Sensor auto-calibration

• US 9,546,883 B2
• Filed: 11/09/2012
• Issued: 01/17/2017
• Est. Priority Date: 11/11/2011
• Status: Expired due to Fees

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Ahuja, Disha, Kulik, Victor, Puig, Carlos M., Desai, Ashish Nagesh
• Primary Examiner(s): Lee, Paul D
• Application Number:
  US13/673,962
• Publication Number:
  US 20130121367A1
• Time in Patent Office: 1,530 Days
• Field of Search: 702/104
• US Class Current: 1/1
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01K 15/00 Testing or calibrating of thermometers
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: G01R 35/00 Testing or calibrating of apparatus covered by the other groups of this subclass
• CPC Class Codes: G06F 1/3206 Monitoring of events, devices or parameters that trigger a change in power modality
• CPC Class Codes: G06F 1/329 by task scheduling
• CPC Class Codes: G06F 15/00 Digital computers in general details G06F1/00 – G06F13/00; Data processing equipment in general
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y02D 10/00 Energy efficient computing, e.g. low power processors, power management or thermal management

Abstract

Aspects of the disclosure relate to computing technologies. In particular, aspects of the disclosure relate to mobile computing device technologies, such as systems, methods, apparatuses, and computer-readable media for improving calibration data by increasing the diversity of orientations used for generating the calibration data. In one embodiment, the computing device receives a plurality of calibration measurements associated with one or more sensors of a device, determines a degree to which the plurality of calibration measurements were captured at different orientations of the device, and determines, based on the degree, whether to update one or more calibration parameters.

Claims

1. A method comprising:

determining, via a device, whether a power level associated with the device is above a threshold or that a battery associated with the device is charging;

in response to determining whether the power level is above the threshold or that the battery is charging;

receiving, via the device, a plurality of calibration measurements associated with one or more sensors of the device;

determining, via the device, a degree of variance to which the plurality of calibration measurements were obtained at different orientations of the device; and

determining, via the device, based on the determined degree of variance, whether to update one or more calibration parameters, wherein the calibration parameters are used to calibrate the one or more sensors of the device.

2. The method of claim 1, wherein:

determining the degree to which the plurality of calibration measurements were obtained at different orientations comprises calculating an orientation entropy for the plurality of calibration measurements.

3. The method of claim 2, further comprising:

in response to determining that the orientation entropy exceeds a predetermined threshold, updating the one or more calibration parameters.

4. The method of claim 2, further comprising:

in response to determining that the orientation entropy is below a predetermined threshold, discarding a calibration measurement from the plurality of calibration measurements, wherein the calibration measurement was obtained for an orientation for which a calibration measurement has been previously received without updating the one or more calibration parameters.

5. The method of claim 2, further comprising:

in response to determining that the orientation entropy is below a predetermined threshold, using a calibration measurement for an orientation for which a calibration measurement has been previously received without updating the one or more calibration parameters.

6. The method of claim 1, wherein:

determining the degree to which the plurality of calibration measurements were obtained at different orientations is based at least in part on a histogram for the plurality of calibration measurements.

7. The method of claim 1, wherein determining the degree of variance to which the plurality of calibration measurements were obtained at different orientations comprises binning each of the plurality of calibration measurements into at least one orientation bin of a plurality of orientation bins and determining diversity of the plurality of orientation bins that include calibration measurements.

8. The method of claim 7, wherein each orientation bin of the plurality of orientation bins corresponds to orientation measurements obtained within a five-degree increment.

9. The method of claim 1, wherein determining the degree comprises determining a range or variance of orientations at which the plurality of calibration measurements were obtained.

10. The method of claim 1, wherein the one or more calibration parameters are inputs to a filter and are updated at the filter to generate calibration results.

11. The method of claim 10, wherein the filter is a Kalman filter.

12. The method of claim 1, wherein the sensor is one or more of an accelerometer, a gyroscope or a magnetometer.

13. A device, comprising a calibration module configured to:

determine whether a power level associated with the device is above a threshold or that a battery associated with the device is charging;

in response to determining whether the power level is above the threshold or that the battery is charging;

receive a plurality of calibration measurements associated with one or more sensors of a device;

determine a degree of variance to which the plurality of calibration measurements were obtained at different orientations of the device; and

determine, based on the determined degree of variance, whether to update one or more calibration parameters, wherein the calibration parameters are used to calibrate the one or more sensors of the device.

14. The device of claim 13, wherein:

determining the degree to which the plurality of calibration measurements were obtained at different orientations comprises calculating, by the calibration module, an orientation entropy for the plurality of calibration measurements.

15. The device of claim 14, wherein the calibration module is further configured to:

update the one or more calibration parameters in response to determining that the orientation entropy exceeds a predetermined threshold.

16. The device of claim 14, wherein the calibration module is further configured to:

discard a calibration measurement from the plurality of calibration measurements, wherein the calibration measurement was obtained for an orientation for which a previous calibration measurement has been previously received without updating the one or more calibration parameters, in response to determining that the orientation entropy is below a predetermined threshold.

17. The device of claim 14, wherein the calibration module is further configured to:

use a calibration measurement for an orientation for which a previous calibration measurement has been previously received without updating the one or more calibration parameters, in response to determining that the orientation entropy is below a predetermined threshold.

18. The device of claim 13, wherein:

determining the degree to which the plurality of calibration measurements were obtained at different orientations is based at least in part on a histogram for the plurality of calibration measurements.

19. The device of claim 13, wherein determining the degree of variance to which the plurality of calibration measurements were obtained at different orientations comprises the calibration module configured to bin each of the plurality of calibration measurements into at least one orientation bin of a plurality of orientation bins and determine diversity of the plurality of orientation bins that include calibration measurements.

20. The device of claim 19, wherein each orientation bin of the plurality of orientation bins corresponds to orientation measurements obtained within a five-degree increment.

21. The device of claim 13, wherein determining the degree of variance comprises the calibration module configured to determine a range or variance of orientations at which the plurality of calibration measurements were obtained.

22. The device of claim 13, wherein the one or more calibration parameters are inputs to a filter and are updated at the filter to generate calibration results.

23. The device of claim 22, wherein the filter is a Kalman filter.

24. The device of claim 13, wherein the sensor is one or more of an accelerometer, a gyroscope or a magnetometer.

25. A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium comprises instructions executable by a processor, the instructions comprising instructions to:

determine whether a power level associated with the device is above a threshold or that a battery associated with the device is charging;

in response to determining whether the power level is above the threshold or that the battery is charging;

receive a plurality of calibration measurements associated with one or more sensors of a device;

determine a degree of variance to which the plurality of calibration measurements were obtained at different orientations of the device; and

determine, based on the determined degree of variance, whether to update one or more calibration parameters, wherein the calibration parameters are used to calibrate the one or more sensors of the device.

26. A apparatus comprising:

means for determining whether a power level associated with the device is above a threshold or that a battery associated with the device is charging;

in response to determining whether the power level is above the threshold or that the battery is charging;

means for receiving a plurality of calibration measurements associated with one or more sensors of a device;

means for determining a degree of variance to which the plurality of calibration measurements were obtained at different orientations of the device; and

means for determining, based on the determined degree of variance, whether to update one or more calibration parameters, wherein the calibration parameters are used to calibrate the one or more sensors of the device.

27. The apparatus of claim 26, wherein determining the degree of variance to which the plurality of calibration measurements were obtained at different orientations comprises:

means for calculating an orientation entropy for the plurality of calibration measurements; and

means for updating the one or more calibration parameters, in response to determining that the orientation entropy exceeds a predetermined threshold.

28. The apparatus of claim 26, wherein:

determining the degree of variance to which the plurality of calibration measurements were obtained at different orientations is based at least in part on a histogram for the plurality of calibration measurements.

29. The apparatus of claim 26, wherein determining the degree of variance to which the plurality of calibration measurements were obtained at different orientations comprises means for binning each of the plurality of calibration measurements into at least one orientation bin of a plurality of orientation bins and means for determining diversity of the plurality of orientation bins that include calibration measurements.

30. The apparatus of claim 26, wherein determining the degree of variance comprises means for determining a range or variance of orientations at which the plurality of calibration measurements were obtained.

31. The apparatus of claim 26, wherein the one or more calibration parameters are inputs to a filter and are updated at the filter to generate calibration results.