Patent ID: 9354080
Filing Date: 2016-05-31
CPC Classification: G01C

Claim Text:
1. A processor-implemented method of determining a bias for an axis of a gyroscope, the method comprising: obtaining a temperature reading from a temperature sensor; maintaining a plurality of bias estimators for the axis, each bias estimator associated with a temperature and configured to estimate a bias at the associated temperature, the plurality of bias estimators including a predetermined number of short term bias estimators for estimating biases for recently obtained temperatures and a number of long term bias estimators for estimating biases for temperatures obtained over a comparatively longer period of time; determining a bias for the axis of the gyroscope based on the temperature reading and one or more of the bias estimators; and correcting a gyroscope reading based on the bias, wherein maintaining the plurality of bias estimators comprises: determining that the temperature reading defines a temperature that does not have a bias estimator associated therewith; and in response to determining that the temperature reading defines a temperature that does not have a bias estimator associated therewith, replacing one of the short term bias estimators associated with a temperature with a new short term bias estimator associated with a different temperature such that the predetermined number of short term bias estimators is maintained, the different temperature defined by the temperature reading.