Systems and methods for calibrating unstable sensors

Patent metadata

Field	Value
Publication number	US-10514258-B2
Application number	US-201715692142-A
Country	US
Kind code	B2
Filing date	Aug 31, 2017
Priority date	Sep 9, 2016
Publication date	Dec 24, 2019
Grant date	Dec 24, 2019

Abstract

Calibrating an unstable sensor of a mobile device. Systems and methods for calibrating a sensor of a mobile device determine a first estimated position of the mobile device without using any measurement from the sensor of the mobile device, generate a second estimated position of the mobile device using a measurement from the sensor, estimate a sensor error of the sensor using the first estimated position and the second estimated position, and use the sensor error to determine a calibration value for adjusting one or more measurements from the sensor.

First claim

The invention claimed is:

1. A method for calibrating a sensor of a mobile device, the method comprising:
determining a first estimated position of the mobile device without using any measurement from the sensor of the mobile device;
generating a second estimated position of the mobile device using a measurement from the sensor;
estimating a sensor error of the sensor using the first estimated position and the second estimated position; and
using the sensor error to determine a calibration value for adjusting one or more measurements from the sensor,
wherein the sensor is a pressure sensor of the mobile device, and
wherein the calibration value is determined by:
identifying a pressure sensor calibration equation that includes calibration coefficient values;
identifying temperature measurements of the pressure sensor and corresponding sensor error measurements for the pressure sensor, wherein each temperature measurement of the identified temperature measurements was measured when the pressure sensor made a corresponding measurement of pressure that was used to determine a corresponding sensor error measurement of the identified sensor error measurements;
determining calibration coefficient adjustment values by performing a polynomial fit using the identified temperature measurements and corresponding sensor error measurements;
determining an adjusted pressure sensor calibration equation by using the calibration coefficient adjustment values to adjust the calibration coefficient values of the pressure sensor calibration equation; and
determining the calibration value using the adjusted pressure sensor calibration equation.

2. The method of claim 1 , wherein the first estimated position includes a first altitude and the second estimated position includes a second altitude, and wherein the sensor error is estimated by:
determining a difference in altitude between the first estimated position and the second estimated position;
determining an estimated difference in pressure between the first estimated position and the second estimated position by applying a scaling factor to the difference in altitude, wherein the scaling factor specifies a change in pressure per an amount of vertical distance; and
setting the sensor error to the estimated difference in pressure.

3. The method of claim 1 , wherein the method comprises:
adjusting a measurement from the sensor by the calibration value.

4. A method for calibrating a sensor of a mobile device, the method comprising:
determining a first estimated position of the mobile device without using any measurement from the sensor of the mobile device;
generating a second estimated position of the mobile device using a measurement from the sensor;
estimating a sensor error of the sensor using the first estimated position and the second estimated position; and
using the sensor error to determine a calibration value for adjusting one or more measurements from the sensor,
wherein the sensor error is estimated by:
determining a difference in distance between the first estimated position and the second estimated position;
determining an estimated difference in pressure between the first estimated position and the second estimated position by applying a scaling factor to the difference in distance; and
setting the sensor error to the estimated difference in pressure.

5. The method of claim 4 , wherein the first estimated position includes a first altitude and the second estimated position includes a second altitude, and the difference in distance is a difference in altitude.

6. The method of claim 4 , wherein the method comprises:
adjusting a measurement from the sensor by the calibration value, wherein the calibration value is set to the sensor error or an average of the sensor error and other previously stored sensor errors.

7. One or more non-transitory machine-readable media embodying program instructions that, when executed by one or more machines, cause the one or more machines to implement a method for calibrating a sensor of a mobile device, the method comprising:
determining a first estimated position of the mobile device without using any measurement from the sensor of the mobile device;
generating a second estimated position of the mobile device using a measurement from the sensor;
estimating a sensor error of the sensor using the first estimated position and the second estimated position; and
using the sensor error to determine a calibration value for adjusting one or more measurements from the sensor,
wherein the sensor is a pressure sensor of the mobile device, and
wherein the calibration value is determined by:
identifying a pressure sensor calibration equation that includes calibration coefficient values;
identifying temperature measurements of the pressure sensor and corresponding sensor error measurements for the pressure sensor, wherein each temperature measurement of the identified temperature measurements was measured when the pressure sensor made a corresponding measurement of pressure that was used to determine a corresponding sensor error measurement of the identified sensor error measurements;
determining calibration coefficient adjustment values by performing a polynomial fit using the identified temperature measurements and corresponding sensor error measurements;
determining an adjusted pressure sensor calibration equation by using the calibration coefficient adjustment values to adjust the calibration coefficient values of the pressure sensor calibration equation; and
determining the calibration value using the adjusted pressure sensor calibration equation.

8. The one or more non-transitory machine-readable media of claim 7 , wherein the first estimated position includes a first altitude and the second estimated position includes a second altitude, and wherein the sensor error is estimated by:
determining a difference in altitude between the first estimated position and the second estimated position;
determining an estimated difference in pressure between the first estimated position and the second estimated position by applying a scaling factor to the difference in altitude, wherein the scaling factor specifies a change in pressure per an amount of vertical distance; and
setting the sensor error to the estimated difference in pressure.

9. The one or more non-transitory machine-readable media of claim 7 , wherein the method comprises:
adjusting a measurement from the sensor by the calibration value.

10. One or more non-transitory machine-readable media embodying program instructions that, when executed by one or more machines, cause the one or more machines to implement a method for calibrating a sensor of a mobile device, the method comprising:
determining a first estimated position of the mobile device without using any measurement from the sensor of the mobile device;
generating a second estimated position of the mobile device using a measurement from the sensor;
estimating a sensor error of the sensor using the first estimated position and the second estimated position; and
using the sensor error to determine a calibration value for adjusting one or more measurements from the sensor,
wherein the sensor error is estimated by:
determining a difference in distance between the first estimated position and the second estimated position;
determining an estimated difference in pressure between the first estimated position and the second estimated position by applying a scaling factor to the difference in distance; and
setting the sensor error to the estimated difference in pressure.

11. The one or more non-transitory machine-readable media of claim 10 , wherein the first esti

Assignees

• Nextnav Llc

Inventors

• Dormody Michael
• Pattabiraman Ganesh
• KUMAR Abijith
• Wolf Thomas
• Parsons Gary
• Gates Christian
• Joseph Deepak
• Nagarajan Badrinath

Classifications

• G01S19/40

  Correcting position, velocity or attitude · CPC title

• G01C25/00 Primary

  Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) · CPC title

• G01C5/06 Primary

  by using barometric means · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title

• G01C17/38 Primary

  Testing, calibrating, or compensating of compasses · CPC title