GYROSCOPE CALIBRATION

摘要

A method and system for a non-intrusive parallel surface calibration for gyroscopes in a mobile device are described. In a mobile device having a gyroscope, multiple rotation matrices can be determined based on readings from the gyroscope. Each of these rotation matrices corresponds to a chain of rotations that occur when the mobile device is picked up from a surface and later placed down on any substantially parallel surface. In some instances, three or more rotation matrices can be determined. Calibration parameters can be computed from the rotation matrices and can be used to adjust subsequent readings from the gyroscope. An eigenvector can be determined for each of the rotation matrices and those eigenvectors can be used to obtain the calibration parameters through an optimization process. The gyroscope calibration can be triggered by a change in the temperature of the mobile device.

主权项

1. A method, comprising:
in a mobile device comprising a gyroscope,
determining a plurality of rotation matrices based on outputs produced by the gyroscope, each of the plurality of rotation matrices corresponding to a chain of rotations that occur when the mobile device is picked up from a first surface and placed down on a second surface substantially parallel to the first surface;determining one or more calibration parameters based on the plurality of rotation matrices; andadjusting subsequent outputs produced by the gyroscope based on the one or more calibration parameters.