Apparatus and methodology for calibration of a gyroscope and a compass included in a handheld device

• US 8,326,533 B2
• Filed: 01/21/2010
• Issued: 12/04/2012
• Est. Priority Date: 01/21/2010
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Sachs, David, Lin, Shang-Hung
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): Hilgendorf, Dale W
• Application Number:
  US12/691,710
• Publication Number:
  US 20110178707A1
• Time in Patent Office: 1,048 Days
• Field of Search: 701/200, 701/213, 701/214, 701/216, 701/220, 701/472, 701/508, 345/156, 455/456.3, 702/85, 702/92, 702/93, 702/150, 702/151, 73/17.5, 73/17.6, 73/17.7
• US Class Current: 701/472
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

Techniques for estimating compass and gyroscope biases for handheld devices are disclosed. The compass bias can be determined by causing a small movement of the handheld device and comparing the data obtained from the compass with the data obtained from the gyroscope. The gyroscope bias can be determined by obtaining a quaternion based angular velocity term of the handheld device when the accelerometer and compass data are reliable, and then comparing the angular velocity term with the gyro data to estimate the gyro bias. When the compass and/or the accelerometer data are unreliable, a previously determined quaternion angular velocity term is used. The gyroscope bias can also be determined by measuring gyroscope biases at various temperatures in a non-factory setting, storing the data in a memory, and using the data to estimate gyro biases when the accelerometer and/or the compass data are unreliable.

Claims

1. A method comprising:

rotating a handheld device through an angle of rotation defined by an initial position of the handheld device and a final position of the handheld device;

receiving rotation information from a three axis gyroscope;

integrating the rotation information from the three axis gyroscope over the angle of rotation in three dimensions to provide a rotation matrix describing rotation of the handheld device through the angle of rotation;

receiving a first magnetic vector information corresponding to the initial position of the handheld device and a second magnetic vector information corresponding to the final position of the handheld device from a three axis compass;

identifying a bias error of the three axis compass by comparing the rotation matrix to the first magnetic vector information and the second magnetic vector information; and

correcting the bias error of the three axis compass.

2. The method of claim 1, wherein the rotating further comprises rotating the handheld device through the angle of rotation due to an unintentional hand jitter.

3. The method of claim 1, wherein the bias error of the three axis compass is caused by a metal device, a magnetic field or a magnet external to the compass.

4. The method of claim 1, further comprising:

adjusting sensitivity in three dimensions of the three axis compass.

5. The method of claim 1, further comprising:

receiving rotation information from a three axis accelerometer corresponding to the rotation of the handheld device through the angle of rotation;

determining a first angular velocity term for the handheld device by using rotation information received from the compass, the accelerometer and the gyroscope;

comparing the rotation information received from the three axis gyroscope with the first angular velocity term; and

using the result of the comparison to determine a bias of the three axis gyroscope.

6. The method of claim 5, wherein:

comparing the rotation information received from the three axis gyroscope with the first angular velocity term if the information received from the three axis accelerometer and the three axis compass is reliable; and

comparing the rotation information received from the three axis gyroscope with a second angular velocity term stored in a memory if the information received from the three axis accelerometer or the three axis compass is unreliable;

wherein,

the second angular velocity term includes an angular velocity term that was determined when the information received from the three axis accelerometer and the three axis compass was reliable.

7. The method of claim 5, wherein the establishing further comprises modeling a temperature dependence of the gyroscope bias.

8. The method of claim 7, wherein the modeling further comprises determining a slope and an offset that are used to correct the gyroscope data and eliminate the gyroscope bias.

9. The method of claim 1, wherein the identifying further comprises representing the bias error with the following equation:

R(mprev−

mbias)=mfinal−

mbias,

where R is the rotation matrix, mprev is the first magnetic field vector information corresponding to the initial position of the handheld device, mfinal is the second magnetic vector information corresponding to the final position of the handheld device, and mbias is the compass bias error.

10. The method of claim 9, further comprising:

solving for mbias using a linear algebra technique; and

achieving a convergence of mbias.

11. A handheld consumer electronics device comprising:

a three axis gyroscope;

a three axis compass;

a memory that stores computer executable instructions; and

a processor that facilitates execution of the computer executable instructions to at least;

receive information from the three axis gyroscope related to a rotation of the handheld consumer electronic device through an angle of rotation from a first point to a second point and information from the three axis compass comprising a first magnetic vector corresponding to the first point of the angle of rotation and a second magnetic vector corresponding to the second point of the angle of rotation;

integrate the information from the three axis gyroscope over the angle of rotation in three dimensions to provide a rotation matrix describing the rotation; and

identify a bias error of the three axis compass by a comparison of the rotation matrix to the first magnetic vector and the second magnetic vector.

12. The handheld consumer electronics device of claim 11, further comprising:

an accelerometer,

wherein the processor further facilitates the execution of the computer executable instructions to;

receive rotation information from the three axis accelerometer; and

determine a first angular velocity term for the handheld device by using rotation information received from the three axis compass, the three axis accelerometer and the three axis gyroscope;

compare the information received from the three axis gyroscope with the first angular velocity term; and

use the result of the comparison to determine a gyroscope bias for the three axes.

13. The handheld consumer electronics device of claim 12, wherein the processor further facilitates the execution of the computer executable instructions to:

compare the information received from the three axis gyroscope with the first angular velocity term if the information received from the three axis accelerometer and the three axis compass is reliable; and

compare the information received from the gyroscope with a second angular velocity term stored in a memory if the information received from the three axis accelerometer or the three axis compass is unreliable,

wherein the second angular velocity term includes an angular velocity term determined when the information received from the three axis accelerometer and the three axis compass are reliable.

14. The handheld consumer electronics device of claim 11, wherein the processor further facilitates the execution of the computer executable instructions to:

adjust a three dimensional compass sensitivity value based on the bias of the three axis compass.

15. The handheld consumer electronics device of claim 11, further comprising:

a measurement circuit for measuring gyroscope biases at various temperature values, wherein

the memory stores the measurements and temperature values in a table, and

the processor further facilitates the execution of the computer executable instructions to use the table to estimate the gyroscope bias when the three axis compass data or the three axis accelerometer data is unreliable.

16. The handheld consumer electronics device of claim 11, wherein the handheld computer electronics device facilitates display of a position of a user in real time.

17. The handheld consumer electronics device of claim 12, wherein the handheld computer electronics device facilitates input of a signature based on a trajectory of movement of the handheld computer electronics device.

18. The handheld consumer electronics device of claim 17, further comprising a library of signatures stored in the memory,

wherein the processor facilitates the execution of the computer executable instructions to authenticate a signature of the user.

19. The handheld consumer electronics device of claim 11, wherein the processor is further configured to facilitate the execution of the computer executable instructions to identify the bias error of the three axis compass with the following equation:

R(mprev−

mbias)=mfinal−

mbias,

where R is the rotation matrix, mprev is the first magnetic field vector information corresponding to the first position of the handheld device, mfinal is the second magnetic vector information corresponding to the second position of the handheld device, and mbias is the compass bias error.