US 11,680,823 B2
Method and system for mobile sensor calibration
Zhongyang Li, Noyarey (FR); Joe Youssef, Noyarey (FR); Abbas Ataya, San Jose, CA (US); Sinan Karahan, Menlo Park, CA (US); and Sankalp Dayal, Fremont, CA (US)
Assigned to IvenSense, Inc., San Jose, CA (US)
Filed by InvenSense, Inc., San Jose, CA (US)
Filed on Jul. 31, 2020, as Appl. No. 16/944,493.
Claims priority of provisional application 62/881,939, filed on Aug. 1, 2019.
Prior Publication US 2021/0033421 A1, Feb. 4, 2021
Int. Cl. G01C 25/00 (2006.01); G01C 21/20 (2006.01); G06N 20/00 (2019.01); G06N 5/04 (2023.01); G05D 1/02 (2020.01)
CPC G01C 25/00 (2013.01) [G01C 21/20 (2013.01); G05D 1/0212 (2013.01); G06N 5/04 (2013.01); G06N 20/00 (2019.01); G05D 2201/0203 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method for controlling a mobile robotic device comprising:
providing a mobile robotic device having a motion sensor assembly configured to provide data for deriving a navigation solution for the mobile robotic device;
determining the mobile robotic device temperature for at least two different epochs;
estimating an accumulated heading error of the navigation solution based on the determined temperature at the at least two different epochs; and
responsive to the estimate of the accumulated heading error being outside of a desired range:
issuing a stop request to the mobile robotic device to cause it to stop moving; and
performing a calibration procedure for at least one sensor of the motion sensor assembly after the mobile robotic device has stopped moving in response to the stop request.