Real-Time Accelerometer Calibration

摘要

An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.

主权项

1. A method for real-time accelerometer calibration on an electronic device, the method comprising:
receiving from at least one accelerometer a plurality of acceleration measurements, each acceleration measurement representing an estimated acceleration vector, wherein each acceleration vector includes an error component that offsets the estimated acceleration vector from a true acceleration vector due to a combination of bias errors, sensitivity errors, and a cross-axis errors, and storing the acceleration measurements in a data set; maintaining an accelerometer error correction model that includes bias error calibration parameters that specify weights for the bias error of the estimated acceleration vector components; determining calibration values for the bias error calibration parameters using the accelerometer error correction model and the plurality of acceleration measurements; and determining a calibration corrected estimate of a true acceleration vector that corresponds to a subsequently received acceleration measurement using the determined calibration values and the error correction model.