Patent ID: 11898874
Assignee: nan
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 12:
13. A method for determining a current estimated gyroscope bias of a gyroscope, the gyroscope being configured to output rotation rate data, the method comprising:
receiving first rotation rate data associated with a first time from the gyroscope, the first rotation rate data comprising a first rotation rate reading that indicates a rotation rate of the gyroscope about a first axis;
calculating a rotation rate moving average associated with the first time based on the first rotation rate data and a rotation rate moving average associated with a second time earlier than the first time;
calculating a moving standard deviation associated with the first time based on the first rotation rate data, the rotation rate moving average associated with the first time, and a moving standard deviation associated with the second time;
determining if the moving standard deviation associated with the first time is less a threshold moving standard deviation; and
in response the moving standard deviation being less than the threshold moving standard deviation, using the first rotation rate reading to update the current estimated gyroscope bias;
wherein calculating the moving standard deviation comprises reducing the moving standard deviation associated with the second time using a moving standard deviation forget rate factor, and combining the reduced moving standard deviation with a difference between the first rotation rate reading and the rotation rate moving average associated with the first time.