Systems and methods for calibration of gyroscopes and a magnetic compass
First Claim
Patent Images
1. A method for calibrating an uncalibrated magnetic compass and at least one uncalibrated gyroscope, the method comprising:
- receiving an output of the uncalibrated gyroscope while stationary;
determining a gyroscope bias error of the uncalibrated gyroscope based upon the output of the uncalibrated gyroscope while stationary;
rotating a sensor platform with the uncalibrated magnetic compass and the uncalibrated gyroscope thereon;
receiving bearing information from the uncalibrated compass and angular rotation information from the uncalibrated gyroscope during a time period corresponding to the rotation of the sensor platform exactly 360 degrees;
integrating the angular rotation information from the uncalibrated gyroscope over the time period;
determining an amount of gyroscope rotation from the integrated angular rotation information;
determining a gyroscope gain error based upon a difference between the determined amount of gyroscope rotation and the corresponding bearing information;
determining magnetic field strength variations based upon the angular rotation information; and
determining a compass bearing error based upon the determined magnetic field strength variations.
1 Assignment
0 Petitions
Accused Products
Abstract
Calibration systems and methods simultaneously calibrate a magnetic compass and gyroscopes. An exemplary embodiment rotates the field calibration system. Based upon the rotation sensed by the magnetic compass and the gyroscopes, the field calibration system determines compensation for both the magnetic compass and the gyroscopes.
-
Citations
14 Claims
-
1. A method for calibrating an uncalibrated magnetic compass and at least one uncalibrated gyroscope, the method comprising:
-
receiving an output of the uncalibrated gyroscope while stationary; determining a gyroscope bias error of the uncalibrated gyroscope based upon the output of the uncalibrated gyroscope while stationary; rotating a sensor platform with the uncalibrated magnetic compass and the uncalibrated gyroscope thereon; receiving bearing information from the uncalibrated compass and angular rotation information from the uncalibrated gyroscope during a time period corresponding to the rotation of the sensor platform exactly 360 degrees; integrating the angular rotation information from the uncalibrated gyroscope over the time period; determining an amount of gyroscope rotation from the integrated angular rotation information; determining a gyroscope gain error based upon a difference between the determined amount of gyroscope rotation and the corresponding bearing information; determining magnetic field strength variations based upon the angular rotation information; and determining a compass bearing error based upon the determined magnetic field strength variations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A compass and gyroscope field calibration system comprising:
-
a sensor platform; at least one uncalibrated magnetic compass on the sensor platform and configured to output bearing information corresponding to a bearing of the uncalibrated magnetic compass; at least one uncalibrated gyroscope on the sensor platform and configured to sense a rotation of the sensor platform during a calibration rotation of the sensor platform; and a processor system operable to; receive an output of the uncalibrated gyroscope while the uncalibrated gyroscope is stationary; determine a gyroscope bias error of the uncalibrated gyroscope based upon the output of the uncalibrated gyroscope while stationary; receive the bearing information from the uncalibrated compass and angular rotation information from the uncalibrated gyroscope during a time period corresponding to the calibration rotation of the sensor platform; integrate the angular rotation information from the uncalibrated gyroscope over the time period; determine an amount of gyroscope rotation from the integrated angular rotation information; determine a gyroscope gain error based upon a difference between the determined amount of gyroscope rotation and the corresponding bearing information; determining magnetic field strength variations based upon the angular rotation information; and determining a compass bearing error based upon the determined magnetic field strength variations. - View Dependent Claims (11, 12)
-
-
13. A system for calibrating an uncalibrated magnetic compass and at least one uncalibrated gyroscope from a rotation of a sensor platform with the uncalibrated magnetic compass and the uncalibrated gyroscope thereon, the method comprising:
-
means for receiving bearing information from the uncalibrated compass and angular rotation information from the uncalibrated gyroscope during a time period corresponding to the rotation of the sensor platform; and means for integrating the angular rotation information from the uncalibrated gyroscope over the time period, determining an amount of gyroscope rotation from the integrated angular rotation information, determining a gyroscope gain error based upon a difference between the determined amount of gyroscope rotation and the corresponding bearing information, determining magnetic field strength variations based upon the angular rotation information, and determining a compass bearing error based upon the determined magnetic field strength variations. - View Dependent Claims (14)
-
Specification