Method and apparatus for accurate acquisition of inertial sensor data

• US 9,810,536 B2
• Filed: 12/08/2015
• Issued: 11/07/2017
• Est. Priority Date: 05/29/2009
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Czompo, Joseph
• Primary Examiner(s): RIVERA VARGAS, MANUEL A
• Application Number:
  US14/963,028
• Publication Number:
  US 20160091316A1
• Time in Patent Office: 700 Days
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

The subject matter disclosed herein relates to a system and method for receiving a plurality of signals generated by a plurality of sensors adapted to detect physical movement of a mobile device with respect to a plurality of coordinate axes. A time at which at least one of the received signals is digitized is delayed to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.

Claims

1. A method for acquiring inertial sensor data for a mobile device, the method comprising:

receiving a plurality of signals generated by a plurality of sensors adapted to detect physical movement of a mobile device with respect to a plurality of coordinate axes; and

delaying a time at which at least one of the received signals is digitized based on predefined processing delays associated with one or more of the plurality of sensors to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.

2. The method of claim 1, further comprising digitizing the plurality of signals.

3. The method of claim 1, wherein the common point in time corresponds to a detection of the physical movement of the mobile device.

4. The method of claim 1, wherein the plurality of coordinate axes comprises three coordinate axes.

5. The method of claim 1, wherein the plurality of signals correspond to at least one of linear acceleration along at least one of the plurality of coordinate axes, or rotational rate along at least one of the plurality of coordinate axes.

6. The method of claim 1, further comprising acquiring one or more signals representative of a measured temperature.

7. The method of claim 1, further comprising determining at least one of a position, an orientation, or a velocity of the mobile device based on the digitized versions of the received plurality of signals.

8. The method of claim 7, further comprising modifying the determining the at least one of a position, an orientation, or a velocity of the mobile device based, at least in part, on a measured temperature.

9. The method of claim 1, wherein the plurality of signals comprises analog signals.

10. The method of claim 1, further comprising storing the digitized versions of the received plurality of signals in a memory buffer.

11. The method of claim 1, wherein the mobile device comprises a handheld device.

12. The method of claim 1, wherein the delaying comprises preventing the at least one of the received signals from being digitized until a second one of the plurality of received signals is digitized.

13. The method of claim 1, wherein the delaying comprises delaying a time at which the at least one of the received signals is sampled.

14. The method of claim 1, wherein the delaying is utilized to facilitate the synchronization.

15. A system for acquiring inertial sensor data for a mobile device, the system comprising:

a plurality of sensors configured to detect physical movement of the mobile device with respect to a plurality of coordinate axes and to generate a plurality of signals corresponding to the physical movement; and

one or more delay elements configured to delay a time at which at least one of the received signals is digitized based on predefined processing delays associated with one or more of the plurality of sensors to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.

16. The system of claim 15, further comprising a digitizer configured to digitize the plurality of signals.

17. The system of claim 15, wherein the common point in time corresponds to a detection of the physical movement of the mobile device.

18. The system of claim 15, wherein the plurality of coordinate axes comprises three coordinate axes.

19. The system of claim 15, wherein the plurality of signals correspond to at least one of linear acceleration along at least one of the plurality of coordinate axes, or rotational rate along at least one of the plurality of coordinate axes.

20. The system of claim 15, further comprising a temperature sensor configured to detect a temperature.

21. The system of claim 15, further comprising a special purpose apparatus to determine at least one of a position, an orientation, or a velocity of the mobile device based on the digitized versions of the received plurality of signals.

22. The system of claim 21, further comprising a special purpose apparatus configured to modify the determination of the at least one of a position, an orientation, or a velocity of the mobile device based, at least in part, on a measured temperature.

23. The system of claim 15, wherein the plurality of signals comprises analog signals.

24. The system of claim 15, further comprising a memory buffer configured to store the digitized versions of the received plurality of signals.

25. The system of claim 15, wherein the mobile device comprises a handheld device.

26. The system of claim 15, wherein the one or more delay elements being configured to delay comprises the one or more delay elements being configured to prevent the at least one of the received signals from being digitized until a second one of the plurality of received signals is digitized.

27. The system of claim 15, wherein the one or more delay elements being configured to delay comprises the one or more delay elements being configured to delay a time at which the at least one of the received signals is sampled.

28. The system of claim 15, wherein the one or more delay elements being configured to delay the time at which at least one of the received signals is digitized is utilized to facilitate the synchronization.

29. An apparatus for acquiring inertial sensor data for a mobile device, the apparatus comprising:

means for receiving a plurality of signals generated by a plurality of sensors configured to detect physical movement of the mobile device with respect to a plurality of coordinate axes; and

means for delaying a time at which at least one of the received signals is digitized based on predefined processing delays associated with one or more of the plurality of sensors to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.

30. A non-transitory computer-readable storage medium comprising computer-readable instructions for acquiring inertial sensor data for a mobile device stored thereon which, when executed by a special purpose apparatus, are configured to direct the special purpose apparatus to:

receive a plurality of signals generated by a plurality of sensors configured to detect physical movement of the mobile device with respect to a plurality of coordinate axes; and

delay a time at which at least one of the received signals is digitized based on predefined processing delays associated with one or more of the plurality of sensors to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.