公开(公告)号：US20140297212A1

公开(公告)日：2014-10-02

申请号：US13855341

申请日：2013-04-02

Applicant: KIONIX, INC.

Inventor： Erik ANDERSON

IPC: G01C25/00

CPC classification number: G01C25/005 ,  G01C17/38

Abstract: A method for compensating for a misalignment angle between an accelerometer and a magnetometer includes applying a corrective rotation to collected accelerometer data or magnetometer data based on an estimated misalignment angle between an axis of the accelerometer and an axis of the magnetometer. The method further includes estimating a gravity vector using the corrected accelerometer data and estimating a magnetic field vector using the corrected magnetometer data. Additionally, the method includes calculating a characteristic that is a function of a calculated angle between the estimated gravity vector and the estimated magnetic field. The method also includes calculating a figure of merit over the plurality of times that is a function of the characteristic, and dynamically adjusting the estimated misalignment angle during ordinary use of the electronic device such that the figure of merit converges to a value as the electronic device rotates.

Abstract translation: 用于补偿加速度计和磁力计之间的不对准角度的方法包括基于加速度计的轴线与磁力计的轴线之间的估计的未对准角度对所收集的加速度计数据或磁力计数据进行校正旋转。 该方法还包括使用校正的加速度计数据估计重力矢量并使用校正的磁力计数据估计磁场矢量。 此外，该方法包括计算作为估计重力矢量和估计磁场之间的计算角度的函数的特性。 该方法还包括计算作为特征的函数的多次的品质因数，并且在电子设备的普通使用期间动态地调整估计的未对准角，使得品质因数收敛到电子装置的值 旋转

公开(公告)号：US20140278191A1

公开(公告)日：2014-09-18

申请号：US13834310

申请日：2013-03-15

Applicant: KIONIX, INC.

Inventor： Erik ANDERSON

IPC: G01P21/00

CPC classification number: G01P21/00

Abstract: A method for calibrating an accelerometer of an electronic device to reduce an error of the accelerometer includes estimating a gravity vector using the accelerometer and a magnetic field vector using a magnetometer at a plurality of times. The method also includes calculating a characteristic that is a function of an angle between the estimated gravity vector and the estimated magnetic field at each of the plurality of times. Additionally, the method includes calculating a figure of merit over the plurality of times that is a function of the characteristic. The method includes dynamically adjusting a calibration parameter of the accelerometer during ordinary use of the electronic device such that the figure of merit is minimized. Adjusting the calibration parameter reduces the error of the accelerometer. A system can include a accelerometer, a magnetometer, a processor, and a memory having instructions to execute the calibration method on the processor.

Abstract translation: 用于校准电子设备的加速度计以减少加速度计的误差的方法包括使用加速度计估计重力矢量和使用磁力计多次的磁场矢量。 该方法还包括在多次中计算作为估计重力矢量与估计磁场之间的角度的函数的特性。 另外，该方法包括计算作为特征的函数的多次的品质因数。 该方法包括在电子设备的普通使用期间动态调整加速度计的校准参数，使得品质因数最小化。 调整校准参数会降低加速度计的误差。 系统可以包括加速度计，磁力计，处理器和具有在处理器上执行校准方法的指令的存储器。

公开(公告)号：US20140195185A1

公开(公告)日：2014-07-10

申请号：US13735815

申请日：2013-01-07

Applicant: KIONIX, INC.

Inventor： Erik ANDERSON

IPC: G01P3/44 ,  G06F17/00 ,  G01P21/02 ,  G01P15/18

CPC classification number: G01P3/44 ,  G06F17/00

Abstract: A system and method for estimating angular velocity are provided. The system and method use an accelerometer and magnetometer to estimate an angular velocity in place of a gyroscope in 9-axis sensor fusion to estimate angular orientation. The final angular velocity estimate is constructed from two partially independent angular velocity estimates, one using only magnetometer measurements and the other using only accelerometer measurements. The unobservable portion of each partial angular velocity estimate is provided by a projection from a third complete estimate that uses both accelerometer and magnetometer data.

Abstract translation: 提供了一种用于估计角速度的系统和方法。 该系统和方法使用加速度计和磁力计估计9轴传感器融合中的陀螺仪的角速度来估计角度定向。 最终角速度估计由两个部分独立的角速度估计构成，一个仅使用磁强计测量，另一个仅使用加速度计测量。 每个部分角速度估计的不可观察部分由来自使用加速度计和磁力计数据的第三完整估计的投影提供。