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System and method for gyroscope error estimation

  • US 9,285,224 B2
  • Filed: 04/05/2012
  • Issued: 03/15/2016
  • Est. Priority Date: 04/06/2011
  • Status: Active Grant
First Claim
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1. A method for compensating for errors in a mobile gyroscope in a device, the method comprising:

  • a) measuring, by way of at least one set of motion sensors, a rotational rate of change of said device around at least one axis;

    b) measuring, by way of at least one magnetometer, an overall magnetic field vector of a magnetic field local to said device;

    c) calculating, by way of a processor, a rate of change of said magnetic field vector based on measurements from step b);

    d) determining, by way of said processor, if said magnetic field is unchanging based on calculations from step c);

    e) in the event said magnetic field is unchanging, estimating, by way of said processor, estimated gyroscope errors using said rate of change of said magnetic field vector calculated in step c) and said rotational rate of change of said device measured in step a); and

    f) changing a navigational trajectory of said device based on said estimated gyroscope errors to thereby compensate for gyroscope errors.

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