Gyro Sensor Calibration Using Magnetic Vector Orientation
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Solution Overview
Problem
Existing inertial navigation systems face challenges in maintaining accurate calibration of gyro sensors over time due to environmental factors like temperature changes and battery voltage variations, leading to increased calibration errors that affect device orientation determination.
Innovation Solution
A method that utilizes real-time data from magnetic sensors and gyro sensors to automatically adjust gyro calibration parameters by comparing the rotation of magnetic vectors before and after integration, employing quaternion arithmetic to determine the optimal gyro calibration parameters and improve device orientation determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If factory calibration is performed using special equipment and controlled environment, then calibration accuracy is improved, but calibration cannot be maintained during normal operation due to temperature change, battery voltage, and other environmental effects
Solution Approach 1:
The patent performs preliminary calibration actions during factory calibration to establish baseline parameters, then uses these pre-established parameters as the foundation for ongoing real-time calibration during normal operation. The system prepares calibration data in advance and uses it as a reference point for continuous adjustments.
Solution Approach 2:
The patent implements a feedback mechanism where the system continuously monitors sensor outputs during normal operation, compares them against expected values, and automatically adjusts calibration parameters based on the detected deviations. This closed-loop feedback ensures calibration stability despite environmental changes.
2Reliability
If gyro sensor calibration parameters are adjusted in real-time during normal device operation, then calibration stability is improved, but device complexity increases due to the need for autonomous monitoring and adjustment algorithms
Solution Approach 1:
The patent enables the gyro sensor calibration system to perform self-service by autonomously monitoring its own performance and automatically adjusting its calibration parameters without external intervention. The system uses its own sensor data and internal algorithms to maintain calibration, reducing the need for complex external calibration equipment or procedures.
Solution Approach 2:
The patent adjusts calibration parameters dynamically based on detected environmental conditions and sensor performance. The system changes parameters such as bias and scale factor corrections in real-time according to temperature, voltage, and sensor output characteristics, allowing adaptive calibration without fixed complex algorithms.
3Measurement precision
If gyro sensor signals are integrated over time for navigation or attitude determination, then orientation accuracy is improved, but integration errors grow with time making the solution unacceptable
Solution Approach 1:
The patent maintains continuous calibration adjustment during the integration process rather than performing calibration only at discrete intervals. The system continuously monitors sensor outputs and adjusts calibration parameters throughout the integration period, ensuring that the integration always uses the most accurate calibration available and preventing error accumulation.
Solution Approach 2:
The patent uses feedback from the integrated orientation calculations to detect drift and adjust calibration parameters accordingly. The system monitors the integrated results over time and uses this feedback to trigger recalibration when error thresholds are exceeded, preventing unacceptable error accumulation while maintaining continuous operation.
Data Source
AI summary
Embodiments of the present disclosure are directed to a method and apparatus for calibration of gyro sensors by using magnetic sensor measurements and background computation during normal product operation. In one embodiment, magnetic sensor measurements are used to adjust gyro gain by comparing measured magnetic vector orientation with its expected orientation computed from gyro integration. The background process constantly compares this discrepancy for various values of gyro gain and selects the one that minimizes such error on average. In one embodiment, device orientation obtained by gyro integration is improved by using magnetic sensor measurements.