Abstract: A method for calibrating zero rate offset (ZRO) of a first inertial sensor located on a device, the method includes determining a stability level of the device based on information associated with at least one non-inertial sensor located on the device; and performing a calibration of the ZRO of the first inertial sensor when the stability level is above a threshold.

Abstract: Methods, apparatus, and systems directed to calibrating a magnetometer. Among such are methods that use only the horizontal components of magnetometer measurements. Then, planar calibrated magnetic field output measurements can be used in sensor fusion with data from gyroscope(s) and accelerometer(s). In other embodiments, heading information from the planar calibrated magnetic field is fused with the heading calculated from gyroscope integration.

Abstract: Method, apparatus, and systems for roll angle estimation for an input/gesture device (IGD) are disclosed. The method includes estimating a first axis vector of the input/gesture device (IGD) relative to the surface of the mobile device (MD), as a first frame of reference, using readings from a first type of sensor; and estimating the first axis vector of the IDG relative to a different, second frame of reference using a gyroscope integration of readings from the 3-axis gyroscope. The method further includes aligning the first axis vector of the IDG in the first frame of reference with the first axis vector of the IDG in the second frame of reference; minimizing a change in the alignment of the first axis vectors between the first frame of reference and the second frame of reference; and determining the roll angle of the IDG relative to the surface of the MD.

Abstract: A method for calculating a scale factor for a gyroscope can include detecting, by a gyroscope, a physical motion of a robot, detecting, by an optical flow (OF) sensor (and/or camera), one or more image signals including information; and deriving estimates of sensor calibration parameters based on the detected physical motion and the information.