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.
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Citations
65 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, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 45)
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33. A computer-readable medium containing instructions which, when executed on a processor, perform the step of:
estimating a bias associated with an 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 (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61)
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62. A 3D pointing device comprising:
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at least one sensor for detecting rotation of said 3D pointing device about at least one axis and generating a first output associated therewith; an accelerometer for detecting acceleration of said 3D pointing device and generating a second output associated therewith; and a processor for receiving said first and second outputs, determining a bias value associated with said first output using at least a first bias estimation technique and a second bias estimation technique and compensating said first output using said bias value, and using at least one of said second output and a temperature in at least one of said first bias estimation technique and said second bias estimation technique.
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63. A system comprising:
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a device including at least one sensor generating a first output and an accelerometer generating a second output; and a processor for receiving said first and second outputs, determining a bias value associated with said first output using at least a first bias estimation technique and a second bias estimation technique and compensating said first output using said bias value, and using at least one of said second output and a temperature in at least one of said first bias estimation technique and said second bias estimation technique. - View Dependent Claims (64, 65)
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Specification