State estimator for rejecting noise and tracking and updating bias in inertial sensors and associated methods
First Claim
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1. A method for tracking and updating bias in a sensor during an extended period of periodic motion in order to improve operational accuracy of the sensor, comprising:
- determining a maximum bias drift for a sensor, the maximum bias drift comprising a maximum amount of drift in bias that is permitted to occur during a specified amount of time, such that when the maximum bias drift is exceeded, the maximum bias drift determination prevents bias values from being updated in the sensor;
determining a noise band for the sensor;
determining a prior bias value of the sensor;
measuring a current bias value of the sensor;
calculating by a processor a bias difference between the prior bias value and the current bias value; and
updating the prior bias value with the current bias value upon determining that the current bias value is within the noise band and that the bias difference is less than or equal to the determined maximum bias drift, the updating the prior bias value with the current bias value thereby eliminating accumulated error to improve the operational accuracy of the sensor.
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Abstract
A method and system for tracking and updating bias in an inertial sensor by determining a maximum bias drift and a noise band for a sensor, determining a prior bias value of the sensor, and measuring a current bias value of the sensor. The method and system can further include calculating a bias difference between the prior bias value and the current bias value, and updating the prior bias value with the current bias value if the current bias value is within the noise band and the bias difference is less than or equal to the maximum bias drift.
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Citations
21 Claims
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1. A method for tracking and updating bias in a sensor during an extended period of periodic motion in order to improve operational accuracy of the sensor, comprising:
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determining a maximum bias drift for a sensor, the maximum bias drift comprising a maximum amount of drift in bias that is permitted to occur during a specified amount of time, such that when the maximum bias drift is exceeded, the maximum bias drift determination prevents bias values from being updated in the sensor; determining a noise band for the sensor; determining a prior bias value of the sensor; measuring a current bias value of the sensor; calculating by a processor a bias difference between the prior bias value and the current bias value; and updating the prior bias value with the current bias value upon determining that the current bias value is within the noise band and that the bias difference is less than or equal to the determined maximum bias drift, the updating the prior bias value with the current bias value thereby eliminating accumulated error to improve the operational accuracy of the sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for tracking and updating bias in a sensor during an extended period of periodic motion in order to improve operational accuracy of the sensor, comprising:
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a sensor; an electronic processor functionally coupled to the sensor; and a memory device functionally coupled to the electronic processor and capable of receiving and storing data from the electronic processor, wherein the memory device has computer executable instructions stored thereon that when executed by the electronic processor, cause the electronic processor to perform the following; determine a maximum bias drift for the sensor, the maximum bias drift comprising a maximum amount of drift in bias that is permitted occur during a specified amount of time, such that when the maximum bias drift is exceeded, the maximum bias drift determination prevents bias values from being updated in the sensor, determine a noise band for the sensor, determine a prior bias value of the sensor, measure a current bias value of the sensor, calculate a bias difference between the prior bias value and the current bias value, and update the prior bias value with the current bias value upon determining that the current bias value is within the noise band and that the bias difference is less than or equal to the determined maximum bias drift, thereby eliminating accumulated error to improve the operational accuracy of the sensor. - View Dependent Claims (13, 14, 15)
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16. A method for tracking and updating bias of a sensor during an extended period of periodic motion in order to improve operational accuracy of the sensor, comprising:
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determining a maximum bias drift for a sensor, the maximum bias drift comprising a maximum amount of drift in bias that is permitted occur during a specified amount of time, such that when the maximum bias drift is exceeded, the maximum bias drift determination prevents bias values from being updated in the sensor; determining a noise band for the sensor; retrieving a prior bias value from a memory location functionally associated to the sensor; obtaining a current bias value from the sensor; calculating a bias difference between the prior bias value and the current bias value with an electronic processor functionally coupled to the memory location; replacing the prior bias value with the current bias value upon determining that the current bias value is within the noise band and that the bias difference is less than or equal to the determined maximum bias drift, the replacing the prior bias value with the current bias value thereby eliminating accumulated error to improve the operational accuracy of the sensor; and storing the updated prior bias value in the memory location. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification