SYSTEMS AND METHODS FOR IN-MOTION GYROSCOPE CALIBRATION

摘要

Systems and methods to calibrate a gyroscope based on a motion of a predetermined characteristic. Data representing gyro sensor signals during a period of time is stored. A portion of the time period is identified, during which portion the gyroscope is subjected to a motion of the predetermined characteristic. Using the stored data the gyro signals are integrated with respect to time to calculate orientation of the gyroscope as a function of time. Deviation of a characteristic the orientation of the gyroscope as the function of time during the portion of time period for the motion of the predetermined characteristic is determined to identify a component of bias in the gyro signals. The bias component is removed from the data to re-calculate the gyroscope orientation, and possible to further calculate the deviation in the re-calculated orientation and to identify a further bias component in the gyro signals.

主权项

1. A system, comprising:
at least one microprocessor; and memory coupled to the microprocessor and storing instructions that, when executed by the processor, cause the microprocessor to:
store data representing signals generated by a plurality of gyro sensors of the gyroscope during a period of time;identify a portion of the period of time, during which portion the gyroscope is subjected to a motion of a predetermined characteristic;integrate, using the data, the signals with respect to time over the period of time to calculate orientation of the gyroscope as a function of time during the portion of the period of time;determine a deviation of a characteristic the orientation of the gyroscope as the function of time during the portion of the period of time for the motion of the predetermined characteristic;identify, from the deviation, a component of bias in the signals generated by the plurality of gyro sensors; andremove the component of bias from the data.