Patent ID: 11959776
Assignee: WAYMO LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 21:
22. A non-transitory computer readable medium storing instructions that, when executed by one or more processors of a computing system, cause the computing system to perform operations comprising:
generating a calibration control signal for controlling an actuator configured to rotate a platform about an axis, wherein the calibration control signal causes the actuator to rotate the platform at least one complete rotation about the axis;
receiving, from an encoder, encoder output signals indicative of angular positions of the platform about the axis, wherein the encoder is a magnetic encoder;
receiving, from an orientation sensor mounted on the platform, sensor output signals indicative of a rate of change to an orientation of the orientation sensor;
determining, based on given sensor output signals provided by the orientation sensor during the at least one complete rotation, calibration data for mapping the encoder output signals to calibrated measurements of the angular positions of the platform about the axis; and
identifying a defect in the magnetic encoder based on the calibration data.