Detecting sensor error
Sensor error detection with an additional sensing channel is disclosed herein. First, second, third sensing elements can be disposed at angles relative to one another. In some embodiments, the first, second, and third sensing elements can be magnetic sensing elements, such as anisotropic magnetoresistance (AMR) sensing elements. Sensor data from first, second, and third sensing channels, respectively having the first, second, and third sensing elements, can be obtained. Expected third sensing channel data can be determined and compared to the obtained third sensing channel data to indicate error.
1. An apparatus for detecting sensor error, the apparatus comprising:
a first sensing channel including a first magnetic sensing element;
a second sensing channel including a second magnetic sensing element, the second magnetic sensing element oriented at a first angle relative to the first magnetic sensing element;
a third sensing channel including a third magnetic sensing element, the third magnetic sensing element oriented at a second angle relative to the first magnetic sensing element, the second angle being different from the first angle; and
a processor configured to:
receive first sensor data from the first sensing channel, second sensor data from the second sensing channel, and third sensor data from the third sensing channel;
compute expected third sensor data from the first sensor data and the second sensor data, wherein the first sensor data is associated with the first magnetic sensing element, wherein the second sensor data is associated with the second magnetic sensing element oriented at the first angle relative to the first magnetic sensing element, and wherein the expected third sensor data is expected data associated with the third magnetic sensing element oriented at the second angle relative to the first magnetic sensing element; and
detect sensor error based at least partly on a comparison of the expected third sensor data with the third sensor data, wherein the third sensor data is associated with the third magnetic sensing element oriented at the second angle relative to the first magnetic sensing element.
2. The apparatus of claim 1 , wherein the processor is further configured to determine a magnetic angle and a sensor output radius based at least partly on the first sensor data and the second sensor data, and wherein the processor is configured to compute the expected third sensor data based at least partly on the magnetic angle and the sensor output radius.
3. The apparatus of claim 2 , wherein the processor is configured to compute the magnetic angle using an arctan function.
4. The apparatus of claim 1 , wherein each of the first, second, and third magnetic sensing elements comprises a magnetoresistance sensor.
5. The apparatus of claim 1 , wherein the second angle is approximately half of the first angle.
6. The apparatus of claim 1 , wherein the first sensing channel comprises a first amplifier and a first sampling circuit, the second sensing channel comprises a second amplifier and a second sampling circuit, and the third sensing channel comprises a third amplifier and a third sampling circuit.
7. The apparatus of claim 1 , wherein the first, second, and third sensing channels are embodied in a single die.
8. The apparatus of claim 1 , wherein the first, second, and third magnetic sensing elements are collocated.
9. The apparatus of claim 1 , wherein each of the first, second, and third magnetic sensing elements is configured to provide a differential output.
10. The apparatus of claim 1 , wherein the apparatus is configured to provide an error flag responsive to the detected error satisfying a threshold.
11. The apparatus of claim 1 , wherein the first magnetic sensing element, the second magnetic sensing element, and the third magnetic sensing element each comprise a full bridge.
12. An electronic power assisted steering system comprising the apparatus of claim 1 .
13. A method for detecting sensor error, the method comprising:
receiving first sensor data from a first sensing channel, second sensor data from a second sensing channel, and third sensor data associated with a third sensing channel;
determining an angle based at least partly on the first sensor data from the first sensing channel and the second sensor data from the second sensing channel;
computing the expected third sensor data based at least partly on the angle; and
detecting sensor error based at least partly on a comparison of the expected third sensor data with the third sensor data associated with the third sensing channel,
wherein the first sensing channel includes a first magnetic sensing element, wherein the second sensing channel includes a second magnetic sensing element, the second magnetic sensing element oriented at a first angle relative to the first magnetic sensing element, wherein the third sensing channel includes third magnetic sensing element, the third magnetic sensing element oriented at a second angle relative to the first magnetic sensing element, the second angle being different from the first angle.
14. The method of claim 13 , wherein determining the angle comprises computing the angle using an arctan function.
15. The method of claim 13 , wherein the computing the expected sensor error is also based on a radius determined from the first sensor data and the second sensor data.
16. The method of claim 13 , wherein each of the first, second, and third magnetic sensing elements comprises an anisotropic magnetoresistance (AMR) sensor.
17. The method of claim 13 , wherein the second angle is approximately half of the first angle.
18. An apparatus for detecting sensor error, the apparatus comprising:
a first sensing channel including a first magnetic sensing element;
a second sensing channel including a second magnetic sensing element, the second magnetic sensing element being oriented at an angle relative to the first magnetic sensing element;
a third sensing channel; and
a processor configured to:
receive first sensor data from the first sensing channel, second sensor data from the second sensing channel, and third sensor data from the third sensing channel;
determine an angle based at least partly on the first sensor data and the second sensor data, wherein the first sensor data is associated with the first magnetic sensing element, and wherein the second sensor data is associated with the second magnetic sensing element that is oriented at the angle relative to the first magnetic sensing element;
compute expected third sensor data based at least partly on the angle; and
detect sensor error based at least partly on a comparison of the expected third sensor data with the third sensor data.
19. The apparatus of claim 18 , wherein the third sensing channel includes a third magnetic sensing element.
20. The apparatus of claim 19 , wherein the first magnetic sensing element, the second magnetic sensing element, and the third magnetic sensing element each comprise a full bridge anisotropic magnetoresistance (AMR) sensor.