Calibration of 3D field sensors

• US 20070055468A1
• Filed: 10/14/2005
• Published: 03/08/2007
• Est. Priority Date: 09/02/2005
• Status: Active Grant

• Current Assignee: Nokia Technologies Oy (Nokia Corporation)
• Original Assignee: Nokia Corporation
• Inventors: Pylvänäinen, Timo
• Granted Patent: US 7,275,008 B2
• Time in Patent Office: Days
• US Class Current: 702/92
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• 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: G01P 15/18 in two or more dimensions
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: G01R 33/0206 Three-component magnetometers

Abstract

An apparatus-based method is disclosed for calibration of a 3D field sensor. The method includes accessing a plurality of samples, where the samples are from the 3D field sensor. Each sample represents a magnitude and an orientation of a three-dimensional field sensed by the 3D field sensor. Using the plurality of samples, a plurality of parameters is determined of an ellipsoid. The determination of the plurality of parameters is performed so that the ellipsoid fits the plurality of samples. A transformation is determined that transforms the ellipsoid into a sphere. The transformation is applied to a sample to create a transformed sample. Apparatus and signal bearing media are also disclosed.

Claims

1. An apparatus-based method for calibration of a three-dimensional (3D) field sensor, comprising:

accessing a plurality of samples, the samples from the 3D field sensor, each sample representing a magnitude and an orientation of a 3D field sensed by the 3D field sensor;

using the plurality of samples, determining a plurality of parameters of an ellipsoid, wherein the determining the plurality of parameters is performed so that the ellipsoid fits the plurality of samples, wherein the following is used to represent the ellipsoid;

x²+y²+z²−

U(x²+y²−

2z²)−

V(x²−

2y²+z²)−

4Mxy−

2Nxz−

2Pyz−

Qx−

Ry−

Sz−

T=0, and wherein determining a plurality of parameters determines the parameters {right arrow over (s)}_LS=(U,V,M,N,P,Q,R,S,T)^T;

determining a transformation that transforms the ellipsoid into a sphere;

applying the transformation to a sample to create a transformed sample; and

using the transformed sample to determine at least an orientation of the apparatus.

2. The method of claim 1, wherein determining a plurality of parameters further comprises performing least squares calculations using estimates of the plurality of parameters, wherein the plurality of parameters that are determined are the estimates that minimize error in the least squares calculations.

3. The method of claim 1, wherein the sphere is a unit sphere.

4. The method of claim 1, wherein each sample comprises one of (1) three field values representing values of the 3D field in three orthogonal directions and (2) values for the magnitude and direction of the 3D field.

5. The method of claim 1, wherein determining a transformation further comprises:

determining a first matrix, D, suitable for transforming the ellipsoid into a sphere;

determining a second matrix, R, such that R^TR=I, that makes a selected column of D parallel to a predetermined axis and RD close to some predetermined matrix; and

applying the transformation further comprises applying the matrix, RD, to a difference between a sample and a bias.

6. The method of claim 1, wherein:

determining a transformation further comprises determining a bias, the bias having a plurality of first values; and

applying the transformation further comprises multiplying the transformation by a result of the first values of the bias subtracted from second values corresponding to the sample.

7. The method of claim 1, wherein determining a plurality of parameters further comprises performing a recursive least squares update using a currently selected sample to determine the plurality of parameters, wherein the recursive least squares update is also based on a plurality of previously selected samples.

8. The method of claim 7, wherein the recursive least squares update utilizes a forgetting factor.

9. The method of claim 1, wherein:

the samples from the 3D field sensor are first field samples;

the method further comprises selecting a plurality of second field samples from the first field samples;

determining a plurality of parameters further comprises using the plurality of second field samples to determine the plurality of parameters of the ellipsoid, wherein determining the plurality of parameters is performed so that the ellipsoid fits the plurality of second field samples; and

applying the transformation further comprises applying the transformation to at least one of a first field sample and a second field sample to create a transformed field sample.

10. The method of claim 9, wherein:

selecting a plurality of second field samples from the first field samples further comprises;

determining from at least one orientation sensor an orientation;

quantizing the orientation into a given one of three directions, each direction corresponding to a bucket;

based on a direction for the orientation, assigning a first field sample to a given bucket;

determining whether a number of second samples already assigned to the given bucket is a largest number of second samples assigned to one of the three buckets; and

in response to the number of second samples assigned to the given bucket being not the largest number of second samples assigned to one of the three buckets, assigning the first field sample to the given bucket as a second field sample; and

determining a plurality of parameters further comprises using the plurality of second field samples in the buckets to determine the plurality of parameters of an ellipsoid, the determining the plurality of parameters performed so that the ellipsoid fits the plurality of second field samples.

11. The method of claim 10, wherein the at least one orientation sensor comprises at least one of a gyroscope and an accelerometer.

12. The method of claim 1, wherein the 3D field sensor comprises at least one of a magnetometer and an accelerometer.

14. The method of claim 1, wherein determining a transformation further comprises:

determining a matrix

$A=\left(\begin{array}{ccc}1-U-V& -2<br><br>M& -N\\ -2<br><br>M& 1-U+2<br><br>V& -P\\ -N& -P& 1+2<br><br>U-V\end{array}\right);<br><br>$

determining a bias

$\stackrel{-><br><br>}{b}=\frac{1}{2}<br><br>A^{-1}<br><br>\left(\begin{array}{c}Q\\ R\\ S\end{array}\right);<br><br>$

and

determining a scaling factor c=T+{right arrow over (b)}^TA{right arrow over (b)}.

15. The method of claim 1, wherein determining the plurality of parameters of the ellipsoid further comprises determining the plurality of parameters using the formulation Λ

{right arrow over (s)}_LS={right arrow over (1)}, where the ith row of Λ

is as follows;

x_i²+y_i²−

2z_i²,x_i²−

2y_i²z_i²,4x_iy_i,2x_iz_i,2y_iz_i,x_i,y_i,z_i,1,

where a sample comprises (x_i,y_i,z_i).

16. The method of claim 1, wherein determining a transformation further comprises:

determining a matrix, A, a bias, {right arrow over (b)}, and a scaling factor, c in a representation of an ellipsoid of ({right arrow over (x)}−

{right arrow over (b)})^TA({right arrow over (x)}−

{right arrow over (b)})=c; and

using the matrix, A, the bias, {right arrow over (b)}, and the scaling factor, c to determine the transformation.

17. The method of claim 7, wherein determining a transformation further comprises:

determining a first matrix using the plurality of parameters; and

decomposing the first matrix into a second matrix wherein a transpose of the second matrix multiplied by the second matrix is approximately equivalent to the first matrix, wherein the second matrix comprises the transformation.

18. The method of claim 17, wherein decomposing the first matrix further comprises determining the second matrix using the first matrix, the determining of the second matrix performed wherein a portion of the second matrix is constrained so that a predetermined axis is not rotated during the transformation.

19. The method of claim 1, wherein determining a transformation further comprises:

representing the ellipsoid using a symmetric matrix (A), a bias, and a scaling factor;

relating a matrix B to the symmetric matrix A; and

determining a matrix B* by minimizing a plurality of equations constrained to matrices B having predetermined traces.

20. The method of claim 19, wherein determining a transformation further comprises:

determining a matrix D using the matrix B*, the determining of D wherein a first predetermined axis of the 3D sensor is constrained so that the first predetermined axis is not rotated during transformation and wherein rotation to a second predetermined axis is constrained to a predetermined plane during transformation.

21. The method of claim 20, wherein each axis corresponds to a column of D and wherein a plurality of elements of D are related to elements of B* based on the constraints.

13. (canceled)

22. A computer-readable medium tangibly embodying a program of machine-readable instructions executable by a processor to perform operations for calibration of a three-dimensional (3D) field sensor, the operations comprising:

accessing a plurality of samples, the samples from the 3D field sensor, each sample representing a magnitude and an orientation of a three-dimensional field sensed by the 3D field sensor;

using the plurality of samples, determining a plurality of parameters of an ellipsoid, wherein the determining of the plurality of parameters is performed so that the ellipsoid fits the plurality of samples, wherein the following is used to represent the ellipsoid;

x²y²+z²−

U(x²+y²−

2z²)−

V(x²−

2y²+z²)−

4Mxy−

2Nxz−

2Pyz−

Qx−

Ry−

Sz−

T=0, and wherein determining a plurality of parameters determines the parameters {right arrow over (s)}_LS=(U,V,M,N,P,Q,R,S,T)^T;

determining a transformation that transforms the ellipsoid into a sphere;

applying the transformation to a sample to create a transformed sample; and

using the transformed sample to determine at least an orientation of the apparatus.

23. The computer-readable medium of claim 22, wherein determining a plurality of parameters further comprises performing least squares calculations using estimates of the plurality of parameters, wherein the plurality of parameters that are determined are the estimates that minimize error in the least squares calculations.

24. An apparatus, comprising:

means for measuring a three-dimensional (3D) field and for producing samples representing a magnitude and an orientation of the three-dimensional field;

means for accessing a plurality of samples from the means for measuring;

means, responsive to the plurality of samples, for determining a plurality of parameters of an ellipsoid, wherein the determining of the plurality of parameters is performed so that the ellipsoid fits the plurality of samples, wherein the following is used to represent the ellipsoid;

x²+y²+z²−

U(x²+y²−

2z²)−

V(x²−

2y²+z²)−

4Mxy−

2Nxz−

2Pyz−

Qx−

Ry−

Sz−

T=0, and wherein determining a plurality of parameters determines the parameters {right arrow over (s)}_LS=(U,V,M,N,P,Q,R,S,T)^T;

means for determining a transformation that transforms the ellipsoid into a sphere;

means for applying the transformation to a sample to create a transformed sample; and

means for using the transformed sample to determine at least an orientation of the apparatus.

25. The apparatus of claim 24, wherein the means for determining a plurality of parameters further comprises means for performing least squares calculations using estimates of the plurality of parameters, wherein the plurality of parameters that are determined are the estimates that minimize error in the least squares calculations.

26. An apparatus, comprising:

a three-dimensional (3D) field sensor, the 3D field sensor adapted to produce field samples, each field sample representing a magnitude and an orientation of a 3D field sensed by the 3D field sensor;

a calibration module adapted to access a plurality of the field samples from the 3D field sensor, the calibration module adapted to use the plurality of samples to determine a plurality of parameters of an ellipsoid, wherein the determining the plurality of parameters operation is performed so that the ellipsoid fits the plurality of field samples, wherein the following is used to represent the ellipsoid;

x²+y²+z²−

U(x²+y²−

2z²)−

V(x²−

2y²+z²)−

4Mxy−

2Nxz−

2Pyz−

Qx−

Ry−

Sz−

T=0, wherein the calibration module is adapted to determines the parameters {right arrow over (s)}_LS=(U,V,M,N,P,Q,R,S,T)^T, and wherein the calibration module is further adapted to determine a transformation that transforms the ellipsoid into a sphere and to apply the transformation to a field sample to create a transformed field sample; and

an application configured to use the transformed sample to determine at least an orientation of the apparatus.

27. The apparatus of claim 26, wherein the calibration module is further adapted, when determining a transformation, to determine a first matrix using the plurality of parameters and to decompose the first matrix into a second matrix wherein a transpose of the second matrix multiplied by the second matrix is approximately equivalent to the first matrix, wherein the second matrix comprises the transformation.

28. The apparatus of claim 27, wherein the calibration module is further adapted, when decomposing the first matrix, to determine the second matrix using the first matrix, the determining of the second matrix performed wherein a portion of the second matrix is constrained so that a predetermined axis is not rotated during the transformation.

29. The apparatus of claim 26, wherein the calibration module, when determining a plurality of parameters, is further adapted to perform least squares calculations using estimates of the plurality of parameters, wherein the plurality of parameters that are determined are the estimates that minimize error in the least squares calculations.

30. The apparatus of claim 26, further comprising a memory, and wherein the calibration module is adapted to access the plurality of field samples from the 3D field sensor by accessing the memory.

31. The apparatus of claim 26, further comprising:

a filtering module coupled to the calibration module and adapted to select field samples for use by the calibration module to determine the plurality of parameters of the ellipsoid, wherein the calibration module is further adapted to apply the transform to at least one of an unselected field sample and a selected field sample.

32. The apparatus of claim 31, wherein:

the apparatus further comprises an orientation sensor adapted to produce orientation samples; and

the filtering module is further adapted to access the orientation samples from the orientation sensor, to quantize a given orientation sample into one of three directions, and to choose a field sample corresponding as a selected field sample based on the one direction.

33. The apparatus of claim 32, wherein the filtering module is further adapted using an orientation and a corresponding direction to place selected field samples into buckets corresponding to the three directions and to choose a given field sample as a selected field sample when the bucket into which the given field sample is to be placed does not have a highest number of selected field samples of the three buckets.

34. The apparatus of claim 33, wherein the orientation sensor comprises at least one of a gyroscope and an accelerometer.

35. The apparatus of claim 26, wherein the apparatus comprises one of a mobile phone, a fitness monitoring device, a game controller, and a wearable motion tracking device.

36. The apparatus of claim 26, wherein the 3D field sensor comprises at least one of a magnetometer and an accelerometer.

37. The apparatus of claim 26, wherein the sphere is a unit sphere.

38. A method comprising:

accessing a plurality of samples, the samples from the 3D field sensor, each sample representing a magnitude and an orientation of a 3D field sensed by the 3D field sensor;

using the plurality of samples, determining a plurality of parameters of an ellipsoid, wherein the determining the plurality of parameters is performed so that the ellipsoid fits the plurality of samples;

determining a transformation that transforms the ellipsoid into a sphere, wherein determining a transformation comprises;

determining a matrix, A, a bias, {right arrow over (b)}, and a scaling factor, c in a representation of an ellipsoid of ({right arrow over (x)}−

{right arrow over (b)})^TA({right arrow over (x)}−

{right arrow over (b)})=c;

determining a matrix, D, where D^TD=1/cA, where D is selected such that D{circumflex over (x)}=λ

{circumflex over (x)}, where λ

is an arbitrary constant and {circumflex over (x)}=(1,0,0)^T, and where the transformation comprises the matrix D;

applying the transformation to a sample to create a transformed sample; and

.

using the transformed sample to determine at least an orientation of the apparatus.

39. The method of claim 38, wherein the following is used to represent the ellipsoid:

x²+y²+z²−

U(x²+y²−

2z²)−

V(x²−

2y²+z²)−

4Mxy−

2Nxz−

2Pyz−

Qx−

Ry−

Sz−

T=0, and wherein determining a plurality of parameters determines the parameters {right arrow over (s)}_LS=(U,V,M,N,P,Q,R,S,T)^T.

40. An apparatus, comprising:

a three-dimensional (3D) field sensor, the 3D field sensor configured to produce field samples, each field sample representing a magnitude and an orientation of a 3D field sensed by the 3D field sensor; and

a calibration module configured to access a plurality of the field samples from the 3D field sensor, the calibration module adapted to use the plurality of samples to determine a plurality of parameters of an ellipsoid, wherein the determining the plurality of parameters operation is performed so that the ellipsoid fits the plurality of field samples, wherein the calibration module is further configured determine a transformation that transforms the ellipsoid into a sphere by determining a matrix, A, a bias, {right arrow over (b)}, and a scaling factor, c in a representation of an ellipsoid of ({right arrow over (x)}−

{right arrow over (b)})^TA({right arrow over (x)}−

{right arrow over (b)})=c, and by determining a matrix, D, where D^TD=1/cA, where D is selected such that D{circumflex over (x)}=λ

{circumflex over (x)}, where λ

is an arbitrary constant and {circumflex over (x)}=(1,0,0)^T, and where the transformation comprises the matrix D, and wherein the calibration module is further configured to apply the transformation to a field sample to create a transformed field sample; and

an application configured to use the transformed sample to determine at least an orientation of the apparatus.

41. The apparatus of claim 40, wherein the apparatus comprises one of a mobile phone, a fitness monitoring device, a game controller, and a wearable motion tracking device.