Dynamic Sensor Error Compensation via Adaptive Gain
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Solution Overview
Problem
Conventional methods for combining data from multiple sensors, such as IMUs, often fail to effectively reduce measurement errors due to their reliance on single estimates and lack of feedback loops, limiting their accuracy and adaptability to varying operating conditions.
Innovation Solution
A method that varies the gain factor based on operating conditions and movement characteristics to compensate for signal errors, allowing for differential error adjustments related to bias and scale factors, and applies these adjustments dynamically as movement characteristics change, enhancing the accuracy of combined sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional filters (complementary filter) are used to combine sensor data, then the system is simple to implement, but measurement precision is insufficient due to single estimate and lack of feedback loop
Solution Approach 1:
The patent implements a feedback loop where the difference between output signal and second sensor signal is calculated and fed back through integration and gain application to continuously correct the output signal, improving measurement precision through continuous error compensation
Solution Approach 2:
The patent segments the error compensation into multiple components: bias error compensation and scale factor error compensation, each with its own gain factor (first gain factor and second gain factor), allowing independent optimization of each error source
2Adaptability or versatility
If fixed gain factor is applied to error compensation, then the system is simple to operate, but adaptability to varying operating conditions deteriorates
Solution Approach 1:
The patent makes the gain factors dynamic by varying them as a function of operating conditions (such as magnitude of movement characteristic), allowing the system to adapt to different operating conditions automatically without complex manual configuration
3Measurement precision
If single error compensation is applied, then the system is simple to implement, but measurement precision deteriorates under varying operating conditions
Solution Approach 1:
The patent divides error compensation into multiple independent components (bias error compensation with first gain factor, scale factor error compensation with second gain factor), allowing each component to be optimized separately for different error sources while maintaining overall system precision
Data Source
Figure 1~2
AI summary
A method of compensating for signal error is described, comprising: receiving a first signal from a first sensor, said first signal indicative of a movement characteristic; applying an error compensation to said first signal to produce an output signal; applying a variable gain factor to said error compensation; receiving a second signal from a second sensor indicative of said movement characteristic; wherein said error compensation is calculated using the difference between said output signal and said second signal, and said variable gain factor is calculated using said first signal.