subjected to a motion of a predetermined characteristic; 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 the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the predetermined characteristic; identifying, by the computing device from the deviation, a component of bias in the signals generated by the plurality of gyro sensors; and removing, by the computing device, the component of bias from the data. - View Dependent Claims (19)
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Specification