초록 ▼

Embodiments of the present disclosure are directed to a method and apparatus for calibration of gyro sensors by using magnetic sensor measurements and background computation during normal product operation. In one embodiment, magnetic sensor measurements are used to adjust gyro gain by comparing mea

Embodiments of the present disclosure are directed to a method and apparatus for calibration of gyro sensors by using magnetic sensor measurements and background computation during normal product operation. In one embodiment, magnetic sensor measurements are used to adjust gyro gain by comparing measured magnetic vector orientation with its expected orientation computed from gyro integration. The background process constantly compares this discrepancy for various values of gyro gain and selects the one that minimizes such error on average. In one embodiment, device orientation obtained by gyro integration is improved by using magnetic sensor measurements.

대표청구항 ▼

1. An electronic device comprising: a microprocessor communicating with a memory;a gyroscopic sensor for determining a rotational position of the electronic device;a stored gain parameter that is adapted to be applied to gyroscopic sensor data produced by the gyroscopic sensor, wherein the stored gy

1. An electronic device comprising: a microprocessor communicating with a memory;a gyroscopic sensor for determining a rotational position of the electronic device;a stored gain parameter that is adapted to be applied to gyroscopic sensor data produced by the gyroscopic sensor, wherein the stored gyroscopic sensor gain parameter is a first stored gyroscopic sensor gain parameter of a plurality of stored gyroscopic sensor gain parameters;a magnetic sensor for determining the rotational position of the electronic device; andthe memory storing instructions configured to instruct the microprocessor to perform operations as part of a feedback process, the operations comprising: integrating a time-series set of gyroscopic sensor data associated with a period of time from the gyroscopic sensor;measuring a time-series set of magnetic sensor data associated with the period of time from the magnetic sensor;comparing the integrated gyroscopic sensor data from the period of time with the magnetic sensor data from the period of time to create an error measure for the period of time;determining an updated gyroscopic sensor gain parameter based on the error measure;adjusting the stored gyroscopic sensor gain parameter to the updated gyroscopic sensor gain parameter;wherein integrating the time-series of gyroscopic sensor data is performed using each of the plurality of stored gyroscopic sensor gain parameters to create a plurality of gain-adjusted integrated gyroscopic sensor data, wherein comparing the integrated gyroscopic sensor data include comparing each of the plurality of gain-adjusted integrated gyroscopic sensor data with observed magnetic sensor data to create a plurality of error measures, and wherein determining the updated gyroscopic sensor gain parameter includes determining an expected gyroscopic sensor gain parameter based on the plurality of error measures; andselecting a subsequent plurality of stored gyroscopic sensor gain parameters for use with a subsequent time-series of gyroscopic data based on the plurality of error measures. 2. The electronic device of claim 1, wherein the selecting the subsequent plurality of stored gyroscopic sensor gain parameters is performed to include a first gyroscopic sensor gain parameter that is significantly less than the expected gyroscopic sensor gain parameter and a second gyroscopic sensor gain parameter that is significantly more than the expected gyroscopic sensor gain parameter. 3. The electronic device of claim 1, wherein the memory further stores instructions configured to cause the electronic device to modify a rotational orientation bias of the gyro based on the integrated gyroscopic sensor data. 4. The electronic device of claim 1, wherein the period of time is a first period of time and wherein the error measure is a first error measure, the mobile electronic device further comprising: the memory adapted for storing gyroscopic data from the first period of time and at least one previous period of time;wherein the memory further stores instructions configured to instruct the microprocessor to:select the at least one previous period of time; andreceive previous gyroscopic sensor data associated with the at least one previous period of time;wherein the determination of the updated gyroscopic sensor gain parameter is based on the received previous gyroscopic sensor data. 5. A method comprising: receiving at a processor in an electronic device a time-series of gyroscopic sensor data associated with a period of time from a gyroscopic sensor contained within the electronic device, wherein the electronic device contains a memory storing a stored gain parameter that is adapted to be applied to gyroscopic sensor data produced by the gyroscopic sensor, and wherein the stored gyroscopic sensor gain parameter is a first stored gyroscopic sensor gain parameter of a plurality of stored gyroscopic sensor gain parameters;integrating the time-series of gyroscopic sensor data into a gyroscopic quaternion;receiving a time-series of magnetic sensor data associated with the period of time from a magnetic sensor contained within the electronic device;converting the time-series of magnetic sensor data into a magnetic quaternion;comparing the gyroscopic quaternion with the magnetic quaternion to create an error measure for the period of time;determining an updated gyroscopic sensor gain parameter based on the error measure;causing the stored gyroscopic sensor gain parameter to be changed to the updated gyroscopic sensor gain parameter such that subsequent gyroscopic sensor data shall be adjusted by the updated gyroscopic sensor gain parameter;wherein integrating the time-series of gyroscopic sensor data is performed using each of the plurality of stored gyroscopic sensor gain parameters to create a plurality of gain-adjusted integrated gyroscopic quaternions, wherein comparing the integrated gyroscopic quaternions include comparing each of the plurality of gain-adjusted integrated gyroscopic quaternions with observed magnetic sensor data to create a plurality of error quaternions, and wherein determining the updated gyroscopic sensor gain parameter includes determining an expected gyroscopic sensor gain parameter based on the plurality of error quaternions; andselecting a subsequent plurality of stored gyroscopic sensor gain parameters for use with a subsequent time-series of gyroscopic data based on the plurality of error quaternions. 6. The method of claim 5, wherein the selecting the subsequent plurality of stored gyroscopic sensor gain parameters is performed to include a first gyroscopic sensor gain parameter that is significantly less than the expected optimal gyroscopic sensor gain parameter and a second gyroscopic sensor gain parameter that is significantly more than the optimal gyroscopic sensor gain parameter. 7. The method of claim 5, wherein the period of time is a first period of time and wherein the causing is performed in real-time before a second period of time commences. 8. The method of claim 5, further comprising: modifying a rotational orientation bias of the gyro sensor based on the gyroscopic quaternion.