Patent Grant
11898874
This application is the National Stage of International application no. PCT/IB2020/059716, filed Oct. 15, 2020, which claims the benefit of priority from United Kingdom patent application no. 1915137.2, filed Oct. 18, 2019, which are incorporated by reference herein in their entirety.
This invention relates to a method for determining a current estimated gyroscope bias of a gyroscope and a mobile device configured to implement the method.
There is a growing popularity for devices that measure movement. These sensing devices could be in the form of wearable devices that measure movement of a user, a smartphone that is carried by the user to measure movement of the user or moveable devices that can generally sense movement, for instance video game controllers or sensors attached to industrial equipment.
These moveable sensing devices may include a satellite positioning sensor which can sense the location of the device, and motion sensors sense motion of the device. These motion sensors may include one or more of an accelerometer, a gyroscope, a magnetometer, a compass and a barometer. These motion sensors can output data that can be used to calculate the motion of the moveable device. One problem with these sensors, and, in particular, a gyroscope, is that they are prone to having an error associated with their measured movement. This means that the data that they output is not fully representative of the movement being sensed by the sensing device at a given time. There will be a component to the data output that is representative of the movement of the sensing device and a component to the data output that is an error to the sensed movement. One source of error is typically known as an offset or bias. (For simplicity, it will be referred to as a bias from now on.) For instance, when the sensing device is stationary it may continue to output data that indicates that the sensing device is moving in a particular direction. The bias tends to change over time as the gyroscope is moved around. Therefore, the bias needs to be detected and corrected for as the device is being used.
There are methods that look to correct for the drift of a gyroscope that make use of the combined sensed data of a gyroscope together with at least one accelerometer and magnetometer. The other two provide an estimate of when the moveable device is at rest and then this information can be used to detect the current bias of the gyroscope. Such methods require other motion sensors to be used in combination with the gyroscope to correct for the bias of the gyroscope. In addition, these methods can be computationally complicated because they rely on processing data from multiple motion sensors at the same time.
It would therefore be desirable for there to be an improved method of calculating the current bias of a gyroscope.
According to a first aspect of the present invention there is provided a method for determining a current estimated gyroscope bias of a gyroscope, the gyroscope being configured to output rotation rate data, the method comprising: receiving first rotation rate data associated with a first time from the gyroscope, the first rotation rate data comprising a first rotation rate reading that indicates a rotation rate of the gyroscope about a first axis; calculating a rotation rate moving average associated with the first time based on the first rotation rate data and a rotation rate moving average associated with a second time earlier than the first time; calculating a moving standard deviation associated with the first time based on the first rotation rate data, the rotation rate moving average associated with the first time, and a moving standard deviation associated with the second time; determining if the moving standard deviation associated with the first time is less a threshold moving standard deviation; and in response the moving standard deviation being less than the threshold moving standard deviation, using the first rotation rate reading to update the current estimated gyroscope bias.
The first rotation rate data may comprise a second rotation rate reading that indicates a rotation rate of the gyroscope about a second axis. The rotation rate data may comprise a third rotation rate reading that indicates a rotation rate of the gyroscope about a third axis. The first axis and second axis and/or third axis may be orthogonal to each other. The method may comprise: calculating a separate rotation rate moving average associated with the first time for each rotation axis based on the respective rotation rate reading and the rotation rate moving average for the respective rotation axis associated with the second time; calculating a separate moving standard deviation associated with first time for each rotation axis based on the respective rotation rate reading, the rotation rate moving average for the respective rotation axis associated with the second time, and a moving standard deviation for the respective rotation axis associated with the second time; combining the moving standard deviations associated with the first time; determining if the combined moving standard deviation associated with the first time is less the threshold moving standard deviation; and in response the combined moving standard deviation being less than the threshold moving standard deviation, using the rotation rate readings of the first rotation rate data to update the current estimated gyroscope bias. Combining the moving standard deviations associated with the first time may comprise summing the moving standard deviations associated with the first time.
Calculating the rotation rate moving average may comprise reducing the rotation rate moving average associated with the second time using a moving average forget rate factor, and combining the reduced rotation rate moving average with the respective rotation rate reading. Calculating the rotation rate moving average may comprise reducing the respective rotation rate reading using the moving average forget rate factor, and combining the reduced rotation rate moving average with the respective reduced rotation rate reading. Reducing the respective rotation rate reading may comprise multiplying the respective rotation rate reading with the moving average forget rate factor. Reducing the rotation rate moving average associated with the second time may comprise subtracting from the rotation rate moving average the rotation rate moving average multiplied with the moving average forget rate factor.
Calculating the moving standard deviation may comprise reducing the moving standard deviation associated with the second time using a moving standard deviation forget rate factor, and combining the reduced moving standard deviation with the difference between the respective rotation rate reading and the respective rotation rate moving average. The difference between the rotation rate reading and the respective rotation rate moving average may be the magnitude of this difference. Calculating the moving standard deviation may comprise reducing the difference between the rotation rate reading and the rotation rate moving average using the moving standard deviation forget rate factor, and combining the reduced moving standard deviation with the reduced difference. Reducing the difference between the rotation rate reading and the rotation rate moving average may comprise multiplying the difference with the moving standard deviation forget rate factor. Reducing the moving standard deviation associated with the second time may comprise subtracting from the moving standard deviation the moving standard deviation multiplied with the moving standard deviation forget rate factor.
Using the first rotation rate reading to update the current estimated gyroscope bias may comprise setting the first rotation rate reading as the current estimated gyroscope bias. Using the rotation rate readings of the first rotation rate data to update the current estimated gyroscope bias may comprise setting the rotation rate readings of the first rotation rate data as the current estimated gyroscope bias.
Using the first rotation rate reading to update the current estimated gyroscope bias may comprise combining a previous estimated gyroscope bias with the first rotation rate reading. Using the rotation rate readings of the first rotation rate data to update the current estimated gyroscope bias may comprise combining a previous estimated gyroscope bias with the rotation rate readings of the first rotation data.
According to a second aspect of the present invention there is provided a mobile device comprising: a gyroscope configured to output rotation rate data, the gyroscope having a gyroscope bias; and a processor configured to: receive first rotation rate data associated with a first time from the gyroscope, the first rotation rate data comprising a first rotation rate reading that indicates the rotation rate of the gyroscope about a first axis; calculate a rotation rate moving average associated with the first time based on the first rotation rate data and a rotation rate moving average associated with a second time earlier than the first time; calculate a moving standard deviation associated with the first time based on the first rotation rate data, the rotation rate moving average associated with the first time and a moving standard deviation associated with the second time; determine if the moving standard deviation associated with the first time is less a threshold moving standard deviation; and in response the moving standard deviation being less than the threshold moving standard deviation, use the first rotation rate reading to update a current estimate of the gyroscope bias.
The present invention will now be described by way of example with reference to the accompanying drawings. In the drawings:
The following description is presented to enable any person skilled in the art to make and use the invention, and is provided in the context of a particular application. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art.
The general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The present invention relates to a method for determining a current estimated gyroscope bias of a gyroscope, the gyroscope being configured to output rotation rate data. The method comprises receiving first rotation rate data for a first time from the gyroscope, the first rotation rate data comprising a first rotation rate reading that indicates the rotation rate of the gyroscope about a first axis. The method further comprises calculating a rotation rate moving average for first time based on the first rotation rate data and a rotation rate moving average for a second time earlier than the first time. The method further comprises calculating a moving standard deviation for the first time based on the first rotation rate data, the rotation rate moving average for the first time and a moving standard deviation for the second time. The method further comprises determining if the moving standard deviation for the first time is less a threshold moving standard deviation, and in response the moving standard deviation being less than the threshold moving standard deviation, using the first rotation rate reading to update the current estimated gyroscope bias.
The mobile device comprises a processor 4 and a non-volatile memory 5. The mobile device 1 may comprise more than one processor 4 and more than one memory 5. The memory 5 stores a set of program instructions that are executable by the processor, and reference data such as look-up tables that can be referenced by the processor in response to those instructions. The processor 4 may be configured to operate in accordance with a computer program stored in non-transitory form on a machine-readable storage medium. The memory 5 may be the machine-readable storage medium. The computer program may store instructions for causing the processor to perform the method described herein.
The processor 4 may be connected to the wireless communication unit(s) 2 to permit communication between them. The processor 4 may use at least one wireless communication unit to send and/or receive data over a wireless communication network. For instance, the wireless communication unit(s) 2 may be:
It will be appreciated that the wireless communication unit(s) may be configured to communicate using other wireless protocols.
One or more of the wireless communication units 2 may be part of processor 4. Part or all of a wireless communication unit's function may be implemented by processor 4 by processor running software to process signals received by an antenna 3.
The mobile device 1 may comprise a power source 9 such as a battery. The mobile device 1 may accept an external power supply to enable the power source 9 to be charged. The mobile device 1 may also comprise a display. The mobile device 1 may be configured to display information on the display. The mobile device 1 may also comprise a user interface. The user interface may be configured to permit a user of the device to interact with the mobile device 1. The user interface may at least in part be formed as part of the display. For instance, the display may be a touch screen and display buttons and other interactive features of the display that the user can interact with by touching the touch screen.
The mobile device 1 comprises at least one movement sensor. The processor 4 is connected to the movement sensors to permit communication between them. The processor 4 can receive movement data from the movement sensors. The movement sensors may comprise at least one accelerometer, a magnetometer, and/or a gyroscope. The processor 4 can use the movement data from the movement sensors to derive information about the current movement and orientation of the mobile device.
The mobile device may comprise at least one accelerometer 6. The accelerometer may calculate the acceleration rate that the device 1 is being moved in a direction. The accelerometer may output time series data of acceleration readings in the direction that the accelerometer 6 gathers data. The device 1 may comprise more than one accelerometer 6. The accelerometers 6 may be orientated so as to gather acceleration readings in different directions. The accelerometers 6 may gather acceleration readings in orthogonal directions. The device may comprise three accelerometers 6 each gathering acceleration readings in different, orthogonal directions. The processor 4 can receive the time series data of acceleration readings from the at least one accelerometer.
The mobile device may comprise a magnetometer 7. The magnetometer may calculate the orientation of the device 1 relative to the local magnetic field of the Earth. This can be used to derive data concerning the movement of the device 1 relative to the surface of the Earth. The magnetometer may be a hall effect sensor that detects the magnetic field of the Earth. The magnetometer 7 may output time series data of rotation movement readings relative to the magnetic field of the Earth. The processor 4 can receive the time series data of rotation movement readings.
The mobile device 1 comprises a gyroscope 8. The gyroscope 8 may be a MEMS gyroscope. The gyroscope 8 may calculate the rate of rotation about a rotation axis that the device 1 is being moved about. The gyroscope 8 may output time series data of rotation rate readings about the rotation axis that the gyroscope 8 gathers data. The time series data of rotation rate readings may be rotation rate data. The gyroscope 8 may gather data about the rate of rotation about more than one rotation axis that the device 1 is being moved about. The gyroscope 8 may calculate the rate of rotation about two rotation axes that the device 1 is being moved about. The gyroscope 8 may calculate the rate of rotation about three rotation axes that the device 1 is being moved about. Thus, the gyroscope 8 may be a triaxial gyroscope. The rotation axes may be orthogonal to each other. The gyroscope 8 may output time series data of rotation rate readings about each rotation axis that the gyroscope 8 gathers data. The time series comprise rotation reading(s) at each time step in the time series. The processor 4 can receive the time series data of rotation rate readings about one or more axes.
The rotation rate readings output by the gyroscope 8 generally include a small bias in the average rotation rate readings output even when there is no movement of the mobile device 1. This bias means that the rotation rate readings each include a first rotation rate component which is the actual rotation of the mobile device 1 about the measured axis or axes at that time step and a second rotation rate component which is the gyroscope bias at that time step. The gyroscope bias can change over time due to changes in the physical properties of the gyroscope 8 over time. The rotation rate readings may include other noise due to other errors in the measurement process undertaken by the gyroscope 8.
It is therefore important that if the mobile device 1 is going to use the rotation rate data output by the gyroscope 8 that the bias in the rotation rate data is corrected for. Generally speaking the gyroscope bias cannot be completely corrected at each time step however as the bias generally changes at a slow rate compared to the time period of each time step an estimate of the current bias of the gyroscope can be calculated and used for a period of time until an update to the estimate of the current bias can be recalculated. A method for calculating an estimate of gyroscope bias of the gyroscope will now be described with reference to
As shown at step 20, rotation rate data for a first time is generated by the gyroscope 8. As discussed herein, the gyroscope 8 may output rotation rate data concerning sensed rotation about one or more rotation axes. The rotation rate data for a first time comprises a first rotation rate reading that indicates the rotation rate of the mobile device about a first axis. The rotation rate data for a first time may comprise a second rotation rate reading that indicates the rotation rate of the mobile device about a second axis. The rotation rate data for a first time may comprise a third rotation rate reading that indicates the rotation rate of the mobile device about a third axis. As discussed herein the axes may be orthogonal to each other.
As shown at step 21, the rotation rate data for a first time is output by the gyroscope 8.
As shown at step 22, the rotation rate data is received for further processing. It may be received by the processor 4 for further processing.
As shown at step 23, a moving average, associated with the first time, of the rotation rate data is calculated based on the rotation rate data for the first time.
Where the rotation rate data for the first time is the first, and only, rotation rate data output from the gyroscope 8 that is available for calculating the moving average then the moving average may be set to the first rotation rate data.
Where a moving average for a second time prior to the first time has already been calculated based on rotation rate data for the second time, then the moving average for the first time is calculated based on the moving average for the second time and the rotation rate data for the first time. The moving average may be calculated by reducing the previous moving average using a predefined forget rate factor αμ for the moving average and combining the reduced previous moving average with the rotation rate data for the first time. The rotation rate data for the first time may also be reduced using the predefined forget rate factor αμ prior to combining the reduced previous moving average with the rotation rate data for the first time. The moving average may be calculated by adding the reduced previous moving average to the reduced rotation rate data for the first time. The previous moving average may be reduced by subtracting from the previous moving average the previous moving average multiplied by the predefined forget rate factor αμ. The rotation rate data for the first time may be reduced by multiplying the rotation rate data for the first time by the predefined forget rate factor αμ. Where the rotation rate data comprises rotation rate data about more than one rotation axis then a separate moving average is calculated for each rotation axis.
The moving average of the rotation rate data may be calculated at time t by:
μt=(1−αμ)μt-1+αμnt
where nt is the rotation rate data at time t, μt is the moving average at time t, and αμ is the moving average forget rate. The moving average may therefore be an exponential moving average.
The moving average forget rate may take a value between 0 and 1. The moving average forget rate may be 0.01, 0.02, 0.03, 0.04, 0.05, 0.1 or 0.2. Preferably, the moving average forget rate may be 0.01, 0.02, 0.03, 0.04 or 0.05. More preferably, the moving average forget rate may be 0.01, 0.02 or 0.03. The moving average forget rate may be 0.02. The moving average forget rate may be set based on the empirical performance of the method.
The moving average of the rotation rate data therefore indicates the average rotation rate about a particular rotation axis over a period of time. This can be used to give an indication of whether the rotation rate is changing over time. As shown in step 24, a moving standard deviation, associated with the first time, of the rotation rate data is calculated based on the moving average for the first time and the rotation rate data for the first time.
Where the rotation rate data for the first time is the first, and only, rotation rate data output from the gyroscope 8 that is available for use in calculations then the moving standard deviation may be zero. Alternatively, the moving standard deviation may be initialised to another value. For instance, the standard deviation may be initialised to 1 for each rotation axis that is present in the rotation rate data. This means that even if the device is still initially there will be a period of time before the estimate of the bias starts to be updated.
Where there has been rotation rate data collected over more than one time step, then the moving standard deviation for the first time is calculated based on the moving average for the first time, the rotation rate data for the first time and the moving standard deviation for the second time. The moving standard deviation may be calculated by reducing the previous moving standard deviation using a predefined forget rate factor ασ for the moving standard deviation and combining the reduced previous moving standard deviation with the difference between the rotation rate data for the first time and the moving average for the first time. The difference between the rotation rate data for the first time and the moving average for the first time may be the magnitude of this difference. The difference between the rotation rate data for the first time and the moving average for the first time may also be reduced using the predefined forget rate factor ασ prior to combining the reduced previous moving standard deviation with the difference between the rotation rate data for the first time and the moving average for the first time. The previous moving standard deviation may be reduced by subtracting from the previous moving standard deviation the previous moving standard deviation multiplied by the predefined forget rate factor ασ. The difference between the rotation rate data for the first time and the moving average for the first time may be reduced by multiplying the difference between the rotation rate data for the first time and the moving average for the first time by the predefined forget rate factor ασ. Where the rotation rate data comprises rotation rate data about more than one rotation axis then a separate moving standard deviation is calculated for each rotation axis.
The moving standard deviation may be calculated at time t by:
σt=(1−ασ)σt-1+ασ|nt−μt|
where nt is the rotation rate data at time t, μt is the moving average at time t, σt is the moving standard deviation and ασ is the moving standard deviation forget rate. The moving standard deviation may therefore be an exponential moving standard deviation.
The moving standard deviation forget rate may take a value between 0 and 1. The moving standard deviation forget rate may be 0.01, 0.02, 0.03, 0.04, 0.05, 0.1 or 0.2. Preferably, the moving standard deviation forget rate may be 0.01, 0.02, 0.03, 0.04 or 0.05. More preferably, the moving standard deviation forget rate may be 0.01, 0.02 or 0.03. The moving standard deviation forget rate may be 0.02. The moving standard deviation forget rate may be set based on the empirical performance of the method.
As shown in step 25, the moving standard deviation is compared to a predefined threshold moving standard deviation. Where the rotation rate data comprises rotation rate data about more than one rotation axis then the moving standard deviations for the first time for each rotation axis may be combined together before comparing the combined moving standard deviations to the predefined threshold moving standard deviation. The moving standard deviations for the first time for each rotation axis may be combined together by summing the moving standard deviations together. The threshold moving standard deviation may be between 0.002 and 0.012 radians per second. Preferably, the threshold moving standard deviation may be 0.002, 0.004, 0.006, 0.008, 0.010 or 0.012 radians per second. Preferably, the threshold moving standard deviation may be between 0.04 and 0.08 radians per second. More preferably the threshold moving standard deviation may be 0.006 radians per second.
s shown at step 26, if the moving standard deviation, or combined moving standard deviation, is below the predefined threshold moving standard deviation, then the mobile device is judged to be stationary. In this case, the rotation rate readings at the first time are used to calculate an estimate of the current bias of the gyroscope.
In one case, the rotation rate readings at the first time are taken to be an estimate of the current bias of the gyroscope. In this case, the rotation rate readings at the first time are therefore stored as the estimate of the current gyroscope bias of the gyroscope 8.
In another case, the rotation rate readings at the first time are used to update an estimate of the current bias of the gyroscope. An estimate of the current bias of the gyroscope may be calculated at each time step. For time steps where the moving standard deviation, or combined moving standard deviation is below the predefined threshold moving standard deviation, the estimate of the current bias of the gyroscope can be updated using the rotation rate readings at the first time. The estimate of the current bias of the gyroscope may be updated by combining an estimate of the bias of the gyroscope with the rotation rate readings at the first time. The combination may take into account the relative certainties of the estimate of the bias of the gyroscope and the rotation rate readings at the first time. The estimate of the current bias of the gyroscope may be calculated using a Kalman filter. The estimate of the current bias of the gyroscope may assume that the bias of the gyroscope undergoes a random walk at each time step. When rotation rate readings are available for time steps where the mobile device is judged to be stationary, these rotation rate readings are combined with the current bias calculated by the Kalman filter to provide an updated estimate of the current bias of the gyroscope. The use of the Kalman filter can smooth the update of the estimate of the current bias of the gyroscope so that it does not jump between values too quickly.
If the moving standard deviation is equal to or above the predefined threshold moving standard deviation, then the mobile device is judged to be non-stationary. In this case, the current estimate of the gyroscope bias is not updated at this time step using the rotation rate readings for that time step.
In subsequent calculations that use the rotation rate data, the current estimated gyroscope bias is applied to the rotation rate data to at least partially remove the second rotation rate component. As the current estimated gyroscope bias may differ from the actual gyroscope bias at that point, the second component may not be removed completely. The mobile device may use the rotation rate data, and optionally together with data from the accelerometer(s) 6 and magnetometer 7, to calculate the current orientation and/or movement direction of the mobile device.
The method may be repeated at each time step with the moving average and moving standard deviation calculated at the previous time step forming the moving average and moving standard deviation from the earlier time step. In this way, the data from the gyroscope can be continuously monitored for time steps that have data that indicate that the gyroscope is stationary so that the estimate of the current gyroscope bias can be updated.
The above method to estimate the current gyroscope bias only use data received from the gyroscope 8. The method does not take as an input data from the accelerometer(s) 6 or the magnetometer 7. This is advantageous because the current method is computationally much lighter than a method that estimates gyroscope bias using the gyroscope data together with data from the accelerometer(s) 6 and the magnetometer 7. Usually such a method uses a Kalman filter to process the movement data received from the gyroscope 8, accelerometer(s) 6 and the magnetometer and estimate states when the mobile device is stationary. This is much more involved set of calculations computationally than the presently described method.
The mobile device 1 may be a smartphone, a wearable device, and/or a monitoring device that can be attached to a moveable object.
The applicant hereby discloses in isolation each individual feature described herein and any combination of two or more such features, to the extent that such features or combinations are capable of being carried out based on the present specification as a whole in the light of the common general knowledge of a person skilled in the art, irrespective of whether such features or combinations of features solve any problems disclosed herein, and without limitation to the scope of the claims. The applicant indicates that aspects of the present invention may consist of any such individual feature or combination of features. In view of the foregoing description it will be evident to a person skilled in the art that various modifications may be made within the scope of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 1915137 | Oct 2019 | GB | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2020/059716 | 10/15/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2021/074851 | 4/22/2021 | WO | A |
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| Number | Date | Country | |
|---|---|---|---|
| 20220364882 A1 | Nov 2022 | US |
