Systems and methods for gyroscope calibration

• US 10,386,203 B1
• Filed: 11/05/2015
• Issued: 08/20/2019
• Est. Priority Date: 11/05/2015
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Zheng, Yuan
• Primary Examiner(s): Macchiarolo, Peter J
• Assistant Examiner(s): Mercado, Alexander A
• Application Number:
  US14/933,663
• Time in Patent Office: 1,384 Days
• CPC Class Codes: G01C 19/5776 Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

Systems and devices are disclosed for calibration of gyroscope sensitivity. By comparing a reference orientation determined without gyroscope data to estimated orientations determined with gyroscope data, a calibrated sensitivity value may be derived using a known relationship between a reference orientation and estimated orientations difference and gyroscope sensitivity.

Claims

1. A method for calibrating gyroscope sensitivity for a portable device, comprising:

obtaining motion data from at least a gyroscope and at least one other motion sensor;

detecting a motion pattern in the motion data comprising at least a first period of reduced motion and at least a second period of increased motion;

determining a reference orientation for the portable device during the first period using at least one motion sensor other than the gyroscope;

obtaining gyroscope data for the portable device during the second period;

determining a plurality of alternative estimated orientations for a same instant for the portable device by applying a plurality of candidate gyroscope sensitivity values to the gyroscope data over a complete length of the second period; and

determining a difference between the reference orientation and the plurality of alternative estimated orientations; and

deriving a calibrated gyroscope sensitivity value non-iteratively using a predefined relationship in which gyroscope sensitivity is dependent on a minimum difference between the reference orientation and alternative estimated orientations.

2. The method of claim 1, further comprising an additional reference orientation during a third period.

3. The method of claim 1, wherein the at least one other motion sensor comprises an accelerometer.

4. The method of claim 1, further comprising applying the calibrated sensitivity value to subsequent gyroscope data.

5. The method of claim 1, wherein the first period is detected by comparing the obtained accelerometer data to gravity.

6. The method of claim 1, wherein the reference orientation determined during the first period of reduced motion that is detected by comparing a norm of the gyroscope data to a threshold.

7. The method of claim 1, wherein the detection of the second period comprises detection of a predefined motion pattern.

8. The method of claim 7, wherein the predefined motion pattern includes at least a period of increased motion occurring primarily along a single axis.

9. The method of claim 1, wherein determining the alternative estimated orientations and the reference orientation and the estimated orientations automatically occurs when the first period and the second period occur.

10. The method of claim 1, wherein the first period and the second period are contiguous.

11. The method of claim 1, wherein the first period and the second period are not contiguous.

12. The method of claim 11, wherein the first period and the second period occur within a threshold period.

13. The method of claim 1, wherein the reference orientation is two dimensional.

14. The method of claim 1, wherein the at least one other motion sensor comprises a magnetometer data and wherein the reference orientation is three dimensional.

15. The method of claim 1, further comprising representing the reference orientation and the alternative estimated orientations as quaternions, wherein determining the difference between the reference orientation and the estimated orientations comprises calculating the dot product of the reference orientation and each of the alternative estimated orientations.

16. The method of claim 15, further comprising fitting the calculated dot products to the predefined function and the calibrated sensitivity value corresponds to a maximum value of the predefined function.

17. The method of claim 16, wherein the plurality of candidate sensitivity values is a minimal number of candidate sensitivity values.

18. The method of claim 1, wherein determining the difference between the reference orientation and the alternative estimated orientations comprises calculating an error with respect to each estimated orientation and wherein the calibrated sensitivity value is selected from the candidate sensitivity values representing a minimized error.

19. The method of claim 18, further comprising:

determining refined candidate sensitivity values from the calibrated sensitivity value;

determining refined estimated orientations for the portable device from the gyroscope data using the refined candidate sensitivity values; and

comparing the reference orientation with the refined estimated orientations to derive a refined calibrated sensitivity value.

20. The method of claim 1, further comprising initiating calibration based at least in part on an operating state of the portable device.

21. A portable device comprising:

a gyroscope for providing gyroscope data;

at least one other motion sensor; and

a calibration module for gyroscope sensitivity, wherein the calibration module is configured to;

detect a motion pattern in the motion data comprising at least a first period of reduced motion and at least a second period of increased motion;

determine a reference orientation for the portable device during the first period using data obtained from the at least one other motion sensor;

concurrently determine a plurality of alternative estimated orientations for a same instant for the portable device by applying a plurality of candidate gyroscope sensitivity values to gyroscope data over a complete length of the second period;

determine a difference between the reference orientation and the plurality of alternative estimated orientations; and

derive a calibrated sensitivity value non-iteratively using a predefined relationship in which gyroscope sensitivity is dependent on a minimum difference between the reference orientation and alternative estimated orientations.

22. The portable device of claim 21, wherein the at least one other motion sensor comprises an accelerometer for providing accelerometer data, wherein the calibration module determines the reference orientation for the portable device using accelerometer data.