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

Claim 15:
16. A system comprising:
a first platform;
an actuator configured to rotate the first platform about an axis;
an encoder configured to provide encoder output signals indicative of angular positions of the first platform about the axis, wherein the encoder is a magnetic encoder;
an orientation sensor mounted on the first platform and configured to provide sensor output signals indicative of a rate of change to an orientation of the orientation sensor; and
a controller configured to cause the system to perform operations comprising:
generating a calibration control signal for controlling the actuator, wherein the calibration control signal causes the actuator to rotate the first platform at least one complete rotation about the axis;
determining, based on given sensor output signals received from 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 first platform about the axis; and
identifying a defect in the magnetic encoder based on the calibration data.