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

Claim 0:
1. A method comprising:
generating, at a device that includes an actuator configured to rotate a first platform about an axis of rotation, 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;
receiving, from an encoder, encoder output signals indicative of angular positions of the first platform about the axis, wherein the encoder is a magnetic encoder;
receiving, from an orientation sensor mounted on the first platform, sensor output signals indicative of a rate of change to an orientation of the orientation sensor;
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.