Systems and methods for calibrating unstable sensors

Patent metadata

Field	Value
Publication number	US-11892295-B2
Application number	US-202117644029-A
Country	US
Kind code	B2
Filing date	Dec 13, 2021
Priority date	Sep 9, 2016
Publication date	Feb 6, 2024
Grant date	Feb 6, 2024

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, comprising:
determining a first estimated altitude of a mobile device without using any measurement from a pressure sensor of the mobile device;
generating a second estimated altitude of the mobile device using a measurement from the pressure sensor;
estimating a pressure sensor error of the pressure sensor using the first estimated altitude and the second estimated altitude; and
using the pressure sensor error to determine a calibration value for adjusting one or more measurements from the pressure sensor;
wherein the first estimated altitude is determined by:
identifying a time period during which the measurement from the pressure sensor was measured;
identifying a stored position using the identified time period, wherein the stored position includes an estimate of an altitude the mobile device was at during the identified time period, and the stored position was determined using a number of estimated positions that is greater than a threshold number of estimated positions; and
determining that the first estimated altitude is the estimate of the altitude.

2. The method of claim 1 , wherein the method comprises:
adjusting the measurement of the one or more measurements from the pressure sensor by the calibration value.

3. The method of claim 1 , wherein using the pressure sensor error to determine the calibration value for adjusting the one or more measurements from the pressure sensor comprises:
retrieving one or more previously estimated sensor errors of the pressure sensor from storage;
computing an average sensor error by averaging an estimated sensor error and the one or more previously estimated sensor errors; and
using the average sensor error as the calibration value.

4. The method of claim 1 , wherein the calibration value is determined by:
identifying a pressure sensor calibration equation that includes calibration coefficient values previously determined in a calibration of the pressure sensor;
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 previously determined calibration coefficient values of the pressure sensor calibration equation; and
determining the calibration value using the adjusted pressure sensor calibration equation.

5. The method of claim 1 , wherein the pressure sensor error is estimated by:
determining a difference in distance between the first estimated altitude and the second estimated altitude;
determining an estimated difference in pressure between the first estimated altitude and the second estimated altitude by applying a scaling factor to the difference in distance; and
setting the pressure sensor error to the estimated difference in pressure.

6. The method of claim 1 , wherein the calibration value is determined by:
setting the calibration value to the pressure sensor error or an average of the pressure sensor error and other previously stored sensor errors.

7. The method of claim 1 , wherein the pressure sensor produces an inaccurate measurement of pressure relative to true pressure.

8. The method of claim 1 , wherein the calibration value is determined by:
identifying a pressure sensor calibration equation that includes calibration coefficient values previously determined in a calibration of the pressure sensor;
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 previously determined calibration coefficient values of the pressure sensor calibration equation; and
determining the calibration value using the adjusted pressure sensor calibration equation.

9. A method, comprising:
determining a first estimated altitude of a mobile device without using any measurement from a pressure sensor of the mobile device;
generating a second estimated altitude of the mobile device using a measurement from the pressure sensor;
estimating a pressure sensor error of the pressure sensor using the first estimated altitude and the second estimated altitude; and
using the pressure sensor error to determine a calibration value for adjusting one or more measurements from the pressure sensor;
wherein the calibration value is determined by:
identifying a pressure sensor calibration equation that includes calibration coefficient values previously determined in a calibration of the pressure sensor;
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 previously determined calibration coefficient values of the pressure sensor calibration equation; and
determining the calibration value using the adjusted pressure sensor calibration equation.

10. The method of claim 9 , wherein the method further comprises:
adjusting a measurement of the one or more measurements from the pressure sensor by the calibration value.

11. The method of claim 9 , wherein using the pressure sensor error to determine the calibration value for adjusting the one or more measurements from the pressure sensor comprises:
retrieving one or more previously estimated sensor errors of the pressure sensor from storage;
computing an average sensor error by averaging an estimated sensor error and the one or more previously estimated sensor errors; and
using the average sensor error as the calibration value.

12. A method, comprising:
determining a first estimated altitude of a mobile device without using any measurement from a pressure sensor of the mobile device;
generating a second estimated altitude of the mobile device using a measurement from the pressure sensor;
estimating a pressure sensor error of the pressure sensor using the first estimated altitude and the second estimated altitude; and
using the pressure sensor error to determine a calibration value for adjusting one or more measurements from the pressure sensor, comprising:
retrieving one or more pre

Assignees

• Nextnav Llc

Inventors

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

Classifications

• G01C17/38 Primary

  Testing, calibrating, or compensating of compasses · CPC title

• G01C5/06 Primary

  by using barometric means · CPC title

• G01C21/10

  by using measurements of speed or acceleration (G01C21/24, G01C21/26 take precedence) · CPC title

• G01C21/165

  combined with non-inertial navigation instruments · 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