Accelerometer autocalibration in a mobile device
Methods and apparatus for accelerometer autocalibration in a mobile device are provided. In an example, a signal is received from the accelerometer. A substantially constant state of the signal, such as that caused by a freefall of the accelerometer, is detected. When the signal remains in the substantially constant state for at least a predetermined period of time, the signal's noise level is measured. A compensating signal based upon the measured noise level is determined and can be output to the accelerometer, thus compensating the accelerometer to mitigate the noise level. In examples, the compensating signal can be a reference voltage, a reference frequency, and/or a reference pulse train. In a further example, the compensating is performed only when the noise level of the signal is within a range for at least the predetermined period of time.
1. A method for calibrating an accelerometer, comprising:
receiving a signal from the accelerometer;
detecting freefall of the accelerometer from the signal; and
after the accelerometer remains in freefall for at least a predetermined period of time following the detecting freefall:
measuring a noise level of the signal; and
compensating the accelerometer to mitigate the measured noise level.
2. The method of claim 1 , wherein the free-fall state of the accelerometer is detected from the signal remaining in a substantially constant state.
3. The method of claim 1 , further comprising:
starting a timer upon detecting the freefall of the accelerometer; and
using the timer to determine when the accelerometer remains in freefall for at least the predetermined period of time.
4. The method of claim 1 , wherein the compensating comprises:
determining a compensating electrical signal based upon the measured noise level; and
outputting the compensating electrical signal to the accelerometer.
5. The method of claim 4 , wherein the compensating electrical signal is at least one of a reference voltage, a reference frequency, or a reference pulse train.
6. The method of claim 1 , wherein the compensating is performed only when the noise level of the signal is within a range for at least the predetermined period of time.
7. The method of claim 1 , wherein a mobile device includes the accelerometer; and the compensating comprises subtracting a compensation factor {right arrow over (α)} from the signal received from the accelerometer, wherein the compensation factor {right arrow over (α)} is a lever arm pointing from a center of gravity of the mobile device to the accelerometer, and is determined by:
α
⇀
=
ⅆ
ω
⇀
ⅆ
t
×
r
⇀
+
ω
⇀
×
[
ω
⇀
×
r
⇀
]
,
wherein {right arrow over (ω)} is a rotation vector, as measured by a three-axis gyroscope,
ⅆ
ω
⇀
ⅆ
t
is a time derivative of the rotation vector, and {right arrow over (r)} is a position vector expressed in a common coordinate system of both the accelerometer and the three-axis gyroscope.
8. The method of claim 1 , wherein the predetermined period of time is less than one second.
9. An apparatus configured to calibrate an accelerometer, comprising:
means for receiving a signal from the accelerometer;
means for detecting freefall of the accelerometer from the signal;
means for measuring a noise level of the signal after the accelerometer remains in freefall for at least a predetermined period of time following the detecting freefall; and
means for compensating the accelerometer to mitigate the measured noise level, after the accelerometer remains in freefall for at least the predetermined period of time.
10. The apparatus of claim 9 , wherein the free-fall state of the accelerometer is detected from the signal remaining in a substantially constant state.
11. The apparatus of claim 9 , further comprising:
means for starting a timer upon detecting the freefall of the accelerometer; and
means for using the timer to determine when the accelerometer remains in freefall for at least the predetermined period of time.
12. The apparatus of claim 9 , wherein the means for compensating comprises:
means for determining a compensating electrical signal based upon the measured noise level; and
means for outputting the compensating electrical signal to the accelerometer.
13. The apparatus of claim 12 , wherein the compensating electrical signal is at least one of a reference voltage, a reference frequency, or a reference pulse train.
14. The apparatus of claim 9 , further comprising a semiconductor die, wherein the means for compensating is integrated on the semiconductor die.
15. The apparatus of claim 9 , further comprising a mobile device, wherein the means for compensating is integrated with the mobile device.
16. An apparatus configured to calibrate an accelerometer, comprising a processor configured to:
receive a signal from the accelerometer;
detect freefall of the accelerometer from the signal;
measure a noise level of the signal after the accelerometer remains in freefall for at least a predetermined period of time following the detecting freefall; and
compensate the accelerometer to mitigate the measured noise level after the accelerometer remains in freefall for at least the predetermined period of time.
17. The apparatus of claim 16 , wherein the freefall of the accelerometer is detected from the signal remaining in a substantially constant state.
18. The apparatus of claim 16 , wherein the processor is further configured to:
start a timer upon detecting the freefall of the accelerometer; and
use the timer to determine when the accelerometer remains in freefall for at least the predetermined period of time.
19. The apparatus of claim 16 , wherein the compensating comprises:
determining a compensating electrical signal based upon the measured noise level; and
outputting the compensating electrical signal to the accelerometer.
20. The apparatus of claim 19 , wherein the compensating electrical signal is at least one of a reference voltage, a reference frequency, or a reference pulse train.
21. The apparatus of claim 16 , further comprising a semiconductor die, wherein the processor is integrated on the semiconductor die.
22. The apparatus of claim 16 , further comprising a mobile device, wherein the processor is integrated with the mobile device.
23. A non-transitory computer-readable medium, comprising instructions stored thereon that, when executed by a processor, cause the processor to execute a method comprising:
receiving a signal from an accelerometer;
detecting freefall of the accelerometer from the signal; and
after the accelerometer remains in freefall for at least a predetermined period of time following the detecting freefall:
measuring a noise level of the signal; and
compensating the accelerometer to mitigate the noise level.
24. The non-transitory computer-readable medium of claim 23 , wherein the method further comprises:
detecting the freefall of the accelerometer from the signal remaining in a substantially constant state.
25. The non-transitory computer-readable medium of claim 23 , wherein the method further comprises:
starting a timer upon detecting the freefall of the accelerometer; and
using the timer to determine when the accelerometer remains in freefall for at least the predetermined period of time.
26. The non-transitory computer-readable medium of claim 23 , wherein the compensating comprises:
determining a compensating electrical signal based upon the measured noise level; and
outputting the compensating electrical signal to the accelerometer.
27. The non-transitory computer-readable medium of claim 26 , wherein the compensating electrical signal is at least one of a reference voltage, a reference frequency, or a reference pulse train.
28. The non-transitory computer-readable medium of claim 23 , wherein the non-transitory computer-readable medium is integrated with a mobile device.