Real-Time Dynamic Tracking of Bias

摘要

A bias value associated with a sensor, e.g., a time-varying, non-zero value which is output from a sensor when it is motionless, is estimated using at least two, different bias estimating techniques. A resultant combined or selected bias estimate may then be used to compensate the biased output of the sensor in, e.g., a 3D pointing device.

主权项

1. A device comprising:
at least one sensor for sensing rotation of said device about a first axis and generating at least one first output associated therewith and for sensing rotation of said device about a second axis and generating at least one second output associated therewith; an accelerometer for sensing an acceleration of said device and outputting at least one third output associated therewith; a temperature sensor for sensing a temperature of said device and outputting at least one temperature output associated therewith; and a processing unit for determining a bias estimate associated with said at least one sensor using:
(a) a first bias estimate technique for generating first bias estimate data based upon determining whether said device is stationary using said at least one first, second and third outputs;(b) a second bias estimate technique for generating second bias estimate data based upon detection of a pitch of said device using said at least one first, second and third outputs;(c) a third bias estimate technique for generating third bias estimate data based upon slew-rate filtering using said at least one first and second outputs; and(d) a fourth bias estimate technique for generating fourth bias estimate data based upon said temperature output and said at least one first and second outputs.