公开(公告)号：US20150260545A1

公开(公告)日：2015-09-17

申请号：US14722754

申请日：2015-05-27

Applicant: Google Inc.

Inventor： Qingxuan YANG ,  Edward CHANG

IPC: G01C25/00 ,  G01C19/5783

CPC classification number: G01C25/005

Abstract: 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.

Abstract translation: 描述了用于移动设备中的陀螺仪的非侵入式平行表面校准的方法和系统。 在具有陀螺仪的移动设备中，可以基于来自陀螺仪的读数确定多个旋转矩阵。 这些旋转矩阵中的每一个对应于当从表面拾取移动装置并且稍后放置在任何基本平行的表面上时发生的旋转链。 在一些情况下，可以确定三个或更多个旋转矩阵。 可以根据旋转矩阵计算校准参数，并可用于调整陀螺仪后续读数。 可以为每个旋转矩阵确定特征向量，并且可以使用那些特征向量通过优化处理来获得校准参数。 可以通过移动设备的温度变化来触发陀螺仪校准。