Accelerometer and Automatic Calibration of Same
An accelerometer ( 22 ) includes sense elements ( 24, 26, 28 ) for measuring acceleration ( 30, 32, 34 ) and a processor ( 36 ) in communication with the sense elements ( 24, 26, 28 ). The processor ( 36 ) executes an auto-calibration process ( 46 ) that entails collecting ( 94 ) acceleration datasets ( 96 ) and identifying a subset ( 130 ) of acceleration datasets ( 132 ) in which each of the acceleration datasets ( 132 ) represents a scenario in which the accelerometer ( 22 ) is in a static position and in which the acceleration datasets ( 132 ) represent a variety of orientations of the accelerometer ( 22 ). The subset ( 130 ) of acceleration datasets ( 132 ) is utilized to compute updated calibration parameters ( 184 ). Current calibration parameters ( 48 ) are compared to the updated parameters ( 184 ) to determine validity of the current parameters ( 48 ). When the current parameters ( 48 ) are invalid, they are replaced with the updated parameters ( 184 ), and the updated parameters ( 184 ) are implemented to calibrate the accelerometer ( 22 ).
1 . A method of calibrating an accelerometer comprising:
collecting a plurality of acceleration datasets from said accelerometer;
identifying a subset of acceleration datasets from said plurality of acceleration datasets in which each of said acceleration datasets in said subset represents a scenario in which said accelerometer is located in a static position;
utilizing said subset of acceleration datasets to compute updated calibration parameters;
comparing current calibration parameters for said accelerometer to said updated calibration parameters to determine a validity of said current calibration parameters;
when said current calibration parameters are invalid, replacing said current calibration parameters with said updated calibration parameters; and
implementing said updated calibration parameters in said accelerometer.
2 . A method as claimed in claim 1 wherein said accelerometer is installed within a device, and said method further comprises automatically performing said collecting operation when said device is in operational use.
3 . A method as claimed in claim 1 wherein:
said collecting operation comprises collecting consecutive ones of said acceleration datasets; and
said identifying operation comprises:
determining that a predetermined quantity of said consecutive ones of said acceleration datasets represents said scenario in which said accelerometer is in said static position; and
including one of said consecutive acceleration datasets in said subset of acceleration datasets in response to said determining operation.
4 . A method as claimed in claim 3 wherein:
said determining operation comprises comparing acceleration values within each of said consecutive acceleration datasets with said acceleration values within at least another one of said consecutive acceleration datasets;
when said acceleration values within said each of said consecutive acceleration datasets are approximately equivalent, said including operation retains said one of said consecutive acceleration datasets in said subset of acceleration datasets; and
when said acceleration values within said each of said consecutive acceleration datasets fail to be approximately equivalent, discarding said each of said consecutive acceleration datasets.
5 . A method as claimed in claim 1 wherein said identifying operation comprises:
distinguishing those of said acceleration datasets in said plurality of acceleration datasets that represent a second scenario in which said accelerometer is in motion; and
discarding said distinguished acceleration datasets that represent said second scenario.
6 . A method as claimed in claim 1 wherein said identifying operation comprises selecting said acceleration datasets for inclusion in said subset of said acceleration datasets that represent a variety of orientations of said accelerometer in said static position.
7 . A method as claimed in claim 6 wherein said selecting operation comprises:
identifying a candidate acceleration dataset from said plurality of acceleration datasets for inclusion in said subset of acceleration datasets;
comparing acceleration values within said candidate acceleration dataset with said acceleration values within said acceleration datasets in said subset;
when a difference between said acceleration values within said candidate acceleration dataset and said acceleration values within said acceleration datasets in said subset is greater than a deviation threshold, retaining said candidate acceleration dataset in said subset of datasets; and
when said difference between said acceleration values within said candidate acceleration dataset and said acceleration values within said acceleration datasets in said subset is less than said deviation threshold, discarding said each acceleration dataset from said subset.
8 . A method as claimed in claim 1 further comprising:
repeating said collecting and identifying operations until a quantity of said acceleration datasets in said subset is at least equivalent to a predetermined quantity; and
performing said utilizing operation for each repetition of said identifying operation.
9 . A method as claimed in claim 1 wherein said updated calibration parameters include at least one offset value and at least one sensitivity value associated with at least one sense axis of said accelerometer, and said utilizing operation comprises determining said at least one offset value and said at least one sensitivity value using a parameter estimation algorithm.
10 . A method as claimed in claim 9 wherein said implementing operation comprises combining said at least one offset value and said at least one sensitivity value with output signals of said accelerometer to calibrate said accelerometer.
11 . A method as claimed in claim 1 further comprising:
receiving a temperature characteristic of said accelerometer concurrent with collecting each of said plurality of acceleration datasets;
associating said temperature characteristic with said each of said plurality of acceleration datasets; and
selecting said acceleration datasets for inclusion in said subset of said acceleration datasets, each of which is associated with said temperature characteristic for said accelerometer in said static position.
12 . A method as claimed in claim 11 further comprising:
performing said utilizing operation to compute said updated calibration parameters using said subset of said acceleration datasets, each of which is associated with said temperature characteristic;
following said utilizing operation, storing said updated calibration parameters in association with said temperature characteristic; and
said implementing operation comprises applying said updated calibration parameters when said accelerometer operates in a temperature range associated with said temperature characteristic.
13 . A device comprising:
an accelerometer for measuring acceleration of said device during operational use of said device, said accelerometer comprising:
at least one sense element capable of sensing an acceleration value along a sense axis;
a processor in communication with said at least one sense element; and
a memory element in communication with said processor for storing current calibration parameters associated with said at least one sense element, said memory element having executable code stored therein, said executable code instructing said processor to perform operations comprising:
automatically collecting a plurality of acceleration datasets from said at least one sense element during operational use of said device;
identifying a subset of acceleration datasets from said plurality of acceleration datasets in which each of said acceleration datasets in said subset represents a scenario in which said accelerometer is located in a static position, said identifying operation including selecting said acceleration datasets for inclusion in said subset that represent a variety of orientations of said accelerometer in said static position;
utilizing said subset of acceleration datasets to compute updated calibration parameters;
comparing current calibration parameters for said accelerometer to said updated calibration parameters to determine a validity of said current calibration parameters;
when said current calibration parameters are invalid, replacing said current calibration parameters with said updated calibration parameters; and
implementing said updated calibration parameters in said accelerometer.
14 . A device as claimed in claim 13 wherein said executable code instructs said processor to perform further operations wherein:
said collecting operation includes collecting consecutive ones of said acceleration datasets; and
said identifying operation includes:
determining that a predetermined quantity of said consecutive ones of said acceleration datasets represents said scenario in which said accelerometer is in said static position; and
including one of said consecutive acceleration datasets in said subset of acceleration datasets in response to said determining operation.
15 . A device as claimed in claim 14 wherein said executable code instructs said processor to perform further operations wherein:
said determining operation comprises comparing acceleration values within each of said consecutive acceleration datasets with said acceleration values within at least another one of said consecutive acceleration datasets;
when said acceleration values within said each of said consecutive acceleration datasets are approximately equivalent, said including operation retains said one of said consecutive acceleration datasets in said subset of acceleration datasets; and
when said acceleration values within said each of said consecutive acceleration datasets fail to be approximately equivalent, discarding said each of said consecutive acceleration datasets.
16 . A device as claimed in claim 13 wherein said executable code instructs said processor to perform further operations comprising:
repeating said collecting and identifying operations until a quantity of said acceleration datasets in said subset is at least equivalent to a predetermined quantity; and
performing said utilizing operation for each repetition of said identifying operation.
17 . A device as claimed in claim 13 wherein said accelerometer further comprises at least one output in communication with said processor for output of a processed acceleration signal, said updated calibration parameters being combined with said acceleration value from said at least one sense element to produce said processed acceleration signal.
18 . A device as claimed in claim 13 wherein said at least one sense element is a first sense element, said calibration parameters include at least one offset value and at least one sensitivity value, and said accelerometer further comprises:
a second sense element in communication with said processor; and
a third sense element in communication with said processor, said first, second, and third sense elements having respective first, second, and third sense axes arranged orthogonal to one another, and said executable code instructs processor to perform an operation comprising executing a parameter estimation algorithm to determine a distinct offset value and a distinct sensitivity value for each of said first, second, and third sense elements.
19 . An accelerometer capable of autonomous calibration when said accelerometer is in operational use, said accelerometer comprising:
a first sense element capable of sensing a first acceleration value along a first sense axis;
a second sense element capable of sensing a second acceleration value along a second sense axis;
a third sense element capable of sensing a third acceleration value along a third sense axis, said first, second, and third sense axes being arranged orthogonal to one another;
a processor in communication with said first, second, and third sense elements; and
a memory element in communication with said processor for storing distinct calibration parameters associated with each of said first, second, and third sense elements, said memory element having executable code stored therein, said executable code instructing said processor to perform operations comprising:
collecting a plurality of acceleration datasets from said first, second, and third sense elements;
identifying a subset of acceleration datasets from said plurality of acceleration datasets in which each of said acceleration datasets in said subset represents a scenario in which said accelerometer is located in a static position, said identifying operation including selecting said acceleration datasets for inclusion in said subset that represent a variety of orientations of said accelerometer in said static position;
utilizing said subset of acceleration datasets to compute updated calibration parameters;
comparing current calibration parameters for said accelerometer to said updated calibration parameters;
when said current calibration parameters are invalid, replacing said current calibration parameters stored in said memory element with said updated calibration parameters; and
combining said updated calibration parameters with output acceleration signals from said first, second, and third sense elements to produce calibrated acceleration values for each of said first, second, and third sense axes.
20 . An accelerometer as claimed in claim 19 wherein said accelerometer further comprises a temperature sensor in communication with said processor, and said executable code instructs said processor to perform operations comprising:
receiving a temperature characteristic from said temperature sensor concurrent with collecting each of said plurality of acceleration datasets;
associating said temperature characteristic with said each of said plurality of acceleration datasets;
selecting said acceleration datasets for inclusion in said subset of said acceleration datasets, each of which is associated with said temperature characteristic for said accelerometer in said static position;
performing said utilizing operation to compute said updated calibration parameters using said subset of said acceleration datasets, each of which is associated with said temperature characteristic;
following said utilizing operation, storing said updated calibration parameters in said memory element in association with said temperature characteristic; and
said combining operation includes applying said updated calibration parameters when said accelerometer operates in a temperature range associated with said temperature characteristic.