CPC G06F 3/0346 (2013.01) [G01C 25/005 (2013.01); G06F 3/038 (2013.01)] | 46 Claims |
1. An apparatus, comprising:
a gyroscope for determining a rotational position of the apparatus;
a gyroscope temperature sensor for measuring temperatures of the gyroscope;
memory; and
at least one processor, communicatively coupled at least to the memory, and configured to:
estimate a set of gyroscopic biases for a plurality of temperatures or temperature ranges to create a mapping that maps the plurality of temperatures or the temperature ranges to the set of gyroscopic biases;
monitor the temperatures of the gyroscope via the gyroscope temperature sensor;
calibrate the gyroscope in response to the gyroscope changing from a first temperature to a second temperature based on the mapping or based on a predicted value derived from the mapping;
identify a gyroscope-based orientation based on the calibrated gyroscope without using a magnetometer-based orientation identified by a magnetometer; and
calculate a dead reckoning (DR) trajectory of the apparatus based on the gyroscope-based orientation of the apparatus, wherein the magnetometer-based orientation is not used for calculating the DR trajectory if the gyroscope is calibrated and the magnetometer-based orientation is used for calculating the DR trajectory if the gyroscope is not calibrated.
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