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Methods, devices and systems for determining the zero rate output of a sensor

  • US 8,649,999 B1
  • Filed: 12/27/2010
  • Issued: 02/11/2014
  • Est. Priority Date: 12/28/2009
  • Status: Active Grant
First Claim
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1. A device comprising:

  • at least one sensor configured to sense rotation of said device about at least one axis and to generate at least one output associated therewith; and

    a zero-rate output (ZRO) tracking filter configured to receive said at least one output and to compensate said at least one output for a bias associated with said at least one sensor,wherein said ZRO filter is implemented as a Kalman filter having at least one constraint enforced on at least one parameter associated therewith,further wherein said at least one constraint is selected based on whether said ZRO filter has converged on an estimate of said bias, such that a first constraint is applied before said ZRO filter has converged on said estimate of said bias and that a second constraint, different from said first constraint, is applied after said ZRO filter has converged on said estimate of said bias,wherein said first constraint ensures a minimum convergence speed by using a minimum Kalman gain before convergence (K1) and said second constraint, different from said first constraint, limits a convergence speed by using a maximum Kalman gain after convergence (K2), andwherein K1 and K2 are calculated to determine a total Kalman gain.

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