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 and second axis and generating an associated at least one first output associated therewith;
an accelerometer for sensing an acceleration of said device and outputting at least one second 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 when the device is stationary based on non-zero values of the at least one first and second outputs;
(b) a second bias estimate technique for generating second bias estimate data based a difference in a change of elevation of the device as reflected in the at least one first and second outputs;
(c) a third bias estimate technique for generating third bias estimate data based upon a rate of change of an amount of bias introduced by the at least one sensor within a predetermined range bounded by a rate of change in a temperature of the device using said at least one first output; and
(d) a fourth bias estimate technique for generating fourth bias estimate data that correlates a change in temperature of the device with a change of bias introduced by the at least one sensor using said temperature output and said at least one first output.
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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
19 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 and second axis and generating an associated at least one first output associated therewith; an accelerometer for sensing an acceleration of said device and outputting at least one second 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 when the device is stationary based on non-zero values of the at least one first and second outputs; (b) a second bias estimate technique for generating second bias estimate data based a difference in a change of elevation of the device as reflected in the at least one first and second outputs; (c) a third bias estimate technique for generating third bias estimate data based upon a rate of change of an amount of bias introduced by the at least one sensor within a predetermined range bounded by a rate of change in a temperature of the device using said at least one first output; and (d) a fourth bias estimate technique for generating fourth bias estimate data that correlates a change in temperature of the device with a change of bias introduced by the at least one sensor using said temperature output and said at least one first output. - View Dependent Claims (2, 3)
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4. A method, comprising:
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receiving at least one first output associated with at least one sensor for sensing rotation of said device about a first and second axis; receiving at least one second output associated with an accelerometer for sensing an acceleration of said device; receiving at least one temperature output associated with a temperature sensor for sensing a temperature of said device; and determining a bias estimate associated with said at least one sensor using at least two of; (a) a first bias estimate technique for generating first bias estimate data when the device is stationary based on non-zero values of the at least one first and second outputs; (b) a second bias estimate technique for generating second bias estimate data based a difference in a change of elevation of the device based on the at least one first and second outputs; (c) a third bias estimate technique for generating third bias estimate data based upon a rate of change of an amount of bias introduced by the at least one sensor within a predetermined range bounded by a rate of change in a temperature of the device using said at least one first output; and (d) a fourth bias estimate technique for generating fourth bias estimate data that correlates a change in temperature of the device with a change of bias introduced by the at least one sensor using said temperature output and said at least one first output. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11)
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12. A method, for a device comprising a rotational sensor, an accelerometer, and a temperature sensor, the method comprising:
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receiving an output from the rotational sensor, accelerometer, and temperature sensor; determining a bias estimate associated with said rotational sensor using a first bias estimate technique that generates for generating first bias estimate data when the device is stationary based on non-zero values of the at least one first and second outputs, and at least one of; (a) a second bias estimate technique for generating second bias estimate data based a difference in a change of elevation of the device based on the at least one first and second outputs; (b) a third bias estimate technique for generating third bias estimate data based upon a rate of change of an amount of bias introduced by the at least one sensor within a predetermined range bounded by a rate of change in a temperature of the device using said at least one first output; and (c) a fourth bias estimate technique for generating fourth bias estimate data that correlates a change in temperature of the device with a change of bias introduced by the at least one sensor using said temperature output and said at least one first output. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification