Real-time dynamic tracking of bias
View Patent ↗A bias value associated with a sensor, e.g., a time-varying, non-zero value which is output from a sensor when it is motionless, is estimated using at least two, different bias estimating techniques. A resultant combined or selected bias estimate may then be used to compensate the biased output of the sensor in, e.g., a 3D pointing device.
1. A 3-D pointing device for estimating bias associated with a sensor comprising:
said sensor; and
a processor for estimating said bias associated with said sensor using at least a first bias estimating technique to generate a first bias estimate and a second bias estimating technique to generate a second bias estimate.
2. The 3-D pointing device of claim 1 , wherein said first bias estimate and said second bias estimate are associated with a non-zero value output from said sensor when said 3-D pointing device to which said sensor is attached is stationary.
3. The 3-D pointing device of claim 1 , wherein one of said first bias estimate and said second bias estimate are selected to generate an output bias estimate.
4. The 3-D pointing device of claim 1 , wherein said first bias estimating technique generates said first bias estimate based upon detection of a change in angle of said 3-D pointing device relative to one of a plurality of different axes.
5. The 3-D pointing device of claim 1 , wherein said first bias estimating technique generates said first bias estimate based upon slew-rate filtering.
6. The 3-D pointing device of claim 1 , wherein said sensor is a MEMS device.
7. The 3-D pointing device of claim 1 , wherein said first bias estimate and said second bias estimate are combined to generate an output bias estimate.
8. The 3-D pointing device of claim 7 , wherein said combining is performed by a Kalman filter to generate said output bias estimate.
9. The 3-D pointing device of claim 1 , wherein said first bias estimating technique generates said first bias estimate based upon determining whether said 3-D pointing device within which said sensor is located is stationary.
10. The 3-D pointing device of claim 9 , wherein said first bias estimating technique determines that said device is stationary when peak-to-peak values received from said sensor are less than a predetermined threshold.
11. The 3-D pointing device of claim 1 , wherein said first bias estimating technique generates said first bias estimate based upon detection of a pitch of said 3-D pointing device within which said sensor is located.
12. The 3-D pointing device of claim 11 , wherein said first bias estimate is determined over a variable time window, said variable time window varying based upon measurement noise associated with data generated by said sensor.
13. The 3-D pointing device of claim 11 , wherein said first bias estimating technique operates in one mode to generate said first bias estimates as individual data points which converge over time.
14. The 3-D pointing device of claim 11 , wherein said first bias estimating technique operates in one mode to generate said first bias estimates using a line intersection technique associated with two individual bias estimates by combining two measurements of biases of pitch angular rates at two different roll angles.
15. The 3-D pointing device of claim 11 , wherein said first bias estimating technique operates in one mode to generate said first bias estimates by mapping averaged values output by said sensor into a bias of a yaw angular rate and a bias of a pitch angular rate defined in a user frame of reference.
16. The 3-D pointing device of claim 11 , wherein said first bias estimating technique calculates a difference between a first change of elevation angle determined using data output from said sensor and a second change of elevation angle determined using data output from another sensor.
17. The 3-D pointing device of claim 16 , wherein said sensor is an accelerometer and said another sensor is a sensor which measures rotation of said 3-D pointing device about an axis.
18. The 3-D pointing device of claim 11 , wherein said first bias estimating technique operates in one of three modes to generate said first bias estimates including:
(a) a first mode for generating said first bias estimates as individual data points which converge over time;
(b) a second mode to generate said first bias estimates using a line intersection technique associated with two individual bias estimates; and
(c) a third mode for generating said first bias estimates by mapping averaged values output by said sensor into a bias of a yaw angular rate and a bias of a pitch angular rate defined in a user frame of reference.
19. The 3-D pointing device of claim 18 , wherein said first bias estimating technique operates in said third mode if (a) a measurement error variance associated with said first bias estimate is smaller than a first predetermined threshold, (b) a time window size over which said first bias estimate is calculated is smaller than a second predetermined threshold, and (c) a difference between a roll angle measured in a current time window and a roll angle measured in a previous time window is smaller than a third predetermined threshold.
20. The 3-D pointing device of claim 18 , wherein said first bias estimating technique operates in said second mode if (a) a difference between a roll angle measured in a current time window and a roll angle measured in a previous time window is greater than a first predetermined threshold and (b) a time gap between a current time window and a previous time window is shorter than a predetermined amount of time.