Bias estimating method, posture estimating method, bias estimating device, and posture estimating device

• US 9,273,967 B2
• Filed: 06/27/2011
• Issued: 03/01/2016
• Est. Priority Date: 06/28/2010
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Uchida, Shuji, Ding, Yimei
• Primary Examiner(s): Toatley, Gregory J
• Assistant Examiner(s): Stifter, Jr., Terence
• Application Number:
  US13/170,139
• Publication Number:
  US 20110320164A1
• Time in Patent Office: 1,709 Days
• Field of Search: 702/150
• US Class Current: 1/1
• CPC Class Codes: G01C 21/185 for gravity
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups

Abstract

A bias estimating method includes: calculating a virtual posture angle which is a posture angle with a bias which is assumed to be zero by the use of detection values of a plurality of axes in a calibration posture where one axis of a multi-axis acceleration sensor is parallel to the vertical direction; and estimating a bias value contained in the detection value of the axis using the detection value of the axis and the virtual posture angle.

Claims

1. A method for calibrating a multi-axis acceleration sensor using an estimation of a bias of the multi-axis acceleration sensor, the method comprising:

placing the multi-axis acceleration sensor in a calibration posture having an unknown actual posture angle where one axis of the multi-axis acceleration sensor is parallel to the vertical direction;

calculating a virtual posture angle of the multi-axis acceleration sensor placed in the calibration posture, wherein

the virtual posture angle is an estimation of the actual posture angle and is calculated through the use of acceleration detection values of a plurality of axes of the multi-axis acceleration sensor measured by the multi-axis acceleration sensor by assuming a zero bias in the acceleration detection values, and

the calculated virtual posture angle is different than the actual posture angle;

estimating a bias value contained in the acceleration detection value of each axis of the plurality of axes using the acceleration detection value of the corresponding axis and the virtual posture angle; and

calibrating the multi-axis acceleration sensor using the estimated bias value.

2. The method according to claim 1, further comprising calculating an estimation error of the bias value using the virtual posture angle and error variance of the bias value.

3. The method according to claim 2, wherein the estimation error of the bias value contained in the detection value of each axis of the plurality of axes can be approximated using the virtual posture angle and an error in the virtual posture angle, and

wherein the calculating of the estimation error of the bias value includes calculating the estimation error of the bias value contained in the detection value of each axis of the plurality of axes on the basis of the fact that the error in the virtual posture angle can be estimated using the error variance of the bias value.

4. The method according to claim 1, wherein the acceleration sensor is at least a temperature-compensated sensor.

5. The method according to claim 1, further comprising performing at least a temperature compensating operation to compensate for the output of the acceleration sensor and to acquire the detection value.

6. A posture estimating method of estimating a posture of the acceleration sensor using the bias value estimated by the method according to claim 1 and the detection value of each axis of the plurality of axes of the acceleration sensor.

7. A device for calibrating a multi-axis acceleration sensor using an estimation of a bias of the multi-axis acceleration sensor, the device comprising:

a virtual posture angle calculating unit that calculates a virtual posture angle of a multi-axis acceleration sensor placed in a calibration posture having an unknown actual posture angle where one axis of the multi-axis acceleration sensor is parallel to the vertical direction, wherein

the virtual posture angle is an estimation of the actual posture angle and is calculated by the use of acceleration detection values of a plurality of axes of the multi-axis acceleration sensor measured by the multi-axis acceleration sensor by assuming a zero bias in the acceleration detection values, and

the calculated virtual posture angle is different than the actual posture angle;

a bias estimating unit that estimates a bias value contained in the acceleration detection value of each axis of the plurality of axes using the acceleration detection value of the axis and the virtual posture angle; and

a calibration unit that calibrates the multi-axis acceleration sensor using the estimated bias value.

8. A posture estimating device comprising:

a multi-axis acceleration sensor;

the device according to claim 7 that estimates the bias value contained in the detection values of the plurality of axes of the acceleration sensor; and

a posture estimating unit that estimates a posture of the acceleration sensor using the bias value estimated by the bias estimating device and the detection value of each axis of the plurality of axes of the acceleration sensor.

9. A device for calibrating a multi-axis acceleration sensor having a plurality of axes using an estimation of a bias of the multi-axis acceleration sensor, the device comprising:

an instruction unit that instructs a user to place the device in a calibration posture where the actual posture angle is unknown;

a calculating unit that calculates a virtual posture angle of a multi-axis acceleration sensor at the calibration posture using a detection value measured by a multi-axis acceleration sensor, wherein the calculated virtual posture angle is different than the actual posture angle;

a bias estimating unit that estimates a bias value contained in the detection value using the virtual posture angle and the detection value; and

a calibration unit that calibrates the multi-axis acceleration sensor using the estimated bias value.

10. The device according to claim 9, wherein the calibration posture has one axis of the multi-axis acceleration parallel to the vertical direction.

11. The device according to claim 10, wherein the calculating unit calculates the virtual posture angle using the plurality of axes of the multi-axis acceleration sensor by assuming a zero bias.

12. The device according to claim 10, wherein the bias estimating unit estimates the bias value of the one axis.

13. The device according to claim 9, wherein the instruction unit instructs to place the device on a horizontal platform.

14. The device according to claim 9, wherein the instruction unit instructs again to place the device in the calibration posture if the inclination of the device is great.

15. The device according to claim 9, wherein the instruction unit includes a display or an audio.