Single point offset calibration for inertial sensors
A hand-held processor system for processing data from an integrated MEMS (Micro-Electro-Mechanical-Systems) device disposed within a hand-held computer system and methods therefor. The Single Point Offset Correction (SPOC) process computes offset values to calibrate MEMS sensors using a single set of data measurements at an orientation without dynamic perturbation, and without requiring advance knowledge of orientation of the device. Arbitrary output biases, which are known to be dominant on a single axis, can be corrected to ensure consistent performance. The SPOC process provides a simple method to effectively calibrate a MEMS sensor without requiring extensive system resources. This process can be enhanced by additional estimations of sensor offsets using the set of data measurements or by use of rule-based empirical gain factors.
1. A micro-processor, on-chip logic, or software implemented method for processing data from a MEMS (Micro-Electro-Mechanical-Systems) sensor disposed within a hand-held computer system programmed to perform the method, the method comprising:
determining, by a user of the hand-held computer system, that the z-axis offset of the hand-held computer system is worse than the offsets in the x-axis and y-axis;
maintaining, by the user, the hand-held computer system in static position without dynamic perturbation;
sensing, by the MEMS sensor disposed within the computer system, a single calibration data measurement point by sensing a set of X, Y, and Z axis sensor data in one static orientation for a predetermined time period, wherein the X, Y, and Z axis sensor data are denoted as Xm, Ym, and Zm, respectively; and
determining, with a processor disposed within the computer system, computed offset data for the MEMS sensor through a Single Point Offset Correction (SPOC) process using the single calibration data measurement point, wherein the SPOC process comprises determining an offset value of the computed offset data via the following equation:
Offset Dependent Error=1g 2 −( X m 2 +Y m 2 +Z m 2 ),
where g=9.8m/s 2 ;
performing measurement using the MEMS sensor; and
applying the Offset Dependent Error to z-axis measurement data for offset correction.
2. The method of claim 1 wherein the one static orientation includes an orientation without dynamic perturbation.
3. The method of claim 1 further comprising applying the offset value to the a single axis of the MEMS sensor assumed to have the worst errors.
4. The method of claim 1 wherein the SPOC process comprises:
determining rule-based empirical gain factors using the single calibration data measurement point and a priori error statistic of an axis of the component; and
applying the rule-based empirical gain factors to the computed offset data and applying the computed offset data to the X, Y, or Z axis of the MEMS sensor.
5. The method of claim 1 wherein the SPOC process is configured as a background SPOC process that constantly runs until predetermined calibration conditions are met;
wherein the predetermined calibration conditions include time period conditions, stationary conditions, or data limit conditions.
6. The method of claim 5 wherein time period conditions, stationary conditions, or data limit conditions are modified over time to improve accuracy after an initial period of convergence or completion using less stringent conditions.
7. The method of claim 1 wherein the MEMS sensor comprises a MEMS accelerometer, a MEMS gyrometer, or other MEMS inertial sensor.
8. The method of claim 1 wherein the SPOC process includes determining self-test based actuation and measurement information.
9. A hand-held inertial sensor system for processing data from an integrated MEMS (Micro-Electro-Mechanical-Systems) device disposed within the hand-held inertial sensor system, the system comprising:
a housing;
a tangible memory for storing a plurality of executable instructions;
an integrated MEMS device disposed within the housing, the integrated MEMS device including a MEMS sensor;
a processor disposed within the housing and coupled to the tangible memory and the integrated MEMS device, wherein the processor is programmed to perform a plurality of functions by the plurality of executable instructions;
wherein the plurality of executable instructions comprises:
executable code that programs the processor to sense, by the MEMS sensor disposed within the computer system, a single calibration data measurement point by sensing a set of X, Y, and Z axis sensor data in one static orientation for a predetermined time period without dynamic perturbation when the z-axis offset is worse than the offsets in the x-axis and y-axis, wherein the X, Y, and Z axis sensor data are denoted as Xm, Ym, and Zm, respectively;
executable code that programs the processor to determine, with the processor disposed within the computer system, computed offset data for the MEMS sensor through a Single Point Offset Correction (SPOC) process using the single calibration data measurement point, wherein the SPOC process comprises determining an offset value of the computed offset data via the following equation:
Offset Dependent Error=1g 2 −( X m 2 +Y m 2 +Z m 2 ),
where g=9.8m/s 2 ; and
executable code that programs the processor to determine rule-based empirical gain factors using the single calibration data measurement point; and
executable code that programs the processor to apply the rule-based empirical factors to the computed offset data and applying the computed offset data to the X, Y, or Z axis of the MEMS sensor.
10. The system of claim 9 wherein the plurality of executable instructions comprises:
executable code that programs the processor to apply the offset value to the Z axis of the MEMS sensor.
11. The system of claim 9 wherein the plurality of executable instructions comprise:
executable code that programs the processor to initiate the SPOC process in response to a user, developer, or manufacturer command;
executable code that programs the processor to run the SPOC process constantly as a background SPOC process until time period conditions, stationary conditions, or data limit conditions are met, or
executable code that programs the processor to initiate the SPOC process.
12. The system of claim 9 wherein the plurality of executable instructions comprises executable code that programs the processor to determine self-test based actuation and measurement information.
13. A system for processing data from a MEMS (Micro-Electro-Mechanical-Systems) sensor disposed within a hand-held computer system, the system comprising:
a sense module configured for sensing, by the MEMS sensor disposed within the computer system, a single calibration data measurement point by sensing a set of X, Y, and Z axis sensor data in one static orientation for a predetermined time period without dynamic perturbation when the z-axis offset of the hand-held computer system is worse than the offsets in the x-axis and y-axis, wherein the X, Y, and Z axis sensor data are denoted as Xm, Ym, and Zm, respectively; and
a correction module configured for determining, with a processor disposed within the computer system, computed offset data for the MEMS sensor through a Single Point Offset Correction (SPOC) process using the single calibration data measurement point, wherein the SPOC process comprises determining an offset value of the computed offset data via the following equation:
Offset Dependent Error=1g 2 −( X m 2 +Y m 2 +Z m 2 ),
where g=9.8m/s 2 ; and
the correction module configured for applying the offset value to the Z axis of the MEMS sensor.
14. The system of claim 13 wherein the correction module is configured to determine rule-based empirical factors via the SPOC process using the single calibration data measurement point; and
wherein the correction module is configured to apply the rule-based empirical gain factors to the computed offset data and apply the computed offset data to the X, Y, or Z axis of the MEMS sensor.