Method for operating a sensor system, device for processing sensor data and sensor system

Abstract

The invention relates to a method for operating and calibrating an inertial sensor system. In particular, a concept is presented that enables the implementation of parameters for a correction model to compensate for sensor errors during operation. The parameters can be determined, in particular, by evaluating a velocity profile.

Claims

[1] Method for operating an inertial sensor system (1), comprising the steps: Detecting (S 11) a stable state of motion using the sensor data of the inertial sensor system (1); Determining (S 12) a current speed and a current orientation using sensor data from the inertial sensor system (1); Calculating (S 13) an average direction of movement and an average orientation for a predetermined time interval using the determined current speed and orientation; Calculating (S 14) a difference between a change in the mean direction of movement and a change in the mean orientation; Adapting (S 15) parameters for a correction model to compensate for sensor errors of the inertial sensor system (1) using a minimization of the difference between the changes in the mean direction of movement and the mean orientation if a stable state of movement has been detected. [2] Method according to claim 1, wherein the adjustment (S 15) of the parameters for the correction model only occurs if the speed is greater than a predetermined threshold value. [3] Method according to claim 1 or 2, wherein the method comprises a step of determining inaccuracies for the detected stable movement state, the mean movement direction and / or the change in orientation, and wherein the adjustment (S 15) of the parameters for the correction model is carried out using the determined inaccuracies. [4] Method according to one of claims 1 to 3, wherein the correction model for compensating sensor errors comprises a probabilistic filter, in particular a Kalman filter. [5] Method according to one of claims 1 to 4, wherein the detection (S 12) of the stable movement state is carried out using the sensor data and / or data of at least one further sensor. [6] Method according to one of claims 1 to 5, wherein the detection (S 12) of the stable motion state is carried out using a pre-trained neural network. [7] Method according to one of claims 1 to 6, wherein the calculation (S 13) of the average direction of movement and / or the average orientation is carried out for a time window of one to three seconds. [8] Method according to one of claims 1 to 7, wherein the calculation (S 13) of the average direction of movement and / or the average orientation is carried out using a predetermined weighting of the individual speed values and / or rotation rate values. [9] Device (20) for processing sensor data from an inertial sensor system (1), comprising a processing device (22) which is designed to receive and process sensor data from sensors (11, 12) of the inertial sensor system (1), wherein the processing device (22) is designed to carry out a method according to one of steps 1 to 8. [10] Sensor system (1), with: an acceleration sensor (11), a rotation rate sensor (12), and a device (20) for processing sensor data according to claim 9, wherein the device (20) is designed to receive and process sensor data from the acceleration sensor (11) and the yaw rate sensor (12).

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