Method for determining the null point of a gyroscope

1. A method for determining a null point voltage of a gyroscope that produces an output voltage related to an angular velocity to be measured by the gyroscope, comprising:

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into aplurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges; and

determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages.

2. The method of claim 1 , wherein each of the plurality of adjacent discrete voltage ranges has a low voltage and a high voltage.

3. The method of claim 2 further comprising selecting a predetermined voltage from each discrete voltage range to be the associated voltage.

4. The method of claim 2 wherein said associated voltage is determined for, each discrete voltage range by adding the low voltage to the high voltage to obtain a voltage sum and dividing the voltage sum by a predetermined number.

5. The method of claim 4 wherein the predetermined number is 2.

6. The method of claim 2 wherein the associated voltage is an average of all of the sampled voltages within each discrete voltage range.

7. A method for determining a null point voltage of a gyroscope that produces an output voltage related to an angular velocity to be measured by the gyroscope, comprising:

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled output voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled output voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

assigning each sampled output voltage to a respective one of a plurality of bins, each bin representing each of the plurality of adjacent discrete voltage ranges;

counting a number of sampled output voltages in each bin;

determining the bin with a highest count; and

selecting an, associated voltage corresponding to a bin with the highest count for the null point voltage of the gyroscope.

8. The method of claim 7 further comprising reducing the count in each discrete voltage range at a predetermined time.

9. The method of claim 8 wherein the count in each discrete voltage range is divided by 2.

10. The method of claim 7 further comprising reducing the count in each discrete voltage range a number of voltage counts.

11. The method of claim 10 wherein the count in each discrete voltage range is divided by 2.

12. Apparatus for determining a null point voltage of a gyroscope that produces an output voltage related to an angular velocity to be measured by the gyroscope, comprising:

a sampler configured to sample the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

a counter configured to count the sampled voltages in each of the plurality of adjacent discrete voltage ranges; and

a mode selector configured to select an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages.

13. The apparatus of claim 12 , wherein each of the plurality of adjacent discrete voltage ranges has a low voltage and a high voltage.

14. The apparatus of claim 13 further comprising a determinator configured to determine said associated voltage for each discrete voltage range by adding the low voltage to the high voltage to obtain a voltage sum; and

a divider configured to divide the voltage sum by a predetermined number.

15. The apparatus of claim 14 wherein the predetermined number is 2.

16. The apparatus of claim 13 wherein the associated voltage is an average of all of the sampled voltages within each discrete voltage range.

17. The apparatus of claim 13 wherein the mode selector is configured to select a predetermined voltage from each discrete voltage range to be the associated voltage.

18. The apparatus of claim 17 further comprising:

an assignor configured to assign each sampled output voltage to a bin, each bin representing each of the plurality of adjacent discrete voltage ranges;

the counter is configured to count a number of sampled output voltages in each bin;

the determinator is configured to determine the approximate mode in each bin; and

the selector is configured to select the associated voltage corresponding to the bin.

19. The apparatus of claim 18 further comprising a count reducer configured to reduce the count in each discrete voltage range at a predetermined time.

20. The apparatus of claim 19 wherein the count in each discrete voltage range is divided by 2.

21. The apparatus of claim 18 further comprising a count reducer configured to reduce the count in each discrete voltage range a number of voltages in the discrete voltage ranges.

22. The apparatus of claim 21 wherein the count in each discrete voltage range is divided by 2.

23. A non-transitory computer-readable medium, which when executed by a processor, operates to determine a null point of a gyroscope comprising instructions for:

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges; and

determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages.

24. The computer-readable media of claim 23 , wherein each of the plurality of adjacent discrete voltage ranges has a low voltage and a high voltage.

25. The computer-readable media of claim 24 further comprising instructions for selecting a predetermined voltage from each discrete voltage range to be the associated voltage.

26. The computer-readable media of claim 25 wherein said instructions for selecting an associated voltage comprise instructions for adding the low voltage to the high voltage for each discrete voltage range to obtain a voltage sum, and for dividing the voltage sum by a predetermined number.

27. The computer-readable media of claim 26 wherein the predetermined number is 2.

28. The computer-readable media of claim 23 , wherein said instructions for determining an associated voltage comprise instructions, for finding an average of all of the sampled voltages within each discrete voltage range.

29. A non-transitory computer-readable medium, which when executed by a processor, operates to determine a null point of a gyroscope comprising instructions for:

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages;

assigning each sampled output voltage to a respective one of a plurality of bins, each bin representing each of the plurality of adjacent discrete voltage ranges;

counting a number of sampled output voltages in each bin;

determining the bin with a highest count; and

selecting an associated voltage corresponding to a bin with the highest count for the null point voltage of the gyroscope.

30. The computer-readable media of claim 29 further comprising instructions for reducing the count in each discrete voltage range at a predetermined time.

31. The computer-readable media of claim 30 wherein the count in each discrete voltage range is divided by 2.

32. The computer-readable media of claim 29 further comprising instructions for reducing the count in each discrete voltage range a number of voltages in the discrete voltage ranges.

33. The computer-readable media of claim 32 wherein the count in each discrete voltage range is divided by 2.

34. A method for positioning an antenna during a satellite acquisition phase, comprising:

monitoring a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

sampling the output voltage to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality, of adjacent discrete voltage ranges including the highest count of sampled voltages;

moving the antennathrough a 360 degree arc;

using the null point voltage of the gyroscope to verify that the antenna moved through a 360 degree arc;

taking satellite energy measurements at discrete points throughout the fu 11 360 degree arc; and

positioning the antenna towards the satellite based on a strongest satellite energy measurement.

35. A method for positioning an antenna used with a vehicle towards a pre-acquired satellite while the vehicle is changing directions, comprising:

monitoring a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each or the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

determining an approximate mode of the plurality of sampled voltages as the null point, voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete Voltage ranges including the highest count of sampled voltages;

taking a first satellite energy measurement;

moving the antenna in a preselected direction;

using the null point voltage of the gyroscope to verify that the antenna moved to the preselected direction;

taking a second satellite energy measurement;

comparing the first satellite energy measurement to the second satellite energy measurement to see which is stronger; and

positioning the antenna based on the stronger energy measurement.

36. A system for positioning an antenna used with a vehicle, comprising:

a gyroscope for producing a voltage based on an angular velocity;

a sampler configured to sample the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

a counter configured to count the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

a mode selector configured to determine an approximate mode of the plurality of sampled voltages as a null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

a subtractor configured to subtract the null point voltage from the sampled output voltage to obtain a voltage difference; and

a servo configured to position an antenna based on the voltage difference, wherein the positioned antenna is used to determine the vehicle's position.

37. An apparatus for determining a null point voltage of a gyroscope that produces an output voltage related to an angular velocity to be measured, by the gyroscope, comprising:

means for sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

means for counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges; and

means for determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages.

38. An apparatus for determining a null point voltage of a gyroscope that produces an output voltage related to an angular velocity to be measured by the gyroscope, comprising:

means for sampling the output voltage generated by the gyroscope to obtain a plurality of sampled output voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled output voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

means for assigning each sampled output voltage to a respective one of a plurality of bins, each bin representing each of the plurality of adjacent discrete voltage ranges;

means for counting a number of sampled output voltages in each bin;

means for determining the bin with a highest count; and

means for selecting an associated voltage corresponding to a bin with the highest count for the null point voltage of the gyroscope.

39. An apparatus for determining a null point voltage of a gyroscope that produces an output voltage related to an angular velocity to be measured by the gyroscope, comprising:

a sampler configured to sample the output voltage generated by the gyroscope to obtain a plurality of sampled output voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled output voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

an assignor configured to assign each sampled output voltage to a respective one of a plurality of bins, each bin representing each of the plurality of adjacent discrete voltage ranges;

a counter configured to count a number of sampled output voltages in each bin;

a determinator configured to determine the bin with a highest count; and

a selector configured to select an associated voltage corresponding to a bin with the highest count for the null point voltage of the gyroscope.

40. An apparatus for positioning an antenna during a satellite acquisition phase, comprising:

means for monitoring a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

means for sampling the output voltage to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

means for, counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

means for determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

means for moving the antenna through a 360 degree arc;

means for using the null point voltage of the gyroscope to verify that the antenna moved through a full 360 degree arc;

means for taking satellite energy measurements at discrete points throughout the full 360 degree arc; and

means for positioning the antenna towards the satellite based on a strongest satellite energy measurement.

41. An apparatus for positioning an antenna during a satellite acquisition phase, comprising:

a monitor configured to monitor a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

a sampler configured to sample the output voltage to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

a counter configured to count the sampled voltages in each of the plurality of adjacent discrete yoltage ranges;

a determinator configured to determine an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on choosing a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

servo configured to move the antenna through a 360 degree arc; and

a processor configured to:

use the null point voltage of the gyroscope to verify that the antenna moved through a full 360 degree arc, and

take satellite energy measurements at discrete points throughout the full 360 degree arc;

wherein the servo is configured to position the antenna towards the satellite based on a strongest satellite energy measurement.

42. A non-transitory computer-readable medium, which when executed by a processor, operates to position an antenna during a satellite acquisition phase comprising instructions for:

monitoring a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

sampling the output voltage to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

moving the antenna through a 360 degree arc;

using the null point voltage of the gyroscope to verify that the antenna moved through a full 360 degree arc;

taking satellite energy measurements at discrete points throughout the full 360 degree arc; and

positioning the antenna towards the satellite based on a strongest satellite energy measurement.

43. An apparatus for positioning an antenna used with a vehicle towards a pre-acquired satellite while the vehicle is changing directions, comprising:

means for monitoring a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

means for sampling.the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

means for counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

means for determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

means for taking a first satellite energy measurement;

means for moving the antenna in a preselected direction;

means for using the mill point voltage of the gyroscope to verify that the antenna moved to the preselected direction;

means for taking a second satellite energy measurement;

means for comparing the first satellite energy measurement to the second satellite energy measurement to see which is stronger; and

means for positioning the antenna based on the stronger energy measurement.

44. An apparatus for positioning an antenna used with a vehicle towards a pre-acquired satellite while the vehicle is changing directions, comprising:

a monitor configured to monitor a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

a sampler configured to sample the output voltage generated by the gyroscope to obtain a plurality of sanipled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voitages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

a counter configured to count the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

a determinator configured to determine an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

a processor configured to take a first satellite energy measurement;

a servo configured to move the antenna in a preselected direction,

wherein the processor is configured to:

use the null point voltage of the gyroscope to verify that the antenna moved to the preselected direction, and

take a second satellite energy measurement; and

a comparator configured to compare the first satellite energy measurement to the second satellite energy measurement to see which is stronger,

wherein the servo is configured to position the antenna based on the stronger energy measurement.

45. Anon-transitory computer-readable medium, which when executed by a processor, operates to position an antenna used with a vehicle towards a pre-acquired satellite while the vehicle is changing directions comprising instructions for:

monitoring a voltage of a gyroscope related to an angular velocity measured by the gyroscope;

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

determining an approximate mode of the plurality of sampled voltages as the null point voltage for the gyroscope atleast based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

taking a first satellite energy measurement;

moving the antenna in a preselected direction;

using the null point voltage of the gyroscope to verify that the antenna moved to the preselected direction;

taking a second satellite energy measurement;

comparing the first satellite energy measurement to the second satellite energy measurement to see which is stronger; and

positioning the antenna based on the stronger energy measurement.

46. A method for positioning an antenna used with a vehicle, comprising:

producing a voltage based on an angular velocity;

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

determining an approximate mode of the plurality of sampled voltages as a null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

subtracting the null point voltage from the sampled output voltage to obtain a voltage difference; and

positioning an antenna based on the voltage difference, wherein the positioned antenna is used to determine the vehicle's position.

47. An apparatus for positioning an antenna used with a vehicle, comprising:

means for producing a voltage based on an angular velocity;

means for sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

means for counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

means for determining an approximate mode of the plurality of sampled voltages as a null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

means for subtracting the null point voltage from the sampled output voltage to obtain a voltage difference; and

means for positioning an antenna based on the voltage difference, wherein the positioned antenna is used to determine the vehicle's position.

48. A non-transitory computer-readable medium, which when executed by a processor, operates to position an antenna used with a vehicle comprising instructions for:

producing a voltage based on an angular velocity;

sampling the output voltage generated by the gyroscope to obtain a plurality of sampled voltages, wherein a voltage range provided at an output of the gyroscope is partitioned into a plurality of adjacent discrete voltage ranges, and each of the plurality of sampled voltages falls within a corresponding one of the plurality of adjacent discrete voltage ranges;

counting the sampled voltages in each of the plurality of adjacent discrete voltage ranges;

determining an approximate mode of the plurality of sampled voltages as a null point voltage for the gyroscope at least based on determining a voltage associated with one of the plurality of adjacent discrete voltage ranges including the highest count of sampled voltages;

subtracting the null point voltage from the sampled output voltage to obtain a voltage difference; and

positioning an antenna based on the voltage difference, wherein the positioned antenna is used to determine the vehicle's position.